WorldWideScience

Sample records for motion control technique

  1. Motion control systems

    CERN Document Server

    Sabanovic, Asif

    2011-01-01

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

  2. 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

  3. Comparison of three different techniques for camera and motion control of a teleoperated robot.

    Science.gov (United States)

    Doisy, Guillaume; Ronen, Adi; Edan, Yael

    2017-01-01

    This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface.

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

    NARCIS (Netherlands)

    Geffen, van Paul; Reenalda, Jasper; Veltink, Peter H.; Koopman, Bart F.J.M.

    2010-01-01

    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 curv

  5. Ship Roll Motion Control

    DEFF Research Database (Denmark)

    Perez, Tristan; Blanke, Mogens

    2010-01-01

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

  6. 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.

  7. 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.

  8. Motion estimation techniques for digital video coding

    CERN Document Server

    Metkar, Shilpa

    2013-01-01

    The book deals with the development of a methodology to estimate the motion field between two frames for video coding applications. This book proposes an exhaustive study of the motion estimation process in the framework of a general video coder. The conceptual explanations are discussed in a simple language and with the use of suitable figures. The book will serve as a guide for new researchers working in the field of motion estimation techniques.

  9. 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...

  10. STS Motion Control Using Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Mohd Bazli Bahar

    2014-07-01

    Full Text Available This study presents the development of Sit to Stand (STS motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1 phase and trajectory planning and (2 motion control. These components should be designed so that the Zero Moment Point (ZMP, Centre of Pressure (CoP and Centre of Mass (CoM is always in the support polygon. Basically, in STS motion control there are two components, 1. Action selector and 2. Tracking controller. The STS motion control should able to operate in real time and continuously able to adapt any change in between the motion. In this way, the accuracy of the controller to rectify the motion error shall increase. The overall proposed method to perform the STS motion is designed to have two main phases. (1 CoM transferring that implements Alexander STS technique and (2 Stabilization Strategy that used IF-THEN rules and proportional velocity controller. This study focuses on the presentation of the development of second phase which are 1. The development of the IF-THEN rules as the action selector that operates in real time to assists the proportional controller in making the best decision and, 2. The development of Proportional Gain Identification for the proportional velocity controller that is capable to change the gain implementation by referring to the define region that represent the motion condition. The validation of the proposed method is done experimentally using NAO robot as the test platform. The coefficient of the gain identification for the proportional controller was tuned using NAO robot that was initially set at sitting position on a wooden chair. The inclination of the body from a frame perpendicular with the ground, angle y is observed. Coefficient that gives the lowest RMSE of angle y trajectory is taken as a constant. Results show the proposed control method has reduce

  11. Motion Control along Relative Equilibria

    DEFF Research Database (Denmark)

    Nordkvist, Nikolaj

    2008-01-01

    The subject of this thesis is control of mechanical systems as they evolve along the steady motions called relative equilibria. These trajectories are of interest in theory and applications and have the characterizing property that the system's body-fixed velocity is constant. For example, constant...... on a Lie group is locally controllable along a relative equilibrium. These conditions subsume the well-known local controllability conditions for equilibrium points. Second, for systems that have fewer controls than degrees of freedom, we present a novel algorithm to control simple mechanical control...

  12. Animation control of surface motion capture.

    Science.gov (United States)

    Tejera, Margara; Casas, Dan; Hilton, Adrian

    2013-12-01

    Surface motion capture (SurfCap) of actor performance from multiple view video provides reconstruction of the natural nonrigid deformation of skin and clothing. This paper introduces techniques for interactive animation control of SurfCap sequences which allow the flexibility in editing and interactive manipulation associated with existing tools for animation from skeletal motion capture (MoCap). Laplacian mesh editing is extended using a basis model learned from SurfCap sequences to constrain the surface shape to reproduce natural deformation. Three novel approaches for animation control of SurfCap sequences, which exploit the constrained Laplacian mesh editing, are introduced: 1) space–time editing for interactive sequence manipulation; 2) skeleton-driven animation to achieve natural nonrigid surface deformation; and 3) hybrid combination of skeletal MoCap driven and SurfCap sequence to extend the range of movement. These approaches are combined with high-level parametric control of SurfCap sequences in a hybrid surface and skeleton-driven animation control framework to achieve natural surface deformation with an extended range of movement by exploiting existing MoCap archives. Evaluation of each approach and the integrated animation framework are presented on real SurfCap sequences for actors performing multiple motions with a variety of clothing styles. Results demonstrate that these techniques enable flexible control for interactive animation with the natural nonrigid surface dynamics of the captured performance and provide a powerful tool to extend current SurfCap databases by incorporating new motions from MoCap sequences.

  13. 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...

  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...

  15. General techniques for constrained motion planning

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, Yong K.; Watterberg, P.A.; Chen, Pang, C.; Lewis, C.L.

    1997-02-01

    This report presents automatic motion planning algorithms for robotic manipulators performing a variety of tasks. Given a task and a robot manipulator equipped with a tool in its hand, the motion planners compute robot motions to complete the task while respecting manipulator kinematic constraints and avoiding collisions with objects in the robot`s work space. To handle the high complexity of the motion planning problem, a sophisticated search strategy called SANDROS is developed and used to solve many variations of the motion planning problem. To facilitate systematic development of motion planning algorithms, robotic tasks are classified into three categories according to the dimension of the manifold the robot tool has to travel: visit-point (0 dimensional), trace-curve (1 dimensional) and cover-surface (2 dimensional) tasks. The motion planner for a particular dimension is used as a sub-module by the motion planner for the next-higher dimension. This hierarchy of motion planners has led to a set of compact and systematic algorithms that can plan robot motions for many types of robotic operations. In addition, an algorithm is developed that determines the optimal robot-base configuration for minimum cycle time. The SANDROS search paradigm is complete in that it finds a solution path if one exists, up to a user specified resolution. Although its worst-case time complexity is exponential in the degrees of freedom of the manipulator, its average performance is commensurate with the complexity of the solution path. Since solution paths for most of motion planning problems consist of a few monotone segments, the motion planners based on SANDROS search strategy show approximately two-orders of magnitude improvements over existing complete algorithms.

  16. Adaptive Iterative Learning Control for High Precision Motion Systems

    NARCIS (Netherlands)

    Rotariu, I.; Steinbuch, M.; Ellenbroek, R.

    2008-01-01

    Iterative learning control (ILC) is a very effective technique to reduce systematic errors that occur in systems that repetitively perform the same motion or operation. However, several characteristics have prevented standard ILC from being widely used for high precision motion systems. Most importa

  17. 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.

  18. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Youngil Youm

    2008-11-01

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

  19. 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.

  20. Motion control of a population of Artemias

    Directory of Open Access Journals (Sweden)

    L. Fortuna

    2010-06-01

    Full Text Available In this work, the collective behavior of Artemia Salina is studied both experimentally and theoretically. Several experiments have been designed to investigate the Artemia motion under different environment conditions. From the results of such experiments, a strategy to control the direction of motion of an Artemia population, by exploiting their sensitivity to light, has been derived and then implemented.

  1. Review of techniques for motion capture data processing

    Institute of Scientific and Technical Information of China (English)

    Wei Xiaopeng; Liu Rul; and Zhang Qiang

    2012-01-01

    In order to high reality and efficiency, the technique computer animation. With the development of motion capture, a of motion capture (MoCap) has been widely used in the field of large amount of motion capture databases are available and this is significant for the reuse of motion data. But due to the high degree of freedoms and high capture frequency, the dimension of the mo- tion capture data is usually very high and this will lead to a low efficiency in data processing. So how to process the high dimension data and design an efficient and effective retrieval approach has become a challenge which we can't ignore. In this paper, first we lay out some problems about the key techniques in motion capture data processing. Then the existing approaches are analyzed and sum- marized. At last, some future work is proposed.

  2. Machine learning in motion control

    Science.gov (United States)

    Su, Renjeng; Kermiche, Noureddine

    1989-01-01

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

  3. Machine learning in motion control

    Science.gov (United States)

    Su, Renjeng; Kermiche, Noureddine

    1989-01-01

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

  4. Motion Control of Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Birol Kocaturk

    2015-01-01

    Full Text Available This article presents strategy for navigation of a wheeled mobile robot in unstructured environments with obstacles. The vehicle has two wheels independently to control the angular velocity. This work deals with mobile robots modelling then control strategies and simulation results. Simulation results recommends fuzzy logic controller for the wheeled mobile robot motion in unstructured environments.

  5. Motion Control of Micro-/Nanomotors.

    Science.gov (United States)

    Teo, Wei Zhe; Pumera, Martin

    2016-10-10

    As we progress towards employing self-propelled micro-/nanomotors in envisioned applications such as cargo delivery, environmental remediation, and therapeutic treatments, precise control of the micro-/nanomotors direction and their speed is essential. In this Review, major emerging approaches utilized for the motion control of micro-/nanomotors have been discussed, together with the lastest publications describing these approaches. Future studies could incorporate investigations on micro-/nanomotors motion control in a real-world environment in which matrix complexity might disrupt successful manipulation of these small-scale devices. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. Impulse Control of Brownian Motion.

    Science.gov (United States)

    1981-11-01

    convert some of his cash into securities, and for this he pays a fixed transaction cost K plus a proportional cost of k times the transaction size...securities, incurring a transaction cost of K+kq. (le never liquidates securities except when it is necessary to maintain a positive cash balance.) On the...and incurring a total transaction cost of L+1s. (If the initial cash balance exceeds S, the controller imediately buys enough securities to reduce

  7. (Mobile robots and intelligent motion control)

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.

    1990-09-07

    The traveler attended the IEEE International Workshop on Intelligent Motion Control, presented a paper entitled Autonomous Trajectory Generation for Mobile Robots with Non-Holonomic and Steering Angel Constraints,'' and chaired the session on mobile robots. Sessions of particular interests to ONRL/CESAR included Mobile Robots 1, 2, and 3, Motion Planning 1 and 2, Flexible Robots, Knowledge-Based Robotics Systems, Multi-Robot Systems, Redundant Robots, and Learning and Fuzzy Control 1 and 2. The traveler also visited the robotics laboratory of Bogazici University and held several discussions on design on redundant, compliant, reconfigurable, and dynamically balanced manipulators.

  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

    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.

  11. In control of switching, motion, and organization

    NARCIS (Netherlands)

    Feringa, B.L.; Delden, R.A.van; Ter Wiel, M.K.J.

    2003-01-01

    Nature's solutions to control organization, switching, and linear and rotary motion are not only extremely elegant, but fascinating if one considers the design and synthesis of artificial molecular systems with such functions in order to add components to the nanotool-box. The synthesis of chiroptic

  12. A motion phantom study on helical tomotherapy: the dosimetric impacts of delivery technique and motion

    Energy Technology Data Exchange (ETDEWEB)

    Kanagaki, Brian [Department of Engineering Physics, University of Virginia, Charlottesville, VA 22908 (United States); Read, Paul W [Department of Radiation Oncology, University of Virginia, Box 800375, Charlottesville, VA 22908 (United States); Molloy, Janelle A [Department of Radiation Oncology, Mayo Clinics (United States); Larner, James M [Department of Radiation Oncology, University of Virginia, Box 800375, Charlottesville, VA 22908 (United States); Sheng Ke [Department of Radiation Oncology, University of Virginia, Box 800375, Charlottesville, VA 22908 (United States)

    2007-01-07

    in more under-dosing at the ends of the CTV in the axis of motion, and this effect was greater for the smaller jaw size plans. Due to the size of the penumbra, the 2.47 cm jaw plans provide adequate coverage for smaller amplitudes of motion, {+-}0.6 cm in our experiment, without adding any additional margin in the axis of motion to the treatment volume. The periodic heterogeneous patterns described by previous studies were not observed from the single fraction of the phantom measurement. Besides the jaw sizes, CTV dose coverage is not significantly dependent on machine and phantom motion periods. The lack of adverse synchronization patterns from both results validate that HT is a safe technique for treating moving target and hypofractionation.

  13. 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].

  14. 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.

  15. Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

    Directory of Open Access Journals (Sweden)

    Mbaitiga Zacharie

    2010-01-01

    Full Text Available Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controller for robot motion control in indoor and outdoor environment. Approach: The proposed method consisted of two components: the process monitor that detects changes in the process characteristics and the adaptation mechanism that used information passed to it by the process monitor to update the controller parameters. Results: Experimental evaluation had been done in both indoor and outdoor environment where the robot communicates with the base station through its Wireless fidelity antenna and the performance monitor used a set of five performance criteria to access the fuzzy knowledge based controller. Conclusion: The proposed method had been found to be robust.

  16. 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...

  17. Position Control of Motion Compensation Cardiac Catheters

    Science.gov (United States)

    Kesner, Samuel B.; Howe, Robert D.

    2011-01-01

    Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control system compensation methods, including inverse and model-based backlash compensation, to improve the system performance. Finally, in vivo results are presented that demonstrate that the catheter can track the cardiac tissue motion with less than 1 mm RMS error. The ultimate goal of this research is to create a fast and dexterous robotic catheter system that can perform surgery on the delicate structures inside of the beating heart. PMID:21874124

  18. Technique for measuring speed and visual motion sensitivity in lizards

    Directory of Open Access Journals (Sweden)

    Darren Burke

    2008-01-01

    Full Text Available 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. We incorporated modifications to traditional operant paradigms by using three video playback systems to deliver random-dot kinematogram motion stimuli coupled with salient computer-animated secondary reinforcers representative of biologically important appetitive stimuli. This procedure has the capacity to test other visual aspects in lizards as well as other nonhuman species using video playback and computer-animation techniques as experimental tools.

  19. 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

  20. Prosthetic hand control using motion discrimination from EMG signals.

    Science.gov (United States)

    Kurisu, Naoyuki; Tsujiuchi, Nobutaka; Koizumi, Takayuki

    2009-01-01

    In this report, we improve the motion discrimination method from electromyogram (EMG) for a prosthetic hand and propose prosthetic hand control. In the past, we proved that a motion discrimination method using conic models could discriminate three hand motions without the incorrect discriminations that the elbow motions cause. In this research, to increase discrimination accuracy of motion discrimination using conic models, we propose a feature extraction method using quadratic polynomials. Additionally, because many prosthetic hands using motion discrimination have constant motion speed that can't be controlled, we propose an angular velocity generation method using multiple regression models. We verified these methods by controlling the 3D hand model. In the experiment, the proposed method could discriminate five motions at a rate of above 90 percent without the incorrect discriminations that elbow motions cause. Moreover, the wrist joint angle of the 3D hand model could be controlled by standard variation of 3[deg] or less.

  1. Coordinating control of multiple rigid bodies based on motion primitives

    Institute of Scientific and Technical Information of China (English)

    Fan Wu; Zhi-Yong Geng

    2012-01-01

    This paper studies the problem of coordinated motion generation for a group of rigid bodies.Two classes of coordinated motion primitives,relative equilibria and maneuvers,are given as building blocks for generating coordinated motions.In a motion-primitive based planning framework,a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturbations,The control method combines the relative equilibria stabilization with maneuver design,and results in a closeloop motion planning framework.The performance of the control method has been illustrated through a numerical simulation.

  2. Advanced Wavefront Control Techniques

    Energy Technology Data Exchange (ETDEWEB)

    Olivier, S S; Brase, J M; Avicola, K; Thompson, C A; Kartz, M W; Winters, S; Hartley, R; Wihelmsen, J; Dowla, F V; Carrano, C J; Bauman, B J; Pennington, D M; Lande, D; Sawvel, R M; Silva, D A; Cooke, J B; Brown, C G

    2001-02-21

    Programs at LLNL that involve large laser systems--ranging from the National Ignition Facility to new tactical laser weapons--depend on the maintenance of laser beam quality through precise control of the optical wavefront. This can be accomplished using adaptive optics, which compensate for time-varying aberrations that are often caused by heating in a high-power laser system. Over the past two decades, LLNL has developed a broad capability in adaptive optics technology for both laser beam control and high-resolution imaging. This adaptive optics capability has been based on thin deformable glass mirrors with individual ceramic actuators bonded to the back. In the case of high-power lasers, these adaptive optics systems have successfully improved beam quality. However, as we continue to extend our applications requirements, the existing technology base for wavefront control cannot satisfy them. To address this issue, this project studied improved modeling tools to increase our detailed understanding of the performance of these systems, and evaluated novel approaches to low-order wavefront control that offer the possibility of reduced cost and complexity. We also investigated improved beam control technology for high-resolution wavefront control. Many high-power laser systems suffer from high-spatial-frequency aberrations that require control of hundreds or thousands of phase points to provide adequate correction. However, the cost and size of current deformable mirrors can become prohibitive for applications requiring more than a few tens of phase control points. New phase control technologies are becoming available which offer control of many phase points with small low-cost devices. The goal of this project was to expand our wavefront control capabilities with improved modeling tools, new devices that reduce system cost and complexity, and extensions to high spatial and temporal frequencies using new adaptive optics technologies. In FY 99, the second year of

  3. 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.

  4. 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.

  5. 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

  6. fuzzy control technique fuzzy control technique applied to modified ...

    African Journals Online (AJOL)

    eobe

    ABSTRACT. In this paper, fuzzy control technique is applied to the modified mathematical model for malaria control presented ... be devised for rule-based systems that deals with continuous ... necessary to use fuzzy logic as it is not easy to follow a particular .... point movement and control is realized and designed. (e.g. α1 ...

  7. 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

  8. Modeling Human Control of Self-Motion Direction With Optic Flow and Vestibular Motion.

    Science.gov (United States)

    Zaal, Peter M T; Nieuwenhuizen, Frank M; van Paassen, Marinus M; Mulder, Max

    2013-04-01

    In this paper, we investigate the effects of visual and motion stimuli on the manual control of one's direction of self-motion. In a flight simulator, subjects conducted an active target-following disturbance-rejection task, using a compensatory display. Simulating a vehicular control task, the direction of vehicular motion was shown on the outside visual display in two ways: an explicit presentation using a symbol and an implicit presentation, namely, through the focus of radial outflow that emerges from optic flow. In addition, the effects of the relative strength of congruent vestibular motion cues were investigated. The dynamic properties of human visual and vestibular motion perception paths were modeled using a control-theoretical approach. As expected, improved tracking performance was found for the configurations that explicitly showed the direction of self-motion. The human visual time delay increased with approximately 150 ms for the optic flow conditions, relative to explicit presentations. Vestibular motion, providing higher order information on the direction of self-motion, allowed subjects to partially compensate for this visual perception delay, improving performance. Parameter estimates of the operator control model show that, with vestibular motion, the visual feedback becomes stronger, indicating that operators are more confident to act on optic flow information when congruent vestibular motion cues are present.

  9. MR-Based Cardiac and Respiratory Motion-Compensation Techniques for PET-MR Imaging.

    Science.gov (United States)

    Munoz, Camila; Kolbitsch, Christoph; Reader, Andrew J; Marsden, Paul; Schaeffter, Tobias; Prieto, Claudia

    2016-04-01

    Cardiac and respiratory motion cause image quality degradation in PET imaging, affecting diagnostic accuracy of the images. Whole-body simultaneous PET-MR scanners allow for using motion information estimated from MR images to correct PET data and produce motion-compensated PET images. This article reviews methods that have been proposed to estimate motion from MR images and different techniques to include this information in PET reconstruction, in order to overcome the problem of cardiac and respiratory motion in PET-MR imaging. MR-based motion correction techniques significantly increase lesion detectability and contrast, and also improve accuracy of uptake values in PET images.

  10. Optimal Control of Stochastic Systems Driven by Fractional Brownian Motions

    Science.gov (United States)

    2014-10-09

    motions and other stochastic processes. For the control of both continuous time and discrete time finite dimensional linear systems with quadratic...problems for stochastic partial differential equations driven by fractional Brownian motions are explicitly solved. For the control of a continuous time...2010 30-Jun-2014 Approved for Public Release; Distribution Unlimited Final Report: Optimal Control of Stochastic Systems Driven by Fractional Brownian

  11. CAN-based Synchronized Motion Control for Induction Motors

    Institute of Scientific and Technical Information of China (English)

    Jun Ren; Chun-Wen Li; De-Zong Zhao

    2009-01-01

    A control area network (CAN) based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed.The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results,the multi-motor synchronized motion control system,via the CAN bus,has been successfully implemented.With the employment of the advanced synchronized motion control strategy,the synchronization performance can be significantly improved.

  12. LQR Controller for Toroidal Continuously Variable Transmission in Reverse Motion

    Science.gov (United States)

    Mensler, Michel; Kawabe, Taketoshi; Joe, Shinichiro

    The system considered in this paper is a Toroidal Continuously Variable Transmission (TCVT) system for cars. This system is unstable in reverse motion as some mechanical parts have been removed from the original one for cost reduction, and the gear ratio has to be regulated around its nominal value for car reverse motion. The control theory used here is the Linear Quadratic Regulator (LQR) associated to a gain-scheduling technique, as the TCVT system is nonlinear according to the car speed. Moreover, as the LQR method requires the entire TCVT state vector and as the only available signal is the gear ratio, a full-order observer is designed. In order to take the other nonlinearities of the system into account, the observer is nonlinear: a diffeomorphism is then used for converting the variables provided by the nonlinear observer into the needed variables. In order to verify the effectiveness and the robustness of the controller against the car speed and the torque shift disturbance phenomenon, several experiments with a test-bed and with an actual vehicle have been performed and showed the efficiency of the proposed controller.

  13. Control grid motion estimation for efficient application of optical flow

    CERN Document Server

    Zwart, Christine M

    2012-01-01

    Motion estimation is a long-standing cornerstone of image and video processing. Most notably, motion estimation serves as the foundation for many of today's ubiquitous video coding standards including H.264. Motion estimators also play key roles in countless other applications that serve the consumer, industrial, biomedical, and military sectors. Of the many available motion estimation techniques, optical flow is widely regarded as most flexible. The flexibility offered by optical flow is particularly useful for complex registration and interpolation problems, but comes at a considerable compu

  14. Motion control simulation based on VR for humanoid robot

    Science.gov (United States)

    He, Huaiqing; Tang, Haoxuan

    2004-03-01

    This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.

  15. Decomposition of molecular motions into translational, rotational, and intramolecular parts by a projection operator technique

    DEFF Research Database (Denmark)

    Hansen, Flemming Yssing; Taub, H.

    2009-01-01

    The motion of the atoms in a molecule may be described as a superposition of translational motion of the molecular center-of-mass, rotational motion about the principal molecular axes, and an intramolecular motion that may be associated with vibrations and librations as well as molecular conforma......The motion of the atoms in a molecule may be described as a superposition of translational motion of the molecular center-of-mass, rotational motion about the principal molecular axes, and an intramolecular motion that may be associated with vibrations and librations as well as molecular...... conformational changes. We have constructed projection operators that use the atomic coordinates and velocities at any two times, t=0 and a later time t, to determine the molecular center-of-mass, rotational, and intramolecular motions in a molecular dynamics simulation. This model-independent technique...

  16. 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.

  17. In Search of Bibliographic Control for Instructional Motion Picture Films.

    Science.gov (United States)

    Coover, Robert W.

    This historical study report describes phases in the development of applicable standards for cataloging instructional motion picture films. Steps leading to the present state of the art are objectively presented, focusing on standards developed to establish bibliographic control of instructional motion picture films, contemporary reaction to such…

  18. Efficient Motion Planning and Control for Underwater Gliders

    OpenAIRE

    Mahmoudian, Nina

    2009-01-01

    Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel themselves by modifying their buoyancy and their center of mass. The center of mass is controlled by a set of servo-actuators which move one or more internal masses relative to the vehicle's frame. Underwater gliders are so efficient because they spend most of their time in stable, steady motion, expending control energy only when changing their equilibrium state. Motion control thus reduces to varyin...

  19. Topics in Guided Motion Control of Marine Vehicles

    OpenAIRE

    Breivik, Morten

    2010-01-01

    A mix between a monograph and an article collection, this PhD thesis considers the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles. The motion control scheme is defined to involve the combination of a guidance system which issues meaningful velocity commands with a velocity control system which has been specifically designed to take vehicle maneuverability and agility constraints into account when fulfilling these commands ...

  20. Geometric control of active collective motion

    CERN Document Server

    Theillard, Maxime; Saintillan, David

    2016-01-01

    Recent experimental studies have shown that confinement can profoundly affect self-organization in semi-dilute active suspensions, leading to striking features such as the formation of steady and spontaneous vortices in circular domains and the emergence of unidirectional pumping motions in periodic racetrack geometries. Motivated by these findings, we analyze the two-dimensional dynamics in confined suspensions of active self-propelled swimmers using a mean-field kinetic theory where conservation equations for the particle configurations are coupled to the forced Navier-Stokes equations for the self-generated fluid flow. In circular domains, a systematic exploration of the parameter space casts light on three distinct states: equilibrium with no flow, stable vortex, and chaotic motion, and the transitions between these are explained and predicted quantitatively using a linearized theory. In periodic racetracks, similar transitions from equilibrium to net pumping to traveling waves to chaos are observed in ag...

  1. Intelligent Mobile Robot Motion Control in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2010-11-01

    Full Text Available This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

  2. Motion estimation based on an improved block matching technique

    Institute of Scientific and Technical Information of China (English)

    Tangfei Tao; Chongzhao Han; Yanqi Wu; Xin Kang

    2006-01-01

    @@ An improved block-matching algorithm for fast motion estimation is proposed. The matching criterion is the sum of absolute difference. The basic idea is to obtain the best estimation of motion vectors by an optimization of the search process which can terminate the time-consuming computation of matching evaluation between the current block and the ineligible candidate block as early as possible and eliminate the search positions as many as possible in the search area. The performance of this algorithm is evaluated by theoretic analysis and compared with the full search algorithm (FSA). The simulation results demonstrate that the computation load of this algorithm is much less than that of FSA, and the motion vectors obtained by this algorithm are identical to those of FSA.

  3. 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.…

  4. Electric Wheelchair Controlled by Human Body Motion Interface

    Science.gov (United States)

    Yokota, Sho; Hashimoto, Hiroshi; Ohyama, Yasuhiro; She, Jin-Hua

    This research studies the possibility of an intuitive interface for an electric wheelchair by using human body except hands. For this purpose, we focused on the human body motion which has relation to actions or behavior. This motion comes from the human stabilization function for holding expectable collapsing caused by voluntary motion. Thus this motion is considered as a kind of characteristics of human motion, and is linked to intentions unconsciously. Therefore, the interface which does not require conscious and complex motion is realized by applying this human body motion to the interface of electric wheelchair. In this paper, first, we did experiment to search a part which vividly shows the pressure change on the seat. As a result, it was confirmed that pressure change of the seat back vividly shows the human body motion. Next, we designed the prototype based on this evidence. Finally, experiment was conducted by using 10 subjects and SD method to evaluate feeling of operation. For this result, it was turned out that all subjects feel that proposed interface was intuitive, or to control at their direction. Therefore it was confirmed that human body motion interface has a possibility to be used for an interface of electric wheelchair.

  5. Human joint motion estimation for electromyography (EMG)-based dynamic motion control.

    Science.gov (United States)

    Zhang, Qin; Hosoda, Ryo; Venture, Gentiane

    2013-01-01

    This study aims to investigate a joint motion estimation method from Electromyography (EMG) signals during dynamic movement. In most EMG-based humanoid or prosthetics control systems, EMG features were directly or indirectly used to trigger intended motions. However, both physiological and nonphysiological factors can influence EMG characteristics during dynamic movements, resulting in subject-specific, non-stationary and crosstalk problems. Particularly, when motion velocity and/or joint torque are not constrained, joint motion estimation from EMG signals are more challenging. In this paper, we propose a joint motion estimation method based on muscle activation recorded from a pair of agonist and antagonist muscles of the joint. A linear state-space model with multi input single output is proposed to map the muscle activity to joint motion. An adaptive estimation method is proposed to train the model. The estimation performance is evaluated in performing a single elbow flexion-extension movement in two subjects. All the results in two subjects at two load levels indicate the feasibility and suitability of the proposed method in joint motion estimation. The estimation root-mean-square error is within 8.3% ∼ 10.6%, which is lower than that being reported in several previous studies. Moreover, this method is able to overcome subject-specific problem and compensate non-stationary EMG properties.

  6. Controlling motion prediction errors in radiotherapy with relevance vector machines.

    Science.gov (United States)

    Dürichen, Robert; Wissel, Tobias; Schweikard, Achim

    2015-04-01

    Robotic radiotherapy can precisely ablate moving tumors when time latencies have been compensated. Recently, relevance vector machines (RVM), a probabilistic regression technique, outperformed six other prediction algorithms for respiratory compensation. The method has the distinct advantage that each predicted point is assumed to be drawn from a normal distribution. Second-order statistics, the predicted variance, were used to control RVM prediction error during a treatment and to construct hybrid prediction algorithms. First, the duty cycle and the precision were correlated to the variance by interrupting the treatment if the variance exceeds a threshold. Second, two hybrid algorithms based on the variance were developed, one consisting of multiple RVMs (HYB(RVM)) and the other of a combination between a wavelet-based least mean square algorithm (wLMS) and a RVM (HYB(wLMS-RVM)). The variance for different motion traces was analyzed to reveal a characteristic variance pattern which gives insight in what kind of prediction errors can be controlled by the variance. Limiting the variance by a threshold resulted in an increased precision with a decreased duty cycle. All hybrid algorithms showed an increased prediction accuracy compared to using only their individual algorithms. The best hybrid algorithm, HYB(RVM), can decrease the mean RMSE over all 304 motion traces from 0.18 mm for a linear RVM to 0.17 mm. The predicted variance was shown to be an efficient metric to control prediction errors, resulting in a more robust radiotherapy treatment. The hybrid algorithm HYB(RVM) could be translated to clinical practice. It does not require further parameters, can be completely parallelised and easily further extended.

  7. 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.

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

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-09-01

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

  9. 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.

  10. 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.

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

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-06-01

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

  12. Hybrid control and motion planning of dynamical legged locomotion

    CERN Document Server

    2012-01-01

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

  13. VFI-based Robotic Arm Control for Natural Adaptive Motion

    Directory of Open Access Journals (Sweden)

    Woosung Yang

    2014-03-01

    Full Text Available Since neural oscillator based control methods can generate rhythmic motion without information on system dynamics, they can be a promising alternative to traditional motion planning based control approaches. However, for field application, they still need to be robust against unexpected forces or changes in environments so as to be able to generate “natural motion” like most biological systems. In this study a biologically inspired control algorithm that combines neural oscillators and virtual force is proposed. This work gives the condition with respect to parameters tuning to stably activate the neural oscillators. This is helpful to achieve motion adaptability to environmental changes keeping the motion repeatability. He efficacy and efficiency of the proposed methods are tested in the control of a planar three-linkage robotic arm. It is shown that the proposed controller generates a given circular path stably and repeatedly, even with unexpected contact with a wall. The adaptivity of motion control is also tested in control of a robotic arm with redundant degrees of freedom. The proposed control algorithm works throughout the simulations and experiments.

