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Sample records for motion control technique

  1. 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...

  2. Motion Transplantation Techniques: A Survey

    NARCIS (Netherlands)

    van Basten, Ben; Egges, Arjan

    2012-01-01

    During the past decade, researchers have developed several techniques for transplanting motions. These techniques transplant a partial auxiliary motion, possibly defined for a small set of degrees of freedom, on a base motion. Motion transplantation improves motion databases' expressiveness and

  3. 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

  4. Decoupled pelvis adjustment to induce lumbar motion: A technique that controls low back load in sitting

    NARCIS (Netherlands)

    van Geffen, P.; Reenalda, Jasper; Veltink, Petrus H.; Koopman, Hubertus F.J.M.

    Static sitting in confined settings have been associated with low back pain in sedentary occupations such as office works and car driving. To prevent lumbar discomfort in prolonged static sitting, periodic motion of the lumbar spine is needed. Because the pelvis forms the basis for lumbar spine

  5. CRDM motion analysis using machine learning technique

    International Nuclear Information System (INIS)

    Nishimura, Takuya; Nakayama, Hiroyuki; Saitoh, Mayumi; Yaguchi, Seiji

    2017-01-01

    Magnetic jack type Control Rod Drive Mechanism (CRDM) for pressurized water reactor (PWR) plant operates control rods in response to electrical signals from a reactor control system. CRDM operability is evaluated by quantifying armature's response of closed/opened time which means interval time between coil energizing/de-energizing points and armature closed/opened points. MHI has already developed an automatic CRDM motion analysis and applied it to actual plants so far. However, CRDM operational data has wide variation depending on their characteristics such as plant condition, plant, etc. In the existing motion analysis, there is an issue of analysis accuracy for applying a single analysis technique to all plant conditions, plants, etc. In this study, MHI investigated motion analysis using machine learning (Random Forests) which is flexibly accommodated to CRDM operational data with wide variation, and is improved analysis accuracy. (author)

  6. Ship Roll Motion Control

    DEFF Research Database (Denmark)

    Perez, Tristan; Blanke, Mogens

    2010-01-01

    . 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....

  7. Motion Control with Vision

    NARCIS (Netherlands)

    Ir. Dick van Schenk Brill; Ir Peter Boots

    2001-01-01

    This paper describes the work that is done by a group of I3 students at Philips CFT in Eindhoven, Netherlands. I3 is an initiative of Fontys University of Professional Education also located in Eindhoven. The work focuses on the use of computer vision in motion control. Experiments are done with

  8. Motion sensing energy controller

    International Nuclear Information System (INIS)

    Saphir, M.E.; Reed, M.A.

    1984-01-01

    A moving object sensing processor responsive to slowly varying motions of a human being or other moving object in a zone of interest employs high frequency pulse modulated non-visible radiation generated by a radiation generating source, such as an LED, and detected by a detector sensitive to radiation of a preselected wavelength which generates electrical signals representative of the reflected radiation received from the zone of interest. The detectorsignals are processed to normalize the base level and remove variations due to background level changes, and slowly varying changes in the signals are detected by a bi-polar threshold detector. The control signals generated by the threshold detector in response to slowly varying motion are used to control the application of power to a utilization device, such as a set of fluoroescent lights in a room, the power being applied in response to detection of such motion and being automatically terminated in the absence of such motion after a predetermined time period established by a settable incrementable counter

  9. Robot motion control in mobile environment

    Institute of Scientific and Technical Information of China (English)

    Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

    2003-01-01

    With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

  10. 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.

  11. Motion Capture Technique Applied Research in Sports Technique Diagnosis

    Directory of Open Access Journals (Sweden)

    Zhiwu LIU

    2014-09-01

    Full Text Available The motion capture technology system definition is described in the paper, and its components are researched, the key parameters are obtained from motion technique, the quantitative analysis are made on technical movements, the method of motion capture technology is proposed in sport technical diagnosis. That motion capture step includes calibration system, to attached landmarks to the tester; to capture trajectory, and to analyze the collected data.

  12. 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...

  13. 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...

  14. 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...

  15. Wire Scanner Motion Control Card

    CERN Document Server

    Forde, S E

    2006-01-01

    Scientists require a certain beam quality produced by the accelerator rings at CERN. The discovery potential of LHC is given by the reachable luminosity at its interaction points. The luminosity is maximized by minimizing the beam size. Therefore an accurate beam size measurement is required for optimizing the luminosity. The wire scanner performs very accurate profile measurements, but as it can not be used at full intensity in the LHC ring, it is used for calibrating other profile monitors. As the current wire scanner system, which is used in the present CERN accelerators, has not been made for the required specification of the LHC, a new design of a wire scanner motion control card is part of the LHC wire scanner project. The main functions of this card are to control the wire scanner motion and to acquire the position of the wire. In case of further upgrades at a later stage, it is required to allow an easy update of the firmware, hence the programmable features of FPGAs will be used for this purpose. The...

  16. Technique for producing cardiac radionuclide motion images

    International Nuclear Information System (INIS)

    Reese, I.C.; Mishkin, F.S.

    1975-01-01

    Sequential frames of different portions of the cardiac cycle are gated into a minicomputer by using an EKG signal recorded onto digital tape simultaneously with imaging information. Serial display of these frames on the computer oscilloscope or projection of 35-mm half frames of these images provides a cardiac motion image with information content adequate for qualitatively assessing cardiac motion. (U.S.)

  17. Low-latency wireless data transfer for motion control

    NARCIS (Netherlands)

    Boeij, de J.; Haazen, M.H.; Smulders, P.F.M.; Lomonova, E.A.

    2009-01-01

    This paper discusses a new approach for wireless motion control. Existing wireless techniques suffer from large closed loop delays of several milliseconds, which is unacceptable in precision motion systems. These large delays are mainly caused by the protocol used, since these are optimized for

  18. 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.

  19. 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...

  20. Contamination Control Techniques

    Energy Technology Data Exchange (ETDEWEB)

    EBY, J.L.

    2000-05-16

    Welcome to a workshop on contamination Control techniques. This work shop is designed for about two hours. Attendee participation is encouraged during the workshop. We will address different topics within contamination control techniques; present processes, products and equipment used here at Hanford and then open the floor to you, the attendees for your input on the topics.

  1. Contamination Control Techniques

    International Nuclear Information System (INIS)

    EBY, J.L.

    2000-01-01

    Welcome to a workshop on contamination Control techniques. This work shop is designed for about two hours. Attendee participation is encouraged during the workshop. We will address different topics within contamination control techniques; present processes, products and equipment used here at Hanford and then open the floor to you, the attendees for your input on the topics

  2. 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.

  3. 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

  4. Jerk derivative feedforward control for motion systems

    NARCIS (Netherlands)

    Boerlage, M.L.G.; Tousain, R.L.; Steinbuch, M.

    2004-01-01

    This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance

  5. Stochastic Feedforward Control Technique

    Science.gov (United States)

    Halyo, Nesim

    1990-01-01

    Class of commanded trajectories modeled as stochastic process. Advanced Transport Operating Systems (ATOPS) research and development program conducted by NASA Langley Research Center aimed at developing capabilities for increases in capacities of airports, safe and accurate flight in adverse weather conditions including shear, winds, avoidance of wake vortexes, and reduced consumption of fuel. Advances in techniques for design of modern controls and increased capabilities of digital flight computers coupled with accurate guidance information from Microwave Landing System (MLS). Stochastic feedforward control technique developed within context of ATOPS program.

  6. Manipulation and controlled amplification of Brownian motion of microcantilever sensors

    International Nuclear Information System (INIS)

    Mehta, Adosh; Cherian, Suman; Hedden, David; Thundat, Thomas

    2001-01-01

    Microcantilevers, such as those used in atomic force microscopy, undergo Brownian motion due to mechanical thermal noise. The root mean square amplitude of the Brownian motion of a cantilever typically ranges from 0.01--0.1 nm, which limits its use in practical applications. Here we describe a technique by which the Brownian amplitude and the Q factor in air and water can be amplified by three and two orders of magnitude, respectively. This technique is similar to a positive feedback oscillator, wherein the Brownian motion of the vibrating cantilever controls the frequency output of the oscillator. This technique can be exploited to improve sensitivity of microcantilever-based chemical and biological sensors, especially for sensors in liquid environments

  7. 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

  8. Status of Ground Motion Mitigation Techniques for CLIC

    CERN Document Server

    Snuverink, J; Collette, C; Duarte Ramos, F; Gaddi, A; Gerwig, H; Janssens, S; Pfingstner, J; Schulte, D; Balik, G; Brunetti, L; Jeremie, A; Burrows, P; Caron, B; Resta-Lopez, J

    2011-01-01

    The Compact Linear Collider (CLIC) accelerator has strong stability requirements on the position of the beam. In particular, the beam position will be sensitive to ground motion. A number of mitigation techniques are proposed - quadrupole stabilisation and positioning, final doublet stabilisation as well as beam based orbit and interaction point (IP) feedback. Integrated studies of the impact of the ground motion on the CLIC Main Linac (ML) and Beam Delivery System (BDS) have been performed, which model the hardware and beam performance in detail. Based on the results future improvements of the mitigation techniques are suggested and simulated. It is shown that with the current design the tight luminosity budget for ground motion effects is fulfilled and accordingly, an essential feasibility issue of CLIC has been addressed.

  9. 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

  10. 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

  11. 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.

  12. Modeling and identification for robot motion control

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

    2004-01-01

    This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

  13. Motion control of the Twente humanoid head

    NARCIS (Netherlands)

    Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano

    2009-01-01

    In this work, we present the design and the realization of the motion control algorithm implemented in the Twente hu- manoid head, a seven degrees of freedom (dof) robotic sys- tem. The aim of the project is to have a humanoid head that can serve as a research platform for human-machine interac-

  14. 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

  15. Control Strategies for Guided Collective Motion

    Science.gov (United States)

    2015-02-27

    J.K. Parrish , “Oscillator models and collective motion,” IEEE Control Systems Magzine, Vol. 27, 2007, pp. 89-105. [18] S. H. Strogatz , “From Kuramoto...Automatic Control, 54(2), 2009, pp. 353-357. [21] H. Hong and S. H. Strogatz , “Kuramoto Model of Coupled Oscillators with Positive and Negative...2013) provided similar results by utilizing a modified Kuramoto model ( Strogatz (2000)). Paley (2008) proposed a Lyapunov-based design methodology to

  16. 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].

  17. 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.

  18. 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...

  19. Motion control of musculoskeletal systems with redundancy.

    Science.gov (United States)

    Park, Hyunjoo; Durand, Dominique M

    2008-12-01

    Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inverse model of the system for control purposes. We have developed a control system for multiple input multiple output (MIMO) redundant musculoskeletal systems with little prior information. The proposed method separates the steady-state properties from the dynamic properties. The dynamic control uses a steady-state inverse model and is implemented with both a PID controller for disturbance rejection and an artificial neural network (ANN) feedforward controller for fast trajectory tracking. A mechanism to control the sum of the muscle excitation levels is also included. To test the performance of the proposed control system, a two degree of freedom ankle-subtalar joint model with eight muscles was used. The simulation results show that separation of steady-state and dynamic control allow small output tracking errors for different reference trajectories such as pseudo-step, sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against system parameter and controller parameter variations. A possible application of this control algorithm is FES control using multiple contact cuff electrodes where mathematical modeling is not feasible and the redundancy makes the control of dynamic movement difficult.

  20. Frequency domain performance analysis of nonlinearly controlled motion systems

    NARCIS (Netherlands)

    Pavlov, A.V.; Wouw, van de N.; Pogromski, A.Y.; Heertjes, M.F.; Nijmeijer, H.

    2007-01-01

    At the heart of the performance analysis of linear motion control systems lie essential frequency domain characteristics such as sensitivity and complementary sensitivity functions. For a class of nonlinear motion control systems called convergent systems, generalized versions of these sensitivity

  1. Creating motion graphics with After Effects essential and advanced techniques

    CERN Document Server

    Meyer, Chris

    2010-01-01

    * 5th Edition of best-selling After Effects book by renowned authors Trish and Chris Meyer covers the important updates in After Effects CS4 and CS5 * Covers both essential and advanced techniques, from basic layer manipulation and animation through keying, motion tracking, and color management * Companion DVD is packed with project files for version CS5, source materials, and nearly 200 pages of bonus chapters Trish and Chris Meyer share over 17 years of hard-earned, real-world film and video production experience inside this critically acclaimed text. More than a step-by-step review of th

  2. Myoelectric Control Techniques for a Rehabilitation Robot

    Directory of Open Access Journals (Sweden)

    Alan Smith

    2011-01-01

    Full Text Available This work examines two different types of myoelectric control schemes for the purpose of rehabilitation robot applications. The first is a commonly used technique based on a Gaussian classifier. It is implemented in real time for healthy subjects in addition to a subject with Central Cord Syndrome (CCS. The myoelectric control scheme is used to control three degrees of freedom (DOF on a robot manipulator which corresponded to the robot's elbow joint, wrist joint, and gripper. The classes of motion controlled include elbow flexion and extension, wrist pronation and supination, hand grasping and releasing, and rest. Healthy subjects were able to achieve 90% accuracy. Single DOF controllers were first tested on the subject with CCS and he achieved 100%, 96%, and 85% accuracy for the elbow, gripper, and wrist controllers respectively. Secondly, he was able to control the three DOF controller at 68% accuracy. The potential applications for this scheme are rehabilitation and teleoperation. To overcome limitations in the pattern recognition based scheme, a second myoelectric control scheme is also presented which is trained using electromyographic (EMG data derived from natural reaching motions in the sagittal plane. This second scheme is based on a time delayed neural network (TDNN which has the ability to control multiple DOF at once. The controller tracked a subject's elbow and shoulder joints in the sagittal plane. Results showed an average error of 19° for the two joints. This myoelectric control scheme has the potential of being used in the development of exoskeleton and orthotic rehabilitation applications.

  3. 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.

  4. 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

  5. Autonomous vehicle motion control, approximate maps, and fuzzy logic

    Science.gov (United States)

    Ruspini, Enrique H.

    1993-01-01

    Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

  6. High-speed precision motion control

    CERN Document Server

    Yamaguchi, Takashi; Pang, Chee Khiang

    2011-01-01

    Written for researchers and postgraduate students in Control Engineering, as well as professionals in the Hard Disk Drive industry, this book discusses high-precision and fast servo controls in Hard Disk Drives (HDDs). The editors present a number of control algorithms that enable fast seeking and high precision positioning, and propose problems from commercial products, making the book valuable to researchers in HDDs. Each chapter is self contained, and progresses from concept to technique, present application examples that can be used within automotive, aerospace, aeronautical, and manufactu

  7. Active vibration control by robust control techniques

    International Nuclear Information System (INIS)

    Lohar, F.A.

    2001-01-01

    This paper studies active vibration control of multi-degree-of-freedom system. The control techniques considered are LTR, H/sup 2/ and H/sup infinite/. The results show that LTR controls the vibration but its respective settling time is higher than that of the other techniques. The control performance of H/sup infinite/ control is similar to that of H/sup 2/ control in the case of it weighting functions. However, H/sup infinite/ control is superior to H/sup 2/ control with respect to robustness, steady state error and settling time. (author)

  8. Respiratory lung motion analysis using a nonlinear motion correction technique for respiratory-gated lung perfusion SPECT images

    International Nuclear Information System (INIS)

    Ue, Hidenori; Haneishi, Hideaki; Iwanaga, Hideyuki; Suga, Kazuyoshi

    2007-01-01

    This study evaluated the respiratory motion of lungs using a nonlinear motion correction technique for respiratory-gated single photon emission computed tomography (SPECT) images. The motion correction technique corrects the respiratory motion of the lungs nonlinearly between two-phase images obtained by respiratory-gated SPECT. The displacement vectors resulting from respiration can be computed at every location of the lungs. Respiratory lung motion analysis is carried out by calculating the mean value of the body axis component of the displacement vector in each of the 12 small regions into which the lungs were divided. In order to enable inter-patient comparison, the 12 mean values were normalized by the length of the lung region along the direction of the body axis. This method was applied to 25 Technetium (Tc)-99m-macroaggregated albumin (MAA) perfusion SPECT images, and motion analysis results were compared with the diagnostic results. It was confirmed that the respiratory lung motion reflects the ventilation function. A statistically significant difference in the amount of the respiratory lung motion was observed between the obstructive pulmonary diseases and other conditions, based on an unpaired Student's t test (P<0.0001). A difference in the motion between normal lungs and lungs with a ventilation obstruction was detected by the proposed method. This method is effective for evaluating obstructive pulmonary diseases such as pulmonary emphysema and diffuse panbronchiolitis. (author)

  9. Redox control of molecular motion in switchable artificial nanoscale devices.

    Science.gov (United States)

    Credi, Alberto; Semeraro, Monica; Silvi, Serena; Venturi, Margherita

    2011-03-15

    The design, synthesis, and operation of molecular-scale systems that exhibit controllable motions of their component parts is a topic of great interest in nanoscience and a fascinating challenge of nanotechnology. The development of this kind of species constitutes the premise to the construction of molecular machines and motors, which in a not-too-distant future could find applications in fields such as materials science, information technology, energy conversion, diagnostics, and medicine. In the past 25 years the development of supramolecular chemistry has enabled the construction of an interesting variety of artificial molecular machines. These devices operate via electronic and molecular rearrangements and, like the macroscopic counterparts, they need energy to work as well as signals to communicate with the operator. Here we outline the design principles at the basis of redox switching of molecular motion in artificial nanodevices. Redox processes, chemically, electrically, or photochemically induced, can indeed supply the energy to bring about molecular motions. Moreover, in the case of electrically and photochemically induced processes, electrochemical and photochemical techniques can be used to read the state of the system, and thus to control and monitor the operation of the device. Some selected examples are also reported to describe the most representative achievements in this research area.

  10. Statistical Techniques for Project Control

    CERN Document Server

    Badiru, Adedeji B

    2012-01-01

    A project can be simple or complex. In each case, proven project management processes must be followed. In all cases of project management implementation, control must be exercised in order to assure that project objectives are achieved. Statistical Techniques for Project Control seamlessly integrates qualitative and quantitative tools and techniques for project control. It fills the void that exists in the application of statistical techniques to project control. The book begins by defining the fundamentals of project management then explores how to temper quantitative analysis with qualitati

  11. 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)

  12. Revolution at SOLEIL: review and prospect for motion control

    International Nuclear Information System (INIS)

    Corruble, D.; Betinelli-Deck, P.; Blache, F.; Coquet, J.; Leclercq, N.; Millet, R.; Tournieux, A.

    2012-01-01

    At any synchrotron facility, motors are numerous: they are the significant actuators of accelerators and the main actuators of beamlines. Since 2003, the Electronic Control and data Acquisition group at SOLEIL has defined a modular and reliable motion architecture integrating industrial products (Galil controller, Midi-Engineering and Phytron power boards). Simultaneously, the software control group has developed a set of dedicated Tango devices. At present, more than 1000 motors and 200 motion controller crates are in operation at SOLEIL. Aware that motion control is important in improving performance, given that the positioning of optical systems and samples is a key element of any beamline, SOLEIL wants to upgrade its motion controller in order to maintain the facility at a high performance level and be able to respond to new requirements: better accuracy, complex trajectory and coupling multi-axis devices such as hexa-pods. This project is called REVOLUTION (Reconsider Various controllers for your motion). (authors)

  13. An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

    Science.gov (United States)

    Rañó, Iñaki

    2012-07-01

    Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

  14. Motion artifacts in functional near-infrared spectroscopy: a comparison of motion correction techniques applied to real cognitive data

    Science.gov (United States)

    Brigadoi, Sabrina; Ceccherini, Lisa; Cutini, Simone; Scarpa, Fabio; Scatturin, Pietro; Selb, Juliette; Gagnon, Louis; Boas, David A.; Cooper, Robert J.

    2013-01-01

    Motion artifacts are a significant source of noise in many functional near-infrared spectroscopy (fNIRS) experiments. Despite this, there is no well-established method for their removal. Instead, functional trials of fNIRS data containing a motion artifact are often rejected completely. However, in most experimental circumstances the number of trials is limited, and multiple motion artifacts are common, particularly in challenging populations. Many methods have been proposed recently to correct for motion artifacts, including principle component analysis, spline interpolation, Kalman filtering, wavelet filtering and correlation-based signal improvement. The performance of different techniques has been often compared in simulations, but only rarely has it been assessed on real functional data. Here, we compare the performance of these motion correction techniques on real functional data acquired during a cognitive task, which required the participant to speak aloud, leading to a low-frequency, low-amplitude motion artifact that is correlated with the hemodynamic response. To compare the efficacy of these methods, objective metrics related to the physiology of the hemodynamic response have been derived. Our results show that it is always better to correct for motion artifacts than reject trials, and that wavelet filtering is the most effective approach to correcting this type of artifact, reducing the area under the curve where the artifact is present in 93% of the cases. Our results therefore support previous studies that have shown wavelet filtering to be the most promising and powerful technique for the correction of motion artifacts in fNIRS data. The analyses performed here can serve as a guide for others to objectively test the impact of different motion correction algorithms and therefore select the most appropriate for the analysis of their own fNIRS experiment. PMID:23639260

  15. 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.

  16. Tokamak impurity-control techniques

    International Nuclear Information System (INIS)

    Schmidt, J.A.

    1980-01-01

    A brief review is given of the impurity-control functions in tokamaks, their relative merits and disadvantages and some prominent edge-interaction-control techniques, and there is a discussion of a new proposal, the particle scraper, and its potential advantages. (author)

  17. 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.

  18. 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.

  19. Technique for Measuring Speed and Visual Motion Sensitivity in Lizards

    Science.gov (United States)

    Woo, Kevin L.; Burke, Darren

    2008-01-01

    Testing sensory characteristics on herpetological species has been difficult due to a range of properties related to physiology, responsiveness, performance ability, and the type of reinforcer used. Using the Jacky lizard as a model, we outline a successfully established procedure in which to test the visual sensitivity to motion characteristics.…

  20. Motion control of servo cylinder using neural network

    International Nuclear Information System (INIS)

    Hwang, Un Kyoo; Cho, Seung Ho

    2004-01-01

    In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

  1. Atto-second control of collective electron motion in plasmas

    International Nuclear Information System (INIS)

    Borot, Antonin; Malvache, Arnaud; Chen, Xiaowei; Jullien, Aurelie; Lopez-Martens, Rodrigo; Geindre, Jean-Paul; Audebert, Patrick; Mourou, Gerard; Quere, Fabien

    2012-01-01

    Today, light fields of controlled and measured waveform can be used to guide electron motion in atoms and molecules with atto-second precision. Here, we demonstrate atto-second control of collective electron motion in plasmas driven by extreme intensity (approximate to 10 18 W cm -2 ) light fields. Controlled few-cycle near-infrared waves are tightly focused at the interface between vacuum and a solid-density plasma, where they launch and guide sub-cycle motion of electrons from the plasma with characteristic energies in the multi-kilo-electron-volt range-two orders of magnitude more than has been achieved so far in atoms and molecules. The basic spectroscopy of the coherent extreme ultraviolet radiation emerging from the light-plasma interaction allows us to probe this collective motion of charge with sub-200 as resolution. This is an important step towards atto-second control of charge dynamics in laser-driven plasma experiments. (authors)

  2. 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.

  3. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  4. A systematic comparison of motion artifact correction techniques for functional near-infrared spectroscopy.

    Science.gov (United States)

    Cooper, Robert J; Selb, Juliette; Gagnon, Louis; Phillip, Dorte; Schytz, Henrik W; Iversen, Helle K; Ashina, Messoud; Boas, David A

    2012-01-01

    Near-infrared spectroscopy (NIRS) is susceptible to signal artifacts caused by relative motion between NIRS optical fibers and the scalp. These artifacts can be very damaging to the utility of functional NIRS, particularly in challenging subject groups where motion can be unavoidable. A number of approaches to the removal of motion artifacts from NIRS data have been suggested. In this paper we systematically compare the utility of a variety of published NIRS motion correction techniques using a simulated functional activation signal added to 20 real NIRS datasets which contain motion artifacts. Principle component analysis, spline interpolation, wavelet analysis, and Kalman filtering approaches are compared to one another and to standard approaches using the accuracy of the recovered, simulated hemodynamic response function (HRF). Each of the four motion correction techniques we tested yields a significant reduction in the mean-squared error (MSE) and significant increase in the contrast-to-noise ratio (CNR) of the recovered HRF when compared to no correction and compared to a process of rejecting motion-contaminated trials. Spline interpolation produces the largest average reduction in MSE (55%) while wavelet analysis produces the highest average increase in CNR (39%). On the basis of this analysis, we recommend the routine application of motion correction techniques (particularly spline interpolation or wavelet analysis) to minimize the impact of motion artifacts on functional NIRS data.

  5. Convex optimisation approach to constrained fuel optimal control of spacecraft in close relative motion

    Science.gov (United States)

    Massioni, Paolo; Massari, Mauro

    2018-05-01

    This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as "Sum Of Squares" (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.

  6. 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

  7. Controlled motion of domain walls in submicron amorphous wires

    Energy Technology Data Exchange (ETDEWEB)

    Ţibu, Mihai; Lostun, Mihaela; Rotărescu, Cristian; Atiţoaie, Alexandru; Lupu, Nicoleta; Óvári, Tibor-Adrian, E-mail: taovari@phys-iasi.ro; Chiriac, Horia [Department of Magnetic Materials and Devices, National Institute of Research and Development for Technical Physics, Iaşi, 700050 (Romania); Allwood, Dan A. [Department of Materials Science and Engineering, University of Sheffield, Sheffield, S1 3JD (United Kingdom)

    2016-05-15

    Results on the control of the domain wall displacement in cylindrical Fe{sub 77.5}Si{sub 7.5}B{sub 15} amorphous glass-coated submicron wires prepared by rapid quenching from the melt are reported. The control methods have relied on conical notches with various depths, up to a few tens of nm, made in the glass coating and in the metallic nucleus using a focused ion beam (FIB) system, and on the use of small nucleation coils at one of the sample ends in order to apply magnetic field pulses aimed to enhance the nucleation of reverse domains. The notch-based method is used for the first time in the case of cylindrical ultrathin wires. The results show that the most efficient technique of controlling the domain wall motion in this type of samples is the simultaneous use of notches and nucleation coils. Their effect depends on wire diameter, notch depth, its position on the wire length, and characteristics of the applied pulse.

  8. Motion estimation of tagged cardiac magnetic resonance images using variational techniques

    Czech Academy of Sciences Publication Activity Database

    Carranza-Herrezuelo, N.; Bajo, A.; Šroubek, Filip; Santamarta, C.; Cristóbal, G.; Santos, A.; Ledesma-Carbayo, M.J.

    2010-01-01

    Roč. 34, č. 6 (2010), s. 514-522 ISSN 0895-6111 Institutional research plan: CEZ:AV0Z10750506 Keywords : medical imaging processing * motion estimation * variational techniques * tagged cardiac magnetic resonance images * optical flow Subject RIV: JD - Computer Applications, Robotics Impact factor: 1.110, year: 2010 http://library.utia.cas.cz/separaty/2010/ZOI/sroubek- motion estimation of tagged cardiac magnetic resonance images using variational techniques.pdf

  9. Sensing human hand motions for controlling dexterous robots

    Science.gov (United States)

    Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

    1988-01-01

    The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

  10. 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.

  11. Bandwidth-on-demand motion control

    NARCIS (Netherlands)

    Van Loon, S.J.L.M.; Hunnekens, B.G.B.; Simon, A.S.; van de Wouw, N.; Heemels, W.P.M.H.

    2018-01-01

    In this brief, we introduce a 'bandwidth-on-demand' variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear

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

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2000-01-01

    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......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...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...

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

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2001-01-01

    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......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...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...

  14. The impact of respiratory motion and treatment technique on stereotactic body radiation therapy for liver cancer

    International Nuclear Information System (INIS)

    Wu, Q. Jackie; Thongphiew, Danthai; Wang Zhiheng; Chankong, Vira; Yin Fangfang

    2008-01-01

    Stereotactic body radiation therapy (SBRT), which delivers a much higher fractional dose than conventional treatment in only a few fractions, is an effective treatment for liver metastases. For patients who are treated under free-breathing conditions, however, respiration-induced tumor motion in the liver is a concern. Limited clinical information is available related to the impact of tumor motion and treatment technique on the dosimetric consequences. This study evaluated the dosimetric deviations between planned and delivered SBRT dose in the presence of tumor motion for three delivery techniques: three-dimensional conformal static beams (3DCRT), dynamic conformal arc (DARC), and intensity-modulated radiation therapy (IMRT). Five cases treated with SBRT for liver metastases were included in the study, with tumor motions ranging from 0.5 to 1.75 cm. For each case, three different treatment plans were developed using 3DCRT, DARC, and IMRT. The gantry/multileaf collimator (MLC) motion in the DARC plans and the MLC motion in the IMRT plans were synchronized to the patient's respiratory motion. Retrospectively sorted four-dimensional computed tomography image sets were used to determine patient-organ motion and to calculate the dose delivered during each respiratory phase. Deformable registration, using thin-plate-spline models, was performed to encode the tumor motion and deformation and to register the dose-per-phase to the reference phase images. The different dose distributions resulting from the different delivery techniques and motion ranges were compared to assess the effect of organ motion on dose delivery. Voxel dose variations occurred mostly in the high gradient regions, typically between the target volume and normal tissues, with a maximum variation up to 20%. The greatest CTV variation of all the plans was seen in the IMRT technique with the largest motion range (D99: -8.9%, D95: -8.3%, and D90: -6.3%). The greatest variation for all 3DCRT plans was less

  15. Passive motion paradigm: an alternative to optimal control.

    Science.gov (United States)

    Mohan, Vishwanathan; Morasso, Pietro

    2011-01-01

    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: behavioral neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the "degrees of freedom (DoFs) 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 behavior (and predictions). We propose an alternative "softer" approach passive motion paradigm (PMP) that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt as well as covert) 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 "DoFs problem" without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only restricted to shaping 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 of covert actions, mirror neuron system) 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 for designing

  16. 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

  17. BWR ATWS mitigation by Fine Motion Control Rod

    International Nuclear Information System (INIS)

    Rohatgi, U.S.; Cheng, H.S.; Khan, H.; Mallen, A.; Diamond, D.

    1994-01-01

    Two main methods of ATWS mitigation in a SBWR are: fine Motion control Rods (FMCRD) and Boron injection via the Standby Liquid control System (SLCS). This study has demonstrated that the use of FMCRD along with feedwater runback mitigated the conditions due to reactivity insertion and possible ATWS in a BWR which is similar to SBWR

  18. Infrared wireless data transfer for real-time motion control

    NARCIS (Netherlands)

    Gajdusek, M.; Overboom, T.T.; Damen, A.A.H.; Bosch, van den P.P.J.

