WorldWideScience

Sample records for sun tracking control

  1. Developing a multipurpose sun tracking system using fuzzy control

    Energy Technology Data Exchange (ETDEWEB)

    Alata, Mohanad [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan)]. E-mail: alata@just.edu.jo; Al-Nimr, M.A. [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan); Qaroush, Yousef [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan)

    2005-05-01

    The present work demonstrates the design and simulation of time controlled step sun tracking systems that include: one axis sun tracking with the tilted aperture equal to the latitude angle, equatorial two axis sun tracking and azimuth/elevation sun tracking. The first order Sugeno fuzzy inference system is utilized for modeling and controller design. In addition, an estimation of the insolation incident on a two axis sun tracking system is determined by fuzzy IF-THEN rules. The approach starts by generating the input/output data. Then, the subtractive clustering algorithm, along with least square estimation (LSE), generates the fuzzy rules that describe the relationship between the input/output data of solar angles that change with time. The fuzzy rules are tuned by an adaptive neuro-fuzzy inference system (ANFIS). Finally, an open loop control system is designed for each of the previous types of sun tracking systems. The results are shown using simulation and virtual reality. The site of application is chosen at Amman, Jordan (32 deg. North, 36 deg. East), and the period of controlling and simulating each type of tracking system is the year 2003.

  2. Two axes sun tracking system with PLC control

    International Nuclear Information System (INIS)

    Abdallah, Salah; Nijmeh, Salem

    2004-01-01

    In this paper, an electromechanical, two axes sun tracking system is designed and constructed. The programming method of control with an open loop system is employed where the programmable logic controller is used to control the motion of the sun tracking surface. An experimental study was performed to investigate the effect of using two axes tracking on the solar energy collected. The collected energy was measured and compared with that on a fixed surface tilted at 32 deg. towards the south. The results indicate that the measured collected solar energy on the moving surface was significantly larger than that on a fixed surface. The two axes tracking surface showed a better performance with an increase in the collected energy of up to 41.34% compared with the fixed surface

  3. Application of new control strategy for sun tracking

    International Nuclear Information System (INIS)

    Rubio, F.R.; Ortega, M.G.; Gordillo, F.; Lopez-Martinez, M.

    2007-01-01

    The application of high concentration solar cells technology allows a significant increase in the amount of energy collected by solar arrays per unit area. However, to make it possible, more severe specifications on the sun pointing error are required. In fact, the performance of solar cells with concentrators decreases drastically if this error is greater than a small value. These specifications are not fulfilled by simple tracking systems due to different sources of errors (e.g., small misalignments of the structure with respect to geographical north) that appear in practice in low cost, domestic applications. This paper presents a control application of a sun tracker that is able to follow the sun with high accuracy without the necessity of either a precise procedure of installation or recalibration. A hybrid tracking system that consists of a combination of open loop tracking strategies based on solar movement models and closed loop strategies using a dynamic feedback controller is presented. Energy saving factors are taken into account, which implies that, among other factors, the sun is not constantly tracked with the same accuracy, to prevent energy overconsumption by the motors. Simulation and experimental results with a low cost two axes solar tracker are exposed, including a comparison between a classical open loop tracking strategy and the proposed hybrid one

  4. Thermal evaluation of a sun tracking solar cooker

    Energy Technology Data Exchange (ETDEWEB)

    El-Tous, Yousif; Al-Mofleh, Anwar [Department of Electrical Engineering, Faculty of Engineering Technology, Al-Balqa' Applied University, P.O. Box 15008, Amman (Jordan); Badran, Omar. O. [Department of Mechanical Engineering, Faculty of Engineering Technology, Al-Balqa Appllied University, P.O. Box 15008, Amman (Jordan)

    2012-07-01

    Solar energy is one of many important types of renewable energy. Jordan is of great needs for renewable energy systems applications since it depends totally in generation of its required energy on imported oil. This study is an experimental work of tracking system developed for enhancing the solar heating using solar cooker. An electronic sun tracking device was used for rotating the solar heater with the movement of the sun. A comparison between fixed and sun tracked cooker showed that the use of sun tracking increased the heating temperature by 36% due to the increase in radiation concentration and using internal mirror reflectors. The programming method used for tracking control works efficiently in all weather conditions regardless of the presence of clouds. It can be used as backup control circuit in which relays are the essential control devices.