  14. Control Strategies for Guided Collective Motion

    Science.gov (United States)

    2015-01-30

    Proceedings of the American Control Conference , Washington...of multiple robots using a modified Kuramoto model. Proceedings of the American Control Conference , Washington, DC, USA, pages 6138– 6144. 2014 ACODS...L.B. Arranz, A. Seuret, and C.C. de Wit, “Contraction control of a fleet circular formation of AUVs under limited communication range,” Proceedings of the American Control

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

    NARCIS (Netherlands)

    Tadele, Tadele Shiferaw; Vries, de Theo; 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

  16. Controlled motion of domain walls in submicron amorphous wires

    Directory of Open Access Journals (Sweden)

    Mihai Ţibu

    2016-05-01

    Full Text Available Results on the control of the domain wall displacement in cylindrical Fe77.5Si7.5B15 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.

  17. A STATISTICAL CORRELATION TECHNIQUE AND A NEURAL-NETWORK FOR THE MOTION CORRESPONDENCE PROBLEM

    NARCIS (Netherlands)

    VANDEEMTER, JH; MASTEBROEK, HAK

    1994-01-01

    A statistical correlation technique (SCT) and two variants of a neural network are presented to solve the motion correspondence problem. Solutions of the motion correspondence problem aim to maintain the identities of individuated elements as they move. In a preprocessing stage, two snapshots of a m

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-08-01

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

  19. Stochastic boundary control design for Timoshenko beams with large motions

    Science.gov (United States)

    Do, K. D.

    2017-08-01

    This paper considers modeling and boundary control of Timoshenko beams with large motions under both deterministic and stochastic external loads. The original nonlinear partial differential equations governing motion of the beams are derived and used in the control design. The control design is based on the Lyapunov direct method. The proposed controllers guarantee globally practically K∞-exponentially p-stability of the beam motions at the reference state. Well-posedness and stability are analyzed based on a Lyapunov-type theorem developed to study well-posedness and stability for a class of stochastic evolution systems in Hilbert space. Simulation results are included to illustrate the effectiveness of the proposed control design.

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

    Directory of Open Access Journals (Sweden)

    Lei Zhang

    2012-01-01

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

  1. 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.

  2. 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.

  3. Myocardial Motion Estimation: An Evaluation of Optical Flow Computation Techniques on Echocardiographic Images

    Directory of Open Access Journals (Sweden)

    Slamet Riyadi

    2011-01-01

    Full Text Available The use of image processing technique for cardiac motion analysis has been an active research in the past decade. The estimation of myocardial motion eases the cardiologist in diagnosing cardiac abnormalities. In term of movement analysis, optical flow is the most popular technique that has been used by researchers. This paper describes the implementation and evaluation of three optical flow computation techniques to estimate the myocardial motion using echocardiographic images. The three techniquesare the global smoothness method (GSM, the local smoothness method (LSM and warping technique (WT. Optical flow field is computed based on healthy cardiac video on parasternal short axes view. These techniques look promising since the optical flow fields can be utilized to estimate the myocardial movement and comply with its true movement. The performances of each technique in terms of the direction, homogeneity and computing time, are also discussed.

  4. Galvanometer control system design of aerial camera motion compensation

    Science.gov (United States)

    Qiao, Mingrui; Cao, Jianzhong; Wang, Huawei; Guo, Yunzeng; Hu, Changchang; Tang, Hong; Niu, Yuefeng

    2015-10-01

    Aerial cameras exist the image motion on the flight. The image motion has seriously affected the image quality, making the image edge blurred and gray scale loss. According to the actual application situation, when high quality and high precision are required, the image motion compensation (IMC) should be adopted. This paper designs galvanometer control system of IMC. The voice coil motor as the actuator has a simple structure, fast dynamic response and high positioning accuracy. Double-loop feedback is also used. PI arithmetic and Hall sensors are used at the current feedback. Fuzzy-PID arithmetic and optical encoder are used at the speed feedback. Compared to conventional PID control arithmetic, the simulation results show that the control system has fast response and high control accuracy.

  5. Real-time simulation of hand motion for prosthesis control.

    Science.gov (United States)

    Blana, Dimitra; Chadwick, Edward K; van den Bogert, Antonie J; Murray, Wendy M

    2017-04-01

    Individuals with hand amputation suffer substantial loss of independence. Performance of sophisticated prostheses is limited by the ability to control them. To achieve natural and simultaneous control of all wrist and hand motions, we propose to use real-time biomechanical simulation to map between residual EMG and motions of the intact hand. Here we describe a musculoskeletal model of the hand using only extrinsic muscles to determine whether real-time performance is possible. Simulation is 1.3 times faster than real time, but the model is locally unstable. Methods are discussed to increase stability and make this approach suitable for prosthesis control.

  6. Motion control and vibration suppression of flexible lumped systems via sensorless LQR control

    OpenAIRE

    Çelebi, Beşir; Celebi, Besir; Çevik, Gülnihal; Cevik, Gulnihal; Mehmet, Berkem; Shoukry Mohammed Khalil, Islam; ŞABANOVIÇ, Asif; SABANOVIC, Asif

    2011-01-01

    This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration controller that is capable of positioning multi degrees of freedom flexible system point of interest ...

  7. 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

  8. 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

  9. Measuring Three-Dimensional Thorax Motion Via Biplane Radiographic Imaging: Technique and Preliminary Results.

    Science.gov (United States)

    Baumer, Timothy G; Giles, Joshua W; Drake, Anne; Zauel, Roger; Bey, Michael J

    2016-01-01

    Measures of scapulothoracic motion are dependent on accurate imaging of the scapula and thorax. Advanced radiographic techniques can provide accurate measures of scapular motion, but the limited 3D imaging volume of these techniques often precludes measurement of thorax motion. To overcome this, a thorax coordinate system was defined based on the position of rib pairs and then compared to a conventional sternum/spine-based thorax coordinate system. Alignment of the rib-based coordinate system was dependent on the rib pairs used, with the rib3:rib4 pairing aligned to within 4.4 ± 2.1 deg of the conventional thorax coordinate system.

  10. A technique to derive improved proper motions for Kepler objects of interest

    Energy Technology Data Exchange (ETDEWEB)

    Benedict, G. Fritz [McDonald Observatory, University of Texas, Austin, TX 78712 (United States); Tanner, Angelle M. [Department of Physics and Astronomy, Mississippi State University, Starkville, MS 39762 (United States); Cargile, Phillip A. [Department of Physics and Astronomy, Vanderbilt University, Nashville, TN 37235 (United States); Ciardi, David R., E-mail: fritz@astro.as.utexas.edu [NASA Exoplanet Science Institute, Caltech, Pasadena, CA 91125 (United States)

    2014-12-01

    We outline an approach yielding proper motions with higher precision than exists in present catalogs for a sample of stars in the Kepler field. To increase proper-motion precision, we combine first-moment centroids of Kepler pixel data from a single season with existing catalog positions and proper motions. We use this astrometry to produce improved reduced-proper-motion diagrams, analogous to a Hertzsprung-Russell (H-R) diagram, for stars identified as Kepler objects of interest. The more precise the relative proper motions, the better the discrimination between stellar luminosity classes. Using UCAC4 and PPMXL epoch 2000 positions (and proper motions from those catalogs as quasi-Bayesian priors), astrometry for a single test Channel (21) and Season (0) spanning 2 yr yields proper motions with an average per-coordinate proper-motion error of 1.0 mas yr{sup –1}, which is over a factor of three better than existing catalogs. We apply a mapping between a reduced-proper-motion diagram and an H-R diagram, both constructed using Hubble Space Telescope parallaxes and proper motions, to estimate Kepler object of interest K-band absolute magnitudes. The techniques discussed apply to any future small-field astrometry as well as to the rest of the Kepler field.

  11. Analytical one parameter method for PID motion controller settings

    NARCIS (Netherlands)

    Dijk, van J.; Aarts, R.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 fre

  12. 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...

  13. 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...

  14. On Optimal Control of a Brownian Motion.

    Science.gov (United States)

    1982-06-01

    barriers. Puterman [9] uses diffusion processes to model production and inventory processes. In both cases they assume the existence of a stationary... Puterman , A diffusion model for a storage system, Logistic, M. Geisler ed., North-Holland 197S. [101 J. Rath, The optimal policy for a controlled

  15. Motion synchronization in unmanned aircrafts formation control with communication delays

    Science.gov (United States)

    Rezaee, Hamed; Abdollahi, Farzaneh

    2013-03-01

    This paper proposes a formation control strategy for unmanned aircrafts using a virtual structure. Cross coupled sliding mode controllers are introduced to cope with uncertainties in the attitude measurement systems of the unmanned aircrafts and unmeasurable bounded external disturbances such as wind effects, and also to provide motion synchronization in the multi-agent system. This motion synchronization strategy improves the agents convergence to their desired positions, and this is useful for a multi-agent system with faulty agents. Moreover, the proposed motion synchronization strategy is not restricted to specific communication topologies, and sufficient conditions are provided to guarantee the multi-agent system stability in the presence of communication delays. Numerical simulations are presented for a team of five unmanned aircrafts to make a pentagon formation and confirm the accepted performance of the proposed control strategy.

  16. 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…

  17. Visual Features Involving Motion Seen from Airport Control Towers

    Science.gov (United States)

    Ellis, Stephen R.; Liston, Dorion

    2010-01-01

    Visual motion cues are used by tower controllers to support both visual and anticipated separation. Some of these cues are tabulated as part of the overall set of visual features used in towers to separate aircraft. An initial analyses of one motion cue, landing deceleration, is provided as a basis for evaluating how controllers detect and use it for spacing aircraft on or near the surface. Understanding cues like it will help determine if they can be safely used in a remote/virtual tower in which their presentation may be visually degraded.

  18. Sliding modes in power electronics and motion control

    OpenAIRE

    Şabanoviç, Asif; Sabanovic, Asif

    2004-01-01

    In the paper the general approach to motion control systems in the sliding mode framework is discussed in details. It has been shown that, due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed on n 2 d.o.f systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constrain. Such a formulation leads naturally to sliding mode methods...

  19. DIGITAL MOTION CONTROL HARDWARE A SURVEY PAPER

    Directory of Open Access Journals (Sweden)

    I N Satya Kumara

    2009-12-01

    Full Text Available Teknik pengaturan motor listrik telah berkembang sangat pesat khususnya sejak dua dekade terakhir. Pengaturan kecepatan dan torsi motor yang presisi dan cepat sudah bisa dicapai, khususnya untuk motor ac yang memiliki karakteristik nonlinier dan terkopling. Teknik estimasi untuk mengurangi sensor fisik juga berkembang sebagai upaya meningkatkan keandalan dari drive. Hal-hal di atasi dimungkinkan karena perkembangan teknologi mikroelektronika dan semikonduktor daya. Perkembangan teknologi mikroelektronika khususnya VSLAmemungkinkan pengimplementasian teknik-teknik pengaturan lanjut untuk menghasilkan sistem pengaturan motor listrik dengan unjuk kerja tinggi dan dengan perangkat keras yang ekonomis. Teknologi semikonduktor daya memungkinkan dihasilkannya konverter statis yang efisien, kompak serta ekonomis. Paper ini mencoba me-review sistem perangkat keras yang tersedia untuk mengimplementasikan pengaturan motor listrik dengan teknik digitalmotion control.

  20. Ultrasound contrast imaging: influence of scatterer motion in multi-pulse techniques.

    Science.gov (United States)

    Lin, Fanglue; Cachard, Christian; Mori, Riccardo; Varray, Francois; Guidi, Francesco; Basset, Olivier

    2013-10-01

    In ultrasound contrast imaging, many techniques based on multiple transmissions have been proposed to increase the contrast-to-tissue ratio (CTR). They are generally based on the response of static scatterers inside the imaged region. However, scatterer motion, for example in blood vessels, has an inevitable influence on multi-pulse techniques, which can either enhance or degrade the technique involved. This paper investigates the response of static nonlinear media insonated by multi-pulses with various phase shifts, and the influence of scatterer motion on multi-pulse techniques. Simulations and experimental results from a single bubble and clouds of bubbles show that the phase shift of the echoes backscattered from bubbles is dependent on the transmissions' phase shift, and that the bubble motion influences the efficiency of multi-pulse techniques: fundamental and second-harmonic amplitudes of the processed signal change periodically, exhibiting maximum or minimum values, according to scatterer motion. Furthermore, experimental results based on the second-harmonic inversion (SHI) technique reveal that bubble motion can be taken into account to regulate the pulse repetition frequency (PRF). With the optimal PRF, the CTR of SHI images can be improved by about 12 dB compared with second-harmonic images.

  1. Do common systems control eye movements and motion extrapolation?

    Science.gov (United States)

    Makin, Alexis D J; Poliakoff, Ellen

    2011-07-01

    People are able to judge the current position of occluded moving objects. This operation is known as motion extrapolation. It has previously been suggested that motion extrapolation is independent of the oculomotor system. Here we revisited this question by measuring eye position while participants completed two types of motion extrapolation task. In one task, a moving visual target travelled rightwards, disappeared, then reappeared further along its trajectory. Participants discriminated correct reappearance times from incorrect (too early or too late) with a two-alternative forced-choice button press. In the second task, the target travelled rightwards behind a visible, rectangular occluder, and participants pressed a button at the time when they judged it should reappear. In both tasks, performance was significantly different under fixation as compared to free eye movement conditions. When eye movements were permitted, eye movements during occlusion were related to participants' judgements. Finally, even when participants were required to fixate, small changes in eye position around fixation (<2°) were influenced by occluded target motion. These results all indicate that overlapping systems control eye movements and judgements on motion extrapolation tasks. This has implications for understanding the mechanism underlying motion extrapolation.

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

  3. 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.

  4. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

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

  5. Toolkits Control Motion of Complex Robotics

    Science.gov (United States)

    2010-01-01

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

  6. Controlling the motion of multiple objects on a Chladni plate

    Science.gov (United States)

    Zhou, Quan; Sariola, Veikko; Latifi, Kourosh; Liimatainen, Ville

    2016-09-01

    The origin of the idea of moving objects by acoustic vibration can be traced back to 1787, when Ernst Chladni reported the first detailed studies on the aggregation of sand onto nodal lines of a vibrating plate. Since then and to this date, the prevailing view has been that the particle motion out of nodal lines is random, implying uncontrollability. But how random really is the out-of-nodal-lines motion on a Chladni plate? Here we show that the motion is sufficiently regular to be statistically modelled, predicted and controlled. By playing carefully selected musical notes, we can control the position of multiple objects simultaneously and independently using a single acoustic actuator. Our method allows independent trajectory following, pattern transformation and sorting of multiple miniature objects in a wide range of materials, including electronic components, water droplets loaded on solid carriers, plant seeds, candy balls and metal parts.

  7. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2000-08-01

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

  9. Motion

    CERN Document Server

    Graybill, George

    2007-01-01

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

  10. ENVISION, developing motion monitoring techniques for particle therapy

    CERN Multimedia

    2013-01-01

    Particle therapy is an advanced technique of cancer radiation therapy, using protons or other ions to target the cancerous mass. ENVISION aims at developing medical imaging tools to improve the dose delivery to the patient, to ensure a safer and more effective treatment. The animation illustrates the challenge of treating a tumour as it moves due to patient breathing. The ENVISION project is co-funded by the European Commission under FP7 Grant Agreement N. 241851. ENVISION serves as a training platform for the Marie Curie Initial Training Programme ENTERVISION, funded by the European Commission under FP7 Grant Agreement N. 264552. Produced by: CERN KT/Life Sciences and ENVISION Project Management: Manuela Cirilli 3D animation: Jeroen Huijben, Nymus3d

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

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2000-01-01

    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...

  12. In Control of Motion : From Molecular Switches to Molecular Motors

    NARCIS (Netherlands)

    Feringa, Bernard

    2001-01-01

    The design of molecular systems in which controlled linear and rotary motion can be achieved under the influence of an external signal is a major endeavor toward future nanoscale machinery. In this Account we describe the development of molecular switches and the discoveries that culminated in the

  13. Optimal control of the ballistic motion of Airy beams.

    Science.gov (United States)

    Hu, Yi; Zhang, Peng; Lou, Cibo; Huang, Simon; Xu, Jingjun; Chen, Zhigang

    2010-07-01

    We demonstrate the projectile motion of two-dimensional truncated Airy beams in a general ballistic trajectory with controllable range and height. We show that the peak beam intensity can be delivered to any desired location along the trajectory as well as repositioned to a given target after displacement due to propagation through disordered or turbulent media.

  14. Vision based motion control for a humanoid head

    NARCIS (Netherlands)

    Visser, L.C.; Carloni, R.; Stramigioli, S.

    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 an

  15. 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) oscilla...

  16. Motion Control of Disc Electrode by Electrorheological Fluids

    Science.gov (United States)

    Tsuda, Kazutoshi; Hirose, Yuji; Ogura, Hironao; Otsubo, Yasufumi

    2008-07-01

    The electrorheological(ER) suspensions are sandwiched between two flat disc electrodes with the radial line patterns. The pattern electrodes are fixed on the parallel plate geometry on a stress-controlled rheometer which was modified for the ER experiments. The motion of disk electrodes analyzed as a function of electrification modes to obtain the basic data for ER actuators.

  17. Controller Requirements for Uncoupled Aircraft Motion. Volume 2.

    Science.gov (United States)

    1984-09-01

    discussed in Section 12. 42 0 Maximum Deflection CniuainBeku edad Maneuver Force at No. 0 of N.oConigraio Be kutDedbnd Gradient (Over Maximum Comments No 1...168, were formed by using a sum of five sine waves as the input to the roll controller. The target motions were recorded on magnetic media and then

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

    Directory of Open Access Journals (Sweden)

    Ikhwan Kim

    2015-06-01

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

  19. 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

  20. 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.

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

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2001-01-01

    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...... control problems are addressed: stabilization in the inertial frame, magnetic libration damping for the gravity gradient stabilization and a slew maneuver with obstacle avoidance...

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

    OpenAIRE

    2016-01-01

    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 convert...

  3. Chaotic neural network applied to two-dimensional motion control.

    Science.gov (United States)

    Yoshida, Hiroyuki; Kurata, Shuhei; Li, Yongtao; Nara, Shigetoshi

    2010-03-01

    Chaotic dynamics generated in a chaotic neural network model are applied to 2-dimensional (2-D) motion control. The change of position of a moving object in each control time step is determined by a motion function which is calculated from the firing activity of the chaotic neural network. Prototype attractors which correspond to simple motions of the object toward four directions in 2-D space are embedded in the neural network model by designing synaptic connection strengths. Chaotic dynamics introduced by changing system parameters sample intermediate points in the high-dimensional state space between the embedded attractors, resulting in motion in various directions. By means of adaptive switching of the system parameters between a chaotic regime and an attractor regime, the object is able to reach a target in a 2-D maze. In computer experiments, the success rate of this method over many trials not only shows better performance than that of stochastic random pattern generators but also shows that chaotic dynamics can be useful for realizing robust, adaptive and complex control function with simple rules.

  4. 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.

  5. The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller

    Institute of Scientific and Technical Information of China (English)

    Liu Yu(刘宇); Sun Lining; Du Zhijiang

    2004-01-01

    A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant arm's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits.

  6. Multi-motion robots control based on bioelectric signals from single-channel dry electrode.

    Science.gov (United States)

    Shen, Hui-Min; Hu, Liang; Lee, Kok-Meng; Fu, Xin

    2015-02-01

    This article presents a multi-motion control system to help severe disabled people operate an auxiliary appliance using neck-up bioelectric signals measured by a single-channel dry electrode on the forehead. The single-channel dry-electrode multi-motion control system exhibits several practical advantages over its conventional counterparts that use multi-channel wet-electrodes; among the challenges is an effective technique to extract bioelectric features for reliable implementation of multi degrees-of-freedom motion control. Using both time and frequency characteristics of the single-channel dry-electrode measurements, motion commands are derived from multiple feature signals associated with concentration demands and different eye-blink actions for use in a two-level control strategy that has been developed to control predefined multi degrees-of-freedom motion trajectories. Test paradigms were designed to pre-calibrate the users' feature signals to statistically account for individual variances. Experimental trials were then carried out on able-bodied and disabled volunteers to validate the universal applicability of the algorithms. The classification success rates for two different eye-blink feature signals were approximately 95% with an average time of 2.4 s for executing a concentration feature signal. The single-channel dry-electrode-based technique has been validated on a 6-degree-of-freedom robot arm demonstrating its significant potentials to help patients suffering severe motor dysfunctions operate a multi-motion auxiliary appliance in everyday living where the ease of use is a priority.

  7. Optimized Fuzzy Control For Natural Trajectory Based Fes- Swinging Motion

    Directory of Open Access Journals (Sweden)

    B.S.K.K Ibrahim

    2011-12-01

    Full Text Available The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES. FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury (SCI. A crucial issue of FES is the control of motor function by the artificial activation of paralyzed muscles due to the various characteristics of the underlying physiological/biomechanical system. Muscle response characteristics are nonlinear and time-varying. After developing a nonlinear model describing the dynamic behavior of the knee joint and muscles, a closed-loop approach of control strategy to track the reference trajectory is assessed in computer simulations. Then, the controller was validated through experimental work. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion in the simulation as well as in the practical environment.

  8. Evaluation of Grasping Motion Using a Virtual Prosthetic Control System

    Science.gov (United States)

    Fukuda, Osamu; Bu, Nan; Ueno, Naohiro

    Electromyogram (EMG) signals can be measured from human muscles and can be used to anticipate movements. In fact, many researchers have tried to use these signals as an interface tool for a prosthetic hand. However, most of these studies focused on the discrimination performance of the EMG signals, and only discussed the control method for the prosthetic hand. Evaluation of the operating performance was seldom reported. This paper proposes a virtual prosthetic control system and presents the analyses of a grasp motion under two different EMG control methods: on/off control and proportional control. The proportional control is able to proportionally control the grasping velocity based on the amplitude of the EMG signal. The on/off control controls the hand at a uniform rate while the amplitude of the EMG signal is greater than a predefined threshold. We conducted experiments with five subjects, and confirmed the usefulness of the developed system.

  9. Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors

    Directory of Open Access Journals (Sweden)

    S. Araujo–Estrada

    2009-10-01

    Full Text Available This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well–known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed—loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.

  10. Temperature dependence of molecular motions in polymethylmethacrylate studied by positron annihilation techniques

    Energy Technology Data Exchange (ETDEWEB)

    Millan, S.; Geckle, U.; Levay, B.; Ache, H.J. (Kernforschungszentrum Karlsruhe GmbH (Germany, F.R.). Inst. fuer Radiochemie)

    1990-07-01

    Untreated polymethylmethacrylate (PMMA) as well as PMMA into which charges were injected (PMMA-electret) were studied by positron annihilation techniques (PAT). A comparison of the PAT data with previously reported results obtained via different techniques including thermally stimulated discharge (TSD) shows good agreement and suggests that the observed can be explained by the onset of different types of molecular motions in the polymer. It appears that in the case of the PMMA-electret an additional transition at 130 K can be identified which may be correlated with a different type of molecular motion, presumably with the rotation of the methyl group of the ester side chain. (orig.).

  11. 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.

  12. A measurement system of magnetism parameters for motion control

    Institute of Scientific and Technical Information of China (English)

    WANG Xiao-ming; HUANG Xu-yan; LEI Tao

    2007-01-01

    Magnetism parameters vary with the position and the speed of electromagnetic actuator's motion parts. The measurement unit presented in the paper can be applied to get the position and the speed feedback information from the measurement of electromagnetism parameters, and can constitute the untouched feedback sensing unit in the closed-loop motion control, and it adapts to the diversified feedback control of electromagnetic actuator. The digital miniaturization meter, based on MSP430 single chip processor, which can do the multiformance evaluation and improvement, and also the online quality control in production process. Both real-time data graph and data table can be displayed in the meter. The paper presents the system's structure, describes the principle, discusses the working modes, and shows the software flowchart and the measuring results.

  13. Compensation technique for the intrinsic error in ultrasound motion estimation using a speckle tracking method

    Science.gov (United States)

    Taki, Hirofumi; Yamakawa, Makoto; Shiina, Tsuyoshi; Sato, Toru

    2015-07-01

    High-accuracy ultrasound motion estimation has become an essential technique in blood flow imaging, elastography, and motion imaging of the heart wall. Speckle tracking has been one of the best motion estimators; however, conventional speckle-tracking methods neglect the effect of out-of-plane motion and deformation. Our proposed method assumes that the cross-correlation between a reference signal and a comparison signal depends on the spatio-temporal distance between the two signals. The proposed method uses the decrease in the cross-correlation value in a reference frame to compensate for the intrinsic error caused by out-of-plane motion and deformation without a priori information. The root-mean-square error of the estimated lateral tissue motion velocity calculated by the proposed method ranged from 6.4 to 34% of that using a conventional speckle-tracking method. This study demonstrates the high potential of the proposed method for improving the estimation of tissue motion using an ultrasound speckle-tracking method in medical diagnosis.

  14. 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.

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

    Directory of Open Access Journals (Sweden)

    Miguel Velazquez

    2016-06-01

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

  16. An anthropomorphic breathing phantom of the thorax for testing new motion mitigation techniques for pencil beam scanning proton therapy

    Science.gov (United States)

    Perrin, R. L.; Zakova, M.; Peroni, M.; Bernatowicz, K.; Bikis, C.; Knopf, A. K.; Safai, S.; Fernandez-Carmona, P.; Tscharner, N.; Weber, D. C.; Parkel, T. C.; Lomax, A. J.

    2017-03-01

    Motion-induced range changes and incorrectly placed dose spots strongly affect the quality of pencil-beam-scanned (PBS) proton therapy, especially in thoracic tumour sites, where density changes are large. Thus motion-mitigation techniques are necessary, which must be validated in a realistic patient-like geometry. We report on the development and characterisation of a dynamic, anthropomorphic, thorax phantom that can realistically mimic thoracic motions and anatomical features for verifications of proton and photon 4D treatments. The presented phantom is of an average thorax size, and consists of inflatable, deformable lungs surrounded by a skeleton and skin. A mobile ‘tumour’ is embedded in the lungs in which dosimetry devices (such as radiochromic films) can be inserted. Motion of the tumour and deformation of the thorax is controlled via a custom made pump system driving air into and out of the lungs. Comprehensive commissioning tests have been performed to evaluate the mechanical performance of the phantom, its visibility on CT and MR imaging and its feasibility for dosimetric validation of 4D proton treatments. The phantom performed well on both regular and irregular pre-programmed breathing curves, reaching peak-to-peak amplitudes in the tumour of  90% in the central planes of the target. The results of this study demonstrate that this anthropomorphic thorax phantom is suitable for imaging and dosimetric studies in a thoracic geometry closely-matched to lung cancer patients under realistic motion conditions.

  17. A Technique to Measure Focal Length of a Lens with no Bulk Motion using Tunable Optics and Optical MEMS Technology

    CERN Document Server

    Reza, Syed Azer

    2016-01-01

    This paper presents a motion-free technique for characterizing the focal length of any spherical convex or concave lens. The measurement system uses a Gaussian Beam from a Laser Source (LS), an Electronically Controlled Variable Focus Lens (ECVFL), a Digital Micromirror Device (DMD) and a Photo-Detector (PD). As the proposed method does not involve any motion-stages or other moving components, the focal length is measured without requiring any mechanical motion of bulk components. The method requires measuring the spot size of the Gaussian Beam at the DMD plane for various settings of the ECVFL focal length. These beam spot size measurements, are used to estimate the focal length of a lens sample by employing standard polynomial-fitting techniques. Due to the inherent motion-free nature of the proposed setup, the measurements are fast, repeatable, reliable and ideal for use in industrial lens production, manufacturing of imaging systems and sensitive laboratory experiments. Using a DMD and an ECVFL also allow...

  18. Design of Sugarcane Peeling Machine Based on Motion Controller

    Directory of Open Access Journals (Sweden)

    Zhang Dehui

    2015-04-01

    Full Text Available Sugarcane is a common raw material for sugar, but in the process of machining, there will be suspended solids in the cane juice, in order to process better, the sugarcane should be peeled. Traditional way of peeling is by man, production efficiency is low. In this study, a kind of sugarcane peeling machine was designed based on motion controller, it can realize the automation of input, peeling and output. It can make certain contribution for sugarcane processing.

  19. 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.

  20. 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

    . 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...

  1. Motion Capture for Puppet Control Using Integrated Sensor System

    Institute of Scientific and Technical Information of China (English)

    Byeong-yeol KIM; Hwan-ik CHUNG; Hern-soo HAHN

    2010-01-01

    The paper aims to execute puppet without restrictions by controling puppet using robot.We controling puppet in the same way as the present puppet,but we perform this by robot.It offers more advantages and lessen the weak points.It needs various actions and expressions becarse of the nature of a puppet.The biggest problem which executes this is the ways to create a system.This thesis proposes motion capture of developed methhod with solution of this problem.So,we create various contents needed by puppet.In this part,developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture.We lessen the weak points of each method and propose solution of create motion for puppet by offering more advantages.So we solve difficulties of executing puppet and probable problems when we execute puppet by using robot.The solution of this thesis is proven by applying control of puppet.

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

    Science.gov (United States)

    Coman, Daniela; Ionescu, Adela

    2009-08-01

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

  3. 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.

  4. Motion Planning Based Coordinated Control for Hydraulic Excavators

    Institute of Scientific and Technical Information of China (English)

    GAO Yingjie; JIN Yanchao; ZHANG Qin

    2009-01-01

    Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydranlic proportional valves coordinately. Therefore,the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems.This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfaetorily accomplish the auto-digging function for level digging or flat surface finishing.

  5. Temperature Control System Using Fuzzy Logic Technique

    Directory of Open Access Journals (Sweden)

    Isizoh A N

    2012-06-01

    Full Text Available Fuzzy logic technique is an innovative technology used in designing solutions for multi-parameter and non-linear control models for the definition of a control strategy. As a result, it delivers solutions faster than the conventional control design techniques. This paper thus presents a fuzzy logic based-temperature control system, which consists of a microcontroller, temperature sensor, and operational amplifier, Analogue to Digital Converter, display interface circuit and output interface circuit. It contains a design approach that uses fuzzy logic technique to achieve a controlled temperature output function.

  6. Advances in Inertial Measurement Technology for Marine Motion Control

    Directory of Open Access Journals (Sweden)

    Mathias Håndlykken

    1996-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-04-01

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

  8. 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.

  9. 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.