    2009-01-01

    In this paper several wireless solution are compared for their suitability for real-time control of a fast motion system. From the comparison, Very Fast Infrared (VFIR) communication link has been found to be an attractive solution for presented wirelessly controlled manipulator. Because standard

  19. 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

  20. Technique of nuclear reactors controls

    International Nuclear Information System (INIS)

    Weill, J.

    1953-12-01

    This report deal about 'Techniques of control of the nuclear reactors' in the goal to achieve the control of natural uranium reactors and especially the one of Saclay. This work is mainly about the measurement into nuclear parameters and go further in the measurement of thermodynamic variables,etc... putting in relief the new features required on behalf of the detectors because of their use in the thermal neutrons flux. In the domain of nuclear measurement, we indicate the realizations and the results obtained with thermal neutron detectors and for the measurement of ionizations currents. We also treat the technical problem of the start-up of a reactor and of the reactivity measurement. We give the necessary details for the comprehension of all essential diagrams and plans put on, in particular, for the reactor of Saclay. (author) [fr

  1. New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

    Science.gov (United States)

    Telban, Robert J.

    While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input

  2. Efficient control of mechatronic systems in dynamic motion tasks

    Directory of Open Access Journals (Sweden)

    Despotova Desislava

    2018-01-01

    Full Text Available Robots and powered exoskeletons have often complex and non-linear dynamics due to friction, elasticity, and changing load. The proposed study addresses various-type robots that have to perform dynamic point-to-point motion tasks (PTPMT. The performance demands are for faster motion, higher positioning accuracy, and lower energy consumption. With given motion task, it is of primary importance to study the structure and controllability of the corresponding controlled system. The following natural decentralized controllability condition is assumed: the signs of any control input and the corresponding output (the acceleration are the same, at least when the control input is at its maximum absolute value. Then we find explicit necessary and sufficient conditions on the control transfer matrix that can guarantee robust controllability in the face of arbitrary, but bounded disturbances. Further on, we propose a generic optimisation approach for control learning synthesis of various type robotic systems in PTPMT. Our procedure for iterative learning control (LC has the following main steps: (1 choose a set of appropriate test control functions; (2 define the most relevant input-output pairs; and (3 solve shooting equations and perform control parameter optimisation. We will give several examples to explain our controllability and optimisation concepts.

  3. The Technique of Lighting for Television and Motion Pictures.

    Science.gov (United States)

    Millerson, Gerald

    The aim of this book is to enable everyone working with light in photography, cinematography, and television to build a methodical, rational foundation for techniques from which personal creativity can grow. Fundamentals about the nature of light are explored in a first chapter, and similarities and differences between the eye and the camera in…

  4. 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.

  5. Autogenic-Feedback Training for the Control of Space Motion Sickness

    Science.gov (United States)

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

    1994-01-01

    This paper presents case-studies of 9 shuttle crewmembers (prime and alternates) and one U.S. Navy F-18 pilot, as they participated in all preflight training and testing activities in support of a life sciences flight experiment aboard Spacelab-J, and Spacelab-3. The primary objective of the flight experiment was to determine if Autogenic-feedback training (AFT), a physiological self-regulation training technique would be an effective treatment for motion sickness and space motion sickness in these crewmembers. Additional objectives of this study involved the examining human physiological responses to motion sickness on Earth and in space, as well as developing predictive criteria for susceptibility to space motion sickness based on ground-based data. Comparisons of these crewmembers are made to a larger set of subjects from previous experiments (treatment and "test-only" controls subjects). This paper describes all preflight methods, results and proposed changes for future tests.

  6. 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.

  7. 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 ....... Furthermore, a developed IT-tool concept for controller and system design utilising the ISO 10303 STEP Standard is proposed....

  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. A systematic comparison of motion artifact correction techniques for functional near-infrared spectroscopy

    DEFF Research Database (Denmark)

    Cooper, Robert J; Selb, Juliette; Gagnon, Louis

    2012-01-01

    a significant reduction in the mean-squared error (MSE) and significant increase in the contrast-to-noise ratio (CNR) of the recovered HRF when compared to no correction and compared to a process of rejecting motion-contaminated trials. Spline interpolation produces the largest average reduction in MSE (55....... Principle component analysis, spline interpolation, wavelet analysis, and Kalman filtering approaches are compared to one another and to standard approaches using the accuracy of the recovered, simulated hemodynamic response function (HRF). Each of the four motion correction techniques we tested yields......%) while wavelet analysis produces the highest average increase in CNR (39%). On the basis of this analysis, we recommend the routine application of motion correction techniques (particularly spline interpolation or wavelet analysis) to minimize the impact of motion artifacts on functional NIRS data....

  10. Design techniques for mutlivariable flight control systems

    Science.gov (United States)

    1981-01-01

    Techniques which address the multi-input closely coupled nature of advanced flight control applications and digital implementation issues are described and illustrated through flight control examples. The techniques described seek to exploit the advantages of traditional techniques in treating conventional feedback control design specifications and the simplicity of modern approaches for multivariable control system design.

  11. Analysis of Offshore Knuckle Boom Crane - Part Two: Motion Control

    Directory of Open Access Journals (Sweden)

    Morten K. Bak

    2013-10-01

    Full Text Available In this paper design of electro-hydraulic motion control systems for offshore knuckle boom cranes is discussed. The influence of the control valve bandwidth along with the ramp time for the control signal are investigated both analytically with simplified system models and numerically with an experimentally verified crane model. The results of both types of investigations are related to general design rules for selection of control valves and ramp times and the relevance of these design rules is discussed. Generally, they are useful but may be too conservative for offshore knuckle boom cranes. However, as demonstrated in the paper, the only proper way to determine this is to evaluate the motion control system design by means of simulation.

  12. PET motion correction in context of integrated PET/MR: Current techniques, limitations, and future projections.

    Science.gov (United States)

    Gillman, Ashley; Smith, Jye; Thomas, Paul; Rose, Stephen; Dowson, Nicholas

    2017-12-01

    Patient motion is an important consideration in modern PET image reconstruction. Advances in PET technology mean motion has an increasingly important influence on resulting image quality. Motion-induced artifacts can have adverse effects on clinical outcomes, including missed diagnoses and oversized radiotherapy treatment volumes. This review aims to summarize the wide variety of motion correction techniques available in PET and combined PET/CT and PET/MR, with a focus on the latter. A general framework for the motion correction of PET images is presented, consisting of acquisition, modeling, and correction stages. Methods for measuring, modeling, and correcting motion and associated artifacts, both in literature and commercially available, are presented, and their relative merits are contrasted. Identified limitations of current methods include modeling of aperiodic and/or unpredictable motion, attaining adequate temporal resolution for motion correction in dynamic kinetic modeling acquisitions, and maintaining availability of the MR in PET/MR scans for diagnostic acquisitions. Finally, avenues for future investigation are discussed, with a focus on improvements that could improve PET image quality, and that are practical in the clinical environment. © 2017 American Association of Physicists in Medicine.

  13. Two-pulse laser control of nuclear and electronic motion

    DEFF Research Database (Denmark)

    Grønager, Michael; Henriksen, Niels Engholm

    1997-01-01

    We discuss an explicitly time-dependent two-pulse laser scheme for controlling where nuclei and electrons are going in unimolecular reactions. We focus on electronic motion and show, with HD+ as an example, that one can find non-stationary states where the electron (with some probability...

  14. Vision based motion control for a humanoid head

    NARCIS (Netherlands)

    Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano

    2009-01-01

    This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed

  15. 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

  16. 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.

  17. 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.

  18. Motion Control of Urea-Powered Biocompatible Hollow Microcapsules.

    Science.gov (United States)

    Ma, Xing; Wang, Xu; Hahn, Kersten; Sánchez, Samuel

    2016-03-22

    The quest for biocompatible microswimmers powered by compatible fuel and with full motion control over their self-propulsion is a long-standing challenge in the field of active matter and microrobotics. Here, we present an active hybrid microcapsule motor based on Janus hollow mesoporous silica microparticles powered by the biocatalytic decomposition of urea at physiological concentrations. The directional self-propelled motion lasts longer than 10 min with an average velocity of up to 5 body lengths per second. Additionally, we control the velocity of the micromotor by chemically inhibiting and reactivating the enzymatic activity of urease. The incorporation of magnetic material within the Janus structure provides remote magnetic control on the movement direction. Furthermore, the mesoporous/hollow structure can load both small molecules and larger particles up to hundreds of nanometers, making the hybrid micromotor an active and controllable drug delivery microsystem.

  19. 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.

  20. 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.

  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...... 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....

  2. Stepping-Motion Motor-Control Subsystem For Testing Bearings

    Science.gov (United States)

    Powers, Charles E.

    1992-01-01

    Control subsystem closed-loop angular-position-control system causing motor and bearing under test to undergo any of variety of continuous or stepping motions. Also used to test bearing-and-motor assemblies, motors, angular-position sensors including rotating shafts, and like. Monitoring subsystem gathers data used to evaluate performance of bearing or other article under test. Monitoring subsystem described in article, "Monitoring Subsystem For Testing Bearings" (GSC-13432).

  3. Integrals of Motion for Discrete-Time Optimal Control Problems

    OpenAIRE

    Torres, Delfim F. M.

    2003-01-01

    We obtain a discrete time analog of E. Noether's theorem in Optimal Control, asserting that integrals of motion associated to the discrete time Pontryagin Maximum Principle can be computed from the quasi-invariance properties of the discrete time Lagrangian and discrete time control system. As corollaries, results for first-order and higher-order discrete problems of the calculus of variations are obtained.

  4. 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.

  5. On development and improvement of evaluation techniques for seismic ground motion

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2013-08-15

    Issues regarding evaluation of active fault and ground motion for formulation of design basis ground motion (Ss) were prescribed in 'NSC seismic and tsunami safety reviewing manual' in 2012. Moreover, Nuclear Regulation Authority (NRA) is establishing the new seismic safety guideline. In this theme following four subjects were investigated to resolve the important problems for ground motion evaluation, (1) advanced evaluation of ground motion using fault model and uncertainty; (2) improving evaluation of ground motion using attenuation relation of response spectrum; (3) development of advanced and generic techniques for ground motion observation and observation tool in deep borehole; (4) improving the evaluation of site effect and seismic wave propagation characteristics. In addition as emergency requirements from NRA following two subjects were also investigated; (5) hazard evaluation development on fault displacement; (6) ground motion evaluation at near-by source location. Obtained results will be reflected not only in the domestic guideline established by NRA but in the national safety review and also in the safety standard guidelines of the International Atomic Energy Agency (IAEA) through its Extra-Budgetary Program (EBP), thereby contributing to technical cooperation in global nuclear seismic safety. (author)

  6. 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.

  7. 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.

  8. A novel sensor for two-degree-of-freedom motion measurement of linear nanopositioning stage using knife edge displacement sensing technique

    Science.gov (United States)

    Zolfaghari, Abolfazl; Jeon, Seongkyul; Stepanick, Christopher K.; Lee, ChaBum

    2017-06-01

    This paper presents a novel method for measuring two-degree-of-freedom (DOF) motion of flexure-based nanopositioning systems based on optical knife-edge sensing (OKES) technology, which utilizes the interference of two superimposed waves: a geometrical wave from the primary source of light and a boundary diffraction wave from the secondary source. This technique allows for two-DOF motion measurement of the linear and pitch motions of nanopositioning systems. Two capacitive sensors (CSs) are used for a baseline comparison with the proposed sensor by simultaneously measuring the motions of the nanopositioning system. The experimental results show that the proposed sensor closely agrees with the fundamental linear motion of the CS. However, the two-DOF OKES technology was shown to be approximately three times more sensitive to the pitch motion than the CS. The discrepancy in the two sensor outputs is discussed in terms of measuring principle, linearity, bandwidth, control effectiveness, and resolution.

  9. 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.

  10. 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.

  11. Adaptive fuzzy trajectory control for biaxial motion stage system

    Directory of Open Access Journals (Sweden)

    Wei-Lung Mao

    2016-04-01

    Full Text Available Motion control is an essential part of industrial machinery and manufacturing systems. In this article, the adaptive fuzzy controller is proposed for precision trajectory tracking control in biaxial X-Y motion stage system. The theoretical analyses of direct fuzzy control which is insensitive to parameter uncertainties and external load disturbances are derived to demonstrate the feasibility to track the reference trajectories. The Lyapunov stability theorem has been used to testify the asymptotic stability of the whole system, and all the signals are bounded in the closed-loop system. The intelligent position controller combines the merits of the adaptive fuzzy control with robust characteristics and learning ability for periodic command tracking of a servo drive mechanism. The simulation and experimental results on square, triangle, star, and circle reference contours are presented to show that the proposed controller indeed accomplishes the better tracking performances with regard to model uncertainties. It is observed that the convergence of parameters and tracking errors can be faster and smaller compared with the conventional adaptive fuzzy control in terms of average tracking error and tracking error standard deviation.

  12. Vision Servo Motion Control and Error Analysis of a Coplanar XXY Stage for Image Alignment Motion

    Directory of Open Access Journals (Sweden)

    Hau-Wei Lee

    2013-01-01

    Full Text Available In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-type XYθ stage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanar XXY stage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanar XXY stage.

  13. Motion control of a gantry crane with a container

    Science.gov (United States)

    Shugailo, T. S.; Yushkov, M. P.

    2018-05-01

    The transportation of a container by a gantry crane in a given time from one point of space to another is considered. The system is at rest at the end of the motion. A maximum admissible speed is taken into account. The control force is found using either the Pontryagin maximum principle or the generalized Gauss principle. The advantages of the second method over the first one is demonstrated.

  14. Algorithm for motion control of an exoskeleton during verticalization

    Directory of Open Access Journals (Sweden)

    Jatsun Sergey

    2016-01-01

    Full Text Available This paper considers lower limb exoskeleton that performs sit-to-stand motion. The work is focused on the control system design. An application of a null space projection methods for solving inverse kinematics problem is discussed. An adaptive multi-input multi-output regulator for the system is presented with the motivation for that choice. Results of the simulation for different versions of the regulator are shown.

  15. Kinematic control of redundant robots and the motion optimizability measure.

    Science.gov (United States)

    Li, L; Gruver, W A; Zhang, Q; Yang, Z

    2001-01-01

    This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

  16. Applicability of statistical process control techniques

    NARCIS (Netherlands)

    Schippers, W.A.J.

    1998-01-01

    This paper concerns the application of Process Control Techniques (PCTs) for the improvement of the technical performance of discrete production processes. Successful applications of these techniques, such as Statistical Process Control Techniques (SPC), can be found in the literature. However, some

  17. On development and improvement of evaluation techniques for strong ground motion

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2012-08-15

    Issues regarding evaluation of active fault and ground motion for formulation of design basis ground motion (Ss) were identified during NISA and NSC seismic safety reviewing activities, which have been conducted in the light of the revision of the relevant seismic regulatory guide in 2006 and the experiences of the Niigataken Chuetsu-oki Earthquake in 2007 and the 2011 off the Pacific Coast of Tohoku Earthquake. In this theme following four subjects were investigated to resolve the important problems for ground motion evaluation, (1) advanced evaluation of ground motion using fault model and uncertainty; (2) improving evaluation of ground motion using attenuation relation of response spectrum; (3) development of advanced technique for ground motion observation and observation tool in deep borehole; (4) improving the evaluation of site effect and seismic wave propagation characteristics. Obtained results will be incorporated into the national safety review and also in the safety standard guidelines of the International Atomic Energy Agency (IAEA) using its Extra-Budgetary Program (IAEA EBP), thereby contributing to technical cooperation in global nuclear seismic safety. (author)

  18. 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.

  19. 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.

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

    OpenAIRE

    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....

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

    International Nuclear Information System (INIS)

    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%

  2. Geometric Control Over the Motion of Magnetic Domain Walls

    International Nuclear Information System (INIS)

    N.A. Sinitsyn; V.V. Dobrovitski; S. urazhdin; Avadh Saxena

    2008-01-01

    We propose a method that enables a precise control of magnetic patterns and relies only on the fundamental properties of the wire as well as on the choice of the path in the controlled parameter space but not on the rate of motion along this path. Possible experimental realizations of this mechanism are discussed. In particular, we show that the domain walls in magnetic nanowires can be translated by rotation of the magnetic easy axis or by applying pulses of magnetic field directed transverse to the magnetic easy axis

  3. 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.

  4. fuzzy control technique fuzzy control technique applied to modified

    African Journals Online (AJOL)

    eobe

    epidemiological parameters) to the malaria model simulated by 9 fully ... The Mamdani controllers use a standard max-min inference process and a fast centre of min inference process and a ... Numerical results obtained using Matlab 2008a software software .... simulation environment using the 9 ODE Simulators. The test ...

  5. 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.

  6. 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.

  7. Modern control techniques for accelerators

    International Nuclear Information System (INIS)

    Goodwin, R.W.; Shea, M.F.

    1984-01-01

    Beginning in the mid to late sixties, most new accelerators were designed to include computer based control systems. Although each installation differed in detail, the technology of the sixties and early to mid seventies dictated an architecture that was essentially the same for the control systems of that era. A mini-computer was connected to the hardware and to a console. Two developments have changed the architecture of modern systems: the microprocessor and local area networks. This paper discusses these two developments and demonstrates their impact on control system design and implementation by way of describing a possible architecture for any size of accelerator. Both hardware and software aspects are included

  8. Advanced motion control for next-generation precision mechatronics: Challenges for control, identification, and learning

    NARCIS (Netherlands)

    Oomen, Tom

    2017-01-01

    Manufacturing equipment and scientific instruments, including wafer scanners, printers, microscopes, and medical imaging scanners, require accurate and fast motions. Increasing requirements necessitate enhanced control performance. The aim of this paper is to identify several challenges for advanced

  9. Modern control techniques for accelerators

    International Nuclear Information System (INIS)

    Goodwin, R.W.; Shea, M.F.

    1984-05-01

    Beginning in the mid to late sixties, most new accelerators were designed to include computer based control systems. Although each installation differed in detail, the technology of the sixties and early to mid seventies dictated an architecture that was essentially the same for the control systems of that era. A mini-computer was connected to the hardware and to a console. Two developments have changed the architecture of modern systems: (a) the microprocessor and (b) local area networks. This paper discusses these two developments and demonstrates their impact on control system design and implementation by way of describing a possible architecture for any size of accelerator. Both hardware and software aspects are included

  10. 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...

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

    OpenAIRE

    Dzulkarnain, Iskandar; Sumpeno, Surya; Christyowidiasmoro, Christyowidiasmoro

    2016-01-01

    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 dilak...

  12. 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...

  13. Mitigation of ground motion effects in linear accelerators via feed-forward control

    Directory of Open Access Journals (Sweden)

    J. Pfingstner

    2014-12-01

    Full Text Available Ground motion is a severe problem for many particle accelerators, since it excites beam oscillations, which decrease the beam quality and create beam-beam offset (at colliders. Orbit feedback systems can only compensate ground motion effects at frequencies significantly smaller than the beam repetition rate. In linear colliders, where the repetition rate is low, additional counter measures have to be put in place. For this reason, a ground motion mitigation method based on feed-forward control is presented in this paper. It has several advantages compared to other techniques (stabilization systems and intratrain feedback systems such as cost reduction and potential performance improvement. An analytical model is presented that allows the derivation of hardware specification and performance estimates for a specific accelerator and ground motion model. At the Accelerator Test Facility (ATF2, ground motion sensors have been installed to verify the feasibility of important parts of the mitigation strategy. In experimental studies, it has been shown that beam excitations due to ground motion can be predicted from ground motion measurements on a pulse-to-pulse basis. Correlations of up to 80% between the estimated and measured orbit jitter have been observed. Additionally, an orbit jitter source was identified and has been removed, which halved the orbit jitter power at ATF2 and shows that the feed-forward scheme is also very useful for the detection of installation issues. We believe that the presented mitigation method has the potential to reduce costs and improve the performance of linear colliders and potentially other linear accelerators.

  14. Techniques of Ultrasound Cavitation Control

    Directory of Open Access Journals (Sweden)

    S. P. Skvortsov

    2015-01-01

    Full Text Available The control methods of ultrasonic cavitation applied now within the range from 20 kHz to 80 kHz use either control of ultrasound source parameters (amplitude, acoustic power, etc. or control of one of the cavitation effects (erosion of materials, sonoluminescence, power of acoustic noise, etc.. These methods provide effective management of technological processes, however, make it impossible to relate the estimated effect with parameters of pulsations of cavitation bubbles. This is, mainly, due to influence of a number of uncontrollable parameters, in particular, such as temperature, composition of liquid, gas content, etc. as well as because of the difficulty to establish interrelation between the estimated effect and parameters of pulsations. As a result, in most cases it is difficult to compare controlled parameters of ultrasonic cavitation among themselves, and quantitative characteristics of processes become depending on the type of ultrasonic installation and conditions of their measurement.In this regard, methods to determine parameters of bubble pulsations through sounding a cavitation area by low-intensity laser radiation or to record cavitation noise sub-harmonics reflecting dynamics of changing radius of cavitation bubbles are of interest. The method of optical sounding, via the analysis of spectral components of a scattered signal recorded by a photo-detector, allows us to define a phase of the bubbles collapse with respect to the sound wave and a moving speed of the bubbles wall, as well as to estimate a cavitation index within the light beam section.The method to record sub-harmonicas of cavitation noise allows us to define parameters of pulsations, average for cavitation areas.The above methods allow us both to study mechanisms of cavitation action and to form quantitative criteria of its efficiency based on the physical processes, rather than their consequences and are convenient for arranging a feedback in the units using

  15. MO-FG-BRD-00: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  16. MO-FG-BRD-00: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management

    International Nuclear Information System (INIS)

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  17. 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)

  18. Evaluation of control rod motion simulator research reactors

    International Nuclear Information System (INIS)

    Sanda

    2010-01-01

    Motion simulator has been carried out testing of the reactor control rod using a servomotor. Reactor control rod motion at any point should be in the right position, one of the motors that can move in a precise and correct the servo motor. To ensure that the servo motor to move in accordance with the desired program, then the servomotor function test for motor work to ensure the performance of the appliance. 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 Vout nets at 24 V, 6.5 A with 12 Ω 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 Vout nets at 12V, 4.2 A with a 6 Ω 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 Vout 24 V, 4.5 A with 12 Ω 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)

  19. VIDEO DENOISING USING SWITCHING ADAPTIVE DECISION BASED ALGORITHM WITH ROBUST MOTION ESTIMATION TECHNIQUE

    Directory of Open Access Journals (Sweden)

    V. Jayaraj

    2010-08-01

    Full Text Available A Non-linear adaptive decision based algorithm with robust motion estimation technique is proposed for removal of impulse noise, Gaussian noise and mixed noise (impulse and Gaussian with edge and fine detail preservation in images and videos. The algorithm includes detection of corrupted pixels and the estimation of values for replacing the corrupted pixels. The main advantage of the proposed algorithm is that an appropriate filter is used for replacing the corrupted pixel based on the estimation of the noise variance present in the filtering window. This leads to reduced blurring and better fine detail preservation even at the high mixed noise density. It performs both spatial and temporal filtering for removal of the noises in the filter window of the videos. The Improved Cross Diamond Search Motion Estimation technique uses Least Median Square as a cost function, which shows improved performance than other motion estimation techniques with existing cost functions. The results show that the proposed algorithm outperforms the other algorithms in the visual point of view and in Peak Signal to Noise Ratio, Mean Square Error and Image Enhancement Factor.

  20. Robust control technique for nuclear power plants

    International Nuclear Information System (INIS)

    Murphy, G.V.; Bailey, J.M.

    1989-03-01

    This report summarizes the linear quadratic Guassian (LQG) design technique with loop transfer recovery (LQG/LTR) for design of control systems. The concepts of return ratio, return difference, inverse return difference, and singular values are summarized. The LQG/LTR design technique allows the synthesis of a robust control system. To illustrate the LQG/LTR technique, a linearized model of a simple process has been chosen. The process has three state variables, one input, and one output. Three control system design methods are compared: LQG, LQG/LTR, and a proportional plus integral controller (PI). 7 refs., 20 figs., 6 tabs

  1. 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...

  2. Interactions Controlling the Slow Dynamic Conformational Motions of Ubiquitin

    Directory of Open Access Journals (Sweden)

    Soichiro Kitazawa

    2017-08-01

    Full Text Available Rational mutation of proteins based on their structural and dynamic characteristics is a useful strategy for amplifying specific fluctuations in proteins. Here, we show the effects of mutation on the conformational fluctuations and thermodynamic stability of ubiquitin. In particular, we focus on the salt bridge between K11 and E34 and the hydrogen bond between I36 and Q41, which are predicted to control the fluctuation between the basic folded state, N1, and the alternatively folded state, N2, of the protein, using high-pressure NMR spectroscopy. The E34A mutation, which disrupts the salt bridge, did not alter picosecond–to–nanosecond, microsecond–to–millisecond dynamic motions, and stability of the protein, while the Q41N mutation, which destabilizes the hydrogen bond, specifically amplified the N1–N2 conformational fluctuation and decreased stability. Based on the observed thermodynamic stabilities of the various conformational states, we showed that in the Q41N mutant, the N1 state is more significantly destabilized than the N2 state, resulting in an increase in the relative population of N2. Identifying the interactions controlling specific motions of a protein will facilitate molecular design to achieve functional dynamics beyond native state dynamics.

  3. Relative dynamics and motion control of nanosatellite formation flying

    Science.gov (United States)

    Pimnoo, Ammarin; Hiraki, Koju

    2016-04-01

    Orbit selection is a necessary factor in nanosatellite formation mission design/meanwhile, to keep the formation, it is necessary to consume fuel. Therefore, the best orbit design for nanosatellite formation flying should be one that requires the minimum fuel consumption. The purpose of this paper is to analyse orbit selection with respect to the minimum fuel consumption, to provide a convenient way to estimate the fuel consumption for keeping nanosatellite formation flying and to present a simplified method of formation control. The formation structure is disturbed by J2 gravitational perturbation and other perturbing accelerations such as atmospheric drag. First, Gauss' Variation Equations (GVE) are used to estimate the essential ΔV due to the J2 perturbation and atmospheric drag. The essential ΔV presents information on which orbit is good with respect to the minimum fuel consumption. Then, the linear equations which account for J2 gravitational perturbation of Schweighart-Sedwick are presented and used to estimate the fuel consumption to maintain the formation structure. Finally, the relative dynamics motion is presented as well as a simplified motion control of formation structure by using GVE.

  4. A Morphing Technique Applied to Lung Motions in Radiotherapy: Preliminary Results

    Directory of Open Access Journals (Sweden)

    R. Laurent

    2010-01-01

    Full Text Available Organ motion leads to dosimetric uncertainties during a patient’s treatment. Much work has been done to quantify the dosimetric effects of lung movement during radiation treatment. There is a particular need for a good description and prediction of organ motion. To describe lung motion more precisely, we have examined the possibility of using a computer technique: a morphing algorithm. Morphing is an iterative method which consists of blending one image into another image. To evaluate the use of morphing, Four Dimensions Computed Tomography (4DCT acquisition of a patient was performed. The lungs were automatically segmented for different phases, and morphing was performed using the end-inspiration and the end-expiration phase scans only. Intermediate morphing files were compared with 4DCT intermediate images. The results showed good agreement between morphing images and 4DCT images: fewer than 2 % of the 512 by 256 voxels were wrongly classified as belonging/not belonging to a lung section. This paper presents preliminary results, and our morphing algorithm needs improvement. We can infer that morphing offers considerable advantages in terms of radiation protection of the patient during the diagnosis phase, handling of artifacts, definition of organ contours and description of organ motion.

  5. 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...

  6. Relative roughness controls on incipient sediment motion in steep channels

    Science.gov (United States)

    Prancevic, J.; Lamb, M. P.; Fuller, B. M.

    2012-12-01

    For over eight decades, researchers have noted an appreciable increase in the nondimensional shear stress (Shields number) at initiation of fluvial bedload transport with increasing bed slope. The precise cause of the trend, however, is obscured by the covariance of several factors with increased slope: a greater downstream component of the gravity acting on the grains and fluid, changes in bed morphology, increased grainsize relative to the channel width that may lead to grain bridging, and increased grainsize relative to flow depth (relative roughness) that may change flow hydraulics and particle buoyancy. Here, we report on ongoing laboratory experiments spanning a wide range of bed slopes (2% to 67%) designed to isolate these variables and determine the true cause of heightened critical Shields numbers on steep slopes. First, we eliminated bed morphology as a factor by using only planar beds. To investigate the effect of grain bridging, we used two different channel widths, representing width-to-grainsize ratios of 23:1 and 9:1. Finally, to separate the effects of slope from relative roughness, we compared incipient motion conditions for acrylic particles (submerged specific gravity of 0.15) to natural siliciclastic gravel (submerged specific gravity of 1.65). Different particle densities allowed us to explore incipient motion as a function of relative roughness, independent of channel slope, because lighter particles move at shallower flow depths than heavier ones of the same size. Results show that both materials exhibit a positive trend between bed slope and critical Shields number despite the existence of planar beds for all slopes. Furthermore, changing the grainsize-to-width ratio had a negligible effect on this trend. For all slopes, the critical Shields number for bedload transport was higher for the acrylic particles than for gravel, indicating that relative roughness has a strong control on incipient sediment motion independent of channel slope. These

  7. 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

  8. 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.

  9. Modified expansive open-door laminoplasty technique improved postoperative neck pain and cervical range of motion.

    Science.gov (United States)

    Yeh, Kuang-Ting; Chen, Ing-Ho; Yu, Tzai-Chiu; Liu, Kuan-Lin; Peng, Cheng-Huan; Wang, Jen-Hung; Lee, Ru-Ping; Wu, Wen-Tien

    2015-12-01

    Expansive open-door laminoplasty (EOLP) is a useful technique for multiple-level cervical spondylotic myelopathy. The common postoperative complications of EOLP include moderate to severe neck pain, loss of cervical lordosis, decrease of cervical range of motion, and C5 palsy. We modified the surgical technique to lessen these complications. This study is aimed to elucidate the efficacy of modified techniques to lessen the complications of traditional procedures. We collected data from 126 consecutive patients treated at our institution between August 2008 and December 2012. Of these, 66 patients underwent conventional EOLP (CEOLP) and the other 60 patients underwent modified EOLP (MEOLP). The demographic and preoperative data, axial pain visual analog scale scores at 2 weeks and 3 months postoperatively, clinical outcomes evaluated using Nurick score and Japanese Orthopedic Association recovery rate at 12 months postoperatively, and radiographic results assessed using plain films at 3 months and 12 months postoperatively for both groups were compared and analyzed. There were no significant differences regarding the preoperative condition between the CEOLP and MEOLP groups (p > 0.05). The Japanese Orthopedic Association recovery rate of the MEOLP group was 70.3%, comparable to the result of the other group (70.2%). Postoperative axial neck pain, loss of range of motion, and loss of lordosis of cervical curvature decreased significantly in the MEOLP group (p cervical spondylotic myelopathy, which decreases postoperative complications effectively. Copyright © 2014. Published by Elsevier B.V.