  5. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    International Nuclear Information System (INIS)

    Dicker, M P M; Bond, I P; Weaver, P M; Rossiter, J M

    2014-01-01

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  6. Orbit-attitude coupled motion around small bodies: Sun-synchronous orbits with Sun-tracking attitude motion

    Science.gov (United States)

    Kikuchi, Shota; Howell, Kathleen C.; Tsuda, Yuichi; Kawaguchi, Jun'ichiro

    2017-11-01

    The motion of a spacecraft in proximity to a small body is significantly perturbed due to its irregular gravity field and solar radiation pressure. In such a strongly perturbed environment, the coupling effect of the orbital and attitude motions exerts a large influence that cannot be neglected. However, natural orbit-attitude coupled dynamics around small bodies that are stationary in both orbital and attitude motions have yet to be observed. The present study therefore investigates natural coupled motion that involves both a Sun-synchronous orbit and Sun-tracking attitude motion. This orbit-attitude coupled motion enables a spacecraft to maintain its orbital geometry and attitude state with respect to the Sun without requiring active control. Therefore, the proposed method can reduce the use of an orbit and attitude control system. This paper first presents analytical conditions to achieve Sun-synchronous orbits and Sun-tracking attitude motion. These analytical solutions are then numerically propagated based on non-linear coupled orbit-attitude equations of motion. Consequently, the possibility of implementing Sun-synchronous orbits with Sun-tracking attitude motion is demonstrated.

  7. Design and Implementation of PLC-Based Automatic Sun tracking System for Parabolic Trough Solar Concentrator

    Directory of Open Access Journals (Sweden)

    Wang Jinping

    2016-01-01

    Full Text Available A sun-tracking system for parabolic trough solar concentrators (PTCs is a control system used to orient the concentrator toward the sun always, so that the maximum energy can be collected. The work presented here is a design and development of PLC based sun tracking control system for PTC. Sun tracking control system consists of a Programmable Logic Controller (PLC and a single axis hydraulic drives tracking control system. Hydraulic drives and the necessary tracking angle algorithm have been designed and developed to perform the technical tasks. A PLC unit was employed to control and monitor the mechanical movement of the PTC and to collect and store data related to the tracking angle of PTC. It is found that the tracking error of the system is less than 0.6°. Field experience shows that tracking algorithm act stable and reliable and suit for PTCs.

  8. Maximizing Output Power of a Solar Panel via Combination of Sun Tracking and Maximum Power Point Tracking by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Mohsen Taherbaneh

    2010-01-01

    Full Text Available In applications with low-energy conversion efficiency, maximizing the output power improves the efficiency. The maximum output power of a solar panel depends on the environmental conditions and load profile. In this paper, a method based on simultaneous use of two fuzzy controllers is developed in order to maximize the generated output power of a solar panel in a photovoltaic system: fuzzy-based sun tracking and maximum power point tracking. The sun tracking is performed by changing the solar panel orientation in horizontal and vertical directions by two DC motors properly designed. A DC-DC converter is employed to track the solar panel maximum power point. In addition, the proposed system has the capability of the extraction of solar panel I-V curves. Experimental results present that the proposed fuzzy techniques result in increasing of power delivery from the solar panel, causing a reduction in size, weight, and cost of solar panels in photovoltaic systems.

  9. Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

    Science.gov (United States)

    Chak, Yew-Chung; Varatharajoo, Renuganth

    2016-07-01

    Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to

  10. Intelligent Sun Tracking for a CPV Power Plant

    International Nuclear Information System (INIS)

    Maqsood, Ishtiaq; Emziane, Mahieddine

    2010-01-01

    The output of a solar panel is strongly dependent on the amount of perpendicular light flux falling on its surface, and a tracking system tries to parallel the vector area of the solar panel surface to the incident solar flux. We present a tracking technique based on a two-axis sun sensor which can be used to increase the power output from a number of CPV arrays connected together in a solar power plant. The outdoor testing procedure of the developed two-axis sun sensor is discussed. The detail of the algorithm used together with the related sun tracking equipment is also presented and discussed for the new two axes sun tracking system.

  11. An insight on advantage of hybrid sun–wind-tracking over sun-tracking PV system

    International Nuclear Information System (INIS)

    Rahimi, Masoud; Banybayat, Meisam; Tagheie, Yaghoub; Valeh-e-Sheyda, Peyvand

    2015-01-01

    Graphical abstract: Real photograph of hybrid sun–wind-tracking system. - Highlights: • Novel hybrid sun–wind-tracking system proposed to enhance PV cell performance. • The wind tracker can cool down the PV cell as sun-tracking system work. • The hybrid tracker achieved 7.4% increase in energy gain over the sun tracker. • The overall daily output energy gain was increased by 49.83% by using this system. - Abstract: This paper introduces the design and application of a novel hybrid sun–wind-tracking system. This hybrid system employs cooling effect of wind, besides the advantages of tracking sun for enhancing power output from examined hybrid photovoltaic cell. The principal experiment focuses on comparison between dual-axes sun-tracking and hybrid sun–wind-tracking photovoltaic (PV) panels. The deductions based on the research tests confirm that the overall daily output energy gain was increased by 49.83% compared with that of a fixed system. Moreover, an overall increase of about 7.4% in the output power was found for the hybrid sun–wind-tracking over the two-axis sun tracking system.

  12. Efficiency improvements of photo-voltaic panels using a sun - tracking system

    International Nuclear Information System (INIS)

    Al-Mohamad, A.