  10. 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

  11. Novel automated motion compensation technique for producing cumulative maximum intensity subharmonic images.

    Science.gov (United States)

    Dave, Jaydev K; Forsberg, Flemming

    2009-09-01

    The aim of this study was to develop a novel automated motion compensation algorithm for producing cumulative maximum intensity (CMI) images from subharmonic imaging (SHI) of breast lesions. SHI is a nonlinear contrast-specific ultrasound imaging technique in which pulses are received at half the frequency of the transmitted pulses. A Logiq 9 scanner (GE Healthcare, Milwaukee, WI, USA) was modified to operate in grayscale SHI mode (transmitting/receiving at 4.4/2.2 MHz) and used to scan 14 women with 16 breast lesions. Manual CMI images were reconstructed by temporal maximum-intensity projection of pixels traced from the first frame to the last. In the new automated technique, the user selects a kernel in the first frame and the algorithm then uses the sum of absolute difference (SAD) technique to identify motion-induced displacements in the remaining frames. A reliability parameter was used to estimate the accuracy of the motion tracking based on the ratio of the minimum SAD to the average SAD. Two thresholds (the mean and 85% of the mean reliability parameter) were used to eliminate images plagued by excessive motion and/or noise. The automated algorithm was compared with the manual technique for computational time, correction of motion artifacts, removal of noisy frames and quality of the final image. The automated algorithm compensated for motion artifacts and noisy frames. The computational time was 2 min compared with 60-90 minutes for the manual method. The quality of the motion-compensated CMI-SHI images generated by the automated technique was comparable to the manual method and provided a snapshot of the microvasculature showing interconnections between vessels, which was less evident in the original data. In conclusion, an automated algorithm for producing CMI-SHI images has been developed. It eliminates the need for manual processing and yields reproducible images, thereby increasing the throughput and efficiency of reconstructing CMI-SHI images. The

  12. Automatic Level Control for Video Cameras towards HDR Techniques

    Directory of Open Access Journals (Sweden)

    de With PeterHN

    2010-01-01

    Full Text Available We give a comprehensive overview of the complete exposure processing chain for video cameras. For each step of the automatic exposure algorithm we discuss some classical solutions and propose their improvements or give new alternatives. We start by explaining exposure metering methods, describing types of signals that are used as the scene content descriptors as well as means to utilize these descriptors. We also discuss different exposure control types used for the control of lens, integration time of the sensor, and gain control, such as a PID control, precalculated control based on the camera response function, and propose a new recursive control type that matches the underlying image formation model. Then, a description of commonly used serial control strategy for lens, sensor exposure time, and gain is presented, followed by a proposal of a new parallel control solution that integrates well with tone mapping and enhancement part of the image pipeline. Parallel control strategy enables faster and smoother control and facilitates optimally filling the dynamic range of the sensor to improve the SNR and an image contrast, while avoiding signal clipping. This is archived by the proposed special control modes used for better display and correct exposure of both low-dynamic range and high-dynamic range images. To overcome the inherited problems of limited dynamic range of capturing devices we discuss a paradigm of multiple exposure techniques. Using these techniques we can enable a correct rendering of difficult class of high-dynamic range input scenes. However, multiple exposure techniques bring several challenges, especially in the presence of motion and artificial light sources such as fluorescent lights. In particular, false colors and light-flickering problems are described. After briefly discussing some known possible solutions for the motion problem, we focus on solving the fluorescence-light problem. Thereby, we propose an algorithm for

  13. 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...

  14. 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...

  15. Accelerating simultaneous algebraic reconstruction technique with motion compensation using CUDA-enabled GPU.

    Science.gov (United States)

    Pang, Wai-Man; Qin, Jing; Lu, Yuqiang; Xie, Yongming; Chui, Chee-Kong; Heng, Pheng-Ann

    2011-03-01

    To accelerate the simultaneous algebraic reconstruction technique (SART) with motion compensation for speedy and quality computed tomography reconstruction by exploiting CUDA-enabled GPU. Two core techniques are proposed to fit SART into the CUDA architecture: (1) a ray-driven projection along with hardware trilinear interpolation, and (2) a voxel-driven back-projection that can avoid redundant computation by combining CUDA shared memory. We utilize the independence of each ray and voxel on both techniques to design CUDA kernel to represent a ray in the projection and a voxel in the back-projection respectively. Thus, significant parallelization and performance boost can be achieved. For motion compensation, we rectify each ray's direction during the projection and back-projection stages based on a known motion vector field. Extensive experiments demonstrate the proposed techniques can provide faster reconstruction without compromising image quality. The process rate is nearly 100 projections s (-1), and it is about 150 times faster than a CPU-based SART. The reconstructed image is compared against ground truth visually and quantitatively by peak signal-to-noise ratio (PSNR) and line profiles. We further evaluate the reconstruction quality using quantitative metrics such as signal-to-noise ratio (SNR) and mean-square-error (MSE). All these reveal that satisfactory results are achieved. The effects of major parameters such as ray sampling interval and relaxation parameter are also investigated by a series of experiments. A simulated dataset is used for testing the effectiveness of our motion compensation technique. The results demonstrate our reconstructed volume can eliminate undesirable artifacts like blurring. Our proposed method has potential to realize instantaneous presentation of 3D CT volume to physicians once the projection data are acquired.

  16. Soft Computing Techniques for Process Control Applications

    Directory of Open Access Journals (Sweden)

    Rahul Malhotra

    2011-09-01

    Full Text Available Technological innovations in soft computing techniques have brought automation capabilities to new levelsof applications. Process control is an important application of any industry for controlling the complexsystem parameters, which can greatly benefit from such advancements. Conventional control theory isbased on mathematical models that describe the dynamic behaviour of process control systems. Due to lackin comprehensibility, conventional controllers are often inferior to the intelligent controllers. Softcomputing techniques provide an ability to make decisions and learning from the reliable data or expert’sexperience. Moreover, soft computing techniques can cope up with a variety of environmental and stabilityrelated uncertainties. This paper explores the different areas of soft computing techniques viz. Fuzzy logic,genetic algorithms and hybridization of two and abridged the results of different process control casestudies. It is inferred from the results that the soft computing controllers provide better control on errorsthan conventional controllers. Further, hybrid fuzzy genetic algorithm controllers have successfullyoptimized the errors than standalone soft computing and conventional techniques.

  17. Optimal design and motion control of biomimetic robotic fish

    Institute of Scientific and Technical Information of China (English)

    YU JunZhi; WANG Long; ZHAO Wei; TAN Min

    2008-01-01

    This paper is concerned with the design, optimization, and motion control of a radio-controlled, multi-link, free-swimming biomimetic robotic fish based on an opti-mized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish's morphological characteristics and ki-nematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-length-ratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator (CPG) based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.

  18. Temporal Logic Motion Control using Actor-Critic Methods

    CERN Document Server

    Ding, Xu Chu; Lahijanian, Morteza; Paschalidis, Ioannis Ch; Belta, Calin A

    2012-01-01

    In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy sensors and actuators and model its motion through the regions of the environment as a Markov Decision Process (MDP). The robot control problem becomes finding the control policy maximizing the probability of satisfying the temporal logic task on the MDP. For a large environment, obtaining transition probabilities for each state-action pair, as well as solving the necessary optimization problem for the optimal policy are usually not computationally feasible. To address these issues, we propose an approximate dynamic programming framework based on a least-square temporal difference learning method of the actor-critic type. This framework operates on sample paths of the robot and optimizes a randomized control policy with respect to a small set of parameters. The transition proba...

  19. Time-lapse motion picture technique applied to the study of geological processes

    Science.gov (United States)

    Miller, R.D.; Crandell, D.R.

    1959-01-01

    Light-weight, battery-operated timers were built and coupled to 16-mm motion-picture cameras having apertures controlled by photoelectric cells. The cameras were placed adjacent to Emmons Glacier on Mount Rainier. The film obtained confirms the view that exterior time-lapse photography can be applied to the study of slow-acting geologic processes.

  20. Current-controlled unidirectional edge-meron motion

    Science.gov (United States)

    Xing, Xiangjun; Pong, Philip W. T.; Zhou, Yan

    2016-11-01

    In order to address many of the challenges and bottlenecks currently experienced by traditional charge-based technologies, various alternatives are being actively explored to provide potential solutions of device miniaturization and scaling in the post-Moore's-law era. Amongst these alternatives, spintronic physics and devices have recently attracted rapidly increasing interest by exploiting the additional degree of electrons-spin. For example, magnetic domain-wall racetrack-memory and logic devices have been realized via manipulating domain-wall motion. As compared to domain-wall-based devices, magnetic skyrmions have the advantages of ultrasmall size (typically 5-100 nm in diameter), facile current-driven motion, topological stability, and peculiar emergent electrodynamics, promising for next-generation electronics applications in the post-Moore's-law regime. Here, a magnetic meron device, which behaves similarly to a PN-junction diode, is demonstrated for the first time, by tailoring the current-controlled unidirectional motion of edge-merons (i.e., fractional skyrmions) in a nanotrack with interfacial Dzyaloshinskii-Moriya interaction. The working principles of the meron device, theoretically predicted from the Thiele equation for topological magnetic objects, are further verified using micromagnetic simulations. The present study has revealed the topology-independent transport property of different magnetic objects and is expected to open the vista toward integrated composite circuitry (with unified data storage and processing) based on a single magnetic chip, as the meron device can be used, either as a building block to develop complex logic components or as a signal controller to interconnect skyrmion, domain-wall, and even spin-wave devices.

  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. 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.

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

    Science.gov (United States)

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

    2014-07-01

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

  4. A COMPARISION OF VARIOUS EDGE DETECTION TECHNIQUES IN MOTION PICTURE FOR IDENTIFYING A SHARK FISH

    Directory of Open Access Journals (Sweden)

    Shrivakshan Gopal Thiruvangadan

    2013-01-01

    Full Text Available The significant feature of detecting the motion image objects in this study it try identify the shark fish videos by removing the Background of the image. The main method involved in the detecting from the background is the foreground detection of the image. There are many techniques which usually ignore the fact that the background images consist of different image objects whose conditions may mostly change occur. In this study, a motion picture identification procedure is proposed for real time motion video frames by comparing the three key classes of methods for motion detection primarily the Background Removal (Subtraction followed by the Temporal distinguishing (differencing and Optical Flow method. Structured hierarchical background procedure is proposed based on segmenting background images objects. It mainly divided the background images divided into several parts (regions by the Support Vector Machine (SVM followed by a structured hierarchical model is built with the region procedure and pixel model procedure. In the region model method, the image object is extracted from the histogram of specific parts which is same to the kind of a Gaussian-combination model. In the pixel model procedure, it is been demonstrated by histograms, picture, which shows gradients sample of pixels in each parts based on the concurrent occurrence of object variations. In this study, it suggests Silhouette detection procedure and it is used. The experimental result are counter validated with a video database to illustrate its efficiencies, which is involved, from static to dynamic scenes by analyzing it with some distinguished motion detection methods chiefly Temporal differencing method followed by Optical Flow method and based on the outputs a motion detection procedure for real time video frames can be created which is cost effective, it shows good rate of accuracy, which is less rate of reliability in simple, less of complexity and well adapted to several

  5. Advanced Control Techniques with Fuzzy Logic

    Science.gov (United States)

    2014-06-01

    AFRL-RQ-WP-TR-2014-0175 ADVANCED CONTROL TECHNIQUES WITH FUZZY LOGIC James E. Combs Structural Validation Branch Aerospace Vehicles...TECHNIQUES WITH FUZZY LOGIC 5a. CONTRACT NUMBER In-house 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 62201F 6. AUTHOR(S) James E. Combs...unlimited. 13. SUPPLEMENTARY NOTES PA Case Number: 88ABW-2014-3281; Clearance Date: 09 Jul 2014. 14. ABSTRACT Research on the Fuzzy Logic control

  6. Localization/mapping motion control system for a mobile robot

    Science.gov (United States)

    Yang-Syu, Jr.; Su, Chiun-Shiang; Yang, Chan-Yun

    2011-12-01

    The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well.

  7. [Bionic model for coordinated head-eye motion control].

    Science.gov (United States)

    Mao, Xiaobo; Chen, Tiejun

    2011-10-01

    The relationships between eye movements and head movements of the primate during gaze shifts are analyzed in detail in the present paper. Applying the mechanisms of neurophysiology to engineering domain, we have improved the robot eye-head coordination. A bionic control strategy of coordinated head-eye motion was proposed. The processes of gaze shifts are composed of an initial fast phase followed by a slow phase. In the fast phase saccade eye movements and slow head movements were combined, which cooperate to bring gaze from an initial resting position toward the new target rapidly, while in the slow phase the gaze stability and target fixation were ensured by the action of the vestibulo-ocular reflex (VOR) where the eyes and head rotate by equal amplitudes in opposite directions. A bionic gaze control model was given. The simulation results confirmed the effectiveness of the model by comparing with the results of neurophysiology experiments.

  8. MotionEstimation Technique forReal Time Compressed Video Transmission

    Directory of Open Access Journals (Sweden)

    Prof. D. S. Maind

    2014-11-01

    Full Text Available Motion Estimation is one of the most critical modules in a typical digital video encoder. many implementation tradeoffs should be considered while designing such a module. It candefine ME as a part of inter coding technique.Inter coding refers to a mechanism of finding co-relation between two frames (stillimages, which are not far away from each other as far as the order of occurrence is concerned, one frame is called the reference frameand the other frame called the current frame, and then encoding the information which is a function of this co-relation‟ instead of the frame itself. This paper focuses more on block matching algorithms which comes under feature/region matching. Block motion estimation algorithms are widely adopted by video coding standards, mainly due to their simplicity and good distortion performance In FS every candidate points will be evaluated and more time will be taken for predicting the suitable motion vectors. based on the above noted drawback, the above said adaptive pattern is proposed Optimization is proposed at algorithm/code-level for both encoder and decoder to make it feasible to perform real-time H.264/AVC video encoding/decoding on mobile device for mobile multimedia applications. For encoder an improved motion estimation algorithm based on hexagonal pattern search is proposed exploiting the temporal redundancy of a video sequence. For decoder, at code level memory access minimization scheme is proposed and at algorithm level a fast interpolation scheme is proposed.

  9. 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.

  10. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  11. New techniques for the assessment of regional left ventricular wall motion.

    Science.gov (United States)

    Garcia-Fernandez, Miguel Angel; Bermejo, Javier; Perez-David, Esther; Lopez-Fernandez, Teresa; Ledesma, Maria Jesus; Caso, Pio; Malpica, Norberto; Santos, Andres; Moreno, Mar; Desco, Manuel

    2003-10-01

    The assessment of regional left ventricular (LV) function has been an important yet unresolved problem since the introduction of echocardiography as a diagnostic tool. Abnormal regional LV wall motion is an early finding in multiple cardiac pathologies and its diagnosis is of critical importance. In the last few years diagnostic procedures based on combined use of existing echocardiographic technologies were geared toward improving the accuracy of detection of baseline and/or induced regional wall motion abnormalities. One of the assumptions is that the combination of reduced LV wall thickening and reduced myocardial velocities can be used to accurately diagnose regional myocardial dysfunction. In this article we will discuss several new techniques for the quantification of regional LV function using Doppler echocardiography.

  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. Motion-mode energy method for vehicle dynamics analysis and control

    Science.gov (United States)

    Zhang, Nong; Wang, Lifu; Du, Haiping

    2014-01-01

    Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

  14. Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

    Institute of Scientific and Technical Information of China (English)

    GUO Yi-shen; CHEN Li

    2008-01-01

    The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base's attitude and the end-effect or of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

  15. An anthropomorphic breathing phantom of the thorax for testing new motion mitigation techniques for pencil beam scanning proton therapy

    NARCIS (Netherlands)

    Perrin, R L; Zakova, M; Peroni, Marta; Bernatowicz, K; Bikis, C; Knopf, A. K.; Safai, S; Fernandez-Carmona, P; Tscharner, N; Weber, Damien C.; Parkel, T C; Lomax, Antony J.

    2017-01-01

    Motion-induced range changes and incorrectly placed dose spots strongly affect the quality of pencil-beam-scanned (PBS) proton therapy, especially in thoracic tumour sites, where density changes are large. Thus motion-mitigation techniques are necessary, which must be validated in a realistic

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

    CERN Document Server

    Hunter, T R; 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

    2013-01-01

    We describe the design and performance of the digital servo and motion control system for the 6-meter diameter 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 functi...

  17. 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 coral reefs. We discuss the utility of such data to monitor temporal changes in topographic complexity of reefs and associated biological processes.

  18. Abdominal muscle activation changes if the purpose is to control pelvis motion or thorax motion.

    Science.gov (United States)

    Vera-Garcia, Francisco J; Moreside, Janice M; McGill, Stuart M

    2011-12-01

    The aim of this study was to compare trunk muscular recruitment and lumbar spine kinematics when motion was constrained to either the thorax or the pelvis. Nine healthy women performed four upright standing planar movements (rotations, anterior-posterior translations, medial-lateral translations, and horizontal circles) while constraining pelvis motion and moving the thorax or moving the pelvis while minimizing thorax motion, and four isometric trunk exercises (conventional curl-up, reverse curl-up, cross curl-up, and reverse cross curl-up). Surface EMG (upper and lower rectus abdominis, lateral and medial aspects of external oblique, internal oblique, and latissimus dorsi) and 3D lumbar displacements were recorded. Pelvis movements produced higher EMG amplitudes of the oblique abdominals than thorax motions in most trials, and larger lumbar displacements in the medial-lateral translations and horizontal circles. Conversely, thorax movements produced larger rotational lumbar displacement than pelvis motions during rotations and higher EMG amplitudes for latissimus dorsi during rotations and anterior-posterior translations and for lower rectus abdominis during the crossed curl-ups. Thus, different neuromuscular compartments appear when the objective changes from pelvis to thorax motion. This would suggest that both movement patterns should be considered when planning spine stabilization programs, to optimize exercises for the movement and muscle activations desired. Copyright © 2011 Elsevier Ltd. All rights reserved.

  19. 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

  20. Comparison of motion correction techniques applied to functional near-infrared spectroscopy data from children

    Science.gov (United States)

    Hu, Xiao-Su; Arredondo, Maria M.; Gomba, Megan; Confer, Nicole; DaSilva, Alexandre F.; Johnson, Timothy D.; Shalinsky, Mark; Kovelman, Ioulia

    2015-12-01

    Motion artifacts are the most significant sources of noise in the context of pediatric brain imaging designs and data analyses, especially in applications of functional near-infrared spectroscopy (fNIRS), in which it can completely affect the quality of the data acquired. Different methods have been developed to correct motion artifacts in fNIRS data, but the relative effectiveness of these methods for data from child and infant subjects (which is often found to be significantly noisier than adult data) remains largely unexplored. The issue is further complicated by the heterogeneity of fNIRS data artifacts. We compared the efficacy of the six most prevalent motion artifact correction techniques with fNIRS data acquired from children participating in a language acquisition task, including wavelet, spline interpolation, principal component analysis, moving average (MA), correlation-based signal improvement, and combination of wavelet and MA. The evaluation of five predefined metrics suggests that the MA and wavelet methods yield the best outcomes. These findings elucidate the varied nature of fNIRS data artifacts and the efficacy of artifact correction methods with pediatric populations, as well as help inform both the theory and practice of optical brain imaging analysis.

  1. Assessment of left ventricular regional wall motion by color kinesis technique: comparison with angiographic findings.

    Science.gov (United States)

    Vermes, E; Guyon, P; Weingrod, M; Otmani, A; Soussana, C; Halphen, C; Leroy, G; Haïat, R

    2000-08-01

    The analysis of segmental wall motion using two-dimensional (2-D) echocardiography is subjective with high interobserver variability. Color kinesis is a new technique providing a color-encoded map of endocardial motion. We evaluated the accuracy of color kinesis and 2-D for assessment of regional asynergy compared with left ventricular angiography as a reference method. Fifteen patients admitted for myocardial infarction were studied by echocardiography the day before left ventricular angiography. The left ventricle was divided into seven segments. Each segment was classified by two independent observers as normal or abnormal in 2-D and color kinesis. Accuracy of color kinesis and 2-D was evaluated and compared to left ventricular angiography. Color kinesis is significantly superior to 2-D for all seven segments (mean 0.80/0.68, P = 0.05), except for the septum (0.67/0.60, P = NS). Interobserver variability studied by chi-square statistic is lower with color kinesis (0.70) than with 2-D (0.57). We conclude that these data suggest that color kinesis is a useful method for assessing systolic wall motion in all segments, except the septum and for improving the accuracy of segmental ventricular function and interobserver variability.

  2. Ultrasonic techniques for process monitoring and control.

    Energy Technology Data Exchange (ETDEWEB)

    Chien, H.-T.

    1999-03-24

    Ultrasonic techniques have been applied successfully to process monitoring and control for many industries, such as energy, medical, textile, oil, and material. It helps those industries in quality control, energy efficiency improving, waste reducing, and cost saving. This paper presents four ultrasonic systems, ultrasonic viscometer, on-loom, real-time ultrasonic imaging system, ultrasonic leak detection system, and ultrasonic solid concentration monitoring system, developed at Argonne National Laboratory in the past five years for various applications.

  3. Coordinated Resolved Motion Control of Dual-arm Manipulators with Closed Chain

    OpenAIRE

    Tianliang Liu; Yan Lei; Liang Han; Wenfu Xu; Huaiwu Zou

    2016-01-01

    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 desi...

  4. Effects of Motion Cues on the Training of Multi-Axis Manual Control Skills

    Science.gov (United States)

    Zaal, Peter M. T.; Mobertz, Xander R. I.

    2017-01-01

    The study described in this paper investigated the effects of two different hexapod motion configurations on the training and transfer of training of a simultaneous roll and pitch control task. Pilots were divided between two groups which trained either under a baseline hexapod motion condition, with motion typically provided by current training simulators, or an optimized hexapod motion condition, with increased fidelity of the motion cues most relevant for the task. All pilots transferred to the same full-motion condition, representing motion experienced in flight. A cybernetic approach was used that gave insights into the development of pilots use of visual and motion cues over the course of training and after transfer. Based on the current results, neither of the hexapod motion conditions can unambiguously be chosen as providing the best motion for training and transfer of training of the used multi-axis control task. However, the optimized hexapod motion condition did allow pilots to generate less visual lead, control with higher gains, and have better disturbance-rejection performance at the end of the training session compared to the baseline hexapod motion condition. Significant adaptations in control behavior still occurred in the transfer phase under the full-motion condition for both groups. Pilots behaved less linearly compared to previous single-axis control-task experiments; however, this did not result in smaller motion or learning effects. Motion and learning effects were more pronounced in pitch compared to roll. Finally, valuable lessons were learned that allow us to improve the adopted approach for future transfer-of-training studies.

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

    Science.gov (United States)

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

    2014-10-01

    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.

  6. Vision-based system identification technique for building structures using a motion capture system

    Science.gov (United States)

    Oh, Byung Kwan; Hwang, Jin Woo; Kim, Yousok; Cho, Tongjun; Park, Hyo Seon

    2015-11-01

    This paper presents a new vision-based system identification (SI) technique for building structures by using a motion capture system (MCS). The MCS with outstanding capabilities for dynamic response measurements can provide gage-free measurements of vibrations through the convenient installation of multiple markers. In this technique, from the dynamic displacement responses measured by MCS, the dynamic characteristics (natural frequency, mode shape, and damping ratio) of building structures are extracted after the processes of converting the displacement from MCS to acceleration and conducting SI by frequency domain decomposition. A free vibration experiment on a three-story shear frame was conducted to validate the proposed technique. The SI results from the conventional accelerometer-based method were compared with those from the proposed technique and showed good agreement, which confirms the validity and applicability of the proposed vision-based SI technique for building structures. Furthermore, SI directly employing MCS measured displacements to FDD was performed and showed identical results to those of conventional SI method.

  7. A NOVEL APPROACH TO VIDEO COMPRESSION TECHNIQUE USING VARIABLE BLOCK SIZES IN MOTION ESTIMATION PROCESS

    Directory of Open Access Journals (Sweden)

    Vinith Chauhan

    2012-06-01

    Full Text Available Compression basically means reducing image data. As mentioned previously, a digitized analog video sequence can comprise of up to 165 Mbps of data. To reduce the media overheads for distributing these sequences, the following techniques are commonly employed to achieve desirable reductions in image data Reduce color nuances within the image, reduce the color resolution with respect to the prevailing light intensity, Remove small, invisible parts, of the picture, Compare adjacent images and remove details that are unchanged between two images. The first three are image based compression techniques, where only one frame is evaluated and compressed at a time. The last one is or video compression technique where different adjacent frames are compared as a way to further reduced the image data. All of these techniques are based on an accurate understanding of how the human brain and eyes work together to form a complex visual system. As a result of these subtle reductions, a significant reduction in the resultant files size for the image sequences is achievable with little or no adverse effect in their visual quality. The extent, to which these image modifications are humanly visible, is typically dependent upon the degree to which the chosen compression technique is used. Often 50% to 90% compression can be achieved with no visible difference, and in some scenarios even beyond 95%. In this paper variable block sizes in motion estimation process is used for video compression.

  8. Industrial applications of advanced control techniques

    Institute of Scientific and Technical Information of China (English)

    刘国平

    2003-01-01

    This paper discusses two industrial control applications using advanced control techniques. They are theoptimal-tuning nonlinear PID control of hydraulic systems and the neural predictive control of combustor acoustic ofgas turbines. For hydraulic control systems, an optimal PID controller with inverse of dead zone is introduced toovercome the dead zone and is designed to satisfy desired time-domain performance requirements. Using the adaptivemodel, an optimal-tuning PID control scheme is proposed to provide optimal PID parameters even in the case wherethe system dynamics is time variant. For combustor acoustic control of gas turbines, a neural predictive controlstrategy is presented, which consists of three parts: an output model, output predictor and feedback controller. Theoutput model of the combustor acoustic is established using neural networks to predict the output and overcome thetime delay of the system, which is often very large, compared with the sampling period. The output-feedback con-troller is introduced which uses the output of the predictor to suppress instability in the combustion process. The a-bove control strategies are implemented in the SIMULINK/dSPACE controller development environment. Theirperformance is evaluated on the industrial hydraulic test rig and the industrial combustor test rig.

  9. 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.

  10. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 29.779 Section 29.779 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that...

  11. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 25.779 Section 25.779 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Accommodations § 25.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that...

  12. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 27.779 Section 27.779 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that...

  13. 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.

  14. Persistent cellular motion control and trapping using mechanotactic signaling.

    Directory of Open Access Journals (Sweden)

    Xiaoying Zhu

    Full Text Available Chemotactic signaling and the associated directed cell migration have been extensively studied owing to their importance in emergent processes of cellular aggregation. In contrast, mechanotactic signaling has been relatively overlooked despite its potential for unique ways to artificially signal cells with the aim to effectively gain control over their motile behavior. The possibility of mimicking cellular mechanotactic signals offers a fascinating novel strategy to achieve targeted cell delivery for in vitro tissue growth if proven to be effective with mammalian cells. Using (i optimal level of extracellular calcium ([Ca(2+]ext = 3 mM we found, (ii controllable fluid shear stress of low magnitude (σ < 0.5 Pa, and (iii the ability to swiftly reverse flow direction (within one second, we are able to successfully signal Dictyostelium discoideum amoebae and trigger migratory responses with heretofore unreported control and precision. Specifically, we are able to systematically determine the mechanical input signal required to achieve any predetermined sequences of steps including straightforward motion, reversal and trapping. The mechanotactic cellular trapping is achieved for the first time and is associated with a stalling frequency of 0.06 ~ 0.1 Hz for a reversing direction mechanostimulus, above which the cells are effectively trapped while maintaining a high level of directional sensing. The value of this frequency is very close to the stalling frequency recently reported for chemotactic cell trapping [Meier B, et al. (2011 Proc Natl Acad Sci USA 108:11417-11422], suggesting that the limiting factor may be the slowness of the internal chemically-based motility apparatus.

  15. 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.

  16. Quality Control of Structural MRI Images Applied Using FreeSurfer—A Hands-On Workflow to Rate Motion Artifacts

    Science.gov (United States)

    Backhausen, Lea L.; Herting, Megan M.; Buse, Judith; Roessner, Veit; Smolka, Michael N.; Vetter, Nora C.

    2016-01-01

    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. PMID:27999528

  17. 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.

  18. Digital control of high performance aircraft using adaptive estimation techniques

    Science.gov (United States)

    Van Landingham, H. F.; Moose, R. L.

    1977-01-01

    In this paper, an adaptive signal processing algorithm is joined with gain-scheduling for controlling the dynamics of high performance aircraft. A technique is presented for a reduced-order model (the longitudinal dynamics) of a high performance STOL aircraft. The actual controller views the nonlinear behavior of the aircraft as equivalent to a randomly switching sequence of linear models taken from a preliminary piecewise-linear fit of the system nonlinearities. The adaptive nature of the estimator is necessary to select the proper sequence of linear models along the flight trajectory. Nonlinear behavior is approximated by effective switching of the linear models at random times, with durations reflecting aircraft motion in response to pilot commands.

  19. Real-time feedback control for high-intensity focused ultrasound system using localized motion imaging

    Science.gov (United States)

    Sugiyama, Ryusuke; Kanazawa, Kengo; Seki, Mika; Azuma, Takashi; Sasaki, Akira; Takeuchi, Hideki; Fujiwara, Keisuke; Itani, Kazunori; Tamano, Satoshi; Yoshinaka, Kiyoshi; Takagi, Shu; Matsumoto, Yoichiro

    2015-07-01

    High-intensity focused ultrasound (HIFU) is one of the noninvasive treatment for tumors. Visualizing the treated area inside the human body is necessary to control the HIFU exposure. Localized motion imaging (LMI) using ultrasound to induce and detect tissue deformation is one technique to detect a change in tissue stiffness caused by thermal coagulation. In experiments with porcine liver, LMI has shown to detect deformation with less than 20% accuracy. We have developed a prototype feedback control system using real-time LMI. In this system, coagulation size was measured every 1 s and controlled to correspond to a targeted size. The typical size error was reduced to 14% from 35%. LMI displacements in normal and coagulated tissues were sufficiently different to discriminate between coagulated areas and noncoagulated ones after HIFU sonication and to visualize treated areas after HIFU treatment.

  20. Voltage Controlled Magnetic Skyrmion Motion for Racetrack Memory.

    Science.gov (United States)

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

    2016-03-15

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

  1. Mobile Target Tracking Based on Hybrid Open-Loop Monocular Vision Motion Control Strategy

    Directory of Open Access Journals (Sweden)

    Cao Yuan

    2015-01-01

    Full Text Available This paper proposes a new real-time target tracking method based on the open-loop monocular vision motion control. It uses the particle filter technique to predict the moving target’s position in an image. Due to the properties of the particle filter, the method can effectively master the motion behaviors of the linear and nonlinear. In addition, the method uses the simple mathematical operation to transfer the image information in the mobile target to its real coordinate information. Therefore, it requires few operating resources. Moreover, the method adopts the monocular vision approach, which is a single camera, to achieve its objective by using few hardware resources. Firstly, the method evaluates the next time’s position and size of the target in an image. Later, the real position of the objective corresponding to the obtained information is predicted. At last, the mobile robot should be controlled in the center of the camera’s vision. The paper conducts the tracking test to the L-type and the S-type and compares with the Kalman filtering method. The experimental results show that the method achieves a better tracking effect in the L-shape experiment, and its effect is superior to the Kalman filter technique in the L-type or S-type tracking experiment.