  10. 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...... were used for statistical analysis and system identification. This analysis shows that the pitching motion is indeed influenced by engine speed and it is suggested that there exists a possibility of reducing the pitching motion by properly controlling the engine throttle. Based on this observation...

  11. A new technique for determining orientation and motion of a 2-D, non-planar magnetopause

    Directory of Open Access Journals (Sweden)

    A. Blagau

    2010-03-01

    Full Text Available For a four-point mission like Cluster, the differences in position and time when the satellites detect the magnetopause or any other discontinuity, can be used to infer the discontinuity local orientation, thickness and motion. This timing technique, commonly assuming a planar geometry, offers an independent check for various single-spacecraft techniques. In the present paper we propose an extension of the timing method, capable of determining in a self-consistent way the macroscopic parameters of a two-dimensional, non-planar discontinuity. Such a configuration can be produced by a local bulge or indentation in the magnetopause, or by a large amplitude wave traveling on this surface, and is recognized in Cluster data when the single spacecraft techniques provide different individual normals contained roughly in the same plane. The model we adopted for the magnetopause assumes a layer of constant thickness of either cylindrical or parabolic shape, which has one or two degrees of freedom for the motion in the plane of the individual normals. The method was further improved by incorporating in a self-consistent way the requirement of minimum magnetic field variance along the magnetopause normal. An additional assumption, required in a previously proposed non-planar technique, i.e. that the non-planarity has negligible effects on the minimum variance analysis, is thus avoided. We applied the method to a magnetopause transition for which the various planar techniques provided inconsistent results. By contrast, the solutions obtained from the different implementations of the new 2-D method were consistent and stable, indicating a convex shape for the magnetopause. These solutions perform better than the planar solutions from the normal magnetic field variance perspective. The magnetopause dynamics and the presence of a non-zero normal magnetic field component in the analyzed event are discussed.

  12. Active load control techniques for wind turbines.

    Energy Technology Data Exchange (ETDEWEB)

    van Dam, C.P. (University of California, Davis, CA); Berg, Dale E.; Johnson, Scott J. (University of California, Davis, CA)

    2008-07-01

    This report provides an overview on the current state of wind turbine control and introduces a number of active techniques that could be potentially used for control of wind turbine blades. The focus is on research regarding active flow control (AFC) as it applies to wind turbine performance and loads. The techniques and concepts described here are often described as 'smart structures' or 'smart rotor control'. This field is rapidly growing and there are numerous concepts currently being investigated around the world; some concepts already are focused on the wind energy industry and others are intended for use in other fields, but have the potential for wind turbine control. An AFC system can be broken into three categories: controls and sensors, actuators and devices, and the flow phenomena. This report focuses on the research involved with the actuators and devices and the generated flow phenomena caused by each device.

  13. 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

  14. Operating control techniques for maglev transport systems

    Energy Technology Data Exchange (ETDEWEB)

    Kraft, K H; Schnieder, E

    1984-06-01

    The technical and operational possibilities of magnetic levitation transport systems can only be fully exploited by introducing 'intelligent' control systems which ensure automatic and trouble-free train running. The solution of exacting requirements in the fields of traction dynamics, security and control as well as information gathering transmission and processing is an important prior condition in that respect. The authors report here on the present state of research and development in operating control techniques applicable to maglev transport systems.

  15. Complex motion of a vehicle through a series of signals controlled by power-law phase

    Science.gov (United States)

    Nagatani, Takashi

    2017-07-01

    We study the dynamic motion of a vehicle moving through the series of traffic signals controlled by the position-dependent phase of power law. All signals are controlled by both cycle time and position-dependent phase. The dynamic model of the vehicular motion is described in terms of the nonlinear map. The vehicular motion varies in a complex manner by varying cycle time for various values of the power of the position-dependent phase. The vehicle displays the periodic motion with a long cycle for the integer power of the phase, while the vehicular motion exhibits the very complex behavior for the non-integer power of the phase.

  16. 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

  17. An integrated bioimpedance—ECG gating technique for respiratory and cardiac motion compensation in cardiac PET

    International Nuclear Information System (INIS)

    Koivumäki, Tuomas; Nekolla, Stephan G; Fürst, Sebastian; Loher, Simone; Schwaiger, Markus; Vauhkonen, Marko; Hakulinen, Mikko A

    2014-01-01

    Respiratory motion may degrade image quality in cardiac PET imaging. Since cardiac PET studies often involve cardiac gating by ECG, a separate respiratory monitoring system is required increasing the logistic complexity of the examination, in case respiratory gating is also needed. Thus, we investigated the simultaneous acquisition of both respiratory and cardiac gating signals using II limb lead mimicking electrode configuration during cardiac PET scans of 11 patients. In addition to conventional static and ECG-gated images, bioimpedance technique was utilized to generate respiratory- and dual-gated images. The ability of the bioimpedance technique to monitor intrathoracic respiratory motion was assessed estimating cardiac displacement between end-inspiration and -expiration. The relevance of dual gating was evaluated in left ventricular volume and myocardial wall thickness measurements. An average 7.6  ±  3.3 mm respiratory motion was observed in the study population. Dual gating showed a small but significant increase (4 ml, p = 0.042) in left ventricular myocardial volume compared to plain cardiac gating. In addition, a thinner myocardial wall was observed in dual-gated images (9.3  ±  1.3 mm) compared to cardiac-gated images (11.3  ±  1.3 mm, p = 0.003). This study shows the feasibility of bioimpedance measurements for dual gating in a clinical setting. The method enables simultaneous acquisition of respiratory and cardiac gating signals using a single device with standard ECG electrodes. (paper)

  18. Measurements and simulation of controlled beamfront motion in the Laser Controlled Collective Accelerator

    International Nuclear Information System (INIS)

    Yao, R.L.; Destler, W.W.; Striffler, C.D.; Rodgers, J.; Scgalov, Z.

    1989-01-01

    In the Laser Controlled Collective Accelerator, an intense electron beam is injected at a current above the vacuum space charge limit into an initially evacuated drift tube. A plasma channel, produced by time-sequenced, multiple laser beam ionization of a solid target on the drift tube wall, provides the necessary neutralization to allow for effective beam propagation. By controlling the rate of production of the plasma channel as a function of time down the drift tube, control of the electron beamfront can be achieved. Recent experimental measurements of controlled beamfront motion in this configuration are presented, along with results of ion acceleration experiments conducted using two different accelerating gradients. These results are compared with numerical simulations of the system in which both controlled beamfront motion and ion acceleration is observed consistent with both design expectations and experimental results. 5 refs., 6 figs

  19. Control of humanoid robot motions with impacts : numerical experiments with reference spreading control

    NARCIS (Netherlands)

    Rijnen, M.W.L.M.; De Mooij, E.B.C.; Traversaro, S.; Nori, F.; Van De Wouw, N.; Saccon, A.; Nijmeijer, H.

    2017-01-01

    This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a

  20. The Effects of Music on Microsurgical Technique and Performance: A Motion Analysis Study.

    Science.gov (United States)

    Shakir, Afaaf; Chattopadhyay, Arhana; Paek, Laurence S; McGoldrick, Rory B; Chetta, Matthew D; Hui, Kenneth; Lee, Gordon K

    2017-05-01

    Music is commonly played in operating rooms (ORs) throughout the country. If a preferred genre of music is played, surgeons have been shown to perform surgical tasks quicker and with greater accuracy. However, there are currently no studies investigating the effects of music on microsurgical technique. Motion analysis technology has recently been validated in the objective assessment of plastic surgery trainees' performance of microanastomoses. Here, we aimed to examine the effects of music on microsurgical skills using motion analysis technology as a primary objective assessment tool. Residents and fellows in the Plastic and Reconstructive Surgery program were recruited to complete a demographic survey and participate in microsurgical tasks. Each participant completed 2 arterial microanastomoses on a chicken foot model, one with music playing, and the other without music playing. Participants were blinded to the study objectives and encouraged to perform their best. The order of music and no music was randomized. Microanastomoses were video recorded using a digitalized S-video system and deidentified. Video segments were analyzed using ProAnalyst motion analysis software for automatic noncontact markerless video tracking of the needle driver tip. Nine residents and 3 plastic surgery fellows were tested. Reported microsurgical experience ranged from 1 to 10 arterial anastomoses performed (n = 2), 11 to 100 anastomoses (n = 9), and 101 to 500 anastomoses (n = 1). Mean age was 33 years (range, 29-36 years), with 11 participants right-handed and 1 ambidextrous. Of the 12 subjects tested, 11 (92%) preferred music in the OR. Composite instrument motion analysis scores significantly improved with playing preferred music during testing versus no music (paired t test, P music was significant even after stratifying scores by order in which variables were tested (music first vs no music first), postgraduate year, and number of anastomoses (analysis of variance, P music in

  1. Quality control of structural MRI images applied using FreeSurfer - a hands-on workflow to rate motion artifacts

    Directory of Open Access Journals (Sweden)

    Lea Luise Backhausen

    2016-12-01

    Full Text Available In structural magnetic resonance imaging motion artifacts are common, especially when not scanning healthy young adults. It has been shown that motion affects the analysis with automated image-processing techniques (e.g. FreeSurfer. This can bias results. Several developmental and adult studies have found reduced volume and thickness of gray matter due to motion artifacts. Thus, quality control is necessary in order to ensure an acceptable level of quality and to define exclusion criteria of images (i.e. determine participants with most severe artifacts. However, information about the quality control workflow and image exclusion procedure is largely lacking in the current literature and the existing rating systems differ. Here we propose a stringent workflow of quality control steps during and after acquisition of T1-weighted images, which enables researchers dealing with populations that are typically affected by motion artifacts to enhance data quality and maximize sample sizes. As an underlying aim we established a thorough quality control rating system for T1-weighted images and applied it to the analysis of developmental clinical data using the automated processing pipeline FreeSurfer. This hands-on workflow and quality control rating system will aid researchers in minimizing motion artifacts in the final data set, and therefore enhance the quality of structural magnetic resonance imaging studies.

  2. Cardiac-driven Pulsatile Motion of Intracranial Cerebrospinal Fluid Visualized Based on a Correlation Mapping Technique.

    Science.gov (United States)

    Yatsushiro, Satoshi; Sunohara, Saeko; Hayashi, Naokazu; Hirayama, Akihiro; Matsumae, Mitsunori; Atsumi, Hideki; Kuroda, Kagayaki

    2018-04-10

    A correlation mapping technique delineating delay time and maximum correlation for characterizing pulsatile cerebrospinal fluid (CSF) propagation was proposed. After proofing its technical concept, this technique was applied to healthy volunteers and idiopathic normal pressure hydrocephalus (iNPH) patients. A time-resolved three dimensional-phase contrast (3D-PC) sampled the cardiac-driven CSF velocity at 32 temporal points per cardiac period at each spatial location using retrospective cardiac gating. The proposed technique visualized distributions of propagation delay and correlation coefficient of the PC-based CSF velocity waveform with reference to a waveform at a particular point in the CSF space. The delay time was obtained as the amount of time-shift, giving the maximum correlation for the velocity waveform at an arbitrary location with that at the reference location. The validity and accuracy of the technique were confirmed in a flow phantom equipped with a cardiovascular pump. The technique was then applied to evaluate the intracranial CSF motions in young, healthy (N = 13), and elderly, healthy (N = 13) volunteers and iNPH patients (N = 13). The phantom study demonstrated that root mean square error of the delay time was 2.27%, which was less than the temporal resolution of PC measurement used in this study (3.13% of a cardiac cycle). The human studies showed a significant difference (P correlation coefficient between the young, healthy group and the other two groups. A significant difference (P correlation coefficients in intracranial CSF space among all groups. The result suggests that the CSF space compliance of iNPH patients was lower than that of healthy volunteers. The correlation mapping technique allowed us to visualize pulsatile CSF velocity wave propagations as still images. The technique may help to classify diseases related to CSF dynamics, such as iNPH.

  3. 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.

  4. Contrast gain control in first- and second-order motion perception.

    Science.gov (United States)

    Lu, Z L; Sperling, G

    1996-12-01

    A novel pedestal-plus-test paradigm is used to determine the nonlinear gain-control properties of the first-order (luminance) and the second-order (texture-contrast) motion systems, that is, how these systems' responses to motion stimuli are reduced by pedestals and other masking stimuli. Motion-direction thresholds were measured for test stimuli consisting of drifting luminance and texture-contrast-modulation stimuli superimposed on pedestals of various amplitudes. (A pedestal is a static sine-wave grating of the same type and same spatial frequency as the moving test grating.) It was found that first-order motion-direction thresholds are unaffected by small pedestals, but at pedestal contrasts above 1-2% (5-10 x pedestal threshold), motion thresholds increase proportionally to pedestal amplitude (a Weber law). For first-order stimuli, pedestal masking is specific to the spatial frequency of the test. On the other hand, motion-direction thresholds for texture-contrast stimuli are independent of pedestal amplitude (no gain control whatever) throughout the accessible pedestal amplitude range (from 0 to 40%). However, when baseline carrier contrast increases (with constant pedestal modulation amplitude), motion thresholds increase, showing that gain control in second-order motion is determined not by the modulator (as in first-order motion) but by the carrier. Note that baseline contrast of the carrier is inherently independent of spatial frequency of the modulator. The drastically different gain-control properties of the two motion systems and prior observations of motion masking and motion saturation are all encompassed in a functional theory. The stimulus inputs to both first- and second-order motion process are normalized by feedforward, shunting gain control. The different properties arise because the modulator is used to control the first-order gain and the carrier is used to control the second-order gain.

  5. 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.

  6. 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.

  7. Selective weed control using laser techniques

    OpenAIRE

    Marx, Christian; Pastrana-Perez, Julio; Hustedt, Michael; Barcikowski, Stephan; Haferkamp, Heinz; Rath, Thomas

    2012-01-01

    This contribution discusses technical and growth relevant aspects of using laser techniques for weed control. The research on thermal weed control via laser first focused on the interaction of laser beams and weed plants. Due to preliminary studies, a CO2-laser was selected for further studies with regard to the process factors laser energy, laser spot area, coverage of the weeds meristem, weed species (Amaranthus retroflexus), and weed growth stage. Thereby, the laser damage was modeled in o...

  8. Use of nuclear techniques in biological control

    International Nuclear Information System (INIS)

    Greany, Patrick D.; Carpenter, James E.

    2000-01-01

    As pointed out by Benbrook (1996), pest management is at a crossroads, and there is a great need for new, biointensive pest management strategies. Among these approaches, biological control is a keystone. However, because of increasing concerns about the introduction of exotic natural enemies of insect pests and weeds (Howarth 1991, Delfosse 1997), the overall thrust of biological control has moved toward augmentative biological control, involving releases of established natural enemy species (Knipling 1992). This in turn has created a need to develop more cost-effective mass rearing technologies for beneficial insects. Nuclear techniques could play an especially important role in augmentative biological control, not only in facilitating mass rearing, but in several other ways, as indicated below. Recognising the potential value for use of nuclear techniques in biological control, the Insect and Pest Control Section of the Joint FAO/IAEA Division of Nuclear Techniques in Food and Agriculture, International Atomic Energy Agency, sponsored a Consultants' Group Meeting on this subject in April 1997. The Group produced a document entitled Use of Nuclear Techniques in Biological Control: Managing Pests, Facilitating Trade and Protecting the Environment. The consultants included the authors of this paper as well as Ernest Delfosse (at that time, with the USDA-APHIS National Biological Control Institute), Garry Hill (Intl. Institute for Biological Control), Sinthya Penn (Beneficial Insectary), and Felipe Jeronimo (USDA-APHIS PPQ, Guatemala). The remarks presented in this paper reflect the thoughts presented by these consultants and other participants at the IAEA-sponsored meeting. Several potential uses for nuclear techniques were identified by the Consultants' Group, including: 1) improvements in rearing media (either artificial diets or natural hosts/prey), 2) provision of sterilised natural prey to be used as food during shipment, to ameliorate concerns relating to the

  9. Higher-Order Approximations of Motion of a Nonlinear Oscillator Using the Parameter Expansion Technique

    Science.gov (United States)

    Ganji, S. S.; Domairry, G.; Davodi, A. G.; Babazadeh, H.; Seyedalizadeh Ganji, S. H.

    The main objective of this paper is to apply the parameter expansion technique (a modified Lindstedt-Poincaré method) to calculate the first, second, and third-order approximations of motion of a nonlinear oscillator arising in rigid rod rocking back. The dynamics and frequency of motion of this nonlinear mechanical system are analyzed. A meticulous attention is carried out to the study of the introduced nonlinearity effects on the amplitudes of the oscillatory states and on the bifurcation structures. We examine the synchronization and the frequency of systems using both the strong and special method. Numerical simulations and computer's answers confirm and complement the results obtained by the analytical approach. The approach proposes a choice to overcome the difficulty of computing the periodic behavior of the oscillation problems in engineering. The solutions of this method are compared with the exact ones in order to validate the approach, and assess the accuracy of the solutions. In particular, APL-PM works well for the whole range of oscillation amplitudes and excellent agreement of the approximate frequency with the exact one has been demonstrated. The approximate period derived here is accurate and close to the exact solution. This method has a distinguished feature which makes it simple to use, and also it agrees with the exact solutions for various parameters.

  10. Multidisciplinary Techniques and Novel Aircraft Control Systems

    Science.gov (United States)

    Padula, Sharon L.; Rogers, James L.; Raney, David L.

    2000-01-01

    The Aircraft Morphing Program at NASA Langley Research Center explores opportunities to improve airframe designs with smart technologies. Two elements of this basic research program are multidisciplinary design optimization (MDO) and advanced flow control. This paper describes examples where MDO techniques such as sensitivity analysis, automatic differentiation, and genetic algorithms contribute to the design of novel control systems. In the test case, the design and use of distributed shape-change devices to provide low-rate maneuvering capability for a tailless aircraft is considered. The ability of MDO to add value to control system development is illustrated using results from several years of research funded by the Aircraft Morphing Program.

  11. 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...

  12. 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

  13. 'Observation' of dislocation motion in single crystal and polycrystalline aluminum during uniaxial deformation using photoemission technique

    International Nuclear Information System (INIS)

    Cai, M.; Levine, L.E.; Langford, S.C.; Dickinson, J.T.

    2005-01-01

    We report measurements of photostimulated electron emission (PSE) from single-crystalline aluminum (99.995%) and high-purity polycrystalline aluminum (>99.9%) during uniaxial tensile deformation. Photoelectron intensities are sensitive to changes in surface morphology accompanying deformation, including slip line and slip band formation. In the single crystalline material, the PSE intensity increases linearly with strain. In the polycrystalline material, the PSE intensity increases exponentially with strain. In both materials, time-resolved PSE measurements show step-like increases in intensity consistent with the heterogeneous nucleation and growth of slip bands during tensile deformation. In this sense, we have 'observed' dislocation motion by this technique. Slip bands on the surfaces of deformed samples were subsequently imaged by atomic-force microscopy (AFM). Photoelectron measurements can provide reliable, quantitative information for dislocation dynamics

  14. The control of a free-piston engine generator. Part 2: Engine dynamics and piston motion control

    Energy Technology Data Exchange (ETDEWEB)

    Mikalsen, R.; Roskilly, A.P. [Sir Joseph Swan Institute for Energy Research, Newcastle University, Newcastle upon Tyne, NE1 7RU England (United Kingdom)

    2010-04-15

    Free-piston engines are under investigation by a number of research groups due to potential fuel efficiency and exhaust emissions advantages over conventional technology. The main challenge with such engines is the control of the piston motion, and this has not yet been fully resolved for all types of free-piston engines. This paper builds on the fundamental investigations presented in the accompanying paper and investigates the dynamics of the engine and the feasibility of classical control approaches. The response of the engine to rapid load changes are investigated using decentralised PID, PDF and disturbance feedforward. It is found that the engine is sensitive to rapid load changes but that in constant power applications standard control techniques provide satisfactory performance. The influence of cycle-to-cycle variations in the combustion process are investigated, but not found to be critical for engine operation. (author)

  15. 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...

  16. 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

  17. 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.

  18. Multivariable Techniques for High-Speed Research Flight Control Systems

    Science.gov (United States)

    Newman, Brett A.

    1999-01-01

    This report describes the activities and findings conducted under contract with NASA Langley Research Center. Subject matter is the investigation of suitable multivariable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Design and analysis techniques considered in this body of work are both conventional-based and contemporary-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include: (1) control architectures based on aft tail only are not well suited for highly flexible, high-speed vehicles, (2) theoretical underpinnings of the Wykes structural mode control logic is based on several assumptions concerning vehicle dynamic characteristics, and if not satisfied, the control logic can break down leading to mode destabilization, (3) two-loop control architectures that utilize small forward vanes with the aft tail provide highly attractive and feasible solutions to the longitudinal axis control challenges, and (4) closed-loop simulation sizing analyses indicate the baseline vane model utilized in this report is most likely oversized for normal loading conditions.

  19. 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

  20. Modern insect control: Nuclear techniques and biotechnology

    International Nuclear Information System (INIS)

    1988-01-01

    The Symposium dealt primarily with genetic methods of insect control, including sterile insect technique (SIT), F 1 sterility, compound chromosomes, translocations and conditional lethals. Research and development activities on various aspects of these control technologies were reported by participants during the Symposium. Of particular interest was development of F 1 sterility as a practical method of controlling pest Lepidoptera. Genetic methods of insect control are applicable only on an area wide basis. They are species specific and thus do not reduce populations of beneficial insects or cause other environmental problems. Other papers presented reported on the potential use of radiation as a quarantine treatment for commodities in international trade and the use of radioisotopes as ''tags'' in studying insects

  1. Admission Control Techniques for UMTS System

    Directory of Open Access Journals (Sweden)

    P. Kejik

    2010-09-01

    Full Text Available Universal mobile telecommunications system (UMTS is one of the 3rd generation (3G cell phone technologies. The capacity of UMTS is interference limited. Radio resources management (RRM functions are therefore used. They are responsible for supplying optimum coverage, ensuring efficient use of physical resources, and providing the maximum planned capacity. This paper deals with admission control techniques for UMTS. An own UMTS simulation program and several versions of proposed admission control algorithms are presented in this paper. These algorithms are based on fuzzy logic and genetic algorithms. The performance of algorithms is verified via simulations.

  2. Behavioral methods of alleviating motion sickness: effectiveness of controlled breathing and a music audiotape.

    Science.gov (United States)

    Yen Pik Sang, Fleur D; Billar, Jessica P; Golding, John F; Gresty, Michael A

    2003-01-01

    Behavioral countermeasures for motion sickness would be advantageous because of the side effects of antiemetic drugs, but few alternative treatments are available. The objective of this study was to compare the effectiveness of controlling breathing and listening to a music audiotape designed to reduce motion sickness symptoms, on increasing tolerance to motion-induced nausea. Twenty-four healthy subjects were exposed to nauseogenic Coriolis stimulation on a rotating turntable under three conditions: whilst focusing on controlling breathing; listening to a music audiotape; or without intervention (control). The three conditions were performed by each subject according to a replicated factorial design at 1-week intervals at the same time of day. Ratings of motion sickness were obtained every 30 seconds. Once a level of mild nausea was reached subjects commenced controlling breathing or listened to the music audiotape. Motion was stopped after the onset of moderate nausea. Mean (+/- SD) motion exposure time in minutes tolerated before the onset of moderate nausea was significantly longer (p music (10.4 +/- 5.6 min) compared with control (9.2 +/- 5.9 min). Both controlling breathing and the music audiotape provided significant protection against motion sickness and with similar effectiveness. These nonpharmacologic countermeasures are only half as effective as standard doses of anti-motion sickness drugs, such as oral scopolamine; however, they are easy to implement and free of side effects.

  3. 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.

  4. Design and Simulation of a PID Controller for Motion Control Systems

    Science.gov (United States)

    Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab

    2018-04-01

    Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.

  5. Mapping coral reefs using consumer-grade drones and structure from motion photogrammetry techniques

    Science.gov (United States)

    Casella, Elisa; Collin, Antoine; Harris, Daniel; Ferse, Sebastian; Bejarano, Sonia; Parravicini, Valeriano; Hench, James L.; Rovere, Alessio

    2017-03-01

    We propose a novel technique to measure the small-scale three-dimensional features of a shallow-water coral reef using a small drone equipped with a consumer-grade camera, a handheld GPS and structure from motion (SfM) algorithms. We used a GoPro HERO4 with a modified lens mounted on a DJI Phantom 2 drone (maximum total take-off weight <2 kg) to perform a 10 min flight and collect 306 aerial images with an overlap equal or greater than 90%. We mapped an area of 8380 m2, obtaining as output an ortho-rectified aerial photomosaic and a bathymetric digital elevation model (DEM) with a resolution of 0.78 and 1.56 cm pixel-1, respectively. Through comparison with airborne LiDAR data for the same area, we verified that the location of the ortho-rectified aerial photomosaic is accurate within 1.4 m. The bathymetric difference between our DEM and the LiDAR dataset is -0.016 ± 0.45 m (1σ). Our results show that it is possible, in conditions of calm waters, low winds and minimal sun glint, to deploy consumer-grade drones as a relatively low-cost and rapid survey technique to produce multispectral and bathymetric data on shallow-water coral reefs. We discuss the utility of such data to monitor temporal changes in topographic complexity of reefs and associated biological processes.

  6. A comparative study of surface waves inversion techniques at strong motion recording sites in Greece

    Science.gov (United States)

    Panagiotis C. Pelekis,; Savvaidis, Alexandros; Kayen, Robert E.; Vlachakis, Vasileios S.; Athanasopoulos, George A.

    2015-01-01

    Surface wave method was used for the estimation of Vs vs depth profile at 10 strong motion stations in Greece. The dispersion data were obtained by SASW method, utilizing a pair of electromechanical harmonic-wave source (shakers) or a random source (drop weight). In this study, three inversion techniques were used a) a recently proposed Simplified Inversion Method (SIM), b) an inversion technique based on a neighborhood algorithm (NA) which allows the incorporation of a priori information regarding the subsurface structure parameters, and c) Occam's inversion algorithm. For each site constant value of Poisson's ratio was assumed (ν=0.4) since the objective of the current study is the comparison of the three inversion schemes regardless the uncertainties resulting due to the lack of geotechnical data. A penalty function was introduced to quantify the deviations of the derived Vs profiles. The Vs models are compared as of Vs(z), Vs30 and EC8 soil category, in order to show the insignificance of the existing variations. The comparison results showed that the average variation of SIM profiles is 9% and 4.9% comparing with NA and Occam's profiles respectively whilst the average difference of Vs30 values obtained from SIM is 7.4% and 5.0% compared with NA and Occam's.

  7. Comparison of Compressive Myofascial Release and the Graston Technique for Improving Ankle-Dorsiflexion Range of Motion.

    Science.gov (United States)

    Stanek, Justin; Sullivan, Taylor; Davis, Samantha

    2018-02-01

      Restricted dorsiflexion (DF) at the ankle joint can cause acute and chronic injuries at the ankle and knee. Myofascial release and instrument-assisted soft tissue mobilization (IASTM) techniques have been used to increase range of motion (ROM); however, evidence directly comparing their effectiveness is limited.   To compare the effects of a single session of compressive myofascial release (CMR) or IASTM using the Graston Technique (GT) on closed chain ankle-DF ROM.   Randomized controlled trial.   Laboratory.   Participants were 44 physically active people (53 limbs) with less than 30° of DF.   Limbs were randomly assigned to 1 of 3 groups: control, CMR, or GT. Both treatment groups received one 5-minute treatment that included scanning the area and treating specific restrictions. The control group sat for 5 minutes before measurements were retaken.   Standing and kneeling ankle DF were measured before and immediately after treatment. Change scores were calculated for both positions, and two 1-way analyses of variance were conducted.   A difference between groups was found in the standing ( F 2,52 = 13.78, P = .001) and kneeling ( F 2,52 = 5.85, P = .01) positions. Post hoc testing showed DF improvements in the standing position after CMR compared with the GT and control groups (both P = .001). In the kneeling position, DF improved after CMR compared with the control group ( P = .005).   Compressive myofascial release increased ankle DF after a single treatment in participants with DF ROM deficits. Clinicians should consider adding CMR as a treatment intervention for patients with DF deficits.

  8. 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.

  9. New techniques to measure cliff change from historical oblique aerial photographs and structure-from-motion photogrammetry

    Science.gov (United States)

    Warrick, Jonathan; Ritchie, Andy; Adelman, Gabrielle; Adelman, Ken; Limber, Patrick W.

    2017-01-01

    Oblique aerial photograph surveys are commonly used to document coastal landscapes. Here it is shown that adequate overlap may exist in these photographic records to develop topographic models with Structure-from-Motion (SfM) photogrammetric techniques. Using photographs of Fort Funston, California, from the California Coastal Records Project, imagery were combined with ground control points in a four-dimensional analysis that produced topographic point clouds of the study area’s cliffs for 5 years spanning 2002 to 2010. Uncertainty was assessed by comparing point clouds with airborne LIDAR data, and these uncertainties were related to the number and spatial distribution of ground control points used in the SfM analyses. With six or more ground control points, the root mean squared errors between the SfM and LIDAR data were less than 0.30 m (minimum 1⁄4 0.18 m), and the mean systematic error was less than 0.10 m. The SfM results had several benefits over traditional airborne LIDAR in that they included point coverage on vertical- to-overhanging sections of the cliff and resulted in 10–100 times greater point densities. Time series of the SfM results revealed topographic changes, including landslides, rock falls, and the erosion of landslide talus along the Fort Funston beach. Thus, it was concluded that SfM photogrammetric techniques with historical oblique photographs allow for the extraction of useful quantitative information for mapping coastal topography and measuring coastal change. The new techniques presented here are likely applicable to many photograph collections and problems in the earth sciences.

  10. [An Introduction to A Newly-developed "Acupuncture Needle Manipulation Training-evaluation System" Based on Optical Motion Capture Technique].

    Science.gov (United States)

    Zhang, Ao; Yan, Xing-Ke; Liu, An-Guo

    2016-12-25

    In the present paper, the authors introduce a newly-developed "Acupuncture Needle Manipulation Training-evaluation System" based on optical motion capture technique. It is composed of two parts, sensor and software, and overcomes some shortages of mechanical motion capture technique. This device is able to analyze the data of operations of the pressing-hand and needle-insertion hand during acupuncture performance and its software contains personal computer (PC) version, Android version, and Internetwork Operating System (IOS) Apple version. It is competent in recording and analyzing information of any ope-rator's needling manipulations, and is quite helpful for teachers in teaching, training and examining students in clinical practice.

  11. 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

  12. 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...

  13. Research review: Indoor air quality control techniques

    International Nuclear Information System (INIS)

    Fisk, W.J.

