WorldWideScience

Sample records for policy-based autonomic control

  1. In search of synergies between policy-based systems management and economic models for autonomic computing

    OpenAIRE

    Anthony, Richard

    2011-01-01

    Policy-based systems management (PBM) and economics-based systems management (EBM) are two of the many techniques available for implementing autonomic systems, each having specific benefits and limitations, and thus different applicability; choosing the most appropriate technique is\\ud the first of many challenges faced by the developer. This talk begins with a critical discussion of the general design goals of autonomic systems and the main issues involved with their development and deployme...

  2. Time dependent policy-based access control

    DEFF Research Database (Denmark)

    Vasilikos, Panagiotis; Nielson, Flemming; Nielson, Hanne Riis

    2017-01-01

    also on other attributes of the environment such as the time. In this paper, we use systems of Timed Automata to model distributed systems and we present a logic in which one can express time-dependent policies for access control. We show how a fragment of our logic can be reduced to a logic......Access control policies are essential to determine who is allowed to access data in a system without compromising the data's security. However, applications inside a distributed environment may require those policies to be dependent on the actual content of the data, the flow of information, while...... that current model checkers for Timed Automata such as UPPAAL can handle and we present a translator that performs this reduction. We then use our translator and UPPAAL to enforce time-dependent policy-based access control on an example application from the aerospace industry....

  3. Decentralized Control of Autonomous Vehicles

    Science.gov (United States)

    2003-01-01

    Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

  4. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    Simmons, R.G.

    1994-01-01

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

  5. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-01-01

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions

  6. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  7. Autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  8. Cooperative Control of Multiple Unmanned Autonomous Vehicles

    Science.gov (United States)

    2005-06-03

    I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

  9. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  10. Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-08-31

    insect brain, allow these animals to fly with damaged wings, order of body mass payloads (e.g., foraging bees with a load of pollen , blood satiated...The research focus addressed two broad, complementary research areas : autonomous systems concepts inspired by the behavior and neurobiology...UL 46 19b. TELEPHONE NUMBER (include area code) 850 883-1887 Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39.18 iii Table of

  11. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  12. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  13. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    Jorgensen, C.C.

    1985-01-01

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

  14. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot

  15. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

    2011-01-01

    Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

  16. An autonomous control framework for advanced reactors

    Directory of Open Access Journals (Sweden)

    Richard T. Wood

    2017-08-01

    Full Text Available Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

  17. An autonomous control framework for advanced reactors

    International Nuclear Information System (INIS)

    Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C.

    2017-01-01

    Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors

  18. An autonomous control framework for advanced reactors

    Energy Technology Data Exchange (ETDEWEB)

    Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)

    2017-08-15

    Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

  19. Autonomous Control, Climate and Environmental Changes Effects ...

    African Journals Online (AJOL)

    Autonomous Control, Climate and Environmental Changes Effects on Trypanosomiasis in Sub-Saharan Africa: A Review. ... African trypanosomiasis is a parasitic disease that causes serious economic losses in livestock due to anemia, loss of condition and emaciation. The disease when neglected is lethal and untreated ...

  20. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design...... temperature controller, based on airflow control, was designed. Feedback linearisation is used together with an auto-tuning procedure, based on relay feedback. Design of a new CO2 controller was made to achieve a demand controlled ventilation system, in order to save energy. Feedback linearisation was used...

  1. Autonomous grain combine control system

    Science.gov (United States)

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  2. Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

    Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

  3. Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

    Science.gov (United States)

    2007-11-01

    Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

  4. Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

    National Research Council Canada - National Science Library

    McCamish, Shawn B

    2007-01-01

    This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous...

  5. Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

    Science.gov (United States)

    Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

    2018-03-01

    Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

  6. A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

    Science.gov (United States)

    2013-09-01

    Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

  7. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  8. Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

    Science.gov (United States)

    2006-08-14

    COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

  9. Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

    Science.gov (United States)

    Ni, Jun; Hu, Jibin

    2017-06-01

    In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

  10. Autonomous Control of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Basher, H.

    2003-01-01

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors

  11. Autonomous Control of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Basher, H.

    2003-10-20

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.

  12. Autonomous control of a locomotion vehicle

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoh, Makoto; Miyata, Kenji

    1984-01-01

    A path planner and an execution system are proposed for autonomous vehicle control. The planner creates a near shortest path avoiding obstacles that are represented by combinations of circles and line segments on a two dimensional map. For realizing real time execution, path search procedures employ a heuristic pruning strategies in selecting a node to expand and in generating successor nodes. Nodes are selected for expansion in order, according to a cost assigned to each node. The cost is mainly evaluated by approximating a path length from the initial node to the goal node. In order to expand a node and to generate successor nodes, a specific search procedure is activated that finds positions avoiding obstacles in the direction of the goal, and creates successor nodes corresponding to the positions. The execution system, utilizing an ultrasonic range finder equipped to the vehicle performs a plan repair against unknown obstacles when echoes from the obstacles are observed. The plan repair is conducted by a map edition and replanning in such a way that new circles representing the echoes are added to the map. Obstacle avoidance tests with a vehicle controlled by microprocessors demonstrate the utility of heuristics just outlined. (author)

  13. Sweden: Autonomous Reactivity Control (ARC) Systems

    International Nuclear Information System (INIS)

    Qvist, Staffan A.

    2015-01-01

    The next generation of nuclear energy systems must be licensed, constructed, and operated in a manner that will provide a competitively priced supply of energy, keeping in consideration an optimum use of natural resources, while addressing nuclear safety, waste, and proliferation resistance, and the public perception concerns of the countries in which those systems are deployed. These issues are tightly interconnected, and the implementation of passive and inherent safety features is a high priority in all modern reactor designs since it helps to tackle many of the issues at once. To this end, the Autonomous Reactivity Control (ARC) system was developed to ensure excellent inherent safety performance of Generation-IV reactors while having a minimal impact on core performance and economic viability. This paper covers the principles for ARC system design and analysis, the problem of ensuring ARC system response stability and gives examples of the impact of installing ARC systems in well-known fast reactor core systems. It is shown that even with a relatively modest ARC installation, having a near-negligible impact on core performance during standard operation, cores such as the European Sodium Fast Reactor (ESFR) can be made to survive any postulated unprotected transient without coolant boiling or fuel melting

  14. An Expert System for Autonomous Spacecraft Control

    Science.gov (United States)

    Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

    2005-01-01

    The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.

  15. Autonomous control of distributed storages in microgrids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

    Operation of distributed generators in microgrids has widely been discussed, but would not be fully autonomous, if distributed storages are not considered. Storages in general are important, since they provide energy buffering to load changes, energy leveling to source variations and ride......-through enhancement to the overall microgrids. Recognizing their importance, this paper presents a scheme for sharing power among multiple distributed storages, in coordination with the distributed sources and loads. The scheme prompts the storages to autonomously sense for system conditions, requesting for maximum...

  16. Alterations in cardiac autonomic control in spinal cord injury.

    Science.gov (United States)

    Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan; Malmqvist, Lasse; Wecht, Jill Maria; Krassioukov, Andrei

    2018-01-01

    A spinal cord injury (SCI) interferes with the autonomic nervous system (ANS). The effect on the cardiovascular system will depend on the extent of damage to the spinal/central component of ANS. The cardiac changes are caused by loss of supraspinal sympathetic control and relatively increased parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update of the current knowledge related to the alterations in cardiac autonomic control following SCI. With this purpose the review includes the following subheadings: 2. Neuro-anatomical plasticity and cardiac control 2.1 Autonomic nervous system and the heart 2.2 Alteration in autonomic control of the heart following spinal cord injury 3. Spinal shock and neurogenic shock 3.1 Pathophysiology of spinal shock 3.2 Pathophysiology of neurogenic shock 4. Autonomic dysreflexia 4.1 Pathophysiology of autonomic dysreflexia 4.2 Diagnosis of autonomic dysreflexia 5. Heart rate/electrocardiography following spinal cord injury 5.1 Acute phase 5.2 Chronic phase 6. Heart rate variability 6.1 Time domain analysis 6.2 Frequency domain analysis 6.3 QT-variability index 6.4 Nonlinear (fractal) indexes 7. Echocardiography 7.1 Changes in cardiac structure following spinal cord injury 7.2 Changes in cardiac function following spinal cord injury 8. International spinal cord injury cardiovascular basic data set and international standards to document the remaining autonomic function in spinal cord injury. Copyright © 2017 Elsevier B.V. All rights reserved.

  17. 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.

  18. Policy-based secure communication with automatic key management for industrial control and automation systems

    Science.gov (United States)

    Chernoguzov, Alexander; Markham, Thomas R.; Haridas, Harshal S.

    2016-11-22

    A method includes generating at least one access vector associated with a specified device in an industrial process control and automation system. The specified device has one of multiple device roles. The at least one access vector is generated based on one or more communication policies defining communications between one or more pairs of devices roles in the industrial process control and automation system, where each pair of device roles includes the device role of the specified device. The method also includes providing the at least one access vector to at least one of the specified device and one or more other devices in the industrial process control and automation system in order to control communications to or from the specified device.

  19. Intelligent (Autonomous) Power Controller Development for Human Deep Space Exploration

    Science.gov (United States)

    Soeder, James; Raitano, Paul; McNelis, Anne

    2016-01-01

    As NASAs Evolvable Mars Campaign and other exploration initiatives continue to mature they have identified the need for more autonomous operations of the power system. For current human space operations such as the International Space Station, the paradigm is to perform the planning, operation and fault diagnosis from the ground. However, the dual problems of communication lag as well as limited communication bandwidth beyond GEO synchronous orbit, underscore the need to change the operation methodology for human operation in deep space. To address this need, for the past several years the Glenn Research Center has had an effort to develop an autonomous power controller for human deep space vehicles. This presentation discusses the present roadmap for deep space exploration along with a description of conceptual power system architecture for exploration modules. It then contrasts the present ground centric control and management architecture with limited autonomy on-board the spacecraft with an advanced autonomous power control system that features ground based monitoring with a spacecraft mission manager with autonomous control of all core systems, including power. It then presents a functional breakdown of the autonomous power control system and examines its operation in both normal and fault modes. Finally, it discusses progress made in the development of a real-time power system model and how it is being used to evaluate the performance of the controller and well as using it for verification of the overall operation.

  20. Are Autonomous and Controlled Motivations School-Subjects-Specific?

    Science.gov (United States)

    Chanal, Julien; Guay, Frédéric

    2015-01-01

    This research sought to test whether autonomous and controlled motivations are specific to school subjects or more general to the school context. In two cross-sectional studies, 252 elementary school children (43.7% male; mean age = 10.7 years, SD = 1.3 years) and 334 junior high school children (49.7% male, mean age = 14.07 years, SD = 1.01 years) were administered a questionnaire assessing their motivation for various school subjects. Results based on structural equation modeling using the correlated trait-correlated method minus one model (CTCM-1) showed that autonomous and controlled motivations assessed at the school subject level are not equally school-subject-specific. We found larger specificity effects for autonomous (intrinsic and identified) than for controlled (introjected and external) motivation. In both studies, results of factor loadings and the correlations with self-concept and achievement demonstrated that more evidence of specificity was obtained for autonomous regulations than for controlled ones. These findings suggest a new understanding of the hierarchical and multidimensional academic structure of autonomous and controlled motivations and of the mechanisms involved in the development of types of regulations for school subjects. PMID:26247788

  1. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.

    2008-01-01

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  2. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  3. Fault Tolerant Autonomous Lateral Control for Heavy Vehicles

    OpenAIRE

    Talbot, Craig Matthew; Papadimitriou, Iakovos; Tomizuka, Masayoshi

    2004-01-01

    This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control...

  4. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...

  5. Comparison of three control methods for an autonomous vehicle

    Science.gov (United States)

    Deshpande, Anup; Mathur, Kovid; Hall, Ernest

    2010-01-01

    The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

  6. approximate controllability of a non-autonomous differential equation

    Indian Academy of Sciences (India)

    53

    for a non-autonomous functional differential equation using the theory of linear ... approximate controllability of various functional differential equations in abstract ...... the operator A(t) and into the requirement that x(t) ∈ D(A) for all t ≥ 0.

  7. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

  8. High-frequency autonomic modulation: a new model for analysis of autonomic cardiac control.

    Science.gov (United States)

    Champéroux, Pascal; Fesler, Pierre; Judé, Sebastien; Richard, Serge; Le Guennec, Jean-Yves; Thireau, Jérôme

    2018-05-03

    Increase in high-frequency beat-to-beat heart rate oscillations by torsadogenic hERG blockers appears to be associated with signs of parasympathetic and sympathetic co-activation which cannot be assessed directly using classic methods of heart rate variability analysis. The present work aimed to find a translational model that would allow this particular state of the autonomic control of heart rate to be assessed. High-frequency heart rate and heart period oscillations were analysed within discrete 10 s intervals in a cohort of 200 healthy human subjects. Results were compared to data collected in non-human primates and beagle dogs during pharmacological challenges and torsadogenic hERG blockers exposure, in 127 genotyped LQT1 patients on/off β-blocker treatment and in subgroups of smoking and non-smoking subjects. Three states of autonomic modulation, S1 (parasympathetic predominance) to S3 (reciprocal parasympathetic withdrawal/sympathetic activation), were differentiated to build a new model of heart rate variability referred to as high-frequency autonomic modulation. The S2 state corresponded to a specific state during which both parasympathetic and sympathetic systems were coexisting or co-activated. S2 oscillations were proportionally increased by torsadogenic hERG-blocking drugs, whereas smoking caused an increase in S3 oscillations. The combined analysis of the magnitude of high-frequency heart rate and high-frequency heart period oscillations allows a refined assessment of heart rate autonomic modulation applicable to long-term ECG recordings and offers new approaches to assessment of the risk of sudden death both in terms of underlying mechanisms and sensitivity. © 2018 The Authors. British Journal of Pharmacology published by John Wiley & Sons Ltd on behalf of British Pharmacological Society.

  9. Cooperative Frequency Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    Distributed secondary control strategies have been recently studied for frequency regulation in droop-based AC Microgrids. Unlike centralized secondary control, the distributed one might fail to provide frequency synchronization and proportional active power sharing simultaneously, due to having...... not require measuring the system frequency as compared to the other presented methods. An ac Microgrid with four sources is used to verify the performance of the proposed control methodology....

  10. Modelling of a PMSG Wind Turbine with Autonomous Control

    Directory of Open Access Journals (Sweden)

    Chia-Nan Wang

    2014-01-01

    Full Text Available The aim of this research is to model an autonomous control wind turbine driven permanent magnetic synchronous generator (PMSG which feeds alternating current (AC power to the utility grid. Furthermore, this research also demonstrates the effects and the efficiency of PMSG wind turbine which is integrated by autonomous controllers. In order for well autonomous control, two voltage source inverters are used to control wind turbine connecting with the grid. The generator-side inverter is used to adjust the synchronous generator as well as separating the generator from the grid when necessary. The grid-side inverter controls the power flow between the direct current (DC bus and the AC side. Both of them are oriented control by space vector pulse width modulation (PWM with back-to-back frequency inverter. Moreover, the proportional-integral (PI controller is enhanced to control both of the inverters and the pitch angle of the wind turbine. Maximum power point tracking (MPPT is integrated in generator-side inverter to track the maximum power, when wind speed changes. The simulation results in Matlab Simulink 2012b showing the model have good dynamic and static performance. The maximum power can be tracked and the generator wind turbine can be operated with high efficiency.

  11. Enabling autonomous control for space reactor power systems

    International Nuclear Information System (INIS)

    Wood, R. T.

    2006-01-01

    The application of nuclear reactors for space power and/or propulsion presents some unique challenges regarding the operations and control of the power system. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a space reactor power system (SRPS) employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. Thus, a SRPS control system must provide for operational autonomy. Oak Ridge National Laboratory (ORNL) has conducted an investigation of the state of the technology for autonomous control to determine the experience base in the nuclear power application domain, both for space and terrestrial use. It was found that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and basic control for a SRPS is clearly feasible under optimum circumstances. However, autonomous control is primarily intended to account for the non optimum circumstances when degradation, failure, and other off-normal events challenge the performance of the reactor and near-term human intervention is not possible. Thus, the development and demonstration of autonomous control capabilities for the specific domain of space nuclear power operations is needed. This paper will discuss the findings of the ORNL study and provide a description of the concept of autonomy, its key characteristics, and a prospective

  12. Autonomous Visual Control of a Mobile Robot

    National Research Council Canada - National Science Library

    Blackburn, Michael

    1994-01-01

    .... We propose that efficient and extensible solutions to the target acquisition and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed...

  13. Vehicle following controller design for autonomous intelligent vehicles

    Science.gov (United States)

    Chien, C. C.; Lai, M. C.; Mayr, R.

    1994-01-01

    A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

  14. Research methods of simulate digital compensators and autonomous control systems

    Directory of Open Access Journals (Sweden)

    V. S. Kudryashov

    2016-01-01

    Full Text Available The peculiarity of the present stage of development of the production is the need to control and regulate a large number of process parameters, the mutual influence on each other that when using single-circuit systems significantly reduces the quality of the transition process, resulting in significant costs of raw materials and energy, reduce the quality of the products. Using a stand-alone digital control system eliminates the correlation of technological parameters, to give the system the desired dynamic and static properties, improve the quality of regulation. However, the complexity of the configuration and implementation of procedures (modeling compensators autonomous systems of this type, associated with the need to perform a significant amount of complex analytic transformation significantly limit the scope of their application. In this regard, the approach based on the decompo sition proposed methods of calculation and simulation (realization, consisting in submitting elements autonomous control part digital control system in a series parallel connection. The above theoretical study carried out in a general way for any dimension systems. The results of computational experiments, obtained during the simulation of the four autonomous control systems, comparative analysis and conclusions on the effectiveness of the use of each of the methods. The results obtained can be used in the development of multi-dimensional process control systems.

  15. Autonomous Control Capabilities for Space Reactor Power Systems

    International Nuclear Information System (INIS)

    Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

    2004-01-01

    The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission

  16. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan

    2010-01-01

    for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.......This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable...

  17. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    Crane, C.D. III; Duffy, J.

    1986-01-01

    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  18. Fuzzy Logic Based Autonomous Traffic Control System

    Directory of Open Access Journals (Sweden)

    Muhammad ABBAS

    2012-01-01

    Full Text Available The aim of this paper is to design and implement fuzzy logic based traffic light Control system to solve the traffic congestion issues. In this system four input parameters: Arrival, Queue, Pedestrian and Emergency Vehicle and two output parameters: Extension in Green and Pedestrian Signals are used. Using Fuzzy Rule Base, the system extends or terminates the Green Signal according to the Traffic situation at the junction. On the presence of emergency vehicle, the system decides which signal(s should be red and how much an extension should be given to Green Signal for Emergency Vehicle. The system also monitors the density of people and makes decisions accordingly. In order to verify the proposed design algorithm MATLAB simulation is adopted and results obtained show concurrency to the calculated values according to the Mamdani Model of the Fuzzy Control System.

  19. Integrating Autonomous Load Controllers in Power Systems

    DEFF Research Database (Denmark)

    Douglass, Philip James

    , but they are characterized by variable generation that is only partly predictable. Managing loads is already used in limited circumstances to improve security and efficiency of the power system. In power systems with a large penetration of variable generation, load management has large role to play in adapting consumption......Electric energy systems stand on the brink of radical change as the urgent need to reduce greenhouse gas emissions pushes more efficient utilization of energy resources and the adoption of renewable energy sources. New renewable sources such as wind and solar have a large potential......-sensitive load controller has been designed, implemented, and tested in real-life settings. Its performance demonstrated a large potential resource, in some cases greater than the average power consumption. The accuracy of load models was validated by comparison with field data. A voltage-sensitive controller...

  20. An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

    Science.gov (United States)

    Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

    This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

  1. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon

    2010-01-01

    system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system......This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision......, yielding significant load swing reduction compared to the baseline controller....

  2. Autonomous aerial vehicles : guidance, control, signal and image processing platform

    International Nuclear Information System (INIS)

    Al-Jarrah, M.; Adiansyah, S.; Marji, Z. M.; Chowdhury, M. S.

    2011-01-01

    The use of unmanned systems is gaining momentum in civil applications after successful use by the armed forces around the globe. Autonomous aerial vehicles are important for providing assistance in monitoring highways, power grid lines, borders, and surveillance of critical infrastructures. It is envisioned that cargo shipping will be completely handled by UAVs by the 2025. Civil use of unmanned autonomous systems brings serious challenges. The need for cost effectiveness, reliability, operation simplicity, safety, and cooperation with human and with other agents are among these challenges. Aerial vehicles operating in the civilian aerospace is the ultimate goal which requires these systems to achieve the reliability of manned aircraft while maintaining their cost effectiveness. In this presentation the development of an autonomous fixed and rotary wing aerial vehicle will be discussed. The architecture of the system from the mission requirements to low level auto pilot control laws will be discussed. Trajectory tracking and path following guidance and control algorithms commonly used and their implementation using of the shelf low cost components will be presented. Autonomous takeo? landing is a key feature that was implemented onboard the vehicle to complete its degree of autonomy. This is implemented based on accurate air-data system designed and fused with sonar measurements, INS/GPS measurements, and vector field method guidance laws. The outcomes of the proposed research is that the AUS-UAV platform named MAZARI is capable of autonomous takeoff and landing based on a pre scheduled flight path using way point navigation and sensor fusion of the inertial navigation system (INS) and global positioning system (GPS). Several technologies need to be mastered when developing a UAV. The navigation task and the need to fuse sensory information to estimate the location of the vehicle is critical to successful autonomous vehicle. Currently extended Kalman filtering is

  3. Bilateral human-robot control for semi-autonomous UAV navigation

    NARCIS (Netherlands)

    Wopereis, Han Willem; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2015-01-01

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

  4. Traffic Control Models Based on Cellular Automata for At-Grade Intersections in Autonomous Vehicle Environment

    OpenAIRE

    Wei Wu; Yang Liu; Yue Xu; Quanlun Wei; Yi Zhang

    2017-01-01

    Autonomous vehicle is able to facilitate road safety and traffic efficiency and has become a promising trend of future development. With a focus on highways, existing literatures studied the feasibility of autonomous vehicle in continuous traffic flows and the controllability of cooperative driving. However, rare efforts have been made to investigate the traffic control strategies in autonomous vehicle environment on urban roads, especially in urban intersections. In autonomous vehicle enviro...

  5. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

    Directory of Open Access Journals (Sweden)

    Marta Niccolini

    2014-01-01

    Full Text Available The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.

  6. A microgrid cluster structure and its autonomous coordination control strategy

    DEFF Research Database (Denmark)

    Zhou, Xiaoping; Zhou, Leming; Chen, Yandong

    2018-01-01

    This paper proposes a microgrid cluster structure and its autonomous coordination control strategy. Unlike existing microgrids that are purely AC or DC, the microgrid cluster studied here is an interconnected system with multiple AC and DC microgrids, which enables mutual power support among...... control method combining the normalized droop-based control and adaptive control is proposed for PEU, which can effectively realize mutual power support among microgrids and reduce the bus voltage or frequency deviation in microgrids. In addition, the adaptive control strategy of PEU can ensure...... that the bigger the normalized index of microgrid is, the larger the active power exchange coefficient is, which can make all of microgrids operate around the rated state as much as possible. Besides, EP is mainly used to balance the system power, and the hierarchical coordinated control method of EP is proposed...

  7. A Multifunctional Smart Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz Marina; Buhrow, Jerry W.; Jolley, Scott T.

    2012-01-01

    Corrosion is a destructive process that often causes failure in metallic components and structures. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional, smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to control it. The multi-functionality of the coating is based on micro-encapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of other existing microcapsules designs, the corrosion controlled release function that allows the delivery of corrosion indicators and inhibitors on demand only when and where needed. Corrosion indicators as well as corrosion inhibitors have been incorporated into microcapsules, blended into several paint systems, and tested for corrosion detection and protection efficacy. This

  8. Environmentally Friendly Coating Technology for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Johnsey, Marissa N.; Jolley, Scott T.; Pearman, Benjamin P.; Zhang, Xuejun; Fitzpatrick, Lilliana; Gillis, Mathew; Blanton, Michael; hide

    2016-01-01

    This work concerns the development of environmentally friendly encapsulation technology, specifically designed to incorporate corrosion indicators, inhibitors, and self-healing agents into a coating, in such a way that the delivery of the indicators and inhibitors is triggered by the corrosion process, and the delivery of self-healing agents is triggered by mechanical damage to the coating. Encapsulation of the active corrosion control ingredients allows the incorporation of desired autonomous corrosion control functions such as: early corrosion detection, hidden corrosion detection, corrosion inhibition, and self-healing of mechanical damage into a coating. The technology offers the versatility needed to include one or several corrosion control functions into the same coating.The development of the encapsulation technology has progressed from the initial proof-of-concept work, in which a corrosion indicator was encapsulated into an oil-core (hydrophobic) microcapsule and shown to be delivered autonomously, under simulated corrosion conditions, to a sophisticated portfolio of micro carriers (organic, inorganic, and hybrid) that can be used to deliver a wide range of active corrosion ingredients at a rate that can be adjusted to offer immediate as well as long-term corrosion control. The micro carriers have been incorporated into different coating formulas to test and optimize the autonomous corrosion detection, inhibition, and self-healing functions of the coatings. This paper provides an overview of progress made to date and highlights recent technical developments, such as improved corrosion detection sensitivity, inhibitor test results in various types of coatings, and highly effective self-healing coatings based on green chemistry.

  9. 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.

  10. Issues and approaches in control for autonomous reactor operation

    International Nuclear Information System (INIS)

    Vilim, R. B.; Khalil, H. S.; Wei, T. Y. C.

    2000-01-01

    A capability for autonomous and passively safe operation is one of the goals of the NERI funded development of Generation IV nuclear plants. An approach is described for evaluating the effect of increasing autonomy on safety margins and load behavior and for examining issues that arise with increasing autonomy and their potential impact on performance. The method provides a formal approach to the process of exploiting the innate self-regulating property of a reactor to make it less dependent on operator action and less vulnerable to automatic control system fault and/or operator error. Some preliminary results are given

  11. Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids

    Science.gov (United States)

    Dever, Timothy P.; Trase, Larry M.; Soeder, James F.

    2014-01-01

    This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.

  12. Autonomous Congestion Control in Delay-Tolerant Networks

    Science.gov (United States)

    Burleigh, Scott; Jennings, Esther; Schoolcraft, Joshua

    2006-01-01

    This presentation highlights communication congestion control in delay-tolerant networks (DTNs). Large-scale future space exploration will offer complex communication challenges that may be best addressed by establishing a network infrastructure. However, current internet techniques for congestion control are not well suited for operation of a network over interplanetary distances. An alternative, delay-tolerant technique for congestion control in a delay-tolerant network is presented. A simple DTN was constructed and an experimental congestion control mechanism was applied. The mechanism appeared to be effective and each router was able to make its bundle acceptance decisions autonomously. Future research will examine more complex topologies and alternative bundle acceptance rules that might enhance performance.

  13. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

  14. Towards autonomous neuroprosthetic control using Hebbian reinforcement learning.

    Science.gov (United States)

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

    2013-12-01

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

  15. Ground Operations Autonomous Control and Integrated Health Management

    Science.gov (United States)

    Daniels, James

    2014-01-01

    The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

  16. Improving the Lane Reference Detection for Autonomous Road Vehicle Control

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

    Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

  17. Meaningful Human Control over Autonomous Systems: A Philosophical Account

    Directory of Open Access Journals (Sweden)

    Filippo Santoni de Sio

    2018-02-01

    Full Text Available Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these concerns, the principle of “meaningful human control” has been introduced in the legal–political debate; according to this principle, humans not computers and their algorithms should ultimately remain in control of, and thus morally responsible for, relevant decisions about (lethal military operations. However, policy-makers and technical designers lack a detailed theory of what “meaningful human control” exactly means. In this paper, we lay the foundation of a philosophical account of meaningful human control, based on the concept of “guidance control” as elaborated in the philosophical debate on free will and moral responsibility. Following the ideals of “Responsible Innovation” and “Value-sensitive Design,” our account of meaningful human control is cast in the form of design requirements. We identify two general necessary conditions to be satisfied for an autonomous system to remain under meaningful human control: first, a “tracking” condition, according to which the system should be able to respond to both the relevant moral reasons of the humans designing and deploying the system and the relevant facts in the environment in which the system operates; second, a “tracing” condition, according to which the system should be designed in such a way as to grant the possibility to always trace back the outcome of its operations to at least one human along the chain of design and operation. As we think that meaningful human control can be one of the central notions in ethics of robotics and AI, in the last part of the paper, we start exploring the implications of our account for the design and use of non

  18. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  19. Cardiac autonomic control in adolescents with primary hypertension

    Directory of Open Access Journals (Sweden)

    Havlíceková Z

    2009-12-01

    Full Text Available Abstract Background Impairment in cardiovascular autonomic regulation participates in the onset and maintenance of primary hypertension. Objective The aim of the present study was to evaluate cardiac autonomic control using long-term heart rate variability (HRV analysis in adolescents with primary hypertension. Subjects and methods Twenty two adolescent patients with primary hypertension (5 girls/17 boys aged 14-19 years and 22 healthy subjects matched for age and gender were enrolled. Two periods from 24-hour ECG recording were evaluated by HRV analysis: awake state and sleep. HRV analysis included spectral power in low frequency band (LF, in high frequency band (HF, and LF/HF ratio. Results In awake state, adolescents with primary hypertension had lower HF and higher LF and LF/HF ratio. During sleep, HF was lower and LF/HF ratio was higher in patients with primary hypertension. Conclusions A combination of sympathetic predominance and reduced vagal activity might represent a potential link between psychosocial factors and primary hypertension, associated with increased cardiovascular morbidity.

  20. Developing operator capacity estimates for supervisory control of autonomous vehicles.

    Science.gov (United States)

    Cummings, M L; Guerlain, Stephanie

    2007-02-01

    This study examined operators' capacity to successfully reallocate highly autonomous in-flight missiles to time-sensitive targets while performing secondary tasks of varying complexity. Regardless of the level of autonomy for unmanned systems, humans will be necessarily involved in the mission planning, higher level operation, and contingency interventions, otherwise known as human supervisory control. As a result, more research is needed that addresses the impact of dynamic decision support systems that support rapid planning and replanning in time-pressured scenarios, particularly on operator workload. A dual screen simulation that allows a single operator the ability to monitor and control 8, 12, or 16 missiles through high level replanning was tested on 42 U.S. Navy personnel. The most significant finding was that when attempting to control 16 missiles, participants' performance on three separate objective performance metrics and their situation awareness were significantly degraded. These results mirror studies of air traffic control that demonstrate a similar decline in performance for controllers managing 17 aircraft as compared with those managing only 10 to 11 aircraft. Moreover, the results suggest that a 70% utilization (percentage busy time) score is a valid threshold for predicting significant performance decay and could be a generalizable metric that can aid in manning predictions. This research is relevant to human supervisory control of networked military and commercial unmanned vehicles in the air, on the ground, and on and under the water.

  1. External force/velocity control for an autonomous rehabilitation robot

    Science.gov (United States)

    Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

    2018-01-01

    Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial

  2. Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Ming Lei

    2012-01-01

    Full Text Available A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.

  3. Sensing and control for autonomous vehicles applications to land, water and air vehicles

    CERN Document Server

    Pettersen, Kristin; Nijmeijer, Henk

    2017-01-01

    This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite sy...

  4. Control of autonomous ground vehicles: a brief technical review

    Science.gov (United States)

    Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

    2017-07-01

    This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

  5. Autonomous control systems: applications to remote sensing and image processing

    Science.gov (United States)

    Jamshidi, Mohammad

    2001-11-01

    One of the main challenges of any control (or image processing) paradigm is being able to handle complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Examples of complex systems are power networks, space robotic colonies, national air traffic control system, and integrated manufacturing plant, the Hubble Telescope, the International Space Station, etc. Soft computing, a consortia of methodologies such as fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be powerful tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this paper new paradigms using soft computing approaches are utilized to design autonomous controllers and image enhancers for a number of application areas. These applications are satellite array formations for synthetic aperture radar interferometry (InSAR) and enhancement of analog and digital images.

  6. Implication of altered autonomic control for orthostatic tolerance in SCI.

    Science.gov (United States)

    Wecht, Jill Maria; Bauman, William A

    2018-01-01

    Neural output from the sympathetic and parasympathetic branches of the autonomic nervous system (ANS) are integrated to appropriately control cardiovascular responses during routine activities of daily living including orthostatic positioning. Sympathetic control of the upper extremity vasculature and the heart arises from the thoracic cord between T1 and T5, whereas splanchnic bed and lower extremity vasculature receive sympathetic neural input from the lower cord between segments T5 and L2. Although the vasculature is not directly innervated by the parasympathetic nervous system, the SA node is innervated by post-ganglionic vagal nerve fibers via cranial nerve X. Segmental differences in sympathetic cardiovascular innervation highlight the effect of lesion level on orthostatic cardiovascular control following spinal cord injury (SCI). Due to impaired sympathetic cardiovascular control, many individuals with SCI, particularly those with lesions above T6, are prone to orthostatic hypotension (OH) and orthostatic intolerance (OI). Symptomatic OH, which may result in OI, is a consequence of episodic reductions in cerebral perfusion pressure and the symptoms may include: dizziness, lightheadedness, nausea, blurred vision, ringing in the ears, headache and syncope. However, many, if not most, individuals with SCI who experience persistent and episodic hypotension and OH do not report symptoms of cerebral hypoperfusion and therefore do not raise clinical concern. This review will discuss the mechanism underlying OH and OI following SCI, and will review our knowledge to date regarding the prevalence, consequences and possible treatment options for these conditions in the SCI population. Published by Elsevier B.V.

  7. Biologically inspired autonomous structural materials with controlled toughening and healing

    Science.gov (United States)

    Garcia, Michael E.; Sodano, Henry A.

    2010-04-01

    The field of structural health monitoring (SHM) has made significant contributions in the field of prognosis and damage detection in the past decade. The advantageous use of this technology has not been integrated into operational structures to prevent damage from propagating or to heal injured regions under real time loading conditions. Rather, current systems relay this information to a central processor or human operator, who then determines a course of action such as altering the mission or scheduling repair maintenance. Biological systems exhibit advanced sensory and healing traits that can be applied to the design of material systems. For instance, bone is the major structural component in vertebrates; however, unlike modern structural materials, bone has many properties that make it effective for arresting the propagation of cracks and subsequent healing of the fractured area. The foremost goal for the development of future adaptive structures is to mimic biological systems, similar to bone, such that the material system can detect damage and deploy defensive traits to impede damage from propagating, thus preventing catastrophic failure while in operation. After sensing and stalling the propagation of damage, the structure must then be repaired autonomously using self healing mechanisms motivated by biological systems. Here a novel autonomous system is developed using shape memory polymers (SMPs), that employs an optical fiber network as both a damage detection sensor and a network to deliver stimulus to the damage site initiating adaptation and healing. In the presence of damage the fiber optic fractures allowing a high power laser diode to deposit a controlled level of thermal energy at the fractured sight locally reducing the modulus and blunting the crack tip, which significantly slows the crack growth rate. By applying a pre-induced strain field and utilizing the shape memory recovery effect, thermal energy can be deployed to close the crack and return

  8. Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

    Science.gov (United States)

    2009-03-01

    Final Technical 3. DATES COVERED (From To) 7/1/05-12/31708 4. TITLE AND SUBTITLE Heterogeneous Teams of Autonomous Vehicles Advanced Sensing...assimilating data from underwater and surface autonomous vehicles in addition to the usual sources of Eulerian and Lagrangian systems into a small scale

  9. Perception, Planning, Control, and Coordination for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Scott Drew Pendleton

    2017-02-01

    Full Text Available Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cost in sensing and computing technologies, resulting in maturing technological readiness level of fully autonomous vehicles. The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems. Fundamental components of autonomous vehicle software are reviewed, and recent developments in each area are discussed.

  10. A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles

    Science.gov (United States)

    1994-05-02

    AD-A282 787 " A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-17 The Robotics...follow, or a direction to prefer, it cannot generate its own strategic goals. Therefore, it solves the local planning problem for autonomous vehicles . The... autonomous vehicles . It is intelligent because it uses range images that are generated from either a laser rangefinder or a stereo triangulation

  11. Autonomous Power Control MAC Protocol for Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available Battery energy limitation has become a performance bottleneck for mobile ad hoc networks. IEEE 802.11 has been adopted as the current standard MAC protocol for ad hoc networks. However, it was developed without considering energy efficiency. To solve this problem, many modifications on IEEE 802.11 to incorporate power control have been proposed in the literature. The main idea of these power control schemes is to use a maximum possible power level for transmitting RTS/CTS and the lowest acceptable power for sending DATA/ACK. However, these schemes may degrade network throughput and reduce the overall energy efficiency of the network. This paper proposes autonomous power control MAC protocol (APCMP, which allows mobile nodes dynamically adjusting power level for transmitting DATA/ACK according to the distances between the transmitter and its neighbors. In addition, the power level for transmitting RTS/CTS is also adjustable according to the power level for DATA/ACK packets. In this paper, the performance of APCMP protocol is evaluated by simulation and is compared with that of other protocols.

  12. Router Agent Technology for Policy-Based Network Management

    Science.gov (United States)

    Chow, Edward T.; Sudhir, Gurusham; Chang, Hsin-Ping; James, Mark; Liu, Yih-Chiao J.; Chiang, Winston

    2011-01-01

    This innovation can be run as a standalone network application on any computer in a networked environment. This design can be configured to control one or more routers (one instance per router), and can also be configured to listen to a policy server over the network to receive new policies based on the policy- based network management technology. The Router Agent Technology transforms the received policies into suitable Access Control List syntax for the routers it is configured to control. It commits the newly generated access control lists to the routers and provides feedback regarding any errors that were faced. The innovation also automatically generates a time-stamped log file regarding all updates to the router it is configured to control. This technology, once installed on a local network computer and started, is autonomous because it has the capability to keep listening to new policies from the policy server, transforming those policies to router-compliant access lists, and committing those access lists to a specified interface on the specified router on the network with any error feedback regarding commitment process. The stand-alone application is named RouterAgent and is currently realized as a fully functional (version 1) implementation for the Windows operating system and for CISCO routers.

  13. 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.

  14. Laser rangefinders for autonomous intelligent cruise control systems

    Science.gov (United States)

    Journet, Bernard A.; Bazin, Gaelle

    1998-01-01

    THe purpose of this paper is to show to what kind of application laser range-finders can be used inside Autonomous Intelligent Cruise Control systems. Even if laser systems present good performances the safety and technical considerations are very restrictive. As the system is used in the outside, the emitted average output power must respect the rather low level of 1A class. Obstacle detection or collision avoidance require a 200 meters range. Moreover bad weather conditions, like rain or fog, ar disastrous. We have conducted measurements on laser rangefinder using different targets and at different distances. We can infer that except for cooperative targets low power laser rangefinder are not powerful enough for long distance measurement. Radars, like 77 GHz systems, are better adapted to such cases. But in case of short distances measurement, range around 10 meters, with a minimum distance around twenty centimeters, laser rangefinders are really useful with good resolution and rather low cost. Applications can have the following of white lines on the road, the target being easily cooperative, detection of vehicles in the vicinity, that means car convoy traffic control or parking assistance, the target surface being indifferent at short distances.

  15. Hierarchical Controlled Grid-Connected Microgrid based on a Novel Autonomous Current Sharing Controller

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    In this paper, a hierarchical control system based on a novel autonomous current sharing controller for grid-connected microgrids (MGs) is presented. A three-level hierarchical control system is implemented to guarantee the power sharing performance among voltage controlled parallel inverters......, while providing the required active and reactive power to the utility grid. A communication link is used to transmit the control signal from the tertiary and secondary control levels to the primary control. Simulation results from a MG based on two grid-connected parallel inverters are shown in order...

  16. Implementation of Autonomous Mission Control for Mine Reconnaissance AUVs

    National Research Council Canada - National Science Library

    Evans, B; Davies, G; Myers, V; Bellettini, A; Pinto, Manuel; Munk, P

    2007-01-01

    Whilst autonomous underwater vehicles (AUVs) are increasingly being used to perform MCM tasks, the capability of these systems is limited in terms of their ability to network and co-operate effectively with other manned or unmanned assets...

  17. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    OpenAIRE

    Abdallah A. Hassan; Hesham A. Rakha

    2014-01-01

    Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is ques...

  18. An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

    Science.gov (United States)

    Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

    2016-01-01

    For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

  19. AUTONOMIC CONTROL OF HEART RATE AFTER EXERCISE IN TRAINED WRESTLERS

    Directory of Open Access Journals (Sweden)

    Carlos F Henríquez

    2013-04-01

    Full Text Available The objective of this study was to establish differences in vagal reactivation, through heart rate recovery and heart rate variability post exercise, in Brazilian jiu-jitsu wrestlers (BJJW. A total of 18 male athletes were evaluated, ten highly trained (HT and eight moderately trained (MT, who performed a maximum incremental test. At the end of the exercise, the R-R intervals were recorded during the first minute of recovery. We calculated heart rate recovery (HRR60s, and performed linear and non-linear (standard deviation of instantaneous beat-to-beat R-R interval variability – SD1 analysis of heart rate variability (HRV, using the tachogram of the first minute of recovery divided into four segments of 15 s each (0-15 s, 15-30 s, 30-45 s, 45-60 s. Between HT and MT individuals, there were statistically significant differences in HRR60s (p <0.05 and in the non linear analysis of HRV from SD130-45s (p <0.05 and SD145-60s (p <0.05. The results of this research suggest that heart rate kinetics during the first minute after exercise are related to training level and can be used as an index for autonomic cardiovascular control in BJJW.

  20. Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

    Science.gov (United States)

    Sureshkumar, Vijaykumar

    UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a

  1. Validating a UAV artificial intelligence control system using an autonomous test case generator

    Science.gov (United States)

    Straub, Jeremy; Huber, Justin

    2013-05-01

    The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

  2. Autonomous formation flight of helicopters: Model predictive control approach

    Science.gov (United States)

    Chung, Hoam

    Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected

  3. Autonomous Reactivity Control (ARC) — Principles, geometry and design process

    Energy Technology Data Exchange (ETDEWEB)

    Qvist, Staffan A., E-mail: staffan.qvist@physics.uu.se [Department of Physics and Astronomy, Uppsala University, Uppsala (Sweden); Department of Nuclear Engineering, University of California Berkeley (United States); Hellesen, Carl [Department of Physics and Astronomy, Uppsala University, Uppsala (Sweden); Thiele, Roman [Division of Reactor Technology, Royal Institute of Technology, Stockholm (Sweden); Dubberley, Allen E. [General Electric Advanced Reactor Systems Department (retired), Sunnyvale, CA (United States); Gradecka, Malwina; Greenspan, Ehud [Department of Nuclear Engineering, University of California Berkeley (United States)

    2016-10-15

    Highlights: • Here we define the principles of the operation and design of ARC systems. • ARC systems can provide inherent safety during and following unprotected transients. • A manufacturing and assembly method was developed and presented. - Abstract: The Autonomous Reactivity Control (ARC) system was developed to ensure inherent safety performance of Generation-IV reactors while having a minimal impact on reactor performance and economic viability. Here we present in detail the principles of how the ARC system operates, what materials should be used, what components make up the system and how they are interconnected. The relevant equations regarding how to design the system for a certain response are developed and defined, and the most important aspects determining the speed of actuation of the systems are analyzed. Thus, this study serves as the general reference material for all of the fundamental principles behind the ARC idea. Finally, we present a step-by-step guide to how a fast reactor fuel subassembly with an ARC system installed would be manufactured, using a full 3D-CAD model. For an ARC installation in a 1000 MWth sodium-cooled oxide-fueled fast reactor core, the system constitutes a relatively minor adjustment to a typical fuel assembly, increasing its total axial extent by ∼5–10% and the total primary coolant pressure drop by ∼1%. The main finding of this study is that it is possible to design, manufacture (using existing methods) and implement ARC systems in the fuel assemblies of fast reactor cores to provide inherent safety in all anticipated unprotected transients with only a modest increase in the length of the assembly and the pressure drop across the core.