  2. Controlling the motion of multiple objects on a Chladni plate

    OpenAIRE

    2016-01-01

    The origin of the idea of moving objects by acoustic vibration can be traced back to 1787, when Ernst Chladni reported the first detailed studies on the aggregation of sand onto nodal lines of a vibrating plate. Since then and to this date, the prevailing view has been that the particle motion out of nodal lines is random, implying uncontrollability. But how random really is the out-of-nodal-lines motion on a Chladni plate? Here we show that the motion is sufficiently regular to be statistica...

  3. Motion Control Algorithms for a Free-swimming Biomimetic Robot Fish

    Institute of Scientific and Technical Information of China (English)

    YUJun-Zhi; CHENEr-Kui; WANGShuo; TANMin

    2005-01-01

    A practical motion control strategy for a radio-controlled, 4-1ink and free-swimming biomimetic robot fish is presented. Based on control performance of the fish the fish's motion control task is decomposed into on-line speed control and orientation control. The speed control algorithm is implemented by using piecewise control, and orientation control is realized by fuzzy logic. Combining with step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and applied to the closed-loop experimental system that uses a vision-based position sensing subsystem to provide feedback. Experiments confirm the reliability and effectiveness of the presented algorithms.

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

    OpenAIRE

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

    2005-01-01

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

  5. Motion Control of Drives for Prosthetic Hand Using Continuous Myoelectric Signals

    Science.gov (United States)

    Purushothaman, Geethanjali; Ray, Kalyan Kumar

    2016-03-01

    In this paper the authors present motion control of a prosthetic hand, through continuous myoelectric signal acquisition, classification and actuation of the prosthetic drive. A four channel continuous electromyogram (EMG) signal also known as myoelectric signals (MES) are acquired from the abled-body to classify the six unique movements of hand and wrist, viz, hand open (HO), hand close (HC), wrist flexion (WF), wrist extension (WE), ulnar deviation (UD) and radial deviation (RD). The classification technique involves in extracting the features/pattern through statistical time domain (TD) parameter/autoregressive coefficients (AR), which are reduced using principal component analysis (PCA). The reduced statistical TD features and or AR coefficients are used to classify the signal patterns through k nearest neighbour (kNN) as well as neural network (NN) classifier and the performance of the classifiers are compared. Performance comparison of the above two classifiers clearly shows that kNN classifier in identifying the hidden intended motion in the myoelectric signals is better than that of NN classifier. Once the classifier identifies the intended motion, the signal is amplified to actuate the three low power DC motor to perform the above mentioned movements.

  6. Application of Monte Carlo Technique for Determining Maneuvering Loads from Statistical Information on Airplane Motions

    Science.gov (United States)

    Hamer, Harold A.; Mayer, John P.; Huston, Wilber B.

    1961-01-01

    Results of a statistical analysis of horizontal-tail loads on a fighter airplane are presented. The data were obtained from a number of operational training missions with flight at altitudes up to about 50,000 feet and at Mach numbers up to 1.22. The analysis was performed to determine the feasibility of calculating horizontal-tail load from data on the flight conditions and airplane motions. In the analysis the calculated loads are compared with the measured loads for the different types of missions performed. The loads were calculated by two methods: a direct approach and a Monte Carlo technique. The procedures used and some of the problems associated with the data analysis are discussed. frequencies of occurrence of tail loads of given magnitudes are derived from statistical information on the flight quantities. In the direct method, a time history of tail load is calculated from time-history measurements of the flight quantities. The Monte Carlo method could be useful for extending loads information for design of prospective airplanes . For the Monte Carlo method, the The results indicate that the accuracy of loads, regardless of the method used for calculation, is largely dependent on the knowledge of the pertinent airplane aerodynamic characteristics and center-of-gravity location. In addition, reliable Monte Carlo results require an adequate sample of statistical data and a knowledge of the more important statistical dependencies between the various flight conditions and airplane motions.

  7. The temporomandibular joint in video motion--noninvasive image techniques to present the functional anatomy.

    Science.gov (United States)

    Kordass, B

    1999-01-01

    The presentation of the functional anatomy of the temporomandibular joint (TMJ) is involved with difficulties if dynamic aspects are to be of prime interest, and it should be demonstrated with the highest resolution. Usually noninvasive techniques like MRI and sonography are available for presenting functionality of the temporomandibular joint in video motion. Such images reflect the functional anatomy much better than single pictures of figures could do. In combination with computer aided records of the condyle movements the video motion of MR and sonographical images represent tools for better understanding the relationships between functional or dysfunctional patterns and the morphological or dysmorphological shape and structure of the temporomandibular joint. The possibilities of such tools will be explained and discussed in detail relating, in addition, to loading effects caused by transmitted occlusal pressure onto the joint compartments. If pressure occurs the condyle slides mainly more or less retrocranially whereas the articular disc takes up a more displaced position and a deformed shape. In a few extreme cases the disc prolapses out of the joint space. These video pictures offer new aspects for the diagnosis of the disc-condyle stability and can also be used for explicit educational programs on the complex dysfunction-dysmorphology-relationship of temporomandibular diseases.

  8. 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

  9. Evaluation of a Nonrigid Motion Compensation Technique Based on Spatiotemporal Features for Small Lesion Detection in Breast MRI

    Directory of Open Access Journals (Sweden)

    F. Steinbruecker

    2012-01-01

    the performance of a new nonrigid motion correction algorithm based on the optical flow method. For each of the small lesions, we extracted morphological and dynamical features describing both global and local shape, and kinetics behavior. In this paper, we compare the performance of each extracted feature set under consideration of several 2D or 3D motion compensation parameters for the differential diagnosis of enhancing lesions in breast MRI. Based on several simulation results, we determined the optimal motion compensation parameters. Our results have shown that motion compensation can improve the classification results. The results suggest that the computerized analysis system based on the non-rigid motion compensation technique and spatiotemporal features has the potential to increase the diagnostic accuracy of MRI mammography for small lesions and can be used as a basis for computer-aided diagnosis of breast cancer with MR mammography.

  10. 14 CFR 23.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 23.779 Section 23.779 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Construction Personnel and Cargo Accommodations § 23.779 Motion and effect of cockpit controls....

  11. Comparing nonrigid registration techniques for motion corrected MR prostate diffusion imaging

    Energy Technology Data Exchange (ETDEWEB)

    Buerger, C., E-mail: christian.buerger@philips.com; Sénégas, J.; Kabus, S.; Carolus, H.; Schulz, H.; Renisch, S. [Philips Research Hamburg, Hamburg 22335 (Germany); Agarwal, H. [Philips Research North America, Briarcliff Manor, New York 10510 and Molecular Imaging Program, NCI, National Institute of Health, Bethesda, Maryland 20892 (United States); Turkbey, B.; Choyke, P. L. [Molecular Imaging Program, NCI, National Institute of Health, Bethesda, Maryland 20892 (United States)

    2015-01-15

    Purpose: T{sub 2}-weighted magnetic resonance imaging (MRI) is commonly used for anatomical visualization in the pelvis area, such as the prostate, with high soft-tissue contrast. MRI can also provide functional information such as diffusion-weighted imaging (DWI) which depicts the molecular diffusion processes in biological tissues. The combination of anatomical and functional imaging techniques is widely used in oncology, e.g., for prostate cancer diagnosis and staging. However, acquisition-specific distortions as well as physiological motion lead to misalignments between T{sub 2} and DWI and consequently to a reduced diagnostic value. Image registration algorithms are commonly employed to correct for such misalignment. Methods: The authors compare the performance of five state-of-the-art nonrigid image registration techniques for accurate image fusion of DWI with T{sub 2}. Results: Image data of 20 prostate patients with cancerous lesions or cysts were acquired. All registration algorithms were validated using intensity-based as well as landmark-based techniques. Conclusions: The authors’ results show that the “fast elastic image registration” provides most accurate results with a target registration error of 1.07 ± 0.41 mm at minimum execution times of 11 ± 1 s.

  12. Broadband strong motion simulation in layered half-space using stochastic Green's function technique

    Science.gov (United States)

    Hisada, Y.

    2008-04-01

    The stochastic Green’s function method, which simulates one component of the far-field S-waves from an extended fault plane at high frequencies (Kamae et al., J Struct Constr Eng Trans AIJ, 430:1 9, 1991), is extended to simulate the three components of the full waveform in layered half-spaces for broadband frequency range. The method firstly computes ground motions from small earthquakes, which correspond to the ruptures of sub-faults on a fault plane of a large earthquake, and secondly constructs the strong motions of the large earthquake by superposing the small ground motions using the empirical Green’s function technique (e.g., Irikura, Proc 7th Japan Earthq Eng Symp, 151 156, 1986). The broadband stochastic omega-square model is proposed as the moment rate functions of the small earthquakes, in which random and zero phases are used at higher and lower frequencies, respectively. The zero phases are introduced to simulate a smooth ramp function of the moment function with the duration of 1/fc s (fc: the corner frequency) and to reproduce coherent strong motions at low frequencies (i.e., the directivity pulse). As for the radiation coefficients, the theoretical values of double couple sources for lower frequencies and the theoretical isotropic values for the P-, SV-, and SH-waves (Onishi and Horike, J Struct Constr Eng Trans AIJ, 586:37 44, 2004) for high frequencies are used. The proposed method uses the theoretical Green’s functions of layered half-spaces instead of the far-field S-waves, which reproduce the complete waves including the direct and reflected P- and S-waves and surface waves at broadband frequencies. Finally, the proposed method is applied to the 1994 Northridge earthquake, and results show excellent agreement with the observation records at broadband frequencies. At the same time, the method still needs improvements especially because it underestimates the high-frequency vertical components in the near fault range. Nonetheless, the method

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

    Directory of Open Access Journals (Sweden)

    Ying-Shieh Kung

    2015-01-01

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

  14. Roll vection in migraine and controls using inertial nulling and certainty estimate techniques

    Science.gov (United States)

    Miller, Mark Andrew

    2017-01-01

    Vection is an illusory perception of self-motion that occurs when a visual motion is presented in the majority of the visual field. We used certainty estimate (CE) and inertial nulling (IN) techniques to study the effect of visual stimuli on roll perception in 10 migraine and 9 control subjects. A visual roll stimulus was presented for 1 to 8s. For the IN method, an inertial stimulus was delivered during the final 1s of the visual stimulus during which subjects judged the direction of perceived motion. The inertial motion was varied to find the point of subjective equality (PSE) at which both responses were equally likely to be reported. For the CE trials, the same durations of visual motion were used but without inertial motion and subjects rated their certainty of motion on a scale of 0–100. The overall difference in PSE between 1s and 8s subjects is significant (p = 0.03). Migraineurs had a ten fold larger effect in IN studies in the 8s than 1s (p = 0.01), but controls did not have a significant difference (p = 0.72). Unlike the control population, in migraineurs the perception of roll increased significantly with the duration of the visual stimulus. There was a large variation between subjects with both the CE and IN measures. The CE measure was poorly correlated with IN measures but demonstrated a similar trend with larger variation between subjects. PMID:28192443

  15. Digital motion control for Ontario Power Generation's universal delivery machine

    Energy Technology Data Exchange (ETDEWEB)

    Murray, D.W. [GE Canada Nuclear Products, Peterborough, Ontario (Canada)]. E-mail: David.Murray@cdnnuc.ge.com; Roberts, A. [Ontario Power Generation, Inc., Inspection Services Div., Tiverton, Ontario (Canada)]. E-mail: anthony.roberts@ontariopowergeneration.com

    2003-07-01

    The Universal Delivery Machine (UDM) has thirteen axes of motion with a variety of precision positioning requirements designed to deliver reactor channel maintenance tooling into the CANDU fuel channels. These axes of motion provide the UDM with the capability to home and lock to the fuel channels, remove and replace the closure and shield plugs, advance, retract and rotate rams for fuel removal and for the deployment of the inspection and maintenance tooling. This paper describes the digital motion control system used on UDM. It will review the benefits of a digital motion control system while looking at the drive components used on the UDM. (author)

  16. Stirling engine power control and motion conversion mechanism

    Science.gov (United States)

    Marks, David T.

    1983-01-01

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

  17. 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.

  18. Neuro-fuzzy and model-based motion control for mobile manipulator among dynamic obstacles

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    This paper focuses on autonomous motion control of a nonholonomic platform with a robotic arm, which is called mobile manipulator. It serves in transportation of loads in imperfectly known industrial environments with unknown dynamic obstacles. A union of both procedures is used to solve the general problems of collision-free motion. The problem of collision-free motion for mobile manipulators has been approached from two directions, Planning and Reactive Control. The dynamic path planning can be used to solve the problem of locomotion of mobile platform, and reactive approaches can be employed to solve the motion planning of the arm. The execution can generate the commands for the servo-systems of the robot so as to follow a given nominal trajectory while reacting in real-time to unexpected events. The execution can be designed as an Adaptive Fuzzy Neural Controller. In real world systems, sensor-based motion control becomes essential to deal with model uncertainties and unexpected obstacles.

  19. 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...

  20. An improved framework for confound regression and filtering for control of motion artifact in the preprocessing of resting-state functional connectivity data.

    Science.gov (United States)

    Satterthwaite, Theodore D; Elliott, Mark A; Gerraty, Raphael T; Ruparel, Kosha; Loughead, James; Calkins, Monica E; Eickhoff, Simon B; Hakonarson, Hakon; Gur, Ruben C; Gur, Raquel E; Wolf, Daniel H

    2013-01-01

    Several recent reports in large, independent samples have demonstrated the influence of motion artifact on resting-state functional connectivity MRI (rsfc-MRI). Standard rsfc-MRI preprocessing typically includes regression of confounding signals and band-pass filtering. However, substantial heterogeneity exists in how these techniques are implemented across studies, and no prior study has examined the effect of differing approaches for the control of motion-induced artifacts. To better understand how in-scanner head motion affects rsfc-MRI data, we describe the spatial, temporal, and spectral characteristics of motion artifacts in a sample of 348 adolescents. Analyses utilize a novel approach for describing head motion on a voxelwise basis. Next, we systematically evaluate the efficacy of a range of confound regression and filtering techniques for the control of motion-induced artifacts. Results reveal that the effectiveness of preprocessing procedures on the control of motion is heterogeneous, and that improved preprocessing provides a substantial benefit beyond typical procedures. These results demonstrate that the effect of motion on rsfc-MRI can be substantially attenuated through improved preprocessing procedures, but not completely removed.

  1. 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.

  2. Analytic Theory and Control of the Motion of Spinning Rigid Bodies

    Science.gov (United States)

    Tsiotras, Panagiotis

    1993-01-01

    Numerical simulations are often resorted to, in order to understand the attitude response and control characteristics of a rigid body. However, this approach in performing sensitivity and/or error analyses may be prohibitively expensive and time consuming, especially when a large number of problem parameters are involved. Thus, there is an important role for analytical models in obtaining an understanding of the complex dynamical behavior. In this dissertation, new analytic solutions are derived for the complete attitude motion of spinning rigid bodies, under minimal assumptions. Hence, we obtain the most general solutions reported in the literature so far. Specifically, large external torques and large asymmetries are included in the problem statement. Moreover, problems involving large angular excursions are treated in detail. A new tractable formulation of the kinematics is introduced which proves to be extremely helpful in the search for analytic solutions of the attitude history of such kinds of problems. The main utility of the new formulation becomes apparent however, when searching for feedback control laws for stabilization and/or reorientation of spinning spacecraft. This is an inherently nonlinear problem, where standard linear control techniques fail. We derive a class of control laws for spin axis stabilization of symmetric spacecraft using only two pairs of gas jet actuators. Practically, this could correspond to a spacecraft operating in failure mode, for example. Theoretically, it is also an important control problem which, because of its difficulty, has received little, if any, attention in the literature. The proposed control laws are especially simple and elegant. A feedback control law that achieves arbitrary reorientation of the spacecraft is also derived, using ideas from invariant manifold theory. The significance of this research is twofold. First, it provides a deeper understanding of the fundamental behavior of rigid bodies subject to body

  3. 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

  4. Orientation Control Method and System for Object in Motion

    Science.gov (United States)

    Whorton, Mark Stephen (Inventor); Redmon, Jr., John W. (Inventor); Cox, Mark D. (Inventor)

    2012-01-01

    An object in motion has a force applied thereto at a point of application. By moving the point of application such that the distance between the object's center-of-mass and the point of application is changed, the object's orientation can be changed/adjusted.

  5. 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

  6. 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.

  7. 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 ...

  8. Excitation of Intra-bunch Vertical Motion in the SPS - Implications for Feedback Control of Ecloud and TMCI Instabilities

    CERN Document Server

    Cesaratto, John; Pivi, M T; Rivetta, C H; Turgut, O; Uemura, S; Hofle, W; Wehrle, U

    2012-01-01

    Electron cloud (ecloud) and transverse mode coupledbunch instabilities (TMCI) limit the bunch intensity in the CERN SPS. This paper presents experimental measurements in the SPS of single-bunch motion driven by a GHz bandwidth vertical excitation system [1]. The nal goal is to quantify the change in internal bunch dynamics as instability thresholds are approached, and quantify the frequencies of internal modes as ecloud effects become signicant. Initially, we have been able to drive the beam and view its motion. We show the excitation of barycentric, head-tail and higher vertical modes at different bunch intensities. The beam motion is analyzed in the time domain, via animated presentations of the sampled vertical signals, and in the frequency domain, via spectrograms showing the modal frequencies vs. time. The demonstration of the excitation of selected internal modes is a signicant step in the development of the feedback control techniques.

  9. 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.

  10. Establishing motion control in children with autism and intellectual disability: Applications for anatomical and functional MRI.

    Science.gov (United States)

    Cox, Alison D; Virues-Ortega, Javier; Julio, Flavia; Martin, Toby L

    2017-01-01

    Excessive motion makes magnetic resonance imaging (MRI) extremely challenging among children with autism spectrum disorder (ASD). The medical risks of sedation establish the need for behavioral interventions to promote motion control among children with ASD undergoing MRI scans. We present a series of experiments aimed at establishing both tolerance of the MRI environment and a level of motion control that would be compatible with a successful MRI. During Study 1, we evaluated the effects of prompting and contingent reinforcement on compliance with a sequence of successive approximations to an MRI using a mock MRI. During Study 2, we used prompting and progressive differential reinforcement of other behaviors (DRO) to promote motion control in a mock MRI for increasing periods of time. Finally, during Study 3, some of the participants underwent a real MRI scan while a detailed in-session motion analysis informed the quality of the images captured. © 2016 Society for the Experimental Analysis of Behavior.

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

    Science.gov (United States)

    Basilio, Ralph Ramos

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

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

    Science.gov (United States)

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

    2014-12-01

    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.

  13. CHAOTIC ATTITUDE MOTION OF A MAGNETIC RIGID SPACECRAFT IN AN ELLIPTIC ORBIT AND ITS CONTROL

    Institute of Scientific and Technical Information of China (English)

    刘延柱; 陈立群

    2003-01-01

    This paper deals with the chaotic attitude motion of a magnetic rigid spacecraft with internal damping in an elliptic orbit. The dynamical model of the spacecraft is established. The Melnikov analysis is carried out to prove the existence of a complicated nonwandering Cantor set. The dynamical behaviors are numerically investigated by means of time history, Poincare map, Lyapunov exponents and power spectrum. Numerical simulations demonstrate the chaotic motion of the system.The input-output feedback linearization method and its modified version are applied, respectively, to control the chaotic attitude motions to the given fixed point or periodic motion.

  14. Real-time control of electronic motion: Application to NaI

    DEFF Research Database (Denmark)

    Grønager, Michael; Henriksen, Niels Engholm

    1998-01-01

    I corresponding to electron transfer between Na and I. The electronic motion is introduced via nuclear motion, more specifically, through nonadiabatic curve crossing and the electronic motion is here on the same time scale as the nuclear motion. We show that the branching ratio between the channels Na + I and Na......+ + I- depends on the electron distribution (i.e., where the electron "sits") prior to the time where the bond is broken by a subpicosecond half-cycle unipolar electromagnetic pulse. Thus we control, in real time, which nucleus one of the valence electrons will follow after the bond is broken. (C) 1998...

  15. Spatial and Temporal Control of Hyperthermia Using Real Time Ultrasonic Thermal Strain Imaging with Motion Compensation, Phantom Study.

    Directory of Open Access Journals (Sweden)

    Josquin Foiret

    Full Text Available Mild hyperthermia has been successfully employed to induce reversible physiological changes that can directly treat cancer and enhance local drug delivery. In this approach, temperature monitoring is essential to avoid undesirable biological effects that result from thermal damage. For thermal therapies, Magnetic Resonance Imaging (MRI has been employed to control real-time Focused Ultrasound (FUS therapies. However, combined ultrasound imaging and therapy systems offer the benefits of simple, low-cost devices that can be broadly applied. To facilitate such technology, ultrasound thermometry has potential to reliably monitor temperature. Control of mild hyperthermia was previously achieved using a proportional-integral-derivative (PID controller based on thermocouple measurements. Despite accurate temporal control of heating, this method is limited by the single position at which the temperature is measured. Ultrasound thermometry techniques based on exploiting the thermal dependence of acoustic parameters (such as longitudinal velocity can be extended to create thermal maps and allow an accurate monitoring of temperature with good spatial resolution. However, in vivo applications of this technique have not been fully developed due to the high sensitivity to tissue motion. Here, we propose a motion compensation method based on the acquisition of multiple reference frames prior to treatment. The technique was tested in the presence of 2-D and 3-D physiological-scale motion and was found to provide effective real-time temperature monitoring. PID control of mild hyperthermia in presence of motion was then tested with ultrasound thermometry as feedback and temperature was maintained within 0.3°C of the requested value.

  16. Controlling the Motion of a Nanoparticle Trapped in Vacuum

    CERN Document Server

    Vovrosh, Jamie; Hempston, David; Bateman, James; Ulbricht, Hendrik

    2016-01-01

    We demonstrate a simple and robust geometry for optical trapping in vacuum of a single nanoparticle based on a parabolic mirror and the optical gradient force, and we demonstrate rapid parametric feedback cooling of all three motional degrees of freedom from room temperature to a few mK. A single laser at 1550nm, and a single photodiode, are used for trapping, position detection, and cooling for all three dimensions. Particles with diameters from 26nm to 160nm are trapped without feedback to 10$^{-5}$mbar and with feedback engaged the pressure is reduced to 10$^{-6}$mbar. Modifications to the harmonic motion in the presence of noise and feedback are studied, and an experimental mechanical quality factor $>4\\times 10^7$ is estimated.

  17. Three-Axis Motion Compensated Crane Head Control

    OpenAIRE

    Henriksen, Vegard Wie; Røine, Audun Gerhardsen

    2016-01-01

    Offshore operations can be harsh and demanding and set personnel and equipment at risk. Ships will be exposed to the environmental forces of wind, waves and current, which will influence offshore crane operations considerably. This thesis addresses the use of a crane head, a Three Axis Compensator (TAC), constructed as a Delta parallel robot, to compensate for the motions of the ship in three axes. This type of robot has a rigid and accurate structure, and because of its highly nonlinear natu...

  18. Brain-Machine Interfacing Control of Whole-Body Humanoid Motion

    Directory of Open Access Journals (Sweden)

    Karim eBouyarmane

    2014-08-01

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

  19. 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.

  20. 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.

  1. Chaotic motion and its control for nonlinear nonplanar oscillations of a parametrically excited cantilever beam

    Energy Technology Data Exchange (ETDEWEB)

    Zhang Wei [College of Mechanical Engineering, Beijing University of Technology, Beijing 100022 (China)] e-mail: sandyzhang0@yahoo.com

    2005-11-01

    This paper presents an analysis of the chaotic motion and its control for the nonlinear nonplanar oscillations of a cantilever beam subjected to a harmonic axial excitation and transverse excitations at the free end. A new method of controlling chaotic motion for the nonlinear nonplanar oscillations of the cantilever beam, refereed as to the force control approach, is proposed for the first time. The governing nonlinear equations of nonplanar motion under combined parametric and external excitations are obtained. The Galerkin procedure is applied to the governing equation to obtain a two-degree-of-freedom nonlinear system under combined parametric and forcing excitations for the in-plane and out-of-plane modes. The work is focused on the case of 2:1 internal resonance, principal parametric resonance-1/2 subharmonic resonance for the in-plane mode and fundamental parametric resonance-primary resonance for the out-of-plane mode. The method of multiple scales is used to transform the parametrically and externally excited system to the averaged equations which have a constant perturbation force. Based on the averaged equations obtained here, numerical simulation is utilized to discover the periodic and chaotic motions for the nonlinear nonplanar oscillations of the cantilever beam. The numerical results indicate that the transverse excitation in the z direction at the free end can control the chaotic motion to a period n motion or a static state for the nonlinear nonplanar oscillations of the cantilever beam. The methodology of controlling chaotic motion by using the transverse excitation is proposed. The transverse excitation in the z direction at the free end may be thought about to be an open-loop control. For the problem investigated in this paper, this approach is an effective methodology of controlling chaotic motion to a period n motion or a static state for the nonlinear nonplanar oscillations of the cantilever beam.

  2. Sub-Cloud Layer Motions from Radar Data Using Correlation Techniques.

    Science.gov (United States)

    2014-09-26

    ORGANIZATION Of[ apicable ) Air Force Geophysics Laborator LY Contract No. F19628-82-C-0023 Sc. ADDRESS (City. State and ZIP Code) 10. SOURCE OF FUNDING NOS...motions from the spatial displacement between pattern locations divided by temporal lag. 1. Rinehart, R. E., 1979: Internal Storm Motions from a Single...component. In fact, at some locations the motions are nearly 180. different from the airflow at 2 km. However, the airflow at 4 km does have a southerly

  3. 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; Holmich, Per;

    2016-01-01

    BACKGROUND: Early controlled ankle motion is widely used in the non-operative treatment of acute Achilles tendon rupture, though its safety and efficacy have never been investigated in a randomized setup. The objectives of this study are to investigate if early controlled motion of the ankle affe...

  4. A Technique to Derive Improved Proper Motions for Kepler Objects of Interest

    CERN Document Server

    Benedict, G Fritz; Cargile, Phillip A; Ciardi, David R

    2014-01-01

    We outline an approach yielding proper motions with higher precision than exists in present catalogs for a sample of stars in the Kepler field. To increase proper motion precision we combine first moment centroids of Kepler pixel data from a single Season with existing catalog positions and proper motions. We use this astrometry to produce improved reduced proper motion diagrams, analogous to a Hertzsprung-Russell diagram, for stars identified as Kepler Objects of Interest. The more precise the relative proper motions, the better the discrimination between stellar luminosity classes. With UCAC4 and PPMXL epoch 2000 positions (and proper motions from those catalogs as quasi-bayesian priors) astrometry for a single test Channel (21) and Season (0) spanning two years yields proper motions with an average per-coordinate proper motion error of 1.0 millisecond of arc per year, over a factor of three better than existing catalogs. We apply a mapping between a reduced proper motion diagram and an HR diagram, both con...

  5. High Performance Motion Trajectory Tracking Control of Pneumatic Cylinders: A Comparison of Some Nonlinear Control Algorithms

    Directory of Open Access Journals (Sweden)

    Deyuan Meng

    2014-05-01

    Full Text Available The dynamics of pneumatic systems are highly nonlinear, and there normally exists a large extent of model uncertainties; the precision motion trajectory tracking control of pneumatic cylinders is still a challenge. In this paper, two typical nonlinear controllers—adaptive controller and deterministic robust controller—are constructed firstly. Considering that they have both benefits and limitations, an adaptive robust controller (ARC is further proposed. The ARC is a combination of the first two controllers; it employs online recursive least squares estimation (RLSE to reduce the extent of parametric uncertainties, and utilizes the robust control method to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. In order to solve the conflicts between the robust control design and the parameter adaption law design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Theoretically, ARC possesses the advantages of the adaptive control and the deterministic robust control, and thus an even better tracking performance can be expected. Extensive comparative experimental results are presented to illustrate the achievable performance of the three proposed controllers and their performance robustness to the parameter variations and sudden disturbance.

  6. Coherent vortex motion in YBa2CuO7-delta nanobridges prepared by a substrate-etching technique

    NARCIS (Netherlands)

    Nivelle, de M.J.M.E.; Gerritsma, G.J.; Rogalla, H.

    1994-01-01

    Nanobridges with widths down to 140 nm and lengths of about 250 nm were structured in a 25 nm YBa2Cu3O7-δ thin film, by means of a substrate-etching technique. At low temperatures, the current-voltage characteristics of these bridges show clear signs of periodic single-vortex motion. A quantitative

  7. High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

    Institute of Scientific and Technical Information of China (English)

    ZHANG Ke; WANG Sheng-ze

    2009-01-01

    Hybrid mechanism is a new type of planar controllable mechanism. Position control accuracy of system determines the output acctracy of the mechanism In order to achieve the desired high accuracy, nonlinear factors as friction must be accurately compensated in the real-time servo control algarithm. In this paper, the model of a hybrid flve-bar mechanism is introduced In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative(PID) control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the first time. The simulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.

  8. Dynamics model of underwater robot motion control in 6 degrees of freedom

    Institute of Scientific and Technical Information of China (English)

    LI Ye; LIU Jian-cheng; SHEN Ming-xue

    2005-01-01

    In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series,based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable.The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.

  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. Decentralized PD Control for Non-uniform Motion of a Hamiltonian Hybrid System

    Institute of Scientific and Technical Information of China (English)

    Mingcong Deng; Hongnian Yu; Akira Inoue

    2008-01-01

    In this paper, a decentralized proportional-derivative (PD) controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.

  11. Precision Blasting Techniques For Avalanche Control

    Science.gov (United States)

    Powell, Kevin M.

    Experimental firings sponsored by the Center For Snow Science at Alta, Utah have demonstrated the potential of a unique prototype shaped charge device designed to stimulate snow pack and ice. These studies, conducted against stable snow pack, demonstrated a fourfold increase in crater volume yield and introduced a novel application of Shock Tube technology to facilitate position control, detonation and dud recovery of manually deployed charges. The extraordinary penetration capability of the shaped charge mechanism has been exploited in many non-military applications to meet a wide range of rapidpiercing and/or cutting requirements. The broader exploitation of the potential of the shaped charge mechanism has nevertheless remained confined to defence based applications. In the studies reported in this paper, the inimitable ability of the shaped charge mechanism to project shock energy, or a liner material, into a highly focussed energetic stream has been applied uniquely to the stimulation of snow pack. Recent research and development work, conducted within the UK, has resulted in the integration of shaped charge technology into a common Avalauncher and hand charge device. The potential of the common charge configuration and spooled Shock Tube fire and control system to improve the safety and cost effectiveness of explosives used in avalanche control operations was successfully demonstrated at Alta in March 2001. Future programmes of study will include focussed shock/blast mechanisms for suspended wire traverse techniques, application of the shaped charge mechanism to helibombing, and the desig n and development of non-fragmenting shaped charge ammunition formilitary artillery gun systems.