    1986-10-01

    Techniques for controlling the concentration of radon, formaldehyde, and combustion products in the indoor air are reviewed. The most effective techniques, which are generally based on limiting or reducing indoor pollutant source strengths, can decrease indoor pollutant concentrations by a factor of 3 to 10. Unless the initial ventilation rate is unusually low, it is difficult to reduce indoor pollutant concentrations more than approximately 50% by increasing the ventilation rate of an entire building. However, the efficiency of indoor pollutant control by ventilation can be enhanced through the use of local exhaust ventilation near concentrated sources of pollutants, by minimizing short circuiting of air from supply to exhaust when pollutant sources are dispersed and, in some situations, by promoting a displacement flow of air and pollutants toward the exhaust. Active air cleaning is also examined briefly. Filtration and electrostatic air cleaning for removal of particles from the indoor air are the most practical and effective currently available techniques of air cleaning. 49 refs., 7 figs

  14. 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 ...

  15. Analysis of the Accuracy and Robustness of the Leap Motion Controller

    OpenAIRE

    Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

    2013-01-01

    The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pe...

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

    International Nuclear Information System (INIS)

    Smith, J. E.

    1984-01-01

    A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, 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

  17. Dynamics and Control of Underwater Gliders I: Steady Motions

    OpenAIRE

    Mahmoudian, N.; Geisbert, J.; Woolsey, C.

    2007-01-01

    This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...

  18. Beam Techniques - Beam Control and Manipulation

    International Nuclear Information System (INIS)

    Minty, Michiko G

    2003-01-01

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization

  19. Beam Techniques - Beam Control and Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Minty, Michiko G

    2003-04-24

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization.

  20. Dosimetric study of the different techniques to deal with respiratory motion for lung stereotactic radiotherapy

    International Nuclear Information System (INIS)

    Paumier, A.; Krhili, S.; Georgin-Mege, M.; Tuchais, C.; Cellier, P.; Crespeau, A.; Mesgouez, J.; Autret, D.; Lisbona, A.; Denis, F.

    2012-01-01

    Purpose. - To evaluate the different respiratory movement management techniques during irradiation of lung tumours. Patients and methods. - Seven patients with one or more primary or secondary lung lesions less than 5 cm (11 tumours in total) had three computed tomographies (CT): free-breathing, deep-inspiration breath hold using a spirometer, and 4-dimensional (4D). From these three acquisitions, five treatment plans were performed: free-breathing (reference method), deep-inspiration breath-hold, and three from the 4D CT: two breathing synchronized treatments (inspiration and expiration) and one treatment taking into account all the tumour motions (definition of the internal target volume [ITV]). Planning target volume (PTV) size and dose delivered to the lungs were compared. Results. - Mean PTV with the free-breathing modality was 83±28 cm 3 , which was significantly greater than any of the other techniques (P 3 ), and PTV with the deep-inspiration breath-hold, breathing synchronized inspiration and breathing synchronized expiration techniques were reduced by one third (50 to 54±24 to 26 cm 3 ). Deep-inspiration led to significantly increase the healthy lung volume compared to other methods (mean volume of 5500±1500 cm 3 versus 3540 to 3920 cm 3 , respectively, P < 0.0001). The volume of healthy lungs receiving at least 5 and 20 Gy (V5 and V5) were significantly higher with the free-breathing method than any of the other methods (P < 0.0001). The deep-inspiration breath-hold modality led to the lowest lung V5 and V20. Conclusion. - Deep-inspiration breath-hold technique provides the most significant dosimetric advantages: small PTV and large lung volume. However, patients must be able to hold 20 seconds of apnea. Respiratory gating also reduces the PTV, but its application often requires the implantation of fiducial, which limit its use. A 4-dimensional CT allows for a personalized and reduced PTV compared to free-breathing CT. (authors)

  1. A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

    Directory of Open Access Journals (Sweden)

    Chiu-Keng Lai

    2014-01-01

    Full Text Available Sliding mode control (SMC is rapped for the chattering due to high gain control. However, high gain control causes the system robust. For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF system and SMC is proposed. The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile. SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer. The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.

  2. Seismic qualification of nuclear control board by using base isolation technique

    International Nuclear Information System (INIS)

    Koizumi, T.; Tsujiuchi, N.; Fujita, T.

    1987-01-01

    The purpose is to adopt base isolation technique as a new approach for seismic qualification of nuclear control board. Basic concept of base isolation technique is expressed. Two dimensional linear motion mechanism with pre-tensioned coil springs and some dampers are included in the isolation device. Control board is regarded as a lamped mass system with inertia moment. Fundamental movement of this device and control board is calculated as a non-linear response problems. Fundamental analysis and numerical estimation, experimental investigation has been undertaken using an actual size control board. Sufficient agreement was recognized between experimental results and numerical estimation. (orig./HP)

  3. 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

  4. Artificial intelligence techniques for voltage control

    Energy Technology Data Exchange (ETDEWEB)

    Ekwue, A.; Cheng, D.T.Y.; Macqueen, J.F.

    1997-12-31

    In electric power systems, the advantages of reactive power dispatching or optimisation include improved utilisation of reactive power sources and hence reduction in reactive power flows and real losses of the system; unloading of the system and equipment as a result of reactive flow reduction; the power factors of generation are improved and system security is enhanced; reduced voltage gradients and somewhat higher voltages which result across the system from improved operation; deferred capital investment is new reactive power sources as a result of improved utilisation of existing equipment; and for the National Grid Company plc (NGC), the main advantage is reduced out-of-merit operation. The problem of reactive power control has been studied and widely reported in the literature. Non-linear programming methods as well as linear programming techniques for constraint dispatch have been described. Static optimisation of reactive power sources by the use of sensitivity analysis was described by Kishore and Hill. Long range optimum var planning has been considered and the optimum amount and location of network reactive compensation so as to maintain the system voltage within the desired limits, while operating under normal and various insecurity states, have also been studied using several methods. The objective of this chapter is therefore to review conventional methods as well as AI techniques for reactive power control. (Author)

  5. Balancing Training Techniques for Flight Controller Certification

    Science.gov (United States)

    Gosling, Christina

    2011-01-01

    Training of ground control teams has been a difficult task in space operations. There are several intangible skills that must be learned to become the steely eyed men and women of mission control who respond to spacecraft failures that can lead to loss of vehicle or crew if handled improperly. And as difficult as training is, it can also be costly. Every day, month or year an operator is in training, is a day that not only they are being trained without direct benefit to the organization, but potentially an instructor or mentor is also being paid for hours spent assisting them. Therefore, optimization of the training flow is highly desired. Recently the Expedition Division (DI) at Johnson Space Flight Center has recreated their training flows for the purpose of both moving to an operator/specialist/instructor hierarchy and to address past inefficiencies in the training flow. This paper will discuss the types of training DI is utilizing in their new flows, and the balance that has been struck between the ideal learning environments and realistic constraints. Specifically, the past training flow for the ISS Attitude Determination and Control Officer will be presented, including drawbacks that were encountered. Then the new training flow will be discussed and how a new approach utilizes more training methods and teaching techniques. We will look at how DI has integrated classes, workshops, checkouts, module reviews, scenarios, OJT, paper sims, Mini Sims, and finally Integrated Sims to balance the cost and timing of training a new flight controller.

  6. 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.

  7. GEOMETRIC PROPERTIES OF A MECHANICAL FORWARD MOTION COMPENSATION SYSTEM CONTROLLED BY A PIEZOELECTRIC DRIVE

    Directory of Open Access Journals (Sweden)

    F. Collette

    2012-07-01

    Full Text Available Forward Motion Compensation (FMC systems have been designed to ensure the radiometric quality of motion acquisition in airborne cameras. If the radiometric benefits of FMC have been acknowledged, what are its effects on the geometrical properties of the camera? This paper demonstrates that FMC significantly improves geometrical properties of a camera. Aspects of FMC theory are discussed, with a focus on the near-lossless implementation of this technology into digital aerial camera systems. Among mechanical FMC technologies, the piezoelectric drive is proving to excel in dynamic positioning in both accuracy and repeatability. The patented piezoelectric drive integrated into Optech aerial camera systems allows for continuous and precise sensor motion to ensure exact compensation of the aircraft's forward motion. This paper presents findings that demonstrate the validity of this assertion. The paper also discusses the physical principles involved in motion acquisition. Equations are included that define the motion effect at image level and illustrate how FMC acts to prevent motion effects. The residual motion effect or compensation error is formulated and a practical computation applied to the more restrictive camera case. The assessment concludes that, in the range of airborne camera utilization, the mechanical FMC technique is free of "visible" error at both human eye and computer assessment level. Lastly, the paper proceeds to a detailed technical discussion of piezoelectric drives and why they have proven to be so effective as nanopositioning devices for optical applications. The effectiveness of the patented piezoelectric drives used to achieve FMC in Optech cameras is conclusively demonstrated.

  8. Oil Motion Control by an Extra Pinning Structure in Electro-Fluidic Display.

    Science.gov (United States)

    Dou, Yingying; Tang, Biao; Groenewold, Jan; Li, Fahong; Yue, Qiao; Zhou, Rui; Li, Hui; Shui, Lingling; Henzen, Alex; Zhou, Guofu

    2018-04-06

    Oil motion control is the key for the optical performance of electro-fluidic displays (EFD). In this paper, we introduced an extra pinning structure (EPS) into the EFD pixel to control the oil motion inside for the first time. The pinning structure canbe fabricated together with the pixel wall by a one-step lithography process. The effect of the relative location of the EPS in pixels on the oil motion was studied by a series of optoelectronic measurements. EPS showed good control of oil rupture position. The properly located EPS effectively guided the oil contraction direction, significantly accelerated switching on process, and suppressed oil overflow, without declining in aperture ratio. An asymmetrically designed EPS off the diagonal is recommended. This study provides a novel and facile way for oil motion control within an EFD pixel in both direction and timescale.

  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. Mathematical models of decision making on space vehicle motion control at fuzzy conditions

    International Nuclear Information System (INIS)

    Arslanov, M.Z.; Ismail, E.E.; Oryspaev, D.O.

    2005-01-01

    the structure of decision making for control of spacecraft motion is considered. Mathematical models of decision making problems are investigated. New methods of criteria convolution are received. New convolution have properties of smoothness. (author)

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

    Indian Academy of Sciences (India)

    control for the multi-axis systems has attracted much attention. As an ... mechanisms interact under different environmental conditions. ...... Subbu R, Goebel K, Frederick D K 2005 Evolutionary design and optimization of aircraft engine.

  12. 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.

  13. Using Unconstrained Tongue Motion as an Alternative Control Mechanism for Wheeled Mobility

    OpenAIRE

    Huo, Xueliang; Ghovanloo, Maysam

    2009-01-01

    Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users’ intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input fo...

  14. 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.

  15. Predictive piston motion control in a free-piston internal combustion engine

    Energy Technology Data Exchange (ETDEWEB)

    Mikalsen, R.; Jones, E.; Roskilly, A.P. [Sir Joseph Swan Institute for Energy Research, Newcastle University, Newcastle upon Tyne, NE1 7RU England (United Kingdom)

    2010-05-15

    A piston motion controller for a free-piston internal combustion engine is presented. To improve dynamic performance in the control of the piston motion and engine compression ratio, the controller response is determined from a prediction of engine top dead centre error rather than the measured value from the previous cycle. The proposed control approach showed superior performance compared with that of standard PI feedback control known from the literature due to a reduced control action time delay. The manipulation of fuel injection timing to reduce in-cylinder pressure peaks and cycle-to-cycle variations was also studied, indicating that with the piston motion estimation, the injection timing is a powerful control variable for this purpose. (author)

  16. 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.

  17. Combining EEG, MIDI, and motion capture techniques for investigating musical performance.

    Science.gov (United States)

    Maidhof, Clemens; Kästner, Torsten; Makkonen, Tommi

    2014-03-01

    This article describes a setup for the simultaneous recording of electrophysiological data (EEG), musical data (MIDI), and three-dimensional movement data. Previously, each of these three different kinds of measurements, conducted sequentially, has been proven to provide important information about different aspects of music performance as an example of a demanding multisensory motor skill. With the method described here, it is possible to record brain-related activity and movement data simultaneously, with accurate timing resolution and at relatively low costs. EEG and MIDI data were synchronized with a modified version of the FTAP software, sending synchronization signals to the EEG recording device simultaneously with keypress events. Similarly, a motion capture system sent synchronization signals simultaneously with each recorded frame. The setup can be used for studies investigating cognitive and motor processes during music performance and music-like tasks--for example, in the domains of motor control, learning, music therapy, or musical emotions. Thus, this setup offers a promising possibility of a more behaviorally driven analysis of brain activity.

  18. 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

  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. A Novel Markerless Technique to Evaluate Daily Lung Tumor Motion Based on Conventional Cone-Beam CT Projection Data

    International Nuclear Information System (INIS)

    Yang Yin; Zhong Zichun; Guo Xiaohu; Wang Jing; Anderson, John; Solberg, Timothy; Mao Weihua

    2012-01-01

    Purpose: In this study, we present a novel markerless technique, based on cone beam computed tomography (CBCT) raw projection data, to evaluate lung tumor daily motion. Method and Materials: The markerless technique, which uses raw CBCT projection data and locates tumors directly on every projection, consists of three steps. First, the tumor contour on the planning CT is used to create digitally reconstructed radiographs (DRRs) at every projection angle. Two sets of DRRs are created: one showing only the tumor, and another with the complete anatomy without the tumor. Second, a rigid two-dimensional image registration is performed to register the DRR set without the tumor to the CBCT projections. After the registration, the projections are subtracted from the DRRs, resulting in a projection dataset containing primarily tumor. Finally, a second registration is performed between the subtracted projection and tumor-only DRR. The methodology was evaluated using a chest phantom containing a moving tumor, and retrospectively in 4 lung cancer patients treated by stereotactic body radiation therapy. Tumors detected on projection images were compared with those from three-dimensional (3D) and four-dimensional (4D) CBCT reconstruction results. Results: Results in both static and moving phantoms demonstrate that the accuracy is within 1 mm. The subsequent application to 22 sets of CBCT scan raw projection data of 4 lung cancer patients includes about 11,000 projections, with the detected tumor locations consistent with 3D and 4D CBCT reconstruction results. This technique reveals detailed lung tumor motion and provides additional information than conventional 4D images. Conclusion: This technique is capable of accurately characterizing lung tumor motion on a daily basis based on a conventional CBCT scan. It provides daily verification of the tumor motion to ensure that these motions are within prior estimation and covered by the treatment planning volume.

  1. Development of an Embedded Solar Tracking System with LabVIEW Motion Control

    International Nuclear Information System (INIS)

    Oh, Seung Jin; Hyun, Jun Ho; Oh, Won Jong; Kim, Yeong Min; Lee, Yoon Joon; Chun, Won Gee

    2010-01-01

    Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor. The motion control is widely used in the packaging, printing, textile, semiconductor production, and power plants. National Instruments LabVIEW is a graphical programming language that has its roots in automation control and data acquisition. Its graphical representation, similar to a process flow diagram, was created to provide an intuitive programming environment for scientist and engineers. Crystal River Nuclear Plant engineers developed automated testing system of nuclear plant control modules in an aging nuclear power plant using LabVIEW to improve performance and reliability and reduce cost. In this study, an embedded two-axis solar tracking system was developed using LabVIEW motion control module

  2. 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.

  3. Robust object tracking techniques for vision-based 3D motion analysis applications

    Science.gov (United States)

    Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

    2016-04-01

    Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

  4. Time-motion analysis of goalball players in attacks: differences of the player positions and the throwing techniques.

    Science.gov (United States)

    Monezi, Lucas Antônio; Magalhães, Thiago Pinguelli; Morato, Márcio Pereira; Mercadante, Luciano Allegretti; Furtado, Otávio Luis Piva da Cunha; Misuta, Milton Shoiti

    2018-03-26

    In this study, we aimed to analyse goalball players time-motion variables (distance covered, time spent, maximum and average velocities) in official goalball match attacks, taking into account the attack phases (preparation and throwing), player position (centres and wings) and throwing techniques (frontal, spin and between the legs). A total of 365 attacks were assessed using a video based method (2D) through manual tracking using the Dvideo system. Inferential non-parametric statistics were applied for comparison of preparation vs. throwing phase, wings vs. centres and, among the throwing techniques, frontal, spin and between the legs. Significant differences were found between the attack preparation versus the throwing phase for all player time-motion variables: distance covered, time spent, maximum player velocity and average player velocity. Wing players performed most of the throws (85%) and covered longer distances than centres (1.65 vs 0.31 m). The between the legs and the spin throwing techniques presented greater values for most of the time-motion variables (distance covered, time spent and maximum player velocity) than did the frontal technique in both attack phases. These findings provide important information regarding players' movement patterns during goalball matches that can be used to plan more effective training.

  5. Motion control system of MAX IV Laboratory soft x-ray beamlines

    International Nuclear Information System (INIS)

    Sjöblom, Peter; Lindberg, Mirjam; Forsberg, Johan; Persson, Andreas G.; Urpelainen, Samuli; Såthe, Conny

    2016-01-01

    At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to run the scans.

  6. 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.

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

    Science.gov (United States)

    Gao, Zhiyuan; Miao, Zhonghua; Wang, Xuyong; Wang, Xiaohua

    2014-12-01

    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.

  8. 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...... satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated...

  9. Motion control system of MAX IV Laboratory soft x-ray beamlines

    Energy Technology Data Exchange (ETDEWEB)

    Sjöblom, Peter, E-mail: peter.sjoblom@maxlab.lu.se; Lindberg, Mirjam, E-mail: mirjam.lindberg@maxlab.lu.se; Forsberg, Johan, E-mail: johan.forsberg@maxlab.lu.se; Persson, Andreas G., E-mail: andreas-g.persson@maxlab.lu.se; Urpelainen, Samuli, E-mail: samuli.urpelainen@maxlab.lu.se; Såthe, Conny, E-mail: conny.sathe@maxlab.lu.se [MAX IV Laboratory, Photongatan 2, 225 92 Lund (Sweden)

    2016-07-27

    At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to run the scans.

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. Randomness control of vehicular motion through a sequence of traffic signals at irregular intervals

    International Nuclear Information System (INIS)

    Nagatani, Takashi

    2010-01-01

    We study the regularization of irregular motion of a vehicle moving through the sequence of traffic signals with a disordered configuration. Each traffic signal is controlled by both cycle time and phase shift. The cycle time is the same for all signals, while the phase shift varies from signal to signal by synchronizing with intervals between a signal and the next signal. The nonlinear dynamic model of the vehicular motion is presented by the stochastic nonlinear map. The vehicle exhibits the very complex behavior with varying both cycle time and strength of irregular intervals. The irregular motion induced by the disordered configuration is regularized by adjusting the phase shift within the regularization regions.

  15. 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.

  16. Autogenic Feedback Training Exercise: Controlling Physiological Responses to Mitigate Motion Sickness

    Science.gov (United States)

    Walton, Nia; Spencer, Telissa; Cowings, Patricia; Toscano, William B.

    2018-01-01

    During space travel approximately 50 of the crew experience symptoms of motion sickness that can range from mild forms of nausea or dizziness to severe malaise and vomiting1. Developing an effective treatment for these symptoms has become a priority of the National Aeronautics and Space Administration (NASA). Autogenic-Feedback Training Exercise (AFTE) is a nonpharmacological countermeasure for mitigating motion sickness. It involves training subjects to control physiological responses in high stress environments2. The primary goal of this experiment is to evaluate the effectiveness of AFTE for increasing tolerance to motion sickness in high stress environments.

  17. Detection and compensation of organ/lesion motion using 4D-PET/CT respiratory gated acquisition techniques

    International Nuclear Information System (INIS)

    Bettinardi, Valentino; Picchio, Maria; Di Muzio, Nadia; Gianolli, Luigi; Gilardi, Maria Carla; Messa, Cristina

    2010-01-01

    Purpose: To describe the degradation effects produced by respiratory organ and lesion motion on PET/CT images and to define the role of respiratory gated (RG) 4D-PET/CT techniques to compensate for such effects. Methods: Based on the literature and on our own experience, technical recommendations and clinical indications for the use of RG 4D PET/CT have been outlined. Results: RG 4D-PET/CT techniques require a state of the art PET/CT scanner, a respiratory monitoring system and dedicated acquisition and processing protocols. Patient training is particularly important to obtain a regular breathing pattern. An adequate number of phases has to be selected to balance motion compensation and statistical noise. RG 4D PET/CT motion free images may be clinically useful for tumour tissue characterization, monitoring patient treatment and target definition in radiation therapy planning. Conclusions: RG 4D PET/CT is a valuable tool to improve image quality and quantitative accuracy and to assess and measure organ and lesion motion for radiotherapy planning.

  18. 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).

  19. 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.

  20. Optimization-based human motion prediction using an inverse-inverse dynamics technique implemented in the AnyBody Modeling System

    DEFF Research Database (Denmark)

    Farahani, Saeed Davoudabadi; Andersen, Michael Skipper; de Zee, Mark

    2012-01-01

    derived from the detailed musculoskeletal analysis. The technique is demonstrated on a human model pedaling a bicycle. We use a physiology-based cost function expressing the mean square of all muscle activities over the cycle to predict a realistic motion pattern. Posture and motion prediction...... on a physics model including dynamic effects and a high level of anatomical realism. First, a musculoskeletal model comprising several hundred muscles is built in AMS. The movement is then parameterized by means of time functions controlling selected degrees of freedom of the model. Subsequently......, the parameters of these functions are optimized to produce an optimum posture or movement according to a user-defined cost function and constraints. The cost function and the constraints are typically express performance, comfort, injury risk, fatigue, muscle load, joint forces and other physiological properties...

  1. Coordinated joint motion control system with position error correction

    Science.gov (United States)

    Danko, George L.

    2016-04-05

    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.

  2. Identification of motion from multi-channel EMG signals for control of prosthetic hand

    International Nuclear Information System (INIS)

    Geethanjali, P.; Ray, K.K.

    2011-01-01

    Full text: The authors in this paper propose an effective and efficient pattern recognition technique from four channel electromyogram (EMG) signals for control of multifunction prosthetic hand. Time domain features such as mean absolute value, number of zero crossings, number of slope sign changes and waveform length are considered for pattern recognition. The patterns are classified using simple logistic regression (SLR) technique and decision tree (DT) using J48 algorithm. In this study six specific hand and wrist motions are identified from the EMG signals obtained from ten different able-bodied. By considering relevant dominant features for pattern recognition, the processing time as well as memory space of the SLR and DT classifiers is found to be less in comparison with neural network (NN), k-nearest neighbour model 1 (kNN Model-1), k-nearest neighbour model 2 (kNN-Model-2) and linear discriminant analysis. The classification accuracy of SLR classifier is found to be 91 ± 1.9%. (author)

  3. 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 robotics * Predictive control * Range-space control Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0305644.pdf

  4. 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.

  5. 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.

  6. MO-FG-BRD-01: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: Introduction and KV Tracking

    International Nuclear Information System (INIS)

    Fahimian, B.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  7. MO-FG-BRD-02: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MV Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Berbeco, R. [Brigham and Women’s Hospital and Dana-Farber Cancer Institute (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  8. MO-FG-BRD-04: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Low, D. [University of California Los Angeles: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  9. MO-FG-BRD-03: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: EM Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Keall, P. [University of Sydney (Australia)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  10. MO-FG-BRD-01: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: Introduction and KV Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Fahimian, B. [Stanford University (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  11. MO-FG-BRD-04: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking

    International Nuclear Information System (INIS)

    Low, D.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  12. MO-FG-BRD-03: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: EM Tracking

    International Nuclear Information System (INIS)

    Keall, P.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  13. MO-FG-BRD-02: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MV Tracking

    International Nuclear Information System (INIS)

    Berbeco, R.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  14. A novel technique for active vibration control, based on optimal

    Indian Academy of Sciences (India)

    In the last few decades, researchers have proposed many control techniques to suppress unwanted vibrations in a structure. In this work, a novel and simple technique is proposed for the active vibration control. In this technique, an optimal tracking control is employed to suppress vibrations in a structure by simultaneously ...

  15. Modular overconstrained weak-link mechanism for ultraprecision motion control

    International Nuclear Information System (INIS)

    Shu Deming; Toellner, Thomas S.; Alp, Esen E.

    2001-01-01

    We have designed and constructed a novel miniature overconstrained weak-link mechanism that will allow positioning of two crystals with better than 50 nrad angular resolution and nanometer linear driving sensitivity. The precision and stability of this structure allow the user to align or adjust an assembly of crystals to achieve the same performance as does a single channel-cut crystal, so we call it an ''artificial channel-cut crystal.'' Unlike the traditional kinematic linear spring mechanisms, the overconstrained weak-link mechanism provides much higher structure stiffness and stability. Using a laminar structure configured and manufactured by chemical etching and lithography techniques, we are able to design and build a planar-shape, high stiffness, high precision weak-link mechanism. In this paper, we present recent developments for the overconstrained weak-link mechanism. Applications of this new technique to synchrotron radiation instrumentation are also discussed

  16. Analysis of the accuracy and robustness of the leap motion controller.

    Science.gov (United States)

    Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

    2013-05-14

    The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

  17. Analysis of the Accuracy and Robustness of the Leap Motion Controller

    Directory of Open Access Journals (Sweden)

    Denis Fisseler

    2013-05-01

    Full Text Available The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2mmhas been obtained for static setups and of 1.2mmfor dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

  18. 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.

  19. 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.

  20. Modification of hemiplegic compensatory gait pattern by symmetry-based motion controller of HAL.

    Science.gov (United States)

    Kawamoto, Hiroaki; Kadone, Hideki; Sakurai, Takeru; Sankai, Yoshiyuki

    2015-01-01

    As one of several characteristics of hemiplegic patients after stroke, compensatory gait caused by affected limb is often seen. The purpose of this research is to apply a symmetry-based controller of a wearable type lower limb robot, Hybrid Assistive Limb (HAL) to hemiplegic patients with compensatory gait, and to investigate improvement of gait symmetry. The controller is designed respectively for swing phase and support phase according to characteristics of hemiplegic gait pattern. The controller during swing phase stores the motion of the unaffected limb and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. Moreover, the controller during support phase provides motion to extend hip and knee joints to support wearer's body. Clinical tests were conducted in order to assess the modification of gait symmetry. Our case study involved participation of one chronic stroke patient who performs abnormally-compensatory gait for both of the affected and unaffected limbs. As a result, the patient's gait symmetry was improved by providing motion support during the swing phase on the affected side and motion constraint during the support phase on the unaffected side. The study showed promising basis for the effectiveness of the controller for the future clinical study.

  1. Comparison of lung tumor motion measured using a model-based 4DCT technique and a commercial protocol.

    Science.gov (United States)

    O'Connell, Dylan; Shaverdian, Narek; Kishan, Amar U; Thomas, David H; Dou, Tai H; Lewis, John H; Lamb, James M; Cao, Minsong; Tenn, Stephen; Percy, Lee P; Low, Daniel A

    2017-11-11

    To compare lung tumor motion measured with a model-based technique to commercial 4-dimensional computed tomography (4DCT) scans and describe a workflow for using model-based 4DCT as a clinical simulation protocol. Twenty patients were imaged using a model-based technique and commercial 4DCT. Tumor motion was measured on each commercial 4DCT dataset and was calculated on model-based datasets for 3 breathing amplitude percentile intervals: 5th to 85th, 5th to 95th, and 0th to 100th. Internal target volumes (ITVs) were defined on the 4DCT and 5th to 85th interval datasets and compared using Dice similarity. Images were evaluated for noise and rated by 2 radiation oncologists for artifacts. Mean differences in tumor motion magnitude between commercial and model-based images were 0.47 ± 3.0, 1.63 ± 3.17, and 5.16 ± 4.90 mm for the 5th to 85th, 5th to 95th, and 0th to 100th amplitude intervals, respectively. Dice coefficients between ITVs defined on commercial and 5th to 85th model-based images had a mean value of 0.77 ± 0.09. Single standard deviation image noise was 11.6 ± 9.6 HU in the liver and 6.8 ± 4.7 HU in the aorta for the model-based images compared with 57.7 ± 30 and 33.7 ± 15.4 for commercial 4DCT. Mean model error within the ITV regions was 1.71 ± 0.81 mm. Model-based images exhibited reduced presence of artifacts at the tumor compared with commercial images. Tumor motion measured with the model-based technique using the 5th to 85th percentile breathing amplitude interval corresponded more closely to commercial 4DCT than the 5th to 95th or 0th to 100th intervals, which showed greater motion on average. The model-based technique tended to display increased tumor motion when breathing amplitude intervals wider than 5th to 85th were used because of the influence of unusually deep inhalations. These results suggest that care must be taken in selecting the appropriate interval during image generation when using model-based 4DCT methods. Copyright © 2017

  2. 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.

  3. 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.

  4. State and data techniques for control of discontinuous systems

    International Nuclear Information System (INIS)

    Kisner, R.A.

    1986-01-01

    This paper describes a technique for structured analysis and design of automated control systems. The technique integrates control of continuous and discontinuous nuclear power plant subsystems and components. A hierarchical control system with distributed intelligence follows from applying the technique. Further, it can be applied to all phases of control system design. For simplicity, the example used in the paper is limited to phase 1 design (basic automatic control action), in which no maintenance, testing, or contingency capability is attempted. 11 figs

  5. Design of a linear-motion dual-stage actuation system for precision control

    International Nuclear Information System (INIS)

    Dong, W; Tang, J; ElDeeb, Y

    2009-01-01

    Actuators with high linear-motion speed, high positioning resolution and a long motion stroke are needed in many precision machining systems. In some current systems, voice coil motors (VCMs) are implemented for servo control. While the voice coil motors may provide the long motion stroke needed in many applications, the main obstacle that hinders the improvement of the machining accuracy and efficiency is their limited bandwidth. To fundamentally solve this issue, we propose to develop a dual-stage actuation system that consists of a voice coil motor that covers the coarse motion, and a piezoelectric stack actuator that induces the fine motion, thus enhancing the positioning accuracy. The focus of this present research is the mechatronics design and synthesis of the new actuation system. In particular, a flexure hinge based mechanism is developed to provide a motion guide and preload to the piezoelectric stack actuator that is serially connected to the voice coil motor. This mechanism is built upon parallel plane flexure hinges. A series of numerical and experimental studies are carried out to facilitate the system design and the model identification. The effectiveness of the proposed system is demonstrated through open-loop studies and preliminary closed-loop control practice. While the primary goal of this particular design is aimed at enhancing optical lens machining, the concept and approach outlined are generic and can be extended to a variety of applications

  6. 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.

  7. Reliable 5-min real-time MR technique for left-ventricular-wall motion analysis

    International Nuclear Information System (INIS)

    Katoh, Marcus; Spuentrup, Elmar; Guenther, Rolf W.; Buecker, Arno; Kuehl, Harald P.; Lipke, Claudia S.A.