  4. Estimation and Control for Autonomous Coring from a Rover Manipulator

    Science.gov (United States)

    Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

    2010-01-01

    A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

  5. Diagnosis for Control and Decision Support for Autonomous Vehicles

    DEFF Research Database (Denmark)

    Blanke, Mogens; Hansen, Søren; Rufus Blas, Morten

    2016-01-01

    in practise. Yet they are also affordable due to the use of fault-tolerant philosophies and tools that make engineering efforts minimal for their implementation. The chapter includes examples for an autonomous aircraft and a baling system for agriculture to illustrate the generic design procedures and real...

  6. Meaningful Human Control Over Autonomous Systems : A Philosophical Account

    NARCIS (Netherlands)

    Santoni De Sio, F.; van den Hoven, M.J.

    2018-01-01

    Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these

  7. A Review of Cardiovascular Autonomic Control in Cluster Headache

    DEFF Research Database (Denmark)

    Barloese, Mads C J

    2016-01-01

    triggered during periods of parasympathetic dominance. A better understanding of this interaction may provide insight into central autonomic regulation and its role in cluster headache. METHODS: A PubMed search was performed in April 2015 using the search terms "cluster headache," "cardiovascular...

  8. Flexible Decision Control in an Autonomous Trading Agent

    NARCIS (Netherlands)

    J. Collins (John); W. Ketter (Wolfgang); M. Gini (Maria)

    2007-01-01

    textabstractAn autonomous trading agent is a complex piece of software that must operate in a competitive economic environment and support a research agenda. We describe the structure of decision processes in the MinneTAC trading agent, focusing on the use of evaluators – configurable, composable

  9. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  10. LHC train control system for autonomous inspections and measurements

    OpenAIRE

    Di Castro, Mario; Baiguera Tambutti, Maria Laura; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously d...

  11. Age Effect on Autonomic Cardiovascular Control in Pilots

    Science.gov (United States)

    2000-08-01

    Nantcheva**, M. Vukov *** *National Center of Hygiene, Medical Ecology and Nutrition 15 Dimitar Nestorov Blvd. 1431 Sofia, Bulgaria "**Military Medical...values and critique. Inter. Physiol. Behav. Sci. 1997, 3, of health risk compared with referents. 202-219. 14. Fluckiger L., Boivin J ., Quilliot D...during flight. Aviat. Space Chapman and Hall. 1991, 590 pp. Environ Med. 1998,4, 360-367. 4. Berntson G., Cacioppo J ., Quigley K. Autonomic 18. Hellman J

  12. Development of Control Algorithm for the Autonomous Gliding Delivery System

    OpenAIRE

    Kaminer, I.; Yakimenko, O.

    2003-01-01

    Proceedings of 17th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Monterey, CA, May 19-22, 2003. An autonomous HAHO (high altitude, high-opening) parafoil system design is presented as a solution to the final descent phase of an on-demand International Space Station (ISS) sample return concept. The system design is tailored to meet specific constraints defined by a larger study at NASA Ames Research Center, called SPQR (Small Payload Quick-Return). Building ...

  13. The autonomic nervous system and cardiac GLP-1 receptors control heart rate in mice

    Directory of Open Access Journals (Sweden)

    Laurie L. Baggio

    2017-11-01

    Conclusions: GLP-1R agonists increase HR through multiple mechanisms, including regulation of autonomic nervous system function, and activation of the atrial GLP-1R. Surprisingly, the isolated atrial GLP-1R does not transduce a direct chronotropic effect following exposure to GLP-1R agonists in the intact heart, or isolated atrium, ex vivo. Hence, cardiac GLP-1R circuits controlling HR require neural inputs and do not function in a heart-autonomous manner.

  14. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  15. Autonomous navigation and control of a Mars rover

    Science.gov (United States)

    Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

    1990-01-01

    A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

  16. Enriching the hierarchical model of achievement motivation: autonomous and controlling reasons underlying achievement goals.

    Science.gov (United States)

    Michou, Aikaterini; Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2014-12-01

    The hierarchical model of achievement motivation presumes that achievement goals channel the achievement motives of need for achievement and fear of failure towards motivational outcomes. Yet, less is known whether autonomous and controlling reasons underlying the pursuit of achievement goals can serve as additional pathways between achievement motives and outcomes. We tested whether mastery approach, performance approach, and performance avoidance goals and their underlying autonomous and controlling reasons would jointly explain the relation between achievement motives (i.e., fear of failure and need for achievement) and learning strategies (Study 1). Additionally, we examined whether the autonomous and controlling reasons underlying learners' dominant achievement goal would account for the link between achievement motives and the educational outcomes of learning strategies and cheating (Study 2). Six hundred and six Greek adolescent students (Mage = 15.05, SD = 1.43) and 435 university students (Mage M = 20.51, SD = 2.80) participated in studies 1 and 2, respectively. In both studies, a correlational design was used and the hypotheses were tested via path modelling. Autonomous and controlling reasons underlying the pursuit of achievement goals mediated, respectively, the relation of need for achievement and fear of failure to aspects of learning outcomes. Autonomous and controlling reasons underlying achievement goals could further explain learners' functioning in achievement settings. © 2014 The British Psychological Society.

  17. Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems

    Directory of Open Access Journals (Sweden)

    Ioannis A. Raptis

    2013-01-01

    Full Text Available This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc. may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods.

  18. Autonomous, Controlled, and Amotivated Types of Academic Motivation: A Person-Oriented Analysis

    Science.gov (United States)

    Ratelle, Catherine F.; Guay, Frederic; Vallerand, Robert J.; Larose, Simon; Senecal, Caroline

    2007-01-01

    The authors investigated students' profiles regarding autonomous, controlled, and amotivated regulation and tested whether profile groups differed on some academic adjustment outcomes. Studies 1 and 2 performed on high school students revealed 3 profiles: (a) students with high levels of both controlled motivation and amotivation but low levels of…

  19. Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

    Science.gov (United States)

    Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

    2018-02-01

    We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

  20. Autonomic symptoms in idiopathic REM behavior disorder: a multicentre case-control study.

    Science.gov (United States)

    Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves; Postuma, Ronald B; Marelli, Sara; Iranzo, Alex; Arnulf, Isabelle; Högl, Birgit; Birgit, Högl; Manni, Raffaele; Miyamoto, Tomoyuki; Fantini, Maria-Livia; Puligheddu, Monica; Jennum, Poul; Sonka, Karel; Santamaria, Joan; Zucconi, Marco; Rancoita, Paola M V; Leu-Semenescu, Smeranda; Frauscher, Birgit; Terzaghi, Michele; Miyamoto, Masayuki; Unger, Marcus; Stiasny-Kolster, Karin; Desautels, Alex; Wolfson, Christina; Pelletier, Amélie; Montplaisir, Jacques

    2014-06-01

    Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale to study the disorders of the autonomic nervous system in Parkinson's disease (PD) patients, the SCOPA-AUT, was administered to all the patients and controls. The SCOPA-AUT consists of 25 items assessing the following domains: gastrointestinal, urinary, cardiovascular, thermoregulatory, pupillomotor, and sexual dysfunction. Our results show that compared to control subjects with a similar overall age and sex distribution, patients with iRBD experience significantly more problems with gastrointestinal, urinary, and cardiovascular functioning. The most prominent differences in severity of autonomic symptoms between our iRBD patients and controls emerged in the gastrointestinal domain. Interestingly, it has been reported that an altered gastrointestinal motility can predate the motor phase of PD. The cardiovascular domain SCOPA-AUT score in our study in iRBD patients was intermediate with respect to the scores reported in PD patients by other authors. Our findings underline the importance of collecting data on autonomic symptoms in iRBD. These data may be used in prospective studies for evaluating the risk of developing neurodegenerative disorders.

  1. What Factors Are Associated with Autonomous and Controlled Motivation for Hearing Help-Seekers?

    Science.gov (United States)

    Ridgway, Jason; Hickson, Louise; Lind, Christopher

    Hearing impairment is prevalent in older adults. Motivation is important in people's choice to seek help for their hearing and whether to adopt or not adopt hearing aids. To investigate associations between sociodemographic and audiometric characteristics and autonomous and controlled motivation among a sample of hearing help-seekers. A quantitative approach was taken for this cross-sectional cohort study. A total of 253 adult first-time hearing help-seekers were recruited to the study. Participants provided sociodemographic information and completed questionnaires adapted from self-determination theory that measured autonomous motivation (motivation that originates from within the self and is aligned with personal values and beliefs) and controlled motivation (motivation that stems from external pressures such as rewards or punishment, or conflicted inner feelings such as guilt or shame). Participants with higher autonomous motivation scores were younger, wanted hearing aids more, and reported greater hearing difficulty in everyday life than those with lower scores. Participants with higher controlled motivation scores were more often referred to the service by others and wanted hearing aids more than those with lower controlled motivation scores. Controlled motivation scores were not associated with perceptions of hearing difficulty in everyday life. Relationships among motivation and sociodemographic factors highlight the importance of characterizing autonomous and controlled motivation in first-time hearing help-seekers. Attention to personal characteristics in order to understand motivational processes involved in rehabilitation decisions such as hearing aid adoption may aid in consultations. American Academy of Audiology

  2. Unmanned Tactical Autonomous Control and Collaboration Threat and Vulnerability Assessment

    Science.gov (United States)

    2015-06-01

    36]. o Implement access controls through authentication (Login Information, Passwords , and Biometrics ). o Implement access control through...within symmetric cryptography [36]. o Implement access controls through authentication (Login Information, Passwords , and Biometrics ). o Implement... Passwords , and Biometrics ). o Implement access control through privileges (System administrators, users, etc). o Implement a “two person rule

  3. An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

    Science.gov (United States)

    Humphreys, William M, Jr.; Culliton, William G.

    2008-01-01

    Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

  4. Design and Evaluation of Autonomous Hybrid Frequency-Voltage Sensitive Load Controller

    DEFF Research Database (Denmark)

    Douglass, Philip James; Garcia-Valle, Rodrigo; Sossan, Fabrizio

    2013-01-01

    The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced l...... load diversity. Numerical simulations of the hybrid controller in a representative distribution system show the peak system load was reduced by 12% compared to a purely frequency sensitive load controller.......The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced...

  5. A collision model for safety evaluation of autonomous intelligent cruise control.

    Science.gov (United States)

    Touran, A; Brackstone, M A; McDonald, M

    1999-09-01

    This paper describes a general framework for safety evaluation of autonomous intelligent cruise control in rear-end collisions. Using data and specifications from prototype devices, two collision models are developed. One model considers a train of four cars, one of which is equipped with autonomous intelligent cruise control. This model considers the car in front and two cars following the equipped car. In the second model, none of the cars is equipped with the device. Each model can predict the possibility of rear-end collision between cars under various conditions by calculating the remaining distance between cars after the front car brakes. Comparing the two collision models allows one to evaluate the effectiveness of autonomous intelligent cruise control in preventing collisions. The models are then subjected to Monte Carlo simulation to calculate the probability of collision. Based on crash probabilities, an expected value is calculated for the number of cars involved in any collision. It is found that given the model assumptions, while equipping a car with autonomous intelligent cruise control can significantly reduce the probability of the collision with the car ahead, it may adversely affect the situation for the following cars.

  6. The role of the autonomic nervous liver innervation in the control of energy metabolism

    NARCIS (Netherlands)

    Yi, Chun-Xia; la Fleur, Susanne E.; Fliers, Eric; Kalsbeek, Andries

    2010-01-01

    Despite a longstanding research interest ever since the early work by Claude Bernard, the functional significance of autonomic liver innervation, either sympathetic or parasympathetic, is still ill defined. This scarcity of information not only holds for the brain control of hepatic metabolism, but

  7. Emulation of MS DOS Operational System on the Autonomous Crate-Controller with I8086 microprocessor

    International Nuclear Information System (INIS)

    Hons, Z.; Cizek, P.; Streit, V.

    1988-01-01

    KM-DOS operating system for CAMAC autonomous crate-controller based on Intel 8086/8087 microprocessor connected with Pravec-16 IBM PC is described. The KM-DOS system fully emulates the MS DOS environment on the CAMAC controller. Thus ASSEMBLER, FORTRAN, C and PASCAL programs compiled and linked on IBM PC and compatible can be run on the CAMAC controller and parall work of both computers is enabled

  8. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

    OpenAIRE

    Yao, Xuliang; Yang, Guangyi

    2016-01-01

    This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumpti...

  9. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  10. Chaos synchronization in autonomous chaotic system via hybrid feedback control

    International Nuclear Information System (INIS)

    Yang Lixin; Chu Yandong; Zhang Jiangang; Li Xianfeng; Chang Yingxiang

    2009-01-01

    This paper presents the synchronization of chaos by designing united controller. First, this method is implemented in synchronization of a simple system, then we realize the synchronization of Lue hyperchaotic system, we also take tracking control to realize the synchronization of Lue hyperchaotic system. Comparing with results, we can find that hybrid feedback control approach is more effective than tracking control for hyperchaotic system. Numerical simulations show the united synchronization method works well.

  11. Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design

    Directory of Open Access Journals (Sweden)

    David Rodriguez-Rosa

    2017-05-01

    Full Text Available A method is proposed to achieve lateral stability of an autonomous bicycle with only the rotation of the front wheel. This can be achieved with a classic controller. However, if the energy consumption of the bicycle also has to be minimized, this solution is not valid. To solve this problem, an adaptive controller has been designed, which modifies its gains according to the bicycle’s forward velocity, adapting its response with minimum energy consumption and satisfying the design specifications. The study demonstrates the efficiency of the proposed control, achieving an energy saving of 73 . 8 % in trajectory tracking with respect to a conventional proportional-integral ( P I controller. These results show the importance of designing energy-efficient controllers, not only for autonomous vehicles but also for any automatic system where the energy consumption can be minimized.

  12. Integrated Guidance and Control Based Air-to-Air Autonomous Attack Occupation of UCAV

    Directory of Open Access Journals (Sweden)

    Chang Luo

    2016-01-01

    Full Text Available An approach of air-to-air autonomous attack occupation for Unmanned Combat Aerial Vehicles (UCAVs is proposed to improve attack precision and combat effectiveness. According to the shortage of UCAV in the task of attack occupation, kinematic and dynamic models of UCAV and missile loaded on it are formed. Then, attack zone and no-escape zone are calculated by pattern search algorithm, and the optimum attack position is indicated. To arrive at the optimum attack position accurately with restriction of gesture, a novel adaptive sliding mode control method is suggested to design the integrated guidance and control system of UCAV in the process of autonomous attack occupation. Key parameters of the control system are adaptively regulated, which further economize control energy at the same time. The simulation results show that compared with traditional methods our approach can guide the UCAV to the optimum attack position with stable gesture and economize nearly 25% control energy.

  13. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  14. Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

    Science.gov (United States)

    Yudhi Irwanto, Herma

    2018-02-01

    The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

  15. Mixed-Initiative Control of Autonomous Unmanned Units Under Uncertainty

    National Research Council Canada - National Science Library

    Thrun, Sebvastian; Gordon, Geoffrey; Burstein, Mark; Diller, David; Fox, Dieter

    2006-01-01

    .... We developed this control model using Partially Observable Markov Decision Processes. The mixed-initiative interactions enabled users to describe constraints at multiple levels of the planning hierarchy...

  16. Team-oriented Adaptive Droop Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Nasirian, Vahidreza; Guerrero, Josep M.

    2014-01-01

    This paper proposes a distributed control strategy for voltage and reactive power regulation in ac Microgrids. First, the control module introduces a voltage regulator that maintains the average voltage of the system on the rated value, keeping all bus voltages within an acceptable range. Dynamic...

  17. Hypothalamic control of energy metabolism via the autonomic nervous system

    NARCIS (Netherlands)

    Kalsbeek, A.; Bruinstroop, E.; Yi, C. X.; Klieverik, L. P.; La Fleur, S. E.; Fliers, E.

    2010-01-01

    The hypothalamic control of hepatic glucose production is an evident aspect of energy homeostasis. In addition to the control of glucose metabolism by the circadian timing system, the hypothalamus also serves as a key relay center for (humoral) feedback information from the periphery, with the

  18. Evolution of an artificial neural network based autonomous land vehicle controller.

    Science.gov (United States)

    Baluja, S

    1996-01-01

    This paper presents an evolutionary method for creating an artificial neural network based autonomous land vehicle controller. The evolved controllers perform better in unseen situations than those trained with an error backpropagation learning algorithm designed for this task. In this paper, an overview of the previous connectionist based approaches to this task is given, and the evolutionary algorithms used in this study are described in detail. Methods for reducing the high computational costs of training artificial neural networks with evolutionary algorithms are explored. Error metrics specific to the task of autonomous vehicle control are introduced; the evolutionary algorithms guided by these error metrics reveal improved performance over those guided by the standard sum-squared error metric. Finally, techniques for integrating evolutionary search and error backpropagation are presented. The evolved networks are designed to control Carnegie Mellon University's NAVLAB vehicles in road following tasks.

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

    Science.gov (United States)

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

    2018-06-01

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

  20. Autonomic control of the heart is altered in Sprague-Dawley rats with spontaneous hydronephrosis

    Science.gov (United States)

    Arnold, Amy C.; Shaltout, Hossam A.; Gilliam-Davis, Shea; Kock, Nancy D.

    2011-01-01

    The renal medulla plays an important role in cardiovascular regulation, through interactions with the autonomic nervous system. Hydronephrosis is characterized by substantial loss of renal medullary tissue. However, whether alterations in autonomic control of the heart are observed in this condition is unknown. Thus we assessed resting hemodynamics and baroreflex sensitivity (BRS) for control of heart rate in urethane/chloralose-anesthetized Sprague-Dawley rats with normal or hydronephrotic kidneys. While resting arterial pressure was similar, heart rate was higher in rats with hydronephrosis (290 ± 12 normal vs. 344 ± 11 mild/moderate vs. 355 ± 13 beats/min severe; P hydronephrosis, with no differences in measures of indirect sympathetic activity among conditions. As a secondary aim, we investigated whether autonomic dysfunction in hydronephrosis is associated with activation of the renin-angiotensin system (RAS). There were no differences in circulating angiotensin peptides among conditions, suggesting that the impaired autonomic function in hydronephrosis is independent of peripheral RAS activation. A possible site for angiotensin II-mediated BRS impairment is the solitary tract nucleus (NTS). In normal and mild/moderate hydronephrotic rats, NTS administration of the angiotensin II type 1 receptor antagonist candesartan significantly improved the BRS, suggesting that angiotensin II provides tonic suppression to the baroreflex. In contrast, angiotensin II blockade produced no significant effect in severe hydronephrosis, indicating that at least within the NTS baroreflex suppression in these animals is independent of angiotensin II. PMID:21460193

  1. Autonomous and controlled motivation and interpersonal therapy for depression: moderating role of recurrent depression.

    Science.gov (United States)

    McBride, Carolina; Zuroff, David C; Ravitz, Paula; Koestner, Richard; Moskowitz, Debbie S; Quilty, Lena; Bagby, R Michael

    2010-11-01

    We examined the moderating role of depression recurrence on the relation between autonomous and controlled motivation and interpersonal therapy (IPT) treatment outcome. The investigation was conducted in an out-patient mood disorders clinic of a large university-affiliated psychiatric hospital. The sample represents a subset of a larger naturalistic database of patients seen in the clinic. We examined 74 depressed out-patients who received 16 sessions of IPT. The Beck Depression Inventory-II, administered at pre-treatment and post-treatment, served as a measure of depressive severity. Measures of motivation and therapeutic alliance were collected at the third session. In the entire sample, both the therapeutic alliance and autonomous motivation predicted higher probability of achieving remission; however, the relation differed for those with highly recurrent depression compared to those with less recurrent depression. For those with highly recurrent depression, the therapeutic alliance predicted remission whereas autonomous motivation had no effect on remission. For those with less recurrent depression, both autonomous motivation and the therapeutic alliance predicted better achieving remission. Controlled motivation emerged as a significant negative predictor of remission across both groups. Taken together, these results highlight the possible use of motivation theory to inform and enrich therapeutic conceptualizations and interventions in clinical practice, but also point to the importance of modifying interventions based on the chronicity of a client's depression.

  2. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  3. Autonomous and controlled motivation for eating disorders treatment: baseline predictors and relationship to treatment outcome.

    Science.gov (United States)

    Carter, Jacqueline C; Kelly, Allison C

    2015-03-01

    This study aimed to identify baseline predictors of autonomous and controlled motivation for treatment (ACMT) in a transdiagnostic eating disorder sample, and to examine whether ACMT at baseline predicted change in eating disorder psychopathology during treatment. Participants were 97 individuals who met DSM-IV-TR criteria for an eating disorder and were admitted to a specialized intensive treatment programme. Self-report measures of eating disorder psychopathology, ACMT, and various psychosocial variables were completed at the start of treatment. A subset of these measures was completed again after 3, 6, 9, and 12 weeks of treatment. Multiple regression analyses showed that baseline autonomous motivation was higher among patients who reported more self-compassion and more received social support, whereas the only baseline predictor of controlled motivation was shame. Multilevel modelling revealed that higher baseline autonomous motivation predicted faster decreases in global eating disorder psychopathology, whereas the level of controlled motivation at baseline did not. The current findings suggest that developing interventions designed to foster autonomous motivation specifically and employing autonomy supportive strategies may be important to improving eating disorders treatment outcome. The findings of this study suggest that developing motivational interventions that focus specifically on enhancing autonomous motivation for change may be important for promoting eating disorder recovery. Our results lend support for the use of autonomy supportive strategies to strengthen personally meaningful reasons to achieve freely chosen change goals in order to enhance treatment for eating disorders. One study limitation is that there were no follow-up assessments beyond the 12-week study and we therefore do not know whether the relationships that we observed persisted after treatment. Another limitation is that this was a correlational study and it is therefore important

  4. Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

    Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

  5. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    Science.gov (United States)

    Porter, Robert D.

    2002-09-01

    The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

  6. Automated procedure execution for space vehicle autonomous control

    Science.gov (United States)

    Broten, Thomas A.; Brown, David A.

    1990-01-01

    Increased operational autonomy and reduced operating costs have become critical design objectives in next-generation NASA and DoD space programs. The objective is to develop a semi-automated system for intelligent spacecraft operations support. The Spacecraft Operations and Anomaly Resolution System (SOARS) is presented as a standardized, model-based architecture for performing High-Level Tasking, Status Monitoring and automated Procedure Execution Control for a variety of spacecraft. The particular focus is on the Procedure Execution Control module. A hierarchical procedure network is proposed as the fundamental means for specifying and representing arbitrary operational procedures. A separate procedure interpreter controls automatic execution of the procedure, taking into account the current status of the spacecraft as maintained in an object-oriented spacecraft model.

  7. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  8. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  9. An examination of the role of autonomous versus controlled motivation in predicting inpatient treatment outcome for anorexia nervosa.

    Science.gov (United States)

    Thaler, Lea; Israel, Mimi; Antunes, Juliana Mazanek; Sarin, Sabina; Zuroff, David C; Steiger, Howard

    2016-06-01

    We explored the effect of autonomous and controlled motivation on outcomes for patients undergoing inpatient treatment for Anorexia Nervosa (AN). Data on 80 patients with AN were available for the start of treatment, and for 49 at end of treatment. Patients completed measures of autonomous and controlled motivation, eating disorder symptoms and attitudes, and comorbid psychopathology at the start and end of treatment. Patients showed significant improvements on eating symptoms and comorbid psychopathology over the course of treatment. Autonomous motivation was a significant predictor of change in severity of eating symptoms and attitudes such that patients with higher pre-treatment levels of autonomous motivation showed larger post-treatment reductions on these indices. No such effects were associated with controlled motivation. This study highlights a relationship between autonomous motivation and outcome in an inpatient setting. © 2016 Wiley Periodicals, Inc. (Int J Eat Disord 2016; 49:626-629). © 2016 Wiley Periodicals, Inc.

  10. On nonlinear control design for autonomous chaotic systems of integer and fractional orders

    International Nuclear Information System (INIS)

    Ahmad, Wajdi M.; Harb, Ahmad M.

    2003-01-01

    In this paper, we address the problem of chaos control for autonomous nonlinear chaotic systems. We use the recursive 'backstepping' method of nonlinear control design to derive the nonlinear controllers. The controller effect is to stabilize the output chaotic trajectory by driving it to the nearest equilibrium point in the basin of attraction. We study two nonlinear chaotic systems: an electronic chaotic oscillator model, and a mechanical chaotic 'jerk' model. We demonstrate the robustness of the derived controllers against system order reduction arising from the use of fractional integrators in the system models. Our results are validated via numerical simulations

  11. Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV

    Directory of Open Access Journals (Sweden)

    S. N. Singh

    2005-01-01

    Full Text Available The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic autonomous underwater vehicles (BAUVs. Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs. The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories.

  12. Autonomous health management for PMSM rail vehicles through demagnetization monitoring and prognosis control.

    Science.gov (United States)

    Niu, Gang; Jiang, Junjie; Youn, Byeng D; Pecht, Michael

    2018-01-01

    Autonomous vehicles are playing an increasingly importance in support of a wide variety of critical events. This paper presents a novel autonomous health management scheme on rail vehicles driven by permanent magnet synchronous motors (PMSMs). Firstly, the PMSMs are modeled based on first principle to deduce the initial profile of pneumatic braking (p-braking) force, then which is utilized for real-time demagnetization monitoring and degradation prognosis through similarity-based theory and generate prognosis-enhanced p-braking force strategy for final optimal control. A case study is conducted to demonstrate the feasibility and benefit of using the real-time prognostics and health management (PHM) information in vehicle 'drive-brake' control automatically. The results show that accurate demagnetization monitoring, degradation prognosis, and real-time capability for control optimization can be obtained, which can effectively relieve brake shoe wear. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Semi-autonomous controller for data acquisition, the Brilliant ADC

    International Nuclear Information System (INIS)

    Breidenbach, M.; Frank, E.; Hall, J.; Nelson, D.

    1977-10-01

    A set of high speed 16-bit computers and ADC's designed and built for the data collection, compression, and correction system of the SLAC/LBL Mark II Magnetic Detector. The ''Brilliant ADC'' controls the analog multiplexing of a CAMAC crate of data acquisition modules, digitizes the analog data, and executes microprogrammed algorithms for data handling and correction

  14. Dynamic Artificial Potential Fields for Autonomous Camera Control

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    the implementation and evaluation of Artificial Potential Fields for automatic camera placement. We first describe the re- casting of the frame composition problem as a solution to a two particles suspended in an Artificial Potential Field. We demonstrate the application of this technique to control both camera...

  15. Alterations in cardiac autonomic control in spinal cord injury

    DEFF Research Database (Denmark)

    Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan

    2018-01-01

    parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update...

  16. Low-cost autonomous orbit control about Mars: Initial simulation results

    Science.gov (United States)

    Dawson, S. D.; Early, L. W.; Potterveld, C. W.; Königsmann, H. J.

    1999-11-01

    Interest in studying the possibility of extraterrestrial life has led to the re-emergence of the Red Planet as a major target of planetary exploration. Currently proposed missions in the post-2000 period are routinely calling for rendezvous with ascent craft, long-term orbiting of, and sample-return from Mars. Such missions would benefit greatly from autonomous orbit control as a means to reduce operations costs and enable contact with Mars ground stations out of view of the Earth. This paper present results from initial simulations of autonomously controlled orbits around Mars, and points out possible uses of the technology and areas of routine Mars operations where such cost-conscious and robust autonomy could prove most effective. These simulations have validated the approach and control philosophies used in the development of this autonomous orbit controller. Future work will refine the controller, accounting for systematic and random errors in the navigation of the spacecraft from the sensor suite, and will produce prototype flight code for inclusion on future missions. A modified version of Microcosm's commercially available High Precision Orbit Propagator (HPOP) was used in the preparation of these results due to its high accuracy and speed of operation. Control laws were developed to allow an autonomously controlled spacecraft to continuously control to a pre-defined orbit about Mars with near-optimal propellant usage. The control laws were implemented as an adjunct to HPOP. The GSFC-produced 50 × 50 field model of the Martian gravitational potential was used in all simulations. The Martian atmospheric drag was modeled using an exponentially decaying atmosphere based on data from the Mars-GRAM NASA Ames model. It is hoped that the simple atmosphere model that was implemented can be significantly improved in the future so as to approach the fidelity of the Mars-GRAM model in its predictions of atmospheric density at orbital altitudes. Such additional work

  17. Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

    Science.gov (United States)

    2007-12-01

    Neubauer [54][55]. 87 VII. LQR/APF CONTROL ALGORITHM APPROACH The LQR approach can be recursively applied to the multiple spacecraft close... Neubauer and Swartwout’s research [55]. It is generally possible to select a closed map over which the algorithm is stable and robust. For these...can be easily edited and transferred into video format for presentations. Modifications of camera key frames ( camera position and angle) and

  18. Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

    Science.gov (United States)

    Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

    2015-01-01

    A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

  19. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles

    Directory of Open Access Journals (Sweden)

    E.W. Taylor

    2010-07-01

    Full Text Available Control of the heart rate and cardiorespiratory interactions (CRI is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  20. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles.

    Science.gov (United States)

    Taylor, E W; Leite, C A C; Skovgaard, N

    2010-07-01

    Control of the heart rate and cardiorespiratory interactions (CRI) is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA) has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN) and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  1. Autonomous Reconfigurable Control Allocation (ARCA) for Reusable Launch Vehicles

    Science.gov (United States)

    Hodel, A. S.; Callahan, Ronnie; Jackson, Scott (Technical Monitor)

    2002-01-01

    The role of control allocation (CA) in modern aerospace vehicles is to compute a command vector delta(sub c) is a member of IR(sup n(sub a)) that corresponding to commanded or desired body-frame torques (moments) tou(sub c) = [L M N](sup T) to the vehicle, compensating for and/or responding to inaccuracies in off-line nominal control allocation calculations, actuator failures and/or degradations (reduced effectiveness), or actuator limitations (rate/position saturation). The command vector delta(sub c) may govern the behavior of, e.g., acrosurfaces, reaction thrusters, engine gimbals and/or thrust vectoring. Typically, the individual moments generated in response to each of the n(sub a) commands does not lie strictly in the roll, pitch, or yaw axes, and so a common practice is to group or gang actuators so that a one-to-one mapping from torque commands tau(sub c) actuator commands delta(sub c) may be achieved in an off-line computed CA function.

  2. Lighter than Air Robots Guidance and Control of Autonomous Airships

    CERN Document Server

    Bestaoui Sebbane, Yasmina

    2012-01-01

    An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The sec...

  3. User evaluation of a GUI for controlling an autonomous persistent surveillance team

    Science.gov (United States)

    Scerri, Paul; Owens, Sean; Sycara, Katia; Lewis, Michael

    2010-04-01

    In future military missions, there will be many sensor assets collecting much important information about the environment. User control over surveillance assets is important to ensure that the specific data collected is appropriate for the current mission. Unfortunately, previous work has shown that individual users cannot effectively control more than about four assets, even if the assets have significant autonomy. In the ACCAST project, we hypothesized that by including autonomous teamwork between the assets and allowing users to interact by describing what the team as a whole and specific sub-teams should do, we could dramatically scale up the number of assets an individual user could effectively control. In this paper, we present the results of an experiment where users controlled up to 30 autonomous assets performing a complex mission. The assets autonomously worked together using sophisticated teamwork and the user could tell sub-teams to execute team oriented plans which described the steps required to achieve a team objective without describing exactly which asset performed which role and without having to specify how the team should handle routine information sharing, communications and failure circumstances. The users, soldiers from Fort Benning, were surprisingly good at managing the assets and were all able to complete the complex mission with extremely low friendly and civilian casualties.

  4. Autonomous Control Strategy of DC Microgrid for Islanding Mode Using Power Line Communication

    Directory of Open Access Journals (Sweden)

    Dong-Keun Jeong

    2018-04-01

    Full Text Available This paper proposes a DC-bus signaling (DBS method for autonomous power management in a DC microgrid, used to improve its reliability. Centralized power management systems require communication between the power sources and loads. However, the DBS method operates based on the common DC-bus voltage and does not require communication. Based on the DC-bus voltage band, the DC-bus voltage can be used to inform the status of the DC-bus in various scenarios. The DC microgrid operates independently to maintain the system stably in the DC-bus voltage band. The DC microgrid can be divided into a grid-connected mode and an islanding mode. This paper proposes a control strategy based on power management of various independent components in islanding mode. In addition, the autonomous control method for switching the converter’s operation between grid-connected mode and islanding mode is proposed. A DC microgrid test bed consisting of a grid-connected AC/DC converter, a bidirectional DC/DC converter, a renewable energy simulator, DC home appliances and a DC-bus protector is used to test the proposed control strategy. The proposed autonomous control strategy is experimentally verified using the DC microgrid test bed.

  5. Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.

    Science.gov (United States)

    Khoiy, Keyvan Amini; Mirbagheri, Alireza; Farahmand, Farzam

    2016-01-01

    An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image. Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms. It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations.

  6. Numerical Construction of Viable Sets for Autonomous Conflict Control Systems

    Directory of Open Access Journals (Sweden)

    Nikolai Botkin

    2014-04-01

    Full Text Available A conflict control system with state constraints is under consideration. A method for finding viability kernels (the largest subsets of state constraints where the system can be confined is proposed. The method is related to differential games theory essentially developed by N. N. Krasovskii and A. I. Subbotin. The viability kernel is constructed as the limit of sets generated by a Pontryagin-like backward procedure. This method is implemented in the framework of a level set technique based on the computation of limiting viscosity solutions of an appropriate Hamilton–Jacobi equation. To fulfill this, the authors adapt their numerical methods formerly developed for solving time-dependent Hamilton–Jacobi equations arising from problems with state constraints. Examples of computing viability sets are given.

  7. Autonomous Supervision and Control of Parametric Roll Resonance

    DEFF Research Database (Denmark)

    Galeazzi, Roberto

    therefore two objectives. The first is to develop methods for detection of the inception of parametric roll resonance. The second is to develop control strategies to stabilize the motion after parametric roll has started. Stabilisation of parametric roll resonance points to two possible courses of action...... strategies are then combined to stabilise parametric roll resonance within few roll cycles. Limitations on the maximum stabilisable roll angle are analysed and linked to the ii slew rate saturation and hydrodynamic stall characteristics of the fin stabilisers. The study on maximum stabilisable roll angle...... leads to the requirements for early detection. Two novel detectors are proposed, which work within a shorttime prediction horizon, and issue early warnings of parametric roll inception within few roll cycles from its onset. The main idea behind these detection schemes is that of exploiting the link...

  8. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    Science.gov (United States)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  9. Autonomic control of the heart in the Asian swamp eel (Monopterus albus)

    DEFF Research Database (Denmark)

    Iversen, Nina Kerting; Huong, Do Thi Thanh; Bayley, Mark

    2011-01-01

    The Asian swamp eel (Monopterus albus) is an air-breathing teleost with very reduced gills that uses the buccal cavity for air-breathing. Here we characterise the cardiovascular changes associated with the intermittent breathing pattern in M. albus and we study the autonomic control of the heart.......3 cm H2O). The autonomic control of the heart during water- and air-breathing was revealed by infusion of the β-adrenergic antagonist propranolol and muscarinic antagonist atropine (3 mg kg− 1) in eels instrumented with an arterial catheter. Inhibition of the sympathetic and parasympathetic...... innervations of the heart revealed a strong vagal tone on the heart of water-breathing eels and that the tachycardia during air-breathing is primarily mediated by withdrawal of cholinergic tone....

  10. Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

    Science.gov (United States)

    Ivancic, William D.; Paulsen, Phillip E.; Miller, Eric M.; Sage, Steen P.

    2013-01-01

    This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe(Registered TradeMark) satellites to obtain space-based sensor data.

  11. Autonomous controller (JCAM 10) for CAMAC crate with 8080 (INTEL) microprocessor

    International Nuclear Information System (INIS)

    Gallice, P.; Mathis, M.

    1975-01-01

    The CAMAC crate autonomous controller JCAM-10 is designed around an INTEL 8080 microprocessor in association with a 5K RAM and 4K REPROM memory. The concept of the module is described, in which data transfers between CAMAC modules and the memory are optimised from software point of view as well as from execution time. In fact, the JCAM-10 is a microcomputer with a set of 1000 peripheral units represented by the CAMAC modules commercially available

  12. Development of a Control Systems Platform for an Autonomous Soft-Car

    OpenAIRE

    Ray, Pratish

    2015-01-01

    Balloon Cars (Soft Cars) used for active-system testing are presently statically following one specific path. Autonomous GPS driven balloon cars can be extremely useful if made to be accurate.Volvo group’s long term plan involves usage of such cars to improve active-safety systems. Thisreport presents comprehensive details about the development of the control system of the soft-car.Software development was preceded by purchase of parts. Detailed descriptions of the ballooncar hardware compone...

  13. Autonomous Quality Control of Joint Orientation Measured with Inertial Sensors

    Directory of Open Access Journals (Sweden)

    Karina Lebel

    2016-07-01

    Full Text Available Clinical mobility assessment is traditionally performed in laboratories using complex and expensive equipment. The low accessibility to such equipment, combined with the emerging trend to assess mobility in a free-living environment, creates a need for body-worn sensors (e.g., inertial measurement units—IMUs that are capable of measuring the complexity in motor performance using meaningful measurements, such as joint orientation. However, accuracy of joint orientation estimates using IMUs may be affected by environment, the joint tracked, type of motion performed and velocity. This study investigates a quality control (QC process to assess the quality of orientation data based on features extracted from the raw inertial sensors’ signals. Joint orientation (trunk, hip, knee, ankle of twenty participants was acquired by an optical motion capture system and IMUs during a variety of tasks (sit, sit-to-stand transition, walking, turning performed under varying conditions (speed, environment. An artificial neural network was used to classify good and bad sequences of joint orientation with a sensitivity and a specificity above 83%. This study confirms the possibility to perform QC on IMU joint orientation data based on raw signal features. This innovative QC approach may be of particular interest in a big data context, such as for remote-monitoring of patients’ mobility.

  14. The association between depressive disorder and cardiac autonomic control in adults 60 years and older.

    Science.gov (United States)

    Licht, Carmilla M M; Naarding, Paul; Penninx, Brenda W J H; van der Mast, Roos C; de Geus, Eco J C; Comijs, Hannie

    2015-04-01

    Altered cardiac autonomic control has often been reported in depressed persons and might play an important role in the increased risk for cardiovascular disease (CVD). A negative association between cardiac autonomic control and depression might become specifically clinically relevant in persons 60 years or older as CVD risk increases with age. This study included data of 321 persons with a depressive disorder and 115 controls participating in the Netherlands Study of Depression in Older Persons (mean age = 70.3 years, 65.7% female). Respiratory sinus arrhythmia (RSA), heart rate (HR), and preejection period (PEP) were measured and compared between depressed persons and controls. In addition, the role of antidepressants and clinical characteristics (e.g., age of depression onset and comorbid anxiety) was examined. Compared with controls, depressed persons had lower RSA (mean [standard error of the mean] = 23.5 [1.2] milliseconds versus 18.6 [0.7] milliseconds, p = .001, d = 0.373) and marginally higher HR (73.1 [1.1] beats/min versus 75.6 [0.6] beats/min, p = .065, d = 0.212), but comparable PEP (113.9 [2.1] milliseconds versus 112.0 [1.2] milliseconds, p = .45, d = 0.087), fully adjusted. Antidepressants strongly attenuated the associations between depression and HR and RSA. Antidepressant-naïve depressed persons had similar HR and RSA to controls, whereas users of antidepressants showed significantly lower RSA. In addition, tricyclic antidepressant users had higher HR (p 768) and shorter PEP (p = .014, d = 0.395) than did controls. Depression was not associated with cardiac autonomic control, but antidepressants were in this sample. All antidepressants were associated with low cardiac parasympathetic control and specifically tricyclic antidepressants with high cardiac sympathetic control.

  15. Autonomic Modulation in Duchenne Muscular Dystrophy during a Computer Task: A Prospective Control Trial.

    Directory of Open Access Journals (Sweden)

    Mayra Priscila Boscolo Alvarez

    Full Text Available Duchenne Muscular Dystrophy (DMD is characterized by progressive muscle weakness that can lead to disability. Owing to functional difficulties faced by individuals with DMD, the use of assistive technology is essential to provide or facilitate functional abilities. In DMD, cardiac autonomic dysfunction has been reported in addition to musculoskeletal impairment. Consequently, the objective was to investigate acute cardiac autonomic responses, by Heart Rate Variability (HRV, during computer tasks in subjects with DMD.HRV was assessed by linear and nonlinear methods, using the heart rate monitor Polar RS800CX chest strap Electrocardiographic measuring device. Then, 45 subjects were included in the group with DMD and 45 in the healthy Typical Development (TD control group. They were assessed for twenty minutes at rest sitting, and five minutes after undergoing a task on the computer.Individuals with DMD had a statistically significant lower parasympathetic cardiac modulation at rest when compared to the control group, which further declined when undergoing the tasks on the computer.DMD patients presented decreased HRV and exhibited greater intensity of cardiac autonomic responses during computer tasks characterized by vagal withdrawal when compared to the healthy TD control subjects.

  16. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

  17. New control approach for a PV-diesel autonomous power system

    Energy Technology Data Exchange (ETDEWEB)

    Rashed, Mohamed; Elmitwally, A.; Kaddah, Sahar [Electrical Engineering Department, Mansoura University, Mansoura 35516 (Egypt)

    2008-06-15

    A new control scheme for the hybrid photovoltaic-diesel single-phase autonomous power system is proposed. The main advantage of this scheme is that the voltage control is accomplished by the interface inverter without need to the automatic voltage regulator of the diesel-driven generator. Unlike three-phase systems, frequency and voltage control in single-phase autonomous power systems imposes additional complexity. This is due to the pulsating nature of the single-phase loads instantaneous power at twice the rated frequency that may degrade the control efficacy. This obstacle is addressed in this paper and a new scheme is presented. The approach includes three control loops for maximum power tracking, voltage control and frequency control. The generator field current is held constant at its nominal value avoiding the saturation in the field circuit. A robust fuzzy logic controller is adopted for the speed control loop of the diesel engine. The dynamic performance of the system is investigated under different operating conditions. (author)

  18. Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

    Science.gov (United States)

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

  19. Optimal strategies for the control of autonomous vehicles in data assimilation

    Science.gov (United States)

    McDougall, D.; Moore, R. O.

    2017-08-01

    We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with arbitrary control over direction. It is this direction that is used as the basis for the locally optimal control algorithm presented here, with objective formed from the variance trace of the expected posterior distribution. We present results for linear flows near hyperbolic fixed points.