  12. 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.

  13. 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.

  14. Robust motion control design for dual-axis motion platform using evolutionary algorithm

    Indian Academy of Sciences (India)

    Horn-Yong Jan; Chun-Liang Lin; Ching-Huei Huang; Thong-Shing Hwang

    2008-12-01

    This paper presents a new approach to deal with the dual-axis control design problem for a mechatronic platform. The cross-coupling effect leading to contour errors is effectively resolved by incorporating a neural net-based decoupling compensator. Conditions for robust stability are derived to ensure the closedloop system stability with the decoupling compensator. An evolutionary algorithm possessing the universal solution seeking capability is proposed for finding the optimal connecting weights of the neural compensator and PID control gains for the and axis control loops. Numerical studies and a real-world experiment for a watch cambered surface polishing platform have verified performance and applicability of our proposed design.

  15. Resolved motion rate and resolved acceleration servo-control of wheeled mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Muir, P.F.; Neuman, C.P. (Sandia National Labs., Albuquerque, NM (USA); Carnegie-Mellon Univ., Pittsburgh, PA (USA). Dept. of Electrical and Computer Engineering)

    1989-01-01

    Accurate motion control of wheeled mobile robots (WMRs) is required for their application to autonomous, semi-autonomous and teleoperated tasks. The similarities between WMRs and stationary manipulators suggest that current, successful, model-based manipulator control algorithms may be applied to WMRs. Special characteristics of WMRs including higher-pairs, closed-chains, friction and unactuated and unsensed joints require innovative modeling methodologies. The WMR modeling challenge has been recently overcome, thus enabling the application of manipulator control algorithms to WMRs. This realization lays the foundation for significant technology transfer from manipulator control to WMR control. We apply two Cartesian-space manipulator control algorithms: resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control to WMR servo-control. We evaluate simulation studies of two exemplary WMRs: Uranus (a three degree-of-freedom WMR constructed at Carnegie Mellon University), and Bicsun-Bicas (a two degree-of-freedom WMR being constructed at Sandia National Laboratories) under the control of these algorithms. Although resolved motion rate servo-control is adequate for the control of Uranus, resolved acceleration servo-control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities. Successful accurate motion control of these WMRs in simulation is driving current experimental research studies. 18 refs., 7 figs., 5 tabs.

  16. CONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION

    Directory of Open Access Journals (Sweden)

    Zdenek Neusser

    2013-12-01

    Full Text Available This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation. These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.

  17. Comparison of visual biofeedback system with a guiding waveform and abdomen-chest motion self-control system for respiratory motion management.

    Science.gov (United States)

    Nakajima, Yujiro; Kadoya, Noriyuki; Kanai, Takayuki; Ito, Kengo; Sato, Kiyokazu; Dobashi, Suguru; Yamamoto, Takaya; Ishikawa, Yojiro; Matsushita, Haruo; Takeda, Ken; Jingu, Keiichi

    2016-07-01

    Irregular breathing can influence the outcome of 4D computed tomography imaging and cause artifacts. Visual biofeedback systems associated with a patient-specific guiding waveform are known to reduce respiratory irregularities. In Japan, abdomen and chest motion self-control devices (Abches) (representing simpler visual coaching techniques without a guiding waveform) are used instead; however, no studies have compared these two systems to date. Here, we evaluate the effectiveness of respiratory coaching in reducing respiratory irregularities by comparing two respiratory management systems. We collected data from 11 healthy volunteers. Bar and wave models were used as visual biofeedback systems. Abches consisted of a respiratory indicator indicating the end of each expiration and inspiration motion. Respiratory variations were quantified as root mean squared error (RMSE) of displacement and period of breathing cycles. All coaching techniques improved respiratory variation, compared with free-breathing. Displacement RMSEs were 1.43 ± 0.84, 1.22 ± 1.13, 1.21 ± 0.86 and 0.98 ± 0.47 mm for free-breathing, Abches, bar model and wave model, respectively. Period RMSEs were 0.48 ± 0.42, 0.33 ± 0.31, 0.23 ± 0.18 and 0.17 ± 0.05 s for free-breathing, Abches, bar model and wave model, respectively. The average reduction in displacement and period RMSE compared with the wave model were 27% and 47%, respectively. For variation in both displacement and period, wave model was superior to the other techniques. Our results showed that visual biofeedback combined with a wave model could potentially provide clinical benefits in respiratory management, although all techniques were able to reduce respiratory irregularities.

  18. Unstable equilibrium point in chaotic domain-wall motion and Ott-Grebogi-Yorke control

    Science.gov (United States)

    Okuno, H.; Takemura, Y.

    2001-06-01

    A method for finding the unstable equilibrium points in Bloch wall motion is proposed, which is important for controlling the chaotic domain-wall motion by using the Ott-Grebogi-Yorke (OGY) method. The dynamics of Bloch wall motion are expressed by a nonlinear differential equation with the terms of inertia, damping, restoring, and an external magnetic drive force. An equation is transformed into the difference equations by following the OGY method, approximating linearly around an unstable equilibrium point (a saddle point), and adding a controlling input. The unstable equilibrium points are obtained by using the return map and the condition of hyperbolic fixed point. The time series of domain-wall motion successfully controlled on the unstable equilibrium points by the OGY method is shown.

  19. Unified Approach To Control Of Motions Of Mobile Robots

    Science.gov (United States)

    Seraji, Homayoun

    1995-01-01

    Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  20. A Fast Block-Matching Algorithm Using Smooth Motion Vector Field Adaptive Search Technique

    Institute of Scientific and Technical Information of China (English)

    LI Bo(李波); LI Wei(李炜); TU YaMing(涂亚明)

    2003-01-01

    In many video standards based on inter-frame compression such as H.26x and MPEG, block-matching algorithm has been widely adopted as the method for motion estimation because of its simplicity and effectiveness. Nevertheless, since motion estimation is very complex in computing. Fast algorithm for motion estimation has always been an important and attractive topic in video compression. From the viewpoint of making motion vector field smoother, this paper proposes a new algorithm SMVFAST. On the basis of motion correlation, it predicts the starting point by neighboring motion vectors according to their SADs. Adaptive search modes are usedin its search process through simply classifying motion activity. After discovering the ubiquitous ratio between the SADs of the collocated blocks in the consecutive frames, the paper proposes an effective half-stop criterion that can quickly stop the search process with good enough results.Experiments show that SMVFAST obtains almost the same results as the full search at very low computation cost, and outperforms MVFAST and PMVFAST in speed and quality, which are adopted by MPEG-4.

  1. Control techniques for invasive alien plants

    Directory of Open Access Journals (Sweden)

    Michele de Sá Dechoum

    2013-03-01

    Full Text Available Invasive alien species are recognized as a major threat to the conservation of biodiversity. These species should be managed based on local and regional environmental conditions. Control techniques were tested for ten invasive species in Santa Catarina State: the trees Casuarina equisetifolia, Hovenia dulcis, Psidium guajava, Syzygium cumini, and Terminalia catappa, and shrubs and herbs Rubus fruticosus, Furcraea foetida, Hedychium coronarium, Impatiens walleriana, and Tradescantia zebrina. Treatments applied for trees were cut stump, frill and girdling or ring-barking followed by herbicide application, while the other species were treated with foliar spray, application of herbicide on the root system, cut stump and herbicide injection. The active ingredients tested were Triclopyr, Glyphosate, and the combination of Triclopyr + Fluroxipyr in concentrations from 2 to 6%, according to the species. The cut stump method was efficient for all of the woody species, while ring-barking and frilling followed by herbicide application and basal bark application resulted in different levels of efficiency for the species tested. The most efficient method for herbs and shrubs was foliar spray, and the least efficient methods were cut stump and herbicide injection.

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

    Science.gov (United States)

    Moseberg, Jan-Erik; Roppenecker, Günter

    2015-12-01

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

  3. 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.

  4. A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

    Institute of Scientific and Technical Information of China (English)

    Milan A.Sheta; Vivek Agarwal; Paluri S.V.Nataraj

    2009-01-01

    This paper considers minimization of resistive and frictional power dissipation in a separately excited DC motor based incremental motion drive (IMD). The drive is required to displace a given, fixed load through a definite angle in specified time, with minimum energy dissipation in the motor windings and minimum frictional losses. Accordingly, an energy optimal (EO) control strategy is proposed in which the motor is first accelerated to track a specific speed profile for a pre-determined optimal time period. Thereafter, both armature and field power supplies are disconnected, and the motor decelerates and comes to a halt at the desired displacement point in the desired total displacement time. The optimal time period for the initial acceleration phase is computed so that the motor stores just enough energy to decelerate to the final position at the specified displacement time. The parameters, such as the moment of inertia and coefficient of friction, which depend on the load and other external conditions, have been obtained using system identification method. Comparison with earlier control techniques is included. The results show that the proposed EO control strategy results in significant reduction of energy loases compared to the existing ones.

  5. 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.

  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. 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.

  8. 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.

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

    Directory of Open Access Journals (Sweden)

    Musa Mailah

    2005-06-01

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

  10. Coordinated joint motion control system with position error correction

    Energy Technology Data Exchange (ETDEWEB)

    Danko, George (Reno, NV)

    2011-11-22

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

  11. Coordinated joint motion control system with position error correction

    Energy Technology Data Exchange (ETDEWEB)

    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.

  12. Dosimetric effect of intra-fractional and inter-fractional target motion in lung cancer radiotherapy techniques

    Directory of Open Access Journals (Sweden)

    Teerthraj Verma

    2015-12-01

    Full Text Available Purpose: The purpose of present study was to experimentally evaluate the dosimetric uncertainties in 3-dimensional conformal radiotherapy (3DCRT, dynamic intensity modulated radiotherapy (D-IMRT, step-shoot (SS-IMRT, and volumetric modulated arc therapy (VMAT treatment delivery techniques due to intra- and inter-fractional target motion. Methods: A previously treated lung patient was selected for this study and was replanned for 60 Gy in 30 fractions using four techniques (3DCRT, D-IMRT, SS-IMRT, and VMAT. These plans were delivered in a clinical linear accelerator equipped with HexaPOD™ evo RT System. The target dose of static QUASAR phantom was calculated that served as reference dose to the target. The QUASAR respiratory body phantom along with patients breathing wave form and HexaPOD™ evo RT System was used to simulate the intra-fraction and inter-fraction motions. Dose measurements were done by applying the intra-fractional and inter-fractional motions in all the four treatment delivery techniques.Results: The maximum percentage deviation in a single field was -4.3%, 10.4%, and -12.2% for 3DCRT, D-IMRT and SS-IMRT deliveries, respectively. Similarly, the deviation for a single fraction was -1.51%, -1.88%, -2.22%, and -3.03% for 3DCRT, D-IMRT, SS-IMRT and VMAT deliveries, respectively. Conclusion: The impact of inter-fractional and intra-fractional uncertainties calculated as deviation between dynamic and static condition dose was large in some fractions, however average deviation calculated for thirty fractions was well within 0.5% in all the four techniques. Therefore, inter- and intra-fractional uncertainties could be concern in fewer fraction treatments such as stereotactic body radiation therapy, and should be used in conjunction with intra- and inter-fractional motion management techniques.

  13. 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.

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

    Science.gov (United States)

    Geethanjali, P; Ray, K K

    2011-09-01

    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%.

  15. Control of a myoelectric arm considering cooperated motion of elbow and shoulder joints.

    Science.gov (United States)

    Kiguchi, Kazuo; Hayashi, Yoshiaki

    2011-01-01

    In order to improve the quality of life of persons who lost their limb due to an accident or a sickness, many myoelectric artificial arms have been proposed. To control the motion of the elbow joint of the myoelectric arm, the EMG signals of the biceps brachii and the triceps brachii muscles are frequently used as input signals. However, since both muscles are the biarticular muscles between the shoulder joint and elbow joint, the amount of the EMG signals of these muscles are affected by the motion of the shoulder joint. In this paper, a control method for a myoelectric arm is proposed in order to cancel the influence of the shoulder joint motion on EMG signals is removed by using the neuro-fuzzy modifier in order to realize proper elbow motion. The effectiveness of the proposed method has been evaluated by performing experiments.

  16. The importance of perceived relative motion in the control of posture.

    Science.gov (United States)

    Kelly, Jonathan W; Loomis, Jack M; Beall, Andrew C

    2005-03-01

    Two experiments investigated the role of optic flow in controlling posture. Both experiments measured postural sway in two virtual environments with different 3-D structure but the same optic flow. Observers attempted to maintain balance on one foot while viewing an object that appeared either rigid with respect to the environment or that appeared to move concomitantly with head movements. The apparent object motion concomitant with head motion was achieved by changing the perceived, but not physical, depth of the object. For both objects, the optic flow information was the same and only depth information was varied. Observers showed a decrease in stability (as measured by head sway) when viewing the object that appeared to move, suggesting that perceived relative motion, not optic flow, signals self-motion to the postural control system.

  17. 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.

  18. Impact motion control of humanoid robot BHR-5 based on the energy integral method

    Directory of Open Access Journals (Sweden)

    Fei Meng

    2016-01-01

    Full Text Available To replace human beings for a task conducted in a realistic environment, the ability to perform impact motions such as running, jumping, and carrying is required for a humanoid robot. At present, it is quite difficult for the humanoid robot to achieve the motion performance of human beings. To address this issue, this article proposes to use a novel impact motion control method for a humanoid robot called BHR-5 using energy integral method. First, we have designed a high power density joint controller to drive each brushless motor to actuate each robot joint. The joint controller can generate sufficient power to actuate the robot joint with an instantaneous overload when limiting the input power in a unit interval. Second, the control system can generate trajectories to realize impact motion by integrating the energy of the whole body. Finally, we have conducted performance test on BHR-5 to verify the control method using our motor drivers and trajectory generation method. Analysis of the experimental results confirmed the effectiveness of the proposed control method for performing impact motions.

  19. Research on Hybrid Seismic Response Control System for Motion Control of Two Span Bridge

    Science.gov (United States)

    Heo, G.; Kim, C.; Jeon, S.; Seo, S.; Jeon, J.

    2016-09-01

    In this paper, a hybrid seismic response control (HSRC) system was developed to control bridge motion caused by seismic load. It was aimed at optimum vibration control, composed of a rubber bearing of passive type and a MR-damper of semi-active type. The bridge model was built for experiment, a two-span bridge of 8.3 meters in length with the HSRC system put up on it. Then, inflicting El-centro seismic load on it, shaking table tests were carried out to confirm the system's validity. The experiments were conducted under the basic structure state (without an MR-damper applied) first, and then under the state with an MR-damper applied. It was also done under the basic structure state with a reinforced rubber bearing applied, then the passive on/off state of the HSRC system, and finally the semi-active state where the control algorithm was applied to the system. From the experiments, it was observed that collision rather increased when the MR-damper alone was applied, and also that the application of the HSRC system effectively prevented it from occurring. As a result, the HSRC system was proven to be effective in mitigating responses of the two-span bridge under seismic load.

  20. Stochastic optimal control of cable vibration in plane by using axial support motion

    Institute of Scientific and Technical Information of China (English)

    Ming Zhao; Wei-Qiu Zhu

    2011-01-01

    A stochastic optimal control strategy for a slightly sagged cable using support motion in the cable axial direction is proposed. The nonlinear equation of cable motion in plane is derived and reduced to the equations for the first two modes of cable vibration by using the Galerkin method.The partially averaged 10 equation for controlled system energy is further derived by applying the stochastic averaging method for quasi-non-integrable Hamiltonian systems. The dynamical programming equation for the controlled system energy with a performance index is established by applying the stochastic dynamical programming principle and a stochastic optimal control law is obtained through solving the dynamical programming equation. A bilinear controller by using the direct method of Lyapunov is introduced. The comparison between the two controllers shows that the proposed stochastic optimal control strategy is superior to the bilinear control strategy in terms of higher control effectiveness and efficiency.

  1. Motion Control for Nonholonomic Systems on Matrix Lie Groups

    Science.gov (United States)

    1998-01-01

    exponentially stabilizing control law uSO(3) = H(x)ucfs(t, T (x)) (6.12) = H(x) =  cosx2 cosx3 − sec x2 sinx3 − cos x2 sinx3 − sec x2 cosx3  given ω is...nilpotentization, we constructed exponentially stabilizing control laws for non-nilpotent systems by extending the region of attraction of otherwise only locally...California Institute of Technology. Morin, P., Pomet, J.-B., & Samson, C. 1996. Design of Homogeneous Time- Varying Stabilizing Control Laws for Driftless

  2. A Framework for Controlling Wheelchair Motion by using Gaze Information

    Directory of Open Access Journals (Sweden)

    Mohd Razali Tomari

    2014-01-01

    Full Text Available Users with severe motor ability are unable to control their wheelchair using standard joystick and hence an alternative control input is preferred. In this paper a method on how to enable the severe impairment user to control a wheelchair via gaze information is proposed. Since when using such an input, the navigation burden for the user is significantly increased, an assistive navigation platform is also proposed to reduce the user burden. Initially, user information is inferred using a camera and a bite-like switch. Then information from the environment is obtained using combination of laser and Kinect sensors. Eventually, both information from the environment and the user is analyzed to decide the final control operation that according to the user intention and safe from collision. Experimental results demonstrate the feasibility of the proposed approach.

  3. 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

    2017-07-17

    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 platform's range met the need to reproduce clinically relevant translation and rotation ranges and its accuracy met the TG 142 requirements for SABR. The range, velocity and acceleration of the motion platform are sufficient to reproduce lung and prostate tumor motion for motion management. Programmable motion platforms are valuable tools in the investigation, quality assurance and commissioning of motion management systems in radiation oncology.

  4. 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.

  5. 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.

  6. The adaptation of GDL motion recognition system to sport and rehabilitation techniques analysis.

    Science.gov (United States)

    Hachaj, Tomasz; Ogiela, Marek R

    2016-06-01

    The main novelty of this paper is presenting the adaptation of Gesture Description Language (GDL) methodology to sport and rehabilitation data analysis and classification. In this paper we showed that Lua language can be successfully used for adaptation of the GDL classifier to those tasks. The newly applied scripting language allows easily extension and integration of classifier with other software technologies and applications. The obtained execution speed allows using the methodology in the real-time motion capture data processing where capturing frequency differs from 100 Hz to even 500 Hz depending on number of features or classes to be calculated and recognized. Due to this fact the proposed methodology can be used to the high-end motion capture system. We anticipate that using novel, efficient and effective method will highly help both sport trainers and physiotherapist in they practice. The proposed approach can be directly applied to motion capture data kinematics analysis (evaluation of motion without regard to the forces that cause that motion). The ability to apply pattern recognition methods for GDL description can be utilized in virtual reality environment and used for sport training or rehabilitation treatment.

  7. 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.

  8. 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.

  9. On the dynamics and control of the relative motion between two spacecraft

    Science.gov (United States)

    Yu, Shaohua

    1995-03-01

    The dynamics of the relative motion between two nearby spacecraft is investigated in a local orbital co-ordinate system. A phase plane analysis shows that a stable equilibrium state may exist in the motion. Based on this analysis, a control method called the range-rate control algorithm (RRCA) has been established. The controlled trajectory is stable and in a straight line. Furthermore, an omni-directional version of RRCA has also been introduced. The computation, measurement and propulsion scheme for the algorithm is very simple. As an illustrated example, the tethered satellite system as well as the in-orbit spacecraft rendezvous are simulated by the algorithm.

  10. 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.

  11. 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.

  12. Improvement of controlled pollination techniques of poplar

    Institute of Scientific and Technical Information of China (English)

    ZHOU Zhong-cheng; LIU Zong-you; HOU Kai-ju; SUN Xian-meng; ZHANG Ji-he; SHEN Bao-xian

    2008-01-01

    Over a number of years, in order to find substitutes for two traditional poplar pollination techniques: outdoor bridging trees and indoor cutting with water culture, research into two new pollination methods of uprooted outdoor seed trees and outdoor cutting branches was carried out. The advantages of two new and improved techniques were of efficiency, economy, safety and ease of operation. The methods can be applied in hybridization and breeding of poplar and other easy-to-root trees.

  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. Effect of simulator motion cuing on steering control performance : Driving simulator study

    NARCIS (Netherlands)

    Feenstra, P.J.; Horst, A.R.A. van der; Grácio, B.J.C.; Wentink, M.

    2010-01-01

    The goal of the present study was to explore how simulator motion cuing affects the driver's control performance of a car. Steering behavior was used as a measure of control performance. The experimental task was a slalom maneuver in which the velocity of the car was limited to 70 km/h. Subjective

  15. The Effect of Simulator Motion Cueing on Steering Control Performance – a Driving Simulator Study

    NARCIS (Netherlands)

    Feenstra, P.; Horst, A.R.A. van der; Correia Grácio, B.J.; Wentink, M.

    2010-01-01

    The goal of the presented study was to explore how simulator motion cueing affects the driver’s control performance of a car. We looked at steering behavior as a measure of control performance. The experimental task was a slalom maneuver where the car velocity was limited to 70 km/h. Subjective and

  16. Measurement of five-degrees-of-freedom error motions for a micro high-speed spindle using an optical technique

    Science.gov (United States)

    Murakami, Hiroshi

    2011-05-01

    We present an optical technique to measure five-degree-of-freedom error motions of a high-speed microspindle. The measurement system consists of a rod lens, a ball lens, four divided laser beams, and multiple divided photodiodes. When the spindle rotates with its concomitant rotation errors, the rod and ball lenses, which are mounted to the chuck of the spindle, are displaced, and this displacement is measured using an optical technique. In this study, the measuring system is manufactured for trial and is experimentally evaluated. The results clarify that the measuring system has a resolution of 5 nm and can be used to evaluate micro spindle rotation errors.

  17. Optimal control of nonholonomic motion planning for a flee-falling cat

    Institute of Scientific and Technical Information of China (English)

    GE Xin-sheng; CHEN Li-qun

    2007-01-01

    The nonholonomic motion phnning of a free-falling cat is investigated.Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws.When the total angular momentum is zero,the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum.The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat.Based on Ritz approximation theory,the Gauss-Newton method for motion planning by a falling cat is proposed.The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.

  18. 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.

  19. 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.

  20. 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.

  1. HIT anthropomorphic robotic hand and finger motion control

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple,lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.

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

    Directory of Open Access Journals (Sweden)

    Francisco Beltrán Carbajal

    2013-01-01

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

  3. Repulsive Magnetic Levitation Systems Using Motion Control of Magnets

    OpenAIRE

    水野, 毅; 石野, 裕二; 荒木, 獻次; 大内, 泰平

    1995-01-01

    Repulsive magnetic levitation systems with magnets driven by actuators were studied in this paper. In one system, a levitation magnet was driven in the direction of repulsive force to control the position and vibration of the levitated object. In another, a levitation magnet was moved in the lateral directions to stabilize the system in the manner of an inverted pendulum. The first type was studied experimentally with an experimental setup using a magnetostrictive actuator. The damping charac...

  4. Controlling a robot with intention derived from motion.

    Science.gov (United States)

    Crick, Christopher; Scassellati, Brian

    2010-01-01

    We present a novel, sophisticated intention-based control system for a mobile robot built from an extremely inexpensive webcam and radio-controlled toy vehicle. The system visually observes humans participating in various playground games and infers their goals and intentions through analyzing their spatiotemporal activity in relation to itself and each other, and then builds a coherent narrative out of the succession of these intentional states. Starting from zero information about the room, the rules of the games, or even which vehicle it controls, it learns rich relationships between players, their goals and intentions, probing uncertain situations with its own behavior. The robot is able to watch people playing various playground games, learn the roles and rules that apply to specific games, and participate in the play. The narratives it constructs capture essential information about the observed social roles and types of activity. After watching play for a short while, the system is able to participate appropriately in the games. We demonstrate how the system acts appropriately in scenarios such as chasing, follow-the-leader, and variants of tag.

  5. 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.

  6. 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.

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

    Science.gov (United States)

    Buckley, Theresa M. (Inventor)

    1997-01-01

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

  8. Interfacing and Motion Control of the UNC Heliostat

    Science.gov (United States)

    McMains, Lee

    2002-04-01

    The interface between a PC and existing & planned components of a solar telescope (Heliostat) is being revamped and the new configuration is expected to reduce complexity while increasing the precision of collected data. The automated solar tracking system, controlled by the PC and run using planned Simu-Link modules, will be used with optical sensing equipment to collect data from the visible and near-visible spectrum. The Heliostat would be used in the classroom for increased understanding of the physical properties of the Sun. A progress report on this aspect of the project will be given.

  9. On Steady Motions of a Rigid Body Bearing Three-Degree-of-Freedom Control Momentum Gyroscopes and Their Stability

    NARCIS (Netherlands)

    Amel'kin, N. I.

    2011-01-01

    Equations of motion are obtained for a rigid body bearing N three-degree-of-freedom control momentum gyroscopes in gimbals and the entire set of steady motions in a homogeneous external field is determined. The steady motion dependence on the magnitude of the system angular momentum is studied and a

  10. Electric-field-controlled suppression of Walker breakdown and chirality switching in magnetic domain wall motion

    Science.gov (United States)

    Chen, Hong-Bo; Li, You-Quan

    2016-07-01

    We theoretically study the dynamics of a magnetic domain wall controlled by an electric field in the presence of the spin flexoelectric interaction. We reveal that this interaction generates an effective spin torque and results in significant changes in the current-driven domain wall motion. In particular, the electric field can stabilize the domain wall motion, leading to strong suppression of the current-induced Walker breakdown and thus allowing a higher maximum wall velocity. We can furthermore use this electric-field control to efficiently switch the chirality of a moving domain wall in the steady regime.

  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. 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.

  13. Aircraft pitch attitude adaptive control via singular perturbation technique

    Science.gov (United States)

    Yurkevich, V. D.

    2013-12-01

    The problem of aircraft pitch attitude control is treated in the presence of uncertain aerodynamics. The proposed design methodology guarantees desired pitch attitude transient performance indices by inducing of two-time-scale motions in the closed-loop system where the controller dynamics is a singular perturbation with respect to the system dynamics. The singular perturbation method is used in order to get explicit expressions for evaluation of the controller parameters. Stability of fast-motion transients for a large range of aerodynamic characteristics variations is maintained due to a high-frequency-gain online identification and gain tuning that are incorporated in the control loop. Numerical example and simulation results are presented.

  14. Numerical Simulation and Vertical Motion Control of Rolls for Variable Gauge Rolling

    Institute of Scientific and Technical Information of China (English)

    Yu ZHANG; Jian TAN

    2015-01-01

    The vertical motion control of the roll was studied in order to improve the accuracy in simulation of variable gauge rolling. The discretization was carried out in the transition zone of TRB according to the principle of volume invariance. Based on this assumption, the formula for time step of vertical motion of rolls was proposed and the time-displacement curve of the verti-cal motion of rolls was established. In the preliminary simulation, the time-displacement curve was used as an initial method to control the vertical motion of rolls. Based on the simulation result, the formula for vertical velocity of roll in variable gauge rolling was derived from the common rolling principle. According to the formula, reasonable vertical velocity of rolls in the subsequent simulation was determined. It can accurately control the motion of rolls along the vertical direction. The desired thickness and out-line proifle of transition zone were acquired and the formula proved effective by the simulation. Further analysis shows that the di fference of thickness in the thick zone and the thin zone of TRB, length of the transition zone of TRB, radius of work rolls and rota-tion speed of rolls have a signiifcant effect on the vertical velocity of rolls.

  15. [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.

  16. A visual motion detecting module for dragonfly-controlled robots.

    Science.gov (United States)

    Pham, Thuy T; Higgins, Charles M

    2014-01-01

    When imitating biological sensors, we have not completely understood the early processing of the input to reproduce artificially. Building hybrid systems with both artificial and real biological components is a promising solution. For example, when a dragonfly is used as a living sensor, the early processing of visual information is performed fully in the brain of the dragonfly. The only significant remaining tasks are recording and processing neural signals in software and/or hardware. Based on existing works which focused on recording neural signals, this paper proposes a software application of neural information processing to design a visual processing module for dragonfly hybrid bio-robots. After a neural signal is recorded in real-time, the action potentials can be detected and matched with predefined templates to detect when and which descending neurons fire. The output of the proposed system will be used to control other parts of the robot platform.

  17. An assessment of swinger techniques for the playground swing oscillatory motion

    OpenAIRE

    Linge, Svein

    2012-01-01

    Much attention has been devoted to how playground swing amplitudes are built up by swinger techniques, i.e. body actions. However, very little attention has been given to the requirements that such swinger techniques place on the swinger himself. The purpose of this study was to find out whether different swinger techniques yield significantly different maximum torques, endurance and coordinative skills, and also to identify preferable techniques. We modeled the seated swinger as ...

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

    Energy Technology Data Exchange (ETDEWEB)

    Wang, H H [College of Automation, Northwestern Polytechnical University, Xi' an (China); Yuan, Z H [College of Automation, Northwestern Polytechnical University, Xi' an (China); Wu, J [College of Automation, Northwestern Polytechnical University, Xi' an (China)

    2006-10-15

    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

  19. 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.

  20. The control of specific actuators for fast ferry vertical motion damping

    OpenAIRE

    Girón Sierra, José María; Katebi, R.; Cruz García, Jesús Manuel de la; Esteban San Román, Segundo

    2002-01-01

    The vertical motions of fast ships, which have a negative effect on comfort and safety, can be attenuated using moving actuators. There is the need of a control strategy to move the actuators in the most convenient way, considering several objectives. The paper considers this problem, studying a practical real example. Experiments with a scaled down replica of a fast ferry has been done, first for modeling purposes and second for control studies. Linear control shows serious application probl...

  1. Zero-Effort Camera-Assisted Calibration Techniques for Wearable Motion Sensors

    Science.gov (United States)

    Wu, Jian; Jafari, Roozbeh

    2017-01-01

    Activity recognition using wearable motion sensors plays an important role in pervasive wellness and healthcare monitoring applications. The activity recognition algorithms are often designed to work with a known orientation of sensors on the body. In the case of accidental displacement of the motion sensors, it is important to identify the new sensor location and orientation. This step, often called calibration or recalibration, requires extra effort from the user to either perform a set of known movements, or enter information about the placement of the sensors manually. In this paper, we propose a camera-assisted calibration approach that does not require any extra effort from the user. The calibration is done seamlessly when the user appears in front of the camera (in our case, a Kinect camera) and performs an arbitrary activity of choice (e.g., walking in front of the camera). We provide experimental results supporting the effectiveness of our approach.