    2007-01-01

    The aim of this study was to investigate the value of a real-time magnetic resonance imaging (MRI) approach for the assessment of left-ventricular-wall motion in patients with insufficient transthoracic echocardiography in terms of accuracy and temporal expenditure. Twenty-five consecutive patients were examined on a 1.5-Tesla whole-body MR system (ACS-NT, Philips Medical Systems, Best, NL) using a real-time and ECG-gated (the current gold standard) steady-state free-precession (SSFP) sequence. Wall motion was analyzed by three observers by consensus interpretation. In addition, the preparation, scanning, and overall examination times were measured. The assessment of the wall motion demonstrated a close agreement between the two modalities resulting in a mean κ coefficient of 0.8. At the same time, each stage of the examination was significantly shortened using the real-time MR approach. Real-time imaging allows for accurate assessment of left-ventricular-wall motion with the added benefit of decreased examination time. Therefore, it may serve as a cost-efficient alternative in patients with insufficient echocardiography. (orig.)

  8. On development and improvement of evaluation techniques for strong ground motion

    International Nuclear Information System (INIS)

    Tsutsumi, Hideaki; Wu, Changjiang; Kobayashi, Genyu; Mamada, Yutaka

    2011-01-01

    The NSC regulatory guide for reviewing seismic design, revised in September 2006 requires revision of evaluation method for design seismic ground motion. The new design seismic ground motion must be evaluated based on not only response spectra method but also fault model method. In the case of evaluation method using fault model, factors which affect ground motion (heterogeneous fault rupture, frequency dependence of radiation pattern on seismic waves and high-frequency reduction on observed spectrum (fmax)) were studied in order to apply the models to actual phenomenon. In the case of response spectra, attenuation relationships for earthquake response spectra on seismic basement, considering the earthquake source types (e.g. inter-plate, intra-plate and crustal types), were developed. In addition, in coping with the problems on evaluating ground motion amplification and attenuation in deep underground, JNES drills 3000 m deep boring and acquires the data for verification of new evaluation methods at deep borehole locating on sedimentary rock site in the Niigata Institute of Technology. Moreover JNES develops borehole seismometer enduring high temperature and high pressure and enabling multi-depth seismic observation system to perform vertical seismic array observation. (author)

  9. A Comprehensive Motion Estimation Technique for the Improvement of EIS Methods Based on the SURF Algorithm and Kalman Filter.

    Science.gov (United States)

    Cheng, Xuemin; Hao, Qun; Xie, Mengdi

    2016-04-07

    Video stabilization is an important technology for removing undesired motion in videos. This paper presents a comprehensive motion estimation method for electronic image stabilization techniques, integrating the speeded up robust features (SURF) algorithm, modified random sample consensus (RANSAC), and the Kalman filter, and also taking camera scaling and conventional camera translation and rotation into full consideration. Using SURF in sub-pixel space, feature points were located and then matched. The false matched points were removed by modified RANSAC. Global motion was estimated by using the feature points and modified cascading parameters, which reduced the accumulated errors in a series of frames and improved the peak signal to noise ratio (PSNR) by 8.2 dB. A specific Kalman filter model was established by considering the movement and scaling of scenes. Finally, video stabilization was achieved with filtered motion parameters using the modified adjacent frame compensation. The experimental results proved that the target images were stabilized even when the vibrating amplitudes of the video become increasingly large.

  10. 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

  11. 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

  12. 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.

  13. 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.

  14. Remote control and motion coordination of mobile robots

    NARCIS (Netherlands)

    Alvarez Aguirre, A.

    2011-01-01

    As robots destined for personal and professional applications advance towards becoming part of our daily lives, the importance and complexity of the control algorithms which regulate them should not be underestimated. This thesis is related to two fields within robotics which are of major importance

  15. Brownian motion approximations for stock control and tankage assessment

    NARCIS (Netherlands)

    R.A.J.J. Nieboer; R. Dekker (Rommert)

    1995-01-01

    textabstractThis paper presents a model for refinery tankage assessment. Special characteristics covered are a hybrid demand process and a periodic-review target-stock policy for production control. The demand is assumed to be in two forms: as large parcels, collected at fixed intervals, and as many

  16. A Cable-Passive Damper System for Sway and Skew Motion Control of a Crane Spreader

    Directory of Open Access Journals (Sweden)

    La Duc Viet

    2015-01-01

    Full Text Available While the crane control problem is often approached by applying a certain active control command to some parts of the crane, this paper proposes a cable-passive damper system to reduce the vibration of a four-cable suspended crane spreader. The residual sway and skew motions of a crane spreader always produce the angle deflections between the crane cables and the crane spreader. The idea in this paper is to convert those deflections into energy dissipated by the viscous dampers, which connect the cables and the spreader. The proposed damper system is effective in reducing spreader sway and skew motions. Moreover, the optimal damping coefficient can be found analytically by minimizing the time integral of system energy. The numerical simulations show that the proposed passive system can assist the input shaping control of the trolley motion in reducing both sway and skew responses.

  17. 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.

  18. Evaluation of the leap motion controller as a new contact-free pointing device.

    Science.gov (United States)

    Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

    2014-12-24

    This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8% for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller's performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC.

  19. Wideband simulation of earthquake ground motion by a spectrum-matching, multiple-pulse technique

    International Nuclear Information System (INIS)

    Gusev, A.; Pavlov, V.

    2006-04-01

    To simulate earthquake ground motion, we combine a multiple-point stochastic earthquake fault model and a suite of Green functions. Conceptually, our source model generalizes the classic one of Haskell (1966). At any time instant, slip occurs over a narrow strip that sweeps the fault area at a (spatially variable) velocity. This behavior defines seismic signals at lower frequencies (LF), and describes directivity effects. High-frequency (HF) behavior of source signal is defined by local slip history, assumed to be a short segment of pulsed noise. For calculations, this model is discretized as a grid of point subsources. Subsource moment rate time histories, in their LF part, are smooth pulses whose duration equals to the rise time. In their HF part, they are segments of non-Gaussian noise of similar duration. The spectral content of subsource time histories is adjusted so that the summary far-field signal follows certain predetermined spectral scaling law. The results of simulation depend on random seeds, and on particular values of such parameters as: stress drop; average and dispersion parameter for rupture velocity; rupture nucleation point; slip zone width/rise time, wavenumber-spectrum parameter defining final slip function; the degrees of non-Gaussianity for random slip rate in time, and for random final slip in space, and more. To calculate ground motion at a site, Green functions are calculated for each subsource-site pair, then convolved with subsource time functions and at last summed over subsources. The original Green function calculator for layered weakly inelastic medium is of discrete wavenumber kind, with no intrinsic limitations with respect to layer thickness or bandwidth. The simulation package can generate example motions, or used to study uncertainties of the predicted motion. As a test, realistic analogues of recorded motions in the epicentral zone of the 1994 Northridge, California earthquake were synthesized, and related uncertainties were

  20. Decentralized control using compositional analysis techniques

    NARCIS (Netherlands)

    Kerber, F.; van der Schaft, A. J.

    2011-01-01

    Decentralized control strategies aim at achieving a global control target by means of distributed local controllers acting on individual subsystems of the overall plant. In this sense, decentralized control is a dual problem to compositional analysis where a global verification task is decomposed

  1. 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.

  2. 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.

  3. An Automated Technique for Generating Georectified Mosaics from Ultra-High Resolution Unmanned Aerial Vehicle (UAV Imagery, Based on Structure from Motion (SfM Point Clouds

    Directory of Open Access Journals (Sweden)

    Christopher Watson

    2012-05-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are an exciting new remote sensing tool capable of acquiring high resolution spatial data. Remote sensing with UAVs has the potential to provide imagery at an unprecedented spatial and temporal resolution. The small footprint of UAV imagery, however, makes it necessary to develop automated techniques to geometrically rectify and mosaic the imagery such that larger areas can be monitored. In this paper, we present a technique for geometric correction and mosaicking of UAV photography using feature matching and Structure from Motion (SfM photogrammetric techniques. Images are processed to create three dimensional point clouds, initially in an arbitrary model space. The point clouds are transformed into a real-world coordinate system using either a direct georeferencing technique that uses estimated camera positions or via a Ground Control Point (GCP technique that uses automatically identified GCPs within the point cloud. The point cloud is then used to generate a Digital Terrain Model (DTM required for rectification of the images. Subsequent georeferenced images are then joined together to form a mosaic of the study area. The absolute spatial accuracy of the direct technique was found to be 65–120 cm whilst the GCP technique achieves an accuracy of approximately 10–15 cm.

  4. 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.

  5. 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.

  6. Application of a Leap Motion Sensor for Improved Drone Control

    Science.gov (United States)

    2017-12-01

    gas , and mineral exploration,  Domestic surveillance,  Policing activities by law enforcement agencies,  Forest fire detection,  Precision...search and rescue missions,  Security of pipelines , power lines, coastline and borders monitoring for illegal immigration and imports,  Delivery...5.71 3.9 inches Motor Type Brush Motors Material Plastic, Metal Power Source Electric Remote Distance 10 - 12 meters Control Channels 3

  7. Motion modelling and control strategies of over-actuated vehicles

    OpenAIRE

    Edrén, Johannes

    2014-01-01

    With the growing concern for environmental change and uncertain oil resources, the development of new vehicle concepts will in many cases include full or partial electric propulsion. The introduction of more advanced powertrains enables vehicles that can be controlled with a variety of electric actuators, such as wheel hub motors and individual steering. With these actuators, the chassis can be enabled to adjust its properties depending on the driving situation. Manoeuvring of the vehicle, us...

  8. Technique of nuclear reactors controls; Technique des controles des reacteurs nucleaires

    Energy Technology Data Exchange (ETDEWEB)

    Weill, J [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires

    1953-12-15

    This report deal about 'Techniques of control of the nuclear reactors' in the goal to achieve the control of natural uranium reactors and especially the one of Saclay. This work is mainly about the measurement into nuclear parameters and go further in the measurement of thermodynamic variables,etc... putting in relief the new features required on behalf of the detectors because of their use in the thermal neutrons flux. In the domain of nuclear measurement, we indicate the realizations and the results obtained with thermal neutron detectors and for the measurement of ionizations currents. We also treat the technical problem of the start-up of a reactor and of the reactivity measurement. We give the necessary details for the comprehension of all essential diagrams and plans put on, in particular, for the reactor of Saclay. (author) [French] Nous avons aborde le probleme de la ''Technique du Controle des reacteurs nucleaires'' dans le but de realiser le controle du reacteur de Saclay. C'est ainsi que nous avons ete amene a etudier le probleme dans son ensemble, tel qu'il se pose pour tout reacteur a uranium naturel. Ce travail traite principalement du domaine des mesures a caractere nucleaire et s'etend dans le domaine des mesures thermodynamque de niveaux, etc... mettant en relief les caracteristiques nouvelles exigees de la part des detecteurs du fait de leur utilisation dans le flux de neutrons thermiques. Dans le domaine de mesures nucleaires, nous indiquons principalement les realisations et les resultats obtenus pour les detecteurs de neutrons thermiques et pour la mesure de courants d'ionisations. Nous traitons egalement du probleme technique du demarrage d'un reacteur et du probleme de la mesure de la reactivite. Nous donnons les details necessaires a la comrehension de tous les schemas et plans de cablages essentiels mis au point, en particulier, pour le reacteur de Saclay. (auteur)

  9. 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.

  10. Evaluation of the Leap Motion Controller as a New Contact-Free Pointing Device

    OpenAIRE

    Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

    2014-01-01

    This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8 % for the LMC and 2.8% for the mouse device, movement times...

  11. Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

    Science.gov (United States)

    Book, Wayne J.

    1992-01-01

    The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

  12. [Motion control of moving mirror based on fixed-mirror adjustment in FTIR spectrometer].

    Science.gov (United States)

    Li, Zhong-bing; Xu, Xian-ze; Le, Yi; Xu, Feng-qiu; Li, Jun-wei

    2012-08-01

    The performance of the uniform motion of the moving mirror, which is the only constant motion part in FTIR spectrometer, and the performance of the alignment of the fixed mirror play a key role in FTIR spectrometer, and affect the interference effect and the quality of the spectrogram and may restrict the precision and resolution of the instrument directly. The present article focuses on the research on the uniform motion of the moving mirror and the alignment of the fixed mirror. In order to improve the FTIR spectrometer, the maglev support system was designed for the moving mirror and the phase detection technology was adopted to adjust the tilt angle between the moving mirror and the fixed mirror. This paper also introduces an improved fuzzy PID control algorithm to get the accurate speed of the moving mirror and realize the control strategy from both hardware design and algorithm. The results show that the development of the moving mirror motion control system gets sufficient accuracy and real-time, which can ensure the uniform motion of the moving mirror and the alignment of the fixed mirror.

  13. Two applications of airtightness control techniques on big assemblies

    CERN Document Server

    Devallan, C; Marcellin, J

    1973-01-01

    Deals with two airtightness control techniques respectively applied on intersecting storage rings (ISR) at CERN in Geneva and on a liquid methane storage tank. These two big assemblies called for two different control techniques which use helium and ammonia respectively as tracer gas. Existing practical leakage detection techniques to meet industrial needs are discussed at the end of the article. (2 refs).

  14. Performance assessment of a programmable five degrees-of-freedom motion platform for quality assurance of motion management techniques in radiotherapy.

    Science.gov (United States)

    Huang, Chen-Yu; Keall, Paul; Rice, Adam; Colvill, Emma; Ng, Jin Aun; Booth, Jeremy T

    2017-09-01

    Inter-fraction and intra-fraction motion management methods are increasingly applied clinically and require the development of advanced motion platforms to facilitate testing and quality assurance program development. The aim of this study was to assess the performance of a 5 degrees-of-freedom (DoF) programmable motion platform HexaMotion (ScandiDos, Uppsala, Sweden) towards clinically observed tumor motion range, velocity, acceleration and the accuracy requirements of SABR prescribed in AAPM Task Group 142. Performance specifications for the motion platform were derived from literature regarding the motion characteristics of prostate and lung tumor targets required for real time motion management. The performance of the programmable motion platform was evaluated against (1) maximum range, velocity and acceleration (5 DoF), (2) static position accuracy (5 DoF) and (3) dynamic position accuracy using patient-derived prostate and lung tumor motion traces (3 DoF). Translational motion accuracy was compared against electromagnetic transponder measurements. Rotation was benchmarked with a digital inclinometer. The static accuracy and reproducibility for translation and rotation was quality assurance and commissioning of motion management systems in radiation oncology.

  15. Exploration of deep S-wave velocity structure using microtremor array technique to estimate long-period ground motion

    International Nuclear Information System (INIS)

    Sato, Hiroaki; Higashi, Sadanori; Sato, Kiyotaka

    2007-01-01

    In this study, microtremor array measurements were conducted at 9 sites in the Niigata plain to explore deep S-wave velocity structures for estimation of long-period earthquake ground motion. The 1D S-wave velocity profiles in the Niigata plain are characterized by 5 layers with S-wave velocities of 0.4, 0.8, 1.5, 2.1 and 3.0 km/s, respectively. The depth to the basement layer is deeper in the Niigata port area located at the Japan sea side of the Niigata plain. In this area, the basement depth is about 4.8 km around the Seirou town and about 4.1 km around the Niigata city, respectively. These features about the basement depth in the Niigata plain are consistent with the previous surveys. In order to verify the profiles derived from microtremor array exploration, we estimate the group velocities of Love wave for four propagation paths of long-period earthquake ground motion during Niigata-ken tyuetsu earthquake by multiple filter technique, which were compared with the theoretical ones calculated from the derived profiles. As a result, it was confirmed that the group velocities from the derived profiles were in good agreement with the ones from long-period earthquake ground motion records during Niigata-ken tyuetsu earthquake. Furthermore, we applied the estimation method of design basis earthquake input for seismically isolated nuclear power facilities by using normal mode solution to estimate long-period earthquake ground motion during Niigata-ken tyuetsu earthquake. As a result, it was demonstrated that the applicability of the above method for the estimation of long-period earthquake ground motion were improved by using the derived 1D S-wave velocity profile. (author)

  16. CT imaging techniques for describing motions of the cervicothoracic junction and cervical spine during flexion, extension, and cervical traction.

    Science.gov (United States)

    Simon, Scott; Davis, Martin; Odhner, Dewey; Udupa, Jayaram; Winkelstein, Beth

    2006-01-01

    Computerized tomographic study of human cadavers undergoing traction and flexion-extension bending. To investigate the feasibility of using computerized tomography techniques to quantify relative vertebral motions of the cervical spine and cervicothoracic junction (CTJ), and to define normative CTJ kinematics. Despite developing an understanding of the mechanical behavior of the cervical spine, little remains known about the cervicothoracic junction. The CTJ is more difficult to image than other cervical regions given the anatomic features of the surrounding bones obstructing CTJ visualization. As such, limited data have been reported describing the responses of the CTJ for motions and loading in the sagittal plane, confounding the clinical assessment of its injuries and surgical treatments used at this region. Helical CT images of the cervical spine and CTJ were acquired incrementally during each of flexion, extension, and cervical traction. Vertebral surfaces were reconstructed using the specialized image analysis software, 3DVIEWNIX. A mathematical description of relative vertebral motions was derived by computing rigid transformations. Euler angles and translations were calculated. Regional spine stiffness was defined for traction. The CTJ was found to be much stiffer (779 N/mm) than the cervical spine (317 N/mm) in tension. In flexion-extension bending, the CTJ was similar to the lower cervical spine. The CTJ demonstrated significantly less coupled motion than the cervical spine. The CTJ, as a transition region between the cervical and thoracic spines, has unique kinematic characteristics. This application of kinematic CT methods is useful for quantifying unreported normative ranges of motion for the CTJ, difficult by other conventional radiologic means.

  17. Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

    Science.gov (United States)

    Wang, H. H.; Yuan, Z. H.; Wu, J.

    2006-10-01

    At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next

  18. Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

    International Nuclear Information System (INIS)

    Wang, H H; Yuan, Z H; Wu, J

    2006-01-01

    At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next

  19. LAMI: A gesturally controlled three-dimensional stage Leap (Motion-based) Audio Mixing Interface

    OpenAIRE

    Wakefield, Jonathan P.; Dewey, Christopher; Gale, William

    2017-01-01

    Interface designers are increasingly exploring alternative approaches to user input/control. LAMI is a Leap (Motion-based) AMI which takes user’s hand gestures and maps these to a three-dimensional stage displayed on a computer monitor. Audio channels are visualised as spheres whose Y coordinate is spectral centroid and X and Z coordinates are controlled by hand position and represent pan and level respectively. Auxiliary send levels are controlled via wrist rotation and vertical hand positio...

  20. Evaluation of the Leap Motion Controller as a New Contact-Free Pointing Device

    Directory of Open Access Journals (Sweden)

    Daniel Bachmann

    2014-12-01

    Full Text Available This paper presents a Fitts’ law-based analysis of the user’s performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8% for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller’s performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC.

  1. 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.

  2. 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.

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

    International Nuclear Information System (INIS)

    Kesner, Adam L; Schleyer, Paul J; Büther, Florian; Walter, Martin A; Schäfers, Klaus P; Koo, Phillip J

    2014-01-01

    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.

  4. 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.

  5. Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

    Directory of Open Access Journals (Sweden)

    Tianliang Liu

    2016-05-01

    Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

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

    Science.gov (United States)

    Xu, Bing; Cheng, Min

    2018-06-01

    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.

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

    International Nuclear Information System (INIS)

    Sapio, Vincent De; Srinivasa, Narayan

    2015-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-02-15

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

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

    Directory of Open Access Journals (Sweden)

    Rongrong Wang

    2013-01-01

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

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

    Science.gov (United States)

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

    2017-07-01

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

  11. 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...

  12. Vestibular Stimulation for ADHD: Randomized Controlled Trial of Comprehensive Motion Apparatus

    Science.gov (United States)

    Clark, David L.; Arnold, L. Eugene; Crowl, Lindsay; Bozzolo, Hernan; Peruggia, Mario; Ramadan, Yaser; Bornstein, Robert; Hollway, Jill A.; Thompson, Susan; Malone, Krista; Hall, Kristy L.; Shelton, Sara B.; Bozzolo, Dawn R.; Cook, Amy

    2008-01-01

    Objective: This research evaluates effects of vestibular stimulation by Comprehensive Motion Apparatus (CMA) in ADHD. Method: Children ages 6 to 12 (48 boys, 5 girls) with ADHD were randomized to thrice-weekly 30-min treatments for 12 weeks with CMA, stimulating otoliths and semicircular canals, or a single-blind control of equal duration and…

  13. 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…

  14. Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

    Science.gov (United States)

    Wang, Xingjian; Shi, Cun; Wang, Shaoping

    2017-07-01

    Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

  15. 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.

  16. Measurement of vortex motion in a type-II superconductor: A novel use of the neutron spin-echo technique

    Science.gov (United States)

    Forgan; Kealey; Johnson; Pautrat; Simon; Lee; Aegerter; Cubitt; Farago; Schleger

    2000-10-16

    We have used the neutron spin-echo technique to measure the small energy change of neutrons which are diffracted by a moving vortex lattice in a low-pinning Nb-Ta superconducting sample. A transport current was passed in the mixed state to cause flux line movement. In the case of uniform motion, the flux velocity v(L) was given as expected by the values of electric and magnetic fields, via E = -v(L)wedgeB. We show that with a nonuniformly moving vortex lattice, one can measure the dispersion of the velocities, opening up new possibilities for investigating moving vortex lines.

  17. 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...

  18. 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

    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....... 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...

  19. Possible influences on color constancy by motion of color targets and by attention-controlled gaze.

    Science.gov (United States)

    Wan, Lifang; Shinomori, Keizo

    2018-04-01

    We investigated the influence of motion on color constancy using a chromatic stimulus presented in various conditions (static, motion, and rotation). Attention to the stimulus and background was also controlled in different gaze modes, constant fixation of the stimulus, and random viewing of the stimulus. Color constancy was examined in six young observers using a haploscopic view of a computer monitor. The target and background were illuminated in simulation by red, green, blue, and yellow, shifted from daylight (D65) by specific color differences along L - M or S - (L + M) axes on the equiluminance plane. The standard pattern (under D65) and test pattern (under the color illuminant) of a 5-deg square were presented side by side, consisting of 1.2-deg square targets with one of 12 colors at each center, surrounded by 230 background ellipses consisting of eight other colors. The central color targets in both patterns flipped between top and bottom locations at the rate of 3 deg/s in the motion condition. The results indicated an average reduction of color constancy over the 12 test colors by motion. The random viewing parameter indicated better color constancy by more attention to the background, although the difference was not significant. Color constancy of the four color illuminations was better to worse in green, red, yellow, and blue, respectively. The reduction of color constancy by motion could be explained by less contribution of the illumination estimation effect on color constancy. In the motion with constant fixation condition, the retina strongly adapted to the mean chromaticity of the background. However, motion resulted in less attention to the color of the background, causing a weaker effect of the illumination estimation. Conversely, in the static state with a random viewing condition, more attention to the background colors caused a stronger illumination estimation effect, and color constancy was improved overall.

  20. Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    2014-01-01

    Full Text Available The underwater recovery of autonomous underwater vehicles (AUV is a process of 6-DOF motion control, which is related to characteristics with strong nonlinearity and coupling. In the recovery mission, the vehicle requires high level control accuracy. Considering an AUV called BSAV, this paper established a kinetic model to describe the motion of AUV in the horizontal plane, which consisted of nonlinear equations. On the basis of this model, the main coupling variables were analyzed during recovery. Aiming at the strong coupling problem between the heading control and sway motion, we designed a decoupling compensator based on the fuzzy theory and the decoupling theory. We analyzed to the rules of fuzzy compensation, the input and output membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, and obtained decoupling compensation quantity. Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, and improves the control precision. Through the water tank experiments and analysis of experimental data, the effectiveness and feasibility of AUV recovery movement coordinated control based on fuzzy decoupling method are validated successful, and show that the fuzzy decoupling control method has a high practical value in the recovery mission.

  1. Weighing in motion and characterization of the railroad traffic with using the B-WIM technique

    Directory of Open Access Journals (Sweden)

    J. A. DE CARVALHO NETO

    Full Text Available AbstractThe knowledge on the active moving load of a bridge is crucial for the achievement of the information on the behavior of the structure, and thus foresee maintenance, repairs and better definition of the logistics of its active vehicles. This paper presents the development of the algorithms for the application of the Bridge-Weigh In Motion (B-WIM method created by Moses for the weighing of trains during motion and also for the characterization of the rail traffic, allowing the obtainment of information like passage's train velocity and number and spacing of axles, eliminating the dynamic effect. There were implemented algorithms for the determination of the data referring to the geometry of the train and its loads, which were evaluated using a theoretical example, in which it was simulated the passage of the train over a bridge and the loads of its axles were determined with one hundred percent of precision. In addition, it was made a numerical example in finite elements of a reinforced concrete viaduct from the Carajás' Railroad, in which the developed system reached great results on the characterization and weighing of the locomotive when the constitutive equation of the Brazilian Standards was substituted by the one proposed by Collins and Mitchell.

  2. Possible applications of the LEAP motion controller for more interactive simulated experiments in augmented or virtual reality

    Science.gov (United States)

    Wozniak, Peter; Vauderwange, Oliver; Mandal, Avikarsha; Javahiraly, Nicolas; Curticapean, Dan

    2016-09-01

    Practical exercises are a crucial part of many curricula. Even simple exercises can improve the understanding of the underlying subject. Most experimental setups require special hardware. To carry out e. g. a lens experiments the students need access to an optical bench, various lenses, light sources, apertures and a screen. In our previous publication we demonstrated the use of augmented reality visualization techniques in order to let the students prepare with a simulated experimental setup. Within the context of our intended blended learning concept we want to utilize augmented or virtual reality techniques for stationary laboratory exercises. Unlike applications running on mobile devices, stationary setups can be extended more easily with additional interfaces and thus allow for more complex interactions and simulations in virtual reality (VR) and augmented reality (AR). The most significant difference is the possibility to allow interactions beyond touching a screen. The LEAP Motion controller is a small inexpensive device that allows for the tracking of the user's hands and fingers in three dimensions. It is conceivable to allow the user to interact with the simulation's virtual elements by the user's very hand position, movement and gesture. In this paper we evaluate possible applications of the LEAP Motion controller for simulated experiments in augmented and virtual reality. We pay particular attention to the devices strengths and weaknesses and want to point out useful and less useful application scenarios.

  3. High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

    Directory of Open Access Journals (Sweden)

    Francesco La Mura

    2018-02-01

    Full Text Available This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure’s behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture.

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

    International Nuclear Information System (INIS)

    Shishkin, Alexander A.

    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 r, r, D r,θ , D θ,θ are introduced. The new approach is demonstrated by numerical computations of the test helium particle trajectories in the toroidal trap Large Helical Device. (author)

  5. Temperature-Responsive Anisotropic Slippery Surface for Smart Control of the Droplet Motion.

    Science.gov (United States)

    Wang, By Lili; Heng, Liping; Jiang, Lei

    2018-02-28

    Development of stimulus-responsive anisotropic slippery surfaces is important because of the high demand for such materials in the field of liquid directional-driven systems. However, current studies in the field of slippery surfaces are mainly conducted to prepare isotropic slippery surfaces. Although we have developed electric-responsive anisotropic slippery surfaces that enable smart control of the droplet motion, there remain challenges for designing temperature-responsive anisotropic slippery surfaces to control the liquid droplet motion on the surface and in the tube. In this work, temperature-responsive anisotropic slippery surfaces have been prepared by using paraffin, a thermo-responsive phase-transition material, as a lubricating fluid and directional porous polystyrene (PS) films as the substrate. The smart regulation of the droplet motion of several liquids on this surface was accomplished by tuning the substrate temperature. The uniqueness of this surface lies in the use of an anisotropic structure and temperature-responsive lubricating fluids to achieve temperature-driven smart control of the anisotropic motion of the droplets. Furthermore, this surface was used to design temperature-driven anisotropic microreactors and to manipulate liquid transfer in tubes. This work advances the understanding of the principles underlying anisotropic slippery surfaces and provides a promising material for applications in the biochip and microreactor system.

  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. Advanced Control Techniques for WEC Wave Dragon

    DEFF Research Database (Denmark)

    Tedd, James; Kofoed, Jens Peter; Jasinski, M.

    2007-01-01

    This paper presents the ongoing work on control of the Wave Dragon wave energy converter. Research is being conducted in and between several centers across Europe. This is building upon the knowledge gained in the prototype project, and will enable much better performance of the future deployment...... of the full scale Wave Dragon....

  11. 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.

  12. Implementation An image processing technique for video motion analysis during the gait cycle canine

    Science.gov (United States)

    López, G.; Hernández, J. O.

    2017-01-01

    Nowadays the analyses of human movement, more specifically of the gait have ceased to be a priority for our species. Technological advances and implementations engineering have joined to obtain data and information regarding the gait cycle in another animal species. The aim of this paper is to analyze the canine gait in order to get results that describe the behavior of the limbs during the gait cycle. The research was performed by: 1. Dog training, where it is developed the step of adaptation and trust; 2. Filming gait cycle; 3. Data acquisition, in order to obtain values that describe the motion cycle canine and 4. Results, obtaining the kinematics variables involved in the march. Which are essential to determine the behavior of the limbs, as well as for the development of prosthetic or orthotic. This project was carried out with conventional equipment and using computational tools easily accessible.

  13. 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.

  14. Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

    Science.gov (United States)

    Chen, Tien-Chi; Yu, Chih-Hsien

    2009-07-01

    A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

  15. Analog techniques in CEBAF's RF control system

    International Nuclear Information System (INIS)

    Hovater, C.; Fugitt, J.

    1989-01-01

    Recent developments in high-speed analog technology have progressed into the areas of traditional RF technology. Diode related devices are being replaced by analog IC's in the CEBAF RF control system. Complex phase modulators and attenuators have been successfully tested at 70 MHz. They have three advantages over existing technology: lower cost, less temperature sensitivity, and more linearity. RF signal conditioning components and how to implement the new analog IC's will be covered in this paper. 4 refs., 5 figs

  16. Analog techniques in CEBAF'S RF control system

    International Nuclear Information System (INIS)

    Hovater, C.; Fugitt, J.

    1989-01-01

    Recent developments in high-speed analog technology have progressed into the areas of traditional rf technology. Diode-related devices are being replaced by analog IC's in the CEBAF rf control system. Complex phase modulators and attenuators have been successfully tested at 70 MHz. They have three advantages over existing technology: lower cost, less temperature sensitivity, and more linearity. Rf signal conditioning components and how to implement the new analog IC's will be covered in this paper. 4 refs., 5 figs

  17. Development of NSTX Particle Control Techniques

    International Nuclear Information System (INIS)

    Kugel, H.W.; Maingi, R.; Bell, M.; Gates, D.; Hill, K.; LeBlanc, B.; Mueller, D.; Kaita, R.; Paul, S.; Sabbagh, S.; Skinner, C.H.; Soukhanovskii, V.; Stratton, B.; Raman, R.