  20. CamOn: A Real-Time Autonomous Camera Control System

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    This demonstration presents CamOn, an autonomous cam- era control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orienta- tion of the camera. Scene geometry from the 3D environment...... contributes to the potential field that is used to determine po- sition and movement of the camera. Composition constraints for the camera are modelled as potential fields for controlling the view target of the camera. CamOn combines the compositional benefits of constraint- based camera systems, and improves...

  1. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

  2. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  3. Demonstration of a Concurrently Programmed Tactical Level Control Software for Autonomous Vehicles and the Interface to the Execution Level Code

    National Research Council Canada - National Science Library

    Carroll, William

    2000-01-01

    .... One of the greatest challenges to the successful development of truly autonomous vehicles is the ability to link logically based high-level mission planning with low-level vehicle control software...

  4. Autonomous Voltage Unbalance Compensation in an Islanded Droop-Controlled Microgrid

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Jalilian, Alireza; Vasquez, Juan Carlos

    2013-01-01

    Recently, there is an increasing interest in using distributed generators (DGs) not only to inject power into the grid, but also to enhance the power quality. In this paper, a stationary-frame control method for voltage unbalance compensation in an islanded microgrid is proposed. This method...... is based on the proper control of DGs interface converters. The DGs are controlled to compensate voltage unbalance autonomously while share the compensation effort and also active and reactive power, properly. The control system of the DGs mainly consists of active and reactive power droop controllers......, virtual impedance loop, voltage and current controllers and unbalance compensator. The design approach of the control system is discussed in detail and simulation and experimental results are presented. The results demonstrate the effectiveness of the proposed method in compensation of voltage unbalance....

  5. Audit, Control and Monitoring Design Patterns (ACMDP for Autonomous Robust Systems (ARS

    Directory of Open Access Journals (Sweden)

    C. Trad

    2008-11-01

    Full Text Available This paper proposes the Audit, Control and Monitoring Design Patterns (ACMDP for building Autonomous and Robust Systems (ARS such as Mobile Robot Systems (MRS. These patterns are also applicable to other Mission Critical and Complex Systems (MCCS. This paper presents a proposal which will help ARS project managers and engineers design, build and estimate the probability that an ARS will succeed or fail. Furthermore, this proposal offers the possibility to ARS problems with the help of audit, monitoring and controlling components, adjust the project management pathways, and define the problem sources as well as their possible solutions, in order to deliver an ARS or an MRS.

  6. Simvastatin-induced cardiac autonomic control improvement in fructose-fed female rats

    Directory of Open Access Journals (Sweden)

    Renata Juliana da Silva

    2011-01-01

    Full Text Available OBJECTIVE: Because autonomic dysfunction has been found to lead to cardiometabolic disorders and because studies have reported that simvastatin treatment has neuroprotective effects, the objective of the present study was to investigate the effects of simvastatin treatment on cardiovascular and autonomic changes in fructose-fed female rats. METHODS: Female Wistar rats were divided into three groups: controls (n=8, fructose (n=8, and fructose+ simvastatin (n=8. Fructose overload was induced by supplementing the drinking water with fructose (100 mg/L, 18 wks. Simvastatin treatment (5 mg/kg/day for 2 wks was performed by gavage. The arterial pressure was recorded using a data acquisition system. Autonomic control was evaluated by pharmacological blockade. RESULTS: Fructose overload induced an increase in the fasting blood glucose and triglyceride levels and insulin resistance. The constant rate of glucose disappearance during the insulin intolerance test was reduced in the fructose group (3.4+ 0.32%/min relative to that in the control group (4.4+ 0.29%/min. Fructose+simvastatin rats exhibited increased insulin sensitivity (5.4+0.66%/min. The fructose and fructose+simvastatin groups demonstrated an increase in the mean arterial pressure compared with controls rats (fructose: 124+2 mmHg and fructose+simvastatin: 126 + 3 mmHg vs. controls: 112 + 2 mmHg. The sympathetic effect was enhanced in the fructose group (73 + 7 bpm compared with that in the control (48 + 7 bpm and fructose+simvastatin groups (31+8 bpm. The vagal effect was increased in fructose+simvastatin animals (84 + 7 bpm compared with that in control (49 + 9 bpm and fructose animals (46+5 bpm. CONCLUSION: Simvastatin treatment improved insulin sensitivity and cardiac autonomic control in an experimental model of metabolic syndrome in female rats. These effects were independent of the improvements in the classical plasma lipid profile and of reductions in arterial pressure. These results

  7. Critical element study on autonomous position control of articulated-arm type manipulator

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

    An articulated-arm type manipulator can be operated effectively in a restricted space due to its flexibility and it can be attractive for a wide range of in-vessel maintenance such as viewing, inspection and limiter handling in fusion experimental reactors. In case of the in-vessel maintenance using a flexible manipulator, it is quite essential to develop an autonomous control method for compensating a deflection of manipulator so as to minimize the maintenance time with high precision. For this purpose, a new position control method using a combination of neural network predictor with a rigid inverse kinematics is being developed. The key features of this method are to simplify a kinematics modeling of flexible manipulator, to enable quick position compensation in stead of ordinary large matrix compensation, and to be applicable to a wide variety of manipulator characteristics. A sub-scaled model of flexible manipulator with 4 joints has been fabricated for a benchmark experiments of the autonomous position control. Comparing analytical simulation with experiments using the flexible manipulator, it has been demonstrated that the new position control method gives significant improvement in control performance with high precision in order of a figure. In addition, further optimization can be possible by adding other non-linear predictors such as radial basis function and fuzzy modeling. This paper describes the details of a sub-scaled flexible manipulator and a neural network position control system as well as results of analytical simulation and benchmark experiments. (author)

  8. Zebrafish heart as a model to study the integrative autonomic control of pacemaker function

    Science.gov (United States)

    Stoyek, Matthew R.; Quinn, T. Alexander; Croll, Roger P.

    2016-01-01

    The cardiac pacemaker sets the heart's primary rate, with pacemaker discharge controlled by the autonomic nervous system through intracardiac ganglia. A fundamental issue in understanding the relationship between neural activity and cardiac chronotropy is the identification of neuronal populations that control pacemaker cells. To date, most studies of neurocardiac control have been done in mammalian species, where neurons are embedded in and distributed throughout the heart, so they are largely inaccessible for whole-organ, integrative studies. Here, we establish the isolated, innervated zebrafish heart as a novel alternative model for studies of autonomic control of heart rate. Stimulation of individual cardiac vagosympathetic nerve trunks evoked bradycardia (parasympathetic activation) and tachycardia (sympathetic activation). Simultaneous stimulation of both vagosympathetic nerve trunks evoked a summative effect. Effects of nerve stimulation were mimicked by direct application of cholinergic and adrenergic agents. Optical mapping of electrical activity confirmed the sinoatrial region as the site of origin of normal pacemaker activity and identified a secondary pacemaker in the atrioventricular region. Strong vagosympathetic nerve stimulation resulted in a shift in the origin of initial excitation from the sinoatrial pacemaker to the atrioventricular pacemaker. Putative pacemaker cells in the sinoatrial and atrioventricular regions expressed adrenergic β2 and cholinergic muscarinic type 2 receptors. Collectively, we have demonstrated that the zebrafish heart contains the accepted hallmarks of vertebrate cardiac control, establishing this preparation as a viable model for studies of integrative physiological control of cardiac function by intracardiac neurons. PMID:27342878

  9. Method to measure autonomic control of cardiac function using time interval parameters from impedance cardiography

    International Nuclear Information System (INIS)

    Meijer, Jan H; Boesveldt, Sanne; Elbertse, Eskeline; Berendse, H W

    2008-01-01

    The time difference between the electrocardiogram and impedance cardiogram can be considered as a measure for the time delay between the electrical and mechanical activities of the heart. This time interval, characterized by the pre-ejection period (PEP), is related to the sympathetic autonomous nervous control of cardiac activity. PEP, however, is difficult to measure in practice. Therefore, a novel parameter, the initial systolic time interval (ISTI), is introduced to provide a more practical measure. The use of ISTI instead of PEP was evaluated in three groups: young healthy subjects, patients with Parkinson's disease, and a group of elderly, healthy subjects of comparable age. PEP and ISTI were studied under two conditions: at rest and after an exercise stimulus. Under both conditions, PEP and ISTI behaved largely similarly in the three groups and were significantly correlated. It is concluded that ISTI can be used as a substitute for PEP and, therefore, to evaluate autonomic neuropathy both in clinical and extramural settings. Measurement of ISTI can also be used to non-invasively monitor the electromechanical cardiac time interval, and the associated autonomic activity, under physiological circumstances

  10. An Intelligent Propulsion Control Architecture to Enable More Autonomous Vehicle Operation

    Science.gov (United States)

    Litt, Jonathan S.; Sowers, T. Shane; Simon, Donald L.; Owen, A. Karl; Rinehart, Aidan W.; Chicatelli, Amy K.; Acheson, Michael J.; Hueschen, Richard M.; Spiers, Christopher W.

    2018-01-01

    This paper describes an intelligent propulsion control architecture that coordinates with the flight control to reduce the amount of pilot intervention required to operate the vehicle. Objectives of the architecture include the ability to: automatically recognize the aircraft operating state and flight phase; configure engine control to optimize performance with knowledge of engine condition and capability; enhance aircraft performance by coordinating propulsion control with flight control; and recognize off-nominal propulsion situations and to respond to them autonomously. The hierarchical intelligent propulsion system control can be decomposed into a propulsion system level and an individual engine level. The architecture is designed to be flexible to accommodate evolving requirements, adapt to technology improvements, and maintain safety.

  11. Distributed Control for Autonomous Operation of a Three-Port AC/DC/DS Hybrid Microgrid

    DEFF Research Database (Denmark)

    Wang, Peng; Jin, Chi; Zhu, Dexuan

    2015-01-01

    This paper presents a distributed control scheme for reliable autonomous operation of a hybrid three-port ac/dc/distributed storage (ds) microgrid by means of power sharing in individual network, power exchange between ac and dc networks, and power management among three networks. The proposed...... distributed control scheme includes: 1) a fully decentralized control, which is achieved by local power sharing (LPS) in individual ac or dc network, global power sharing (GPS) throughout ac/dc networks, and storage power sharing (SPS) among distributed storages. Upon fully decentralized control, each power...... module can operate independently without communication links. This would benefit for riding through communication malfunction in multilayer supervision control system; 2) a multilevel power exchange control for scheduling LPS, GPS, and SPS has been developed to reduce unnecessary power exchange between...

  12. Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

    Science.gov (United States)

    Huang, Shiuh-Jer; Chen, Hung-Yi

    In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

  13. Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Sheng-Ping Hsu

    2014-01-01

    Full Text Available During a constant depth maneuver of an autonomous underwater vehicle (AUV, its pitch attitude and stern plane deflections create forces and moments to achieve equilibrium in the vertical plane. If an AUV has a proportional controller only in its depth control loop, then different weights or centers of gravity will cause different steady-state depth errors at trimmed conditions. In general, a steady-state depth error can be eliminated by adding an integral controller in the depth control loop. However, an improper integrator may lead to a bad transient response, even though the steady-state depth error can finally be eliminated. To remove the steady-state depth error, this study proposes methods that adjust the depth command and add a switching integral controller in the depth control loop. Simulation results demonstrate that the steady-state depth error can be eliminated and the transient response can be improved.

  14. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    Directory of Open Access Journals (Sweden)

    Abdallah A. Hassan

    2014-12-01

    Full Text Available Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is questionable. Consequently, in this paper a fully distributed algorithm is proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delay. Unlike other distributed approaches described in the literature, the wireless communication constraints are considered in the design of the control algorithm. Specifically, the proposed algorithm requires vehicles heading to an intersection to communicate only with neighboring vehicles, while the lead vehicles on each approach lane share information to develop a complete intersection utilization schedule. The scheduling rotates between vehicles to identify higher traffic volumes and favor vehicles coming from heavier lanes to minimize the overall intersection delay. The simulated experiments show significant reductions in the average delay using the proposed approach compared to other methods reported in the literature and reduction in the maximum delay experienced by a vehicle especially in cases of heavy traffic demand levels.

  15. Using the centre of percussion to design a steering controller for an autonomous race car

    Science.gov (United States)

    Kritayakirana, Krisada; Gerdes, J. Christian

    2012-01-01

    Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. In this paper, a race car driver's behaviour inspires the design of an autonomous racing controller. The resulting controller uses the vehicle's centre of percussion (COP) to design feedforward and feedback steering. At the COP, the effects of rotation and translation from the rear tire force cancel each other out; consequently, the feedforward steering command is robust to the disturbances from the rear tire force. Using the COP also simplifies the equations of motion, as the vehicle's lateral motion is decoupled from the vehicle's yaw motion and highlights the challenge of controlling a vehicle when the rear tires are highly saturated. The resulting dynamics can be controlled with a linear state feedback based on a lane-keeping system with additional yaw damping. Utilising Lyapunov theory, the closed-loop system is shown to remain stable even when the rear tires are highly saturated. The experimental results demonstrate that an autonomous vehicle can operate at its limits while maintaining a minimal lateral error.

  16. Electric Drive Discrete Control System with Automatic Switching-On Reserve for Autonomous Settlement

    Directory of Open Access Journals (Sweden)

    Tsytovich L.I.

    2015-08-01

    Full Text Available The paper aims at developing of control the water supply system’s electric drives for autonomous settlement. The system provides automatic switching to a reserve control channel at refusal of any of the functional elements of the working regulation channel. Usually, such systems have a test signal generator and analyzer to system response to their impact. This result to an increase in the structural redundancy of the system, increase its cost and increase the requirements for the staff qualification. A specific feature of the system is its ability to self-diagnosis of catastrophic malfunctions of scheme’s components and an automatic switching-on the reserve control channels, without applying any test signals to the whole complex of electrical equipment. Multi-zone integrating regulator with frequency-pulse-width modulation realizes this technical solution. Control system structure and signals timing diagrams are presented. The construction principle of adaptive interval-code synchronization device with improved noise stability to control the voltage regulators serving for smooth start-up of asynchronous motors of water pumps is considered as well. Such solution allowing increase noise stability and reliability work of the system in conditions of limited power electrical networks, which is characteristic for the autonomous settlements. The article may be of interest to specialists in the field of power electronics and information electronics, electric drives and process automation.

  17. Autonomic Nervous System Disorders

    Science.gov (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  18. Simulation Modeling of Intelligent Control Algorithms for Constructing Autonomous Power Supply Systems with Improved Energy Efficiency

    Directory of Open Access Journals (Sweden)

    Gimazov Ruslan

    2018-01-01

    Full Text Available The paper considers the issue of supplying autonomous robots by solar batteries. Low efficiency of modern solar batteries is a critical issue for the whole industry of renewable energy. The urgency of solving the problem of improved energy efficiency of solar batteries for supplying the robotic system is linked with the task of maximizing autonomous operation time. Several methods to improve the energy efficiency of solar batteries exist. The use of MPPT charge controller is one these methods. MPPT technology allows increasing the power generated by the solar battery by 15 – 30%. The most common MPPT algorithm is the perturbation and observation algorithm. This algorithm has several disadvantages, such as power fluctuation and the fixed time of the maximum power point tracking. These problems can be solved by using a sufficiently accurate predictive and adaptive algorithm. In order to improve the efficiency of solar batteries, autonomous power supply system was developed, which included an intelligent MPPT charge controller with the fuzzy logic-based perturbation and observation algorithm. To study the implementation of the fuzzy logic apparatus in the MPPT algorithm, in Matlab/Simulink environment, we developed a simulation model of the system, including solar battery, MPPT controller, accumulator and load. Results of the simulation modeling established that the use of MPPT technology had increased energy production by 23%; introduction of the fuzzy logic algorithm to MPPT controller had greatly increased the speed of the maximum power point tracking and neutralized the voltage fluctuations, which in turn reduced the power underproduction by 2%.

  19. Overview of the Autonomic Nervous System

    Science.gov (United States)

    ... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

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

    Science.gov (United States)

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

    1982-01-01

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

  1. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  2. Autonomous acquisition systems for TJ-II: controlling instrumentation with a fourth generation language

    International Nuclear Information System (INIS)

    Sanchez, E.; Portas, A.B.; Vega, J.; Agudo, J.M.; McCarthy, K.J.; Ruiz, M.; Barrera, E.; Lopez, S.

    2004-01-01

    Recently, 536 new acquisition channels, made-up of three different channel types, have been incorporated into the TJ-II data acquisition system (DAQ). Dedicated software has also been developed to permit experimentalists to program and control the data acquisition in these systems. The software has been developed using LabView and runs under the Windows 2000 operating system in both personal computer (PC) and PXI controllers. In addition, LabView software has been developed to control TJ-II VXI channels from a PC using a MXI connection. This new software environment will also aid future integration of acquisition channels into the TJ-II remote participation system. All of these acquisition devices work autonomously and are connected to the TJ-II central server via a local area network. In addition, they can be remotely controlled from the TJ-II control-room using Virtual Network Computing (VNC) software

  3. High–Level Control System for Biomimetic Autonomous Under-water Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

    Full Text Available Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS designed for Biomimetic Autonomous Underwater Vehicle (BAUV.

  4. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

    This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

  5. Venous and autonomic function in formerly pre-eclamptic women and BMI-matched controls.

    Science.gov (United States)

    Heidema, Wieteke M; van Drongelen, Joris; Spaanderman, Marc E A; Scholten, Ralph R

    2018-03-25

    Pre-pregnancy reduced plasma volume increases the risk on subsequent pre-eclamptic pregnancy. Reduced plasma volume is thought to reflect venous reserve capacity, especially when venous vasculature is constricted and sympathetic tone is elevated. As obesity might affect these variables and also relates to pre-eclampsia, increased body weight may underlie these observations. We hypothesized that the relationship between reduced venous reserve and preeclampsia is independent of body mass index (BMI). We compared the non-pregnant venous reserve capacity in 30 formerly pre-eclamptic women, equally divided in 3 BMI-classes (BMI 19.5-24.9, BMI 25-29.9, BMI ≥30) to 30 controls. Cases and controls were matched for BMI, age and parity. The venous reserve capacity was quantified by assessing plasma volume and venous compliance. The autonomic nervous system regulating the venous capacitance was evaluated with heart rate variability analysis in resting supine position and during positive head-up tilt (HUT). Formerly pre-eclamptic women had in supine position lower plasma volume than controls (1339 ± 79 vs 1547 ± 139 ml/m 2 (pBMI-matched controls, reduced venous reserve capacity. This is reflected by lower plasma volume and venous compliance, the autonomic balance is shifted towards sympathetic dominance and lower baroreceptor sensitivity. This suggests that not BMI, but underlying reduced venous reserve relates to pre-eclampsia. This article is protected by copyright. All rights reserved.

  6. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    Directory of Open Access Journals (Sweden)

    Zhenyu Yu

    2007-03-01

    Full Text Available Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The above-the-ground height sensing is based on a 3D vision system. We have designed a simple plane-fitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a two-stage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.

  7. PointCom: semi-autonomous UGV control with intuitive interface

    Science.gov (United States)

    Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

    2008-04-01

    Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

  8. Job autonomy in relation to work engagement and workaholism: Mediation of autonomous and controlled work motivation.

    Science.gov (United States)

    Malinowska, Diana; Tokarz, Aleksandra; Wardzichowska, Anna

    2018-02-07

    This study integrates the Self Determination Theory and the Job Demands-Resource model in explaining motivational antecedents of 2 forms of excessive work: work engagement and workaholism. It specifically examines the relationship between job autonomy, situational work motivation, work engagement, and workaholism. The sample comprised 318 full-time employees of an international outsourcing company located in Poland. The mediation analysis was used for testing hypotheses about the mediation of autonomous and controlled motivation in the relationship between job autonomy, work engagement, and workaholism. The results have confirmed that autonomous motivation mediates the relationship between job autonomy and work engagement. The assumption about the mediation role of controlled motivation in the relationship between job autonomy and workaholism has not been confirmed; however, external regulation (i.e., controlled motivation) is a significant predictor of workaholism. Giving employees more job autonomy might increase their intrinsic and identified regulation and may therefore lead to more energetic, enthusiastic, and dedicated engagement with their jobs. Workaholism may be predicted by external regulation, and work characteristics other than job autonomy may play an important role in enhancing this controlled type of motivation. This work is available in Open Access model and licensed under a CC BY-NC 3.0 PL license.

  9. Autonomic and Vascular Control in Prehypertensive Subjects with a Family History of Arterial Hypertension

    Directory of Open Access Journals (Sweden)

    Josária Ferraz Amaral

    2018-02-01

    Full Text Available Abstract Background: Individuals with a family history of systemic arterial hypertension (FHSAH and / or prehypertension have a higher risk of developing this pathology. Objective: To evaluate the autonomic and vascular functions of prehypertensive patients with FHSAH. Methods: Twenty-five young volunteers with FHSAH, 14 normotensive and 11 prehypertensive subjects were submitted to vascular function evaluation by forearm vascular conductance(VC during resting and reactive hyperemia (Hokanson® and cardiac and peripheral autonomic modulation, quantified, respectively, by spectral analysis of heart rate (ECG and systolic blood pressure (SBP (FinometerPRO®. The transfer function analysis was used to measure the gain and response time of baroreflex. The statistical significance adopted was p ≤ 0.05. Results: Pre-hypertensive individuals, in relation to normotensive individuals, have higher VC both at rest (3.48 ± 1.26 vs. 2.67 ± 0.72 units, p = 0.05 and peak reactive hyperemia (25, 02 ± 8.18 vs. 18.66 ± 6.07 units, p = 0.04. The indices of cardiac autonomic modulation were similar between the groups. However, in the peripheral autonomic modulation, greater variability was observed in prehypertensive patients compared to normotensive individuals (9.4 [4.9-12.7] vs. 18.3 [14.8-26.7] mmHg2; p < 0.01 and higher spectral components of very low (6.9 [2.0-11.1] vs. 13.5 [10.7-22.4] mmHg2, p = 0.01 and low frequencies (1.7 [1.0-3.0] vs. 3.0 [2.0-4.0] mmHg2, p = 0.04 of SBP. Additionally, we observed a lower gain of baroreflex control in prehypertensive patients compared to normotensive patients (12.16 ± 4.18 vs. 18.23 ± 7.11 ms/mmHg, p = 0.03, but similar delay time (-1.55 ± 0.66 vs. -1.58 ± 0.72 s, p = 0.90. Conclusion: Prehypertensive patients with FHSAH have autonomic dysfunction and increased vascular conductance when compared to normotensive patients with the same risk factor.

  10. Aging in autonomic control by multifractal studies of cardiac interbeat intervals in the VLF band

    International Nuclear Information System (INIS)

    Makowiec, Danuta; Kryszewski, Stanisław; Rynkiewicz, Andrzej; Wdowczyk-Szulc, Joanna; Żarczyńska-Buchowiecka, Marta; Gałąska, Rafał

    2011-01-01

    The heart rate responds dynamically to various intrinsic and environmental stimuli. The autonomic nervous system is said to play a major role in this response. Multifractal analysis offers a novel method to assess the response of cardiac interbeat intervals. Twenty-four hour ECG recordings of RR interbeat intervals (of 48 elderly volunteers (age 65–94), 40 middle-aged persons (age 45–53) and 36 young adults (age 18–26)) were investigated to study the effect of aging on autonomic regulation during normal activity in healthy adults. Heart RR-interval variability in the very low frequency (VLF) band (32–420 RR intervals) was evaluated by multifractal tools. The nocturnal and diurnal signals of 6 h duration were studied separately. For each signal, the analysis was performed twice: for a given signal and for the integrated signal. A multifractal spectrum was quantified by the h max value at which a multifractal spectrum attained its maximum, width of a spectrum, Hurst exponent, extreme events h left and distance between the maxima of a signal and its integrated counterpart. The following seven characteristics are suggested as quantifying the age-related decrease in the autonomic function ('int' refers to the integrated signal): (a) h sleep max − h max wake > 0.05 for a signal; (b) h int max > 1.15 for wake; (c) h int max − h max > 0.85 for sleep; (d) Hurst wake − Hurst sleep < 0.01; (e) width wake > 0.07; (f) width int < 0.30 for sleep; (g) h int left > 0.75. Eighty-one percent of elderly people had at least four of these properties, and ninety-two percent of young people had three or less. This shows that the multifractal approach offers a concise and reliable index of healthy aging for each individual. Additionally, the applied method yielded insights into dynamical changes in the autonomic regulation due to the circadian cycle and aging. Our observations support the hypothesis that imbalance in the autonomic control due to healthy aging could

  11. Manifold traversing as a model for learning control of autonomous robots

    Science.gov (United States)

    Szakaly, Zoltan F.; Schenker, Paul S.

    1992-01-01

    This paper describes a recipe for the construction of control systems that support complex machines such as multi-limbed/multi-fingered robots. The robot has to execute a task under varying environmental conditions and it has to react reasonably when previously unknown conditions are encountered. Its behavior should be learned and/or trained as opposed to being programmed. The paper describes one possible method for organizing the data that the robot has learned by various means. This framework can accept useful operator input even if it does not fully specify what to do, and can combine knowledge from autonomous, operator assisted and programmed experiences.

  12. Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

    OpenAIRE

    Tilman Happek; Uwe Lang; Torben Bockmeier; Dimitrji Neubauer; Alexander Kuznietsov

    2016-01-01

    In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if t...

  13. Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

    Science.gov (United States)

    Ippolito, Corey; Plice, Laura; Pisanich, Greg

    2003-01-01

    The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

  14. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    Science.gov (United States)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  15. Optimization of an Autonomous Car Controller Using a Self-Adaptive Evolutionary Strategy

    Directory of Open Access Journals (Sweden)

    Tae Seong Kim

    2012-09-01

    Full Text Available Autonomous cars control the steering wheel, acceleration and the brake pedal, the gears and the clutch using sensory information from multiple sources. Like a human driver, it understands the current situation on the roads from the live streaming of sensory values. The decision-making module often suffers from the limited range of sensors and complexity due to the large number of sensors and actuators. Because it is tedious and difficult to design the controller manually from trial-and-error, it is desirable to use intelligent optimization algorithms. In this work, we propose optimizing the parameters of an autonomous car controller using self-adaptive evolutionary strategies (SAESs which co-evolve solutions and mutation steps for each parameter. We also describe how the most generalized parameter set can be retrieved from the process of optimization. Open-source car racing simulation software (TORCS is used to test the goodness of the proposed methods on 6 different tracks. Experimental results show that the SAES is competitive with the manual design of authors and a simple ES.

  16. Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

    Science.gov (United States)

    Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

    2008-01-01

    Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

  17. Sudarshan Kriya Yoga improves cardiac autonomic control in patients with anxiety-depression disorders.

    Science.gov (United States)

    Toschi-Dias, Edgar; Tobaldini, Eleonora; Solbiati, Monica; Costantino, Giorgio; Sanlorenzo, Roberto; Doria, Stefania; Irtelli, Floriana; Mencacci, Claudio; Montano, Nicola

    2017-05-01

    Several studies have demonstrated that adjuvant therapies as exercise and breathing training are effective in improving cardiac autonomic control (CAC) in patients with affective spectrum disorders. However, the effects of Sudarshan Kriya Yoga (SKY) on autonomic function in this population is unknown. Our objective was to test the hypothesis that SKY training improves CAC and cardiorespiratory coupling in patients with anxiety and/or depression disorders. Forty-six patients with a diagnosis of anxiety and/or depression disorders (DSM-IV) were consecutively enrolled and divided in two groups: 1) conventional therapy (Control) and 2) conventional therapy associated with SKY (Treatment) for 15 days. Anxiety and depression levels were determined using quantitative questionnaires. For the assessment of CAC and cardiorespiratory coupling, cardiorespiratory traces were analyzed using monovariate and bivariate autoregressive spectral analysis, respectively. After 15-days, we observed a reduction of anxiety and depression levels only in Treatment group. Moreover, sympathetic modulation and CAC were significantly lower while parasympathetic modulation and cardiorespiratory coupling were significantly higher in the Treatment compared to Control group. Intensive breathing training using SKY approach improves anxiety and/or depressive disorders as well as CAC and cardiorespiratory coupling. These finding suggest that the SKY training may be a useful non-pharmacological intervention to improve symptoms and reduce cardiovascular risk in patients with anxiety/depression disorders. Copyright © 2017 Elsevier B.V. All rights reserved.

  18. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  19. Factors influencing the role of cardiac autonomic regulation in the service of cognitive control.

    Science.gov (United States)

    Capuana, Lesley J; Dywan, Jane; Tays, William J; Elmers, Jamie L; Witherspoon, Richelle; Segalowitz, Sidney J

    2014-10-01

    Working from a model of neurovisceral integration, we examined whether adding response contingencies and motivational involvement would increase the need for cardiac autonomic regulation in maintaining effective cognitive control. Respiratory sinus arrhythmia (RSA) was recorded during variants of the Stroop color-word task. The Basic task involved "accepting" congruent items and "rejecting" words printed in incongruent colors (BLUE in red font); an added contingency involved rejecting a particular congruent word (e.g., RED in red font), or a congruent word repeated on an immediately subsequent trial. Motivation was increased by adding a financial incentive phase. Results indicate that pre-task RSA predicted accuracy best when response contingencies required the maintenance of a specific item in memory or on the Basic Stroop task when errors resulted in financial loss. Overall, RSA appeared to be most relevant to performance when the task encouraged a more proactive style of cognitive control, a control strategy thought to be more metabolically costly, and hence, more reliant on flexible cardiac autonomic regulation. Copyright © 2014 Elsevier B.V. All rights reserved.

  20. Perancangan Autonomous Landing pada Quadcopter Menggunakan Behavior-Based Intelligent Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Chalidia Nurin Hamdani

    2013-09-01

    Full Text Available Quadcopter adalah salah satu platform unmanned aerial vehicle (UAV yang saat ini banyak diriset karena kemampuannya melakukan take-off dan landing secara vertikal. Karena menggunakan 4 motor brushless sebagai penggerak utama, quadcopter memiliki kompleksitas yang cukup tinggi baik dalam pemodelan maupun pengendalian. Landing merupakan salah satu mekanisme pada quadcopter yang membutuhkan kecepatan yang akurat dan aman dengan tetap mempertahankan keseimbangan. Pada penelitian ini, penulis menggunakan Behavior-Based Intelligent Fuzzy Control (BBIFC sebagai dasar kontrol untuk penerapan autonomous landing pada quadcopter. BBIFC adalah salah satu skema high-level control di mana desain kontrol terdiri dari beberapa layer. Ada 2 layer yang digunakan pada penelitian ini yaitu layer untuk pengendalian sudut pitch, roll, yaw dan layer untuk pengendalian ketinggian. Setiap layer memiliki mekanisme kontrol yang berbeda yang didesain menggunakan Intelligent Fuzzy Controller dan kontroler PID. Dengan metode ini dihasilkan algoritma untuk mekanisme safe autonomous landing dengan mengikuti sinyal eksponensial di mana quadcopter mencapai titik 0 (nol meter dalam waktu 15 detik dan Kontroler PID dapat mengendalikan keseimbangan quadcopter dalam waktu 7.97 detik untuk roll dan pitch serta 1.25 detik untuk yaw sejak gangguan sudut diberikan.

  1. Small-Signal Modeling, Analysis and Testing of Parallel Three-Phase-Inverters with A Novel Autonomous Current Sharing Controller

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    A novel simple and effective autonomous currentsharing controller for parallel three-phase inverters is employed in this paper. The novel controller is able to endow to the system high speed response and precision in contrast to the conventional droop control as it does not require calculating any...... active or reactive power, instead it uses a virtual impedance loop and a SFR phase-locked loop. The small-signal model of the system was developed for the autonomous operation of inverter-based microgrid with the proposed controller. The developed model shows large stability margin and fast transient...

  2. Navy Requirements for Controlling Multiple Off-Board Robots Using the Autonomous Unmanned Vehicle Workbench

    National Research Council Canada - National Science Library

    Monroe, Dennis W

    2007-01-01

    ... after a mission. This thesis examines a variety of strategic authoritative plans for autonomous vehicles to determine functional mission requirements that autonomous vehicles are expected to be performing in the near future...

  3. Autonomous Mower vs. Rotary Mower: Effects on Turf Quality and Weed Control in Tall Fescue Lawn

    OpenAIRE

    Michel Pirchio; Marco Fontanelli; Christian Frasconi; Luisa Martelloni; Michele Raffaelli; Andrea Peruzzi; Monica Gaetani; Simone Magni; Lisa Caturegli; Marco Volterrani; Nicola Grossi

    2018-01-01

    Autonomous mowers are battery-powered machines designed for lawn mowing that require very low human labour. Autonomous mowers can increase turf quality and reduce local noise and pollution compared with gasoline-powered rotary mowers. However, very little is known about the effects of autonomous mowing on encroaching weeds. The aim of this research was to compare the effects of an autonomous mower and an ordinary gasoline-powered mower on weed development in an artificially infested tall fesc...

  4. Cycling before and after Exhaustion Differently Affects Cardiac Autonomic Control during Heart Rate Matched Exercise

    Directory of Open Access Journals (Sweden)

    Matthias Weippert

    2017-11-01

    Full Text Available During cycling before (PRE and after exhaustion (POST different modes of autonomic cardiac control might occur due to different interoceptive input and altered influences from higher brain centers. We hypothesized that heart rate variability (HRV is significantly affected by an interaction of the experimental period (PRE vs. POST and exercise intensity (HIGH vs. LOW; HIGH = HR > HR at the lactate threshold (HRLT, LOW = HR ≤ HRLT despite identical average HR.Methods: Fifty healthy volunteers completed an incremental cycling test until exhaustion. Workload started with 30 W at a constant pedaling rate (60 revolutions · min−1 and was gradually increased by 30 W · 5 min−1. Five adjacent 60 s inter-beat (R-R interval segments from the immediate recovery period (POST 1–5 at 30 W and 60 rpm were each matched with their HR-corresponding 60 s-segments during the cycle test (PRE 1–5. An analysis of covariance was carried out with one repeated-measures factor (PRE vs. POST exhaustion, one between-subject factor (HIGH vs. LOW intensity and respiration rate as covariate to test for significant effects (p < 0.050 on the natural log-transformed root mean square of successive differences between adjacent R-R intervals (lnRMSSD60s.Results: LnRMSSD60s was significantly affected by the interaction of experimental period × intensity [F(1, 242 = 30.233, p < 0.001, ηp2 = 0.111]. LnRMSSD60s was higher during PRE compared to POST at LOW intensity (1.6 ± 0.6 vs. 1.4 ± 0.6 ms; p < 0.001. In contrast, at HIGH intensity lnRMSSD60s was lower during PRE compared to POST (1.0 ± 0.4 vs. 1.2 ± 0.4 ms; p < 0.001.Conclusion: Identical net HR during cycling can result from distinct autonomic modulation patterns. Results suggest a pronounced sympathetic-parasympathetic coactivation immediately after the cessation of peak workload compared to HR-matched cycling before exhaustion at HIGH intensity. On the opposite, at LOW intensity cycling, a stronger coactivational

  5. Cardiovascular autonomic control during short-term thermoneutral and cool head-out immersion.

    Science.gov (United States)

    Mourot, Laurent; Bouhaddi, Malika; Gandelin, Emmanuel; Cappelle, Sylvie; Dumoulin, Gilles; Wolf, Jean-Pierre; Rouillon, Jean Denis; Regnard, Jacques

    2008-01-01

    Moderately cold head-out water immersion stimulates both baro- and cold-receptors, and triggers complex and contradictory effects on the cardiovascular system and its autonomic nervous control. To assess the effects of water immersion and cold on cardiovascular status and related autonomic nervous activity. Hemodynamic variables and indexes of autonomic nervous activity (analysis of heart rate and blood pressure variability) were evaluated in 12 healthy subjects during 3 exposures of 20 min each in the upright position, i.e., in air (AIR, 24-25 degrees C), and during head-out water immersion at 35-36 degrees C (WIn) and 26-27 degrees C (WIc). Plasma noradrenaline, systolic and diastolic blood pressure, and total peripheral resistances were reduced during WIn compared to AIR (263.9 +/- 39.4 vs. 492.5 +/- 35.7 pg x ml(-1), 116.5 +/- 3.7 and 65.4 +/- 1.7 mmHg vs. 140.8 +/- 4.7 and 89.8 +/- 2.8 mmHg, 14.1 +/- 1.0 vs. 16.3 +/- 0.9 mmHg x L(-1) x min, respectively) while they were increased during WIc (530.8 +/- 84.7 pg ml(-1), 148.0 +/- 7.0 mmHg, 80.8 +/- 3.0 mmHg, and 25.8 +/- 1.9 mmHg x L(-1) x min, respectively). The blood pressure variability was reduced to the same extent during WIc and Win compared to AIR. Heart rate decreased during WIn (67.8 +/- 2.7 vs. 81.2 +/- 2.7 bpm during AIR), in parallel with an increased cardiac parasympathetic activity. This pattern was strengthened during WIc (55.3 +/- 2.2 bpm). Thermoneutral WI lowered sympathetic activity and arterial tone, while moderate whole-body skin cooling triggered vascular sympathetic activation. Conversely, both WI and cold triggered cardiac parasympathetic activation, highlighting a complex autonomic control of the cardiovascular system.

  6. A Fusion of Sensors Information for Autonomous Driving Control of an Electric Vehicle (EV)

    International Nuclear Information System (INIS)

    Haris, Hasri; Wan, Khairunizam; Hazry, D; Razlan, Zuradzman M

    2013-01-01

    The study uses the environment of the road as input variables for the main system to control steering wheel, brake and acceleration pedals. A camera is installed on the roof of the Electric Vehicles (EV) and is used to obtain image information of the road. On the other hand, users or drivers do not have to directly contact with the main system because it will autonomously control the devices by using fuzzy information of the road conditions. A fuzzy information means in the preliminary experiments, reasoning of the various environments will be done by using fuzzy approach. At the end of the study, several existing algorithms for controlling motors and image processing technique could be combined into an algorithm that could be used to move EV without assist from human

  7. Autonomous Micro-Air-Vehicle Control Based on Visual Sensing for Odor Source Localization

    Directory of Open Access Journals (Sweden)

    Kenzo Kurotsuchi

    2017-07-01

    Full Text Available In this paper, we propose a novel control method for autonomous-odor-source localization using visual and odor sensing by micro air vehicles (MAVs. Our method is based on biomimetics, which enable highly autonomous localization. Our method does not need any instruction signals, including even global positioning system (GPS signals. An experimenter simply blows a whistle, and the MAV will then start to hover, to seek an odor source, and to keep hovering near the source. The GPS-signal-free control based on visual sense enables indoor/underground use. Moreover, the MAV is light-weight (85 grams and does not cause harm to others even if it accidentally falls. Experiments conducted in the real world were successful in enabling odor source localization using the MAV with a bio-inspired searching method. The distance error of the localization was 63 cm, more accurate than the target distance of 120 cm for individual identification. Our odor source localization is the first step to a proof of concept for a danger warning system. These localization experiments were the first step to a proof of concept for a danger warning system to enable a safer and more secure society.

  8. Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

    Science.gov (United States)

    Yuan, Chengzhi; Licht, Stephen; He, Haibo

    2017-09-26

    In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

  9. Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2015-01-01

    Full Text Available The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC, gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

  10. Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang

    2013-01-01

    , simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid......The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within...

  11. Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

    Directory of Open Access Journals (Sweden)

    Shao-lei Zhou

    2016-01-01

    Full Text Available For various threats in the enemy defense area, in order to achieve covert penetration and implement effective combat against enemy, the unmanned aerial vehicles formation needs to be reconfigured in the process of penetration; the mutual collision avoidance problems and communication constraint problems among the formation also need to be considered. By establishing the virtual-leader formation model, this paper puts forward distributed model predictive control and finite state machine formation manager. Combined with distributed cooperative strategy establishing the formation reconfiguration cost function, this paper proposes that adopting the revised quantum-behaved particle swarm algorithm solves the cost function, and it is compared with the result which is solved by particle swarm algorithm. Simulation result shows that this algorithm can control multiple UAVs formation autonomous reconfiguration effectively and achieve covert penetration safely.

  12. Intelligent controller for load-tracking performance of an autonomous power system

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

    Full Text Available The design and performance analysis of a Sugeno fuzzy logic (SFL controller for an autonomous power system model is presented in this paper. In gravitational search algorithm (GSA, the searcher agents are collection of masses and their interactions are based on Newtonian laws of gravity and motion. The problem of obtaining the optimal tunable parameters of the studied model is formulated as an optimization problem and the same is solved by a novel opposition based GSA (OGSA. The proposed OGSA of the present work employs opposition-based learning for population initialization and also for generation jumping. In OGSA, opposite numbers are utilized to improve the convergence rate of the basic GSA. GSA and genetic algorithm are taken for the sake of comparison. Time-domain simulation reveals that the developed OGSA-SFL based on-line, off-nominal controller parameters for the studied model give real-time on-line terminal voltage response.

  13. Control of cancer growth using single input autonomous fuzzy Nano-particles

    Directory of Open Access Journals (Sweden)

    Fahimeh Razmi

    2015-04-01

    Full Text Available In this paper a single input fuzzy controller is applied on autonomous drug-encapsulated nanoparticles (ADENPs to restrict the cancer growth. The proposed ADENPs, swarmly release the drug in local cancerous tissue and effectively decreases the destruction of normal tissue. The amount of released drug is defined considering to feed backed values of tumor growth rate and the used drug. Some significant characteristics of Nano particles compared to Nano-robots is their ability to recognize the cancerous tissue from the normal one and their simple structure. Nano particles became an attractive topic in Nano science and many efforts have been done to manufacture these particles. Simulation results show that the proposed controlling method not only decreases the cancerous tissue effectively but also reduces the side effects of drug impressively.

  14. Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots.

    Science.gov (United States)

    Kano, Takeshi; Yoshizawa, Ryo; Ishiguro, Akio

    2017-08-04

    Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.

  15. Prospective randomized controlled intervention trial: Comprehensive Yogic Breathing Improves Cardiac autonomic functions and Quality of life in Diabetes

    Directory of Open Access Journals (Sweden)

    V P Jyotsna

    2012-01-01

    Full Text Available Aims and Objectives: To assess the effect of Comprehensive Yogic Breathing Program on glycemic control, quality of life, and cardiac autonomic functions in diabetes. Material and Methods: This is a prospective randomized controlled intervention trial. Cardiac autonomic functions were assessed in 120 diabetics. Patients were randomized into two groups, one group receiving standard therapy for diabetes (n = 56 and the other group receiving standard therapy for diabetes and comprehensive yogic breathing program (n = 64. Standard therapy included advice on diet, walk, and oral antidiabetic drugs. Comprehensive yogic breathing program was an interactive session in which Sudarshan kriya yoga, a rhythmic cyclical breathing, preceded by Pranayam was taught under guidance of a certified teacher. Change in fasting, post prandial blood sugars, glycated hemoglobin, and quality of life were assessed. Cardiac autonomic function tests were done before and six months after intervention. Results: There was significant improvement in psychological (P = 0.006 and social domains (P = 0.04 and total quality of life (P = 0.02 in the group practicing comprehensive yogic breathing program as compared to the group following standard therapy alone. In the group following breathing program, the improvement in sympathetic cardiac autonomic functions was statistically significant (P = 0.01, while the change in the standard group was not significant (P = 0.17. When both parasympathetic and sympathetic cardiac autonomic functions were considered, there was a trend toward improvement in patients following comprehensive yogic breathing program (P = 0.07. In the standard therapy group, no change in cardiac autonomic functions was noted (P = 0.76. The parameters of glycemic control were comparable in both groups. Conclusion: There was significant improvement in quality of life and cardiac autonomic functions in the diabetes patients practicing comprehensive yogic breathing

  16. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Mercier, O.; Cara, O.