  2. Zero-Effort Camera-Assisted Calibration Techniques for Wearable Motion Sensors.

    Science.gov (United States)

    Wu, Jian; Jafari, Roozbeh

    2014-10-01

    Activity recognition using wearable motion sensors plays an important role in pervasive wellness and healthcare monitoring applications. The activity recognition algorithms are often designed to work with a known orientation of sensors on the body. In the case of accidental displacement of the motion sensors, it is important to identify the new sensor location and orientation. This step, often called calibration or recalibration, requires extra effort from the user to either perform a set of known movements, or enter information about the placement of the sensors manually. In this paper, we propose a camera-assisted calibration approach that does not require any extra effort from the user. The calibration is done seamlessly when the user appears in front of the camera (in our case, a Kinect camera) and performs an arbitrary activity of choice (e.g., walking in front of the camera). We provide experimental results supporting the effectiveness of our approach.

  3. Improvement on fuzzy controller design techniques

    Science.gov (United States)

    Wang, Paul P.

    1993-01-01

    This paper addresses three main issues, which are somewhat interrelated. The first issue deals with the classification or types of fuzzy controllers. Careful examination of the fuzzy controllers designed by various engineers reveals distinctive classes of fuzzy controllers. Classification is believed to be helpful from different perspectives. The second issue deals with the design according to specifications, experiments related to the tuning of fuzzy controllers, according to the specification, will be discussed. General design procedure, hopefully, can be outlined in order to ease the burden of a design engineer. The third issue deals with the simplicity and limitation of the rule-based IF-THEN logical statements. The methodology of fuzzy-constraint network is proposed here as an alternative to the design practice at present. It is our belief that predicate calculus and the first order logic possess much more expressive power.

  4. Quantitative Evaluation of Left Ventricular Wall Motion in Patient with Coronary Artery Bypass Grafting Using Magnetic Resonance Tagging Technique

    Science.gov (United States)

    Inaba, Tadashi; Nakano, Takahiro; Tsutsumi, Masakazu; Kawasaki, Shingo; Kinosada, Yasutomi; Tokuda, Masataka

    Left ventricular wall motions during systole were investigated from a mechanical perspective by using a magnetic resonance tagging technique. Subjects were 7 patients with coronary artery bypass grafting (CABG). First, by analyzing strain in the left ventricular wall, cardiac contractility was evaluated in the patients with CABG. Next, by calculating displacement in the myocardial wall, paradoxical movements following CABG were quantitatively evaluated. Strain analysis showed local decreases in circumferential strain in 4 of 7 subjects. The results of displacement analysis clarified that following CABG, the degree of radial displacement was small in the septal wall and large in the lateral wall, and circumferential displacement towards the septal wall occurred in the anterior and posterior walls. Since this behavior was seen in both reduced and normal cardiac contractility groups, paradoxical movements in the present patients were not caused by reduced cardiac contractility, but rather by rigid-body motion of the entire heart.

  5. 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.

  6. 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.

  7. 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.

  8. Investigation of simple IMRT delivery techniques for non-small cell lung cancer patients with respiratory motion using 4DCT.

    Science.gov (United States)

    Reitz, Bodo; Parda, David S; Colonias, Athanasios; Lee, Vincent; Miften, Moyed

    2009-01-01

    Techniques for generating simplified IMRT treatment plans for treating non-small cell lung cancer (NSCLC) patients with respiratory motion were investigated. To estimate and account for respiratory motion, 4-dimensional computed tomography (4DCT) datasets from 5 patients were used to design 5-field 6-MV ungated step-and-shoot intensity modulated radiotherapy (IMRT) plans delivering a dose of 66 Gy to the planning target volume (PTV). For each patient, 2 plans were generated using the mean intensity and the maximum intensity of 10 CT datasets from different breathing phases. The plans also utilized different margins around the clinical target volume/internal target volume (CTV/ITV) to account for tumor motion. To reduce the treatment time and ensure accurate dose delivery to moving targets, the number of intensity levels was minimized while maintaining dose coverage to PTV and minimizing dose to organs at risk (OARs). Dose-volume histograms (DVHs), dosimetric metrics, and outcome probabilities were evaluated for all plans. Plans using the averaged CT image dataset were inferior, requiring larger margins around the PTV, with a maximum of 1.5 cm, to ensure coverage of the tumor, and therefore increased the dose to OARs located in proximity of the tumor. The plans based on superimposed CT image datasets achieved full coverage of the tumor, while allowing tight margins around the PTV and minimizing the dose to OARs. A small number of intensity-levels (3 to 5), resulting in IMRT plans with a total of 13 to 30 segments, were sufficient for homogeneous PTV coverage, without affecting the sparing of OARs. In conclusion, a technique involving treatment planning with the superimposed CT scans of all respiratory phases, and the application of IMRT with only a small number of segments was feasible despite significant tumor motion; however, greater patient numbers are needed to support the statistical significance of the results presented in this work.

  9. Design of Digital Autopilot for Lateral Motion Control of an Aircraft Based on l1-Optimization Approach

    Directory of Open Access Journals (Sweden)

    Leonid S. Zhiteckii

    2016-10-01

    Full Text Available The optimal digital autopilot needed to control of the roll for an aircraft in the presence of an arbitrary unmeasured disturbances is addressed in this paper. Such autopilot has to achieve a desired lateral motion control of this aircraft via minimizing the upper bound on the absolute value of the difference between the given and true roll angles. It is ensured by means of the two digital controllers. The inner controller is designed as the discrete-time PI controller in order to stabilize a given roll rate. This variable is formed by the external P controller. The necessary and sufficient conditions under which the two-circuit feedback discrete-time control system will be stable are derived. To optimize this control system, the controller parameters are derived utilizing the so-called l1-optimization approach advanced in modern control theory. A numerical example demonstrating the l1-optimization technique and results of some simulation experiments are presented to illustrate the performance of the l1-optimal controller. The robustness properties of this controller are established

  10. 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.

  11. Detection and Control of Mobile Robot Motion by Real-Time Computer Vision

    Science.gov (United States)

    Wunsche, H. J.

    1987-02-01

    An approach is presented that combines dynamical models of 3D motion with geometric models of the scene and the laws of perspective projection to estimate all motion parameters necessary to control a mobile robot vehicle. The approach is demonstrated by autonomous con-trol of a jet propelled air-cushion vehicle, navigating through a technical environment with three degrees of motion freedom and performing a rendezvous maneuver with a passive partner. Features of the partner and other objects in the scene, the 3D shapes of which are known, are looked for and then tracked by the processors of a multimicroprocessor system. A sequential Kalman filter formulation is used to detect and to cope with variable feature visibility due to occlusion and motion while determining the complete relative motion state without inversion of the projection equations. A scheme is developed for always selecting those features for tracking which yield the best state estimate, the quality of which is demonstrated by physical docking with a static partner. The system operates at 0.13 seconds cycle time, half of which is spent for I/O operations. Experimental results are given.

  12. Controlling the Motion of Ferrofluid Droplets Using Surface Tension Gradients and Magnetoviscous Pinning.

    Science.gov (United States)

    Ody, T; Panth, M; Sommers, A D; Eid, K F

    2016-07-12

    This work demonstrates the controlled motion and stopping of individual ferrofluid droplets due to a surface tension gradient and a uniform magnetic field. The surface tension gradients are created by patterning hydrophilic aluminum regions, shaped as wedges, on a hydrophobic copper surface. This pattern facilitates the spontaneous motion of water-based ferrofluid droplets down the length of the wedge toward the more hydrophilic aluminum end due to a net capillarity force created by the underlying surface wettability gradient. We observed that applying a magnetic field parallel to the surface tension gradient direction has little or no effect on the droplet's motion, while a moderate perpendicular magnetic field can stop the motion altogether effectively "pinning" the droplet. In the absence of the surface tension gradient, droplets elongate in the presence of a parallel field but do not travel. This control of the motion of individual droplets might lend itself to some biomedical and lab-on-a-chip applications. The directional dependence of the magnetoviscosity observed in this work is believed to be the consequence of the formation of nanoparticle chains in the fluid due to the existence of a minority of relatively larger magnetic particles.

  13. 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...

  14. Hydraulic Control Design and Modeling Techniques.

    Science.gov (United States)

    1989-02-01

    methodologies. This report may be difficult to read for the casual reader . It is written assuming the reader has some fundamental background in control...INTERVAL DTSMP=.O0012207 STEP=. 0012207 INDEX=INDEX+i DOUT( INDEX2)=L1 A- 4 END $*OF DISCRETE SAMP 2" DERIVATIVE tarot (INDEX2 .GE. 4098) END $*OF

  15. Motion control of a rotor with a cavity with a viscous fluid

    NARCIS (Netherlands)

    Gurchenkov, A. A.; Esenkov, A. S.; Tsurkov, V. I.

    2007-01-01

    A formulation and solution procedure of optimal control problems for perturbed relative uniform motion of a body with a cavity filled with a viscous incompressible fluid are proposed. In this paper, the case with a cylinder is considered; however, this approach is basically true for the a cavity of

  16. Design and Evaluation of an Integrated Online Motion Control Training Package

    Science.gov (United States)

    Buiu, C.

    2009-01-01

    The aim of this paper is to present an integrated Internet-based package for teaching the fundamentals of motion control by using a wide range of resources: theory, videos, simulators, games, quizzes, and a remote lab. The package is aimed at automation technicians, pupils at vocational schools and students taking an introductory course in…

  17. Encke's special perturbation technique associated with the KS regularized variables. I - Satellite motions in the earth's gravitational field with axial symmetry

    Science.gov (United States)

    Awad, Mervat El-Sayed

    1988-10-01

    A special perturbation technique of Encke type associated with the Kustaanheimo-Stiefel (KS) regularized variables is developed for satellite motions in the earth's gravitational field with axial symmetry. Its computational algorithm is of recursive nature and could be applied to any perturbed conic motion, whatever the number of the zonal harmonic coefficients may be. Applications of the algorithm are also included.

  18. Nonlinear Adaptive Slewing Motion Control of Spacecraft Truss Driven by Synchronous V-gimbaled CMG Precession

    Institute of Scientific and Technical Information of China (English)

    Zhou Di; Zhou Jingyang

    2007-01-01

    The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro (CMG) is a nonlinear control problem.The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment of inertia of the system, the angular momentum of the gyros and the external disturbances are not exactly known. With the help of feedback linearization and recursive Lyapunov design method, an adaptive nonlinear controller is designed to deal with the unknown items. Performance of the proposed controller is verified by simulation.

  19. 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.

  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. Alendronate treatment in the revision setting, with and without controlled implant motion

    DEFF Research Database (Denmark)

    Søballe, Kjeld; Chen, Xinqian; Jensen, Thomas B;

    2007-01-01

    . The other half of the implants continued pistoning. Half of the dogs were exposed to alendronate (oral). Results Stabilization of the revision implant was more effective at improving fixation (higher shear strength) than administering alendronate. As expected, the fibrous membrane remained under unstable...... model with controlled motion to evaluate the relative effects of implant motion and bisphosphonate. We implemented our established 8-week experimental revision protocol to obtain a bony and soft tissue setting of revision joint replacement in 16 dogs. At 8 weeks, we had stabilized half of the implants...

  2. An assessment of swinger techniques for the playground swing oscillatory motion.

    Science.gov (United States)

    Linge, Svein O

    2012-01-01

    Much attention has been devoted to how playground swing amplitudes are built up by swinger techniques, i.e. body actions. However, very little attention has been given to the requirements that such swinger techniques place on the swinger himself. The purpose of this study was to find out whether different swinger techniques yield significantly different maximum torques, endurance and coordinative skills, and also to identify preferable techniques. We modelled the seated swinger as a rigid dumbbell and compared three different techniques. A series of computer simulations were run with each technique, testing the performance with different body rotational speeds, delayed onset of body rotation and different body mass distributions, as swing amplitudes were brought up towards 90°. One technique was found to be extremely sensitive to the timing of body actions, limiting swing amplitudes to 50° and 8° when body action was delayed by 0.03 and 0.3 s, respectively. Two other more robust techniques reached 90° even with the largest of these delays, although more time (and endurance) was needed. However, these two methods also differed with respect to maximum torque and endurance, and none was preferable in both these aspects, being dependent on the swinger goals and abilities.

  3. 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.

  4. A Quadratic Nonlinear Prediction-Based Heart Motion Model Following Control Algorithm in Robotic-Assisted Beating Heart Surgery

    Directory of Open Access Journals (Sweden)

    Fan Liang

    2013-01-01

    Full Text Available Off‐pump coronary artery bypass graft surgery outperforms the traditional on‐pump surgery because the assisted robotic tools can cancel the relative motion between the beating heart and the robotic tools, which reduces post‐surgery complications for patients. The challenge for the robot assisted tool when tracking the beating heart is the abrupt change caused by the nonlinear nature of heart motion and high precision surgery requirements. A characteristic analysis of 3D heart motion data through bi‐spectral analysis demonstrates the quadratic nonlinearity in heart motion. Therefore, it is necessary to introduce nonlinear heart motion prediction into the motion tracking control procedures. In this paper, the heart motion tracking problem is transformed into a heart motion model following problem by including the adaptive heart motion model into the controller. Moreover, the model following algorithm with the nonlinear heart motion model embedded inside provides more accurate future reference by the quadratic term of sinusoid series, which could enhance the tracking accuracy of sharp change point and approximate the motion with sufficient detail. The experiment results indicate that the proposed algorithm outperforms the linear prediction‐based model following controller in terms of tracking accuracy (root mean square.

  5. Technique for Controlling Spread of Limnotic Oncomelania

    Institute of Scientific and Technical Information of China (English)

    Li Damei(李大美); WANG Xiangsan(王祥三); LAI Yonggen

    2003-01-01

    Schistosomiasis is a parasitic disease mostly found in areas along the Changjiang River of China. The disease is spread solely through an intermediary named oncomelania, so its spread of schistosomiasis can be controlled by properly designing water intakes which prevent oncomelania from entering fanning land or residential areas. This paper reports a successful design process and a new oncomelania-free intake device. The design of the new intake is based on a sound research program in which extensive experimental studies were carried out to gain knowledge of oncomelania eco-hydraulic behavior and detailed flow field information through CFD simulation.

  6. 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.

  7. New techniques for motion-artifact-free in vivo cardiac microscopy.

    Directory of Open Access Journals (Sweden)

    Claudio eVinegoni

    2015-05-01

    Full Text Available Intravital imaging microscopy (i.e. imaging in live animals at microscopic resolution has become an indispensable tool for studying the cellular micro-dynamics in cancer, immunology and neurobiology. High spatial and temporal resolution, combined with large penetration depth and multi-reporter visualization capability make fluorescence intravital microscopy compelling for heart imaging. However, tissue motion caused by cardiac contraction and respiration critically limits its use. As a result, in vitro cell preparations or non-contracting explanted heart models are more commonly employed. Unfortunately, these approaches fall short of understanding the more complex host physiology that may be dynamic and occur over longer periods of time.In this review, we report on novel technologies, which have been recently developed by our group and others, aimed at overcoming motion-induced artifacts and capable of providing in vivo subcellular resolution imaging in the beating mouse heart. The methods are based on mechanical stabilization, image processing algorithms, gated/triggered acquisition schemes or a combination of both. We expect that in the immediate future all these methodologies will have considerable applications in expanding our understanding of the cardiac biology, elucidating cardiomyocyte function and interactions within the organism in vivo, and ultimately improving the treatment of cardiac diseases.

  8. Robust control of seismic structures using independent modal-space techniques

    Science.gov (United States)

    Martin, Kerry S.; Rao, Vittal S.; Cheng, Franklin Y.

    1996-04-01

    Active robust structural controls have been utilized in the control of aerospace structures for many years but they have only been recently investigated in the context of control for civil engineering structures. The results of an investigation of the utilization of these methods on building-like structures are presented in this paper. The closed-loop systems take into account the limited available actuation force and are inherently insensitive to parameter variations and modeling uncertainties. Independent modal-space control (IMSC) is a structural control technique where the multi-input-multi-output configuration-space system is transformed into a set of uncoupled single-input-single-output modal-space systems. A modal controller is designed for each modal-space system and the set of modal controllers is transformed back into configuration-space. By combining IMSC with robust control techniques such as LQG/LTR or H(infinity ), a robust structural control design technique is proposed in this paper. Robust IMSC techniques are employed for control of seismic structures where a small number of actuators are used to control the first few modes of the structure. We have designed and implemented robust IMSC controllers on an experimental building-like structure. This structure utilizes torque motor driven active tendons as actuators and rests on a shaking table which is capable of providing one dimensional base excitation similar to earthquake ground motion. A three input-three output model of the structure, including the torque motor actuators, was developed using experimental data. The experimental structural identification technique, based on standard modal analysis methods, provides the mathematical model that describes the behavior of the structure. An H(infinity ) based IMSC controller has been designed and implemented on this structure using a dSPACE control development system. The results show that the performance of the system is satisfactory in the presence of

  9. 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.

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

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

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

  11. Vibrating barrier: a novel device for the passive control of structures under ground motion.

    Science.gov (United States)

    Cacciola, P; Tombari, A

    2015-07-08

    A novel device, called vibrating barrier (ViBa), that aims to reduce the vibrations of adjacent structures subjected to ground motion waves is proposed. The ViBa is a structure buried in the soil and detached from surrounding buildings that is able to absorb a significant portion of the dynamic energy arising from the ground motion. The working principle exploits the dynamic interaction among vibrating structures due to the propagation of waves through the soil, namely the structure-soil-structure interaction. The underlying theoretical aspects of the novel control strategy are scrutinized along with its numerical modelling. Closed-form solutions are also derived to design the ViBa in the case of harmonic excitation. Numerical and experimental analyses are performed in order to investigate the efficiency of the device in mitigating the effects of ground motion waves on the structural response. A significant reduction in the maximum structural acceleration of 87% has been achieved experimentally.

  12. Complementary limb motion estimation for the control of active knee prostheses.

    Science.gov (United States)

    Vallery, Heike; Burgkart, Rainer; Hartmann, Cornelia; Mitternacht, Jürgen; Riener, Robert; Buss, Martin

    2011-02-01

    To restore walking after transfemoral amputation, various actuated exoprostheses have been developed, which control the knee torque actively or via variable damping. In both cases, an important issue is to find the appropriate control that enables user-dominated gait. Recently, we suggested a generic method to deduce intended motion of impaired or amputated limbs from residual human body motion. Based on interjoint coordination in physiological gait, statistical regression is used to estimate missing motion. In a pilot study, this complementary limb motion estimation (CLME) strategy is applied to control an active knee exoprosthesis. A motor-driven prosthetic knee with one degree of freedom has been realized, and one above-knee amputee has used it with CLME. Performed tasks are walking on a treadmill and alternating stair ascent and descent. The subject was able to walk on the treadmill at varying speeds, but needed assistance with the stairs, especially to descend. The promising results with CLME are compared with the subject's performance with her own prosthesis, the C-Leg from Otto Bock.

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

    Directory of Open Access Journals (Sweden)

    Irfan Hussain

    2016-11-01

    Full Text Available In this paper, we present an electromyographic (EMG control interface for a supernumerary robotic finger. This novel wearable robot can be used to compensate the missing grasping abilities in chronic stroke patients or to augment human healthy hand so to enhance its grasping capabilities and workspace. The proposed EMG interface controls the motion of the robotic extra finger and its joint compliance. 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 validated the proposed interface with two sets of experiments related to compensation and augmentation. In the first set of experiments, different bi-manual tasks have been performed with the help of the robotic device and simulating a paretic hand. In the second set, the robotic extra finger is used to enlarge the workspace and manipulation capability of healthy hands. In both the sets, the same EMG control interface has been used. The obtained results demonstrate that the proposed control interface is intuitive and can successfully be used for both compensation and augmentation purposes. The proposed approach can be exploited also for the control of different wearable devices that has to actively cooperate with the human limbs.

  14. 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.

  15. 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...

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

    OpenAIRE

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

    2014-01-01

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

  17. 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.

  18. Control of respiratory motion by hypnosis intervention during radiotherapy of lung cancer I.

    Science.gov (United States)

    Li, Rongmao; 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.

  19. 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.

  20. Controlling wheelchairs by body motions: A learning framework for the adaptive remapping of space

    CERN Document Server

    Gulrez, Tauseef; Fishbach, Alon; Acosta, Santiago; Scharver, Christopher; De Rossi, Danilo; Mussa-Ivaldi, Ferdinando A

    2011-01-01

    Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal cord injury, for the control of powered wheelchairs. Our goal is to facilitate this remapping by developing interfaces between residual body motions and navigational commands that exploit the degrees of freedom that disabled individuals are most capable to coordinate. We present a new framework for allowing spinal cord injured persons to control powered wheelchairs through signals derived from their residual mobility. The main novelty of this approach lies in substituting the more common joystick controllers of powered wheelchairs with a sensor shirt. This allows the whole upper body of the user to operate as an adaptive joystick. Considerations about learning and risks have lead us to develop a safe testing environment in 3D Virtual Reality. A Personal Augmented Reality Imm...

  1. Control of humanoid robot via motion-onset visual evoked potentials.

    Science.gov (United States)

    Li, Wei; Li, Mengfan; Zhao, Jing

    2014-01-01

    This paper investigates controlling humanoid robot behavior via motion-onset specific N200 potentials. In this study, N200 potentials are induced by moving a blue bar through robot images intuitively representing robot behaviors to be controlled with mind. We present the individual impact of each subject on N200 potentials and discuss how to deal with individuality to obtain a high accuracy. The study results document the off-line average accuracy of 93% for hitting targets across over five subjects, so we use this major component of the motion-onset visual evoked potential (mVEP) to code people's mental activities and to perform two types of on-line operation tasks: navigating a humanoid robot in an office environment with an obstacle and picking-up an object. We discuss the factors that affect the on-line control success rate and the total time for completing an on-line operation task.

  2. PSD Camera Based Position and Posture Control of Redundant Robot Considering Contact Motion

    Science.gov (United States)

    Oda, Naoki; Kotani, Kentaro

    The paper describes a position and posture controller design based on the absolute position by external PSD vision sensor for redundant robot manipulator. The redundancy enables a potential capability to avoid obstacle while continuing given end-effector jobs under contact with middle link of manipulator. Under contact motion, the deformation due to joint torsion obtained by comparing internal and external position sensor, is actively suppressed by internal/external position hybrid controller. The selection matrix of hybrid loop is given by the function of the deformation. And the detected deformation is also utilized in the compliant motion controller for passive obstacle avoidance. The validity of the proposed method is verified by several experimental results of 3link planar redundant manipulator.

  3. 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.

  4. When brain damage "improves" perception: neglect patients can localize motion-shifted probes better than controls.

    Science.gov (United States)

    de Vito, Stefania; Lunven, Marine; Bourlon, Clémence; Duret, Christophe; Cavanagh, Patrick; Bartolomeo, Paolo

    2015-12-01

    When we look at bars flashed against a moving background, we see them displaced in the direction of the upcoming motion (flash-grab illusion). It is still debated whether these motion-induced position shifts are low-level, reflexive consequences of stimulus motion or high-level compensation engaged only when the stimulus is tracked with attention. To investigate whether attention is a causal factor for this striking illusory position shift, we evaluated the flash-grab illusion in six patients with damaged attentional networks in the right hemisphere and signs of left visual neglect and six age-matched controls. With stimuli in the top, right, and bottom visual fields, neglect patients experienced the same amount of illusion as controls. However, patients showed no significant shift when the test was presented in their left hemifield, despite having equally precise judgments. Thus, paradoxically, neglect patients perceived the position of the flash more veridically in their neglected hemifield. These results suggest that impaired attentional processes can reduce the interaction between a moving background and a superimposed stationary flash, and indicate that attention is a critical factor in generating the illusory motion-induced shifts of location.

  5. 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.

  6. Measuring pilot workload in a motion base trainer - A comparison of four techniques

    Science.gov (United States)

    Bortolussi, M. R.; Kantowitz, B. H.; Hart, S. G.

    1985-01-01

    Various techniques have been developed to predict and measure pilot workload. This simulation was conducted in order to compare four widely used methods: A visual two- and four-choice reaction time task, time production, retrospective multi-dimensional subjective ratings and in-flight verbal workload estimates. Two scenarios with different levels of difficulty determined by preliminary research were designed to test these techniques. The insertion of the secondary tasks did not significantly affect flight performance. All four techniques were able to distinguish among levels of scenario complexity. In addition, the three secondary tasks and workload ratings obtained in-flight were generally able to distinguish among levels of difficulty for different segments within the scenarios.

  7. Measuring pilot workload in a motion base trainer. A comparison of four techniques.

    Science.gov (United States)

    Bortolussi, M R; Kantowitz, B H; Hart, S G

    1986-12-01

    Various techniques have been developed to predict and measure pilot workload. This simulation was conducted in order to compare four widely used methods: a visual two-and four-choice reaction time task, time production, retrospective multi-dimensional subjective ratings and in-flight verbal workload estimates. Two scenarios with different levels of difficulty determined by preliminary research were designed to test these techniques. The insertion of the secondary tasks did not significantly affect flight performance. All four techniques were able to distinguish between the overall levels of scenario complexity. In addition, the three secondary tasks and workload ratings obtained in-flight were generally able to distinguish among levels of difficulty for different segments within the scenarios.

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

    Science.gov (United States)

    Patrick, M. R.; Orr, T.; Swanson, D. A.; Lev, E.

    2016-12-01

    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.

  9. Study on modeling of vehicle dynamic stability and control technique

    Institute of Scientific and Technical Information of China (English)

    GAO Yun-ting; LI Pan-feng

    2012-01-01

    In order to solve the problem of enhancing the vehicle driving stability and safety,which has been the hot question researched by scientific and engineering in the vehicle industry,the new control method was investigated.After the analysis of tire moving characteristics and the vehicle stress analysis,the tire model based on the extension pacejka magic formula which combined longitudinal motion and lateral motion was developed and a nonlinear vehicle dynamical stability model with seven freedoms was made.A new model reference adaptive control project which made the slip angle and yaw rate of vehicle body as the output and feedback variable in adjusting the torque of vehicle body to control the vehicle stability was designed.A simulation model was also built in Matlab/Simulink to evaluate this control project.It was made up of many mathematical subsystem models mainly including the tire model module,the yaw moment calculation module,the center of mass parameter calculation module,tire parameter calculation module of multiple and so forth.The severe lane change simulation result shows that this vehicle model and the model reference adaptive control method have an excellent performance.

  10. A novel scheme for DVL-aided SINS in-motion alignment using UKF techniques.

    Science.gov (United States)

    Li, Wanli; Wang, Jinling; Lu, Liangqing; Wu, Wenqi

    2013-01-15

    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.

  11. 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.

  12. 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.

  13. Design and experience with the WS/HS assembly movement using labview VIS, national instrument motion controllers, and compumotor electronic drive units and motors

    Energy Technology Data Exchange (ETDEWEB)

    Day, L. A. (Lisa A.); Gilpatrick, J. D. (John Douglas); Gruchalla, M. (Michael); Martinez, D. G. (Derwin G.); O' Hara, J. F. (James F.); Shurter, R. B. (Robert B.); Stettler, M. W. (Matthew W.); Valdiviez, R. (Robert); Barr, D. S. (Dean S.)

    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.

  14. Design and experience with the WS/HS assembly movement using labview VIS, national instrument motion controllers, and compumotor electronic drive units and motors

    Energy Technology Data Exchange (ETDEWEB)

    Day, L. A. (Lisa A.); Gilpatrick, J. D. (John Douglas); Gruchalla, M. (Michael); Martinez, D. G. (Derwin G.); O' Hara, J. F. (James F.); Shurter, R. B. (Robert B.); Stettler, M. W. (Matthew W.); Valdiviez, R. (Robert); Barr, D. S. (Dean S.)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    D.S. BARR; L.A. DAY; ET AL

    2001-06-01

    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.

  16. 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...... and to reduce the sensitivity to accuracy of flux linkage estimation. An I-f strategy is used for starting, by prescribing a ramped reference frequency and a constant current, and then the seamless transition to close loop sensorless control takes place. The proposed control system is detailed and validated...

  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...... control as well as from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility for a DTU-AAU hydraulic robot ¿Thor¿, and a CNC XY-machine table was implemented. The controller applies digital signal processors (DSPs). The DSP...

  18. 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.

  19. 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.

  20. Enhanced perceptions of control and predictability reduce motion-induced nausea and gastric dysrhythmia.

    Science.gov (United States)

    Levine, Max E; Stern, Robert M; Koch, Kenneth L

    2014-08-01

    Nausea is a debilitating condition that is typically accompanied by gastric dysrhythmia. The enhancement of perceived control and predictability has generally been found to attenuate the physiological stress response. The aim of the present study was to test the effect of these psychosocial variables in the context of nausea, motion sickness, and gastric dysrhythmia. A 2x2, independent-groups, factorial design was employed in which perceived control and predictability were each provided at high or low levels to 80 participants before exposure to a rotating optokinetic drum. Ratings of nausea were obtained throughout a 6-min baseline period and a 16-min drum rotation period. Noninvasive recordings of the electrical activity of the stomach called electrogastrograms were also obtained throughout the study. Nausea scores were significantly lower among participants with high control than among those with low control, and were significantly lower among participants with high predictability than among those with low predictability. Estimates of gastric dysrhythmia obtained from the EGG during drum rotation were significantly lower among participants with high predictability than among those with low predictability. A significant interaction effect of control and predictability on gastric dysrhythmia was also observed, such that high control was only effective for arresting the development of gastric dysrhythmia when high predictability was also available. Stronger perceptions of control and predictability may temper the development of nausea and gastric dysrhythmia during exposure to provocative motion. Psychosocial interventions in a variety of nausea contexts may represent an alternative means of symptom control.

  1. Insect-inspired high-speed motion vision system for robot control.

    Science.gov (United States)

    Wu, Haiyan; Zou, Ke; Zhang, Tianguang; Borst, Alexander; Kühnlenz, Kolja

    2012-10-01

    The mechanism for motion detection in a fly's vision system, known as the Reichardt correlator, suffers from a main shortcoming as a velocity estimator: low accuracy. To enable accurate velocity estimation, responses of the Reichardt correlator to image sequences are analyzed in this paper. An elaborated model with additional preprocessing modules is proposed. The relative error of velocity estimation is significantly reduced by establishing a real-time response-velocity lookup table based on the power spectrum analysis of the input signal. By exploiting the improved velocity estimation accuracy and the simple structure of the Reichardt correlator, a high-speed vision system of 1 kHz is designed and applied for robot yaw-angle control in real-time experiments. The experimental results demonstrate the potential and feasibility of applying insect-inspired motion detection to robot control.