    2004-01-01

    The National Spherical Torus Experiment (NSTX) High Harmonic Fast Wave (HHFW) current-drive discharges will require density control for acceptable efficiency. In NSTX, this involves primarily controlling impurity influxes and recycling. We have compared boronization on hot and cold surfaces, varying helium glow discharge conditioning (HeGDC) durations, helium discharge cleaning, brief daily boronization, and between discharge boronization to reduce and control spontaneous density rises. Access to Ohmic H-modes was enabled by boronization on hot surfaces, however, the duration of the effectiveness of hot and cold boronization was comparable. A 15 minute HeGDC between discharges was needed for reproducible L-H transitions. Helium discharge conditioning yielded slower density rises than 15 minutes of HeGDC. Brief daily boronization followed by a comparable duration of applied HeGDC restored and enhanced good conditions. Additional brief boronizations between discharges did not improve plasma performance (reduced recycling, reduced impurity luminosities, earlier L-H transitions, longer plasma current flattops, higher stored energies) if conditions were already good. Between discharge boronization required increases in the NSTX duty cycle due to the need for additional HeGDC to remove codeposited D

  18. Pitching motion control of a butterfly-like 3D flapping wing-body model

    Science.gov (United States)

    Suzuki, Kosuke; Minami, Keisuke; Inamuro, Takaji

    2014-11-01

    Free flights and a pitching motion control of a butterfly-like flapping wing-body model are numerically investigated by using an immersed boundary-lattice Boltzmann method. The model flaps downward for generating the lift force and backward for generating the thrust force. Although the model can go upward against the gravity by the generated lift force, the model generates the nose-up torque, consequently gets off-balance. In this study, we discuss a way to control the pitching motion by flexing the body of the wing-body model like an actual butterfly. The body of the model is composed of two straight rigid rod connected by a rotary actuator. It is found that the pitching angle is suppressed in the range of +/-5° by using the proportional-plus-integral-plus-derivative (PID) control for the input torque of the rotary actuator.

  19. 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.

  20. 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.

  1. Contributions to fuzzy polynomial techniques for stability analysis and control

    OpenAIRE

    Pitarch Pérez, José Luis

    2014-01-01

    The present thesis employs fuzzy-polynomial control techniques in order to improve the stability analysis and control of nonlinear systems. Initially, it reviews the more extended techniques in the field of Takagi-Sugeno fuzzy systems, such as the more relevant results about polynomial and fuzzy polynomial systems. The basic framework uses fuzzy polynomial models by Taylor series and sum-of-squares techniques (semidefinite programming) in order to obtain stability guarantees...

  2. State and data techniques for control of discontinuous systems

    International Nuclear Information System (INIS)

    Kisner, R.A.

    1986-01-01

    The need for automated control systems becomes clear as the complexity of nuclear power plants increases and economic incentives demand higher plant availability. A control system with intelligence distributed throughout its controllers allows reduction in operator workload, perhaps reduction in crew size, and potentially a reduction in on-line human error. In automated systems of this kind, each controller should be capable of making decisions and carrying out a plan of action. This paper describes a technique for structured analysis and design of automated control systems. The technique integrates control of continuous and discontinuous nuclear power plant subsystems and components. A hierarchical control system with distributed intelligence follows from applying the technique. Further, it can be applied to all phases of control system design. For simplicity, the example used in the paper is limited to phase I design (basic automatic control action), in which no maintenance, testing, or contingency capability is attempted

  3. Shallow and deep controls on lava lake surface motion at Kīlauea Volcano

    Science.gov (United States)

    Patrick, Matthew R.; Orr, Tim R.; Swanson, Don; Lev, Einat

    2016-01-01

    Lava lakes provide a rare window into magmatic behavior, and lake surface motion has been used to infer deeper properties of the magmatic system. At Halema'uma'u Crater, at the summit of Kīlauea Volcano, multidisciplinary observations for the past several years indicate that lava lake surface motion can be broadly divided into two regimes: 1) stable and 2) unstable. Stable behavior is driven by lava upwelling from deeper in the lake (presumably directly from the conduit) and is an intrinsic process that drives lava lake surface motion most of the time. This stable behavior can be interrupted by periods of unstable flow (often reversals) driven by spattering – a shallowly-rooted process often extrinsically triggered by small rockfalls from the crater wall. The bursting bubbles at spatter sources create void spaces and a localized surface depression which draws and consumes surrounding surface crust. Spattering is therefore a location of lava downwelling, not upwelling. Stable (i.e. deep, upwelling-driven) and unstable (i.e. shallow, spattering-driven) behavior often alternate through time, have characteristic surface velocities, flow directions and surface temperature regimes, and also correspond to changes in spattering intensity, outgassing rates, lava level and seismic tremor. These results highlight that several processes, originating at different depths, can control the motion of the lava lake surface, and long-term interdisciplinary monitoring is required to separate these influences. These observations indicate that lake surface motion is not always a reliable proxy for deeper lake or magmatic processes. From these observations, we suggest that shallow outgassing (spattering), not lake convection, drives the variations in lake motion reported at Erta 'Ale lava lake.

  4. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  5. A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques

    Directory of Open Access Journals (Sweden)

    Wenqi Wu

    2013-01-01

    Full Text Available In-motion alignment of Strapdown Inertial Navigation Systems (SINS without any geodetic-frame observations is one of the toughest challenges for Autonomous Underwater Vehicles (AUV. This paper presents a novel scheme for Doppler Velocity Log (DVL aided SINS alignment using Unscented Kalman Filter (UKF which allows large initial misalignments. With the proposed mechanism, a nonlinear SINS error model is presented and the measurement model is derived under the assumption that large misalignments may exist. Since a priori knowledge of the measurement noise covariance is of great importance to robustness of the UKF, the covariance-matching methods widely used in the Adaptive KF (AKF are extended for use in Adaptive UKF (AUKF. Experimental results show that the proposed DVL-aided alignment model is effective with any initial heading errors. The performances of the adaptive filtering methods are evaluated with regards to their parameter estimation stability. Furthermore, it is clearly shown that the measurement noise covariance can be estimated reliably by the adaptive UKF methods and hence improve the performance of the alignment.

  6. Dealing with Magnetic Disturbances in Human Motion Capture: A Survey of Techniques

    Directory of Open Access Journals (Sweden)

    Gabriele Ligorio

    2016-03-01

    Full Text Available Magnetic-Inertial Measurement Units (MIMUs based on microelectromechanical (MEMS technologies are widespread in contexts such as human motion tracking. Although they present several advantages (lightweight, size, cost, their orientation estimation accuracy might be poor. Indoor magnetic disturbances represent one of the limiting factors for their accuracy, and, therefore, a variety of work was done to characterize and compensate them. In this paper, the main compensation strategies included within Kalman-based orientation estimators are surveyed and classified according to which degrees of freedom are affected by the magnetic data and to the magnetic disturbance rejection methods implemented. By selecting a representative method from each category, four algorithms were obtained and compared in two different magnetic environments: (1 small workspace with an active magnetic source; (2 large workspace without active magnetic sources. A wrist-worn MIMU was used to acquire data from a healthy subject, whereas a stereophotogrammetric system was adopted to obtain ground-truth data. The results suggested that the model-based approaches represent the best compromise between the two testbeds. This is particularly true when the magnetic data are prevented to affect the estimation of the angles with respect to the vertical direction.

  7. 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 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.

  8. Active structural control with stable fuzzy PID techniques

    CERN Document Server

    Yu, Wen

    2016-01-01

    This book presents a detailed discussion of intelligent techniques to measure the displacement of buildings when they are subjected to vibration. It shows how these techniques are used to control active devices that can reduce vibration 60–80% more effectively than widely used passive anti-seismic systems. After introducing various structural control devices and building-modeling and active structural control methods, the authors propose offset cancellation and high-pass filtering techniques to solve some common problems of building-displacement measurement using accelerometers. The most popular control algorithms in industrial settings, PD/PID controllers, are then analyzed and then combined with fuzzy compensation. The stability of this combination is proven with standard weight-training algorithms. These conditions provide explicit methods for selecting PD/PID controllers. Finally, fuzzy-logic and sliding-mode control are applied to the control of wind-induced vibration. The methods described are support...

  9. DESIGN AND EXPERIENCE WITH THE WS/HS ASSEMBLY MOVEMENT USING LABVIEW VIS, NATIONAL INSTRUMENT MOTION CONTROLLERS, AND COMPUMOTOR ELECTRONIC DRIVE UNITS AND MOTORS

    International Nuclear Information System (INIS)

    Barr, D.S.; Day, L.A.

    2001-01-01

    The Low-Energy Demonstration Accelerator (LEDA), designed and built at the Los Alamos National Laboratory, is part of the Accelerator Production of Tritium (APT) program and provides a platform for measuring high-power proton beam-halo formation. The technique used for measuring the beam halo employs nine combination Wire Scanner and Halo Scraper (WS/HS) devices. This paper will focus on the experience gained in the use of National Instrument (NI) LabVIEW VIs and motion controllers, and Compumotor electronic drive units and motors. The base configuration couples a Compumotor motor driven by a Parker-Hannifin Gemini GT Drive unit. The drive unit is controlled by a NI PXI-7344 controller card, which in turn is controlled by a PC running custom built NI LabVIEW VIs. The function of the control VI's is to interpret instructions from the main control system, the Experimental Physics and Industrial Control System (EPICS), and carry out the corresponding motion commands. The main control VI has to run all nineteen WS/HS motor axes used in the accelerator. A basic discussion of the main accelerator control system, EPICs which is hosted on a VXI platform, and its interface with the PC based LabVIEW motion control software will be included

  10. 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.

  11. Control of nonholonomic systems from sub-Riemannian geometry to motion planning

    CERN Document Server

    Jean, Frédéric

    2014-01-01

    Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

  12. 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.

  13. 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.

  14. 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.

  15. 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......The paper presents significant Danish experiment results of a developed CDIO-Concept and approach for active and integrated learning in today’s engineering education of MSc Degree students, and research results from using IT-Tools for CAE/CAD and dynamic modelling, simulation, analysis, and design...... to Conceive, Design, Implement and Operate related to en product design by them self in competition with others. The idea is based on the Danish implementation of a CDIO-Concept. A curriculum at Aalborg University, and Technical University of Denmark, offers courses for Motion Control, Fluid Power within...

  16. 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.

  17. 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.

  18. 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

  19. Power system stabilizers based on modern control techniques

    Energy Technology Data Exchange (ETDEWEB)

    Malik, O P; Chen, G P; Zhang, Y; El-Metwally, K [Calgary Univ., AB (Canada). Dept. of Electrical and Computer Engineering

    1994-12-31

    Developments in digital technology have made it feasible to develop and implement improved controllers based on sophisticated control techniques. Power system stabilizers based on adaptive control, fuzzy logic and artificial networks are being developed. Each of these control techniques possesses unique features and strengths. In this paper, the relative performance of power systems stabilizers based on adaptive control, fuzzy logic and neural network, both in simulation studies and real time tests on a physical model of a power system, is presented and compared to that of a fixed parameter conventional power system stabilizer. (author) 16 refs., 45 figs., 3 tabs.

  20. Effects of Cervical High-Velocity Low-Amplitude Techniques on Range of Motion, Strength Performance, and Cardiovascular Outcomes: A Review.

    Science.gov (United States)

    Galindez-Ibarbengoetxea, Xabier; Setuain, Igor; Andersen, Lars L; Ramírez-Velez, Robinson; González-Izal, Miriam; Jauregi, Andoni; Izquierdo, Mikel

    2017-09-01

    Cervical high-velocity low-amplitude (HVLA) manipulation technique is among the oldest and most frequently used chiropractic manual therapy, but the physiologic and biomechanics effects were not completely clear. This review aims to describe the effects of cervical HVLA manipulation techniques on range of motion, strength, and cardiovascular performance. A systematic search was conducted of the electronic databases from January 2000 to August 2016: PubMed (n = 131), ScienceDirect (n = 101), Scopus (n = 991), PEDro (n = 33), CINAHL (n = 884), and SciELO (n = 5). Two independent reviewers conducted the screening process to determine article eligibility. The intervention that included randomized controlled trials was thrust, or HVLA, manipulative therapy directed to the cervical spine. Methodological quality was assessed using the Cochrane risk-of-bias tool. The initial search rendered 2145 articles. After screening titles and abstracts, 11 articles remained for full-text review. The review shows that cervical HVLA manipulation treatment results in a large effect size (d > 0.80) on increasing cervical range of motion and mouth opening. In patients with lateral epicondylalgia, cervical HVLA manipulation resulted in increased pain-free handgrip strength, with large effect sizes (1.44 and 0.78, respectively). Finally, in subjects with hypertension the blood pressure seemed to decrease after cervical HVLA manipulation. Higher quality studies are needed to develop a stronger evidence-based foundation for HVLA manipulation techniques as a treatment for cervical conditions.

  1. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    Science.gov (United States)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

  2. Shoulder Dynamic Control Ratio and Rotation Range of Motion in Female Junior Elite Handball Players and Controls.

    Science.gov (United States)

    van Cingel, Robert; Habets, Bas; Willemsen, Linn; Staal, Bart

    2018-03-01

    To compare glenohumeral range of motion and shoulder rotator muscle strength in healthy female junior elite handball players and controls. Cross-sectional case-control study. Sports medical center. Forty elite female handball players and 30 controls active in nonoverhead sports participated in this study. Passive external rotator (ER), internal rotator (IR), and total range of motion (TROM) of the dominant and nondominant arm were examined with a goniometer. An isokinetic dynamometer was used to evaluate concentric and eccentric rotator muscle strength at 60 and 120 degrees/s with dynamic control ratio (DCR = ERecc:IRcon) as the main outcome parameter. Except for the ER range of motion in the nondominant arm, no significant differences were found between groups for IR, ER of the dominant arm, and the TROM. Within the handball group, the side-to-side difference for IR of the dominant arm was -1.4 degrees. The ER and the TROM of the dominant arm were significantly larger, 6.3 and 4.9 degrees, respectively. For both groups, the DCR values were above 1 and no significant differences were found between the dominant and nondominant arm. The DCR values in the handball group were significantly lower than in the control group. Based on the adopted definitions for muscle imbalance, glenohumeral internal range of motion deficit and TROM deficit our elite female handball players seem not at risk for shoulder injuries. Prospective studies are needed to support the belief that a DCR below 1 places the shoulder at risk for injury.

  3. Design of scanning motion control system for high-energy X-ray industrial CT

    International Nuclear Information System (INIS)

    Duan Liming

    2008-01-01

    A scanning motion control system was developed for the high-energy X-ray industrial computerized tomography (CT). The system consists of an industrial control computer, a counter card, a control card, servo drivers, servo motors, working platforms, gratings and control software. Based on windows driver model(WDM) mode, the composition of the driver pro- gram for the system was studied. Took the motor control card as an example, the method to develop the driver program was researched, and the intercourse process between the device driver program and the user-program was analyzed. The real-time control of the system was implemented using the WDM driver. The real-time performance and reliability of the system can satisfy the requirement of high-energy X-ray industrial CT. (authors)

  4. 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.

  5. An Advanced Control Technique for Floating Offshore Wind Turbines Based on More Compact Barge Platforms

    Directory of Open Access Journals (Sweden)

    Joannes Olondriz

    2018-05-01

    Full Text Available Hydrodynamic Floating Offshore Wind Turbine (FOWT platform specifications are typically dominated by seaworthiness and maximum operating platform-pitch angle-related requirements. However, such specifications directly impact the challenge posed by an FOWT in terms of control design. The conventional FOWT systems are typically based on large, heavy floating platforms, which are less likely to suffer from the negative damping effect caused by the excessive coupling between blade-pitch control and platform-pitch motion. An advanced control technique is presented here to increase system stability for barge type platforms. Such a technique mitigates platform-pitch motions and improves the generator speed regulation, while maintaining blade-pitch activity and reducing blade and tower loads. The NREL’s 5MW + ITI Energy barge reference model is taken as a basis for this work. Furthermore, the capabilities of the proposed controller for performing with a more compact and less hydrodynamically stable barge platform is analysed, with encouraging results.

  6. 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...

  7. Touch-free, gesture-based control of medical devices and software based on the leap motion controller.

    Science.gov (United States)

    Mauser, Stanislas; Burgert, Oliver

    2014-01-01

    There are several intra-operative use cases which require the surgeon to interact with medical devices. We used the Leap Motion Controller as input device and implemented two use-cases: 2D-Interaction (e.g. advancing EPR data) and selection of a value (e.g. room illumination brightness). The gesture detection was successful and we mapped its output to several devices and systems.

  8. Micro Aerial Vehicle (MAV Flapping Motion Control Using an Immune Network with Different Immune Factors

    Directory of Open Access Journals (Sweden)

    Liguo Weng

    2013-08-01

    Full Text Available This paper proposes a novel Neural-Immunology/Memory Network to address the problem of motion control for flapping-wing Micro Aerial Vehicles (MAVs. This network is inspired by the human memory system as well as the immune system, and it is effective in attenuating the system errors and other lumped system uncertainties. In contrast to most existing Neural Networks, the convergence of this proposed Neural-Immunology/Memory Network can be theoretically proven. Both analyses and simulations that are based on different immune factors show that the proposed control method is effective in dealing with external disturbances, system nonlinearities, uncertainties and parameter variations.

  9. 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.

  10. 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.

  11. 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

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

    Science.gov (United States)

    Huo, Xueliang; Ghovanloo, Maysam

    2009-06-01

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

  13. 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.

  14. 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.

  15. Controlled Folding, Motional, and Constitutional Dynamic Processes of Polyheterocyclic Molecular Strands.

    Science.gov (United States)

    Barboiu, Mihail; Stadler, Adrian-Mihail; Lehn, Jean-Marie

    2016-03-18

    General design principles have been developed for the control of the structural features of polyheterocyclic strands and their effector-modulated shape changes. Induced defined molecular motions permit designed enforcement of helical as well as linear molecular shapes. The ability of such molecular strands to bind metal cations allows the generation of coiling/uncoiling processes between helically folded and extended linear states. Large molecular motions are produced on coordination of metal ions, which may be made reversible by competition with an ancillary complexing agent and fueled by sequential acid/base neutralization energy. The introduction of hydrazone units into the strands confers upon them constitutional dynamics, whereby interconversion between different strand compositions is achieved through component exchange. These features have relevance for nanomechanical devices. We present a morphological and functional analysis of such systems developed in our laboratories. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  16. 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

  17. Controlling Urban Lighting by Human Motion Patterns results from a full Scale Experiment

    DEFF Research Database (Denmark)

    Poulsen, Esben Skouboe; Andersen, Hans Jørgen; Jensen, Ole B.

    2012-01-01

    This paper presents a full-scale experiment investigating the use of human motion intensities as input for interactive illumination of a town square in the city of Aalborg in Denmark. As illuminators sixteen 3.5 meter high RGB LED lamps were used. The activity on the square was monitored by three...... thermal cameras and analysed by computer vision software from which motion intensity maps and peoples trajectories were estimated and used as input to control the interactive illumination. The paper introduces a 2-layered interactive light strategy addressing ambient and effect illumination criteria...... totally four light scenarios were designed and tested. The result shows that in general people immersed in the street lighting did not notice that the light changed according to their presence or actions, but people watching from the edge of the square noticed the interaction between the illumination...

  18. The relationship of motion sickness susceptibility to learned autonomic control for symptom suppression

    Science.gov (United States)

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

    1982-01-01

    Twenty-four men were randomly assigned to four equal groups matched in terms of their Coriolis Sickness Susceptibility Index (CSSI). Two groups of subjects were highly susceptible to motion sickness, and two groups were moderately susceptible. All subjects were given six C551 tests at 5-d intervals. Treatment Groups I (highly susceptible) and II (moderately susceptible) were taught to control their autonomic responses, using a training method called autogenic-feedback training (AFT) before the third, fourth, and fifth CSSI tests. Control groups III (highly susceptible) and IV (moderately susceptible) received no treatment. Results showed that both treatment groups significantly improved performance on CSSI tests after training; neither of the control groups changed significantly. Highly and moderately susceptible subjects in the two treatment groups improved at comparable rates. Highly susceptible control group subjects did not habituate across tests as readily as the moderately susceptible controls.

  19. 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.

  20. 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

  1. 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.

  2. Control of self-motion in dynamic fluids: fish do it differently from bees.

    Science.gov (United States)

    Scholtyssek, Christine; Dacke, Marie; Kröger, Ronald; Baird, Emily

    2014-05-01

    To detect and avoid collisions, animals need to perceive and control the distance and the speed with which they are moving relative to obstacles. This is especially challenging for swimming and flying animals that must control movement in a dynamic fluid without reference from physical contact to the ground. Flying animals primarily rely on optic flow to control flight speed and distance to obstacles. Here, we investigate whether swimming animals use similar strategies for self-motion control to flying animals by directly comparing the trajectories of zebrafish (Danio rerio) and bumblebees (Bombus terrestris) moving through the same experimental tunnel. While moving through the tunnel, black and white patterns produced (i) strong horizontal optic flow cues on both walls, (ii) weak horizontal optic flow cues on both walls and (iii) strong optic flow cues on one wall and weak optic flow cues on the other. We find that the mean speed of zebrafish does not depend on the amount of optic flow perceived from the walls. We further show that zebrafish, unlike bumblebees, move closer to the wall that provides the strongest visual feedback. This unexpected preference for strong optic flow cues may reflect an adaptation for self-motion control in water or in environments where visibility is limited. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

  3. Active noise control technique and its application on ships

    Directory of Open Access Journals (Sweden)

    CHEN Kean

    2017-08-01

    Full Text Available Due to the rapid development during past three decades, Active Noise Control(ANC has become a highly complementary noise control approach in comparison with traditional approaches, and has formed a complete system including basic theory, investigation approach, key techniques and system implementation. Meanwhile, substantial progress has been achieved in such fields as the practical application, industrialization development and commercial popularization of ANC, and this developed technique provides a practical and feasible choice for the active control of ship noise. In this review paper, its sound field analysis, system setup and key techniques are summarized, typical examples of ANC-based engineering applications including control of cabin noise and duct noise are briefly described, and a variety of forefronts and problems associated with the applications of ANC in ship noise control, such as active sound absorption, active sound insulation and smart acoustic structure, are subsequently discussed.

  4. A biomechanical modeling-guided simultaneous motion estimation and image reconstruction technique (SMEIR-Bio) for 4D-CBCT reconstruction

    Science.gov (United States)

    Huang, Xiaokun; Zhang, You; Wang, Jing

    2018-02-01

    Reconstructing four-dimensional cone-beam computed tomography (4D-CBCT) images directly from respiratory phase-sorted traditional 3D-CBCT projections can capture target motion trajectory, reduce motion artifacts, and reduce imaging dose and time. However, the limited numbers of projections in each phase after phase-sorting decreases CBCT image quality under traditional reconstruction techniques. To address this problem, we developed a simultaneous motion estimation and image reconstruction (SMEIR) algorithm, an iterative method that can reconstruct higher quality 4D-CBCT images from limited projections using an inter-phase intensity-driven motion model. However, the accuracy of the intensity-driven motion model is limited in regions with fine details whose quality is degraded due to insufficient projection number, which consequently degrades the reconstructed image quality in corresponding regions. In this study, we developed a new 4D-CBCT reconstruction algorithm by introducing biomechanical modeling into SMEIR (SMEIR-Bio) to boost the accuracy of the motion model in regions with small fine structures. The biomechanical modeling uses tetrahedral meshes to model organs of interest and solves internal organ motion using tissue elasticity parameters and mesh boundary conditions. This physics-driven approach enhances the accuracy of solved motion in the organ’s fine structures regions. This study used 11 lung patient cases to evaluate the performance of SMEIR-Bio, making both qualitative and quantitative comparisons between SMEIR-Bio, SMEIR, and the algebraic reconstruction technique with total variation regularization (ART-TV). The reconstruction results suggest that SMEIR-Bio improves the motion model’s accuracy in regions containing small fine details, which consequently enhances the accuracy and quality of the reconstructed 4D-CBCT images.

  5. Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

    Science.gov (United States)

    Jiang, Jin-Gang; Zhang, Yong-De

    2013-03-01

    The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires. Copyright © 2012 John Wiley & Sons, Ltd.

  6. Models of Postural Control: Shared Variance in Joint and COM Motions.

    Directory of Open Access Journals (Sweden)

    Melissa C Kilby

    Full Text Available This paper investigated the organization of the postural control system in human upright stance. To this aim the shared variance between joint and 3D total body center of mass (COM motions was analyzed using multivariate canonical correlation analysis (CCA. The CCA was performed as a function of established models of postural control that varied in their joint degrees of freedom (DOF, namely, an inverted pendulum ankle model (2DOF, ankle-hip model (4DOF, ankle-knee-hip model (5DOF, and ankle-knee-hip-neck model (7DOF. Healthy young adults performed various postural tasks (two-leg and one-leg quiet stances, voluntary AP and ML sway on a foam and rigid surface of support. Based on CCA model selection procedures, the amount of shared variance between joint and 3D COM motions and the cross-loading patterns we provide direct evidence of the contribution of multi-DOF postural control mechanisms to human balance. The direct model fitting of CCA showed that incrementing the DOFs in the model through to 7DOF was associated with progressively enhanced shared variance with COM motion. In the 7DOF model, the first canonical function revealed more active involvement of all joints during more challenging one leg stances and dynamic posture tasks. Furthermore, the shared variance was enhanced during the dynamic posture conditions, consistent with a reduction of dimension. This set of outcomes shows directly the degeneracy of multivariate joint regulation in postural control that is influenced by stance and surface of support conditions.

  7. Centralized motion control of a linear tooth belt drive: Analysis of the performance and limitations

    Energy Technology Data Exchange (ETDEWEB)

    Jokinen, M.

    2010-07-01

    A centralized robust position control for an electrical driven tooth belt drive is designed in this doctoral thesis. Both a cascaded control structure and a PID based position controller are discussed. The performance and the limitations of the system are analyzed and design principles for the mechanical structure and the control design are given. These design principles are also suitable for most of the motion control applications, where mechanical resonance frequencies and control loop delays are present. One of the major challenges in the design of a controller for machinery applications is that the values of the parameters in the system model (parameter uncertainty) or the system model it self (non-parametric uncertainty) are seldom known accurately in advance. In this thesis a systematic analysis of the parameter uncertainty of the linear tooth beltdrive model is presented and the effect of the variation of a single parameter on the performance of the total system is shown. The total variation of the model parameters is taken into account in the control design phase using a Quantitative Feedback Theory (QFT). The thesis also introduces a new method to analyze reference feedforward controllers applying the QFT. The performance of the designed controllers is verified by experimental measurements. The measurements confirm the control design principles that are given in this thesis. (orig.)

  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. 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.

  10. 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.

  11. Wireless control system for two-axis linear oscillating motion applying CBR technology

    Science.gov (United States)

    Kuzyakov, O. N.; Andreeva, M. A.

    2018-03-01

    The paper presents the aspects of elaborating a movement control system. The system is to implement determination of movement characteristics of the object controlled, which performs an oscillating linear motion in a two-axis direction. The system has an electronic-optical principle of action: light receivers are attached to a controlled object, and a laser light emitter is attached to a static construction. While the object performs movement along the construction, the light emitter signal is registered by light receivers, based on which determination of the object position and characteristic of its movement are performed. An algorithm of system implementation is elaborated. Signal processing is performed on the basis of the case-based reasoning method. The system is to be used in machine-building industry in controlling relative displacement of the dynamic object or its assembly.

  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. 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.

  14. An Alternative Technique in the Control of Massive Presacral Rectal ...

    African Journals Online (AJOL)

    Bleeding control was provided by GORE‑TEX® graft. We conclude that fıxatıon of GORE‑TEX® aortic patch should be kept in mind for uncontrolled massive presacral bleeding. KEYWORDS: GORE‑TEX® graft, presacral bleeding, rectal cancer. An Alternative Technique in the Control of Massive Presacral Rectal. Bleeding: ...

  15. 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.

  16. Theoretical Insights Reveal Novel Motions in Csk's SH3 Domain That Control Kinase Activation.

    Directory of Open Access Journals (Sweden)

    Sulyman Barkho

    Full Text Available The Src family of tyrosine kinases (SFKs regulate numerous aspects of cell growth and differentiation and are under the principal control of the C-terminal Src Kinase (Csk. Although Csk and SFKs share conserved kinase, SH2 and SH3 domains, they differ considerably in three-dimensional structure, regulatory mechanism, and the intrinsic kinase activities. Although the SH2 and SH3 domains are known to up- or down-regulate tyrosine kinase function, little is known about the global motions in the full-length kinase that govern these catalytic variations. We use a combination of accelerated Molecular Dynamics (aMD simulations and experimental methods to provide a new view of functional motions in the Csk scaffold. These computational studies suggest that high frequency vibrations in the SH2 domain are coupled through the N-terminal lobe of the kinase domain to motions in the SH3 domain. The effects of these reflexive movements on the kinase domain can be viewed using both Deuterium Exchange Mass Spectrometry (DXMS and steady-state kinetic methods. Removal of several contacts, including a crystallographically unobserved N-terminal segment, between the SH3 and kinase domains short-circuit these coupled motions leading to reduced catalytic efficiency and stability of N-lobe motifs within the kinase domain. The data expands the model of Csk's activation whereby separate domains productively interact with two diametrically opposed surfaces of the kinase domain. Such reversible transitions may organize the active structure of the tyrosine kinase domain of Csk.

  17. Imparting motion to a test object such as a motor vehicle in a controlled fashion

    OpenAIRE

    2011-01-01

    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 electro...

  18. 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

  19. 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.

  20. Investigation of a Ball Screw Feed Drive System Based on Dynamic Modeling for Motion Control

    Directory of Open Access Journals (Sweden)

    Yi-Cheng Huang

    2017-06-01

    Full Text Available This paper examines the frequency response relationship between the ball screw nut preload, ball screw torsional stiffness variations and table mass effect for a single-axis feed drive system. Identification for the frequency response of an industrial ball screw drive system is very important for the precision motion when the vibration modes of the system are critical for controller design. In this study, there is translation and rotation modes of a ball screw feed drive system when positioning table is actuated by a servo motor. A lumped dynamic model to study the ball nut preload variation and torsional stiffness of the ball screw drive system is derived first. The mathematical modeling and numerical simulation provide the information of peak frequency response as the different levels of ball nut preload, ball screw torsional stiffness and table mass. The trend of increasing preload will indicate the abrupt peak change in frequency response spectrum analysis in some mode shapes. This study provides an approach to investigate the dynamic frequency response of a ball screw drive system, which provides significant information for better control performance when precise motion control is concerned.