    1991-01-01

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  17. To delegate or not to delegate: A review of control frameworks for autonomous cars.

    Science.gov (United States)

    Richards, Dale; Stedmon, Alex

    2016-03-01

    There have been significant advances in technology and automated systems that will eventually see the use of autonomous cars as commonplace on our roads. Various systems are already available that provide the driver with different levels of decision support. This paper highlights the key human factors issues associated with the interaction between the user and an autonomous system, including assistive decision support and the delegation of authority to the automobile. The level of support offered to the driver can range from traditional automated assistance, to system generated guidance that offers advice for the driver to act upon, and even more direct action that is initiated by the system itself without driver intervention. In many of these instances the role of the driver is slowly moving towards a supervisory role within a complex system rather than one of direct control of the vehicle. Different paradigms of interaction are considered and focus is placed on the partnership that takes place between the driver and the vehicle. Drawing on the wealth of knowledge that exists within the aviation domain and research literature that examines technology partnerships within the cockpit, this paper considers important factors that will assist the automotive community to understand the underlying issues of the human and their interaction within complex systems. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  18. Exploring relationships for visceral and somatic pain with autonomic control and personality.

    Science.gov (United States)

    Paine, Peter; Kishor, Jessin; Worthen, Sian F; Gregory, Lloyd J; Aziz, Qasim

    2009-08-01

    The autonomic nervous system (ANS) integrates afferent and motor activity for homeostatic processes including pain. The aim of the study was to compare hitherto poorly characterised relations between brainstem autonomic control and personality in response to visceral and somatic pain. Eighteen healthy subjects (16 females, mean age 34) had recordings during rest and pain of heart rate (HR), cardiac vagal tone (CVT), cardiac sensitivity to baroreflex (CSB), skin conductance level (SC), cardiac sympathetic index (CSI) and mean blood pressure (MBP). Visceral pain was induced by balloon distension in proximal (PB) and distal (DB) oesophagus and somatic pain by nail-bed pressure (NBP). Eight painful stimuli were delivered at each site and unpleasantness and intensity measured. Personality was profiled with the Big Five inventory. (1) Oesophageal intubation evoked "fight-flight" responses: HR and sympathetic (CSI, SC, MBP) elevation with parasympathetic (CVT) withdrawal (pintrovert subjects had greater positive pain-related CVT slope change (neuroticism r 0.8, p<0.05; extroversion r -0.5, p<0.05). Pain-evoked heart rate increases were mediated by parasympathetic and sympathetic co-activation - a novel finding in humans but recently described in mammals too. Visceral pain-related parasympathetic change correlated with personality. ANS defence responses are nuanced and may relate to personality type for visceral pain. Clinical relevance of these findings warrants further exploration.

  19. Examining the Roles of Work Autonomous and Controlled Motivations on Satisfaction and Anxiety as a Function of Role Ambiguity.

    Science.gov (United States)

    Gillet, Nicolas; Fouquereau, Evelyne; Lafrenière, Marc-André K; Huyghebaert, Tiphaine

    2016-07-03

    Past research in the self-determination theory has shown that autonomous motivation is associated with positive outcomes (e.g., work satisfaction), whereas controlled motivation is related to negative outcomes (e.g., anxiety). The purpose of the present research was to examine the moderating function of role ambiguity on the relationships between work autonomous and controlled motivations on the one hand, and work satisfaction and anxiety on the other. Six hundred and ninety-eight workers (449 men and 249 women) participated in this study. Results revealed that autonomous motivation was most strongly related to satisfaction when ambiguity was low. In addition, controlled motivation was most strongly related to anxiety when ambiguity was high. In other words, the present findings suggest that the outcomes associated with each form of motivation may vary as a function of role ambiguity. The present study thus offers meaningful insights for organizations, managers, and employees.

  20. Oscillatory Adaptive Yaw-Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral-Like Fins

    Directory of Open Access Journals (Sweden)

    Mugdha S. Naik

    2007-01-01

    Full Text Available This article considers the control of a biorobotic autonomous underwater vehicle (BAUV in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway and angular (yaw motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean angle of the angular motion of the fin. For the derivation of the adaptive control system, it is assumed that the physical parameters, the hydrodynamic coefficients, and the fin force and moment are not known. A direct adaptive sampled-data control system for the trajectory control of the yaw-angle using only yaw-angle measurement is derived. The parameter adaptation law is based on the normalised gradient scheme. Simulation results for the set point control, sinusoidal trajectory tracking and turning manoeuvres are presented, which show that the control system accomplishes precise trajectory control in spite of the parameter uncertainties.

  1. Autonomous control of inverter-interfaced Distributed Generation units for harmonic current filtering and resonance damping in an islanded microgrid

    DEFF Research Database (Denmark)

    Wang, Xiongfei; Blaabjerg, Frede; Chen, Zhe

    2012-01-01

    Harmonic current filtering and resonance damping have become important concerns on the control of an islanded microgrids. To address these challenges, this paper proposes a control method of inverter-interfaced Distributed Generation (DG) units, which can autonomously share harmonic currents and ...

  2. Design of a Path-Tracking Steering Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Chuanyang Sun

    2018-06-01

    Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

  3. Autonomous and controlled motivational regulations for multiple health-related behaviors: between- and within-participants analyses

    Science.gov (United States)

    Hagger, M.S.; Hardcastle, S.J.; Chater, A.; Mallett, C.; Pal, S.; Chatzisarantis, N.L.D.

    2014-01-01

    Self-determination theory has been applied to the prediction of a number of health-related behaviors with self-determined or autonomous forms of motivation generally more effective in predicting health behavior than non-self-determined or controlled forms. Research has been confined to examining the motivational predictors in single health behaviors rather than comparing effects across multiple behaviors. The present study addressed this gap in the literature by testing the relative contribution of autonomous and controlling motivation to the prediction of a large number of health-related behaviors, and examining individual differences in self-determined motivation as a moderator of the effects of autonomous and controlling motivation on health behavior. Participants were undergraduate students (N = 140) who completed measures of autonomous and controlled motivational regulations and behavioral intention for 20 health-related behaviors at an initial occasion with follow-up behavioral measures taken four weeks later. Path analysis was used to test a process model for each behavior in which motivational regulations predicted behavior mediated by intentions. Some minor idiosyncratic findings aside, between-participants analyses revealed significant effects for autonomous motivational regulations on intentions and behavior across the 20 behaviors. Effects for controlled motivation on intentions and behavior were relatively modest by comparison. Intentions mediated the effect of autonomous motivation on behavior. Within-participants analyses were used to segregate the sample into individuals who based their intentions on autonomous motivation (autonomy-oriented) and controlled motivation (control-oriented). Replicating the between-participants path analyses for the process model in the autonomy- and control-oriented samples did not alter the relative effects of the motivational orientations on intention and behavior. Results provide evidence for consistent effects

  4. Analysis and optimization of the battery energy storage systems for frequency control in autonomous microgrids, by means of hardware-in-the-loop simulations

    DEFF Research Database (Denmark)

    Serban, I.; Teodorescu, Remus; Marinescu, C.

    2012-01-01

    . The focus is on autonomous MGs that dynamically should perform similarly to the conventional power systems. During MG autonomous operation, the generators should accomplish the frequency control process, by means of their automatic generation control. However, RES-based generators have poor controllability...

  5. Advanced sensing and control techniques to facilitate semi-autonomous decommissioning. 1998 annual progress report

    International Nuclear Information System (INIS)

    Dawson, D.M.; Geist, R.M.; Schalkoff, R.J.

    1998-01-01

    'This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology. This report summarizes work after approximately 1.5 years of a 3-year project. The autonomous, non-contact creation of a virtual environment from an existing, real environment (virtualization) is an integral part of the workcell functionality. This requires that the virtual world be geometrically correct. To this end, the authors have encountered severe sensitivity in quadric estimation. As a result, alternative procedures for geometric rendering, iterative correction approaches, new calibration methods and associated hardware, and calibration quality examination software have been developed. Following geometric rendering, the authors have focused on improving the color and texture recognition components of the system. In particular, the authors have moved beyond first-order illumination modeling to include higher order diffuse effects. This allows us to combine the surface geometric information, obtained from the laser projection and surface recognition components of the system, with a stereo camera image. Low-level controllers for Puma 560 robotic arms were designed and implemented using QNX. The resulting QNX/PC based low-level robot control system is called QRobot. A high-level trajectory generator and application programming interface (API) as well as a new, flexible robot control API was required. Force/torque sensors and interface hardware have been identified and ordered. A simple 3-D OpenGL-based graphical Puma 560 robot simulator was developed and interfaced with ARCL and RCCL to assist in the development of robot motion programs.'

  6. A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

    Science.gov (United States)

    Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

    2014-12-01

    Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

  7. A REMUS based crate controller for the autonomous processing of multichannel data streams

    CERN Document Server

    Cittolin, S

    1981-01-01

    This paper describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8X300 and a Motorola 68B00. The 8X300 section operates as a fast dedicated Data Processor and flow controller that reads the input modules, processes the data and constructs the output blocklets. The 68B00 supervises the activity of the 8X300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions.

  8. A REMUS based crate controller for the autonomous processing of multichannel data streams

    CERN Document Server

    Cittolin, Sergio

    1981-01-01

    Describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8X300 and a Motorola 68B00. The 8X300 section operates as a fast dedicated data processor and flow controller that reads the input modules processes the data and constructs the output blocklets. The 68B00 supervises the activity of the 8X300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions. (8 refs).

  9. A REMUS based crate controller for the autonomous processing of multichannel data streams

    International Nuclear Information System (INIS)

    Cittolin, S.; Loefstedt, B.

    1981-01-01

    This paper describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8 x 300 and a Motorola 68 B 00. The 8 x 300 section operates as a fast dedicated Data Processor and flow controller that reads the input modules, processes the data and constructs the output blocklets. The 68 B 00 supervises the activity of the 8 x 300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions. (orig.)

  10. Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

    Directory of Open Access Journals (Sweden)

    Tilman Happek

    2016-04-01

    Full Text Available In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if the gap is large enough. The car is built on a scale of 1:10 and shows excellent results on a test track.

  11. Impact of a soccer match on the cardiac autonomic control of referees.

    Science.gov (United States)

    Boullosa, Daniel Alexandre; Abreu, Laurinda; Tuimil, José Luis; Leicht, Anthony Scott

    2012-06-01

    The purpose of this study was to assess the effect of a soccer match on the cardiac autonomic control of heart rate (HR) in soccer referees. Sixteen Spanish regional and third division referees (11 males: 26 ± 7 years, 74.4 ± 4.1 kg, 178 ± 3 cm, Yo-Yo IR1 ~600-1,560 m; 5 females: 22 ± 3 years, 59.3 ± 4.8 kg, 158 ± 8 cm, Yo-Yo IR1 ~200-520 m) participated with 24-h HR recordings measured with a Polar RS800 during a rest and a match day. Autonomic control of HR was assessed from HR variability (HRV) analysis. Inclusion of a soccer match (92.5% spent at >75% maximum HR) reduced pre-match (12:00-17:00 hours; small to moderate), post-match (19:00-00:00 hours; moderate to almost perfect), and night-time (00:00-05:00 hours; small to moderate) HRV. Various moderate-to-large correlations were detected between resting HRV and the rest-to-match day difference in HRV. The rest-to-match day differences of low and high-frequency bands ratio (LF/HF) and HR in the post-match period were moderately correlated with time spent at different exercise intensities. Yo-Yo IR1 performance was highly correlated with jump capacity and peak lactate, but not with any HRV parameter. These results suggest that a greater resting HRV may allow referees to tolerate stresses during a match day with referees who spent more time at higher intensities during matches exhibiting a greater LF/HF increment in the post-match period. The relationship between match activities, [Formula: see text] and HR recovery kinetics in referees and team sport athletes of different competitive levels remains to be clarified.

  12. Effects of age and physical activity on the autonomic control of heart rate in healthy men

    Directory of Open Access Journals (Sweden)

    R.C. Melo

    2005-09-01

    Full Text Available The effects of the aging process and an active life-style on the autonomic control of heart rate (HR were investigated in nine young sedentary (YS, 23 ± 2.4 years, 16 young active (YA, 22 ± 2.1 years, 8 older sedentary (OS, 63 ± 2.4 years and 8 older active (OA, 61 ± 1.1 years healthy men. Electrocardiogram was continuously recorded for 15 min at rest and for 4 min in the deep breathing test, with a breath rate of 5 to 6 cycles/min in the supine position. Resting HR and RR intervals were analyzed by time (RMSSD index and frequency domain methods. The power spectral components are reported in normalized units (nu at low (LF and high (HF frequency, and as the LF/HF ratio. The deep breathing test was analyzed by the respiratory sinus arrhythmia indices: expiration/inspiration ratio (E/I and inspiration-expiration difference (deltaIE. The active groups had lower HR and higher RMSSD index than the sedentary groups (life-style condition: sedentary vs active, P < 0.05. The older groups showed lower HFnu, higher LFnu and higher LF/HF ratio than the young groups (aging effect: young vs older, P < 0.05. The OS group had a lower E/I ratio (1.16 and deltaIE (9.7 bpm than the other groups studied (YS: 1.38, 22.4 bpm; YA: 1.40, 21.3 bpm; OA: 1.38, 18.5 bpm. The interaction between aging and life-style effects had a P < 0.05. These results suggest that aging reduces HR variability. However, regular physical activity positively affects vagal activity on the heart and consequently attenuates the effects of aging in the autonomic control of HR.

  13. Muscular Contraction Mode Differently Affects Autonomic Control During Heart Rate Matched Exercise

    Directory of Open Access Journals (Sweden)

    Matthias eWeippert

    2015-05-01

    Full Text Available The precise contributions of afferent feedback to cardiovascular and respiratory responses to exercise are still unclear. Aim of this crossover study was to assess whether and how autonomic cardiovascular and respiratory control differed in response to dynamic (DYN and isometric contractions (ISO at a similar, low heart rate (HR level. Therefore, 22 healthy males (26.7 ± 3.6 yrs performed two kinds of voluntary exercises at similar HR: ISO and DYN of the right quadriceps femoris muscle. Although HR was eqivalent (82 ± 8 bpm for DYN and ISO, respectively, rating of exertion, blood pressures, and rate pressure product were higher, whereas breathing frequency, minute ventilation, oxygen uptake and carbon dioxide output were significantly lower during ISO. Tidal volume, end-tidal partial pressures of O2 and CO2, respiratory exchange ratio and capillary blood lactate concentration were comparable between both contraction modes. Heart rate variability (HRV indicators, SDNN, HF-Power and LF-Power, representing both vagal and sympathetic influences, were significantly higher during ISO. Sample entropy, a nonlinear measure of HRV was also significantly affected by contraction mode. It can be concluded that, despite the same net effect on HR, the quality of cardiovascular control during low intensity exercise is significantly different between DYN and ISO. HRV analysis indicated a sympatho-vagal coactivation during ISO. Whether mechanoreceptor feedback alone, a change in central command, or the interaction of both mechanisms is the main contributor of the distinct autonomic responses to the different exercise modes remains to be elucidated.

  14. DISTRIBUTED CONTROL ARCHITECTURE OF AN OMNI-DIRECTIONAL AUTONOMOUS GUIDED VEHICLE

    Directory of Open Access Journals (Sweden)

    N.S. Tlale

    2012-01-01

    Full Text Available

    ENGLISH ABSTRACT: Omni-directionality is the ability of a mobile robot to move instantaneously in any direction. This paper describes the wheel and controller designs of a Mecanumwheeled, autonomous guided vehicle (AGV for reconfigurable manufacturing systems. Mecanum wheels use slip developed between rollers and surface, surface and ground, to achieve omni-directionality. An advantage of omni-directional robotic platforms is that they are capable of performing tasks in congested environments such as those found in factory workshops, narrow aisles, warehouses, etc. Controller Area Network (CAN is implemented as a distributed controller to control motion and navigation tasks of the developed robot. The design of the distributed controller is described and its performance analyzed. This increases the reliability and functionality of the mobile robot.

    AFRIKAANSE OPSOMMING: Die artikel beskryf wiel - en beheerontwerpe van ‘n veelrigting mobiele robot. Die robot is ‘n selfstandigbeheerde voertuig vir gebruik by vervaardigingstelsels met veranderbare konfigurasie. Die ontwerp van die robot en bypassende beheerstelsel word beskryf en ontleed teen die agterground van bewegings – en navigeertake. Die betroubaarheid en funksionering van die sisteem word beoordeel.

  15. Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms

    National Research Council Canada - National Science Library

    Rufa, Justin R

    2007-01-01

    .... The next step to transitioning these autonomous search algorithms to an operational environment is the experimental testing of these theories through the use of surrogate vehicles, to determine...

  16. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control

    Science.gov (United States)

    Ardell, Jeffrey L.; Shivkumar, Kalyanam; Armour, J. Andrew

    2017-01-01

    The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as ‘free-floating’ in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease. PMID:28692680

  17. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

    Science.gov (United States)

    Kember, Guy; Ardell, Jeffrey L; Shivkumar, Kalyanam; Armour, J Andrew

    2017-01-01

    The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

  18. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

    Directory of Open Access Journals (Sweden)

    Guy Kember

    Full Text Available The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

  19. The phylogeny and ontogeny of autonomic control of the heart and cardiorespiratory interactions in vertebrates.

    Science.gov (United States)

    Taylor, Edwin W; Leite, Cleo A C; Sartori, Marina R; Wang, Tobias; Abe, Augusto S; Crossley, Dane A

    2014-03-01

    Heart rate in vertebrates is controlled by activity in the autonomic nervous system. In spontaneously active or experimentally prepared animals, inhibitory parasympathetic control is predominant and is responsible for instantaneous changes in heart rate, such as occur at the first air breath following a period of apnoea in discontinuous breathers like inactive reptiles or species that surface to air breathe after a period of submersion. Parasympathetic control, exerted via fast-conducting, myelinated efferent fibres in the vagus nerve, is also responsible for beat-to-beat changes in heart rate such as the high frequency components observed in spectral analysis of heart rate variability. These include respiratory modulation of the heartbeat that can generate cardiorespiratory synchrony in fish and respiratory sinus arrhythmia in mammals. Both may increase the effectiveness of respiratory gas exchange. Although the central interactions generating respiratory modulation of the heartbeat seem to be highly conserved through vertebrate phylogeny, they are different in kind and location, and in most species are as yet little understood. The heart in vertebrate embryos possesses both muscarinic cholinergic and β-adrenergic receptors very early in development. Adrenergic control by circulating catecholamines seems important throughout development. However, innervation of the cardiac receptors is delayed and first evidence of a functional cholinergic tonus on the heart, exerted via the vagus nerve, is often seen shortly before or immediately after hatching or birth, suggesting that it may be coordinated with the onset of central respiratory rhythmicity and subsequent breathing.

  20. Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

    Science.gov (United States)

    Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

    2015-11-01

    This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  1. 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.

  2. Why do adolescents gather information or stick to parental norms? Examining autonomous and controlled motives behind adolescents' identity style.

    Science.gov (United States)

    Smits, Ilse; Soenens, Bart; Vansteenkiste, Maarten; Luyckx, Koen; Goossens, Luc

    2010-11-01

    Self-determination theory (SDT) distinguishes between autonomous and controlled reasons for people's behavior and essentially states that beneficial effects for individuals' psychosocial adjustment will accrue when behavior is guided by autonomous (rather than controlled) motives. The present study tested this assumption in the area of adolescents' identity styles. In a sample of mid-adolescents (N = 247; 53% female), it was found that the motives for using an information-oriented or a normative identity style explained additional variance beyond the identity styles as such in two of the adjustment outcomes examined. Specifically, autonomous motives underlying these two identity styles were positively related to commitment and personal well-being, whereas controlled motives were negatively related to these same adjustment outcomes. Perceived autonomy-supportive parenting was examined as a possible antecedent of the motives behind identity styles. Consistent with hypotheses, it was found that autonomy-supportive parenting was positively related to autonomous motives and negatively to controlled motives underlying identity styles. Implications for future research on the motivational dynamics behind identity development are discussed.

  3. Cancer Pain Control for Advanced Cancer Patients by Using Autonomic Nerve Pharmacopuncture

    Directory of Open Access Journals (Sweden)

    Hwi-joong Kang

    2014-09-01

    Full Text Available Objectives: The purpose of this study is to report a case series of advanced cancer patients whose cancer pain was relieved by using autonomic nerve pharmacopuncture (ANP treatment. ANP is a subcutaneous injection therapy of mountain ginseng pharmacopuncture (MGP along the acupoints on the spine (Hua-Tuo-Jia-Ji-Xue; 0.5 cun lateral to the lower border of the spinous processes of vertebrae to enhance the immune system and to balance autonomic nerve function. Methods: Patients with three different types of cancer (gastric cancer, lung cancer, colon cancer with distant metastases with cancer pain were treated with ANP. 1 mL of MGP was injected into the bilateral Hua-Tuo-Jia-Ji-Xue on the T1-L5 sites (total 12 ─ 20 mL injection of each patient’s dorsum by using the principle of symptom differentiation. During ANP treatment, the visual analogue scale (VAS for pain was used to assess their levels of cancer pain; also, the dosage and the frequency of analgesic use were measured. Results: The cancer pain levels of all three patients improved with treatment using ANP. The VAS scores of the three patients decreased as the treatment progressed. The dosage and the frequency of analgesics also gradually decreased during the treatment period. Significantly, no related adverse events were found. Conclusion: ANP has shown benefit in controlling cancer pain for the three different types of cancer investigated in this study and in reducing the dosage and the frequency of analgesics. ANP is expected to be beneficial for reducing cancer pain and, thus, to be a promising new treatment for cancer pain.

  4. Autonomic Neuropathy

    Science.gov (United States)

    ... risk of autonomic neuropathy. Other diseases. Amyloidosis, porphyria, hypothyroidism and cancer (usually due to side effects from treatment) may also increase the risk of autonomic neuropathy. ...

  5. Sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles

    OpenAIRE

    Alves De Lima , Danilo; Corrêa Victorino , Alessandro

    2015-01-01

    International audience; This paper presents a sensor-based control strategy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation bas...

  6. Effects of metronome breathing on the assessment of autonomic control using heart rate variability

    NARCIS (Netherlands)

    Haaksma, J; Brouwer, J; vandenBerg, MP; Dijk, WA; Dassen, WRM; Crijns, HJGM; Mulder, Lambertus; Mulder, Gysbertus

    1996-01-01

    Analysis of Heart Rate Variability is a non-invasive quantitative tool to study the influence of the autonomic nervous system on the heart. Rapid variations in heart rate, related to breathing are primarily mediated by the vagal limb of the autonomic nervous system. The resulting variations in heart

  7. High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

    Science.gov (United States)

    2008-12-01

    In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

  8. Sliding mode control of an autonomous parallel fuel cell-super capacitor power source

    Energy Technology Data Exchange (ETDEWEB)

    More, Jeronimo J. [Universidad Nacional de La Plata (UNLP), La Plata, Buenos Aires (Argentina). Facultad de Ingenieria. Lab. de Electronica Industrial, Control e Instrumentacion], Email: jmore@ing.unlp.edu.ar; Puleston, Paul F [Consejo de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires (Argentina); Kunusch, Cristian; Colomer, Jordi Riera I [Universitat Politecnica de Catalunya, Barcelona (Spain). Inst. de Robotica i Informatica Industrial (IRII)

    2010-07-01

    Nowadays, hydrogen fuel cell (FC) based systems emerge as one promising renewable alternative to fossil fuel systems in automotive and residential applications. However, their output dynamic response is relatively slow, mostly due to water and reactant gases dynamics. To overcome this limitation, FC-super capacitors (SCs) topologies can be used. The latter is capable of managing very fast power variations, presenting in addition high power density, long life cycle and good charge/discharge efficiency. In this work, a FC-SCs-based autonomous hybrid system for residential applications is considered. The FC and SCs are connected in parallel, through two separate DC/DC converters, to a DC bus. Under steady state conditions, the FC must deliver the load power requirement, while maintaining the SCs voltage regulated to the desired value. Under sudden load variations, the FC current rate must be limited to assure a safe transition to the new point of operation. During this current rate limitation mode, the SCs must deliver or absorb the power difference. To this end, a sliding mode strategy is proposed to satisfy to control objectives. The main one is the robust regulation of the DC bus voltage, even in the presence of system uncertainties and disturbances, such as load changes and FC voltage variations. Additionally, a second control objective is attained, namely to guarantee the adequate level of charge in the SCs, once the FC reaches the new steady state operation point. In this way, the system can meet the load power demand, even under sudden changes, and it can also satisfy a power demand higher than the nominal FC power, during short periods. The proposed control strategy is evaluated exhaustively by computer simulation considering fast load variations. The results presented in this work, corresponds to the first stage of a R and D collaboration project for the design and development of a novel FC-SCs-based autonomous hybrid system. In the next phase, the proposed

  9. Sliding mode control of an autonomous parallel fuel cell-super capacitor power source

    Energy Technology Data Exchange (ETDEWEB)

    More, Jeronimo J. [Universidad Nacional de La Plata (UNLP), La Plata, Buenos Aires (Argentina). Facultad de Ingenieria. Lab. de Electronica Industrial, Control e Instrumentacion], Email: jmore@ing.unlp.edu.ar; Puleston, Paul F. [Consejo de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires (Argentina); Kunusch, Cristian; Colomer, Jordi Riera I. [Universitat Politecnica de Catalunya, Barcelona (Spain). Inst. de Robotica i Informatica Industrial (IRII)

    2010-07-01

    Nowadays, hydrogen fuel cell (FC) based systems emerge as one promising renewable alternative to fossil fuel systems in automotive and residential applications. However, their output dynamic response is relatively slow, mostly due to water and reactant gases dynamics. To overcome this limitation, FC-super capacitors (SCs) topologies can be used. The latter is capable of managing very fast power variations, presenting in addition high power density, long life cycle and good charge/discharge efficiency. In this work, a FC-SCs-based autonomous hybrid system for residential applications is considered. The FC and SCs are connected in parallel, through two separate DC/DC converters, to a DC bus. Under steady state conditions, the FC must deliver the load power requirement, while maintaining the SCs voltage regulated to the desired value. Under sudden load variations, the FC current rate must be limited to assure a safe transition to the new point of operation. During this current rate limitation mode, the SCs must deliver or absorb the power difference. To this end, a sliding mode strategy is proposed to satisfy to control objectives. The main one is the robust regulation of the DC bus voltage, even in the presence of system uncertainties and disturbances, such as load changes and FC voltage variations. Additionally, a second control objective is attained, namely to guarantee the adequate level of charge in the SCs, once the FC reaches the new steady state operation point. In this way, the system can meet the load power demand, even under sudden changes, and it can also satisfy a power demand higher than the nominal FC power, during short periods. The proposed control strategy is evaluated exhaustively by computer simulation considering fast load variations. The results presented in this work, corresponds to the first stage of a R and D collaboration project for the design and development of a novel FC-SCs-based autonomous hybrid system. In the next phase, the proposed

  10. Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

    Directory of Open Access Journals (Sweden)

    Adam Norsharimie

    2017-01-01

    Full Text Available This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm × 270cm square with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

  11. Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

    Science.gov (United States)

    Chen, Po-Chang; Huang, An-Chyau

    2005-04-01

    An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

  12. Autonomous execution of the Precision Immobilization Technique

    Science.gov (United States)

    Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

    2017-03-01

    Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this

  13. On the use of peripheral autonomic signals for binary control of body–machine interfaces

    International Nuclear Information System (INIS)

    Falk, Tiago H; Guirgis, Mirna; Power, Sarah; Blain, Stefanie; Chau, Tom

    2010-01-01

    In this work, the potential of using peripheral autonomic (PA) responses as control signals for body–machine interfaces that require no physical movement was investigated. Electrodermal activity, skin temperature, heart rate and respiration rate were collected from six participants and hidden Markov models (HMMs) were used to automatically detect when a subject was performing music imagery as opposed to being at rest. Experiments were performed under controlled silent conditions as well as in the presence of continuous and startle (e.g. door slamming) ambient noise. By developing subject-specific HMMs, music imagery was detected under silent conditions with the average sensitivity and specificity of 94.2% and 93.3%, respectively. In the presence of startle noise stimuli, the system sensitivity and specificity levels of 78.8% and 80.2% were attained, respectively. In environments corrupted by continuous ambient and startle noise, the system specificity further decreased to 75.9%. To improve the system robustness against environmental noise, a startle noise detection and compensation strategy were proposed. Once in place, performance levels were shown to be comparable to those observed in silence. The obtained results suggest that PA signals, combined with HMMs, can be useful tools for the development of body–machine interfaces that allow individuals with severe motor impairments to communicate and/or to interact with their environment

  14. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    International Nuclear Information System (INIS)

    Schalkoff, R.J.

    2000-01-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested

  15. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-05-01

    This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.

  16. Sensor fusion: lane marking detection and autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Baillarin, S.; Calesse, C.; Martin, Lionel

    1995-12-01

    In the past few years MATRA and RENAULT have developed an Autonomous Intelligent Cruise Control (AICC) system based on a LIDAR sensor. This sensor incorporating a charge coupled device was designed to acquire pulsed laser diode emission reflected by standard car reflectors. The absence of moving mechanical parts, the large field of view, the high measurement rate and the very good accuracy for distance range and angular position of targets make this sensor very interesting. It provides the equipped car with the distance and the relative speed of other vehicles enabling the safety distance to be controlled by acting on the throttle and the automatic gear box. Experiments in various real traffic situations have shown the limitations of this kind of system especially on bends. All AICC sensors are unable to distinguish between a bend and a change of lane. This is easily understood if we consider a road without lane markings. This fact has led MATRA to improve its AICC system by providing the lane marking information. Also in the scope of the EUREKA PROMETHEUS project, MATRA and RENAULT have developed a lane keeping system in order to warn of the drivers lack of vigilance. Thus, MATRA have spread this system to far field lane marking detection and have coupled it with the AICC system. Experiments will be carried out on roads to estimate the gain in performance and comfort due to this fusion.

  17. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Schalkoff, R.J.

    2000-12-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested.

  18. Effects of the Fourth Ventricle Compression in the Regulation of the Autonomic Nervous System: A Randomized Control Trial

    Directory of Open Access Journals (Sweden)

    Ana Paula Cardoso-de-Mello-e-Mello-Ribeiro

    2015-01-01

    Full Text Available Introduction. Dysfunction of the autonomic nervous system is an important factor in the development of chronic pain. Fourth ventricle compression (CV-4 has been shown to influence autonomic activity. Nevertheless, the physiological mechanisms behind these effects remain unclear. Objectives. This study is aimed at evaluating the effects of fourth ventricle compression on the autonomic nervous system. Methods. Forty healthy adults were randomly assigned to an intervention group, on whom CV-4 was performed, or to a control group, who received a placebo intervention (nontherapeutic touch on the occipital bone. In both groups, plasmatic catecholamine levels, blood pressure, and heart rate were measured before and immediately after the intervention. Results. No effects related to the intervention were found. Although a reduction of norepinephrine, systolic blood pressure, and heart rate was found after the intervention, it was not exclusive to the intervention group. In fact, only the control group showed an increment of dopamine levels after intervention. Conclusion. Fourth ventricle compression seems not to have any effect in plasmatic catecholamine levels, blood pressure, or heart rate. Further studies are needed to clarify the CV-4 physiologic mechanisms and clinical efficacy in autonomic regulation and pain treatment.

  19. White rice consumption and risk of esophageal cancer in Xinjiang Uyghur Autonomous Region, northwest China: a case-control study

    OpenAIRE

    Tang, Li; Xu, Fenglian; Zhang, Taotao; Lei, Jun; Binns, Colin W.; Lee, Andy H.

    2015-01-01

    This study investigated the association between white rice consumption and the risk of esophageal cancer in remote northwest China, where the cancer incidence is known to be high. A case-control study was conducted during 2008?2009 in Urumqi and Shihezi, Xinjiang Uyghur Autonomous Region of China. Participants were 359 incident esophageal cancer patients and 380 hospital-based controls. Information on habitual white rice consumption was obtained by personal interview using a validated semi-qu...

  20. Particle swarm optimization based fuzzy logic controller for autonomous green power energy system with hydrogen storage

    International Nuclear Information System (INIS)

    Safari, S.; Ardehali, M.M.; Sirizi, M.J.

    2013-01-01

    Highlights: ► Optimized fuzzy logic controller for a hybrid green power system is developed. ► PSO algorithm is used to optimize membership functions of controller. ► Optimized fuzzy logic controller results in lower O and M costs and LPSP. ► Optimization results in less variation of battery state of charge. - Abstract: The objective of this study is to develop an optimized fuzzy logic controller (FLC) for operating an autonomous hybrid green power system (HGPS) based on the particle swarm optimization (PSO) algorithm. An electrolyzer produces hydrogen from surplus energy generated by the wind turbine and photovoltaic array of HGPS for later use by a fuel cell. The PSO algorithm is used to optimize membership functions of the FLC. The FLC inputs are (a) net power flow and (b) batteries state of charge (SOC) and FLC output determines the time for hydrogen production or consumption. Actual data for weekly residential load, wind speed, ambient temperature, and solar irradiation are used for performance simulation and analysis of the HGPS examined. The weekly operation and maintenance (O and M) costs and the loss of power supply probability (LPSP) are considered in the optimization procedure. It is determined that FLC optimization results in (a) reduced fluctuations in batteries SOC which translates into longer life for batteries and the average SOC is increased by 6.18% and (b) less working hours for fuel cell, when the load is met by wind and PV. It is found that the optimized FLC results in lower O and M costs and LPSP by 57% and 33%, respectively, as compared to its un-optimized counterpart. In addition, a reduction of 18% in investment cost is achievable by optimal sizing and reducing the capacity of HGPS equipment.

  1. Policy-Based Management Natural Language Parser

    Science.gov (United States)

    James, Mark

    2009-01-01

    The Policy-Based Management Natural Language Parser (PBEM) is a rules-based approach to enterprise management that can be used to automate certain management tasks. This parser simplifies the management of a given endeavor by establishing policies to deal with situations that are likely to occur. Policies are operating rules that can be referred to as a means of maintaining order, security, consistency, or other ways of successfully furthering a goal or mission. PBEM provides a way of managing configuration of network elements, applications, and processes via a set of high-level rules or business policies rather than managing individual elements, thus switching the control to a higher level. This software allows unique management rules (or commands) to be specified and applied to a cross-section of the Global Information Grid (GIG). This software embodies a parser that is capable of recognizing and understanding conversational English. Because all possible dialect variants cannot be anticipated, a unique capability was developed that parses passed on conversation intent rather than the exact way the words are used. This software can increase productivity by enabling a user to converse with the system in conversational English to define network policies. PBEM can be used in both manned and unmanned science-gathering programs. Because policy statements can be domain-independent, this software can be applied equally to a wide variety of applications.

  2. Optimal Control of Sensor Threshold for Autonomous Wide Area Search Munitions

    National Research Council Canada - National Science Library

    Kish, Brian A; Jacques, David R; Pachter, Meir

    2005-01-01

    The optimal employment of autonomous wide area search munitions is addressed. The scenario considered involves an airborne munition searching a battle space for stationary targets in the presence of false targets...

  3. Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms

    National Research Council Canada - National Science Library

    Rufa, Justin R

    2007-01-01

    With the United States? push towards using unmanned aerial vehicles (UAVs) for more military missions, wide area search theory is being researched to determine the viability of multiple vehicle autonomous searches over the battle area...

  4. Prosocial and antisocial behavior in sport: the role of coaching style, autonomous vs. controlled motivation, and moral disengagement.

    Science.gov (United States)

    Hodge, Ken; Lonsdale, Chris

    2011-08-01

    The purpose of this study was to examine whether the relationships between contextual factors (i.e., autonomy-supportive vs. controlling coaching style) and person factors (i.e., autonomous vs. controlled motivation) outlined in self-determination theory (SDT) were related to prosocial and antisocial behaviors in sport. We also investigated moral disengagement as a mediator of these relationships. Athletes' (n = 292, M = 19.53 years) responses largely supported our SDT-derived hypotheses. Results indicated that an autonomy-supportive coaching style was associated with prosocial behavior toward teammates; this relationship was mediated by autonomous motivation. Controlled motivation was associated with antisocial behavior toward teammates and antisocial behavior toward opponents, and these two relationships were mediated by moral disengagement. The results provide support for research investigating the effect of autonomy-supportive coaching interventions on athletes' prosocial and antisocial behavior.

  5. Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

    Science.gov (United States)

    Bevilacqua, R.; Lehmann, T.; Romano, M.

    2011-04-01

    This work introduces a novel control algorithm for close proximity multiple spacecraft autonomous maneuvers, based on hybrid linear quadratic regulator/artificial potential function (LQR/APF), for applications including autonomous docking, on-orbit assembly and spacecraft servicing. Both theoretical developments and experimental validation of the proposed approach are presented. Fuel consumption is sub-optimized in real-time through re-computation of the LQR at each sample time, while performing collision avoidance through the APF and a high level decisional logic. The underlying LQR/APF controller is integrated with a customized wall-following technique and a decisional logic, overcoming problems such as local minima. The algorithm is experimentally tested on a four spacecraft simulators test bed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School. The metrics to evaluate the control algorithm are: autonomy of the system in making decisions, successful completion of the maneuver, required time, and propellant consumption.

  6. Studies on the coordinated operation and autonomous control for multi-modular nuclear power plants

    International Nuclear Information System (INIS)

    Hui Chao; Huang Xiaojin; Wang Jie

    2011-01-01

    supervisory hierarchical control structure, operation and control strategy of existing multi-modular reactor in the world. Finally, this paper indicates that the high-performance autonomous control method is one of the possible research directions to solve the problems of operation and control of multi-modular power plant. (author)

  7. Investigating power control in autonomous power systems with increasing wind power penetration

    Energy Technology Data Exchange (ETDEWEB)

    Margaris, Ioannis D. [National Technical Univ. of Athens (Greece). Electric Energy Systems Lab.; Hansen, Anca D.; Sorensen, Poul [Risoe National Laboratory, Roskilde (Denmark). Wind Energy Dept.; Hatziargyriou, Nikos D. [National Technical Univ. of Athens (Greece). Electric Energy Systems Lab.; Public Power Corporation S.A., Athens (Greece)

    2009-07-01

    Increasing levels of wind penetration in autonomous power systems has set intensively high standards with respect to wind turbine technology during the last years. Special features of non-interconnected power systems make security issues rather critical, as the operation of large wind farms like conventional power plants is becoming a necessity. This paper includes the study case of Rhodos island, in Greece, where rapidly increasing wind penetration has started to impose serious security issues for the immediate future. The scenarios studied here correspond to reference year of study 2012 and include wind farms with three different wind turbine technologies - namely Doubly Fed Induction Generator (DFIG), Permanent Magnet Synchronous Generator (PMSG) and Active Stall Induction Generator (ASIG) based wind turbines. Aggregated models of the wind farms are being used and results for different load cases are being analyzed and discussed. The ability of wind farms to assist in some of the power system control services traditionally carried out by conventional synchronous generation is being investigated and discussed. The power grid of the island, including speed governors and automatic voltage regulators, is simulated in the dedicated power system simulation program Power Factory from DIgSILENT. (orig.)

  8. An integrated movement capture and control platform applied towards autonomous movements of surgical robots.

    Science.gov (United States)

    Daluja, Sachin; Golenberg, Lavie; Cao, Alex; Pandya, Abhilash K; Auner, Gregory W; Klein, Michael D

    2009-01-01

    Robotic surgery has gradually gained acceptance due to its numerous advantages such as tremor filtration, increased dexterity and motion scaling. There remains, however, a significant scope for improvement, especially in the areas of surgeon-robot interface and autonomous procedures. Previous studies have attempted to identify factors affecting a surgeon's performance in a master-slave robotic system by tracking hand movements. These studies relied on conventional optical or magnetic tracking systems, making their use impracticable in the operating room. This study concentrated on building an intrinsic movement capture platform using microcontroller based hardware wired to a surgical robot. Software was developed to enable tracking and analysis of hand movements while surgical tasks were performed. Movement capture was applied towards automated movements of the robotic instruments. By emulating control signals, recorded surgical movements were replayed by the robot's end-effectors. Though this work uses a surgical robot as the platform, the ideas and concepts put forward are applicable to telerobotic systems in general.

  9. In-flight wind identification and soft landing control for autonomous unmanned powered parafoils

    Science.gov (United States)

    Luo, Shuzhen; Tan, Panlong; Sun, Qinglin; Wu, Wannan; Luo, Haowen; Chen, Zengqiang

    2018-04-01

    For autonomous unmanned powered parafoil, the ability to perform a final flare manoeuvre against the wind direction can allow a considerable reduction of horizontal and vertical velocities at impact, enabling a soft landing for a safe delivery of sensible loads; the lack of knowledge about the surface-layer winds will result in messing up terminal flare manoeuvre. Moreover, unknown or erroneous winds can also prevent the parafoil system from reaching the target area. To realize accurate trajectory tracking and terminal soft landing in the unknown wind environment, an efficient in-flight wind identification method merely using Global Positioning System (GPS) data and recursive least square method is proposed to online identify the variable wind information. Furthermore, a novel linear extended state observation filter is proposed to filter the groundspeed of the powered parafoil system calculated by the GPS information to provide a best estimation of the present wind during flight. Simulation experiments and real airdrop tests demonstrate the great ability of this method to in-flight identify the variable wind field, and it can benefit the powered parafoil system to fulfil accurate tracking control and a soft landing in the unknown wind field with high landing accuracy and strong wind-resistance ability.

  10. Autonomic control of body temperature and blood pressure: influences of female sex hormones.

    Science.gov (United States)

    Charkoudian, Nisha; Hart, Emma C J; Barnes, Jill N; Joyner, Michael J

    2017-06-01

    Female reproductive hormones exert important non-reproductive influences on autonomic regulation of body temperature and blood pressure. Estradiol and progesterone influence thermoregulation both centrally and peripherally, where estradiol tends to promote heat dissipation, and progesterone tends to promote heat conservation and higher body temperatures. Changes in thermoregulation over the course of the menstrual cycle and with hot flashes at menopause are mediated by hormonal influences on neural control of skin blood flow and sweating. The influence of estradiol is to promote vasodilation, which, in the skin, results in greater heat dissipation. In the context of blood pressure regulation, both central and peripheral hormonal influences are important as well. Peripherally, the vasodilator influence of estradiol contributes to the lower blood pressures and smaller risk of hypertension seen in young women compared to young men. This is in part due to a mechanism by which estradiol augments beta-adrenergic receptor mediated vasodilation, offsetting alpha-adrenergic vasoconstriction, and resulting in a weak relationship between muscle sympathetic nerve activity and total peripheral resistance, and between muscle sympathetic nerve activity and blood pressure. After menopause, with the loss of reproductive hormones, sympathetic nerve activity, peripheral resistance and blood pressure become more strongly related, and sympathetic nerve activity (which increases with age) becomes a more important contributor to the prevailing level of blood pressure. Continuing to increase our understanding of sex hormone influences on body temperature and blood pressure regulation will provide important insight for optimization of individualized health care for future generations of women.