  2. Joint Motion Control of a Powered Lower Limb Orthosis for Rehabilitation

    Institute of Scientific and Technical Information of China (English)

    Nelson Costa; Milan Bezdicek; Michael Brown; John O. Gray; Darwin G. Caldwell; Stephen Hutchins

    2006-01-01

    Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that locomotor training reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design and control of a new "human friendly" orthosis (exoskeleton), powered by high power pneumatic Muscle Actuators (pMAs). The combination of a highly compliant actuation system, with an intelligent embedded control mechanism which senses hip, knee, and ankle positions, velocity, acceleration and force, produces powerful yet inherently safe operation for paraplegic patients. This paper analyzes the motion of ankle, knee, and hip joints under zero loading, and loads which simulate human limb mass, showing that the use of "soft" actuators can provide a smooth user friendly motion.The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

  3. 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.

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

    OpenAIRE

    Geert De Cubber; Sid Ahmed Berrabah; Daniela Doroftei; Yvan Baudoin; Hichem Sahli

    2010-01-01

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

  5. Motion Control of a Four-wheel-drive Omnidirectional Wheelchair with High Step Climbing Capability

    OpenAIRE

    WADA, Masayoshi

    2010-01-01

    Mechanism and omnidirectional control of a 4WD mechanism for wheelchairs are presented in this chapter. The omnidirectional wheelchair system is proposed for improving maneuverability of standard wheelchairs The 4WD mechanism has high mobility which equips four wheels, two omni-wheels in the front and two normal tires in the rear, and all wheels provide traction even with two motors to drive these wheels. To realize holonomic and omnidirectional motion of a chair by utilizing the 4WD mechanis...

  6. A Procedure for Performance Assessment of Drugs Hypothesized to be Effective in Controlling Motion Sickness

    Science.gov (United States)

    1990-12-01

    1985 Hyosine, Ocular of alertness Hydrobromide, Accommodation, Cinnarizine Missing Digit, Critical Flicker Frequency, Digit Symbol van Marion Motion...selected by the Tri- (Symbolic) Service Joint Working 15. Visual Group on Drug 4. 2-Column Scanning Dependent Degradation Addition of Military...performance shows up on the Pursuit Meter, it is impossible to tell if the degradation has occurred in mental acuity, judgement, motor control, or any

  7. Double aperture focusing transducer for controlling microparticle motions in trapezoidal microchannels with surface acoustic waves

    Science.gov (United States)

    Tan, Ming K.; Tjeung, Ricky; Ervin, Hannah; Yeo, Leslie Y.; Friend, James

    2009-09-01

    We present a method for controlling the motion of microparticles suspended in an aqueous solution, which fills in a microchannel fabricated into a piezoelectric substrate, using propagating surface acoustic waves. The cross-sectional shape of this microchannel is trapezoidal, preventing the formation of acoustic standing waves across the channel width and therefore allowing the steering of microparticles. The induced acoustic streaming transports these particles to eliminate the use of external pumps for fluid actuation.

  8. Motion interactive games for children with motor disorders : motivation, physical activity, and motor control

    OpenAIRE

    Sandlund, Marlene

    2011-01-01

    As motion interactive games have become more widespread the interest in using these games in rehabilitation of children with motor disorders has increased among both clinical professionals and the families of these children. The general aim of this thesis was to evaluate the feasibility of using interactive games in rehabilitation of children to promote motivation for practice, physical activity, and motor control. A systematic review of published intervention studies was conducted to obtain ...

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

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2006-01-01

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

  10. Effect of motion control running shoes compared with neutral shoes on tibial rotation during running.

    Science.gov (United States)

    Rose, Alice; Birch, Ivan; Kuisma, Raija

    2011-09-01

    To determine whether a motion control running shoe reduces tibial rotation in the transverse plane during treadmill running. An experimental study measuring tibial rotation in volunteer participants using a repeated measures design. Human Movement Laboratory, School of Health Professions, University of Brighton. Twenty-four healthy participants were tested. The group comprised males and females with size 6, 7, 9 and 11 feet. The age range for participants was 19 to 31 years. The total range of proximal tibial rotation was measured using the Codamotion 3-D Movement Analysis System. A one-tailed paired t-test indicated a statistically significant decrease in the total range of proximal tibial rotation when a motion control shoe was worn (mean difference 1.38°, 95% confidence interval 0.03 to 2.73, P=0.04). There is a difference in tibial rotation in the transverse plane between a motion control running shoe and a neutral running shoe. The results from this study have implications for the use of supportive running shoes as a form of injury prevention. Copyright © 2010 Chartered Society of Physiotherapy. Published by Elsevier Ltd. All rights reserved.

  11. An Interval Type-2 Fuzzy Neural Network Control on Two-Axis Motion System

    Directory of Open Access Journals (Sweden)

    Ye Xiaoting

    2013-11-01

    Full Text Available In this paper, an interval type-2 fuzzy neural network (IT2FNN control system is proposed to control a two-axis motion system, which is composed of two permanent magnet linear synchronous motors. The IT2FNN control system, which combines the merits of an interval type-2 fuzzy logic system and a neural network, is developed to approximate an unknown dynamic function. Moreover, adaptive learning algorithms that can train the parameters of the IT2FNN online are derived using the Lyapunov stability theorem. Furthermore, a robust compensator is proposed to confront the uncertainties. To relax the requirement for the value of the lumped uncertainty in the robust controller, an adaptive lumped uncertainty estimation law is also investigated. The proposed control algorithms are implemented. From the simulated and experimental results, the contour tracking performance of the two-axis motion control system is significantly improved and the robustness can be obtained as well using the proposed IT2FNN control system.    

  12. 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

    2017-07-21

    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.

  13. Longitudinal Motion Control of AUV Based on Fuzzy Sliding Mode Method

    Directory of Open Access Journals (Sweden)

    Duo Qi

    2016-01-01

    Full Text Available According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.

  14. Suboptimal LQR-based spacecraft full motion control: Theory and experimentation

    Science.gov (United States)

    Guarnaccia, Leone; Bevilacqua, Riccardo; Pastorelli, Stefano P.

    2016-05-01

    This work introduces a real time suboptimal control algorithm for six-degree-of-freedom spacecraft maneuvering based on a State-Dependent-Algebraic-Riccati-Equation (SDARE) approach and real-time linearization of the equations of motion. The control strategy is sub-optimal since the gains of the linear quadratic regulator (LQR) are re-computed at each sample time. The cost function of the proposed controller has been compared with the one obtained via a general purpose optimal control software, showing, on average, an increase in control effort of approximately 15%, compensated by real-time implementability. Lastly, the paper presents experimental tests on a hardware-in-the-loop six-degree-of-freedom spacecraft simulator, designed for testing new guidance, navigation, and control algorithms for nano-satellites in a one-g laboratory environment. The tests show the real-time feasibility of the proposed approach.

  15. A simplified technique for determining the rotational motion of a satellite based on the onboard measurements of the angular velocity and magnetic field of the Earth

    Science.gov (United States)

    Abrashkin, V. I.; Voronov, K. E.; Piyakov, I. V.; Puzin, Yu. Ya.; Sazonov, V. V.; Syomkin, N. D.; Chebukov, S. Yu.

    2016-09-01

    The mathematical model, which allowed us to reconstruct the rotational motion of the Bion M-1 and Foton M-4 satellites by processing the measurements of onboard magnetometers and the angular velocity sensor, is sufficiently detailed and accurate. If we slightly lower the requirements for accuracy and transfer to a rougher model, i.e., we will not update the biases in measurements of the angular velocity component, then the measurement processing technique can be significantly simplified. The volume of calculations in minimizing the functional of the least-square technique is reduced; the most complicated part of calculations is performed using the standard procedure of computational linear algebra. This simplified technique is described below, and the examples of its application for reconstructing the rotational motion of the Foton M-4 satellite are presented. A noticeable distinction in the reconstructions of motion, constructed by simplified and more exact techniques, is revealed in processing the measurements over time intervals longer than 4 hours.

  16. New Worlds Observer Formation Control Design Based on the Dynamics of Relative Motion

    Science.gov (United States)

    Luquette, Richard J.

    2008-01-01

    The New Worlds Observer (NWO) mission is designed for the direct detection and characterization of extrasolar planets. The NWO mission concept employs a two spacecraft leader-follower formation on a trajectory around the Earth/Moon-Sun L(sub 2) Libration Point. The leader spacecraft is baselined as a 4 meter optical telescope. The follower, Starshade spacecraft, is designed to suppress light from a central body star permitting direct detection of a surrounding exoplanetary system. The current design requires a nominal leader-follower separation range of 72 Megameters. NWO poses many challenges including formation control. NWO cycles between three principal control modes during the nominal mission timeline: science (fine pointing), realignment and transition. This paper examines formation control strategies in the context of dynamics of relative motion for two spacecraft operating in the vicinity of the Earth/Moon-Sun L(sub 2)libration point. The paper presents an overview of the equations of relative motion followed by a discussion of each of the control modes. Discussion and analysis characterize control strategies for each of the mission control modes, including requirements, implementation challenges and project fuel budgets.

  17. A tropical cyclone dynamic initialization technique using high temporal and spatial density atmospheric motion vectors and airborne field campaign data

    Science.gov (United States)

    Hendricks, E. A.; Bell, M. M.; Elsberry, R. L.; Velden, C.

    2016-12-01

    A new tropical cyclone dynamic initialization technique is described and tested. The technique uses the triple-nested Coupled Ocean-Atmosphere Mesoscale Prediction System-Tropical Cyclones (COAMPS-TC) (with horizontal grid spacings of 45-,15-, and 5-km, respectively) in conjunction with the Spline Analysis at Mesoscale Utilizing Radar and Aircraft Instrumentation (SAMURAI). A proof-of-concept demonstration of this technique is given for Hurricane Joaquin from the Office of Naval Research (ONR) Tropical Cyclone Intensity (TCI) field program conducted in 2015. High spatial and temporal resolution atmospheric motion vectors (AMVs), dropwindsondes from the Yankee Environmental Systems High Definition Sounding System (HDSS), and surface wind speed retrievals from the Hurricane Imaging Radiometer (HIRAD) are ingested into SAMURAI to produce increments, which are then used by the COAMPS-TC dynamic initialization scheme to produce consistent dynamic and thermodynamically balanced fields. This high temporal resolution (order of 10-15 minutes) incremental dynamic initialization procedure has advantages over conventional methods in that a bogus vortex is not used, and existing asymmetries (including convective heating and upper and low level wind asymmetries) that exist in the TC are retained. The use of dynamic initialization also ensures improved vortex and environment balance, and consistency with the model physics. A preliminary verification of this new TC initialization scheme will be presented for the initialization and forecast of Hurricane Joaquin (2015).

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

    Institute of Scientific and Technical Information of China (English)

    Han Songshan; Jiao Zongxia; Wang Chengwen; Shang Yaoxing

    2015-01-01

    A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion sim-ulators 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 simula-tors. 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 decom-position 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 control-ler theoretically can guarantee asymptotic tracking performance in the presence of the above uncer-tainties, 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.

  19. 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...

  20. Parallel Neural Network-Based Motion Controller for Autonomous Underwater Vehicles

    Institute of Scientific and Technical Information of China (English)

    GAN Yong; WANG Li-rong; WAN Lei; XU Yu-ru

    2005-01-01

    A parallel neural network-based controller (PNNC) is presented for the motion control of underwater vehicles in this paper. It consists of a real-time part, a self-learning part and a desired-state programmer, and it is different from normal adaptive neural network controller in structure. Owing to the introduction of the self-learning part, on-line learning can be performed without sample data in several sample periods, resulting in high learning speed of the controller and good control performance. The desired-state programmer is utilized to obtain better learning samples of the neural network to keep the stability of the controller. The developed controller is applied to the 4-degree of freedom control of the AUV "IUV-IV" and is successful on the simulation platform. The control performance is also compared with that of neural network controller with different structures such as normal adaptive neural network and different learning methods. Current effects and surge velocity control are also included to demonstrate the controller's performance. It is shown that the PNNC has a great possibility to solve the problems in the control system design of underwater vehicles.

  1. Layered Multicast Encryption of Motion JPEG2000 Code Streams for Flexible Access Control

    Science.gov (United States)

    Nakachi, Takayuki; Toyoshima, Kan; Tonomura, Yoshihide; Fujii, Tatsuya

    In this paper, we propose a layered multicast encryption scheme that provides flexible access control to motion JPEG2000 code streams. JPEG2000 generates layered code streams and offers flexible scalability in characteristics such as resolution and SNR. The layered multicast encryption proposal allows a sender to multicast the encrypted JPEG2000 code streams such that only designated groups of users can decrypt the layered code streams. While keeping the layering functionality, the proposed method offers useful properties such as 1) video quality control using only one private key, 2) guaranteed security, and 3) low computational complexity comparable to conventional non-layered encryption. Simulation results show the usefulness of the proposed method.

  2. 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.

  3. 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.

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

    Science.gov (United States)

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

    2016-04-01

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

  5. 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.

  6. EIT-control of single-atom motion in an optical cavity

    CERN Document Server

    Kampschulte, Tobias; Manz, Sebastian; Martinez-Dorantes, Miguel; Reimann, René; Yoon, Seokchan; Meschede, Dieter; Bienert, Marc; Morigi, Giovanna

    2012-01-01

    We demonstrate cooling of the motion of a single atom confined by a dipole trap inside a high-finesse optical resonator. Cooling of the vibrational motion results from EIT-like interference in an atomic \\Lambda-type configuration, where one transition is strongly coupled to the cavity mode and the other is driven by an external control laser. Good qualitative agreement with the theoretical predictions is found for the explored parameter ranges. The role of the cavity in the cooling dynamics is confirmed by means of a direct comparison with EIT-cooling performed in the dipole trap in free space. These results set the basis to the realization of an efficient photonic interface based on single atoms.

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

    Directory of Open Access Journals (Sweden)

    Geert De Cubber

    2010-02-01

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

  8. 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.

  9. Active vibration control techniques for flexible space structures

    Science.gov (United States)

    Parlos, Alexander G.; Jayasuriya, Suhada

    1990-01-01

    Two proposed control system design techniques for active vibration control in flexible space structures are detailed. Control issues relevant only to flexible-body dynamics are addressed, whereas no attempt was made to integrate the flexible and rigid-body spacecraft dynamics. Both of the proposed approaches revealed encouraging results; however, further investigation of the interaction of the flexible and rigid-body dynamics is warranted.

  10. Nonlinear control techniques for an atomic force microscope system

    Institute of Scientific and Technical Information of China (English)

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

    2005-01-01

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

  11. Sliding mode control of switching power converters techniques and implementation

    CERN Document Server

    Tan, Siew-Chong; Tse, Chi-Kong

    2011-01-01

    Sliding Mode Control of Switching Power Converters: Techniques and Implementation is perhaps the first in-depth account of how sliding mode controllers can be practically engineered to optimize control of power converters. A complete understanding of this process is timely and necessary, as the electronics industry moves toward the use of renewable energy sources and widely varying loads that can be adequately supported only by power converters using nonlinear controllers.Of the various advanced control methods used to handle the complex requirements of power conversion systems, sliding mode c

  12. 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.

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

    Science.gov (United States)

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

    1995-03-01

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

  14. Motion and vibration control of a slewing flexible structure by SMA actuators and parameter sensitivity analysis

    Science.gov (United States)

    Janzen, F. C.; Tusset, A. M.; Piccirillo, V.; Balthazar, J. M.; Brasil, R. M. L. R. F.

    2015-11-01

    This work presents two approaches to the problem of vibration and positioning control of a flexible structural beam driven by a DC motor. The position is controlled by the current applied to the DC motor armature. A Shape Memory Alloy (SMA) actuator controls vibrations of the flexible structural beam. The State Dependent Riccati Equation (SDRE) technique is used to provide a control action which uses sub-optimal control and system local stability search. The robustness of these two controllers is tested by sensitivity analysis to parametric uncertainties. Numerical simulations results are presented to demonstrate the effectiveness of the proposed control strategy.

  15. Optimal Control of Investment-Reinsurance Problem for an Insurer with Jump-Diffusion Risk Process: Independence of Brownian Motions

    Directory of Open Access Journals (Sweden)

    De-Lei Sheng

    2014-01-01

    Full Text Available This paper investigates the excess-of-loss reinsurance and investment problem for a compound Poisson jump-diffusion risk process, with the risk asset price modeled by a constant elasticity of variance (CEV model. It aims at obtaining the explicit optimal control strategy and the optimal value function. Applying stochastic control technique of jump diffusion, a Hamilton-Jacobi-Bellman (HJB equation is established. Moreover, we show that a closed-form solution for the HJB equation can be found by maximizing the insurer’s exponential utility of terminal wealth with the independence of two Brownian motions W(t and W1(t. A verification theorem is also proved to verify that the solution of HJB equation is indeed a solution of this optimal control problem. Then, we quantitatively analyze the effect of different parameter impacts on optimal control strategy and the optimal value function, which show that optimal control strategy is decreasing with the initial wealth x and decreasing with the volatility rate of risk asset price. However, the optimal value function V(t;x;s is increasing with the appreciation rate μ of risk asset.

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

    Science.gov (United States)

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

    2015-01-01

    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.

  17. 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.

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

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  19. 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.

  20. Semi-active control of the rocking motion of monolithic art objects

    Science.gov (United States)

    Ceravolo, Rosario; Pecorelli, Marica Leonarda; Zanotti Fragonara, Luca

    2016-07-01

    The seismic behaviour of many art objects and obelisks can be analysed in the context of the seismic response of rigid blocks. Starting from the pioneering works by Housner, a large number of analytical studies of the rigid block dynamics were proposed. In fact, despite its apparent simplicity, the motion of a rigid block involves a number of complex dynamic phenomena such as impacts, sliding, uplift and geometric nonlinearities. While most of the current strategies to avoid toppling consist in preventing rocking motion, in this paper a novel semi-active on-off control strategy for protecting monolithic art objects was investigated. The control procedure under study follows a feedback-feedforward scheme that is realised by switching the stiffness of the anchorages located at the two lower corner of the block between two values. Overturning spectra have been calculated in order to clarify the benefits of applying a semi-active control instead of a passive control strategy. In accordance with similar studies, the numerical investigation took into account the dynamic response of blocks with different slenderness and size subject to one-sine pulse excitation.

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

    Directory of Open Access Journals (Sweden)

    Joanna Cholewa

    2017-01-01

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

  2. Evolutionary biology and genetic techniques for insect control

    OpenAIRE

    Leftwich, Philip; Bolton, Michael; Chapman, Tracey

    2015-01-01

    Abstract The requirement to develop new techniques for insect control that minimize negative environmental impacts has never been more pressing. Here we discuss population suppression and population replacement technologies. These include sterile insect technique, genetic elimination methods such as the release of insects carrying a dominant lethal (RIDL), and gene driving mechanisms offered by intracellular bacteria and homing endonucleases. We also review the potential of newer or underutil...

  3. Movies of molecular motions and reactions: the single-molecule, real-time transmission electron microscope imaging technique.

    Science.gov (United States)

    Nakamura, Eiichi

    2013-01-02

    "The truth is, the Science of Nature has been already too long made only a work of the Brain and the Fancy: It is now high time that it should return to the plainness and soundness of Observations on material and obvious things," proudly declared Robert Hooke in his highly successful picture book of microscopic and telescopic images, "Micrographia" in 1665. Hooke's statement has remained true in chemistry, where a considerable work of the brain and the fancy is still necessary. Single-molecule, real-time transmission electron microscope (SMRT-TEM) imaging at an atomic resolution now allows us to learn about molecules simply by watching movies of them. Like any dream come true, the new analytical technique challenged the old common sense of the communities, and offers new research opportunities that are unavailable by conventional methods. With its capacity to visualize the motions and the reactions of individual molecules and molecular clusters, the SMRT-TEM technique will become an indispensable tool in molecular science and the engineering of natural and synthetic substances, as well as in science education. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  4. 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.

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

    Science.gov (United States)

    Shum, Henry; Yashin, Victor; Balazs, Anna

    2014-11-01

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

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

    Indian Academy of Sciences (India)

    BEHROUZ KHEIRI SARABI; MANU SHARMA; DAMANJEET KAUR

    2017-08-01

    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 tracking zero references for modes of vibration. To illustrate the technique, a two-degrees of freedom spring-mass-dampersystem is considered as a test system. The mathematical model of the system is derived and then converted into a state-space model. A linear quadratic tracking control law is then used to make the disturbed system track zero references.

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

    Science.gov (United States)

    Kheiri Sarabi, Behrouz; Sharma, Manu; Kaur, Damanjeet

    2017-08-01

    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 tracking zero references for modes of vibration. To illustrate the technique, a two-degrees of freedom spring-mass-damper system is considered as a test system. The mathematical model of the system is derived and then converted into a state-space model. A linear quadratic tracking control law is then used to make the disturbed system track zero references.

  8. Review of control techniques for inverters parallel operation

    Energy Technology Data Exchange (ETDEWEB)

    Mohd, Alaa; Ortjohann, Egon [South Westphalia University of Applied Sciences/Division Soest, Luebecker Ring 2, 59494 Soest (Germany); Morton, Danny [The University of Bolton, Deane Road, Bolton (United Kingdom); Omari, Osama (The Arab American University, Jenin, Palestine)

    2010-12-15

    This paper presents state-of-the-art review of control methods applied currently to parallel power electronic inverters. Different system architectures, their modes of operation, management and control strategies will be analyzed; advantages and disadvantages will be discussed. Though, it is not easy to give a general view at the state of the art for the research area since it is rapid and going in different directions, this paper will focus on the main streams. This paper will start by briefly reviewing the current trends in power supply systems and the increasing importance for including power electronic devices. Next, the different techniques to parallel inverters suggested in the literature will be checked. These can be categorized to the following main approaches: master/slave control techniques, current/power sharing control techniques, and frequency/voltage droop control techniques. Finally, based on the reviewed state of the art, the study concludes by comparing the different approaches reported. In addition, their weaknesses and strengths are strained. (author)

  9. Contact position controlling for two-dimensional motion bodies by the boundary element method

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    An algorithm is presented for controlling two-dimensional motion contact bodies with conforming discretization. Since a kind of special boundary element is utilized in the algorithm, the displacement compatibility and traction equilibrium conditions at nodes can be satisfied simultaneously in arbitrary locations of the contact interface. In addition, a method is also proposed in which the contact boundary location can be moved flexibly on the possible contact boundary. This method is effective to deal with moving and rolling contact problems on a possible larger moving or rolling contact region. Numerical examples show effectiveness of the presented scheme.

  10. Monolithic sensors for low frequency motion measurement and control of spacecrafts and satellites

    Science.gov (United States)

    Barone, F.; Giordano, G.; Acernese, F.; Romano, R.

    2016-10-01

    In this paper we describe the characteristics and performances of a monolithic sensor designed for low frequency motion measurement and control of spacecrafts and satellites, whose mechanics is based on the UNISA Folded Pendulum. The latter, developed for ground-based applications, exhibits unique features (compactness, lightness, scalability, low resonance frequency and high quality factor), consequence of the action of the gravitational force on its inertial mass. In this paper we introduce and discuss the general methodology used to extend the application of ground-based folded pendulums to space, also in total absence of gravity, still keeping all their peculiar features and characteristics.

  11. 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.

  12. Bursting-like motion induced by time-varying delay in an internet congestion control model

    Institute of Scientific and Technical Information of China (English)

    Shu Zhang; Jian Xu

    2012-01-01

    Time delay is an important parameter in the problem of internet congestion control.According to some researches,time delay is not always constant and can be viewed as a periodic function of time for some cases.In this work,an internet congestion control model is considered to study the time-varying delay induced bursting-like motion,which consists of a rapid oscillation burst and quiescent steady state.Then,for the system with periodic delay of small amplitude and low frequency,the method of multiple scales is employed to obtain the amplitude of the oscillation.Based on the expression of the asymptotic solution,it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay.Finally,an effective method to control the bursting-like motion is proposed by introducing a periodic gain parameter with appropriate amplitude.Theoretical results are in agreement with that from numerical method.

  13. 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.

  14. Recurrent RBFN-based fuzzy neural network control for X-Y-theta motion control stage using linear ultrasonic motors.

    Science.gov (United States)

    Lin, Faa-Jeng; Shieh, Po-Huang

    2006-12-01

    A recurrent radial basis function network (RBFN) based fuzzy neural network (FNN) control system is proposed to control the position of an X-Y-theta motion control stage using linear ultrasonic motors (LUSMs) to track various contours in this study. The proposed recurrent RBFN-based FNN combines the merits of self-constructing fuzzy neural network (SCFNN), recurrent neural network (RNN), and RBFN. Moreover, the structure and the parameter learning phases of the recurrent RBFN-based FNN are performed concurrently and on line. The structure learning is based on the partition of input space, and the parameter learning is based on the supervised gradient decent method using a delta adaptation law. The experimental results due to various contours show that the dynamic behaviors of the proposed recurrent RBFN-based FNN control system are robust with regard to uncertainties.

  15. Differential Evolution Based Receding Horizon Control for UAV Motion Planning in Dynamic Environments

    Institute of Scientific and Technical Information of China (English)

    ZHANG Xing; BAI YongQiang; XIN Bin; CHEN Jie

    2013-01-01

    This paper presents online motion planning for UAV (unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control problem.Receding horizon control (RHC) based on differential evolution (DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in flight.Then flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective function.Simulation results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

  16. Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force‐position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact‐based hybrid control helps the robot achieve better and stable motion planning than conventional position‐based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

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

    Science.gov (United States)

    Danko, George

    2011-11-22

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

  18. Interpolation techniques in robust constrained model predictive control

    Science.gov (United States)

    Kheawhom, Soorathep; Bumroongsri, Pornchai

    2017-05-01

    This work investigates interpolation techniques that can be employed on off-line robust constrained model predictive control for a discrete time-varying system. A sequence of feedback gains is determined by solving off-line a series of optimal control optimization problems. A sequence of nested corresponding robustly positive invariant set, which is either ellipsoidal or polyhedral set, is then constructed. At each sampling time, the smallest invariant set containing the current state is determined. If the current invariant set is the innermost set, the pre-computed gain associated with the innermost set is applied. If otherwise, a feedback gain is variable and determined by a linear interpolation of the pre-computed gains. The proposed algorithms are illustrated with case studies of a two-tank system. The simulation results showed that the proposed interpolation techniques significantly improve control performance of off-line robust model predictive control without much sacrificing on-line computational performance.

  19. 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.

  20. Multicyclic control of a helicopter rotor considering the influence of vibration, loads, and control motion

    Science.gov (United States)

    Brown, T. J.; Mccloud, J. L., III

    1980-01-01

    Weighted multiple linear regression is used to establish a transfer function matrix relationship between higher harmonic control inputs and transducer vibration outputs for a controllable twist rotor. Data used in the regression were taken from the test of a KAMAN controllable twist rotor conducted in the Ames Research Center's 40- by 80-Foot Wind Tunnel in June 1977. Optimal controls to minimize fixed system vibrational levels are calculated using linear quadratic regulatory theory with a control deflection penalty included in the performance criteria. Control sensitivity to changes in control travel, forward speed, and lift and propulsive forces is examined. It is found that the linear transfer matrix is a strong function of forward speed and a weak function of lift and propulsive force. An open-loop strategy is proposed for systems with limited control travel.

  1. 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.

  2. DIRECT TORQUE CONTROL FOR INDUCTION MOTOR USING INTELLIGENT TECHNIQUES

    Directory of Open Access Journals (Sweden)

    R.Toufouti

    2007-09-01

    Full Text Available In this paper, we propose two approach intelligent techniques of improvement of Direct Torque Control (DTC of Induction motor such as fuzzy logic (FL and artificial neural network (ANN, applied in switching select voltage vector .The comparison with conventional direct torque control (DTC, show that the use of the DTC_FL and DTC_ANN, reduced the torque, stator flux, and current ripples. The validity of the proposed methods is confirmed by the simulative results.

  3. Robust control design techniques for active flutter suppression

    Science.gov (United States)

    Ozbay, Hitay; Bachmann, Glen R.

    1994-01-01

    In this paper, an active flutter suppression problem is studied for a thin airfoil in unsteady aerodynamics. The mathematical model of this system is infinite dimensional because of Theodorsen's function which is irrational. Several second order approximations of Theodorsen's function are compared. A finite dimensional model is obtained from such an approximation. We use H infinity control techniques to find a robustly stabilizing controller for active flutter suppression.

  4. A control theory approach to clock steering techniques.

    Science.gov (United States)

    Farina, Marcello; Galleani, Lorenzo; Tavella, Patrizia; Bittanti, Sergio

    2010-10-01

    Several clock and time scale steering methods have been developed according to different viewpoints by various time laboratories. By resorting to control theory ideas, we propose a common theoretical framework encompassing these methods. A comparison of the most common steering methodologies, namely, the classical steering approach, the GPS bang-bang method, and the linear quadratic Gaussian technique, is carried out. We believe that the use of control theory methods can potentially lead to a better understanding of clock steering algorithms.

  5. Abstraction and control techniques for non-stationary scheduling problems

    CERN Document Server

    Innocenti, Giacomo

    2009-01-01

    The paper faces the problem of scheduling from a new perspective, trying to bridge the gap between classical heuristic approaches and system identification and control strategies. To this aim, a complete mathematical formulation of a general scheduling process is derived, beginning from very broad assumptions. This allows a greater freedom of manipulation and guarantee the resolution of the identification (and control) techniques. Both an adaptive and a switching strategies are presented in relation to the performances of a simple Round Robin algorithm.

  6. Design of Longitudinal Motion Controller of a Small Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Ahmed Elsayed

    2015-09-01

    Full Text Available The need for autonomous Unmanned Aerial Vehicles (UAVs is very interesting nowadays. Autonomous UAVs provide the possibility of performing tasks and missions that are currently hazardous or can cost humans or money, enable autonomous search, persistent combat intelligence, surveillance and reconnaissance (ISR, and many other applications. This paper presents an overview of autopilot design with a detailed design of longitudinal autopilot of a Small Unmanned Aerial Vehicle (SUAV. The designed autopilot is applied to an Ultrastick-25e fixed wing UAV depending on longitudinal linear model and analytic linear model with trimmed values of straight and leveling scenario. The longitudinal motion controller design is started with the design of most inner loop (pitch rate feedback of the longitudinal system, then pitch tracker design with a Proportional Integral (PI- controller. The guidance and control system is related with the design of altitude hold controller with P-controller as an example of outer loop controller design. The performance of two classic controller approaches for the design of autopilot are compared and evaluated for both linear and non-linear models. The proposed controller is chosen for design due to its higher performance than the classic one. At last the climbing turn scenario is applied to the whole autopilot (longitudinal and lateral for the evaluation process. The results show a good performance in both disturbance rejection and robustness against sensors noise.