  1. Engine control techniques to account for fuel effects

    Science.gov (United States)

    Kumar, Shankar; Frazier, Timothy R.; Stanton, Donald W.; Xu, Yi; Bunting, Bruce G.; Wolf, Leslie R.

    2014-08-26

    A technique for engine control to account for fuel effects including providing an internal combustion engine and a controller to regulate operation thereof, the engine being operable to combust a fuel to produce an exhaust gas; establishing a plurality of fuel property inputs; establishing a plurality of engine performance inputs; generating engine control information as a function of the fuel property inputs and the engine performance inputs; and accessing the engine control information with the controller to regulate at least one engine operating parameter.

  2. 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.

  3. 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.

  4. 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.

  5. Study of the Use of a Terminal Controller Technique for Reentry Guidance of a Capsule-Type Vehicle

    Science.gov (United States)

    Foudriat, Edwin C.

    1961-01-01

    A study has been made of the use o f a terminal controller technique i n the guidance of a high-drag, variable-lift reentry vehicle to a desired landing point. The technique uses linearized equations of motion attained by the perturbation of the dependent variables from those of a reference trajectory. The guidance system continuously predicts the terminal range error and uses this error to control the angle of attack of the vehicle in an on-off manner until the predicted range error is within +-O.1 degrees of the required arc or +-6.9 miles.

  6. Object oriented programming techniques applied to device access and control

    International Nuclear Information System (INIS)

    Goetz, A.; Klotz, W.D.; Meyer, J.

    1992-01-01

    In this paper a model, called the device server model, has been presented for solving the problem of device access and control faced by all control systems. Object Oriented Programming techniques were used to achieve a powerful yet flexible solution. The model provides a solution to the problem which hides device dependancies. It defines a software framework which has to be respected by implementors of device classes - this is very useful for developing groupware. The decision to implement remote access in the root class means that device servers can be easily integrated in a distributed control system. A lot of the advantages and features of the device server model are due to the adoption of OOP techniques. The main conclusion that can be drawn from this paper is that 1. the device access and control problem is adapted to being solved with OOP techniques, 2. OOP techniques offer a distinct advantage over traditional programming techniques for solving the device access problem. (J.P.N.)

  7. Advanced instrumentation and control techniques for nuclear power plants

    International Nuclear Information System (INIS)

    Hayakawa, Hiroyasu; Makino, Maomi

    1989-01-01

    Toshiba has been promoting the development and improvement of control and instrumentation (C and I) systems employing the latest technologies, to fulfill the requirements of nuclear power plants for increased reliability, the upgrading of functions, improved maintainability, and reasonable cost. Such development has been systematically performed based on a schematic view of integrated digital control and instrumentation systems, actively adopting state-of-the-art techniques such as the latest man-machine interfaces, digital and optical multiplexing techniques, and artificial intelligence. In addition, comprehensive feedback has been obtained from the accumulation of operating experience. This paper describes the purpose, contents and status of applications of representative newly-developed systems. (author)

  8. Experimental integrative muscular movement technique enhances cervical range of motion in patients with chronic neck pain: a pilot study.

    Science.gov (United States)

    Rohe, Benjamin G; Carter, Ronald; Thompson, William R; Duncan, Randall L; Cooper, Carlton R

    2015-04-01

    Neck pain presents a tremendous physical and financial burden. This study compared the efficacy of the complementary and alternative medical treatments of integrative muscular movement technique (IMMT) and Swedish massage on neck pain in women of occupation age, the largest demographic group with neck pain. A total of 38 women were assigned to IMMT (n=28) or Swedish massage (n=10) in a blinded manner. Both groups received eight 30-minute treatments over 4 weeks. Cervical range of motion (ROM) in flexion, extension, sidebending, and rotation was measured before and after treatment. Each patient's pain was assessed by using an analogue pain scale of 0-10. Compared with the Swedish massage group, patients receiving IMMT experienced a significant increase in ROM in cervical flexion (ppain for IMMT was -1.75 units compared with -0.3 units for Swedish massage (pcervical ROM in every movement measured compared with Swedish massage. Inclusion of the IMMT in a treatment regimen for chronic neck pain may lead to decreased pain and increased cervical ROM. These positive effects of the IMMT intervention may have a role in enhancing functional outcomes in patients with neck pain.

  9. Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

    Science.gov (United States)

    Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

    2012-01-01

    In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

  10. Modular Estimation Strategy of Vehicle Dynamic Parameters for Motion Control Applications

    Directory of Open Access Journals (Sweden)

    Rawash Mustafa

    2018-01-01

    Full Text Available The presence of motion control or active safety systems in vehicles have become increasingly important for improving vehicle performance and handling and negotiating dangerous driving situations. The performance of such systems would be improved if combined with knowledge of vehicle dynamic parameters. Since some of these parameters are difficult to measure, due to technical or economic reasons, estimation of those parameters might be the only practical alternative. In this paper, an estimation strategy of important vehicle dynamic parameters, pertaining to motion control applications, is presented. The estimation strategy is of a modular structure such that each module is concerned with estimating a single vehicle parameter. Parameters estimated include: longitudinal, lateral, and vertical tire forces – longitudinal velocity – vehicle mass. The advantage of this strategy is its independence of tire parameters or wear, road surface condition, and vehicle mass variation. Also, because of its modular structure, each module could be later updated or exchanged for a more effective one. Results from simulations on a 14-DOF vehicle model are provided here to validate the strategy and show its robustness and accuracy.

  11. Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

    Science.gov (United States)

    Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

    The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1Hz to more than 1kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

  12. Interactive motion-controlled games in the neurorehabilitation of adult post-stroke patients

    Directory of Open Access Journals (Sweden)

    Emilia Mikołajewska

    2015-08-01

    Emilia Mikołajewska Rehabilitation Clinic Military Clinical Hospital No. 10 and Polyclinic Bydgoszcz, Poland e-mail: e.mikolajewska@wp.pl, emiliam@cm.umk.pl www: http://emikolajewska.netstrefa.eu   Keywords: neurorehabilitation; physiotherapy; stroke; neurological deficit; therapeutic game.   Abstract   Despite efforts of scientists and clinicians stroke still constitutes one of the major causes of disability worldwide. Motion-controlled video games become increasingly common adjunct to the traditional physical therapy. Such games are usually available, low-cost, fun, and functional ways to increase everyday treatment possibilities, both in hospital, ambulatory and home settings. Research and scientific publications concerning this issue are still rare. Assessment how interactive motion-controlled games can be incorporated into current guidelines of the eclectic approach within neurorehabilitation of adult post-stroke survivors is key issue within contemporary neurorehabilitation of adults. Complementary use of such games may constitute another breakthrough both in in-patient and out-patient rehabilitation and care. This review aims at potential of aforementioned solutions and modalities for the rehabilitation of function in cases of stroke.

  13. 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.

  14. 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.

  15. 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.

  16. Evaluation of a breath-motion-correction technique in reducing measurement error in hepatic CT perfusion imaging

    International Nuclear Information System (INIS)

    He Wei; Liu Jianyu; Li Xuan; Li Jianying; Liao Jingmin

    2009-01-01

    Objective: To evaluate the effect of a breath-motion-correction (BMC) technique in reducing measurement error of the time-density curve (TDC) in hepatic CT perfusion imaging. Methods: Twenty-five patients with suspected liver diseases underwent hepatic CT perfusion scans. The right branch of portal vein was selected as the anatomy of interest and performed BMC to realign image slices for the TDC according to the rule of minimizing the temporal changes of overall structures. Ten ROIs was selected on the right branch of portal vein to generate 10 TDCs each with and without BMC. The values of peak enhancement and the time-to-peak enhancement for each TDC were measured. The coefficients of variation (CV) of peak enhancement and the time-to-peak enhancement were calculated for each patient with and without BMC. Wilcoxon signed ranks test was used to evaluate the difference between the CV of the two parameters obtained with and without BMC. Independent-samples t test was used to evaluate the difference between the values of peak enhancement obtained with and without BMC. Results: The median (quartiles) of CV of peak enhancement with BMC [2.84% (2.10%, 4.57%)] was significantly lower than that without BMC [5.19% (3.90%, 7.27%)] (Z=-3.108,P<0.01). The median (quartiles) of CV of time-to-peak enhancement with BMC [2.64% (0.76%, 4.41%)] was significantly lower than that without BMC [5.23% (3.81%, 7.43%)] (Z=-3.924, P<0.01). In 8 cases, TDC demonstrated statistically significant higher peak enhancement with BMC (P<0.05). Conclusion: By applying the BMC technique we can effectively reduce measurement error for parameters of the TDC in hepatic CT perfusion imaging. (authors)

  17. A control theory approach to the analysis and synthesis of the experimentally observed motion primitives.

    Science.gov (United States)

    Nori, Francesco; Frezza, Ruggero

    2005-11-01

    Recent experiments on frogs and rats, have led to the hypothesis that sensory-motor systems are organized into a finite number of linearly combinable modules; each module generates a motor command that drives the system to a predefined equilibrium. Surprisingly, in spite of the infiniteness of different movements that can be realized, there seems to be only a handful of these modules. The structure can be thought of as a vocabulary of "elementary control actions". Admissible controls, which in principle belong to an infinite dimensional space, are reduced to the linear vector space spanned by these elementary controls. In the present paper we address some theoretical questions that arise naturally once a similar structure is applied to the control of nonlinear kinematic chains. First of all, we show how to choose the modules so that the system does not loose its capability of generating a "complete" set of movements. Secondly, we realize a "complete" vocabulary with a minimal number of elementary control actions. Subsequently, we show how to modify the control scheme so as to compensate for parametric changes in the system to be controlled. Remarkably, we construct a set of modules with the property of being invariant with respect to the parameters that model the growth of an individual. Robustness against uncertainties is also considered showing how to optimally choose the modules equilibria so as to compensate for errors affecting the system. Finally, the motion primitive paradigm is extended to locomotion and a related formalization of internal (proprioceptive) and external (exteroceptive) variables is given.

  18. The Effect of Jigsaw Technique on 6th Graders' Learning of Force and Motion Unit and Their Science Attitudes and Motivation

    Science.gov (United States)

    Ural, Evrim; Ercan, Orhan; Gençoglan, Durdu Mehmet

    2017-01-01

    The study aims to investigate the effects of jigsaw technique on 6th graders' learning of "Force and Motion" unit, their science learning motivation and their attitudes towards science classes. The sample of the study consisted of 49 6th grade students from two different classes taking the Science and Technology course at a government…

  19. Motion and Form Coherence Detection in Autistic Spectrum Disorder: Relationship to Motor Control and 2:4 Digit Ratio

    Science.gov (United States)

    Milne, Elizabeth; White, Sarah; Campbell, Ruth; Swettenham, John; Hansen, Peter; Ramus, Franck

    2006-01-01

    Children with autistic spectrum disorder and controls performed tasks of coherent motion and form detection, and motor control. Additionally, the ratio of the 2nd and 4th digits of these children, which is thought to be an indicator of foetal testosterone, was measured. Children in the experimental group were impaired at tasks of motor control,…

  20. Methods for validating the performance of wearable motion-sensing devices under controlled conditions

    International Nuclear Information System (INIS)

    Bliley, Kara E; Kaufman, Kenton R; Gilbert, Barry K

    2009-01-01

    This paper presents validation methods for assessing the accuracy and precision of motion-sensing device (i.e. accelerometer) measurements. The main goals of this paper were to assess the accuracy and precision of these measurements against a gold standard, to determine if differences in manufacturing and assembly significantly affected device performance and to determine if measurement differences due to manufacturing and assembly could be corrected by applying certain post-processing techniques to the measurement data during analysis. In this paper, the validation of a posture and activity detector (PAD), a device containing a tri-axial accelerometer, is described. Validation of the PAD devices required the design of two test fixtures: a test fixture to position the device in a known orientation, and a test fixture to rotate the device at known velocities and accelerations. Device measurements were compared to these known orientations and accelerations. Several post-processing techniques were utilized in an attempt to reduce variability in the measurement error among the devices. In conclusion, some of the measurement errors due to the inevitable differences in manufacturing and assembly were significantly improved (p < 0.01) by these post-processing techniques

  1. LFC based adaptive PID controller using ANN and ANFIS techniques

    Directory of Open Access Journals (Sweden)

    Mohamed I. Mosaad

    2014-12-01

    Full Text Available This paper presents an adaptive PID Load Frequency Control (LFC for power systems using Neuro-Fuzzy Inference Systems (ANFIS and Artificial Neural Networks (ANN oriented by Genetic Algorithm (GA. PID controller parameters are tuned off-line by using GA to minimize integral error square over a wide-range of load variations. The values of PID controller parameters obtained from GA are used to train both ANFIS and ANN. Therefore, the two proposed techniques could, online, tune the PID controller parameters for optimal response at any other load point within the operating range. Testing of the developed techniques shows that the adaptive PID-LFC could preserve optimal performance over the whole loading range. Results signify superiority of ANFIS over ANN in terms of performance measures.

  2. 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.

  3. Autocorrelated process control: Geometric Brownian Motion approach versus Box-Jenkins approach

    Science.gov (United States)

    Salleh, R. M.; Zawawi, N. I.; Gan, Z. F.; Nor, M. E.

    2018-04-01

    Existing of autocorrelation will bring a significant effect on the performance and accuracy of process control if the problem does not handle carefully. When dealing with autocorrelated process, Box-Jenkins method will be preferred because of the popularity. However, the computation of Box-Jenkins method is too complicated and challenging which cause of time-consuming. Therefore, an alternative method which known as Geometric Brownian Motion (GBM) is introduced to monitor the autocorrelated process. One real case of furnace temperature data is conducted to compare the performance of Box-Jenkins and GBM methods in monitoring autocorrelation process. Both methods give the same results in terms of model accuracy and monitoring process control. Yet, GBM is superior compared to Box-Jenkins method due to its simplicity and practically with shorter computational time.

  4. Development of irradiation technique on controlling food contamination residue

    International Nuclear Information System (INIS)

    Liu Bin; Xiong Shanbai; Xiong Guangquan; Cheng Wei; Chen Yuxia; Liao Tao; Li Xin; Lin Ruotai

    2010-01-01

    The current state of the researches of irradiation technology on controlling food mycotoxin, pesticide, veterinary drugs and fishery drugs residue was summarized. And the degradation rate, mechanism, products and toxicities of food contamination were expatiated. The free radical from irradiation attack the site of weaker bond, and the less or more toxic substances were produced, which lead to the degradation of the food contamination. The limitations and future application of irradiation technique on controlling food contamination were also analyzed. (authors)

  5. Sterile insect technique and radiation in insect control

    International Nuclear Information System (INIS)

    1982-01-01

    Out of 39 papers and 6 summaries of the poster presentations published in this proceeding series, 23 respectively fall within the INIS subject scope. Four main topics were covered: a review of the sterile insect technique against various insect pests; its application to tsetse flies in eradication programmes; quality control of mass-reared insects for release; and the development of genetic approaches to insect mass rearing and control. Other topics emphasized integrated pest management, computer models and radioisotope labelling

  6. Power electronic converters PWM strategies and current control techniques

    CERN Document Server

    Monmasson, Eric

    2013-01-01

    A voltage converter changes the voltage of an electrical power source and is usually combined with other components to create a power supply. This title is devoted to the control of static converters, which deals with pulse-width modulation (PWM) techniques, and also discusses methods for current control. Various application cases are treated. The book is ideal for professionals in power engineering, power electronics, and electric drives industries, as well as practicing engineers, university professors, postdoctoral fellows, and graduate students.

  7. VAR control in distribution systems by using artificial intelligence techniques

    Energy Technology Data Exchange (ETDEWEB)

    Golkar, M.A. [Curtin Univ. of Technology, Sarawak (Malaysia). School of Engineering and Science

    2005-07-01

    This paper reviewed artificial intelligence techniques used in VAR control systems. Reactive power controls in distribution systems were also reviewed. While artificial intelligence methods are widely used in power control systems, the techniques require extensive human knowledge bases and experiences in order to operate correctly. Expert systems use knowledge and interface procedures to solve problems that often require human expertise. Expert systems often cause knowledge bottlenecks as they are unable to learn or adopt to new situations. While neural networks possess learning ability, they are computationally expensive. However, test results in recent neural network studies have demonstrated that they work well in a variety of loading conditions. Fuzzy logic techniques are used to accurately represent the operational constraints of power systems. Fuzzy logic has an advantage over other artificial intelligence techniques as it is able to remedy uncertainties in data. Evolutionary computing algorithms use probabilistic transition rules which can search complicated data to determine optimal constraints and parameters. Over 95 per cent of all papers published on power systems use genetic algorithms. It was concluded that hybrid systems using various artificial intelligence techniques are now being used by researchers. 69 refs.

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

    International Nuclear Information System (INIS)

    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

  9. Space Weather Influence on Relative Motion Control using the Touchless Electrostatic Tractor

    Science.gov (United States)

    Hogan, Erik A.; Schaub, Hanspeter

    2016-09-01

    With recent interest in the use of electrostatic forces for contactless tugging and attitude control of noncooperative objects for orbital servicing and active debris mitigation, the need for a method of remote charge control arises. In this paper, the use of a directed electron beam for remote charge control is considered in conjunction with the relative motion control. A tug vehicle emits an electron beam onto a deputy object, charging it negatively. At the same time, the tug is charged positively due to beam emission, resulting in an attractive electrostatic force. The relative position feedback control between the tug and the passive debris object is studied subject to the charging being created through an electron beam. Employing the nominal variations of the GEO space weather conditions across longitude slots, two electrostatic tugging strategies are considered. First, the electron beam current is adjusted throughout the orbit in order to maximize this resulting electrostatic force. This open-loop control strategy compensates for changes in the nominally expected local space weather environment in the GEO region to adjust for fluctuations in the local plasma return currents. Second, the performance impact of using a fixed electron beam current on the electrostatic tractor is studied if the same natural space weather variations are assumed. The fixed electron beam current shows a minor performance penalty (<5 %) while providing a much simpler implementation that does not require any knowledge of local space weather conditions.

  10. 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.

  11. A Novel Pitch Control System of a Large Wind Turbine Using Two-Degree-of-Freedom Motion Control with Feedback Linearization Control

    Directory of Open Access Journals (Sweden)

    Ching-Sung Wang

    2016-09-01

    Full Text Available Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high response hydraulic servo system. The pitch controller, designed by two degree-of-freedom (2-DOF motion control with feedback linearization, is developed to enhance the controllability and stability of the pitch control system. Furthermore, the full-scale testbed of the hydraulic pitch control system of a large wind turbine is developed for practically experimental verification. Besides, the wind turbine simulation software FAST is used to analyze the motion of the blade which results are given to the testbed as the disturbance load command. The 2-DOF pitch controller contains a feedforward controller with feedback linearization theory to overcome the nonlinearities of the system and a feedback controller to improve the system robustness for achieving the disturbance rejection. Consequently, the novel hydraulic pitch control system shows excellent path tracking performance in the experiments. Moreover, the robustness test with a simulated disturbance load generated by FAST is performed to validate the reliability of the proposed pitch control system.

  12. Inertial Measures of Motion for Clinical Biomechanics: Comparative Assessment of Accuracy under Controlled Conditions - Effect of Velocity

    Science.gov (United States)

    Lebel, Karina; Boissy, Patrick; Hamel, Mathieu; Duval, Christian

    2013-01-01

    Background Inertial measurement of motion with Attitude and Heading Reference Systems (AHRS) is emerging as an alternative to 3D motion capture systems in biomechanics. The objectives of this study are: 1) to describe the absolute and relative accuracy of multiple units of commercially available AHRS under various types of motion; and 2) to evaluate the effect of motion velocity on the accuracy of these measurements. Methods The criterion validity of accuracy was established under controlled conditions using an instrumented Gimbal table. AHRS modules were carefully attached to the center plate of the Gimbal table and put through experimental static and dynamic conditions. Static and absolute accuracy was assessed by comparing the AHRS orientation measurement to those obtained using an optical gold standard. Relative accuracy was assessed by measuring the variation in relative orientation between modules during trials. Findings Evaluated AHRS systems demonstrated good absolute static accuracy (mean error < 0.5o) and clinically acceptable absolute accuracy under condition of slow motions (mean error between 0.5o and 3.1o). In slow motions, relative accuracy varied from 2o to 7o depending on the type of AHRS and the type of rotation. Absolute and relative accuracy were significantly affected (p<0.05) by velocity during sustained motions. The extent of that effect varied across AHRS. Interpretation Absolute and relative accuracy of AHRS are affected by environmental magnetic perturbations and conditions of motions. Relative accuracy of AHRS is mostly affected by the ability of all modules to locate the same global reference coordinate system at all time. Conclusions Existing AHRS systems can be considered for use in clinical biomechanics under constrained conditions of use. While their individual capacity to track absolute motion is relatively consistent, the use of multiple AHRS modules to compute relative motion between rigid bodies needs to be optimized according to

  13. Harmonic motion imaging for focused ultrasound (HMIFU): a fully integrated technique for sonication and monitoring of thermal ablation in tissues

    International Nuclear Information System (INIS)

    Maleke, C; Konofagou, E E

    2008-01-01

    FUS (focused ultrasound), or HIFU (high-intensity-focused ultrasound) therapy, a minimally or non-invasive procedure that uses ultrasound to generate thermal necrosis, has been proven successful in several clinical applications. This paper discusses a method for monitoring thermal treatment at different sonication durations (10 s, 20 s and 30 s) using the amplitude-modulated (AM) harmonic motion imaging for focused ultrasound (HMIFU) technique in bovine liver samples in vitro. The feasibility of HMI for characterizing mechanical tissue properties has previously been demonstrated. Here, a confocal transducer, combining a 4.68 MHz therapy (FUS) and a 7.5 MHz diagnostic (pulse-echo) transducer, was used. The therapy transducer was driven by a low-frequency AM continuous signal at 25 Hz, producing a stable harmonic radiation force oscillating at the modulation frequency. A pulser/receiver was used to drive the pulse-echo transducer at a pulse repetition frequency (PRF) of 5.4 kHz. Radio-frequency (RF) signals were acquired using a standard pulse-echo technique. The temperature near the ablation region was simultaneously monitored. Both RF signals and temperature measurements were obtained before, during and after sonication. The resulting axial tissue displacement was estimated using one-dimensional cross correlation. When temperature at the focal zone was above 48 deg. C during heating, the coagulation necrosis occurred and tissue damage was irreversible. The HMI displacement profiles in relation to the temperature and sonication durations were analyzed. At the beginning of heating, the temperature at the focus increased sharply, while the tissue stiffness decreased resulting in higher HMI displacements. This was confirmed by an increase of 0.8 μm deg. C -1 (r = 0.93, p -1 , r = -0.92, p -1 , prior to and after lesion formation in seven bovine liver samples, respectively. This technique was thus capable of following the protein-denatured lesion formation based on the

  14. 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, ...

  15. SU-E-J-26: A Novel Technique for Markerless Self-Sorted 4D-CBCT Using Patient Motion Modeling: A Feasibility Study

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, L; Zhang, Y; Harris, W; Yin, F; Ren, L [Duke University Medical Center, Durham, NC (United States)

    2015-06-15

    Purpose: To develop an automatic markerless 4D-CBCT projection sorting technique by using a patient respiratory motion model extracted from the planning 4D-CT images. Methods: Each phase of onboard 4D-CBCT is considered as a deformation of one phase of the prior planning 4D-CT. The deformation field map (DFM) is represented as a linear combination of three major deformation patterns extracted from the planning 4D-CT using principle component analysis (PCA). The coefficients of the PCA deformation patterns are solved by matching the digitally reconstructed radiograph (DRR) of the deformed volume to the onboard projection acquired. The PCA coefficients are solved for each single projection, and are used for phase sorting. Projections at the peaks of the Z direction coefficient are sorted as phase 1 and other projections are assigned into 10 phase bins by dividing phases equally between peaks. The 4D digital extended-cardiac-torso (XCAT) phantom was used to evaluate the proposed technique. Three scenarios were simulated, with different tumor motion amplitude (3cm to 2cm), tumor spatial shift (8mm SI), and tumor body motion phase shift (2 phases) from prior to on-board images. Projections were simulated over 180 degree scan-angle for the 4D-XCAT. The percentage of accurately binned projections across entire dataset was calculated to represent the phase sorting accuracy. Results: With a changed tumor motion amplitude from 3cm to 2cm, markerless phase sorting accuracy was 100%. With a tumor phase shift of 2 phases w.r.t. body motion, the phase sorting accuracy was 100%. With a tumor spatial shift of 8mm in SI direction, phase sorting accuracy was 86.1%. Conclusion: The XCAT phantom simulation results demonstrated that it is feasible to use prior knowledge and motion modeling technique to achieve markerless 4D-CBCT phase sorting. National Institutes of Health Grant No. R01-CA184173 Varian Medical System.

  16. Supersonic impinging jet noise reduction using a hybrid control technique

    Science.gov (United States)

    Wiley, Alex; Kumar, Rajan

    2015-07-01

    Control of the highly resonant flowfield associated with supersonic impinging jet has been experimentally investigated. Measurements were made in the supersonic impinging jet facility at the Florida State University for a Mach 1.5 ideally expanded jet. Measurements included unsteady pressures on a surface plate near the nozzle exit, acoustics in the nearfield and beneath the impingement plane, and velocity field using particle image velocimetry. Both passive control using porous surface and active control with high momentum microjet injection are effective in reducing nearfield noise and flow unsteadiness over a range of geometrical parameters; however, the type of noise reduction achieved by the two techniques is different. The passive control reduces broadband noise whereas microjet injection attenuates high amplitude impinging tones. The hybrid control, a combination of two control methods, reduces both broadband and high amplitude impinging tones and surprisingly its effectiveness is more that the additive effect of the two control techniques. The flow field measurements show that with hybrid control the impinging jet is stabilized and the turbulence quantities such as streamwise turbulence intensity, transverse turbulence intensity and turbulent shear stress are significantly reduced.

  17. 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.

  18. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

    Science.gov (United States)

    Liao, Rui; Shi, Cun; Wang, Shaoping

    2017-01-01

    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. PMID:29068392

  19. Greenhouse Environmental Control Using Optimized MIMO PID Technique

    Directory of Open Access Journals (Sweden)

    Fateh BOUNAAMA

    2011-10-01

    Full Text Available Climate control for protected crops brings the added dimension of a biological system into a physical system control situation. The thermally dynamic nature of a greenhouse suggests that disturbance attenuation (load control of external temperature, humidity, and sunlight is far more important than is the case for controlling other types of buildings. This paper investigates the application of multi-inputs multi-outputs (MIMO PID controller to a MIMO greenhouse environmental model with actuation constraints. This method is based on decoupling the system at low frequency point. The optimal tuning values are determined using genetic algorithms optimization (GA. The inside outsides climate model of the environmental greenhouse, and the automatically collected data sets of Avignon, France are used to simulate and test this technique. The control objective is to maintain a highly coupled inside air temperature and relative humidity of strongly perturbed greenhouse, at specified set-points, by the ventilation/cooling and moisturizing operations.

  20. Control of trunk motion following sudden stop perturbations during cart pushing.

    Science.gov (United States)

    Lee, Yun-Ju; Hoozemans, Marco J M; van Dieën, Jaap H

    2011-01-04

    External perturbations during pushing tasks have been suggested to be a risk factor for low-back symptoms. An experiment was designed to investigate whether self-induced and externally induced sudden stops while pushing a high inertia cart influence trunk motions, and how flexor and extensor muscles counteract these perturbations. Twelve healthy male participants pushed a 200 kg cart at shoulder height and hip height. Pushing while walking was compared to situations in which participants had to stop the cart suddenly (self-induced stop) or in which the wheels of the cart were unexpectedly blocked (externally induced stop). For the perturbed conditions, the peak values and the maximum changes from the reference condition (pushing while walking) of the external moment at L5/S1, trunk inclination and electromyographic amplitudes of trunk muscles were determined. In the self-induced stop, a voluntary trunk extension occurred. Initial responses in both stops consisted of flexor and extensor muscle cocontraction. In self-induced stops this was followed by sustained extensor activity. In the externally induced stops, an external extension moment caused a decrease in trunk inclination. The opposite directions of the internal moment and trunk motion in the externally induced stop while pushing at shoulder height may indicate insufficient active control of trunk posture. Consequently, sudden blocking of the wheels in pushing at shoulder height may put the low back at risk of mechanical injury. Copyright © 2010 Elsevier Ltd. All rights reserved.

  1. 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.

  2. Control of a Virtual Vehicle Influences Postural Activity and Motion Sickness

    Science.gov (United States)

    Dong, Xiao; Yoshida, Ken; Stoffregen, Thomas A.

    2011-01-01

    Everyday experience suggests that drivers are less susceptible to motion sickness than passengers. In the context of inertial motion (i.e., physical displacement), this effect has been confirmed in laboratory research using whole body motion devices. We asked whether a similar effect would occur in the context of simulated vehicles in a visual…

  3. 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.

  4. 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

  5. Advanced analytical techniques for boiling water reactor chemistry control

    Energy Technology Data Exchange (ETDEWEB)

    Alder, H P; Schenker, E [Paul Scherrer Inst. (PSI), Villigen (Switzerland)

    1997-02-01

    The analytical techniques applied can be divided into 5 classes: OFF-LINE (discontinuous, central lab), AT-LINE (discontinuous, analysis near loop), ON-LINE (continuous, analysis in bypass). In all cases pressure and temperature of the water sample are reduced. In a strict sense only IN-LINE (continuous, flow disturbance) and NON-INVASIVE (continuous, no flow disturbance) techniques are suitable for direct process control; - the ultimate goal. An overview of the analytical techniques tested in the pilot loop is given. Apart from process and overall water quality control, standard for BWR operation, the main emphasis is on water impurity characterization (crud particles, hot filtration, organic carbon); on stress corrosion crackling control for materials (corrosion potential, oxygen concentration) and on the characterization of the oxide layer on austenites (impedance spectroscopy, IR-reflection). The above mentioned examples of advanced analytical techniques have the potential of in-line or non-invasive application. They are different stages of development and are described in more detail. 28 refs, 1 fig., 5 tabs.

  6. 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

  7. 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.

  8. Foreword(Advances in Motion and Vibration Control Technology)

    OpenAIRE

    水野, 毅

    2003-01-01

    A new vibration isolation system using negative stiffness realized by active control technique is proposed in this paper. The serial connection of a normal spring and a suspension system with negative stiffness enables the isolation system to have low stiffness for vibration from the ground and high (theoretically infinite) stiffness against direct disturbance acting on the isolation table. A control method of realizing negative stiffness with a linear actuator is presented in an analytical f...

  9. Insect population control by the sterile-male technique

    Energy Technology Data Exchange (ETDEWEB)

    Lindquist, A W

    1963-10-01

    The successful use of the sterile male technique to eradicate the screw worm fly from the Southeastern part of the United States showed that a new biological method using radiation-sterilized insects could not only control but also eradicate harmful insect pests. A panel of experts met at the IAEA in Vienna in October 1962 to discuss the various aspects and applications of this new technique and to assess its usefulness and limitations. This report summarizes the panel proceedings. 42 refs, 18 figs, 1 tab.