  11. Autonomous and Controlling Reasons Underlying Achievement Goals during Task Engagement: Their Relation to Intrinsic Motivation and Cheating

    Science.gov (United States)

    Ozdemir Oz, Ayse; Lane, Jennie F.; Michou, Aikaterini

    2016-01-01

    The aim of this study was to investigate the relation of autonomous and controlling reasons underlying an endorsed achievement goal to intrinsic motivation and cheating. The endorsement of the achievement goal was ensured by involving 212 (M(subscript age) = 19.24, SD = 0.97) freshman students in a spatial task and asking them to report their most…

  12. Power quality control of an autonomous wind-diesel power system based on hybrid intelligent controller.

    Science.gov (United States)

    Ko, Hee-Sang; Lee, Kwang Y; Kang, Min-Jae; Kim, Ho-Chan

    2008-12-01

    Wind power generation is gaining popularity as the power industry in the world is moving toward more liberalized trade of energy along with public concerns of more environmentally friendly mode of electricity generation. The weakness of wind power generation is its dependence on nature-the power output varies in quite a wide range due to the change of wind speed, which is difficult to model and predict. The excess fluctuation of power output and voltages can influence negatively the quality of electricity in the distribution system connected to the wind power generation plant. In this paper, the authors propose an intelligent adaptive system to control the output of a wind power generation plant to maintain the quality of electricity in the distribution system. The target wind generator is a cost-effective induction generator, while the plant is equipped with a small capacity energy storage based on conventional batteries, heater load for co-generation and braking, and a voltage smoothing device such as a static Var compensator (SVC). Fuzzy logic controller provides a flexible controller covering a wide range of energy/voltage compensation. A neural network inverse model is designed to provide compensating control amount for a system. The system can be optimized to cope with the fluctuating market-based electricity price conditions to lower the cost of electricity consumption or to maximize the power sales opportunities from the wind generation plant.

  13. Autonomic control of vasomotion in the porcine coronary circulation during treadmill exercise: evidence for feed-forward beta-adrenergic control

    NARCIS (Netherlands)

    D.J.G.M. Duncker (Dirk); R. Stubenitsky (René); P.D. Verdouw (Pieter)

    1998-01-01

    textabstractTo date, no studies have investigated coronary vasomotor control of myocardial O2 delivery (MDO2) and its modulation by the autonomic nervous system in the porcine heart during treadmill exercise. We studied 8 chronically instrumented swine under resting

  14. Relationship between autonomic cardiovascular control, case definition, clinical symptoms, and functional disability in adolescent chronic fatigue syndrome: an exploratory study.

    Science.gov (United States)

    Wyller, Vegard B; Helland, Ingrid B

    2013-02-07

    Chronic Fatigue Syndrome (CFS) is characterized by severe impairment and multiple symptoms. Autonomic dysregulation has been demonstrated in several studies. We aimed at exploring the relationship between indices of autonomic cardiovascular control, the case definition from Centers for Disease Control and Prevention (CDC criteria), important clinical symptoms, and disability in adolescent chronic fatigue syndrome. 38 CFS patients aged 12-18 years were recruited according to a wide case definition (ie. not requiring accompanying symptoms) and subjected to head-up tilt test (HUT) and a questionnaire. The relationships between variables were explored with multiple linear regression analyses. In the final models, disability was positively associated with symptoms of cognitive impairments (p<0.001), hypersensitivity (p<0.001), fatigue (p=0.003) and age (p=0.007). Symptoms of cognitive impairments were associated with age (p=0.002), heart rate (HR) at baseline (p=0.01), and HR response during HUT (p=0.02). Hypersensitivity was associated with HR response during HUT (p=0.001), high-frequency variability of heart rate (HF-RRI) at baseline (p=0.05), and adherence to the CDC criteria (p=0.005). Fatigue was associated with gender (p=0.007) and adherence to the CDC criteria (p=0.04). In conclusion, a) The disability of CFS patients is not only related to fatigue but to other symptoms as well; b) Altered cardiovascular autonomic control is associated with certain symptoms; c) The CDC criteria are poorly associated with disability, symptoms, and indices of altered autonomic nervous activity.

  15. Exercise-induced neuronal plasticity in central autonomic networks: role in cardiovascular control.

    Science.gov (United States)

    Michelini, Lisete C; Stern, Javier E

    2009-09-01

    It is now well established that brain plasticity is an inherent property not only of the developing but also of the adult brain. Numerous beneficial effects of exercise, including improved memory, cognitive function and neuroprotection, have been shown to involve an important neuroplastic component. However, whether major adaptive cardiovascular adjustments during exercise, needed to ensure proper blood perfusion of peripheral tissues, also require brain neuroplasticity, is presently unknown. This review will critically evaluate current knowledge on proposed mechanisms that are likely to underlie the continuous resetting of baroreflex control of heart rate during/after exercise and following exercise training. Accumulating evidence indicates that not only somatosensory afferents (conveyed by skeletal muscle receptors, baroreceptors and/or cardiopulmonary receptors) but also projections arising from central command neurons (in particular, peptidergic hypothalamic pre-autonomic neurons) converge into the nucleus tractus solitarii (NTS) in the dorsal brainstem, to co-ordinate complex cardiovascular adaptations during dynamic exercise. This review focuses in particular on a reciprocally interconnected network between the NTS and the hypothalamic paraventricular nucleus (PVN), which is proposed to act as a pivotal anatomical and functional substrate underlying integrative feedforward and feedback cardiovascular adjustments during exercise. Recent findings supporting neuroplastic adaptive changes within the NTS-PVN reciprocal network (e.g. remodelling of afferent inputs, structural and functional neuronal plasticity and changes in neurotransmitter content) will be discussed within the context of their role as important underlying cellular mechanisms supporting the tonic activation and improved efficacy of these central pathways in response to circulatory demand at rest and during exercise, both in sedentary and in trained individuals. We hope this review will stimulate

  16. Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

    Science.gov (United States)

    Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

    2005-06-01

    For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

  17. A comprehensive assessment of cardiovascular autonomic control using photoplethysmograms recorded from the earlobe and fingers

    International Nuclear Information System (INIS)

    Kiselev, A R; Mironov, S A; Karavaev, A S; Kulminskiy, D D; Prokhorov, M D; Skazkina, V V; Borovkova, E I; Ponomarenko, V I; Shvartz, V A

    2016-01-01

    We compare the spectral indices of photoplethysmogram variability (PPGV) estimated using photoplethysmograms recorded from the earlobe and the middle fingers of the right and left hand and analyze their correlation with similar indices of heart rate variability (HRV) in 30 healthy subjects (26 men) aged 27 (25, 29) years (median with inter-quartile ranges) at rest and under the head-up tilt test. The following spectral indices of PPGV and HRV were compared: mean heart rate (HR), total spectral power (TP), high-frequency (HF) and low-frequency (LF) ranges of TP in percents (HF% and LF%), LF/HF ratio, and spectral coherence. We assess also the index S of synchronization between the LF oscillations in HRV and PPGV. The constancy of blood pressure (BP) and moderate increase of HR under the tilt test indicate the presence of fast processes of cardiovascular adaptation with the increase of the sympathetic activity in studied healthy subjects. The impact of respiration on the PPGV spectrum (accessed by HF%) is less than on the HRV spectrum. It is shown that the proportion of sympathetic vascular activity (accessed by LF%) is constant in the PPGV of three analyzed PPGs during the tilt test. The PPGV for the ear PPG was less vulnerable to breathing influence accessed by HF% (independently from body position) than for PPGs from fingers. We reveal the increase of index S under the tilt test indicating the activation of interaction between the heart and distal vessels. The PPGV spectra for finger PPGs from different hands are highly coherent, but differ substantially from the PPGV spectrum for the ear PPG. We conclude that joint analysis of frequency components of PPGV (for the earlobe and finger PPGs of both hands) and HRV and assessment of their synchronization provide additional information about cardiovascular autonomic control. (paper)

  18. Quantifying Effects of Pharmacological Blockers of Cardiac Autonomous Control Using Variability Parameters.

    Science.gov (United States)

    Miyabara, Renata; Berg, Karsten; Kraemer, Jan F; Baltatu, Ovidiu C; Wessel, Niels; Campos, Luciana A

    2017-01-01

    Objective: The aim of this study was to identify the most sensitive heart rate and blood pressure variability (HRV and BPV) parameters from a given set of well-known methods for the quantification of cardiovascular autonomic function after several autonomic blockades. Methods: Cardiovascular sympathetic and parasympathetic functions were studied in freely moving rats following peripheral muscarinic (methylatropine), β1-adrenergic (metoprolol), muscarinic + β1-adrenergic, α1-adrenergic (prazosin), and ganglionic (hexamethonium) blockades. Time domain, frequency domain and symbolic dynamics measures for each of HRV and BPV were classified through paired Wilcoxon test for all autonomic drugs separately. In order to select those variables that have a high relevance to, and stable influence on our target measurements (HRV, BPV) we used Fisher's Method to combine the p -value of multiple tests. Results: This analysis led to the following best set of cardiovascular variability parameters: The mean normal beat-to-beat-interval/value (HRV/BPV: meanNN), the coefficient of variation (cvNN = standard deviation over meanNN) and the root mean square differences of successive (RMSSD) of the time domain analysis. In frequency domain analysis the very-low-frequency (VLF) component was selected. From symbolic dynamics Shannon entropy of the word distribution (FWSHANNON) as well as POLVAR3, the non-linear parameter to detect intermittently decreased variability, showed the best ability to discriminate between the different autonomic blockades. Conclusion: Throughout a complex comparative analysis of HRV and BPV measures altered by a set of autonomic drugs, we identified the most sensitive set of informative cardiovascular variability indexes able to pick up the modifications imposed by the autonomic challenges. These indexes may help to increase our understanding of cardiovascular sympathetic and parasympathetic functions in translational studies of experimental diseases.

  19. Autonomía Adolescente y Apoyo y Control Parental en Familias Indígenas Mexicanas

    OpenAIRE

    Rosario Esteinou

    2015-01-01

    (analítico): Con base en una encuesta, en este artículo presento un análisis descriptivo de las percepciones de adolescentes indígenas de México, sobre su autonomía y los comportamientos de sus padres y madres en términos del apoyo y control que ellos y ellas ejercen. En particular, analizo si la autonomía alcanzada puede ser asociada a un proceso de separación/desconexión o de separación/conexión con los padres y madres. Este proceso está ligado a los rasgos que guardan los comportamientos d...

  20. Maintenance of Blood-Brain Barrier Integrity in Hypertension: A Novel Benefit of Exercise Training for Autonomic Control

    Directory of Open Access Journals (Sweden)

    Leila Buttler

    2017-12-01

    Full Text Available The blood-brain barrier (BBB is a complex multicellular structure acting as selective barrier controlling the transport of substances between these compartments. Accumulating evidence has shown that chronic hypertension is accompanied by BBB dysfunction, deficient local perfusion and plasma angiotensin II (Ang II access into the parenchyma of brain areas related to autonomic circulatory control. Knowing that spontaneously hypertensive rats (SHR exhibit deficient autonomic control and brain Ang II hyperactivity and that exercise training is highly effective in correcting both, we hypothesized that training, by reducing Ang II content, could improve BBB function within autonomic brain areas of the SHR. After confirming the absence of BBB lesion in the pre-hypertensive SHR, but marked fluorescein isothiocyanate dextran (FITC, 10 kD leakage into the brain parenchyma of the hypothalamic paraventricular nucleus (PVN, nucleus of the solitary tract, and rostral ventrolateral medulla during the established phase of hypertension, adult SHR, and age-matched WKY were submitted to a treadmill training (T or kept sedentary (S for 8 weeks. The robust FITC leakage within autonomic areas of the SHR-S was largely reduced and almost normalized since the 2nd week of training (T2. BBB leakage reduction occurred simultaneously and showed strong correlations with both decreased LF/HF ratio to the heart and reduced vasomotor sympathetic activity (power spectral analysis, these effects preceding the appearance of resting bradycardia (T4 and partial pressure fall (T8. In other groups of SHR-T simultaneously infused with icv Ang II or saline (osmotic mini-pumps connected to a lateral ventricle cannula we proved that decreased local availability of this peptide and reduced microglia activation (IBA1 staining are crucial mechanisms conditioning the restoration of BBB integrity. Our data also revealed that Ang II-induced BBB lesion was faster within the PVN (T2, suggesting

  1. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning

    International Nuclear Information System (INIS)

    Schalkoff, Robert J.

    1999-01-01

    This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology

  2. Quantity and Quality of Carbohydrate Intake during Pregnancy, Newborn Body Fatness and Cardiac Autonomic Control: Conferred Cardiovascular Risk?

    Directory of Open Access Journals (Sweden)

    Kirsty M. Mckenzie

    2017-12-01

    Full Text Available The fetal environment has an important influence on health and disease over the life course. Maternal nutritional status during pregnancy is potentially a powerful contributor to the intrauterine environment, and may alter offspring physiology and later life cardio-metabolic risk. Putative early life markers of cardio-metabolic risk include newborn body fatness and cardiac autonomic control. We sought to determine whether maternal dietary carbohydrate quantity and/or quality during pregnancy are associated with newborn body composition and cardiac autonomic function. Maternal diet during pregnancy was assessed in 142 mother-infant pairs using a validated food frequency questionnaire. Infant adiposity and body composition were assessed at birth using air-displacement plethysmography. Cardiac autonomic function was assessed as heart rate variability. The quantity of carbohydrates consumed during pregnancy, as a percentage of total energy intake, was not associated with meaningful differences in offspring birth weight, adiposity or heart rate variability (p > 0.05. There was some evidence that maternal carbohydrate quality, specifically higher fibre and lower glycemic index, is associated with higher heart rate variability in the newborn offspring (p = 0.06. This suggests that poor maternal carbohydrate quality may be an important population-level inter-generational risk factor for later cardiac and hemodynamic risk of their offspring.

  3. Autonomic control of heart rate during orthostasis and the importance of orthostatic-tachycardia in the snake Python molurus.

    Science.gov (United States)

    Armelin, Vinicius Araújo; da Silva Braga, Victor Hugo; Abe, Augusto Shinya; Rantin, Francisco Tadeu; Florindo, Luiz Henrique

    2014-10-01

    Orthostasis dramatically influences the hemodynamics of terrestrial vertebrates, especially large and elongated animals such as snakes. When these animals assume a vertical orientation, gravity tends to reduce venous return, cardiac filling, cardiac output and blood pressure to the anterior regions of the body. The hypotension triggers physiological responses, which generally include vasomotor adjustments and tachycardia to normalize blood pressure. While some studies have focused on understanding the regulation of these vasomotor adjustments in ectothermic vertebrates, little is known about regulation and the importance of heart rate in these animals during orthostasis. We acquired heart rate and carotid pulse pressure (P PC) in pythons in their horizontal position, and during 30 and 60° inclinations while the animals were either untreated (control) or upon muscarinic cholinoceptor blockade and a double autonomic blockade. Double autonomic blockade completely eradicated the orthostatic-tachycardia, and without this adjustment, the P PC reduction caused by the tilts became higher than that which was observed in untreated animals. On the other hand, post-inclinatory vasomotor adjustments appeared to be of negligible importance in counterbalancing the hemodynamic effects of gravity. Finally, calculations of cardiac autonomic tones at each position revealed that the orthostatic-tachycardia is almost completely elicited by a withdrawal of vagal drive.

  4. Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

    Science.gov (United States)

    Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

    2018-05-01

    This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

  5. Autonomous Propellant Loading Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Propellant Loading (APL) project consists of three activities. The first is to develop software that will automatically control loading of...

  6. Directory Enabled Policy Based Networking; TOPICAL

    International Nuclear Information System (INIS)

    KELIIAA, CURTIS M.

    2001-01-01

    This report presents a discussion of directory-enabled policy-based networking with an emphasis on its role as the foundation for securely scalable enterprise networks. A directory service provides the object-oriented logical environment for interactive cyber-policy implementation. Cyber-policy implementation includes security, network management, operational process and quality of service policies. The leading network-technology vendors have invested in these technologies for secure universal connectivity that transverses Internet, extranet and intranet boundaries. Industry standards are established that provide the fundamental guidelines for directory deployment scalable to global networks. The integration of policy-based networking with directory-service technologies provides for intelligent management of the enterprise network environment as an end-to-end system of related clients, services and resources. This architecture allows logical policies to protect data, manage security and provision critical network services permitting a proactive defense-in-depth cyber-security posture. Enterprise networking imposes the consideration of supporting multiple computing platforms, sites and business-operation models. An industry-standards based approach combined with principled systems engineering in the deployment of these technologies allows these issues to be successfully addressed. This discussion is focused on a directory-based policy architecture for the heterogeneous enterprise network-computing environment and does not propose specific vendor solutions. This document is written to present practical design methodology and provide an understanding of the risks, complexities and most important, the benefits of directory-enabled policy-based networking

  7. Autonomous and controlled motivation for interpersonal therapy for depression: Between-therapists and within-therapist effects.

    Science.gov (United States)

    Zuroff, David C; McBride, Carolina; Ravitz, Paula; Koestner, Richard; Moskowitz, D S; Bagby, R Michael

    2017-10-01

    Differences between therapists in the average outcomes their patients achieve are well documented, and researchers have begun to try to explain such differences (Baldwin & Imel, 2013). Guided by Self-Determination Theory (Deci & Ryan, 2000), we examined the effects on outcome of differences between therapists in their patients' average levels of autonomous and controlled motivation for treatment, as well as the effects of differences among the patients within each therapist's caseload. Between and within-therapist differences in the SDT construct of perceived relational support were explored as predictors of patients' motivation. Nineteen therapists treated 63 patients in an outpatient clinic providing manualized interpersonal therapy (IPT) for depression. Patients completed the BDI-II at pretreatment, posttreatment, and each treatment session. The Impact Message Inventory was administered at the third session and scored for perceived therapist friendliness, a core element of relational support. We created between-therapists (therapist-level) scores by averaging over the patients in each therapist's caseload; within-therapist (patient-level) scores were computed by centering within each therapist's caseload. As expected, better outcome was predicted by higher levels of therapist-level and patient-level autonomous motivation and by lower levels of therapist-level and patient-level controlled motivation. In turn, autonomous motivation was predicted by therapist-level and patient-level relational support (friendliness). Controlled motivation was predicted solely by patient self-critical perfectionism. The results extend past work by demonstrating that both between-therapists and within-therapist differences in motivation predict outcome. As well, the results suggest that therapists should monitor their interpersonal impact so as to provide relational support. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

  8. Autonomous houses. Autonomous house

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, S. (Tokai University, Tokyo (Japan). Faculty of Engineering)

    1991-09-30

    Self-sufficiency type houses are outlined. On condition that people gain a certain amount of income in relation with the society, they self-suffice under the given environment, allowing themselves to accept a minimum of industrial products with small environmental load. Ordinary supply from outside of fossil energy and materials which depend on it is minimized. Types are classified into three: energy, energy materials and perfect self-sufficiency. A study project for environment symbiotic houses is progressing which is planned by the Ministry of Construction and Institute of Building Energy Conservation and is invested by a private company. Its target is making a house for halving an environmental load by CO{sub 2}, for the purpose of creating the environment symbiotic house which is nice to and in harmony with the global environment and human beings. As a part of the studies on energy-saving and resource conservation on houses, introduced is a plan of an autonomous house at Izu-Atagawa. The passive method and high thermal-insulation are used for air conditioning, and hot spring water for hot water supply. Electric power is generated by hydroelectric power generation using mountain streams and by solar cells. Staple food is purchased, while subsidiary food is sufficed. 17 refs., 4 figs., 1 tab.

  9. CF-Pursuit: A Pursuit Method with a Clothoid Fitting and a Fuzzy Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Yunxiao Shan

    2015-09-01

    Full Text Available Simple and efficient geometric controllers, like Pure-Pursuit, have been widely used in various types of autonomous vehicles to solve tracking problems. In this paper, we have developed a new pursuit method, named CF-Pursuit, which has been based on Pure-Pursuit but with certain differences. In CF-Pursuit, in order to reduce fitting errors, we used a clothoid C1 curve to replace the circle employed in Pure-Pursuit. This improvement to the fitting method helps the Pursuit method to decrease tracking errors. As regards the selection of look-ahead distance, we employed a fuzzy system to directly consider the path's curvature. There are three input variables in this fuzzy system, 6mcurvature, 9mcurvature and 12mcurvature, calculated from the clothoid fit with the current position and the goal position on the defined path. A Sugeno fuzzy model was adapted to output a reasonable look-ahead distance using the experiences of human drivers as well as our own tests. Compared with some other geometric controllers, CF-Pursuit performs better in robustness, cross track errors and stability. The results from field tests have proven the CF-Pursuit is a practical and efficient geometric method for the path tracking problems of autonomous vehicles.

  10. Perancangan dan Implementasi Autonomous Landing Menggunakan Behavior-Based dan Fuzzy Controller pada Quadcopter

    Directory of Open Access Journals (Sweden)

    Fadjri Andika Permadi

    2012-09-01

    Full Text Available Perkembangan teknologi sistem kendali pesawat sayap berputar (copter semakin pesat salah satunya pada pesawat berbaling-baling empat (quadcopter. Landing merupakan bagian tersulit dalam penerbangan quadcopter. Ukuran quadcopter yang kecil mengakibatkan susahnya pengendalian kestabilan dan kecepatan turun.Cara mengatasi permasalahan ini adalah dengan autonomous landing yang menggunakan algoritma kendali behavior-based (berbasis perilaku. Tugas akhir ini merancang dan mengimplementasikan algoritma kendali behavior-based (berbasis perilaku pada proses autonomous landing quadcopter dan kontroler PD (Proporsional, Diferensial pada untuk  kestabilan sudut roll dan pitch, sedangkan untuk jarak landing menggunakan kontroler logika fuzzy. Pada Tugas Akhir ini, didapatkan nilai parameter kontroler PD roll dan kontroler PD pitch dari hasil tuning terstruktur pada simulasi Kp=500 dan Kd=30. Sedangkan kendali landing menggunakan kontroler logika fuzzy dengan parameter Ke=4 Kde=175 dan Ku=1 pada simulasi dapat melakukan proses landing selama 8 detik dari ketinggian 3 meter. Respon hasil implementasi pada quadcopter belum sesuai dengan hasil simulasi. Proses landing pada implementasi lebih cepat dengan waktu 3.5 detik dari ketinggian 2 meter, selain itu koreksi sudut roll dan sudut pitch masih terhadapat error +/-3º.

  11. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  12. Adaptive Control Design for Autonomous Operation of Multiple Energy Storage Systems in Power Smoothing Applications

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Guerrero, Josep M.

    2018-01-01

    -pass-filter (HPF) structure. It generates the power reference according to the fluctuating power and provides a stabilization effect. The power and energy supplied by ESS are majorly configured by the cut-off frequency and gain of the HPF. Considering the operational limits on ESS state-of-charge (SoC), this paper...... proposes an adaptive cut-off frequency design method to realize communication-less and autonomous operation of a system with multiple distributed ESS. The experimental results demonstrate that the SoCs of all ESS units are kept within safe margins, while the SoC level and power of the paralleled units...... converge to the final state, providing a natural plug-and-play function....

  13. Central insulin and leptin-mediated autonomic control of glucose homeostasis.

    Science.gov (United States)

    Marino, Joseph S; Xu, Yong; Hill, Jennifer W

    2011-07-01

    Largely as a result of rising obesity rates, the incidence of type 2 diabetes is escalating rapidly. Type 2 diabetes results from multi-organ dysfunctional glucose metabolism. Recent publications have highlighted hypothalamic insulin- and adipokine-sensing as a major determinant of peripheral glucose and insulin responsiveness. The preponderance of evidence indicates that the brain is the master regulator of glucose homeostasis, and that hypothalamic insulin and leptin signaling in particular play a crucial role in the development of insulin resistance. This review discusses the neuronal crosstalk between the hypothalamus, autonomic nervous system, and tissues associated with the pathogenesis of type 2 diabetes, and how hypothalamic insulin and leptin signaling are integral to maintaining normal glucose homeostasis. Copyright © 2011 Elsevier Ltd. All rights reserved.

  14. Autonomous search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

    Autonomous combinatorial search (AS) represents a new field in combinatorial problem solving. Its major standpoint and originality is that it considers that problem solvers must be capable of self-improvement operations. This is the first book dedicated to AS.

  15. Optimal control of coupled parabolic-hyperbolic non-autonomous PDEs: infinite-dimensional state-space approach

    Science.gov (United States)

    Aksikas, I.; Moghadam, A. Alizadeh; Forbes, J. F.

    2018-04-01

    This paper deals with the design of an optimal state-feedback linear-quadratic (LQ) controller for a system of coupled parabolic-hypebolic non-autonomous partial differential equations (PDEs). The infinite-dimensional state space representation and the corresponding operator Riccati differential equation are used to solve the control problem. Dynamical properties of the coupled system of interest are analysed to guarantee the existence and uniqueness of the solution of the LQ-optimal control problem and also to guarantee the exponential stability of the closed-loop system. Thanks to the eigenvalues and eigenfunctions of the parabolic operator and also the fact that the hyperbolic-associated operator Riccati differential equation can be converted to a scalar Riccati PDE, an algorithm to solve the LQ control problem has been presented. The results are applied to a non-isothermal packed-bed catalytic reactor. The LQ optimal controller designed in the early portion of the paper is implemented for the original non-linear model. Numerical simulations are performed to show the controller performances.

  16. Autonomic Neuropathy in Diabetes Mellitus

    OpenAIRE

    Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

    2014-01-01

    Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent ...

  17. Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

    Science.gov (United States)

    Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

    2018-02-01

    Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

  18. A multi-agent decentralized energy management system based on distributed intelligence for the design and control of autonomous polygeneration microgrids

    International Nuclear Information System (INIS)

    Karavas, Christos-Spyridon; Kyriakarakos, George; Arvanitis, Konstantinos G.; Papadakis, George

    2015-01-01

    Highlights: • A decentralized energy management system based on multi agent systems theory. • A decentralized energy management system is technically feasible. • A decentralized approach utilizes the devices better than a centralized one. • A decentralized energy management system is economically competitive. - Abstract: The autonomous polygeneration microgrid topology has been developed in order to cover holistically needs in a remote area such as electrical energy, space heating and cooling, potable water through desalination and hydrogen as fuel for transportation. The existence of an advanced energy management system is essential for the operation of an autonomous polygeneration microgrid. So far, energy management systems based on a centralized management and control have been developed for the autonomous polygeneration microgrid topology based on computational intelligence approaches. A decentralized management and control energy management system can have important benefits, when taking into consideration the autonomous character of these microgrids. This paper presents the design and investigation of a decentralized energy management system for the autonomous polygeneration microgrid topology. The decentralized energy management system gives the possibility to control each unit of the microgrid independently. The most important advantage of using a decentralized architecture is that the managed microgrid has much higher chances of partial operation in cases when malfunctions occur at different parts of it, instead of a complete system breakdown. The designed system was based on a multi-agent system and employed Fuzzy Cognitive Maps for its implementation. It was then compared through a case study with an existing centralized energy management system. The technical performance of the decentralized solution performance is on par with the existing centralized one, presenting improvements in financial and operational terms for the implementation and

  19. Feasibility of Autonomous Monitoring of CO2 Leakage in Aquifers: Results From Controlled Laboratory Experiments

    Science.gov (United States)

    Versteeg, R.; Leger, E.; Dafflon, B.

    2016-12-01

    Geologic sequestration of CO2 is one of the primary proposed approaches for reducing total atmospheric CO2 concentrations. MVAA (Monitoring, Verification, Accounting and Assessment) of CO2 sequestration is an essential part of the geologic CO2 sequestration cycle. MVAA activities need to meet multiple operational, regulatory and environmental objectives, including ensuring the protection of underground sources of drinking water. Anticipated negative consequences of CO2 leakage into groundwater, besides possible brine contamination and release of gaseous CO2, include a significant increase of dissolved CO2 into shallow groundwater systems, which will decrease groundwater pH and can potentially mobilize naturally occurring trace metals and ions that are commonly absorbed to or contained in sediments. Autonomous electrical geophysical monitoring in aquifers has the potential of allowing for rapid and automated detection of CO2 leakage. However, while the feasibility of such monitoring has been demonstrated by a number of different field experiments, automated interpretation of complex electrical resistivity data requires the development of quantitative relationships between complex electrical resistivity signatures and dissolved CO2 in the aquifer resulting from leakage Under a DOE SBIR funded effort we performed multiple tank scale experiments in which we investigated complex electrical resistivity signatures associated with dissolved CO2 plumes in saturated sediments. We also investigated the feasibility of distinguishing CO2 leakage signatures from signatures associated with other processes such as salt water movement, temperature variations and other variations in chemical or physical conditions. In addition to these experiments we also numerically modeled the tank experiments. These experiments showed that (a) we can distinguish CO2 leakage signatures from other signatures, (b) CO2 leakage signatures have a consistent characteristic, (c) laboratory experiments

  20. Integration of autonomous systems for remote control of data acquisition and diagnostics in the TJ-II device

    International Nuclear Information System (INIS)

    Vega, J.; Mollinedo, A.; Lopez, A.; Pacios, L.; Dormido, S.

    1997-01-01

    The data acquisition system for TJ-II will consist of a central computer, containing the data base of the device, and a set of independent systems (personal computers, embedded ones, workstations, minicomputers, PLCs, and microprocessor systems among others), controlling data collection, and automated diagnostics. Each autonomous system can be used to isolate and manage specific problems in the most efficient manner. These problems are related to data acquisition, hard (μs endash ms) real time requirements, soft (ms endash s) real time requirements, remote control of diagnostics, etc. In the operation of TJ-II, the programming of systems will be carried out from the central computer. Coordination and synchronization will be performed by linking systems to local area networks. Several Ethernet segments and FDDI rings will be used for these purposes. Programmable logic controller devices (PLCs) used for diagnostic low level control will be linked among them through a fast serial link, the RS485 Profibus standard. One VME crate, running on the OS-9 real time operating system, will be assigned as a gateway, so as to connect the PLCs based systems with an Ethernet segment. copyright 1997 American Institute of Physics

  1. Fuzzy Secondary Controller for Autonomous Stand-alone and Grid-connected AC Microgrid

    DEFF Research Database (Denmark)

    Neves, Rodolpho V. A.; Machado, Ricardo Q.; Oliveira, Vilma A.

    2016-01-01

    The present paper adresses the AC microgrid control issue using the hierarchical control structure and droop controllers for load sharing. Once the droop controllers impose an operation with frequency and voltage deviations, depending on the load and droop parameters, a hierarchical control...... structure must be added to change the droop controller operating points. The hierarchical controllers operate with local measurements and shared signals from communication links among the distributed generation systems connected to the microgrid. Depending on the geographical size of the microgrid......, the communication links can be economically unviable. This paper thus proposes a fuzzy secondary controller for AC microgrids to reduce the link communication dependency by using only local measurements. The simulation results show that the deviations as happened with the conventional secondary controllers can...

  2. Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

    Science.gov (United States)

    Nguyen, Nhan T.

    2018-01-01

    Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

  3. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    National Research Council Canada - National Science Library

    Porter, Robert

    2002-01-01

    ...; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag...

  4. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

    Science.gov (United States)

    Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

    2017-06-15

    In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

  5. Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-Objective Genetic Programming

    National Research Council Canada - National Science Library

    Barlow, Gregory J

    2004-01-01

    Unmanned aerial vehicles (UAVs) have become increasingly popular for many applications, including search and rescue, surveillance, and electronic warfare, but almost all UAVs are controlled remotely by humans...

  6. Adaptive training of neural networks for control of autonomous mobile robots

    NARCIS (Netherlands)

    Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

    2017-01-01

    We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

  7. Autonomous Control of Distributed Generation and Storage to Coordinate P/Q Sharing in Islanded Microgrids

    DEFF Research Database (Denmark)

    Wu, Dan; Tang, Fen; Guerrero, Josep M.

    2014-01-01

    In this paper, a decentralized control for coordinate both active and reactive powers is proposed for islanded microgrids. Compared with the conventional droop control strategies, the proposed control realizes decentralized power distribution among renewable energy sources (RES) and energy storage...... systems (ESS) according to the local source conditions. Based on bus-signaling method, the ESS is able to limit charging power by decreasing RES power generation automatically. As well, the reactive power coordinated control makes the RES units able to support reactive power in a decentralized way, which...... allows ESS providing for more active power availability. Moreover, the reactive power is distributed according to the apparent power capacity of each unit. The control strategy principle is simple and easy to implement without extra communication requirements. Real time hardware-in-the-loop results...

  8. A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

    Science.gov (United States)

    Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

    2018-06-01

    This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

  9. Autonomous watersheds: Reducing flooding and stream erosion through real-time control

    Science.gov (United States)

    Kerkez, B.; Wong, B. P.

    2017-12-01

    We introduce an analytical toolchain, based on dynamical system theory and feedback control, to determine how many control points (valves, gates, pumps, etc.) are needed to transform urban watersheds from static to adaptive. Advances and distributed sensing and control stand to fundamentally change how we manage urban watersheds. In lieu of new and costly infrastructure, the real-time control of stormwater systems will reduce flooding, mitigate stream erosion, and improve the treatment of polluted runoff. We discuss the how open source technologies, in the form of wireless sensor nodes and remotely-controllable valves (open-storm.org), have been deployed to build "smart" stormwater systems in the Midwestern US. Unlike "static" infrastructure, which cannot readily adapt to changing inputs and land uses, these distributed control assets allow entire watersheds to be reconfigured on a storm-by-storm basis. Our results show how the control of even just a few valves within urban catchments (1-10km^2) allows for the real-time "shaping" of hydrographs, which reduces downstream erosion and flooding. We also introduce an equivalence framework that can be used by decision-makers to objectively compare investments into "smart" system to more traditional solutions, such as gray and green stormwater infrastructure.

  10. Autonomous intelligent cruise control (AICC) - a major contribution to the enhancement of comfort and active driving safety; Autonome Intelligente Geschwindigkeitsregelung (AICC) - ein Beitrag zur Steigerung des Komforts und der aktiven Fahrsicherheit

    Energy Technology Data Exchange (ETDEWEB)

    Dorissen, H.T.; Hoever, N.

    1996-07-01

    Within the framework of the PROMETHEUS-Project research and development work on different systems has been carried out to improve traffic efficiency, environment and safety. The Autonomous Intelligent Cruise Control has emerged as one of the projects with the brightest future. In contrast to conventional cruise control systems, the AICC system controls not only the speed of the vehicle, but also its distance to vehicles ahead. In practice this means that the driver is additionally supported by the automatic variation of the set vehicle speed according to traffic conditions. This results in a major improvement in driving comfort as well as in traffic safety. In this article, Hella describes the principal technical facts and also highlights the advantages and possible applications of the first generation of AICC. (orig.) [Deutsch] Im Rahmen des PROMETHEUS-Projektes sind unterschiedliche Systeme erforscht und entwickelt worden, um den Verkehr sicherer, umweltfreundlicher und effizienter zu gestalten. Der `Autonome Intelligente Geschwindigkeitsregler` ist hieraus als eines der zukunftstraechtigsten Projekte hervorgegangen. Ein AICC-System regelt die Geschwindigkeit sowie den Abstand zu einem vorausfahrenden Fahrzeug. Im Vergleich zum konventionellen Geschwindigkeitsregler wird der Fahrer zusaetzlich durch die automatische Anpassung der Sollgeschwindigkeit an die gegebene Verkehrssituation unterstuetzt. Dies ermoeglicht eine entsprechende Verbesserung des Fahrkomforts und letztendlich auch der Verkehrssicherheit. In diesem Beitrag zeigt Hella neben den grundsaetzlichen technischen Zusammenhaengen eine moegliche Realisierung, die Vorteile und den Nutzen fuer ein AICC-System der ersten Generation auf. (orig.)

  11. Guidance of Autonomous Aerospace Vehicles for Vertical Soft Landing using Nonlinear Control Theory

    Science.gov (United States)

    2015-08-11

    desired plant (1.4) i.e. goal is to ensure that X → Xd as t →∞. 4 Distribution Code A: Approved for public release, distribution is unlimited 1.1 Philosophy...system to follow Ẋd = fd ( Xd ) (1.4) where Xd ∈ℜn represents the desire state vector. In the actual plant model (1.3) the term d(X ) is unknown, the...Kτ(Xest −Xa) (1.6) 2. Xa → Xd as t →∞: This process is accomplished through control synthesis using online adaptation of DI controller. 1.1.1 Control

  12. Robust multi-model control of an autonomous wind power system

    Energy Technology Data Exchange (ETDEWEB)

    Cutululis, Nicolas Antonio; Hansen, Anca Daniela; Soerensen, Poul [Risoe National Lab., Wind Energy Dept., Roskilde (Denmark); Ceanga, Emil [' Dunarea de Jos' Univ., Faculty of Electrical Engineering, Galati (Romania)

    2006-07-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. (Author)

  13. Robust multi-model control of an autonomous wind power system

    Science.gov (United States)

    Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

    2006-09-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

  14. Development of Cursor-on-Target Control for Semi-Autonomous Unmanned Aircraft Systems

    National Research Council Canada - National Science Library

    Crouse, Joshua D

    2007-01-01

    .... The goal of this research is to develop a preliminary Cursor-on-Target control system to enable the operator to guide the unmanned aircraft with minimal workload during high task phases of flight...

  15. Frequency Control in Autonomous Power Systems With High Wind Power Penetration

    DEFF Research Database (Denmark)

    Margaris, Ioannis D.; Papathanassiou, Stavros A.; Hatziargyriou, Nikos D.

    2012-01-01

    This paper presents an investigation on wind turbine (WT) contribution to the frequency control of noninterconnected island systems. The capability of WTs to participate in the primary frequency control and offer primary reserve is discussed. The investigation includes both transient frequency...... of Rhodes Island has been selected as a study case, which includes different types of conventional generation and the three basic WT types, based on Active-Stall Induction Generator (ASIG), Doubly Fed Induction Generator (DFIG), and Permanent Magnet Synchronous Generator (PMSG)....

  16. A Trusted Autonomic Architecture to Safeguard Cyber-Physical Control Leaf Nodes and Protect Process Integrity

    OpenAIRE

    Chiluvuri, Nayana Teja

    2015-01-01

    Cyber-physical systems are networked through IT infrastructure and susceptible to malware. Threats targeting process control are much more safety-critical than traditional computing systems since they jeopardize the integrity of physical infrastructure. Existing defence mechanisms address security at the network nodes but do not protect the physical infrastructure if network integrity is compromised. An interface guardian architecture is implemented on cyber-physical control leaf nodes to mai...

  17. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Science.gov (United States)

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  18. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Science.gov (United States)

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  19. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  20. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...

  1. Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

    Science.gov (United States)

    Sun, Liang; Huo, Wei; Jiao, Zongxia

    2017-03-01

    This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  2. A fine-tuned Metal-Organic Framework for Autonomous Indoor Moisture Control .

    KAUST Repository

    Abdul Halim, Racha Ghassan

    2017-06-29

    Conventional adsorbents, namely zeolites and silica gel, are often used to control humidity by adsorbing water; however, adsorbents capable of dual functionality of humidification and dehumidification, offering the desired control of the moisture level at room temperature, has yet to be explored. Here we report Y-shp-MOF-5, a hybrid microporous highly-connected Rare-Earth based metal-organic framework (MOF), with dual functionality for moisture control within the recommended range of relative humidity (45% to 65% RH) set by the American Society of Heating, Refrigerating, and Air-Conditioning Engineers (ASHRAE). Y-shp-MOF-5 exhibits exceptional structural integrity, robustness and unique humidity-control performance as confirmed by the large number (thousand) of conducted water vapor adsorption-desorption cycles. The retained structural integrity and the mechanism of water sorption were corroborated using in situ single crystal X-ray diffraction (SCXRD) studies. The resultant working water uptake of 0.45 g.g-1 is solely regulated by a simple adjustment of the relative humidity, positioning this hydrolytically stable MOF as a prospective adsorbent for humidity control in confined spaces such as space shuttles, aircraft cabins and air-conditioned buildings.

  3. FVMS: A novel SiL approach on the evaluation of controllers for autonomous MAV

    Science.gov (United States)

    Sampaio, Rafael C. B.; Becker, Marcelo; Siqueira, Adriano A. G.; Freschi, Leonardo W.; Montanher, Marcelo P.

    The originality of this work is to propose a novel SiL (Software-in-the-Loop) platform using Microsoft Flight Simulator (MSFS) to assist control design regarding the stabilization problem found in © AscTec Pelican platform. Aerial Robots Team (USP/EESC/LabRoM/ART) has developed a custom C++/C# software named FVMS (Flight Variables Management System) that interfaces the communication between the virtual Pelican and the control algorithms allowing the control designer to perform fast full closed loop real time algorithms. Emulation of embedded sensors as well as the possibility to integrate OpenCV Optical Flow algorithms to a virtual downward camera makes the SiL even more reliable. More than a strictly numeric analysis, the proposed SiL platform offers an unique experience, simultaneously offering both dynamic and graphical responses. Performance of SiL algorithms is presented and discussed.

  4. Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications

    Science.gov (United States)

    Aldrich, Jack B.; Okon, Avi B.

    2012-01-01

    The need to maintain optimal energy efficiency is critical during the drilling operations performed on future and current planetary rover missions (see figure). Specifically, this innovation seeks to solve the following problem. Given a spring-loaded percussive drill driven by a voice-coil motor, one needs to determine the optimal input voltage waveform (periodic function) and the optimal hammering period that minimizes the dissipated energy, while ensuring that the hammer-to-rock impacts are made with sufficient (user-defined) impact velocity (or impact energy). To solve this problem, it was first observed that when voice-coil-actuated percussive drills are driven at high power, it is of paramount importance to ensure that the electrical current of the device remains in phase with the velocity of the hammer. Otherwise, negative work is performed and the drill experiences a loss of performance (i.e., reduced impact energy) and an increase in Joule heating (i.e., reduction in energy efficiency). This observation has motivated many drilling products to incorporate the standard bang-bang control approach for driving their percussive drills. However, the bang-bang control approach is significantly less efficient than the optimal energy-efficient control approach solved herein. To obtain this solution, the standard tools of classical optimal control theory were applied. It is worth noting that these tools inherently require the solution of a two-point boundary value problem (TPBVP), i.e., a system of differential equations where half the equations have unknown boundary conditions. Typically, the TPBVP is impossible to solve analytically for high-dimensional dynamic systems. However, for the case of the spring-loaded vibro-impactor, this approach yields the exact optimal control solution as the sum of four analytic functions whose coefficients are determined using a simple, easy-to-implement algorithm. Once the optimal control waveform is determined, it can be used

  5. Stability of Control Networks in Autonomous Homeostatic Regulation of Stem Cell Lineages.

    Science.gov (United States)

    Komarova, Natalia L; van den Driessche, P

    2018-05-01

    Design principles of biological networks have been studied extensively in the context of protein-protein interaction networks, metabolic networks, and regulatory (transcriptional) networks. Here we consider regulation networks that occur on larger scales, namely the cell-to-cell signaling networks that connect groups of cells in multicellular organisms. These are the feedback loops that orchestrate the complex dynamics of cell fate decisions and are necessary for the maintenance of homeostasis in stem cell lineages. We focus on "minimal" networks that are those that have the smallest possible numbers of controls. For such minimal networks, the number of controls must be equal to the number of compartments, and the reducibility/irreducibility of the network (whether or not it can be split into smaller independent sub-networks) is defined by a matrix comprised of the cell number increments induced by each of the controlled processes in each of the compartments. Using the formalism of digraphs, we show that in two-compartment lineages, reducible systems must contain two 1-cycles, and irreducible systems one 1-cycle and one 2-cycle; stability follows from the signs of the controls and does not require magnitude restrictions. In three-compartment systems, irreducible digraphs have a tree structure or have one 3-cycle and at least two more shorter cycles, at least one of which is a 1-cycle. With further work and proper biological validation, our results may serve as a first step toward an understanding of ways in which these networks become dysregulated in cancer.