  7. The generalization of a class of impulse stochastic control models of a geometric Brownian motion

    Institute of Scientific and Technical Information of China (English)

    LIU XiaoPeng; LIU KunHui

    2009-01-01

    Recently, international academic circles advanced a class of new stochastic control models of a geometric Brownian motion which is an important kind of impulse control models whose cost structure is different from the others before, and it has a broad applying background and important theoretical significance in financial control and management of investment. This paper generalizes substantially the above stochastic control models under quite extensive conditions and describes the models more exactly under more normal theoretical system of stochastic process. By establishing a set of proper variational equations and proving the existence of its solution, and applying the means of stochastic analysis, this paper proves that the generalized stochastic control models have optimal controls.Meanwhile, we also analyze the structure of optimal controls carefully. Besides, we study the solution function of variational equations in a relatively deep-going way, which constitutes the value function of control models to some extent. Because the analysis methods of this paper are greatly different from those of original reference, this paper possesses considerable originality to some extent. In addition,this paper gives the strict proof to the part of original reference which is not fairly well-knit in analyses,and makes analyses and discussions of the model have the exactitude of mathematical sense.

  8. Non-linear control logics for vibrations suppression: a comparison between model-based and non-model-based techniques

    Science.gov (United States)

    Ripamonti, Francesco; Orsini, Lorenzo; Resta, Ferruccio

    2015-04-01

    Non-linear behavior is present in many mechanical system operating conditions. In these cases, a common engineering practice is to linearize the equation of motion around a particular operating point, and to design a linear controller. The main disadvantage is that the stability properties and validity of the controller are local. In order to improve the controller performance, non-linear control techniques represent a very attractive solution for many smart structures. The aim of this paper is to compare non-linear model-based and non-model-based control techniques. In particular the model-based sliding-mode-control (SMC) technique is considered because of its easy implementation and the strong robustness of the controller even under heavy model uncertainties. Among the non-model-based control techniques, the fuzzy control (FC), allowing designing the controller according to if-then rules, has been considered. It defines the controller without a system reference model, offering many advantages such as an intrinsic robustness. These techniques have been tested on the pendulum nonlinear system.

  9. Novel coordinates for nonlinear multibody motion with applications to spacecraft dynamics and control

    Science.gov (United States)

    Schaub, Hanspeter

    1998-12-01

    Novel sets of attitude coordinates called the Stereographic Parameters (SPs) and configuration quasivelocity coordinates called the Eigenfactor Quasivelocities (EQVs) are discussed. The SPs are generated through stereographic projections of the Euler parameter constraint hypersphere onto hyperplanes. SP sets are non-unique and have distinct alternate sets referred to as shadow sets. They abide by the same differential kinematic equation, but generally display a different singular behavior. Explicit expressions are developed that map the original SP set to the shadow set and thus avoid any singularities. Both symmetric SPs such as the classical and Modified Rodrigues Parameters (MRPs), as well as asymmetric SPs are discussed. A globally asymptotically stable MRP feedback law which tracks any reference trajectory is presented. Both unsaturated and saturated control cases are discussed. Further, an MRP costate switching condition is developed that allows both original and shadow MRPs to be used simultaneously in optimal control problems. The Lagrange equations of motion in terms of the n-dimensional EQV vector are developed. The EQV formulation has an identity mass matrix which results in no matrix inverse being taken in numerical simulations. An explicit expression is presented that incorporates Pfaffian non-holonomic constraints into the EQV formulation without increasing the system order. Unfortunately, the use of EQV in numerical simulations only proved beneficial in selected cases. Generally the computational burden proved too high. However, the EQVs are found to be valuable when used as velocity feedback coordinates. EQV feedback laws have an exponentially decaying kinetic energy, superior performance to traditional state velocity feedback laws and are found to decouple the motion of multi-link robotic systems. The equations of motion and steering laws of spacecraft containing Variable Speed Control Moment Gyroscopes (VSCMGs) are developed. Contrary to classical

  10. A modeling technique for active control design studies with application to spacecraft microvibrations.

    Science.gov (United States)

    Aglietti, G S; Gabriel, S B; Langley, R S; Rogers, E

    1997-10-01

    Microvibrations, at frequencies between 1 and 1000 Hz, generated by on board equipment, can propagate throughout a spacecraft structure and affect the performance of sensitive payloads. To investigate strategies to reduce these dynamic disturbances by means of active control systems, realistic yet simple structural models are necessary to represent the dynamics of the electromechanical system. In this paper a modeling technique which meets this requirement is presented, and the resulting mathematical model is used to develop some initial results on active control strategies. Attention is focused on a mass loaded panel subjected to point excitation sources, the objective being to minimize the displacement at an arbitrary output location. Piezoelectric patches acting as sensors and actuators are employed. The equations of motion are derived by using Lagrange's equation with vibration mode shapes as the Ritz functions. The number of sensors/actuators and their location is variable. The set of equations obtained is then transformed into state variables and some initial controller design studies are undertaken. These are based on standard linear systems optimal control theory where the resulting controller is implemented by a state observer. It is demonstrated that the proposed modeling technique is a feasible realistic basis for in-depth controller design/evaluation studies.

  11. Unstable equilibrium point in chaotic domain-wall motion and Ott{endash}Grebogi{endash}Yorke control

    Energy Technology Data Exchange (ETDEWEB)

    Okuno, H.; Takemura, Y.

    2001-06-01

    A method for finding the unstable equilibrium points in Bloch wall motion is proposed, which is important for controlling the chaotic domain-wall motion by using the Ott{endash}Grebogi{endash}Yorke (OGY) method. The dynamics of Bloch wall motion are expressed by a nonlinear differential equation with the terms of inertia, damping, restoring, and an external magnetic drive force. An equation is transformed into the difference equations by following the OGY method, approximating linearly around an unstable equilibrium point (a saddle point), and adding a controlling input. The unstable equilibrium points are obtained by using the return map and the condition of hyperbolic fixed point. The time series of domain-wall motion successfully controlled on the unstable equilibrium points by the OGY method is shown. {copyright} 2001 American Institute of Physics.

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

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

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

  13. Controlling Molecular Motion, Assembly and Coupling as a Step towards Molecular Actuators

    Science.gov (United States)

    Murphy, Colin James

    changes in the supramolecular self-assembly of thioethers. Chapter 9 details how the ordering and length of surface-bound hydrogen-bonded chains of methanol are dictated by the underlying surface and examines an unreported chiral meta-stable methanol hexamer. Single-molecule measurements can answer many of the current questions in the field of molecular machines and lead to control of molecular motion. Development of mechanisms to direct molecular motion and to couple this motion to external systems is crucial for the rational design of new molecular machinery with functionalities such as mass transport, propulsion, separations, sensing, signaling and chemical reactions.

  14. 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.

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

    Directory of Open Access Journals (Sweden)

    Ernst D. Dickmanns

    2003-10-01

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

  16. 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.

  17. 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.

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

    Science.gov (United States)

    Maleke, C; Konofagou, E E

    2008-03-21

    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 degrees 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 microm degrees C(-1)(r=0.93, ptissue became irreversibly stiffer, followed by an associated decrease in the HMI displacement (-0.79 microm degrees C(-1), r=-0.92, ptissues during FUS, HIFU or other thermal therapies.

  19. Control Techniques in Heating, Ventilating and Air Conditioning Systems

    Directory of Open Access Journals (Sweden)

    H. Mirinejad

    2008-01-01

    Full Text Available Problem statement: Heating, Ventilating and Air Conditioning (HVAC systems are among the main installations in residential, commercial and industrial buildings. The purpose of the HVAC systems is normally to provide a comfortable environment in terms of temperature, humidity and other environmental parameters for the occupants as well as to save energy. Achieving these objectives requires a suitable control system design. Approach: In this overview, thermal comfort level and ISO comfort field is introduced, followed by a review and comparison of the main existing control techniques used in HVAC systems to date. Results: The present overview shows that intelligent controllers which are based on the human sensation of thermal comfort have a better performance in providing thermal comfort as well as energy saving than the traditional controllers and those based on a model of the HVAC system. Conclusion: Such an overview provides an insight into current control methods in HVAC systems and can help scholars and HVAC learners to have the comprehensive information about a variety of control techniques in the field of HVAC and therefore to better design a proper controller for their work

  20. 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.

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

    Institute of Scientific and Technical Information of China (English)

    郎琳; 王剑; 韦庆; 马宏绪

    2016-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

  3. 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.

  4. H(sub infinity) techniques for spacecraft control

    Science.gov (United States)

    Frapard, B.; Leballois, S.; Champetier, C.

    1993-09-01

    The high performance Attitude and Orbit Control Systems (AOCS) and high accuracy Instrument Pointing Systems design require more and more control bandwidth: dynamic couplings can be no more neglected and control laws tend to be highly sensitive to the unmodeled dynamics. Multivariable systems analysis and optimal control synthesis tools, with robustness bounds/robustness constraints with respect to the unmodeled dynamics, are a major area of research for space applications. Among others, the large field of techniques provided by H(sub infinity) theory appears to be very promising. Two typical applications are presented in this paper, one concerning high accuracy pointing for observation satellites, with a particular interest in the SPOT Mark II platform, the other addressing the Drag Free Control problem for missions such as Aristoteles, STEP and Gravity Probe B.

  5. Analysis of Timing Control Mechanism of Utterance and Body Motion Using Dialogue between Human and Communication Robot

    Science.gov (United States)

    Takasugi, Shoji; Yamamoto, Tomohito; Muto, Yumiko; Abe, Hiroyuki; Miyake, Yoshihiro

    The purpose of this study is to clarify the effects of timing control of utterance and body motion in human-robot interaction. Our previous study has already revealed the correlation of timing of utterance and body motion in human-human communication. Here we proposed a timing control model based on our previous research and estimated its influence to realize human-like communication using a questionnaire method. The results showed that the difference of effectiveness between the communication with the timing control model and that without it was observed. In addition, elderly people evaluated the communication with timing control much higher than younger people. These results show not only the importance of timing control of utterance and body motion in human communication but also its effectiveness for realizing human-like human-robot interaction.

  6. A Novel BLDC-Like DTC Control Technique for Induction Motors

    Directory of Open Access Journals (Sweden)

    Andrea Rossi

    2012-01-01

    Full Text Available DC brushless motors are widely adopted for their simplicity of control, even in sensorless configuration, and their high torque density. On the other hand, induction motors are very economical due to the absence of permanent magnets; for the same reason they can easily be driven in the flux-weakening region to attain a wide speed range. Nevertheless, high dynamic induction motors drives, based on field-oriented (FOC or predictive control, require large amounts of computing power and are rather sensitive to motor parameter variations. This paper presents a simple DTC induction motor control algorithm based on a well-known BLDC control technique, which allows to realize a high dynamic induction motor speed control with wide speed range. The firmware implementation is very compact and occupies a low amount of program memory, comparable to volt-per-Hertz- (V/f- based control algorithms. The novel control algorithm presents also good performance and low current ripple and can be implemented on a low-cost motion control DSP without resorting to high-frequency PWM.

  7. Use of Stewart Control Chart Technique in Monitoring Student Performance

    Directory of Open Access Journals (Sweden)

    A.A. Akinrefon

    2014-12-01

    Full Text Available Students' academic performance was assessed using quality control techniques. Results show that performance of students was out of control using mean chart (X ̅-Chart with Central Limit (CL = 2.35, Upper Control Limit (UCL = 3.20 (although grade points above this limit may not necessarily be regarded as out-of-control-points for academic performance and Lower Control Limit (LCL = 1.51. Similarly, students' performance was also found not to be in control using Standard Deviation (S-Chart with Central Limit (CL = 0.71, Upper Control Limit = 1.34, Lower Control Limit = 0.001 approximately.The chart shows point falling below lower control limit (1.51; that is, students with poor performance. This can be adopted as a bench mark for assessing whether or not students should proceed to the next academic level, some sort of 'Academic Good-Standing'. Above the upper control limit are exceptional/ good results. The average performance of students is 2.35 which corresponds to third class grade; this implies that on average, students graduate with third class.

  8. Investigation of the dynamics of angular motion and construction of algorithms for controlling the angular momentum of spacecraft using a magnetic attitude control system

    Science.gov (United States)

    Egorov, Yu. G.; Kulkov, V. M.; Terentyev, V. V.; Firsyuk, S. O.; Shemyakov, A. O.

    2016-11-01

    The problem of controlling the angular momentum of spacecraft using magnetic attitude control systems interacting with the Earth's magnetic field is considered. A mathematical model for the angular motion dynamics of a spacecraft has been constructed. An approach to determining the parameters of the control law for a spacecraft attitude control and stabilization system that ensures angular momentum dissipation is proposed.

  9. A study on the Efficacy of Muscle Energy Technique as compared to Conventional Therapy on Lumbar Spine Range of Motion in Chronic Low Back Pain of Sacroiliac Origin

    Directory of Open Access Journals (Sweden)

    Supreet Bindra

    2013-10-01

    Full Text Available Sacroiliac joint dysfunction is a term often used to describe pain in and around the region of the joint that is presumed to be due to biomechanical disorders of the joint. Despite of high incidence, the contribution of sacroiliac joint to low back pain has been a matter of controversy. Physical therapists routinely assess spinal range of motion in patients with low back pain and believe that spinal range of motion and disability are closely linked. The present study was aimed to determine the relative efficacy of Muscle Energy Technique as compared to Conventional Therapy on lumbar spine range of motion in chronic low back pain of Sacroiliac origin. It was found that the subjects who were treated with Muscle Energy Technique showed greater improvements in lumbar spine range of motion as compared to Conventional Therapy Group. As far as reduction in pain and disability are concerned both the groups showed almost similar results. The study concluded that sacroiliac joint dysfunction affects lumbar spine range of motion and is a significant contributor to chronic low back pain.

  10. Vagal control of cardiac electrical activity and wall motion during ventricular fibrillation in large animals.

    Science.gov (United States)

    Naggar, Isaac; Nakase, Ko; Lazar, Jason; Salciccioli, Louis; Selesnick, Ivan; Stewart, Mark

    2014-07-01

    Vagal inputs control pacemaking and conduction systems in the heart. Anatomical evidence suggests a direct ventricular action, but functional evidence that separates direct and indirect (via the conduction system) vagal actions is less well established. We studied vagus nerve stimulation (VNS) during sinus rhythm and ventricular fibrillation (VF) in pigs and sheep to determine: 1) the range of unilateral and bilateral actions (inotropic and chronotropic) and 2) whether VNS alters left ventricular motion and/or electrical activity during VF, a model of abnormal electrical conduction of the left ventricle that excludes sinus and atrioventricular nodal function. Adult pigs (N=8) and sheep (N=10) were anesthetized with urethane and mechanically ventilated. VNS was performed in animals at 1, 2, 5, 10, 20, 50, and 100Hz for 20s. VF was induced with direct current to the ventricles or occlusion of the left anterior descending coronary artery. In 4 pigs and 3 sheep, left ventricular wall motion was assessed from endocardial excursion in epicardial echocardiography. In sheep and pigs, the best frequency among those tested for VNS during sinus rhythm to produce sustained electrical and mechanical ventricular standstill was 50Hz for unilateral or bilateral stimulation. When applied during VF, bilateral VNS increased the variability of the dominant VF frequency, indicating a direct impact on the excitability of ventricular myocytes, and decreased endocardial excursion by more than 50% during VF. We conclude that the vagus nerve directly modulates left ventricular function independently from its effects on the conduction system.

  11. Anticipatory control of motion-to-force transitions with the fingertips adapts optimally to task difficulty.

    Science.gov (United States)

    Cianchetti, Flor A; Valero-Cuevas, Francisco J

    2010-01-01

    Moving our fingertips toward objects to produce well-directed forces immediately upon contact is fundamental to dexterous manipulation. This apparently simple motion-to-force transition in fact involves a time-critical, predictive switch in control strategy. Given that dexterous manipulation must accommodate multiple mechanical conditions, we investigated whether and how this transition adapts to task difficulty. Eight adults (19-39 yr) produced ramps of isometric vertical fingertip force against a rigid surface immediately following a tapping motion. By changing target surface friction and size, we defined an easier (sandpaper, 11 mm diam) versus a more difficult (polished steel, 5 mm diam) task. As in prior work, we assembled fine-wire electromyograms from all seven muscles of the index finger into a seven-dimensional vector defining the full muscle coordination pattern-and quantified its temporal evolution as its alignment with a reference coordination pattern vector for steady-state force production. As predicted by numerical optimizations to neuromuscular delays, our empirical and sigmoidal nonlinear regression analyses show that the coordination pattern transitions begin sooner for the more difficult tasks than for the easier tasks ( approximately 120 ms, P 0.7 in most cases). Importantly, the force vector following contact had smaller directional error (P optimization to counteract neuromuscular delays and noise to enable this fundamental element of dexterous manipulation.

  12. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

    Science.gov (United States)

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  13. 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…

  14. Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

    Science.gov (United States)

    Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

    2010-07-01

    An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.

  15. Friction estimation technique for Galileo scan platform control

    Science.gov (United States)

    Chodas, J. L.

    1982-01-01

    A friction estimation technique has been developed for the scan platform control of the Galileo spacecraft. The purpose of the estimation is to reduce the impact of friction in the scan platform actuator on the pointing performance of the scan platform so that tight pointing requirements can be met. The estimator operates by comparing the actual behavior of the platform with the expected behavior and attributing the difference to the presence of friction. The estimator is coupled with a proportional-integral-derivative controller to generate a control torque for the scan platform actuator. Since the algorithm will be implemented on an onboard digital computer, a stability analysis of the estimator-controller in discrete time is presented. The performance of the design is demonstrated by a sample slew test case.

  16. TECHNIQUES ABOUT DIRECT OPTIMIZING CONTROL OF GREEN SAND QUALITY*

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Green sand casting is still a main method in the world at present and it is very significant to develop the technology of controlling green sand quality. A new concept, from contents test to contents control, is advanced. In order to realize the new idea, a new method to on-line test active clay and moisture of green sand - double powers energizing alternately (DPEA) method is put forwards. The principle of the new method is to energize standard sand sample with AC and DC powers and to test the electric parameters, and then, to calculate active clay and moisture of green sand by using artificial neural network (ANN). Based on this new method, a direct optimizing system for controlling green sand quality is developed. Techniques about testing and controlling methods, hardware and software are discussed.

  17. 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.

  18. 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...

  19. Key techniques of automatic gauge control and profile control for aluminium strip and foil

    Institute of Scientific and Technical Information of China (English)

    LI Mou-wei; LIU Hong-fei; WANG Xiang-li; TONG Chao-nan; YIN Feng-fu; BIAN Xin-xiao; ZHANG Lei

    2006-01-01

    Such characteristics of aluminium strip and foil as soft and thin gauge make tension control one of the key techniques for automation gauge control(AGC). To avoid the disadvantage of traditional mathematical control method which is unfitful for nonlinear hysteresis, the technique for tension AGC fuzzy control was developed and thickness deviation more than 3% of product thickness was achieved consequently in 1 350 mm cold rolling mill of aluminium strip and foil. Additionally, because the gauge of aluminium strip and foil is thin, stage-cooling roll method becomes a key technique for profile control. So stage-cooling roll intelligent control method is developed and pre-coated aluminum foil with good profile less than 10 I (the relative differences in elongation of 0.01% ) is produced using the profile control system in 1 400 mm cold rolling mill of aluminium strip and foil.

  20. Modeling and boundary control of translational and rotational motions of nonlinear slender beams in three-dimensional space

    Science.gov (United States)

    Do, K. D.

    2017-02-01

    Equations of motion of extensible and shearable slender beams with large translational and rotational motions under external loads in three-dimensional space are first derived in a vector form. Boundary feedback controllers are then designed to ensure that the beams are practically K∞-exponentially stable at the equilibrium. The control design, well-posedness, and stability analysis are based on two Lyapunov-type theorems developed for a class of evolution systems in Hilbert space. Numerical simulations on a slender beam immersed in sea water are included to illustrate the effectiveness of the proposed control design.

  1. 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; Bin Aziz, Mohamed Fareez; 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).

  2. 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.

  3. Effectiveness enhancement of a cycloidal wind turbine by individual active control of blade motion

    Science.gov (United States)

    Hwang, In Seong; Lee, Yun Han; Kim, Seung Jo

    2007-04-01

    In this paper, a research for the effectiveness enhancement of a Cycloidal Wind Turbine by individual active control of blade motion is described. To improve the performance of the power generation system, which consists of several straight blades rotating about axis in parallel direction, the cycloidal blade system and the individual active blade control method are adopted. It has advantages comparing with horizontal axis wind turbine or conventional vertical axis wind turbine because it maintains optimal blade pitch angles according to wind speed, wind direction and rotor rotating speed to produce high electric power at any conditions. It can do self-starting and shows good efficiency at low wind speed and complex wind condition. Optimal blade pitch angle paths are obtained through CFD analysis according to rotor rotating speed and wind speed. The individual rotor blade control system consists of sensors, actuators and microcontroller. To realize the actuating device, servo motors are installed to each rotor blade. Actuating speed and actuating force are calculated to compare with the capacities of servo motor, and some delays of blade pitch angles are corrected experimentally. Performance experiment is carried out by the wind blowing equipment and Labview system, and the rotor rotates from 50 to 100 rpm according to the electric load. From this research, it is concluded that developing new vertical axis wind turbine, Cycloidal Wind Turbine which is adopting individual active blade pitch control method can be a good model for small wind turbine in urban environment.

  4. 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.

  5. Motion style acupuncture treatment (MSAT for acute low back pain with severe disability: a multicenter, randomized, controlled trial protocol

    Directory of Open Access Journals (Sweden)

    Shin Joon-Shik

    2011-12-01

    Full Text Available Abstract Background Acupuncture is widely-used to treat patients with low back pain, despite insufficient evidence of the technique's efficacy for acute back pain. Motion style acupuncture treatment (MSAT is a non-traditional acupuncture treatment requiring a patient to exercise while receiving acupuncture. In Korea, MSAT is used to reduce musculoskeletal pain and improve functional status. The study aims to evaluate the effect of MSAT on acute low back pain with severe disability. Methods/Design This study is a multicenter, randomized, active-controlled trial with two parallel arms. Participants with acute low back pain and severe functional disability, defined as an Oswestry Disability Index (ODI value > 60%, will be randomly allocated to the acupuncture group and the nonsteroidal anti-inflammatory drug (NSAID injection group. The acupuncture group will receive MSAT and the NSAID injection group will receive an intramuscular injection of diclofenac. All procedures will be limited to one session and the symptoms before and after treatment will be measured by assessors blinded to treatment allocation. The primary outcome will be measured at 30 minutes after treatment using the numerical rating scale (NRS of low back pain while the patient is moving. Secondary outcomes will be measured at 30 minutes after treatment using the NRS of leg pain, ODI, patient global impression of change, range of motion (ROM of the lumbar spine, and degrees of straight leg raising (SLR. Post-treatment follow-up will be performed to measure primary and secondary outcomes with the exception of ROM and SLR at 2, 4, and 24 weeks after treatment. Discussion The results of this trial will be discussed. Trial Registration ClinicalTrial.gov NCT01315561

  6. Effect of Thermal Buoyancy on Fluid Flow and Inclusion Motion in Tundish without Flow Control Devices--Part Ⅱ: Inclusion Motion

    Institute of Scientific and Technical Information of China (English)

    ZHANG Li-feng

    2005-01-01

    Following up the fluid flow simulation in a 60 t tundish, the trajectories of inclusions in the 60 t tundish without flow control are simulated by considering the force balance between the drag force and the inertial buoyancy force. The Stochastic model yields more accurate inclusion motion than the non-Stochastic model due to including the effect of the turbulent fluctuation. The average residence time of inclusions decreases with increasing size. The thermal buoyancy favors inclusions removal especially the small inclusions. Using solute transport like the dye injection in water model and copper addition in the real steel tundish cannot accurately study the motion of the inclusions. In the simulation, more than 68% inclusions bigger than 10μm are removed to the top, and less than 32% enters the mold. The thermal buoyancy has little effect on the fraction of inclusions moved to the top of the inlet zone, and it mainly favors the removal of inclusions smaller than 100μm to the top surface of the outlet zone. For inclusions bigger than 100μm , the effect of thermal buoyancy on their motion can be ignored compared to the inertial buoyancy effect.

  7. Least Squares Temporal Difference Actor-Critic Methods with Applications to Robot Motion Control

    CERN Document Server

    Estanjini, Reza Moazzez; Lahijanian, Morteza; Wang, Jing; Belta, Calin A; Paschalidis, Ioannis Ch

    2011-01-01

    We consider the problem of finding a control policy for a Markov Decision Process (MDP) to maximize the probability of reaching some states while avoiding some other states. This problem is motivated by applications in robotics, where such problems naturally arise when probabilistic models of robot motion are required to satisfy temporal logic task specifications. We transform this problem into a Stochastic Shortest Path (SSP) problem and develop a new approximate dynamic programming algorithm to solve it. This algorithm is of the actor-critic type and uses a least-square temporal difference learning method. It operates on sample paths of the system and optimizes the policy within a pre-specified class parameterized by a parsimonious set of parameters. We show its convergence to a policy corresponding to a stationary point in the parameters' space. Simulation results confirm the effectiveness of the proposed solution.

  8. 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.

  9. Drag-Free Motion Control of Satellite for High-Precision Gravity Field Mapping

    DEFF Research Database (Denmark)

    2002-01-01

    , sensors, actuators and environmental disturbances to the required micro-Newton accuracy. A control system is designed to compensate the non-gravitational disturbances on the satellite in three axes using an H∞-design. Performance is validated against mission requirements. Keywords: Spacecraft Attitude......High precision mapping of the geoid and the Earth's gravity field are of importance to a wide range of ongoing studies in areas like ocean circulation, solid Earth physics and ice sheet dynamics. Using a satellite in orbit around the Earth gives the opportunity to map the Earth's gravity field in 3...... dimensions with much better accuracy and spatial resolution than ever accomplished. To reach the desired quality of measurements, the satellite must fly in a low Earth orbit where disturbances from atmospheric drag and the Earth's magnetic field will perturb the satellite's motion. These effects...

  10. Laser distance sensors used with a developed integrated algorithm for robot motion control in steel coil marking

    DEFF Research Database (Denmark)

    Conrad, Finn; Vejby-Christensen, Jacob; Flyvholm, Morten;

    1999-01-01

    The paper deals with research and application of external sensor feedback for robot control. Two laser distance sensors are applied and tested as external sensors for motion control, particulary for marking of hot steel coils in steel strip mills. A developed algoritm integated with a coordinate...

  11. 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 past...

  12. 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......This paper presents an optimization-based human movement prediction using the AnyBody modeling system (AMS). It is explained how AMS can enables prediction of a realistic human movement by means of a computationally efficient optimization-based algorithm. The human motion predicted in AMS is based......, 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...

  13. 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...

  14. 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.

  15. Human Control Law and Brain Activity of Voluntary Motion by Utilizing a Balancing Task with an Inverted Pendulum

    Directory of Open Access Journals (Sweden)

    Satoshi Suzuki

    2010-01-01

    Full Text Available Human characteristics concerning voluntary motion control are investigated, because this motion is fundamental for the machine operation and human-computer system. Using a force feedback haptic device and a balancing task of a virtual inverted pendulum, participants were trained in the task, and hand motion/force was measured, and brain activity was monitored. First, through brain analysis by near-infrared spectroscopy (NIRS and motion analysis of the pendulum, we identified a participant who was the most expert. Next, control characteristics of the most expert were investigated by considering the operational force and delay factor of a human. As a result, it was found that predictive control based on velocity information was used predominantly although a perception feedback control against the pendulum posture worked. And it was shown that an on-off intermittency control, which was a strategy for the skilled balancing, can be described well by a liner model involving two types of time shifts for the position and velocity. In addition, it was confirmed that the cortex activity for observation in an ocular motor control area and visual processing area was strong to enhance above-mentioned control strategies.

  16. Application of altitude control techniques for low altitude earth satellites

    Science.gov (United States)

    Nickerson, K. G.; Herder, R. W.; Glass, A. B.; Cooley, J. L.

    1977-01-01

    The applications sensors of many low altitude earth satellites designed for recording surface or atmospheric data require near zero orbital eccentricities for maximum usefulness. Coverage patterns and altitude profiles require specified values of orbit semimajor axis. Certain initial combinations of semimajor axis, eccentricity, and argument of perigee can produce a so called 'frozen orbit' and minimum altitude variation which enhances sensor coverage. This paper develops information on frozen orbits and minimum altitude variation for all inclinations, generalizing previous results. In the altitude regions where most of these satellites function (between 200 and 1000 kilometers) strong atmospheric drag effects influence the evolution of the initial orbits. Active orbital maneuver control techniques to correct evolution of orbit parameters while minimizing the frequency of maneuvers are presented. The paper presents the application of theoretical techniques for control of near frozen orbits and expands upon the methods useful for simultaneously targeting several inplane orbital parameters. The applications of these techniques are illustrated by performance results from the Atmosphere Explorer (AE-3 and -5) missions and in preflight maneuver analysis and plans for the Seasat Oceanographic Satellite.

  17. Integrated controlling technique of ecological environment in Shendong Mining Area

    Institute of Scientific and Technical Information of China (English)

    ZHANG Dong-sheng; LIU Yu-de; WANG An; WANG Yi

    2007-01-01

    To enclose the interactive relation between the underground mining with suitable protection for surface ecological environments and surface prevention of ecological environments adapting to mining disturbing was researched and developed core of this technique. There are three aspects of controlling ecological environments, to dispose and renew before exploitation, to protect surface ecological environments in the exploitative process and to repair and build up after exploitation. Based on the moving law of overburden strata in shallow seam, the surface subsidence law and the growth law of vegetation in subsidence mine area, the integrated controlling technique has been developed synthetically by methods of theoretic analysis, laboratory simulation, numerical calculation,commercial test etc.. It includes the key techniques of aquifer-protective mining, filtering and purging of mine water through goaf, preventing and extinguishing fire in shallow seam,no-rock roadway layout and waste disposal in underground, frame-building ecological functional sphere before exploitation, frame-building the ecological cycle using system after mining and so on.

  18. 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.

  19. Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach

    Institute of Scientific and Technical Information of China (English)

    Yao Jianyong; Jiao Zongxia; Han Songshan

    2013-01-01

    Low-velocity tracking capability is a key performance of flight motion simulator (FMS),which is mainly affected by the nonlinear friction force.Though many compensation schemes with ad hoc friction models have been proposed,this paper deals with low-velocity control without friction model,since it is easy to be implemented in practice.Firstly,a nonlinear model of the FMS middle frame,which is driven by a hydraulic rotary actuator,is built.Noting that in the low velocity region,the unmodeled friction force is mainly characterized by a changing-slowly part,thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it.To guarantee the boundedness of adaptation process,a discontinuous projection is utilized and then a robust scheme is proposed.The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors.In addition,a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large,which might make the previous proposed projection-based adaptive law be unstable.Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.

  20. 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