  10. Insect population control by the sterile-male technique

    International Nuclear Information System (INIS)

    Lindquist, A.W.

    1963-01-01

    The successful use of the sterile male technique to eradicate the screw worm fly from the Southeastern part of the United States showed that a new biological method using radiation-sterilized insects could not only control but also eradicate harmful insect pests. A panel of experts met at the IAEA in Vienna in October 1962 to discuss the various aspects and applications of this new technique and to assess its usefulness and limitations. This report summarizes the panel proceedings. 42 refs, 18 figs, 1 tab

  11. Redox control of rotary motions in ferrocene-based elemental ball bearings.

    Science.gov (United States)

    Iordache, Adriana; Oltean, Mircea; Milet, Anne; Thomas, Fabrice; Baptiste, Benoît; Saint-Aman, Eric; Bucher, Christophe

    2012-02-08

    Rotational motions of ferrocene-based carousels have been achieved by electron transfer centered on π-dimerizable 4,4'-bipyridinium substituents introduced on both cyclopentadienyl rings through covalent linkers of different size, geometry, and flexibility. Detailed spectroscopic, electrochemical, and theoretical analyses demonstrate that rigid and fully conjugated linkers allow the quantitative formation of intramolecular π-dimers resulting from optimized orbital overlaps within the HOMO of the electrochemically generated bis-radical species. The tetra-cationic "charge-repelled" conformers, the self-assembled π-dimers, and their electron triggered interconversions have been investigated by UV-vis, NMR, and ESR spectroscopy, electrochemistry, X-ray diffraction analysis, and theoretical calculations. These studies support the conclusion that the rotation of both cyclopentadienyl rings in ferrocene can be controlled electrochemically using noncovalent reversible interactions arising from π-radical coupling processes.

  12. Modulated Magnetic Nanowires for Controlling Domain Wall Motion: Toward 3D Magnetic Memories

    KAUST Repository

    Ivanov, Yurii P.; Chuvilin, Andrey; Lopatin, Sergei; Kosel, Jü rgen

    2016-01-01

    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.

  13. 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.

  14. Chaos control of Hastings–Powell model by combining chaotic motions

    International Nuclear Information System (INIS)

    Danca, Marius-F.; Chattopadhyay, Joydev

    2016-01-01

    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.

  15. Chaos control of Hastings–Powell model by combining chaotic motions

    Energy Technology Data Exchange (ETDEWEB)

    Danca, Marius-F., E-mail: danca@rist.ro [Romanian Institute of Science and Technology, 400487 Cluj-Napoca (Romania); Chattopadhyay, Joydev, E-mail: joydev@isical.ac.in [Agricultural and Ecological Research Unit Indian Statistical Institute, 203, B. T. Road, Kolkata 700 108 (India)

    2016-04-15

    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.

  16. 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.

  17. 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.

  18. Evaluation of a portable markerless finger position capture device: accuracy of the Leap Motion controller in healthy adults.

    Science.gov (United States)

    Tung, James Y; Lulic, Tea; Gonzalez, Dave A; Tran, Johnathan; Dickerson, Clark R; Roy, Eric A

    2015-05-01

    Although motion analysis is frequently employed in upper limb motor assessment (e.g. visually-guided reaching), they are resource-intensive and limited to laboratory settings. This study evaluated the reliability and accuracy of a new markerless motion capture device, the Leap Motion controller, to measure finger position. Testing conditions that influence reliability and agreement between the Leap and a research-grade motion capture system were examined. Nine healthy young adults pointed to 15 targets on a computer screen under two conditions: (1) touching the target (touch) and (2) 4 cm away from the target (no-touch). Leap data was compared to an Optotrak marker attached to the index finger. Across all trials, root mean square (RMS) error of the Leap system was 17.30  ±  9.56 mm (mean ± SD), sampled at 65.47  ±  21.53 Hz. The % viable trials and mean sampling rate were significantly lower in the touch condition (44% versus 64%, p motion capture systems, the Leap Motion controller is sufficiently reliable for measuring motor performance in pointing tasks that do not require high positional accuracy (e.g. reaction time, Fitt's, trails, bimanual coordination).

  19. Chaos and its control in the pitch motion of an asymmetric magnetic spacecraft in polar elliptic orbit

    Energy Technology Data Exchange (ETDEWEB)

    Inarrea, Manuel [Universidad de La Rioja, Area de Fisica Aplicada, 26006 Logrono (Spain)], E-mail: manuel.inarrea@unirioja.es

    2009-05-30

    We study the pitch attitude dynamics of an asymmetric magnetic spacecraft in a polar almost circular orbit under the influence of a gravity gradient torque. The spacecraft is perturbed by the small eccentricity of the elliptic orbit and by a small magnetic torque generated by the interaction between the Earth's magnetic field and the magnetic moment of the spacecraft. Under both perturbations, we show that the pitch motion exhibits heteroclinic chaotic behavior by means of the Melnikov method. Numerical methods applied to simulations of the pitch motion also confirm the chaotic character of the spacecraft attitude dynamics. Finally, a linear time-delay feedback method for controlling chaos is applied to the governing equations of the spacecraft pitch motion in order to remove the chaotic character of initially irregular attitude motions and transform them into periodic ones.

  20. Chaos and its control in the pitch motion of an asymmetric magnetic spacecraft in polar elliptic orbit

    International Nuclear Information System (INIS)

    Inarrea, Manuel

    2009-01-01

    We study the pitch attitude dynamics of an asymmetric magnetic spacecraft in a polar almost circular orbit under the influence of a gravity gradient torque. The spacecraft is perturbed by the small eccentricity of the elliptic orbit and by a small magnetic torque generated by the interaction between the Earth's magnetic field and the magnetic moment of the spacecraft. Under both perturbations, we show that the pitch motion exhibits heteroclinic chaotic behavior by means of the Melnikov method. Numerical methods applied to simulations of the pitch motion also confirm the chaotic character of the spacecraft attitude dynamics. Finally, a linear time-delay feedback method for controlling chaos is applied to the governing equations of the spacecraft pitch motion in order to remove the chaotic character of initially irregular attitude motions and transform them into periodic ones.

  1. SU-E-T-622: Planning Technique for Passively-Scattered Involved-Node Proton Therapy of Mediastinal Lymphoma with Consideration of Cardiac Motion

    Energy Technology Data Exchange (ETDEWEB)

    Flampouri, S; Li, Z; Hoppe, B [University of Florida Health Proton Therapy Institute, Jacksonville, FL (United States)

    2015-06-15

    Purpose: To develop a treatment planning method for passively-scattered involved-node proton therapy of mediastinal lymphoma robust to breathing and cardiac motions. Methods: Beam-specific planning treatment volumes (bsPTV) are calculated for each proton field to incorporate pertinent uncertainties. Geometric margins are added laterally to each beam while margins for range uncertainty due to setup errors, breathing, and calibration curve uncertainties are added along each beam. The calculation of breathing motion and deformation effects on proton range includes all 4DCT phases. The anisotropic water equivalent margins are translated to distances on average 4DCT. Treatment plans are designed so each beam adequately covers the corresponding bsPTV. For targets close to the heart, cardiac motion effects on dosemaps are estimated by using a library of anonymous ECG-gated cardiac CTs (cCT). The cCT, originally contrast-enhanced, are partially overridden to allow meaningful proton dose calculations. Targets similar to the treatment targets are drawn on one or more cCT sets matching the anatomy of the patient. Plans based on the average cCT are calculated on individual phases, then deformed to the average and accumulated. When clinically significant dose discrepancies occur between planned and accumulated doses, the patient plan is modified to reduce the cardiac motion effects. Results: We found that bsPTVs as planning targets create dose distributions similar to the conventional proton planning distributions, while they are a valuable tool for visualization of the uncertainties. For large targets with variability in motion and depth, integral dose was reduced because of the anisotropic margins. In most cases, heart motion has a clinically insignificant effect on target coverage. Conclusion: A treatment planning method was developed and used for proton therapy of mediastinal lymphoma. The technique incorporates bsPTVs compensating for all common sources of uncertainties

  2. Quantitative Approach Based on Wearable Inertial Sensors to Assess and Identify Motion and Errors in Techniques Used during Training of Transfers of Simulated c-Spine-Injured Patients

    Directory of Open Access Journals (Sweden)

    Karina Lebel

    2018-01-01

    Full Text Available Patients with suspected spinal cord injuries undergo numerous transfers throughout treatment and care. Effective c-spine stabilization is crucial to minimize the impacts of the suspected injury. Healthcare professionals are trained to perform those transfers using simulation; however, the feedback on the manoeuvre is subjective. This paper proposes a quantitative approach to measure the efficacy of the c-spine stabilization and provide objective feedback during training. Methods. 3D wearable motion sensors are positioned on a simulated patient to capture the motion of the head and trunk during a training scenario. Spatial and temporal indicators associated with the motion can then be derived from the signals. The approach was developed and tested on data obtained from 21 paramedics performing the log-roll, a transfer technique commonly performed during prehospital and hospital care. Results. In this scenario, 55% of the c-spine motion could be explained by the difficulty of rescuers to maintain head and trunk alignment during the rotation part of the log-roll and their difficulty to initiate specific phases of the motion synchronously. Conclusion. The proposed quantitative approach has the potential to be used for personalized feedback during training sessions and could even be embedded into simulation mannequins to provide an innovative training solution.

  3. 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

  4. Development of an assist controller with robot suit HAL for hemiplegic patients using motion data on the unaffected side.

    Science.gov (United States)

    Kawamoto, Hiroaki; Kandone, Hideki; Sakurai, Takeru; Ariyasu, Ryohei; Ueno, Yukiko; Eguchi, Kiyoshi; Sankai, Yoshiyuki

    2014-01-01

    Among several characteristics seen in gait of hemiplegic patients after stroke, symmetry is known to be an indicator of the degree of impairment of walking ability. This paper proposes a control method for a wearable type lower limb motion assist robot to realize spontaneous symmetric gait for these individuals. This control method stores the motion of the unaffected limb during swing and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. This method is implemented on the robot suit HAL (Hybrid Assistive Limbs). Clinical tests were conducted in order to assess the feasibility of the control method. Our case study involved participation of one chronic stroke patient who was not able to flex his right knee. As a result, the walking support for hemiplegic leg provided by the HAL improved the subject's gait symmetry. The feasibility study showed promising basis for the future clinical study.

  5. Positron Plasma Control Techniques Applied to Studies of Cold Antihydrogen

    CERN Document Server

    Funakoshi, Ryo

    2003-01-01

    In the year 2002, two experiments at CERN succeeded in producing cold antihydrogen atoms, first ATHENA and subsequently ATRAP. Following on these results, it is now feasible to use antihydrogen to study the properties of antimatter. In the ATHENA experiment, the cold antihydrogen atoms are produced by mixing large amounts of antiprotons and positrons in a nested Penning trap. The complicated behaviors of the charged particles are controlled and monitored by plasma manipulation techniques. The antihydrogen events are studied using position sensitive detectors and the evidence of production of antihydrogen atoms is separated out with the help of analysis software. This thesis covers the first production of cold antihydrogen in the first section as well as the further studies of cold antihydrogen performed by using the plasma control techniques in the second section.

  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. 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.

  8. Statistic techniques of process control for MTR type

    International Nuclear Information System (INIS)

    Oliveira, F.S.; Ferrufino, F.B.J.; Santos, G.R.T.; Lima, R.M.

    2002-01-01

    This work aims at introducing some improvements on the fabrication of MTR type fuel plates, applying statistic techniques of process control. The work was divided into four single steps and their data were analyzed for: fabrication of U 3 O 8 fuel plates; fabrication of U 3 Si 2 fuel plates; rolling of small lots of fuel plates; applying statistic tools and standard specifications to perform a comparative study of these processes. (author)

  9. New approaches in intelligent control techniques, methodologies and applications

    CERN Document Server

    Kountchev, Roumen

    2016-01-01

    This volume introduces new approaches in intelligent control area from both the viewpoints of theory and application. It consists of eleven contributions by prominent authors from all over the world and an introductory chapter. This volume is strongly connected to another volume entitled "New Approaches in Intelligent Image Analysis" (Eds. Roumen Kountchev and Kazumi Nakamatsu). The chapters of this volume are self-contained and include summary, conclusion and future works. Some of the chapters introduce specific case studies of various intelligent control systems and others focus on intelligent theory based control techniques with applications. A remarkable specificity of this volume is that three chapters are dealing with intelligent control based on paraconsistent logics.

  10. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator.

    Science.gov (United States)

    Kim, Sung Hoon; Shin, Kyoosik; Hashi, Shuichiro; Ishiyama, Kazushi

    2012-09-01

    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.

  11. 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)

  12. 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.

  13. 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.

  14. 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

  15. 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.

  16. 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.

  17. Burn Control in Fusion Reactors via Nonlinear Stabilization Techniques

    International Nuclear Information System (INIS)

    Schuster, Eugenio; Krstic, Miroslav; Tynan, George

    2003-01-01

    Control of plasma density and temperature magnitudes, as well as their profiles, are among the most fundamental problems in fusion reactors. Existing efforts on model-based control use control techniques for linear models. In this work, a zero-dimensional nonlinear model involving approximate conservation equations for the energy and the densities of the species was used to synthesize a nonlinear feedback controller for stabilizing the burn condition of a fusion reactor. The subignition case, where the modulation of auxiliary power and fueling rate are considered as control forces, and the ignition case, where the controlled injection of impurities is considered as an additional actuator, are treated separately.The model addresses the issue of the lag due to the finite time for the fresh fuel to diffuse into the plasma center. In this way we make our control system independent of the fueling system and the reactor can be fed either by pellet injection or by puffing. This imposed lag is treated using nonlinear backstepping.The nonlinear controller proposed guarantees a much larger region of attraction than the previous linear controllers. In addition, it is capable of rejecting perturbations in initial conditions leading to both thermal excursion and quenching, and its effectiveness does not depend on whether the operating point is an ignition or a subignition point.The controller designed ensures setpoint regulation for the energy and plasma parameter β with robustness against uncertainties in the confinement times for different species. Hence, the controller can increase or decrease β, modify the power, the temperature or the density, and go from a subignition to an ignition point and vice versa

  18. Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

    Science.gov (United States)

    La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

    2015-09-01

    Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

  19. 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.

  20. Run control techniques for the Fermilab DART data acquisition system

    International Nuclear Information System (INIS)

    Oleynik, G.; Engelfried, J.; Mengel, L.; Moore, C.; Pordes, R.; Udumula, L.; Votava, M.; Drunen, E. van; Zioulas, G.

    1996-01-01

    DART is the high speed, Unix based data acquisition system being developed by the Fermilab Computing Division in collaboration with eight High Energy Physics Experiments. This paper describes DART run-control which implements flexible, distributed, extensible and portable paradigms for the control monitoring of a data acquisition systems. We discuss the unique and interesting aspects of the run-control - why we chose the concepts we did, the benefits we have seen from the choices we made, as well as our experiences in deploying and supporting it for experiments during their commissioning and sub-system testing phases. We emphasize the software and techniques we believe are extensible to future use, and potential future modifications and extensions for those we feel are not. (author)

  1. L2-gain and passivity techniques in nonlinear control

    CERN Document Server

    van der Schaft, Arjan

    2017-01-01

    This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization...

  2. Run control techniques for the Fermilab DART data acquisition system

    International Nuclear Information System (INIS)

    Oleynik, G.; Engelfried, J.; Mengel, L.

    1995-10-01

    DART is the high speed, Unix based data acquisition system being developed by the Fermilab Computing Division in collaboration with eight High Energy Physics Experiments. This paper describes DART run-control which implements flexible, distributed, extensible and portable paradigms for the control and monitoring of data acquisition systems. We discuss the unique and interesting aspects of the run-control - why we chose the concepts we did, the benefits we have seen from the choices we made, as well as our experiences in deploying and supporting it for experiments during their commissioning and sub-system testing phases. We emphasize the software and techniques we believe are extensible to future use, and potential future modifications and extensions for those we feel are not

  3. Hard-rock GMPEs versus Vs30-Kappa Host-to-Target Adjustment Techniques : Why so Large Differences in High Frequency Hard-Rock Motion ?

    Science.gov (United States)

    Bard, P. Y.; Laurendeau, A.; Hollender, F.; Perron, V.; Hernandez, B.; Foundotos, L.

    2016-12-01

    Assessment of local seismic hazard on hard rock sites (1000 processing of the Japanese KiK-net recordings from stiff sites (500 deep, within-motion to outcropping motion, or on a deconvolution of surface recordings using the velocity profile and 1D simulation, which has been performed both in the response spectrum and Fourier domains. Each of these virtual "outcropping hard-rock motion" data sets has then been used to derive GMPEs with simple functional forms, using as site condition proxy the S-wave velocity at depth (VSDH), ranging from 1000 to 3000 m/s. Both sets provide very similar predictions, which are much smaller at high frequencies (f > 10 Hz) than those estimated with the traditional HTTA technique - by a factor up to 3-4,. These differences decrease for decreasing frequency, and become negligible at low frequency (f shallow, moderate velocity layers. Not only this resonant amplification is not correctly accounted for by the quarter-wavelength approach used in the traditional HTTA adjustment techniques, but it may also significantly impact and bias the κ measurements, and the (VS30- κ0) relationships implicitly used in HTTA techniques.

  4. 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.

  5. 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

  6. The influence of variable range of motion training on neuromuscular performance and control of external loads.

    Science.gov (United States)

    Clark, Ross A; Humphries, Brendan; Hohmann, Erik; Bryant, Adam L

    2011-03-01

    Resistance training programs that emphasize high force production in different regions of the range of motion (ROM) may provide performance benefits. This study examined whether variable ROM (VROM) training, which consists of partial ROM training with countermovements performed in a different phase of the ROM for each set, results in improved functional performance. Twenty-two athletes (age 22.7 ± 2.4 years, height 1.81 ± 0.07 m, and body mass 94.6 ± 14.5 kg) with extensive resistance training backgrounds performed either a VROM or full ROM control (CON) 5-week, concentric work-matched training program. The participants were assigned to a group based on stratified randomization incorporating their strength levels and performance gains in preceding training microcycles. Testing consisted of assessing the force-ROM relationship during isokinetic and isometric bench press and ballistic bench throws, with normalized electromyography amplitude assessed during the isometric tests. Repeated-measure analyses of variance revealed that the VROM intervention significantly (p force (+15.7%), in addition to isokinetic peak force in the terminal ROM (13.5% increase). No significant differences were observed in the CON group or between groups for any other outcome measures. Analysis of the force-ROM relationship revealed that that the VROM intervention enhanced performance at shorter muscle lengths. These findings suggest that VROM training improves terminal and midrange performance gains, resulting in the athlete possessing an improved ability to control external loading and produce dynamic force.

  7. Motion tracking in the liver: Validation of a method based on 4D ultrasound using a nonrigid registration technique

    Energy Technology Data Exchange (ETDEWEB)

    Vijayan, Sinara, E-mail: sinara.vijayan@ntnu.no [Norwegian University of Science and Technology, 7491 Trondheim (Norway); Klein, Stefan [Norwegian University of Science and Technology, 7491 Trondheim, Norway and Biomedical Imaging Group Rotterdam, Department of Medical Informatics and Radiology, Erasmus MC, 3000 CA Rotterdam (Netherlands); Hofstad, Erlend Fagertun; Langø, Thomas [SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Lindseth, Frank [Norwegian University of Science and Technology, 7491 Trondheim, Norway and SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Ystgaard, Brynjulf [Department of Surgery, St. Olavs Hospital, 7030 Trondheim (Norway)

    2014-08-15

    Purpose: Treatments like radiotherapy and focused ultrasound in the abdomen require accurate motion tracking, in order to optimize dosage delivery to the target and minimize damage to critical structures and healthy tissues around the target. 4D ultrasound is a promising modality for motion tracking during such treatments. In this study, the authors evaluate the accuracy of motion tracking in the liver based on deformable registration of 4D ultrasound images. Methods: The offline analysis was performed using a nonrigid registration algorithm that was specifically designed for motion estimation from dynamic imaging data. The method registers the entire 4D image data sequence in a groupwise optimization fashion, thus avoiding a bias toward a specifically chosen reference time point. Three healthy volunteers were scanned over several breathing cycles (12 s) from three different positions and angles on the abdomen; a total of nine 4D scans for the three volunteers. Well-defined anatomic landmarks were manually annotated in all 96 time frames for assessment of the automatic algorithm. The error of the automatic motion estimation method was compared with interobserver variability. The authors also performed experiments to investigate the influence of parameters defining the deformation field flexibility and evaluated how well the method performed with a lower temporal resolution in order to establish the minimum frame rate required for accurate motion estimation. Results: The registration method estimated liver motion with an error of 1 mm (75% percentile over all datasets), which was lower than the interobserver variability of 1.4 mm. The results were only slightly dependent on the degrees of freedom of the deformation model. The registration error increased to 2.8 mm with an eight times lower temporal resolution. Conclusions: The authors conclude that the methodology was able to accurately track the motion of the liver in the 4D ultrasound data. The authors believe

  8. Control System Design for Cylindrical Tank Process Using Neural Model Predictive Control Technique

    Directory of Open Access Journals (Sweden)

    M. Sridevi

    2010-10-01

    Full Text Available Chemical manufacturing and process industry requires innovative technologies for process identification. This paper deals with model identification and control of cylindrical process. Model identification of the process was done using ARMAX technique. A neural model predictive controller was designed for the identified model. The performance of the controllers was evaluated using MATLAB software. The performance of NMPC controller was compared with Smith Predictor controller and IMC controller based on rise time, settling time, overshoot and ISE and it was found that the NMPC controller is better suited for this process.

  9. Reinforcement learning techniques for controlling resources in power networks

    Science.gov (United States)

    Kowli, Anupama Sunil

    As power grids transition towards increased reliance on renewable generation, energy storage and demand response resources, an effective control architecture is required to harness the full functionalities of these resources. There is a critical need for control techniques that recognize the unique characteristics of the different resources and exploit the flexibility afforded by them to provide ancillary services to the grid. The work presented in this dissertation addresses these needs. Specifically, new algorithms are proposed, which allow control synthesis in settings wherein the precise distribution of the uncertainty and its temporal statistics are not known. These algorithms are based on recent developments in Markov decision theory, approximate dynamic programming and reinforcement learning. They impose minimal assumptions on the system model and allow the control to be "learned" based on the actual dynamics of the system. Furthermore, they can accommodate complex constraints such as capacity and ramping limits on generation resources, state-of-charge constraints on storage resources, comfort-related limitations on demand response resources and power flow limits on transmission lines. Numerical studies demonstrating applications of these algorithms to practical control problems in power systems are discussed. Results demonstrate how the proposed control algorithms can be used to improve the performance and reduce the computational complexity of the economic dispatch mechanism in a power network. We argue that the proposed algorithms are eminently suitable to develop operational decision-making tools for large power grids with many resources and many sources of uncertainty.

  10. The Use of Management Control Systems and Operations Management Techniques

    Directory of Open Access Journals (Sweden)

    Edelcio Koitiro Nisiyama

    2016-01-01

    Full Text Available It is well known that both management control systems (MCSs and operations management (OM are related to firm performance; however, an integrated st udy that involves MCS and OM within the context of firm performance is still lacking. This research aimed to examine the relationships among the use of MCSs and OM techniques and firm performance in the Brazilian auto parts industry. Simons’ levers of cont rol framework was used to characterise the uses of MCSs, and OM techniques, such as total quality management (TQM and continuous improvement programmes, were adopted. The results obtained through the structural equation modelling indicated that the diagno stic use of MCSs is positively associated with the goals of cost reduction. In addition, the interactive use of MCSs is positively associated with the objectives of introducing new products, which is consistent with previous research. Additionally, OM tech niques are positively related to cost reduction but have no direct relationship with the introduction of new products.

  11. 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

  12. 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...... statistics and a control scheme. The algorithm also works well for scene change condition. Test results for coding interlaced video (720x576 PAL) are reported.......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 past...

  13. Effectiveness of radon control techniques in fifteen homes

    International Nuclear Information System (INIS)

    Turk, B.H.; Prill, R.J.; Fisk, W.J.; Grimsrud, D.T.; Sextro, R.G.

    1991-01-01

    Radon control systems were installed and evaluated in fourteen homes in the Spokane River Valley/Rathdrum Prairie and in one home in Vancouver, Washington. Because of local soil conditions, subsurface ventilation (SSV) by pressurization was always more effective in these houses than SSV by depressurization in reducing indoor radon levels to below guidelines. Basement overpressurization was successfully applied in five houses with airtight basements where practical-sized fans could develop an overpressure of 1 to 3 Pascals. Crawlspace ventilation was more effective than crawlspace isolation in reducing radon entry from the crawlspace, but had to be used in conjunction with other mitigation techniques, from the crawlspace, but had to be used in conjunction with other mitigation techniques, since the houses also had basements. Indoor radon concentrations in two houses with air-to-air heat exchangers (AAHX) were reduced to levels inversely dependent on the new total ventilation rates and were lowered even further in one house where the air distribution system was modified. Sealing penetrations in the below-grade surfaces of substructures was relatively ineffective in controlling radon. Operation of the radon control systems (except for the AAHX's) made no measurable change in ventilation rates or indoor concentrations of other measured pollutants. Installation costs ranged from approximately $4/m 2 for sealing to $28/m 2 for the AAHXs. Annual operating costs for the active systems were estimated to be approximately $60 to $170

  14. 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.

  15. An Enhanced Intelligent Handheld Instrument with Visual Servo Control for 2-DOF Hand Motion Error Compensation

    Directory of Open Access Journals (Sweden)

    Yan Naing Aye

    2013-10-01

    Full Text Available The intelligent handheld instrument, ITrem2, enhances manual positioning accuracy by cancelling erroneous hand movements and, at the same time, provides automatic micromanipulation functions. Visual data is acquired from a high speed monovision camera attached to the optical surgical microscope and acceleration measurements are acquired from the inertial measurement unit (IMU on board ITrem2. Tremor estimation and canceling is implemented via Band-limited Multiple Fourier Linear Combiner (BMFLC filter. The piezoelectric actuated micromanipulator in ITrem2 generates the 3D motion to compensate erroneous hand motion. Preliminary bench-top 2-DOF experiments have been conducted. The error motions simulated by a motion stage is reduced by 67% for multiple frequency oscillatory motions and 56.16% for pre-conditioned recorded physiological tremor.

  16. Alar setback technique: a controlled method of nasal tip deprojection.

    Science.gov (United States)

    Foda, H M

    2001-11-01

    To describe an alar cartilage-modifying technique aimed at decreasing nasal tip projection in cases with overdeveloped alar cartilages and to compare it with other deprojection techniques used to correct such deformity. Selected case series. University and private practice settings in Alexandria, Egypt. Twenty patients presenting for rhinoplasty who had overprojected nasal tips primarily due to overdeveloped alar cartilages. All cases were primary cases except for one patient, who had undergone 2 previous rhinoplasties. An external rhinoplasty approach was used to set back the alar cartilages by shortening their medial and lateral crura. The choice of performing a high or low setback depended on the preexisting lobule-to-columella ratio. Following the setback, the alar cartilages were reconstructed in a fashion that increased the strength and stability of the tip complex. Subjective evaluation included clinical examination, analysis of preoperative and postoperative photographs, and patient satisfaction. Objective evaluation of nasal tip projection, using the Goode ratio and the nasofacial angle, was performed preoperatively and repeated at least 6 months postoperatively. A low setback was performed in 16 cases (80%) and a high setback in 4 (20%). The mean follow-up period was 18 months (range, 6-36 months). The technique effectively deprojected the nasal tip as evidenced by the considerable postoperative decrease in values of the Goode ratio and the nasofacial angle. No complications were encountered and no revision surgical procedures were required. The alar setback technique has many advantages; it results in precise predictable amounts of deprojection, controls the degree of tip rotation, preserves the natural contour of the nasal tip, respects the tip support mechanisms, increases the strength and stability of nasal tip complex, preserves or restores the normal lobule-to-columella proportion, and does not lead to alar flaring. However, the technique requires

  17. 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.

  18. Motion management within two respiratory-gating windows: feasibility study of dual quasi-breath-hold technique in gated medical procedures

    International Nuclear Information System (INIS)

    Kim, Taeho; Kim, Siyong; Youn, Kaylin K; Park, Yang-Kyun; Keall, Paul; Lee, Rena

    2014-01-01

    A dual quasi-breath-hold (DQBH) technique is proposed for respiratory motion management (a hybrid technique combining breathing-guidance with breath-hold task in the middle). The aim of this study is to test a hypothesis that the DQBH biofeedback system improves both the capability of motion management and delivery efficiency. Fifteen healthy human subjects were recruited for two respiratory motion measurements (free breathing and DQBH biofeedback breathing for 15 min). In this study, the DQBH biofeedback system utilized the abdominal position obtained using an real-time position management (RPM) system (Varian Medical Systems, Palo Alto, USA) to audio-visually guide a human subject for 4 s breath-hold at EOI and 90% EOE (EOE 90% ) to improve delivery efficiency. We investigated the residual respiratory motion and the delivery efficiency (duty-cycle) of abdominal displacement within the gating window. The improvement of the abdominal motion reproducibility was evaluated in terms of cycle-to-cycle displacement variability, respiratory period and baseline drift. The DQBH biofeedback system improved the abdominal motion management capability compared to that with free breathing. With a phase based gating (mean ± std: 55  ±  5%), the averaged root mean square error (RMSE) of the abdominal displacement in the dual-gating windows decreased from 2.26 mm of free breathing to 1.16 mm of DQBH biofeedback (p-value = 0.007). The averaged RMSE of abdominal displacement over the entire respiratory cycles reduced from 2.23 mm of free breathing to 1.39 mm of DQBH biofeedback breathing in the dual-gating windows (p-value = 0.028). The averaged baseline drift dropped from 0.9 mm min −1 with free breathing to 0.09 mm min −1 with DQBH biofeedback (p-value = 0.048). The averaged duty-cycle with an 1 mm width of displacement bound increased from 15% of free breathing to 26% of DQBH biofeedback (p-value = 0.003). The study demonstrated that the DQBH

  19. 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 th...... electrical degrees in less than 2 ms test time....

  20. Nuclear and related techniques in the control of communicable diseases

    International Nuclear Information System (INIS)

    1991-07-01

    The IAEA has a programme component entitled ''Nuclear Techniques in Communicable Diseases'', the aims of which are to encourage research in the development of new methods of controlling communicable diseases and to transfer the technology to institutes in endemic regions. Implementation of the programme component includes information exchange through publications, symposiums and seminars. The two most recent seminars were held in Bombay in November 1988 and Belo Horizonte in November 1989, and a selection of the papers presented have been published in this Technical Document. Refs, figs and tabs