  6. A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver

    DEFF Research Database (Denmark)

    Jouffroy, Jerome

    2009-01-01

    Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplied dynamic model of a so-called landyacht allowing to capture the main...

  7. Autonomic control of heart rate by metabolically sensitive skeletal muscle afferents in humans

    DEFF Research Database (Denmark)

    Fisher, James P; Seifert, Thomas; Hartwich, Doreen

    2010-01-01

    moderate (PEI-M) and high (PEI-H) intensity isometric handgrip performed at 25% and 40% maximum voluntary contraction, under control (no drug), parasympathetic blockade (glycopyrrolate) and beta-adrenergic blockade (metoprolol or propranalol) conditions, while beat-to-beat HR and BP were continuously...

  8. A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

    Science.gov (United States)

    Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

    2016-11-01

    This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

  9. Active control of passive acoustic fields: passive synthetic aperture/Doppler beamforming with data from an autonomous vehicle.

    Science.gov (United States)

    D'Spain, Gerald L; Terrill, Eric; Chadwell, C David; Smith, Jerome A; Lynch, Stephen D

    2006-12-01

    The maneuverability of autonomous underwater vehicles (AUVs) equipped with hull-mounted arrays provides the opportunity to actively modify received acoustic fields to optimize extraction of information. This paper uses ocean acoustic data collected by an AUV-mounted two-dimensional hydrophone array, with overall dimension one-tenth wavelength at 200-500 Hz, to demonstrate aspects of this control through vehicle motion. Source localization is performed using Doppler shifts measured at a set of receiver velocities by both single elements and a physical array. Results show that a source in the presence of a 10-dB higher-level interferer having exactly the same frequency content (as measured by a stationary receiver) is properly localized and that white-noise-constrained adaptive beamforming applied to the physical aperture data in combination with Doppler beamforming provides greater spatial resolution than physical-aperture-alone beamforming and significantly lower sidelobes than single element Doppler beamforming. A new broadband beamformer that adjusts for variations in vehicle velocity on a sample by sample basis is demonstrated with data collected during a high-acceleration maneuver. The importance of including the cost of energy expenditure in determining optimal vehicle motion is demonstrated through simulation, further illustrating how the vehicle characteristics are an integral part of the signal/array processing structure.

  10. A Lunchtime Walk in Nature Enhances Restoration of Autonomic Control during Night-Time Sleep: Results from a Preliminary Study.

    Science.gov (United States)

    Gladwell, Valerie F; Kuoppa, Pekka; Tarvainen, Mika P; Rogerson, Mike

    2016-03-03

    Walking within nature (Green Exercise) has been shown to immediately enhance mental well-being but less is known about the impact on physiology and longer lasting effects. Heart rate variability (HRV) gives an indication of autonomic control of the heart, in particular vagal activity, with reduced HRV identified as a risk factor for cardiovascular disease. Night-time HRV allows vagal activity to be assessed whilst minimizing confounding influences of physical and mental activity. The aim of this study was to investigate whether a lunchtime walk in nature increases night-time HRV. Participants (n = 13) attended on two occasions to walk a 1.8 km route through a built or a natural environment. Pace was similar between the two walks. HRV was measured during sleep using a RR interval sensor (eMotion sensor) and was assessed at 1-2 h after participants noted that they had fallen asleep. Markers for vagal activity were significantly greater after the walk in nature compared to the built walk. Lunchtime walks in nature-based environments may provide a greater restorative effect as shown by vagal activity than equivalent built walks. Nature walks may improve essential recovery during night-time sleep, potentially enhancing physiological health.

  11. Comparison of 24-hour cardiovascular and autonomic function in paraplegia, tetraplegia, and control groups: implications for cardiovascular risk.

    Science.gov (United States)

    Rosado-Rivera, Dwindally; Radulovic, M; Handrakis, John P; Cirnigliaro, Christopher M; Jensen, A Marley; Kirshblum, Steve; Bauman, William A; Wecht, Jill Maria

    2011-01-01

    Fluctuations in 24-hour cardiovascular hemodynamics, specifically heart rate (HR) and blood pressure (BP), are thought to reflect autonomic nervous system (ANS) activity. Persons with spinal cord injury (SCI) represent a model of ANS dysfunction, which may affect 24-hour hemodynamics and predispose these individuals to increased cardiovascular disease risk. To determine 24-hour cardiovascular and ANS function among individuals with tetraplegia (n=20; TETRA: C4-C8), high paraplegia (n=10; HP: T2-T5), low paraplegia (n=9; LP: T7-T12), and non-SCI controls (n=10). Twenty-four-hour ANS function was assessed by time domain parameters of heart rate variability (HRV); the standard deviation of the 5-minute average R-R intervals (SDANN; milliseconds/ms), and the root-mean square of the standard deviation of the R-R intervals (rMSSD; ms). Subjects wore 24-hour ambulatory monitors to record HR, HRV, and BP. Mixed analysis of variance (ANOVA) revealed significantly lower 24-hour BP in the tetraplegic group; however, BP did not differ between the HP, LP, and control groups. Mixed ANOVA suggested significantly elevated 24-hour HR in the HP and LP groups compared to the TETRA and control groups (Pcontrol groups (Pcontrol groups (P<0.01). Twenty-four-hour SDANN was significantly increased in the HP group compared to the LP and TETRA groups (P<0.05) and rMSSD was significantly lower in the LP compared to the other three groups (P<0.05). Elevated 24-hour HR in persons with paraplegia, in concert with altered HRV dynamics, may impart significant adverse cardiovascular consequences, which are currently unappreciated.

  12. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  13. 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...

  14. Autonomic nervous system dysfunction in children with severe tetanus: dissociation of cardiac and vascular sympathetic control

    Directory of Open Access Journals (Sweden)

    Mazzei de Davila C.A.

    2003-01-01

    Full Text Available The medical records of ten pediatric patients with a clinical diagnosis of tetanus were reviewed retrospectively. The heart rate and blood pressure of all tetanus patients were measured noninvasively every hour during the first two weeks of hospitalization. Six of ten tetanus patients presented clinical evidence of sympathetic hyperactivity (group A and were compared with a control group consisting of four children who required mechanical ventilation for diseases other than tetanus (group B. Heart rate and blood pressure simultaneously and progressively increased to a maximum by day 7. The increase over baseline was 43.70 ± 11.77 bpm (mean ± SD for heart rate (P<0.01 and 38.60 ± 26.40 mmHg for blood pressure (P<0.01. These values were higher and significantly different from those of the control group (group B at day 6, which had an average heart rate increase over baseline of 19.35 ± 12.26 bpm (P<0.05 and blood pressure of 10.24 ± 13.30 mmHg (P<0.05. By the end of the second week of hospitalization, in group A the increase of systolic blood pressure over baseline had diminished to 9.60 ± 15.37 mmHg (P<0.05, but the heart rate continued to be elevated (27.80 ± 33.92 bpm, P = NS, when compared to day 7 maximal values. The dissociation of these two cardiovascular variables at the end of the second week of hospitalization suggests the presence of asymmetric cardiac and vascular sympathetic control. One possible explanation for these observations is a selective and delayed action of tetanus toxin on the inhibitory neurons which control sympathetic outflow to the heart.

  15. Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

    Science.gov (United States)

    2017-04-15

    Performing Organization: The Pennsylvania State University Department of Aerospace Engineering 231C Hammond Building University Park , PA 16802 Attn...Research Assistant Penn State University Co-PI: Chengjian He (408) 523-5100 he@flightlab.com Dooyong Lee Advanced Rotorcraft Technologies...Linear Systems Optimal and Robust Control,” CRC press , 2007 6. Transitions/Impact Submitted AHS Forum Paper and presented paper at AHS UAV

  16. An MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

    Science.gov (United States)

    2015-04-24

    from this line to the upper left side is caused by aerodynamic drag. The data for estimating the lateral load transfer coefficients is generated by...2013. [13] J. H. Jeon, R. V. Cowlagi, S. C. Peters, S. Karaman, E. Frazzoli, P. Tsiotras, and K. Iagnemma, “Optimal motion planning with the half- car ...Elsevier, 2005. [21] A. Rucco, G. Notarstefano, and J. Hauser, “Optimal control based dynamics exploration of a rigid car with longitudinal load

  17. Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

    Science.gov (United States)

    2016-08-12

    tailoring approach paths to minimize a weighted objective firnctions based on airwake disturbances, tacking performance, and power consumption . Fuhre...2.4.3.2 Outer Loop DI controller The translational motion of helicopter in horizontal plane can be approximated by the following linear state...helicopter maneuverability  Trajectories are as short as possible to minimize approach time  Trajectories are friendly in saving power consumption and

  18. Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving

    OpenAIRE

    Christian Rathgeber; Franz Winkler; Dirk Odenthal; Steffen Muller

    2015-01-01

    In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The imp...

  19. Guidance and Control of an Autonomous Soaring Vehicle with Flight Test Results

    Science.gov (United States)

    Allen, Michael J.

    2007-01-01

    A guidance and control method was developed to detect and exploit thermals for energy gain. Latency in energy rate estimation degraded performance. The concept of a UAV harvesting energy from the atmosphere has been shown to be feasible with existing technology. Many UAVs have similar mission constraints to birds and sailplanes. a) Surveillance; b) Point to point flight with minimal energy; and c) Increased ground speed.

  20. Resting spontaneous baroreflex sensitivity and cardiac autonomic control in anabolic androgenic steroid users

    OpenAIRE

    Santos, Marcelo R. dos; Sayegh, Ana L.C.; Armani, Rafael; Costa-Hong, Valéria; Souza, Francis R. de; Toschi-Dias, Edgar; Bortolotto, Luiz A.; Yonamine, Mauricio; Negrão, Carlos E.; Alves, Maria-Janieire N.N.

    2018-01-01

    OBJECTIVES: Misuse of anabolic androgenic steroids in athletes is a strategy used to enhance strength and skeletal muscle hypertrophy. However, its abuse leads to an imbalance in muscle sympathetic nerve activity, increased vascular resistance, and increased blood pressure. However, the mechanisms underlying these alterations are still unknown. Therefore, we tested whether anabolic androgenic steroids could impair resting baroreflex sensitivity and cardiac sympathovagal control. In addition, ...

  1. High-accuracy drilling with an image guided light weight robot: autonomous versus intuitive feed control.

    Science.gov (United States)

    Tauscher, Sebastian; Fuchs, Alexander; Baier, Fabian; Kahrs, Lüder A; Ortmaier, Tobias

    2017-10-01

    Assistance of robotic systems in the operating room promises higher accuracy and, hence, demanding surgical interventions become realisable (e.g. the direct cochlear access). Additionally, an intuitive user interface is crucial for the use of robots in surgery. Torque sensors in the joints can be employed for intuitive interaction concepts. Regarding the accuracy, they lead to a lower structural stiffness and, thus, to an additional error source. The aim of this contribution is to examine, if an accuracy needed for demanding interventions can be achieved by such a system or not. Feasible accuracy results of the robot-assisted process depend on each work-flow step. This work focuses on the determination of the tool coordinate frame. A method for drill axis definition is implemented and analysed. Furthermore, a concept of admittance feed control is developed. This allows the user to control feeding along the planned path by applying a force to the robots structure. The accuracy is researched by drilling experiments with a PMMA phantom and artificial bone blocks. The described drill axis estimation process results in a high angular repeatability ([Formula: see text]). In the first set of drilling results, an accuracy of [Formula: see text] at entrance and [Formula: see text] at target point excluding imaging was achieved. With admittance feed control an accuracy of [Formula: see text] at target point was realised. In a third set twelve holes were drilled in artificial temporal bone phantoms including imaging. In this set-up an error of [Formula: see text] and [Formula: see text] was achieved. The results of conducted experiments show that accuracy requirements for demanding procedures such as the direct cochlear access can be fulfilled with compliant systems. Furthermore, it was shown that with the presented admittance feed control an accuracy of less then [Formula: see text] is achievable.

  2. Autonomous Satellite Command and Control Through the World Wide Web. Phase 3

    Science.gov (United States)

    Cantwell, Brian; Twiggs, Robert

    1998-01-01

    The Automated Space System Experimental Testbed (ASSET) system is a simple yet comprehensive real-world operations network being developed. Phase 3 of the ASSET Project was January-December 1997 and is the subject of this report. This phase permitted SSDL and its project partners to expand the ASSET system in a variety of ways. These added capabilities included the advancement of ground station capabilities, the adaptation of spacecraft on-board software, and the expansion of capabilities of the ASSET management algorithms. Specific goals of Phase 3 were: (1) Extend Web-based goal-level commanding for both the payload PI and the spacecraft engineer. (2) Support prioritized handling of multiple (PIs) Principle Investigators as well as associated payload experimenters. (3) Expand the number and types of experiments supported by the ASSET system and its associated spacecraft. (4) Implement more advanced resource management, modeling and fault management capabilities that integrate the space and ground segments of the space system hardware. (5) Implement a beacon monitoring test. (6) Implement an experimental blackboard controller for space system management. (7) Further define typical ground station developments required for Internet-based remote control and for full system automation of the PI-to-spacecraft link. Each of those goals are examined. Significant sections of this report were also published as a conference paper. Several publications produced in support of this grant are included as attachments. Titles include: 1) Experimental Initiatives in Space System Operations; 2) The ASSET Client Interface: Balancing High Level Specification with Low Level Control; 3) Specifying Spacecraft Operations At The Product/Service Level; 4) The Design of a Highly Configurable, Reusable Operating System for Testbed Satellites; 5) Automated Health Operations For The Sapphire Spacecraft; 6) Engineering Data Summaries for Space Missions; and 7) Experiments In Automated Health

  3. Effect of overreaching on cognitive performance and related cardiac autonomic control.

    Science.gov (United States)

    Dupuy, O; Lussier, M; Fraser, S; Bherer, L; Audiffren, M; Bosquet, L

    2014-02-01

    The purpose of this study was to characterize the effect of a 2-week overload period immediately followed by a 1-week taper period on different cognitive processes including executive and nonexecutive functions, and related heart rate variability. Eleven male endurance athletes increased their usual training volume by 100% for 2 weeks, and decreased it by 50% for 1 week. A maximal graded test, a constant speed test at 85% of peak treadmill speed, and a Stroop task with the measurement of heart rate variability were performed at each period. All participants were considered as overreached. We found a moderate increase in the overall reaction time to the three conditions of the Stroop task after the overload period (816 ± 83 vs 892 ± 117 ms, P = 0.03) followed by a return to baseline after the taper period (820 ± 119 ms, P = 0.013). We found no association between cognitive performance and cardiac parasympathetic control at baseline, and no association between changes in these measures. Our findings clearly underscore the relevance of cognitive performance in the monitoring of overreaching in endurance athletes. However, contrary to our hypothesis, we did not find any relationship between executive performance and cardiac parasympathetic control. © 2012 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  4. Control Strategies for Improving Energy Efficiency and Reliability in Autonomous Microgrids with Communication Constraints

    Directory of Open Access Journals (Sweden)

    Francisco Martins Portelinha Júnior

    2017-09-01

    Full Text Available Microgrids are a feasible path to deploy smart grids, an intelligent and highly automated power system. Their operation demands a dedicated communication infrastructure to manage, control and monitor the intermittent sources of energy and loads. Therefore, smart devices will be connected to support the growth of grid smartness increasing the dependency on communication networks, which consumes a high amount of power. In an energy-limited scenario, one of the main issues is to enhance the power supply time. Therefore, this paper proposes a hybrid methodology for microgrid energy management, integrated with a communication infrastructure to improve and to optimize islanded microgrid operation at maximum energy efficiency. The hybrid methodology applies some control management rules, such as intentional load shedding, priority load management, and communication energy saving. These energy saving rules establish a trade-off between increasing microgrid energy availability and communication system reliability. To achieve a compromised solution, a continuous time Markov chain model describes the impact of energy saving policies into system reliability. The proposed methodology is simulated and tested with the help of the modified IEEE 34 node test-system.

  5. Automatic learning rate adjustment for self-supervising autonomous robot control

    Science.gov (United States)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    Described is an application in which an Artificial Neural Network (ANN) controls the positioning of a robot arm with five degrees of freedom by using visual feedback provided by two cameras. This application and the specific ANN model, local liner maps, are based on the work of Ritter, Martinetz, and Schulten. We extended their approach by generating a filtered, average positioning error from the continuous camera feedback and by coupling the learning rate to this error. When the network learns to position the arm, the positioning error decreases and so does the learning rate until the system stabilizes at a minimum error and learning rate. This abolishes the need for a predetermined cooling schedule. The automatic cooling procedure results in a closed loop control with no distinction between a learning phase and a production phase. If the positioning error suddenly starts to increase due to an internal failure such as a broken joint, or an environmental change such as a camera moving, the learning rate increases accordingly. Thus, learning is automatically activated and the network adapts to the new condition after which the error decreases again and learning is 'shut off'. The automatic cooling is therefore a prerequisite for the autonomy and the fault tolerance of the system.

  6. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  7. Operator-centered control of a semi-autonomous industrial robot

    International Nuclear Information System (INIS)

    Spelt, P.F.; Jones, S.L.

    1994-01-01

    This paper presents work done by Oak Ridge National Laboratory and Remotec, Inc., to develop a new operator-centered control system for Remotec's Andros telerobot. Andros robots are presently used by numerous electric utilities, the armed forces, and numerous law enforcement agencies to perform tasks which are hazardous for human operators. This project has automated task components and enhanced the video graphics display of the robot's position in the environment to significantly reduce operator workload. The procedure of automating a telerobot requires the addition of computer power to the robot, along with a variety of sensors and encoders to provide information about the robots performance in and relationship to its environment The resulting vehicle serves as a platform for research on strategies to integrate automated tasks with those performed by a human operator. The addition of these capabilities will greatly enhance the safety and efficiency of performance in hazardous environments

  8. Impact of wind power in autonomous power systems—power fluctuations—modelling and control issues

    DEFF Research Database (Denmark)

    Margaris, Ioannis D.; Hansen, Anca Daniela; Cutululis, Nicolaos Antonio

    2011-01-01

    for diesel and steam generation plants are applied. The power grid, including speed governors, automatic voltage regulators, protection system and loads is modelled in the same platform. Results for different load and wind profile cases are being presented for the case study of the island Rhodes, in Greece......This paper describes a detailed modelling approach to study the impact of wind power fluctuations on the frequency control in a non-interconnected system with large-scale wind power. The approach includes models for wind speed fluctuations, wind farm technologies, conventional generation...... technologies, power system protection and load. Analytical models for wind farms with three different wind turbine technologies, namely Doubly Fed Induction Generator, Permanent Magnet Synchronous Generator and Active Stall Induction Generator-based wind turbines, are included. Likewise, analytical models...

  9. Autonomous Space Object Catalogue Construction and Upkeep Using Sensor Control Theory

    Science.gov (United States)

    Moretti, N.; Rutten, M.; Bessell, T.; Morreale, B.

    The capability to track objects in space is critical to safeguard domestic and international space assets. Infrequent measurement opportunities, complex dynamics and partial observability of orbital state makes the tracking of resident space objects nontrivial. It is not uncommon for human operators to intervene with space tracking systems, particularly in scheduling sensors. This paper details the development of a system that maintains a catalogue of geostationary objects through dynamically tasking sensors in real time by managing the uncertainty of object states. As the number of objects in space grows the potential for collision grows exponentially. Being able to provide accurate assessment to operators regarding costly collision avoidance manoeuvres is paramount; the accuracy of which is highly dependent on how object states are estimated. The system represents object state and uncertainty using particles and utilises a particle filter for state estimation. Particle filters capture the model and measurement uncertainty accurately, allowing for a more comprehensive representation of the state’s probability density function. Additionally, the number of objects in space is growing disproportionally to the number of sensors used to track them. Maintaining precise positions for all objects places large loads on sensors, limiting the time available to search for new objects or track high priority objects. Rather than precisely track all objects our system manages the uncertainty in orbital state for each object independently. The uncertainty is allowed to grow and sensor data is only requested when the uncertainty must be reduced. For example when object uncertainties overlap leading to data association issues or if the uncertainty grows to beyond a field of view. These control laws are formulated into a cost function, which is optimised in real time to task sensors. By controlling an optical telescope the system has been able to construct and maintain a catalogue

  10. Comparative study of short-term cardiovascular autonomic control in cardiac surgery patients who underwent coronary artery bypass grafting or correction of valvular heart disease.

    Science.gov (United States)

    Shvartz, Vladimir A; Kiselev, Anton R; Karavaev, Anatoly S; Vulf, Kristina A; Borovkova, Ekaterina I; Prokhorov, Mikhail D; Petrosyan, Andrey D; Bockeria, Olga L

    2018-01-01

    Introduction: Our aim was to perform a comparative study of short-term cardiovascular autonomic control in cardiac surgery patients who underwent coronary artery bypass grafting (CABG) or surgical correction of valvular heart disease (SCVHD ). Methods: The synchronous 15 minutes records of heart rate variability (HRV) and finger's photoplethysmographic waveform variability (PPGV) were performed in 42 cardiac surgery patients (12 women) aged 61.8 ± 8.6 years (mean ± standard deviation), who underwent CABG, and 36 patients (16 women) aged 54.2 ± 14.9 years, who underwent SCVHD , before surgery and in 5-7 days after surgery. Conventional time and frequency domain measures of HRV and index S of synchronization between the slow oscillations in PPGV and HRV were analyzed. We also calculated personal dynamics of these indices after surgery. Results: We found no differences ( Р > 0.05) in all studied autonomic indices (preoperative and post-surgery) between studied patients' groups, except for the preoperative heart rate, which was higher in patients who underwent SCVHD ( P = 0.013). We have shown a pronounced preoperative and post-surgery variability (magnitude of inter-quartile ranges) of all autonomic indices in studied patients. In the cluster analysis based on cardiovascular autonomic indices (preoperative and post-surgery), we divided all patients into two clusters (38 and 40 subjects) which did not differ in all clinical characteristics (except for the preoperative hematocrit, P = 0.038), index S, and all post-surgery HRV indices. First cluster (38 patients) had higher preoperative values of the HR, TP, HF, and HF%, and lower preoperative values of the LF% and LF/HF. Conclusion: The variability of cardiovascular autonomic indices in on-pump cardiac surgery patients (two characteristic clusters were identified based on preoperative indices) was not associated with their clinical characteristics and features of surgical procedure (including cardioplegia).

  11. Autonomous Satellite Command and Control through the World Wide Web: Phase 3

    Science.gov (United States)

    Cantwell, Brian; Twiggs, Robert

    1998-01-01

    management, modeling and fault management capabilities that integrate the space and ground segments of the space system hardware; (5) Implement a beacon monitoring test; (6) Implement an experimental blackboard controller for space system management; (7) Further define typical ground station developments required for Internet-based remote control and for full system automation of the PI-to-spacecraft link. Each of those goals is examined in the next section. Significant sections of this report were also published as a conference paper.

  12. Control of an Autonomous Radio-Controlled Helicopter in a Modified Simulation Environment Using Proportional Integral Derivative Algorithms

    National Research Council Canada - National Science Library

    Brown, Ainsmar X; Garcia, Richard D

    2008-01-01

    .... Army Research, Development, and Engineering Command. Currently, ARL's Vehicle Technology Directorate is interested in expanding its Unmanned Vehicles Division to include rotary wing and microsystems control...

  13. A Unified Point Process Probabilistic Framework to Assess Heartbeat Dynamics and Autonomic Cardiovascular Control

    Directory of Open Access Journals (Sweden)

    Zhe eChen

    2012-02-01

    Full Text Available In recent years, time-varying inhomogeneous point process models have been introduced for assessment of instantaneous heartbeat dynamics as well as specific cardiovascular control mechanisms and hemodynamics. Assessment of the model's statistics is established through the Wiener-Volterra theory and a multivariate autoregressive (AR structure. A variety of instantaneous cardiovascular metrics, such as heart rate (HR, heart rate variability (HRV, respiratory sinus arrhythmia (RSA, and baroreceptor-cardiac reflex (baroreflex sensitivity (BRS, are derived within a parametric framework and instantaneously updated with adaptive and local maximum likelihood estimation algorithms. Inclusion of second order nonlinearities, with subsequent bispectral quantification in the frequency domain, further allows for definition of instantaneous metrics of nonlinearity. We here organize a comprehensive review of the devised methods as applied to experimental recordings from healthy subjects during propofol anesthesia. Collective results reveal interesting dynamic trends across the different pharmacological interventions operated within each anesthesia session, confirming the ability of the algorithm to track important changes in cardiorespiratory elicited interactions, and pointing at our mathematical approach as a promising monitoring tool for an accurate, noninvasive assessment in clinical practice.

  14. Autonomous monitoring of control hardware to predict off-normal conditions using NIF automatic alignment systems

    International Nuclear Information System (INIS)

    Awwal, Abdul A.S.; Wilhelmsen, Karl; Leach, Richard R.; Miller-Kamm, Vicki; Burkhart, Scott; Lowe-Webb, Roger; Cohen, Simon

    2012-01-01

    Highlights: ► An automatic alignment system was developed to process images of the laser beams. ► System uses processing to adjust a series of control loops until alignment criteria are satisfied. ► Monitored conditions are compared against nominal values with an off-normal alert. ► Automated health monitoring system trends off-normals with a large image history. - Abstract: The National Ignition Facility (NIF) is a high power laser system capable of supporting high-energy-density experimentation as a user facility for the next 30 years. In order to maximize the facility availability, preventive maintenance enhancements are being introduced into the system. An example of such an enhancement is a camera-based health monitoring system, integrated into the automated alignment system, which provides an opportunity to monitor trends in measurements such as average beam intensity, size of the beam, and pixel saturation. The monitoring system will generate alerts based on observed trends in measurements to allow scheduled pro-active maintenance before routine off-normal detection stops system operations requiring unscheduled intervention.

  15. Autonomous monitoring of control hardware to predict off-normal conditions using NIF automatic alignment systems

    Energy Technology Data Exchange (ETDEWEB)

    Awwal, Abdul A.S., E-mail: awwal1@llnl.gov [Lawrence Livermore National Laboratory, Livermore, CA 94550 (United States); Wilhelmsen, Karl; Leach, Richard R.; Miller-Kamm, Vicki; Burkhart, Scott; Lowe-Webb, Roger; Cohen, Simon [Lawrence Livermore National Laboratory, Livermore, CA 94550 (United States)

    2012-12-15

    Highlights: Black-Right-Pointing-Pointer An automatic alignment system was developed to process images of the laser beams. Black-Right-Pointing-Pointer System uses processing to adjust a series of control loops until alignment criteria are satisfied. Black-Right-Pointing-Pointer Monitored conditions are compared against nominal values with an off-normal alert. Black-Right-Pointing-Pointer Automated health monitoring system trends off-normals with a large image history. - Abstract: The National Ignition Facility (NIF) is a high power laser system capable of supporting high-energy-density experimentation as a user facility for the next 30 years. In order to maximize the facility availability, preventive maintenance enhancements are being introduced into the system. An example of such an enhancement is a camera-based health monitoring system, integrated into the automated alignment system, which provides an opportunity to monitor trends in measurements such as average beam intensity, size of the beam, and pixel saturation. The monitoring system will generate alerts based on observed trends in measurements to allow scheduled pro-active maintenance before routine off-normal detection stops system operations requiring unscheduled intervention.

  16. Autonomous Information Unit for Fine-Grain Data Access Control and Information Protection in a Net-Centric System

    Science.gov (United States)

    Chow, Edward T.; Woo, Simon S.; James, Mark; Paloulian, George K.

    2012-01-01

    As communication and networking technologies advance, networks will become highly complex and heterogeneous, interconnecting different network domains. There is a need to provide user authentication and data protection in order to further facilitate critical mission operations, especially in the tactical and mission-critical net-centric networking environment. The Autonomous Information Unit (AIU) technology was designed to provide the fine-grain data access and user control in a net-centric system-testing environment to meet these objectives. The AIU is a fundamental capability designed to enable fine-grain data access and user control in the cross-domain networking environments, where an AIU is composed of the mission data, metadata, and policy. An AIU provides a mechanism to establish trust among deployed AIUs based on recombining shared secrets, authentication and verify users with a username, X.509 certificate, enclave information, and classification level. AIU achieves data protection through (1) splitting data into multiple information pieces using the Shamir's secret sharing algorithm, (2) encrypting each individual information piece using military-grade AES-256 encryption, and (3) randomizing the position of the encrypted data based on the unbiased and memory efficient in-place Fisher-Yates shuffle method. Therefore, it becomes virtually impossible for attackers to compromise data since attackers need to obtain all distributed information as well as the encryption key and the random seeds to properly arrange the data. In addition, since policy can be associated with data in the AIU, different user access and data control strategies can be included. The AIU technology can greatly enhance information assurance and security management in the bandwidth-limited and ad hoc net-centric environments. In addition, AIU technology can be applicable to general complex network domains and applications where distributed user authentication and data protection are

  17. Autonomous Control of Current and Voltage Controlled DG Interface Inverters for Reactive Power Sharing and Harmonics Compensation in Islanded Microgrids

    DEFF Research Database (Denmark)

    Mousazadeh, Seyyed Yousef; Jalilain, Alireza; Savaghebi, Mehdi

    2018-01-01

    In microgrids, Voltage Source Inverters (VSIs) interfacing Distributed Generation (DG) units can be operated in Voltage or Current Controlled Modes (VCM/CCM). In this paper, a coordinated control of CCM and VCM units for reactive power sharing and voltage harmonics compensation is proposed....... This decentralized control scheme is based on the local measurement of signals. In this way, the need for communication links is removed which results in a simpler and more reliable structure compared to the communication based control structures. To be more exact, the VCM units contribute to harmonics compensation....... Experimental and simulation studies show that the harmonics compensation is achieved by using only local measurements in presence of virtual admittance/impedance schemes of CCM/VCM units. Furthermore, it is demonstrated that the reactive power sharing among the CCM and VCM units is obtained based...

  18. Effects of Tibetan Music on Neuroendocrine and Autonomic Functions in Patients Waiting for Surgery: A Randomized, Controlled Study.

    Science.gov (United States)

    Cotoia, Antonella; Dibello, Floriana; Moscatelli, Fiorenzo; Sciusco, Alberto; Polito, Pietro; Modolo, Alberto; Gallo, Crescenzio; Cibelli, Giuseppe; Cinnella, Gilda

    2018-01-01

    The aim of this study was to investigate the effects of listening to Tibetan music on anxiety and endocrine, autonomic, cognitive responses in patients waiting for urologic surgery. Sixty patients waiting for surgery were enrolled to the study. They were randomized in music (M) and control (C) groups. The M group listened to a low-frequency Tibetan music for 30 min (T 0 -T 30 ) through headphones, and the C group wore headphones with no sound. The State Trait Anxiety Inventory Questionnaire (STAI) Y-1 was administered at T 0 and T 30 . Normalized low (LFnu) and high frequencies (HFnu) of heart rate variability, LF/HF ratio, and galvanic skin response (GRS) data were analyzed at T 0 , T 10 , T 20 , T 30 , and T 35 . The salivary α -amylase (sAA) samples were collected at T 0 , T 35 , and T 45 . In the M group, the STAI Y-1 score decreased at T 30 versus baseline ( p < 0.001), sAA levels decreased at T 35 versus T 0 ( p =0.004), and GSR remained unchanged. In the C group, the STAI Y-1 score remained unchanged, sAA level increased at T 35 versus T 0 ( p < 0.001), and GSR slightly increased at T 35 versus baseline ( p =0.359). LFnu was lower, and HFnu was significantly higher (T 10 -T 30 ) in M versus C group. Mean LF/HF ratio slightly reduced in the M group. Our results suggest that preoperative listening to relaxing Tibetan music might be a useful strategy to manage preoperative anxiety.

  19. Effects of Tibetan Music on Neuroendocrine and Autonomic Functions in Patients Waiting for Surgery: A Randomized, Controlled Study

    Directory of Open Access Journals (Sweden)

    Antonella Cotoia

    2018-01-01

    Full Text Available Background. The aim of this study was to investigate the effects of listening to Tibetan music on anxiety and endocrine, autonomic, cognitive responses in patients waiting for urologic surgery. Methods. Sixty patients waiting for surgery were enrolled to the study. They were randomized in music (M and control (C groups. The M group listened to a low-frequency Tibetan music for 30 min (T0–T30 through headphones, and the C group wore headphones with no sound. The State Trait Anxiety Inventory Questionnaire (STAI Y-1 was administered at T0 and T30. Normalized low (LFnu and high frequencies (HFnu of heart rate variability, LF/HF ratio, and galvanic skin response (GRS data were analyzed at T0, T10, T20, T30, and T35. The salivary α-amylase (sAA samples were collected at T0, T35, and T45. Results. In the M group, the STAI Y-1 score decreased at T30 versus baseline p<0.001, sAA levels decreased at T35 versus T0p=0.004, and GSR remained unchanged. In the C group, the STAI Y-1 score remained unchanged, sAA level increased at T35 versus T0p<0.001, and GSR slightly increased at T35 versus baseline p=0.359. LFnu was lower, and HFnu was significantly higher (T10–T30 in M versus C group. Mean LF/HF ratio slightly reduced in the M group. Conclusions. Our results suggest that preoperative listening to relaxing Tibetan music might be a useful strategy to manage preoperative anxiety.

  20. Autonomic Dysfunction in Patients with Mild to Moderate Alzheimer's Disease

    DEFF Research Database (Denmark)

    Jensen-Dahm, Christina; Waldemar, Gunhild; Staehelin Jensen, Troels

    2015-01-01

    BACKGROUND: Autonomic function has received little attention in Alzheimer's disease (AD). AD pathology has an impact on brain regions which are important for central autonomic control, but it is unclear if AD is associated with disturbance of autonomic function. OBJECTIVE: To investigate autonomic...

  1. Cognitive issues in autonomous spacecraft-control operations: An investigation of software-mediated decision making in a scaled environment

    Science.gov (United States)

    Murphy, Elizabeth Drummond

    As advances in technology are applied in complex, semi-automated domains, human controllers are distanced from the controlled process. This physical and psychological distance may both facilitate and degrade human performance. To investigate cognitive issues in spacecraft ground-control operations, the present experimental research was undertaken. The primary issue concerned the ability of operations analysts who do not monitor operations to make timely, accurate decisions when autonomous software calls for human help. Another key issue involved the potential effects of spatial-visualization ability (SVA) in environments that present data in graphical formats. Hypotheses were derived largely from previous findings and predictions in the literature. Undergraduate psychology students were assigned at random to a monitoring condition or an on-call condition in a scaled environment. The experimental task required subjects to decide on the veracity of a problem diagnosis delivered by a software process on-board a simulated spacecraft. To support decision-making, tabular and graphical data displays presented information on system status. A level of software confidence in the problem diagnosis was displayed, and subjects reported their own level of confidence in their decisions. Contrary to expectations, the performance of on-call subjects did not differ significantly from that of continuous monitors. Analysis yielded a significant interaction of sex and condition: Females in the on-call condition had the lowest mean accuracy. Results included a preference for bar charts over line graphs and faster performance with tables than with line graphs. A significant correlation was found between subjective confidence and decision accuracy. SVA was found to be predictive of accuracy but not speed; and SVA was found to be a stronger predictor of performance for males than for females. Low-SVA subjects reported that they relied more on software confidence than did medium- or high

  2. GROUP POLICY BASED AUTHENTICATION ON INCOMING CALLS FOR ANDROID SMARTPHONES

    OpenAIRE

    Sunita M. Kumbhar, Prof. Z.M Shaikh

    2016-01-01

    The numbers of Smartphone users increasing day by day. Hence, there is need to propose advanced Group Policy based Authentication for incoming calls for Android phone. Android platform provides a variety of functions that support the programming of face recognition, as in image processing. Group policy based authentication scheme increases the security which restricts the access of incoming call form un-authorized user. To solve problems, related to face recognition should be applied in the p...

  3. No effect of Pindolol on postural hypotension in type 1 (insulin-dependent) diabetic patients with autonomic neuropathy. A randomised double-blind controlled study

    DEFF Research Database (Denmark)

    Dejgård, A; Hilsted, J

    1988-01-01

    of this therapy we performed a double-blind placebo controlled cross-over study with Pindolol (15 mg/day). Eight Type 1 (insulin-dependent) diabetic patients with autonomic neuropathy and signs and symptoms of orthostatic hypotension (systolic blood pressure decrease greater than 30 mm Hg when standing......) participated in the study. Patients were treated for 10 weeks. Clinical examinations were performed every fortnight and patients registered postural symptoms twice daily on a visual analog scale. No significant changes were seen in blood pressure recordings, heart-rate or visual analog scale registration...... during treatment with Pindolol compared to placebo. Our study does not support the suggestion that Pindolol is a valuable drug for treatment of diabetic patients with autonomic neuropathy and postural giddiness....

  4. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

    ... actuators, development of a visualization lab for modeling vision based guidance algorithms, concept development of a rapid prototyping and aero characterization lab, vision based control of autonomous...

  5. Autonomic Wireless Sensor Networks: A Systematic Literature Review

    Directory of Open Access Journals (Sweden)

    Jesús M. T. Portocarrero

    2014-01-01

    Full Text Available Autonomic computing (AC is a promising approach to meet basic requirements in the design of wireless sensor networks (WSNs, and its principles can be applied to efficiently manage nodes operation and optimize network resources. Middleware for WSNs supports the implementation and basic operation of such networks. In this systematic literature review (SLR we aim to provide an overview of existing WSN middleware systems that address autonomic properties. The main goal is to identify which development approaches of AC are used for designing WSN middleware system, which allow the self-management of WSN. Another goal is finding out which interactions and behavior can be automated in WSN components. We drew the following main conclusions from the SLR results: (i the selected studies address WSN concerns according to the self-* properties of AC, namely, self-configuration, self-healing, self-optimization, and self-protection; (ii the selected studies use different approaches for managing the dynamic behavior of middleware systems for WSN, such as policy-based reasoning, context-based reasoning, feedback control loops, mobile agents, model transformations, and code generation. Finally, we identified a lack of comprehensive system architecture designs that support the autonomy of sensor networking.

  6. Construction and experimental verification of a novel flexible thermal control system configuration for the autonomous on-orbit services of space missions

    International Nuclear Information System (INIS)

    Guo, Wei; Li, Yunhua; Li, Yun-Ze; Wang, Sheng-Nan; Zhong, Ming-Liang; Wang, Ji-Xiang; Zhang, Jia-Xun

    2017-01-01

    Highlights: • A novel flexible thermal control system (F-TCS) for spacecraft on-orbit services is proposed. • Systemic construction and reconfiguration operating mechanism are highlighted. • Thermal-hydraulic performances of the F-TCS are investigated both numerically and experimentally. • The F-TCS has the vast potential for spacecrafts autonomous thermal management. - Abstract: This paper proposed a novel flexible thermal control system (F-TCS) configuration for realizing thermal management for spacecrafts autonomous on-orbit service (A-OOS) demands. With a dual-ring topology which composes of a heat collecting bus, a heat dissipating bus, connection brunches and inter-platform service interfaces, the F-TCS may realize not only self-reconfiguration operations but also providing heat dissipation resources for other spacecrafts or cabins. The F-TCS hydraulic and thermal dynamics were modeled, a verification testbed was also established to validate the F-TCS thermal control performance. Focused on investigating the self-reconfiguration and thermal control cooperative operations, several typical A-OOS cases were imposed on the F-TCS, numerical simulations and experimental validations were respectively implemented. Both results demonstrated that the meticulously designed F-TCS is capable of offering self-topological reconfiguration with fast time response and robust temperature control performances, high systemic heat transfer efficiency is also recommended from the point of view of energy saving. The F-TCS is suggested as a promising solution for A-OOS owing to its higher reliability and promising autonomous maintenance potential which is suitable for future spacecrafts thermal management requirements.

  7. Impact of aging on cardiac function in a female rat model of menopause: role of autonomic control, inflammation, and oxidative stress

    Science.gov (United States)

    Machi, Jacqueline Freire; Dias, Danielle da Silva; Freitas, Sarah Cristina; de Moraes, Oscar Albuquerque; da Silva, Maikon Barbosa; Cruz, Paula Lázara; Mostarda, Cristiano; Salemi, Vera M C; Morris, Mariana; De Angelis, Kátia; Irigoyen, Maria-Cláudia

    2016-01-01

    Objective The aim of this study was to evaluate the effects of aging on metabolic, cardiovascular, autonomic, inflammatory, and oxidative stress parameters after ovarian hormone deprivation (OVX). Methods Female Wistar rats (3 or 22 months old) were divided into: young controls, young ovariectomized, old controls, and old ovariectomized (bilateral ovaries removal). After a 9-week follow-up, physical capacity, metabolic parameters, and morphometric and cardiac functions were assessed. Subsequently, arterial pressure was recorded and cardiac autonomic control was evaluated. Oxidative stress was measured on the cardiac tissue, while inflammatory profile was assessed in the plasma. Results Aging or OVX caused an increase in body and fat weight and triglyceride concentration and a decrease in both insulin sensitivity and aerobic exercise capacity. Left ventricular diastolic dysfunction and increased cardiac overload (myocardial performance index) were reported in old groups when compared with young groups. Aging and OVX led to an increased sympathetic tonus, and vagal tonus was lower only for the old groups. Tumor necrosis factor-α and interleukin-6 were increased in old groups when compared with young groups. Glutathione redox balance (GSH/GSSG) was reduced in young ovariectomized, old controls, and old ovariectomized groups when compared with young controls, indicating an increased oxidative stress. A negative correlation was found between GSH/GSSG and tumor necrosis factor-α (r=−0.6, P<0.003). Correlations were found between interleukin-6 with adipose tissue (r=0.5, P<0.009) and vagal tonus (r=−0.7, P<0.0002); and among myocardial performance index with interleukin-6 (r=0.65, P<0.0002), sympathetic tonus (r=0.55, P<0.006), and physical capacity (r=−0.55, P<0.003). The findings in this trial showed that ovariectomy aggravated the impairment of cardiac and functional effects of aging in female rats, probably associated with exacerbated autonomic dysfunction

  8. Toward autonomous spacecraft

    Science.gov (United States)

    Fogel, L. J.; Calabrese, P. G.; Walsh, M. J.; Owens, A. J.

    1982-01-01

    Ways in which autonomous behavior of spacecraft can be extended to treat situations wherein a closed loop control by a human may not be appropriate or even possible are explored. Predictive models that minimize mean least squared error and arbitrary cost functions are discussed. A methodology for extracting cyclic components for an arbitrary environment with respect to usual and arbitrary criteria is developed. An approach to prediction and control based on evolutionary programming is outlined. A computer program capable of predicting time series is presented. A design of a control system for a robotic dense with partially unknown physical properties is presented.

  9. Effect of maturation on hemodynamic and autonomic control recovery following maximal running exercise in highly-trained young soccer players

    Directory of Open Access Journals (Sweden)

    Martin eBuchheit

    2011-10-01

    Full Text Available The purpose of this study was to examine the effect of maturation on post-exercise hemodynamic and autonomic responses. Fifty-five highly-trained young male soccer players (12-18 yr classified as pre-, circum- or post-peak height velocity (PHV performed a graded running test to exhaustion on a treadmill. Before (Pre and after (5th-10th min, Post exercise, heart rate (HR, stroke volume (SV, cardiac ouput (CO, arterial pressure (AP and total peripheral resistance (TPR were monitored. Parasympathetic (high-frequency [HFRR] of HR variability (HRV and baroreflex sensitivity [Ln BRS] and sympathetic activity (low-frequency [LFSAP] of systolic AP variability were estimated. Post-exercise blood lactate [La]b, the HR recovery (HRR time constant and parasympathetic reactivation (time varying HRV analysis were assessed. In all three groups, exercise resulted in increased HR, CO, AP and LFSAP (P<0.001, decreased SV, HFRR and Ln BRS (all P<0.001, and no change in TPRI (P=0.98. There was no ‘maturation x time’ interaction for any of the hemodynamic or autonomic variables (all P>0.22. After exercise, pre-PHV players displayed lower SV, CO and [La]b, faster HRR and greater parasympathetic reactivation compared with circum- and post-PHV players. Multiple regression analysis showed that lean muscle mass, [La]b and Pre parasympathetic activity were the strongest predictors of HRR (r2=0.62, P<0.001. While pre-PHV players displayed a faster HRR and greater post-exercise parasympathetic reactivation, maturation had little influence on the hemodynamic and autonomic responses following maximal running exercise. HRR relates to lean muscle mass, blood acidosis and intrinsic parasympathetic function, with less evident impact of post-exercise autonomic function.

  10. Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

    Science.gov (United States)

    2012-09-01

    and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7

  11. The design of a prototype system which controls the flow of milk in the collector’s column of an autonomous milking apparatus

    Directory of Open Access Journals (Sweden)

    Lis Stanisław

    2018-01-01

    Full Text Available The research paper presents a prototype system controlling the flow of milk in the collection column of an autonomous milking apparatus. In the Matlab®-Simulink program, the simulation model of such a system was created. Its essential operation is illustrated in the block diagrams. The logic verification of the model’s operational accuracy (off-line simulation did not reveal errors. Therefore a laboratory stand for hardware verification – (on-line simulation was developed. Within it a virtual feedback loop of the control system (stored in computer memory, with elements of real object control incorporated – in this way a prototype of the device was created. During the hardware verification of the proposed technical solution, operation errors were not observed. In response to certain signals from the measuring elements, the controller correctly calculated control signals for the actuators.

  12. Heart rate autonomic regulation system at rest and during paced breathing among patients with CRPS as compared to age-matched healthy controls.

    Science.gov (United States)

    Bartur, Gadi; Vatine, Jean-Jacques; Raphaely-Beer, Noa; Peleg, Sara; Katz-Leurer, Michal

    2014-09-01

    The objective of this study is to assess the autonomic nerve heart rate regulation system at rest and its immediate response to paced breathing among patients with complex regional pain syndrome (CRPS) as compared with age-matched healthy controls. Quasiexperimental. Outpatient clinic. Ten patients with CRPS and 10 age- and sex-matched controls. Participants underwent Holter ECG (NorthEast Monitoring, Inc., Maynard, MA, USA) recording during rest and biofeedback-paced breathing session. Heart rate variability (HRV), time, and frequency measures were assessed. HRV and time domain values were significantly lower at rest among patients with CRPS as compared with controls. A significant association was noted between pain rank and HRV frequency measures at rest and during paced breathing; although both groups reduced breathing rate significantly during paced breathing, HRV time domain parameters increased only among the control group. The increased heart rate and decreased HRV at rest in patients with CRPS suggest a general autonomic imbalance. The inability of the patients to increase HRV time domain values during paced breathing may suggest that these patients have sustained stress response with minimal changeability in response to slow-paced breathing stimuli. Wiley Periodicals, Inc.

  13. The anti-malarial drug Mefloquine disrupts central autonomic and respiratory control in the working heart brainstem preparation of the rat

    Directory of Open Access Journals (Sweden)

    Lall Varinder K

    2012-12-01

    Full Text Available Abstract Background Mefloquine is an anti-malarial drug that can have neurological side effects. This study examines how mefloquine (MF influences central nervous control of autonomic and respiratory systems using the arterially perfused working heart brainstem preparation (WHBP of the rat. Recordings of nerve activity were made from the thoracic sympathetic chain and phrenic nerve, while heart rate (HR and perfusion pressure were also monitored in the arterially perfused, decerebrate, rat WHBP. MF was added to the perfusate at 1 μM to examine its effects on baseline parameters as well as baroreceptor and chemoreceptor reflexes. Results MF caused a significant, atropine resistant, bradycardia and increased phrenic nerve discharge frequency. Chemoreceptor mediated sympathoexcitation (elicited by addition of 0.1 ml of 0.03% sodium cyanide to the aortic cannula was significantly attenuated by the application of MF to the perfusate. Furthermore MF significantly decreased rate of return to resting HR following chemoreceptor induced bradycardia. An increase in respiratory frequency and attenuated respiratory-related sympathetic nerve discharge during chemoreceptor stimulation was also elicited with MF compared to control. However, MF did not significantly alter baroreceptor reflex sensitivity. Conclusions These studies indicate that in the WHBP, MF causes profound alterations in autonomic and respiratory control. The possibility that these effects may be mediated through actions on connexin 36 containing gap junctions in central neurones controlling sympathetic nervous outflow is discussed.

  14. Influence of government controls over the currency exchange rate in the evolution of Hurst's exponent: An autonomous agent-based model

    Science.gov (United States)

    Chávez Muñoz, Pablo; Fernandes da Silva, Marcus; Vivas Miranda, José; Claro, Francisco; Gomez Diniz, Raimundo

    2007-12-01

    We have studied the performance of the Hurst's index associated with the currency exchange rate in Brazil and Chile. It is shown that this index maps the degree of government control in the exchange rate. A model of supply and demand based in an autonomous agent is proposed, that simulates a virtual market of sale and purchase, where buyer or seller are forced to negotiate through an intermediary. According to this model, the average of the price of daily transactions correspond to the theoretical balance proposed by the law of supply and demand. The influence of an added tendency factor is also analyzed.

  15. Integrating policy-based management and SLA performance monitoring

    Science.gov (United States)

    Liu, Tzong-Jye; Lin, Chin-Yi; Chang, Shu-Hsin; Yen, Meng-Tzu

    2001-10-01

    Policy-based management system provides the configuration capability for the system administrators to focus on the requirements of customers. The service level agreement performance monitoring mechanism helps system administrators to verify the correctness of policies. However, it is difficult for a device to process the policies directly because the policies are the management concept. This paper proposes a mechanism to decompose a policy into rules that can be efficiently processed by a device. Thus, the device may process the rule and collect the performance statistics information efficiently; and the policy-based management system may collect these performance statistics information and report the service-level agreement performance monitoring information to the system administrator. The proposed policy-based management system achieves both the policy configuration and service-level agreement performance monitoring requirements. A policy consists of a condition part and an action part. The condition part is a Boolean expression of a source host IP group, a destination host IP group, etc. The action part is the parameters of services. We say that an address group is compact if it only consists of a range of IP address that can be denoted by a pair of IP address and corresponding IP mask. If the condition part of a policy only consists of the compact address group, we say that the policy is a rule. Since a device can efficiently process a compact address and a system administrator prefers to define a range of IP address, the policy-based management system has to translate policy into rules and supplements the gaps between policy and rules. The proposed policy-based management system builds the relationships between VPN and policies, policy and rules. Since the system administrator wants to monitor the system performance information of VPNs and policies, the proposed policy-based management system downloads the relationships among VPNs, policies and rules to the

  16. Design of an adaptive finite-time controller for synchronization of two identical/different non-autonomous chaotic flywheel governor systems

    International Nuclear Information System (INIS)

    Aghababa Mohammad Pourmahmood

    2012-01-01

    The centrifugal flywheel governor (CFG) is a mechanical device that automatically controls the speed of an engine and avoids the damage caused by sudden change of load torque. It has been shown that this system exhibits very rich and complex dynamics such as chaos. This paper investigates the problem of robust finite-time synchronization of non-autonomous chaotic CFGs. The effects of unknown parameters, model uncertainties and external disturbances are fully taken into account. First, it is assumed that the parameters of both master and slave CFGs have the same value and a suitable adaptive finite-time controller is designed. Second, two CFGs are synchronized with the parameters of different values via a robust adaptive finite-time control approach. Finally, some numerical simulations are used to demonstrate the effectiveness and robustness of the proposed finite-time controllers. (general)

  17. Detaching reasons from aims: fair play and well-being in soccer as a function of pursuing performance-approach goals for autonomous or controlling reasons.

    Science.gov (United States)

    Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2010-04-01

    In two cross-sectional studies we investigated whether soccer players' well-being (Study 1) and moral functioning (Studies 1 and 2) is related to performance-approach goals and to the autonomous and controlling reasons underlying their pursuit. In support of our hypotheses, we found in Study 1 that autonomous reasons were positively associated with vitality and positive affect, whereas controlling reasons were positively related to negative affect and mostly unrelated to indicators of morality. To investigate the lack of systematic association with moral outcomes, we explored in Study 2 whether performance-approach goals or their underlying reasons would yield an indirect relation to moral outcomes through their association with players' objectifying attitude-their tendency to depersonalize their opponents. Structural equation modeling showed that controlling reasons for performance-approach goals were positively associated with an objectifying attitude, which in turn was positively associated to unfair functioning. Results are discussed within the achievement goal perspective (Elliot, 2005) and self-determination theory (Deci & Ryan, 2000).

  18. Human Supervision of Multiple Autonomous Vehicles

    Science.gov (United States)

    2013-03-22

    AFRL-RH-WP-TR-2013-0143 HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES Heath A. Ruff Ball...REPORT TYPE Interim 3. DATES COVERED (From – To) 09-16-08 – 03-22-13 4. TITLE AND SUBTITLE HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES 5a...Supervision of Multiple Autonomous Vehicles To support the vision of a system that enables a single operator to control multiple next-generation

  19. Stimulating autonomous motivation in the classroom: The role of interpersonal teacher agency and communion

    NARCIS (Netherlands)

    Wijsman, Lindy; Mainhard, Tim|info:eu-repo/dai/nl/30483517X; Brekelmans, Mieke|info:eu-repo/dai/nl/074625411

    2014-01-01

    Self Determination Theory (SDT) distinguishes the quality of motivation from its quantity or intensity (Vansteenkiste, Sierens, Soetens, Luyckx, & Lens, 2009). A sequence from controlled to autonomous motivation is adopted; autonomous motivation is seen as the best quality type. Being autonomously

  20. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

  1. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-01-01

    -deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures

  2. Impact of cancer and chemotherapy on autonomic nervous system function and cardiovascular reactivity in young adults with cancer: a case-controlled feasibility study.

    Science.gov (United States)

    Adams, Scott C; Schondorf, Ronald; Benoit, Julie; Kilgour, Robert D

    2015-05-18

    Preliminary evidence suggests cancer- and chemotherapy-related autonomic nervous system (ANS) dysfunction may contribute to the increased cardiovascular (CV) morbidity- and mortality-risks in cancer survivors. However, the reliability of these findings may have been jeopardized by inconsistent participant screening and assessment methods. Therefore, good laboratory practices must be established before the presence and nature of cancer-related autonomic dysfunction can be characterized. The purpose of this study was to assess the feasibility of conducting concurrent ANS and cardiovascular evaluations in young adult cancer patients, according to the following criteria: i) identifying methodological pitfalls and proposing good laboratory practice criteria for ANS testing in cancer, and ii) providing initial physiologic evidence of autonomic perturbations in cancer patients using the composite autonomic scoring scale (CASS). Thirteen patients (mixed diagnoses) were assessed immediately before and after 4 cycles of chemotherapy. Their results were compared to 12 sex- and age-matched controls. ANS function was assessed using standardized tests of resting CV (tilt-table, respiratory sinus arrhythmia and Valsalva maneuver) and sudomotor (quantitative sudomotor axon reflex test) reactivity. Cardiovascular reactivity during exercise was assessed using a modified Astrand-Ryhming cycle ergometer protocol. Our feasibility criteria addressed: i) recruitment potential, ii) retention rates, iii) pre-chemotherapy assessment potential, iv) test performance/tolerability, and v) identification and minimizing the influence of potentially confounding medication. T-tests and repeated measures ANOVAs were used to assess between- and within-group differences at baseline and follow-up. The overall success rate in achieving our feasibility criteria was 98.4 %. According to the CASS, there was evidence of ANS impairment at baseline in 30.8 % of patients, which persisted in 18.2 % of patients

  3. Impact of cancer and chemotherapy on autonomic nervous system function and cardiovascular reactivity in young adults with cancer: a case-controlled feasibility study

    International Nuclear Information System (INIS)

    Adams, Scott C.; Schondorf, Ronald; Benoit, Julie; Kilgour, Robert D.

    2015-01-01

    Preliminary evidence suggests cancer- and chemotherapy-related autonomic nervous system (ANS) dysfunction may contribute to the increased cardiovascular (CV) morbidity- and mortality-risks in cancer survivors. However, the reliability of these findings may have been jeopardized by inconsistent participant screening and assessment methods. Therefore, good laboratory practices must be established before the presence and nature of cancer-related autonomic dysfunction can be characterized. The purpose of this study was to assess the feasibility of conducting concurrent ANS and cardiovascular evaluations in young adult cancer patients, according to the following criteria: i) identifying methodological pitfalls and proposing good laboratory practice criteria for ANS testing in cancer, and ii) providing initial physiologic evidence of autonomic perturbations in cancer patients using the composite autonomic scoring scale (CASS). Thirteen patients (mixed diagnoses) were assessed immediately before and after 4 cycles of chemotherapy. Their results were compared to 12 sex- and age-matched controls. ANS function was assessed using standardized tests of resting CV (tilt-table, respiratory sinus arrhythmia and Valsalva maneuver) and sudomotor (quantitative sudomotor axon reflex test) reactivity. Cardiovascular reactivity during exercise was assessed using a modified Astrand-Ryhming cycle ergometer protocol. Our feasibility criteria addressed: i) recruitment potential, ii) retention rates, iii) pre-chemotherapy assessment potential, iv) test performance/tolerability, and v) identification and minimizing the influence of potentially confounding medication. T-tests and repeated measures ANOVAs were used to assess between- and within-group differences at baseline and follow-up. The overall success rate in achieving our feasibility criteria was 98.4 %. According to the CASS, there was evidence of ANS impairment at baseline in 30.8 % of patients, which persisted in 18.2 % of patients

  4. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-08-01

    This thesis investigates autonomous landing of a micro air vehicle (MAV) on a nonstationary ground platform. Unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs) are becoming every day more ubiquitous. Nonetheless, many applications still require specialized human pilots or supervisors. Current research is focusing on augmenting the scope of tasks that these vehicles are able to accomplish autonomously. Precise autonomous landing on moving platforms is essential for self-deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures robust stability for systems with bounded disturbances under system state reconstruction. This thesis proposes a MAV control strategy based on this variant of MPC to perform rapid and precise autonomous landing on moving targets whose nominal (uncommitted) trajectory and velocity are slowly varying. The proposed approach is demonstrated on an experimental setup.

  5. Oceanids command and control (C2) data system - Marine autonomous systems data for vehicle piloting, scientific data users, operational data assimilation, and big data

    Science.gov (United States)

    Buck, J. J. H.; Phillips, A.; Lorenzo, A.; Kokkinaki, A.; Hearn, M.; Gardner, T.; Thorne, K.

    2017-12-01

    The National Oceanography Centre (NOC) operate a fleet of approximately 36 autonomous marine platforms including submarine gliders, autonomous underwater vehicles, and autonomous surface vehicles. Each platform effectivity has the capability to observe the ocean and collect data akin to a small research vessel. This is creating a growth in data volumes and complexity while the amount of resource available to manage data remains static. The OceanIds Command and Control (C2) project aims to solve these issues by fully automating the data archival, processing and dissemination. The data architecture being implemented jointly by NOC and the Scottish Association for Marine Science (SAMS) includes a single Application Programming Interface (API) gateway to handle authentication, forwarding and delivery of both metadata and data. Technicians and principle investigators will enter expedition data prior to deployment of vehicles enabling automated data processing when vehicles are deployed. The system will support automated metadata acquisition from platforms as this technology moves towards operational implementation. The metadata exposure to the web builds on a prototype developed by the European Commission supported SenseOCEAN project and is via open standards including World Wide Web Consortium (W3C) RDF/XML and the use of the Semantic Sensor Network ontology and Open Geospatial Consortium (OGC) SensorML standard. Data will be delivered in the marine domain Everyone's Glider Observatory (EGO) format and OGC Observations and Measurements. Additional formats will be served by implementation of endpoints such as the NOAA ERDDAP tool. This standardised data delivery via the API gateway enables timely near-real-time data to be served to Oceanids users, BODC users, operational users and big data systems. The use of open standards will also enable web interfaces to be rapidly built on the API gateway and delivery to European research infrastructures that include aligned

  6. Autonomic dysfunction in mild cognitive impairment: evidence from power spectral analysis of heart rate variability in a cross-sectional case-control study.

    Directory of Open Access Journals (Sweden)

    Paola Nicolini

    Full Text Available Mild cognitive impairment (MCI is set to become a major health problem with the exponential ageing of the world's population. The association between MCI and autonomic dysfunction, supported by indirect evidence and rich with clinical implications in terms of progression to dementia and increased risk of mortality and falls, has never been specifically demonstrated.To conduct a comprehensive assessment of autonomic function in subjects with MCI by means of power spectral analysis (PSA of heart rate variability (HRV at rest and during provocative manoeuvres.This cross-sectional study involved 80 older outpatients (aged ≥ 65 consecutively referred to a geriatric unit and diagnosed with MCI or normal cognition (controls based on neuropsychological testing. PSA was performed on 5-minute electrocardiographic recordings under three conditions--supine rest with free breathing (baseline, supine rest with paced breathing at 12 breaths/minute (parasympathetic stimulation, and active standing (orthosympathetic stimulation--with particular focus on the changes from baseline to stimulation of indices of sympathovagal balance: normalized low frequency (LFn and high frequency (HFn powers and the LF/HF ratio. Blood pressure (BP was measured at baseline and during standing. Given its exploratory nature in a clinical population the study included subjects on medications with a potential to affect HRV.There were no significant differences in HRV indices between the two groups at baseline. MCI subjects exhibited smaller physiological changes in all three HRV indices during active standing, consistently with a dysfunction of the orthosympathetic system. Systolic BP after 10 minutes of standing was lower in MCI subjects, suggesting dysautonomia-related orthostatic BP dysregulation.Our study is novel in providing evidence of autonomic dysfunction in MCI. This is associated with orthostatic BP dysregulation and the ongoing follow-up of the study population will

  7. DEPSCOR: Research on ARL's Intelligent Control Architecture: Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles

    National Research Council Canada - National Science Library

    Kumar, Ratnesh; Holloway, Lawrence E

    2007-01-01

    ... modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).

  8. Advisory and autonomous cooperative driving systems

    NARCIS (Netherlands)

    Broek, T.H.A. van den; Ploeg, J.; Netten, B.D.

    2011-01-01

    In this paper, the traffic efficiency of an advisory cooperative driving system, Advisory Acceleration Control is examined and compared to the efficiency of an autonomous cooperative driving system, Cooperative Adaptive Cruise Control. The algorithms and implementation thereof are explained. The

  9. Autonomous control of phosphatidylinositol turnover by histamine and acetylcholine receptors in the NIE-115 neuron-like cell line

    International Nuclear Information System (INIS)

    Large, T.H.; Lambert, M.P.; Cohen, N.M.; Klein, W.L.

    1986-01-01

    Histamine was found to stimulate the turnover of phosphatidylinositol (PI) in cultures of neuron-like NE-115 cells. Turnover was measured by increased production of ( 3 H)inositol phosphates (breakdown) and by accelerated incorporation of 32 P into PI (resynthesis). Data were consistent with hydrolysis of polyphosphoinositides being the initial event in receptor-stimulated PI turnover. This response to histamine desensitized within 10 min. Receptor systems for histamine and acetylcholine were tested for possible interactions: PI turnover in response to dual stimulation was approximately equal to the sum of the individual responses while prior desensitization of the acetylcholine receptor system had no effect on subsequent stimulation of the histamine receptor system. These results are consistent with the hypothesis that components of acetylcholine and histamine receptor systems responsible for PI turnover are autonomously organised and regulated. (author)

  10. Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

    Directory of Open Access Journals (Sweden)

    Yi-Chung Lai

    2012-10-01

    Full Text Available The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

  11. Impact of aging on cardiac function in a female rat model of menopause: role of autonomic control, inflammation, and oxidative stress

    Directory of Open Access Journals (Sweden)

    Machi JF

    2016-03-01

    Full Text Available Jacqueline Freire Machi,1,2 Danielle da Silva Dias,3 Sarah Cristina Freitas,3 Oscar Albuquerque de Moraes,1 Maikon Barbosa da Silva,1 Paula Lázara Cruz,1 Cristiano Mostarda,4 Vera M C Salemi,1 Mariana Morris,2 Kátia De Angelis,3 Maria-Cláudia Irigoyen1 1Hypertension Unit, Heart Institute (InCor, School of Medicine, University of Sao Paulo, São Paulo, Brazil; 2Institute of Neuro-Immune Medicine, Nova Southeastern University, Fort Lauderdale, FL, USA; 3Laboratory of Translational Physiology, Universidade Nove de Julho (UNINOVE, São Paulo, 4Health Adult and Child, Federal University of Maranhao (UFMA, São Luiz, Maranhão, Brazil Objective: The aim of this study was to evaluate the effects of aging on metabolic, cardiovascular, autonomic, inflammatory, and oxidative stress parameters after ovarian hormone deprivation (OVX. Methods: Female Wistar rats (3 or 22 months old were divided into: young controls, young ovariectomized, old controls, and old ovariectomized (bilateral ovaries removal. After a 9-week follow-up, physical capacity, metabolic parameters, and morphometric and cardiac functions were assessed. Subsequently, arterial pressure was recorded and cardiac autonomic control was evaluated. Oxidative stress was measured on the cardiac tissue, while inflammatory profile was assessed in the plasma. Results: Aging or OVX caused an increase in body and fat weight and triglyceride concentration and a decrease in both insulin sensitivity and aerobic exercise capacity. Left ventricular diastolic dysfunction and increased cardiac overload (myocardial performance index were reported in old groups when compared with young groups. Aging and OVX led to an increased sympathetic tonus, and vagal tonus was lower only for the old groups. Tumor necrosis factor-α and interleukin-6 were increased in old groups when compared with young groups. Glutathione redox balance (GSH/GSSG was reduced in young ovariectomized, old controls, and old ovariectomized

  12. Autonomous Operations System: Development and Application

    Science.gov (United States)

    Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

    2016-01-01

    Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

  13. Baseline autonomic nervous system arousal and physical and relational aggression in preschool: the moderating role of effortful control.

    Science.gov (United States)

    Gower, Amy L; Crick, Nicki R

    2011-09-01

    The current study investigates whether established associations between physical aggression and low autonomic nervous system arousal, as indexed by heart rate and blood pressure, also apply to the study of the development of relational aggression. Baseline heart rate and blood pressure were collected in two samples of preschoolers, and teachers reported on classroom physical and relational aggression. In Study 1, lower systolic and diastolic blood pressure were related to increased engagement in relational aggression among older preschoolers. In Study 2, lower heart rate and blood pressure predicted increased engagement in classroom physical and relational aggression concurrently and across a preschool year in some cases. Low baseline arousal-aggression associations were strongest for children with poorer self-regulation abilities, whereas high self-regulation appeared to protect children with low heart rate and blood pressure from engagement in aggressive classroom behavior. These findings suggest the utility of examining baseline physiological measures in the study of relational aggression as well as physical aggression. Implications for interventions targeted to physical and relational aggression in early childhood are discussed. Copyright © 2011 Elsevier B.V. All rights reserved.

  14. A multidirectional non-cell autonomous control and a genetic interaction restricting tobacco etch virus susceptibility in Arabidopsis.

    Directory of Open Access Journals (Sweden)

    Suresh Gopalan

    2007-10-01

    Full Text Available Viruses constitute a major class of pathogens that infect a variety of hosts. Understanding the intricacies of signaling during host-virus interactions should aid in designing disease prevention strategies and in understanding mechanistic aspects of host and pathogen signaling machinery.An Arabidopsis mutant, B149, impaired in susceptibility to Tobacco etch virus (TEV, a positive strand RNA virus of picoRNA family, was identified using a high-throughput genetic screen and a counterselection scheme. The defects include initiation of infection foci, rate of cell-to-cell movement and long distance movement.The defect in infectivity is conferred by a recessive locus. Molecular genetic analysis and complementation analysis with three alleles of a previously published mutant lsp1 (loss of susceptibility to potyviruses indicate a genetic interaction conferring haploinsufficiency between the B149 locus and certain alleles of lsp1 resulting in impaired host susceptibility. The pattern of restriction of TEV foci on leaves at or near the boundaries of certain cell types and leaf boundaries suggest dysregulation of a multidirectional non-cell autonomous regulatory mechanism. Understanding the nature of this multidirectional signal and the molecular genetic mechanism conferring it should potentially reveal a novel arsenal in the cellular machinery.

  15. SIMULASI INTERKONEKSI ANTARA AUTONOMOUS SYSTEM (AS MENGGUNAKAN BORDER GATEWAY PROTOCOL (BGP

    Directory of Open Access Journals (Sweden)

    Hari Antoni Musril

    2017-09-01

    Full Text Available An autonomous system (AS is the collection of networks having the same set of routing policies. Each AS has administrative control to its own inter-domain routing policy. Computer networks consisting of a bunch of AS's with different routing will not be able to interconnecttion one another. This is causes communication in the network to be inhibited. For that we need a protocol that can connect each different AS. Border Gateway Protocol (BGP is an inter-domain routing protocol i.e. between different AS  that is used to exchange routing information between them. In a typical inter-network (and in the Internet each autonomous system designates one or more routers that run BGP software. BGP routers in each AS are linked to those in one or more other AS. The ability to exchange table routing information between Autonomous System (AS is one of the advantages BGP. BGP implements routing policies based a set of attributes accompanying each route used to pick the “shortest” path across multiple ASs, along with one or more routing policies. BGP uses an algorithm which cannot be classified as a pure "Distance Vector", or pure "Link State". It is a path vector routing protocol as it defines a route as a collection of a number of AS that is passes through from source AS to destination AS. This paper discusses the implementation of the BGP routing protocol in the network that have different AS in order to interconnect. Its application using Packet Tracer 7.0 software for prototyping and simulating network. So that later can be applied to the actual network. Based on experiments that have been carried out, the BGP routing protocol can connect two routers that have different autonomous system.

  16. Effects of Music Therapy on the Cardiovascular and Autonomic Nervous System in Stress-Induced University Students: A Randomized Controlled Trial.

    Science.gov (United States)

    Lee, Kyoung Soon; Jeong, Hyeon Cheol; Yim, Jong Eun; Jeon, Mi Yang

    2016-01-01

    Stress is caused when a particular relationship between the individual and the environment emerges. Specifically, stress occurs when an individual's abilities are challenged or when one's well-being is threatened by excessive environmental demands. The aim of this study was to measure the effects of music therapy on stress in university students. Randomized controlled trial. Sixty-four students were randomly assigned to the experimental group (n = 33) or the control group (n = 31). Music therapy. Initial measurement included cardiovascular indicators (blood pressure and pulse), autonomic nervous activity (standard deviation of the normal-to-normal intervals [SDNN], normalized low frequency, normalized high frequency, low/high frequency), and subjective stress. After the first measurement, participants in both groups were exposed to a series of stressful tasks, and then a second measurement was conducted. The experimental group then listened to music for 20 minutes and the control group rested for 20 minutes. A third and final measurement was then taken. There were no significant differences between the two groups in the first or second measurement. However, after music therapy, the experimental group and the control group showed significant differences in all variables, including systolic blood pressure (p = .026), diastolic blood pressure (p = .037), pulse (p music tends to relax the body and may stimulate the parasympathetic nervous system. These results suggest music therapy as an intervention for stress reduction.

  17. Autonomic symptoms in idiopathic REM behavior disorder

    DEFF Research Database (Denmark)

    Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves

    2014-01-01

    Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic...... symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale...

  18. Policy-Based Negotiation Engine for Cross-Domain Interoperability

    Science.gov (United States)

    Vatan, Farrokh; Chow, Edward T.

    2012-01-01

    A successful policy negotiation scheme for Policy-Based Management (PBM) has been implemented. Policy negotiation is the process of determining the "best" communication policy that all of the parties involved can agree on. Specifically, the problem is how to reconcile the various (and possibly conflicting) communication protocols used by different divisions. The solution must use protocols available to all parties involved, and should attempt to do so in the best way possible. Which protocols are commonly available, and what the definition of "best" is will be dependent on the parties involved and their individual communications priorities.

  19. Computer vision for an autonomous mobile robot

    CSIR Research Space (South Africa)

    Withey, Daniel J

    2015-10-01

    Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

  20. The Cardiovascular Autonomic Nervous System and Anaesthesia

    African Journals Online (AJOL)

    QuickSilver

    system that continues to sustain and control our vital organ systems. .... vagal tone and increased sympathetic outflow to the sinus node due to the fall in blood pressure) ... intraoperative autonomic balance of a particular patient population.

  1. Adaptive Sampling in Autonomous Marine Sensor Networks

    National Research Council Canada - National Science Library

    Eickstedt, Donald P

    2006-01-01

    ... oceanographic network scenario. This architecture has three major components, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new...

  2. Patients With Fibromyalgia Have Significant Autonomic Symptoms But Modest Autonomic Dysfunction.

    Science.gov (United States)

    Vincent, Ann; Whipple, Mary O; Low, Phillip A; Joyner, Michael; Hoskin, Tanya L

    2016-05-01

    Research suggests that disordered autonomic function may be one contributor to deconditioning reported in fibromyalgia; however, no study to date has assessed these variables simultaneously with comprehensive measures. To characterize physical fitness and autonomic function with the use of clinically validated measures and subjective questionnaires between patients with fibromyalgia and healthy controls. Cross-sectional, observational, controlled study. Community sample of patients with fibromyalgia and healthy controls. Thirty patients with fibromyalgia and 30 pain and fatigue-free controls. Participants completed a battery of self-report questionnaires and physiological measures, including clinically validated measures of physical fitness and autonomic function. Six-Minute Walk Test total distance, maximal oxygen consumption as assessed by cardiopulmonary exercise testing, total steps using activity monitor, Composite Autonomic Scoring Scale as assessed by Autonomic Reflex Screen, total metabolic equivalents per week using the International Physical Activity Questionnaire, and self-reported autonomic symptoms via the 31-item Composite Autonomic Symptom Score questionnaire. Autonomic function, as assessed by self-report, was significantly different between patients and controls (P physical activity was not significantly different between patients and controls (P = .99), but levels of moderate and vigorous physical activity as measured by actigraphy were significantly lower in patients (P = .012 and P = .047, respectively). Exercise capacity (6-Minute Walk) was poorer in patients (P = .0006), but there was no significant difference in maximal volume of oxygen consumption (P = .07). Patients with fibromyalgia report more severe symptoms across all domains, including physical activity and autonomic symptoms, compared with controls, but the objective assessments only showed modest differences. Our results suggest that patients with widespread subjective impairment of

  3. [Control of anticoagulation in patients with non-valvular atrial fibrillation in a primary care clinical practice setting in the different autonomous communities. PAULA study].

    Science.gov (United States)

    Polo García, J; Barrios Alonso, V; Escobar Cervantes, C; Prieto Valiente, L; Lobos Bejarano, J M; Vargas Ortega, D; Prieto Díaz, M Á; Alonso Moreno, F J; Barquilla García, A

    2017-04-01

    To determine the differences between regions in the level of control of patients with non-valvular atrial fibrillation treated with vitamin K antagonists, included in the PAULA study. Observational, and coss-sectional/retrospective study, including 139 Primary Care physicians from 99 Health Care centres in all autonomous communities (except La Rioja). Anticoagulation control was defined as the time in therapeutic range assessed by either the direct method (poor control <60%), or the Rosendaal method (poor control <65%). A total of 1,524 patients were included. Small differences in baseline characteristics of the patients were observed. Differences in the percentage of time in therapeutic range were observed, according to the Rosendaal method (mean 69.0±17.7%), from 78.1%±16.6 (Basque Country) to 61.5±14% (Balearic Islands), by the direct method (mean 63.2±17.9%) from 73.6%±16.6 (Basque Country) to 57.5±15.7% (Extremadura). When comparing regions, in those where the Primary Care physicians assumed full control without restrictions on prescription, the percentage of time in therapeutic range by the direct method was 63.89 vs. 60.95% in those with restrictions (p=.006), by Rosendaal method, 69.39% compared with 67.68% (p=.1036). There are significant differences in the level of control between some regions are still inadequate. Regions in which the Primary Care physicians assumed the management of anticoagulation and without restrictions, time in therapeutic range was somewhat higher, and showed a favourable trend for better control. These findings may have clinical implications, and deserve consideration and specific analysis. Copyright © 2016 Sociedad Española de Médicos de Atención Primaria (SEMERGEN). Publicado por Elsevier España, S.L.U. All rights reserved.

  4. A Secure, Scalable and Elastic Autonomic Computing Systems Paradigm: Supporting Dynamic Adaptation of Self-* Services from an Autonomic Cloud

    Directory of Open Access Journals (Sweden)

    Abdul Jaleel

    2018-05-01

    Full Text Available Autonomic computing embeds self-management features in software systems using external feedback control loops, i.e., autonomic managers. In existing models of autonomic computing, adaptive behaviors are defined at the design time, autonomic managers are statically configured, and the running system has a fixed set of self-* capabilities. An autonomic computing design should accommodate autonomic capability growth by allowing the dynamic configuration of self-* services, but this causes security and integrity issues. A secure, scalable and elastic autonomic computing system (SSE-ACS paradigm is proposed to address the runtime inclusion of autonomic managers, ensuring secure communication between autonomic managers and managed resources. Applying the SSE-ACS concept, a layered approach for the dynamic adaptation of self-* services is presented with an online ‘Autonomic_Cloud’ working as the middleware between Autonomic Managers (offering the self-* services and Autonomic Computing System (requiring the self-* services. A stock trading and forecasting system is used for simulation purposes. The security impact of the SSE-ACS paradigm is verified by testing possible attack cases over the autonomic computing system with single and multiple autonomic managers running on the same and different machines. The common vulnerability scoring system (CVSS metric shows a decrease in the vulnerability severity score from high (8.8 for existing ACS to low (3.9 for SSE-ACS. Autonomic managers are introduced into the system at runtime from the Autonomic_Cloud to test the scalability and elasticity. With elastic AMs, the system optimizes the Central Processing Unit (CPU share resulting in an improved execution time for business logic. For computing systems requiring the continuous support of self-management services, the proposed system achieves a significant improvement in security, scalability, elasticity, autonomic efficiency, and issue resolving time

  5. Amplifying human ability through autonomics and machine learning in IMPACT

    Science.gov (United States)

    Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

    2017-05-01

    Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

  6. Adolescents demonstrate improvement in obesity risk behaviors after completion of choice, control & change, a curriculum addressing personal agency and autonomous motivation.

    Science.gov (United States)

    Contento, Isobel R; Koch, Pamela A; Lee, Heewon; Calabrese-Barton, Angela

    2010-12-01

    The rapid increase of obesity and diabetes risk beginning in youth, particularly those from disadvantaged communities, calls for prevention efforts. To examine the impact of a curriculum intervention, Choice, Control & Change, on the adoption of the energy balance-related behaviors of decreasing sweetened drinks, packaged snacks, fast food, and leisure screen time, and increasing water, fruits and vegetables, and physical activity, and on potential psychosocial mediators of the behaviors. Ten middle schools were randomly assigned within matched pairs to either intervention or comparison/delayed control conditions during the 2006-2007 school year. Students were from low-income New York City neighborhoods; 562 were in the intervention condition, and 574 in the comparison condition. Students received the 24 Choice, Control & Change lessons that used science inquiry investigations to enhance motivation for action, and social cognitive and self-determination theories to increase personal agency and autonomous motivation to take action. Self-report instruments to measure energy balance-related behaviors targeted by the curriculum and potential psychosocial mediators of the behaviors. Analysis of covariance with group (intervention/control) as a fixed factor and pretest as covariate. Students in intervention schools compared to the delayed intervention controls reported consumption of considerably fewer sweetened drinks and packaged snacks, smaller sizes of fast food, increased intentional walking for exercise, and decreased leisure screen time, but showed no increases in their intakes of water, fruits, and vegetables. They showed substantial increases in positive outcome expectations about the behaviors, self-efficacy, goal intentions, competence, and autonomy. The Choice, Control & Change curriculum was effective in improving many of the specifically targeted behaviors related to reducing obesity risk, indicating that combining inquiry-based science education and

  7. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

    Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course of the di......Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course...

  8. A Distributed Control Strategy for Coordination of an Autonomous LVDC Microgrid Based on Power-Line Signalling

    DEFF Research Database (Denmark)

    Dragicevic, Tomislav; Guerrero, Josep M.; Vasquez, Juan Carlos

    2014-01-01

    In a MG, an energy management control is essential in order to handle the variety of prime movers which may include different types of renewable energy sources (RES) and energy storage systems (ESS). Specifically, the recharging process of secondary battery, the most prominent ESS, should be done...... of sources using power-line signaling (PLS), a distributed control strategy in which the units inject sinusoidal signals of specific frequency into the common bus in order to communicate with each other. The control structure that allows the application of this method is revealed and the optimal range...... of operating PLS frequencies is specified. In order to achieve a zero steady-state error of injected signals in the common bus, primary control of batteries has been extended with dedicated proportional-resonant (PR) controllers that are switched on only during injection period. Finally, a method...

  9. Current challenges in autonomous vehicle development

    Science.gov (United States)

    Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

    2006-05-01

    The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

  10. Are glucose levels, glucose variability and autonomic control influenced by inspiratory muscle exercise in patients with type 2 diabetes? Study protocol for a randomized controlled trial.

    Science.gov (United States)

    Schein, Aso; Correa, Aps; Casali, Karina Rabello; Schaan, Beatriz D

    2016-01-20

    Physical exercise reduces glucose levels and glucose variability in patients with type 2 diabetes. Acute inspiratory muscle exercise has been shown to reduce these parameters in a small group of patients with type 2 diabetes, but these results have yet to be confirmed in a well-designed study. The aim of this study is to investigate the effect of acute inspiratory muscle exercise on glucose levels, glucose variability, and cardiovascular autonomic function in patients with type 2 diabetes. This study will use a randomized clinical trial crossover design. A total of 14 subjects will be recruited and randomly allocated to two groups to perform acute inspiratory muscle loading at 2 % of maximal inspiratory pressure (PImax, placebo load) or 60 % of PImax (experimental load). Inspiratory muscle training could be a novel exercise modality to be used to decrease glucose levels and glucose variability. ClinicalTrials.gov NCT02292810 .

  11. Autonomous Energy Grids: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Kroposki, Benjamin D [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Dall-Anese, Emiliano [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Bernstein, Andrey [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zhang, Yingchen [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hodge, Brian S [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-10-04

    With much higher levels of distributed energy resources - variable generation, energy storage, and controllable loads just to mention a few - being deployed into power systems, the data deluge from pervasive metering of energy grids, and the shaping of multi-level ancillary-service markets, current frameworks to monitoring, controlling, and optimizing large-scale energy systems are becoming increasingly inadequate. This position paper outlines the concept of 'Autonomous Energy Grids' (AEGs) - systems that are supported by a scalable, reconfigurable, and self-organizing information and control infrastructure, can be extremely secure and resilient (self-healing), and self-optimize themselves in real-time for economic and reliable performance while systematically integrating energy in all forms. AEGs rely on scalable, self-configuring cellular building blocks that ensure that each 'cell' can self-optimize when isolated from a larger grid as well as partaking in the optimal operation of a larger grid when interconnected. To realize this vision, this paper describes the concepts and key research directions in the broad domains of optimization theory, control theory, big-data analytics, and complex system modeling that will be necessary to realize the AEG vision.

  12. Post-buckled precompressed (PBP) elements : A new class of flight control actuators enhancing high-speed autonomous VTOL MAVs

    NARCIS (Netherlands)

    Barrett, R.; McMurtry, R.; Vos, R.; Tiso, P.; De Breuker, R.

    2005-01-01

    This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements. These actuators are designed to produce significantly higher deflection and force levels than conventional piezoelectric actuator elements. Classical laminate plate theory

  13. Mobile Autonomous Reconfigurable System

    Directory of Open Access Journals (Sweden)

    Pavliuk N.A.

    2018-04-01

    Full Text Available The object of this study is a multifunctional modular robot able to assemble independently in a given configuration and responsively change it in the process of operation depending on the current task. In this work we aim at developing and examining unified modules for a modular robot, which can both perform autonomous movement and form a complex structure by connecting to other modules. The existing solutions in the field of modular robotics were reviewed and classified by power supply, the ways of interconnection, the ways of movement and the possibility of independent movement of separate modules. Basing on the analysis of the shortcomings of existing analogues, we have developed a module of mobile autonomous reconfigurable system, including a base unit, a set of magneto-mechanical connectors and two motor wheels. The basic kinematic scheme of the modular robot, the features of a single module, as well as the modular structure formed by an array of similar modules were described. Two schemes for placing sets of magneto-mechanical connectors in the basic module have been proposed. We described the principle of operation of a magneto-mechanical connector based on redirection of the magnetic flux of a permanent magnet. This solution simplifies the system for controlling a mechanism of connection with other modules, increases energy efficiency and a battery life of the module. Since the energy is required only at the moment of switching the operating modes of the connector, there is no need to power constantly the connector mechanism to maintain the coupling mode.

  14. Impact of Regionally Distinct Agroecosystem Communities on the Potential for Autonomous Control of the Coffee Leaf Rust.

    Science.gov (United States)

    Hajian-Forooshani, Zachary; Rivera Salinas, Iris Saraeny; Jiménez-Soto, Estelí; Perfecto, Ivette; Vandermeer, John

    2016-12-01

    Recent theoretical work suggests that two ineffective control agents can provide effective biological control when coupled together. We explore the implications of this work with the system of coffee leaf rust (CLR), caused by the fungal agent Hemileiae vastatrix, and two of its natural enemies, a fungal pathogen (Lecanicillium lecanii) and a spore predator (Mycodiplosis hemileiae). Here we report on comparative surveys of the CLR and its two natural enemies in Mexico, where the CLR has been at epidemic status since 2012, and Puerto Rico, where the CLR is present but has not reached epidemic densities. We found that the densities of the two control agents per CLR lesion is higher in Puerto Rico than in Mexico, and we hypothesize that their joint presence at higher densities is contributing to the suppression of the CLR in Puerto Rico but not in Mexico. Furthermore, we found that the presence of Azteca sericeasur, a keystone ant species that occurs in Mexico but not Puerto Rico, significantly reduces the prevalence of M. hemileiae on coffee plants. Our work provides data that allows us to hypothesize that the joint presence of these two control agents may potentially provide control of the CLR and also highlights the importance of regionally specific communities within agroecosystems, and how variation in community composition may lead to varying outcomes for biological control. Additionally, this is the first report of the presence of a potentially important biological control agent, M. hemileiae, in Latin America and the Caribbean. © The Authors 2016. Published by Oxford University Press on behalf of Entomological Society of America. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  15. Development of autonomous operation system

    International Nuclear Information System (INIS)

    Endou, Akira; Watanabe, Kenshiu; Miki, Tetsushi

    1992-01-01

    To enhance operation reliability of nuclear plants by removing human factors, study on an autonomous operation system has been carried out to substitute artificial intelligence (AI) for plant operators and, in addition, traditional controllers used in existing plants. For construction of the AI system, structurization of knowledge on the basis of the principles such as physical laws, function and structure of relevant objects and generalization of problem solving process are intended. A hierarchical distributed cooperative system configuration in employed because it is superior from the viewpoint of dynamical reorganization of system functions. This configuration is realized by an object-oriented multi-agent system. Construction of a prototype system was planned and the conceptual design was made for FBR plant in order to evaluate applicability of AI to the autonomous operation and to have a prospect for the realization of the system. The prototype system executes diagnosis, state evaluation, operation and control for the main plant subsystems. (author)

  16. Autonomous Agents as Artistic Collaborators

    DEFF Research Database (Denmark)

    Kadish, David

    In this paper, I ask whether it is possible to exert creative direction on the emergence of large scale patterns from the actions of autonomous or semi-autonomous actors. As an artist and an engineer, I undertake installations and projects with an intent to create, to make art or innovative...... structures. At the same time, one of my artistic interests is in ceding a great deal of creative control to a cluster of robotic actors, in the process interrogating the lack of control that we, as a species, exert over the world. Here, I explore this idea in the context of an ongoing project called...... that navigate the space as well. My work has implications for how we as a species address planetary-scale challenges and whether we can organize societies to find emergent solutions to complex problems. Behind my artistic interest is the idea that "creation" has no teleological impulse. The creative force from...

  17. INVESTIGATION OF FISCAL AND BUDGETARY POLICIES BASED ON ECONOMIC THEORIES

    Directory of Open Access Journals (Sweden)

    EMILIA CAMPEANU

    2011-04-01

    Full Text Available Empirical analysis of fiscal and budgetary policies cannot be achieved without first knowing how they are viewed in the economic theories. This approach is important to indicate the position and implications of fiscal and budgetary policy tools in the economic theory considering their major differences. Therefore, the paper aims is to investigate the fiscal and budgetary policies based on economic theories such as neoclassical, Keynesian and neo-Keynesian theory in order to indicate their divergent points. Once known these approaches at the economic theory level is easier to establish the appropriate measures taking into consideration the framing of a country economy in a certain pattern. This work was supported from the European Social Fund through Sectoral Operational Programme Human Resources Development 2007-2013, project number POSDRU/89/1.5/S/59184 „Performance and excellence in postdoctoral research in Romanian economics science domain” (contract no. 0501/01.11.2010.

  18. Age replacement policy based on imperfect repair with random probability

    International Nuclear Information System (INIS)

    Lim, J.H.; Qu, Jian; Zuo, Ming J.

    2016-01-01

    In most of literatures of age replacement policy, failures before planned replacement age can be either minimally repaired or perfectly repaired based on the types of failures, cost for repairs and so on. In this paper, we propose age replacement policy based on imperfect repair with random probability. The proposed policy incorporates the case that such intermittent failure can be either minimally repaired or perfectly repaired with random probabilities. The mathematical formulas of the expected cost rate per unit time are derived for both the infinite-horizon case and the one-replacement-cycle case. For each case, we show that the optimal replacement age exists and is finite. - Highlights: • We propose a new age replacement policy with random probability of perfect repair. • We develop the expected cost per unit time. • We discuss the optimal age for replacement minimizing the expected cost rate.

  19. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  20. Dynamic Fuzzy Logic Parameter Tuning for ACO and Its Application in the Fuzzy Logic Control of an Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Oscar Castillo

    2013-01-01

    Full Text Available Ant Colony Optimization (ACO is a population-based constructive meta-heuristic that exploits a form of past performance memory inspired by the foraging behaviour of real ants. The behaviour of the ACO algorithm is highly dependent on the values defined for its parameters. Adaptation and parameter control are recurring themes in the field of bio-inspired algorithms. The present paper explores a new approach to diversity control in ACO. The central idea is to avoid or slow down full convergence through the dynamic variation of certain parameters. The performance of different variants of the ACO algorithm was observed to choose one as the basis for the proposed approach. A convergence fuzzy logic controller with the objective of maintaining diversity at some level to avoid premature convergence was created. Encouraging results have been obtained on its application to the design of fuzzy controllers. In particular, the optimization of membership functions for a unicycle mobile robot trajectory control is presented with the proposed method.

  1. Effectiveness of Tai Chi on Cardiac Autonomic Function and Symptomatology in Women With Fibromyalgia: A Randomized Controlled Trial.

    Science.gov (United States)

    Wong, Alexei; Figueroa, Arturo; Sanchez-Gonzalez, Marcos A; Son, Won-Mok; Chernykh, Oksana; Park, Song-Young

    2018-04-01

    The present study examined the effects of a 12-week Tai Chi (TC) training regimen on heart rate variability (HRV), symptomatology, muscle fitness and body composition in women with fibromyalgia. Participants were randomly assigned to either a TC training group (n = 18) or a control group (n = 19). HRV, symptomatology, muscle fitness and body composition were measured before and after 12 weeks. There were significant decreases (p body composition after TC or control. TC may be an effective therapeutic intervention for improving sympathovagal balance, pain, fatigue, strength and flexibility in women with fibromyalgia.

  2. Epileptic Seizures are Reduced by Autonomic Biofeedback Therapy Through Enhancement of Fronto-limbic Connectivity: A Controlled Trial and Neuroimaging Study

    Directory of Open Access Journals (Sweden)

    Yoko Nagai

    2018-01-01

    Interpretation: Our clinical study provides evidence for autonomic biofeedback therapy as an effective and potent behavioral intervention for patients with drug-resistant epilepsy. This approach is non-pharmacological, non-invasive and seemingly side-effect free.

  3. Autonomous spacecraft rendezvous and docking

    Science.gov (United States)

    Tietz, J. C.; Almand, B. J.

    A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

  4. Genetic autonomic disorders.

    Science.gov (United States)

    Axelrod, Felicia B

    2013-03-01

    Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. Copyright © 2013 Elsevier Inc. All rights reserved.

  5. Evaluation of an autonomous GPS-based system for intra-row weed control by assessing the tilled area

    DEFF Research Database (Denmark)

    Nørremark, M; Griepentrog, H W; Nielsen, J

    2012-01-01

    -1 and at even plant spacing. A double pass, once on each side of the row in opposite directions, provided higher soil disturbance intensity and resulted in tillage of 31–58% of the intra-row area with highest coverage at a speed of 0.32 m s-1. The intra-row weed control effect was predicted to be up......An automatic tillage system for inter- and intra-row weed control based on real-time kinematic GPS navigation and control has been used to address the problem of mechanically removing weeds within rows of precision seeded crops. The system comprised a side-shifting frame with an attached tine...... crop plants. The system evaluation was based on quantification of treated areas for uprooting and burial and the corresponding prediction of weed control efficiencies. A single pass of an 80 mm wide row band provided tillage of 30–49% of the intra-row area, with highest coverage at a speed of 0.32 m s...

  6. The role of autonomic function in exercise-induced endogenous analgesia : a case-control study in myalgic encephalomyelitis/chronic fatigue syndrome and healthy people

    OpenAIRE

    Van Oosterwijck, Jessica; Marusic, Uros; De Wandele, Inge; Paul, Lorna; Meeus, Mira; Moorkens, Greta; Lambrecht, Luc; Danneels, Lieven; Nijs, Jo

    2017-01-01

    BACKGROUND: Patients with myalgic encephalomyelitis / chronic fatigue syndrome (ME/CFS) are unable to activate brain-orchestrated endogenous analgesia (or descending inhibition) in response to exercise. This physiological impairment is currently regarded as one factor explaining post-exertional malaise in these patients. Autonomic dysfunction is also a feature of ME/CFS. OBJECTIVES: This study aims to examine the role of the autonomic nervous system in exercise-induced analgesia in healthy...

  7. Models Supporting Trajectory Planning in Autonomous Vehicles

    OpenAIRE

    Ward, Erik

    2018-01-01

    Autonomous vehicles have the potential to drastically improve the safety, efficiency and cost of transportation. Instead of a driver, an autonomous vehicle is controlled by an algorithm, offering improved consistency and the potential to eliminate human error from driving: by far the most common cause of accidents. Data collected from different types of sensors, along with prior information such as maps, are used to build models of the surrounding traffic scene, encoding relevant aspects of t...

  8. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti

    2014-12-01

    Full Text Available Diabetic autonomic neuropathy (DAN is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy (CAN defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis and management of DAN, with some mention to childhood and adolescent population.

  9. A non-autonomous optimal control model of renewable energy production under the aspect of fluctuating supply and learning by doing.

    Science.gov (United States)

    Moser, Elke; Grass, Dieter; Tragler, Gernot

    Given the constantly raising world-wide energy demand and the accompanying increase in greenhouse gas emissions that pushes the progression of climate change, the possibly most important task in future is to find a carbon-low energy supply that finds the right balance between sustainability and energy security. For renewable energy generation, however, especially the second aspect turns out to be difficult as the supply of renewable sources underlies strong volatility. Further on, investment costs for new technologies are so high that competitiveness with conventional energy forms is hard to achieve. To address this issue, we analyze in this paper a non-autonomous optimal control model considering the optimal composition of a portfolio that consists of fossil and renewable energy and which is used to cover the energy demand of a small country. While fossil energy is assumed to be constantly available, the supply of the renewable resource fluctuates seasonally. We further on include learning effects for the renewable energy technology, which will underline the importance of considering the whole life span of such a technology for long-term energy planning decisions.

  10. Continuous intraoperative monitoring of pelvic autonomic nerves during TME to prevent urogenital and anorectal dysfunction in rectal cancer patients (NEUROS): a randomized controlled trial

    International Nuclear Information System (INIS)

    Kauff, D. W.; Kronfeld, K; Gorbulev, S; Wachtlin, D; Lang, H; Kneist, W

    2016-01-01

    Urinary, sexual and anorectal sequelae are frequent after rectal cancer surgery and were found to be related to intraoperative neurogenic impairment. Neuromonitoring methods have been developed to identify and preserve the complex pelvic autonomic nervous system in order to maintain patients’ quality of life. So far no randomized study has been published dealing with the role of neuromonitoring in rectal cancer surgery. NEUROS is a prospective two-arm randomized controlled multicenter clinical trial comparing the functional outcome in rectal cancer patients undergoing total mesorectal excision (TME) with and without pelvic intraoperative neuromonitoring (pIONM). A total of 188 patients will be included. Primary endpoint is the urinary function measured by the International Prostate Symptom Score. Secondary endpoints consist of sexual, anorectal functional outcome and safety, especially oncologic safety and quality of TME. Sexual function is assessed in females with the Female Sexual Function Index and in males with the International Index of Erectile Function. For evaluation of anorectal function the Wexner-Vaizey score is used. Functional evaluation is scheduled before radiochemotherapy (if applicable), preoperatively (baseline), before hospital discharge, 3 and 6 months after stoma closure and 12 months after surgery. For assessment of safety adverse events, the rates of positive resection margins and quality of mesorectum are documented. This study will provide high quality evidence on the efficacy of pIONM aiming for improvement of functional outcome in rectal cancer patients undergoing TME. Clinicaltrials.gov: NCT01585727. Registration date is 04/25/2012

  11. Improving cerebral oxygenation, cognition and autonomic nervous system control of a chronic alcohol abuser through a three-month running program

    Directory of Open Access Journals (Sweden)

    Daniel Aranha Cabral

    2017-12-01

    Full Text Available The abusive use of alcohol has shown to be associated to cerebral damage, impaired cognition, poor autonomic nervous control, impaired cardiovascular health, increased levels of stress and anxiety, depression symptoms and poor quality of life. Aerobic exercise has shown to be an efficient tool to reduce and overcome these issues. In this case report, a patient (forty-four years old, male under treatment in public psychiatric hospital, classified as having a substance use disorder, underwent a three-month running program. The maximal oxygen consumption increased from 24.2ml/kg/min to 30.1ml/kg/min, running time increased from 6min to 45min (650% and distance covered from 765m to 8700m (1037.2%. In prefrontal cortex oxygenation, oxyhemoglobin levels improved by 76.1%, deoxyhemoglobin decreased 96.9% and total hemoglobin increased 78.8% during exercise. Reaction time in the cognitive test during rest decreased 23%, and the number of correct answers increased by 266.6%. Parasympathetic cardiac parameters increased in several heart rate variability indices. Thus, we conclude that running exercise performed by an alcoholic patient hospitalized in a psychiatric hospital improves cerebral function, cognition and cardiovascular health. Keywords: Alcohol addiction, Near infrared spectroscopy, Prefrontal cortex, Running exercise, Treatment

  12. The effects of autonomous difficulty selection on engagement, motivation, and learning in a motion-controlled video game task.

    Science.gov (United States)

    Leiker, Amber M; Bruzi, Alessandro T; Miller, Matthew W; Nelson, Monica; Wegman, Rebecca; Lohse, Keith R

    2016-10-01

    This experiment investigated the relationship between motivation, engagement, and learning in a video game task. Previous studies have shown increased autonomy during practice leads to superior retention of motor skills, but it is not clear why this benefit occurs. Some studies suggest this benefit arises from increased motivation during practice; others suggest the benefit arises from better information processing. Sixty novice participants were randomly assigned to a self-controlled group, who chose the progression of difficulty during practice, or to a yoked group, who experienced the same difficulty progression but did not have choice. At the end of practice, participants completed surveys measuring intrinsic motivation and engagement. One week later, participants returned for a series of retention tests at three different difficulty levels. RM-ANCOVA (controlling for pre-test) showed that the self-controlled group had improved retention compared to the yoked group, on average, β=46.78, 95% CI=[2.68, 90.87], p=0.04, but this difference was only statistically significant on the moderate difficulty post-test (p=0.004). The self-controlled group also showed greater intrinsic motivation during practice, t(58)=2.61, p=0.01. However, there was no evidence that individual differences in engagement (p=0.20) or motivation (p=0.87) were associated with learning, which was the relationship this experiment was powered to detect. These data are inconsistent with strictly motivational accounts of how autonomy benefits learning, instead suggesting the benefits of autonomy may be mediated through other mechanisms. For instance, within the information processing framework, the learning benefits may emerge from learners appropriately adjusting difficulty to maintain an appropriate level of challenge (i.e., maintaining the relationship between task demands and cognitive resources). Copyright © 2016 Elsevier B.V. All rights reserved.

  13. Autonomic dysfunction in different subtypes of multiple system atrophy.

    Science.gov (United States)

    Schmidt, Claudia; Herting, Birgit; Prieur, Silke; Junghanns, Susann; Schweitzer, Katherine; Globas, Christoph; Schöls, Ludger; Reichmann, Heinz; Berg, Daniela; Ziemssen, Tjalf

    2008-09-15

    Multiple system atrophy (MSA) can clinically be divided into the cerebellar (MSA-C) and the parkinsonian (MSA-P) variant. However, till now, it is unknown whether autonomic dysfunction in these two entities differs regarding severity and profile. We compared the pattern of autonomic dysfunction in 12 patients with MSA-C and 26 with MSA-P in comparison with 27 age- and sex-matched healthy controls using a standard battery of autonomic function tests and a structured anamnesis of the autonomic nervous system. MSA-P patients complained significantly more often about the symptoms of autonomic dysfunctions than MSA-C patients, especially regarding vasomotor, secretomotor, and gastrointestinal subsystems. However, regarding cardiovascular, sudomotor pupil, urogenital, and sleep subsystems, there were no significant quantitative or qualitative differences as analyzed by autonomic anamnesis and testing. Our results suggest that there are only minor differences in the pattern of autonomic dysfunction between the two clinical MSA phenotypes. (c) 2007 Movement Disorder Society.

  14. Autonomous control of metabolic state by a quorum sensing (QS)-mediated regulator for bisabolene production in engineered E. coli

    DEFF Research Database (Denmark)

    Kim, Eun-Mi; Min Woo, Han; Tian, Tian

    2017-01-01

    as it is self-regulated and does not require the addition of inducer compounds, which reduce operational costs for inducer. In this study, a QS system was developed for inducer-free production of the biofuel compound bisabolene from engineered E. coli. Seven variants of the Sensor plasmid, which carry the lux......I-luxR genes, and four variants of the Response plasmid, which carry bisabolene producing pathway genes under the control of the PluxI promoter, were designed for optimization of bisabolene production. Furthermore, a chromosome-integrated QS strain was engineered with the best combination of Sensor...

  15. Double-Quadrant State-of-Charge-Based Droop Control Method for Distributed Energy Storage Systems in Autonomous DC Microgrids

    DEFF Research Database (Denmark)

    Lu, Xiaonan; Sun, Kai; Guerrero, Josep M.

    2015-01-01

    more power, and the one with lower SoC delivers less power. Hence, SoC balancing and injected/output power equalization can be gradually realized. The exponent n of the SoC is employed in the control diagram to regulate the speed of SoC balancing. It is found that with larger exponent n, the balancing...... speed is higher. MATLAB/Simulink model comprised of three ESUs is implemented, and the simulation results are shown to verify the proposed approach....

  16. Development of an autonomous power system testbed

    International Nuclear Information System (INIS)

    Barton, J.R.; Adams, T.; Liffring, M.E.

    1985-01-01

    A power system testbed has been assembled to advance the development of large autonomous electrical power systems required for the space station, spacecraft, and aircraft. The power system for this effort was designed to simulate single- or dual-bus autonomous power systems, or autonomous systems that reconfigure from a single bus to a dual bus following a severe fault. The approach taken was to provide a flexible power system design with two computer systems for control and management. One computer operates as the control system and performs basic control functions, data and command processing, charge control, and provides status to the second computer. The second computer contains expert system software for mission planning, load management, fault identification and recovery, and sends load and configuration commands to the control system

  17. Cardiovascular autonomic neuropathy in diabetes

    DEFF Research Database (Denmark)

    Spallone, Vincenza; Ziegler, Dan; Freeman, Roy

    2011-01-01

    Cardiovascular Autonomic Neuropathy (CAN) Subcommittee of Toronto Consensus Panel on Diabetic Neuropathy worked to update CAN guidelines, with regard to epidemiology, clinical impact, diagnosis, usefulness of CAN testing, and management. CAN is the impairment of cardiovascular autonomic control...... in type 2 diabetes. CAN is a risk marker of mortality and cardiovascular morbidity, and possibly a progression promoter of diabetic nephropathy. Criteria for CAN diagnosis and staging are: 1. one abnormal cardio-vagal test identifies possible or early CAN; 2. at least two abnormal cardio-vagal tests....... diagnosis of CAN clinical forms, 2. detection and tailored treatment of CAN clinical correlates (e.g. tachycardia, OH, nondipping, QT interval prolongation), 3. risk stratification for diabetic complications and cardiovascular morbidity and mortality, and 4. modulation of targets of diabetes therapy...

  18. The Human Element and Autonomous Ships

    Directory of Open Access Journals (Sweden)

    Sauli Ahvenjärvi

    2016-09-01

    Full Text Available The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.

  19. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    Directory of Open Access Journals (Sweden)

    Heung Yong Jin

    2015-12-01

    Full Text Available Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM and type 2 diabetes mellitus (T2DM. Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN. Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed.

  20. Autonomous Systems and Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Systems and Operations (ASO) project will develop an understanding of the impacts of increasing communication time delays on mission operations,...

  1. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

    Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren

    1998-01-01

    Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

  2. Simple autonomous Mars walker

    Science.gov (United States)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

    1989-01-01

    Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

  3. Is paramecium swimming autonomic?

    Science.gov (United States)

    Bandyopadhyay, Promode R.; Toplosky, Norman; Hansen, Joshua

    2010-11-01

    We seek to explore if the swimming of paramecium has an underlying autonomic mechanism. Such robotic elements may be useful in capturing the disturbance field in an environment in real time. Experimental evidence is emerging that motion control neurons of other animals may be present in paramecium as well. The limit cycle determined using analog simulation of the coupled nonlinear oscillators of olivo-cerebellar dynamics (ieee joe 33, 563-578, 2008) agrees with the tracks of the cilium of a biological paramecium. A 4-motor apparatus has been built that reproduces the kinematics of the cilium motion. The motion of the biological cilium has been analyzed and compared with the results of the finite element modeling of forces on a cilium. The modeling equates applied torque at the base of the cilium with drag, the cilium stiffness being phase dependent. A low friction pendulum apparatus with a multiplicity of electromagnetic actuators is being built for verifying the maps of the attractor basin computed using the olivo-cerebellar dynamics for different initial conditions. Sponsored by ONR 33.

  4. Advancing Autonomous Operations for Deep Space Vehicles

    Science.gov (United States)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  5. Autonomous power networks based power system

    International Nuclear Information System (INIS)

    Jokic, A.; Van den Bosch, P.P.J.

    2006-01-01

    This paper presented the concept of autonomous networks to cope with this increased complexity in power systems while enhancing market-based operation. The operation of future power systems will be more challenging and demanding than present systems because of increased uncertainties, less inertia in the system, replacement of centralized coordinating activities by decentralized parties and the reliance on dynamic markets for both power balancing and system reliability. An autonomous network includes the aggregation of networked producers and consumers in a relatively small area with respect to the overall system. The operation of an autonomous network is coordinated and controlled with one central unit acting as an interface between internal producers/consumers and the rest of the power system. In this study, the power balance problem and system reliability through provision of ancillary services was formulated as an optimization problem for the overall autonomous networks based power system. This paper described the simulation of an optimal autonomous network dispatching in day ahead markets, based on predicted spot prices for real power, and two ancillary services. It was concluded that large changes occur in a power systems structure and operation, most of them adding to the uncertainty and complexity of the system. The introduced concept of an autonomous power network-based power system was shown to be a realistic and consistent approach to formulate and operate a market-based dispatch of both power and ancillary services. 9 refs., 4 figs

  6. Cardiovascular Autonomic Neuropathy in Systemic Lupus Erythematosus.

    Science.gov (United States)

    Alam, Md Mahboob; Das, Pinaki; Ghosh, Parasar; Zaman, Md Salim Uz; Boro, Madhusmita; Sadhu, Manika; Mazumdar, Ardhendu

    2015-01-01

    Objective is to evaluate cardiovascular autonomic function in SLE by simple non-invasive tests. A case control study was carried out involving 18-50 yrs old previously diagnosed SLE patients and same number of age and sex-matched controls. Parasympathetic function was assessed by heart rate (HR) response to Valsalva maneuver, deep breathing and standing. Sympathetic function was evaluated by blood pressure response to standing and sustained hand-grip test (HGT). There were 50 female SLE patients. They had significantly higher minimum resting HR and diastolic blood pressure (DBP). HR variation with deep breathing, expiratory inspiratory ratio, 30:15 ratio and DBP change in response to HGT were significantly lower inpatients compared to controls. Thirty patients (60%) had at least one abnormal or two borderline test results indicating autonomic impairment of which 27 had parasympathetic dysfunction and 7 had sympathetic dysfunction. Autonomic dysfunction is common in SLE with higher prevalence of parasympathetic impairment.

  7. Autonomic cardiac innervation

    Science.gov (United States)

    Hasan, Wohaib

    2013-01-01

    Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targets, upon which target-derived trophic factors take over final maturation, synaptic strength and postnatal survival. Although target-derived neurotrophins have a central role to play in development, alternative sources of neurotrophins may also modulate innervation. Both developing and adult sympathetic neurons express proNGF, and adult parasympathetic cardiac ganglion neurons also synthesize and release NGF. The physiological function of these “non-classical” cardiac sources of neurotrophins remains to be determined, especially in relation to autocrine/paracrine sustenance during development.   Cardiac autonomic nerves are closely spatially associated in cardiac plexuses, ganglia and pacemaker regions and so are sensitive to release of neurotransmitter, neuropeptides and trophic factors from adjacent nerves. As such, in many cardiac pathologies, it is an imbalance within the two arms of the autonomic system that is critical for disease progression. Although this crosstalk between sympathetic and parasympathetic nerves has been well established for adult nerves, it is unclear whether a degree of paracrine regulation occurs across the autonomic limbs during development. Aberrant nerve remodeling is a common occurrence in many adult cardiovascular pathologies, and the mechanisms regulating outgrowth or denervation are disparate. However, autonomic neurons display considerable plasticity in this regard with neurotrophins and inflammatory cytokines having a central regulatory

  8. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    First we review innovative control architectures in electric power systems such as Microgrids, Virtual power plants and Cell based systems. We evaluate application of autonomous systems and intelligent agents in each of these control architectures particularly in the context of Denmark's strategic energy plans. The second ...

  9. Letting Go of Control to the Learners: The Role of the Internet in Promoting a More Autonomous View of Learning in an Academic Translation Course.

    Science.gov (United States)

    Yumuk, Ayse

    2002-01-01

    English-speaking Turkish translation students (n=90) were taught to apply Internet searches to translation tasks. Pre/post program data indicate that student learned to reflect critically on their learning and to shift from teacher-dependent to autonomous approaches. They recognized that translation required more personal responsibility from the…

  10. Continuous glucose monitoring adds information beyond HbA1c in well-controlled diabetes patients with early cardiovascular autonomic neuropathy

    DEFF Research Database (Denmark)

    Fleischer, Jesper; Laugesen, Esben; Cichosz, Simon Lebech

    2017-01-01

    AIMS: Hyperglycemia as evaluated by HbA1c is a risk factor for the development of cardiovascular autonomic neuropathy (CAN). The aim of the present study was to investigate whether continuous glucose monitoring (CGM) may add information beyond HbA1c in patients with type 2 diabetes and CAN. METHO...

  11. Autonomic reactivity of children to separation and reunion with foster parents

    NARCIS (Netherlands)

    Schuengel, C.; Oosterman, M.

    2007-01-01

    OBJECTIVE: To determine whether foster children showed different autonomic nervous system activity on separation and reunion than control children. Autonomic nervous system activity in foster children was examined in relation to time in placement and disinhibited attachment. METHOD: The sample

  12. Autonomous quality assurance and troubleshooting

    Science.gov (United States)

    DuPlain, Ronald F.; Radziwill, Nicole M.; Shelton, Amy L.

    2006-06-01

    To improve operational availability (the proportion of time that a telescope is able to accomplish what a visiting observer wants at the time the observation is scheduled), response time to faults must be minimized. One way this can be accomplished is by characterizing the relationships and interdependencies between components in a control system, developing algorithms to identify the root cause of a problem, and capturing expert knowledge of a system to simplify the process of troubleshooting. Results from a prototype development are explained, along with deployment issues. Implications for the future, such as effective knowledge representation and management, and learning processes which integrate autonomous and interactive components, are discussed.

  13. Artificial Intelligence in Autonomous Telescopes

    Science.gov (United States)

    Mahoney, William; Thanjavur, Karun

    2011-03-01

    Artificial Intelligence (AI) is key to the natural evolution of today's automated telescopes to fully autonomous systems. Based on its rapid development over the past five decades, AI offers numerous, well-tested techniques for knowledge based decision making essential for real-time telescope monitoring and control, with minimal - and eventually no - human intervention. We present three applications of AI developed at CFHT for monitoring instantaneous sky conditions, assessing quality of imaging data, and a prototype for scheduling observations in real-time. Closely complementing the current remote operations at CFHT, we foresee further development of these methods and full integration in the near future.

  14. Autonomous calibration of single spin qubit operations

    Science.gov (United States)

    Frank, Florian; Unden, Thomas; Zoller, Jonathan; Said, Ressa S.; Calarco, Tommaso; Montangero, Simone; Naydenov, Boris; Jelezko, Fedor

    2017-12-01

    Fully autonomous precise control of qubits is crucial for quantum information processing, quantum communication, and quantum sensing applications. It requires minimal human intervention on the ability to model, to predict, and to anticipate the quantum dynamics, as well as to precisely control and calibrate single qubit operations. Here, we demonstrate single qubit autonomous calibrations via closed-loop optimisations of electron spin quantum operations in diamond. The operations are examined by quantum state and process tomographic measurements at room temperature, and their performances against systematic errors are iteratively rectified by an optimal pulse engineering algorithm. We achieve an autonomous calibrated fidelity up to 1.00 on a time scale of minutes for a spin population inversion and up to 0.98 on a time scale of hours for a single qubit π/2 -rotation within the experimental error of 2%. These results manifest a full potential for versatile quantum technologies.

  15. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Science.gov (United States)

    Dixit, Vinayak V; Chand, Sai; Nair, Divya J

    2016-01-01

    Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

  16. Autonomous Vehicles: Disengagements, Accidents and Reaction Times

    Science.gov (United States)

    Dixit, Vinayak V.; Chand, Sai; Nair, Divya J.

    2016-01-01

    Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems. PMID:27997566

  17. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Directory of Open Access Journals (Sweden)

    Vinayak V Dixit

    Full Text Available Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

  18. Cardiovascular autonomic dysfunction due to diabetes mellitus: An ...

    African Journals Online (AJOL)

    Cardiovascular autonomic neuropathy (CAN) is a common form of diabetes autonomic neuropathy, causes abnormalities in heart rate control as well as central and peripheral vascular dynamics, and may carry an increased risk of mortality. The aim of this article was to review the importance of identifying CAN and ...

  19. Autonomous Forest Fire Detection

    NARCIS (Netherlands)

    Breejen, E. den; Breuers, M.; Cremer, F.; Kemp, R.A.W.; Roos, M.; Schutte, K.; Vries, J.S. de

    1998-01-01

    Forest fire detection is a very important issue in the pre-suppression process. Timely detection allows the suppression units to reach the fire in its initial stages and this will reduce the suppression costs considerably. The autonomous forest fire detection principle is based on temporal contrast

  20. Towards autonomous vehicles.

    Science.gov (United States)

    2013-11-01

    We are moving towards an age of autonomous vehicles. Cycles of innovation initiated in the public and private sectors : have led one into another since the 1990s; and out of these efforts have sprung a variety of Advanced Driver Assistance : Systems ...

  1. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

    van Oosten, Daan C.; Nijenhuis, Lucas F.J.; Bakkers, André; Vervoort, Wiek

    1996-01-01

    This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is

  2. Autonomous Lawnmower using FPGA implementation.

    Science.gov (United States)

    Ahmad, Nabihah; Lokman, Nabill bin; Helmy Abd Wahab, Mohd

    2016-11-01

    Nowadays, there are various types of robot have been invented for multiple purposes. The robots have the special characteristic that surpass the human ability and could operate in extreme environment which human cannot endure. In this paper, an autonomous robot is built to imitate the characteristic of a human cutting grass. A Field Programmable Gate Array (FPGA) is used to control the movements where all data and information would be processed. Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL) is used to describe the hardware using Quartus II software. This robot has the ability of avoiding obstacle using ultrasonic sensor. This robot used two DC motors for its movement. It could include moving forward, backward, and turning left and right. The movement or the path of the automatic lawn mower is based on a path planning technique. Four Global Positioning System (GPS) plot are set to create a boundary. This to ensure that the lawn mower operates within the area given by user. Every action of the lawn mower is controlled by the FPGA DE' Board Cyclone II with the help of the sensor. Furthermore, Sketch Up software was used to design the structure of the lawn mower. The autonomous lawn mower was able to operate efficiently and smoothly return to coordinated paths after passing the obstacle. It uses 25% of total pins available on the board and 31% of total Digital Signal Processing (DSP) blocks.

  3. Psychometric properties and factor structure of the adapted Self-Regulation Questionnaire assessing autonomous and controlled motivation for healthful eating among youth with type 1 diabetes and their parents.

    Science.gov (United States)

    Quick, V; Lipsky, L M; Nansel, T R

    2018-07-01

    The purpose of this cross-sectional study was to examine the psychometric properties of 2 adapted Self-Regulation Questionnaire (SRQ) measures assessing youth with type 1 diabetes motivation internalization for healthful eating and their parents motivation internalization for providing healthy meals for the family. External validity of the adapted SRQ was evaluated with respect to healthy eating attitudes (healthful eating self-efficacy, barriers, and outcome expectations) assessed by questionnaire, diet quality (Healthy Eating Index-2005 [HEI-2005]; Nutrient-Rich Foods Index 9.3 [NRF9.3]; Whole Plant Food Density [WPFD]) assessed by 3-day food records, and body mass index assessed by measured height and weight in youth with type 1 diabetes (N = 136; age 12.3 ± 2.5 years) and their parents. Exploratory factor analysis with varimax rotation yielded a 2-factor structure with the expected autonomous and controlled motivation factors for both youth and parents. Internal consistencies of subscales were acceptable (α = .66-.84). Youth autonomous and controlled motivation were positively correlated overall (r = 0.30, p parent: r = 0.36), positive outcome expectations (youth: r = 0.30, parent: r = 0.35), and fewer barriers to healthful eating (youth: r = -0.36, parent: r = -0.32). Controlled motivation was positively correlated with negative outcome expectations for parents (r = 0.29, p expectations for youth. Autonomous motivation was positively associated (p parents (NRF9.3 r = 0.22; WPFD r = 0.24; HEI-2005 r = 0.22) and youth ≥13 years (NRF9.3 r = 0.26) but not youth parents, but not youth, body mass index was associated negatively with autonomous motivation (r = -.33, p < .001) and positively with controlled motivation (r = .27, p < .01). Findings provide initial support for the SRQ in this population and suggest potential developmental differences in the role of motivation on healthful eating among children, adolescents

  4. Autonomous scheduling technology for Earth orbital missions

    Science.gov (United States)

    Srivastava, S.

    1982-01-01

    The development of a dynamic autonomous system (DYASS) of resources for the mission support of near-Earth NASA spacecraft is discussed and the current NASA space data system is described from a functional perspective. The future (late 80's and early 90's) NASA space data system is discussed. The DYASS concept, the autonomous process control, and the NASA space data system are introduced. Scheduling and related disciplines are surveyed. DYASS as a scheduling problem is also discussed. Artificial intelligence and knowledge representation is considered as well as the NUDGE system and the I-Space system.

  5. Autonomic regulation of hepatic glucose production

    NARCIS (Netherlands)

    Bisschop, Peter H.; Fliers, Eric; Kalsbeek, Andries

    2015-01-01

    Glucose produced by the liver is a major energy source for the brain. Considering its critical dependence on glucose, it seems only natural that the brain is capable of monitoring and controlling glucose homeostasis. In addition to neuroendocrine pathways, the brain uses the autonomic nervous system

  6. Autonomous System Design for Moessbauer Spectra Acquisition

    International Nuclear Information System (INIS)

    Morales, A. L.; Zuluaga, J.; Cely, A.; Tobon, J.

    2001-01-01

    An autonomous system for Moessbauer spectroscopy based in a microcontroller has been designed. A timer of the microcontroller was used to generate the control signal for the Moessbauer linear motor, and a counter for the spectra acquisition. Additionally, the system has its own memory for data storage and a serial port to transmit the data to a computer for its later processing and display

  7. Elements of Autonomous Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan

    In this thesis, we study several central elements of autonomous self-reconfigurable modular robots. Unlike conventional robots such robots are: i) Modular, since robots are assembled from numerous robotic modules. ii) Reconfigurable, since the modules can be combined in a variety of ways. iii) Self......-reconfigurable, since the modules themselves are able to change how they are combined. iv) Autonomous, since robots control themselves without human guidance. Such robots are attractive to study since they in theory have several desirable characteristics, such as versatility, reliability and cheapness. In practice...... however, it is challenging to realize such characteristics since state-of-the-art systems and solutions suffer from several inherent technical and theoretical problems and limitations. In this thesis, we address these challenges by exploring four central elements of autonomous self-reconfigurable modular...

  8. Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments

    Science.gov (United States)

    2012-06-01

    using unmanned vehicles, also known as autonomous vehicles . These autonomous vehicles can be controlled remotely via satellite or radio signals...assault purposes across all services. This major shift to autonomous vehicles has kept a large number of troops out of dangerous environments such as Iraq

  9. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

    In diabetic patients with autonomic neuropathy plasma noradrenaline concentration, used as an index of sympathetic nervous activity, is low. This decrease is, however, only found in patients with a long duration of diabetes with clinically severe autonomic neuropathy. This apparent insensitivity...... of plasma catecholamine measurements is not due to changes in the clearance of catecholamines in diabetic autonomic neuropathy. The physiological responses to infused adrenaline and to noradrenaline are enhanced, for noradrenaline mainly cardiovascular responses. Adrenoceptors (alpha and beta adrenoceptors......) are not altered in circulating blood cells in diabetic autonomic neuropathy. Thus, a generalized up-regulation of adrenoceptors does not occur in diabetic autonomic neuropathy....

  10. Autonomous Real Time Requirements Tracing

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the

  11. Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

    Science.gov (United States)

    Huang, Wan-Ju; Shu, Chih-Hung; Chou, Kun-Ta; Wang, Yi-Fen; Hsu, Yen-Bin; Ho, Ching-Yin; Lan, Ming-Ying

    2013-06-01

    The pathogenesis of laryngopharyngeal reflux (LPR) remains unclear. It is linked to but distinct from gastroesophageal reflux disease (GERD), which has been shown to be related to disturbed autonomic regulation. The aim of this study is to investigate whether autonomic dysfunction also plays a role in the pathogenesis of LPR. Case-control study. Tertiary care center. Seventeen patients with LPR and 19 healthy controls, aged between 19 and 50 years, were enrolled in the study. The patients were diagnosed with LPR if they had a reflux symptom index (RSI) ≥ 13 and a reflux finding score (RFS) ≥ 7. Spectral analysis of heart rate variability (HRV) analysis was used to assess autonomic function. Anxiety and depression levels measured by the Beck Anxiety Inventory (BAI) and Beck Depression Inventory II (BDI-II) were also conducted. In HRV analysis, high frequency (HF) represents the parasympathetic activity of the autonomic nervous system, whereas low frequency (LF) represents the total autonomic activity. There were no significant differences in the LF power and HF power between the 2 groups. However, significantly lower HF% (P = .003) and a higher LF/HF ratio (P = .012) were found in patients with LPR, who demonstrated poor autonomic modulation and higher sympathetic activity. Anxiety was also frequently observed in the patient group. The study suggests that autonomic dysfunction seems to be involved in the pathogenesis of LPR. The potential beneficial effect of autonomic nervous system modulation as a therapeutic modality for LPR merits further investigation.

  12. Functional Evaluation of the Cloud Type Virtual Policy Based Network Management Scheme for the Common Use between Plural Organizations

    Directory of Open Access Journals (Sweden)

    Kazuya Odagiri

    2017-03-01

    Full Text Available In the current Internet system, there are many problems using anonymity of the network communication such as personal information leaks and crimes using the Internet system. This is why TCP/IP protocol used in Internet system does not have the user identification information on the communication data, and it is difficult to supervise the user performing the above acts immediately. As a study for solving the above problem, there is the study of Policy Based Network Management (PBNM. This is the scheme for managing a whole Local Area Network (LAN through communication control for every user. In this PBNM, two types of schemes exist. The first is the scheme for managing the whole LAN by locating the communication control mechanisms on the path between network servers and clients. The second is the scheme of managing the whole LAN by locating the communication control mechanisms on clients. As the second scheme, we have studied theoretically about the Destination Addressing Control System (DACS Scheme. By applying this DACS Scheme to Internet system management, we will realize the policy-based Internet system management. In this paper, as the progression phase of the third phase for the last goal, we perform the functional evaluation of the cloud type virtual PBNM, which can be used by plural organizations.

  13. Constructing regional advantage: platform policies based on related variety and differentiated knowledge bases.

    NARCIS (Netherlands)

    Asheim, B.T.; Boschma, R.A.; Cooke, P.

    2011-01-01

    Constructing regional advantage: platform policies based on related variety and differentiated knowledge bases, Regional Studies. This paper presents a regional innovation policy model based on the idea of constructing regional advantage. This policy model brings together concepts like related

  14. Autonomous Intersection Management

    Science.gov (United States)

    2009-12-01

    detects that the driver is not slowing sufficiently fast. Jaguar, Honda, and BMW offer similar systems. Nissan and Toyota have recently begun offering...that the driver is not braking hard enough. Both Toyota and BMW are currently selling vehicles that can parallel park completely autonomously, even...other vehicles. The system was tested both in simulation and with a robotic vehicle. This work is sponsored by Toyota , who have also currently have an

  15. Autonomía

    OpenAIRE

    Martínez Muñoz, Juan Antonio

    2007-01-01

    En este ensayo la noción de autonomía es estudiada de un modo diferente al sentido habitual; sus implicaciones y las contradicciones que encierra, específicamente como sucedáneo de la genuina libertad. El artículo describe el modelo de hombre presupuesto en su uso. Concluye con su inviabilidad para resolver problemas morales y sociales.

  16. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

  17. Highly Skilled Autonomous Vehicles

    OpenAIRE

    Manuel Acosta Reche; Stratis Kanarachos; Mike V Blundell

    2017-01-01

    Recent research suggests that collision mitigation on low grip surfaces might require autonomous vehicles to execute maneuvers such as drift, trail braking or Scandinavian flick. In order to achieve this it is necessary to perceive the vehicle states and their interaction with the environment, and use this information to determine the chassis limits. A first look at the virtual automotive sensing problem is provided, followed by a description of Rally driving modeling approaches. Finally, a c...

  18. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

    Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...

  19. Nature's Autonomous Oscillators

    Science.gov (United States)

    Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.

    2012-01-01

    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  20. Short-term supervised inpatient physiotherapy exercise protocol improves cardiac autonomic function after coronary artery bypass graft surgery--a randomised controlled trial.

    Science.gov (United States)

    Mendes, Renata Gonçalves; Simões, Rodrigo Polaquini; De Souza Melo Costa, Fernando; Pantoni, Camila Bianca Falasco; Di Thommazo, Luciana; Luzzi, Sérgio; Catai, Aparecida Maria; Arena, Ross; Borghi-Silva, Audrey

    2010-01-01

    Coronary artery bypass grafting (CABG) is accompanied by severe impairment of cardiac autonomous regulation (CAR). This study aimed to determine whether a short-term physiotherapy exercise protocol post-CABG, during inpatient cardiac rehabilitation (CR), might improve CAR. Seventy-four patients eligible for CABG were recruited and randomised into physiotherapy exercise group (EG) or physiotherapy usual care group (UCG). EG patients underwent a short-term supervised inpatient physiotherapy exercise protocol consisting of an early mobilisation with progressive exercises plus usual care (respiratory exercises). UCG only received respiratory exercises. Forty-seven patients (24 EG and 23 UGC) completed the study. Outcome measures of CAR included linear and non-linear measures of heart rate variability (HRV) assessed before discharge. By hospital discharge, EG presented significantly higher parasympathetic HRV values [rMSSD, high frequency (HF), SD1)], global power (STD RR, SD2), non-linear HRV indexes [detrended fluctuation analysis (DFA)alpha1, DFAalpha2, approximate entropy (ApEn)] and mean RR compared to UCG (pexercise protocol during inpatient CR improves CAR at the time of discharge. Thus, exercise-based inpatient CR might be an effective non-pharmacological tool to improve autonomic cardiac tone in patient's post-CABG.