    2005-01-01

    This paper presents a sun-tracking design, whereby the movement of a photo-voltaic module was controlled to follow the Sun's radiation using a programmable logic-controller unit (PLC). All electronic circuits and the necessary software have been designed and developed to perform the technical tasks. A PLC unit was employed to control and monitor the mechanical movement of the PV module and to collect and store data related to the Sun's radiation. It is found that the daily output the power of the PV was increased by more than 20% in comparison with that of a fixed module. The PV-tracking system can be employed as a standalone device and it could be connected to a personal computer through the RS232 serial port to monitor the whole process on a computer screen. (author)

  13. Efficiency improvements of photo-voltaic panels using a Sun-tracking system

    International Nuclear Information System (INIS)

    Al-Mohamad, Ali

    2004-01-01

    This paper presents a Sun-tracking design, whereby the movement of a photo-voltaic module was controlled to follow the Sun's radiation using a programmable logic-controller (PLC) unit. All electronic circuits and the necessary software have been designed and developed to perform the technical tasks. A PLC unit was employed to control and monitor the mechanical movement of the PV module and to collect and store data related to the Sun's radiation. It is found that the daily output power of the PV was increased by more than 20% in comparison with that of a fixed module. The PV-tracking system can be employed as a stand-alone device and it could be connected to a personal computer through the RS232 serial port to monitor the whole process on a computer screen

  14. General formula for on-axis sun-tracking system and its application in improving tracking accuracy of solar collector

    Energy Technology Data Exchange (ETDEWEB)

    Chong, K.K.; Wong, C.W. [Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Off Jalan Genting Kelang, Setapak, 53300 Kuala Lumpur (Malaysia)

    2009-03-15

    Azimuth-elevation and tilt-roll tracking mechanism are among the most commonly used sun-tracking methods for aiming the solar collector towards the sun at all times. It has been many decades that each of these two sun-tracking methods has its own specific sun-tracking formula and they are not interrelated. In this paper, the most general form of sun-tracking formula that embraces all the possible on-axis tracking methods is presented. The general sun-tracking formula not only can provide a general mathematical solution, but more significantly it can improve the sun-tracking accuracy by tackling the installation error of the solar collector. (author)

  15. Application of one-axis sun tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Sefa, Ibrahim; Demirtas, Mehmet; Colak, Ilhami [Gazi University, Faculty of Technical Education, Department of Electrical Education, GEMEC-Gazi Electric Machines and Control Group, Ankara (Turkey)

    2009-11-15

    This paper introduces design and application of a novel one-axis sun tracking system which follows the position of the sun and allows investigating effects of one-axis tracking system on the solar energy in Turkey. The tracking system includes a serial communication interface based on RS 485 to monitor whole processes on a computer screen and to plot data as graphic. In addition, system parameters such as the current, the voltage and the panel position have been observed by means of a microcontroller. The energy collected is measured and compared with a fixed solar system for the same solar panel. The results show that the solar energy collected on the tracking system is considerably much efficient than the fixed system. The tracking system developed in this study provides easy installation, simple mechanism and less maintenance. (author)

  16. Application of one-axis sun tracking system

    International Nuclear Information System (INIS)

    Sefa, Ibrahim; Demirtas, Mehmet; Colak, Ilhami

    2009-01-01

    This paper introduces design and application of a novel one-axis sun tracking system which follows the position of the sun and allows investigating effects of one-axis tracking system on the solar energy in Turkey. The tracking system includes a serial communication interface based on RS 485 to monitor whole processes on a computer screen and to plot data as graphic. In addition, system parameters such as the current, the voltage and the panel position have been observed by means of a microcontroller. The energy collected is measured and compared with a fixed solar system for the same solar panel. The results show that the solar energy collected on the tracking system is considerably much efficient than the fixed system. The tracking system developed in this study provides easy installation, simple mechanism and less maintenance.

  17. A parabolic solar cooker with automatic two axes sun tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Al-Soud, Mohammed S.; Akayleh, Ali; Hrayshat, Eyad S. [Electrical Engineering Department, Faculty of Engineering, Tafila Technical University, P.O. Box 66, Tafila 66110 (Jordan); Abdallah, Essam [Mechanical Engineering Department, FET, AL-Balqa Applied University, Amman (Jordan); Abdallah, Salah [Mechanical and Industrial Engineering Department, Applied Science University (Jordan)

    2010-02-15

    A parabolic solar cooker with automatic two axes sun tracking system was designed, constructed, operated and tested to overcome the need for frequent tracking and standing in the sun, facing all concentrating solar cookers with manual tracking, and a programmable logic controller was used to control the motion of the solar cooker. The results of the continuous test - performed for three days from 8:30 h to 16:30 h in the year 2008 - showed that the water temperature inside the cooker's tube reached 90 C in typical summer days, when the maximum registered ambient temperature was 36 C. It was also noticed that the water temperature increases when the ambient temperature gets higher or when the solar intensity is abundant. This is in favor of utilizing this cooker in many developing countries, which are characterized by high solar insulations and high temperatures. Besides cooking, the proposed cooker could be utilized for warming food, drinks as well as to pasteurize water or milk. (author)

  18. An automated method for the evaluation of the pointing accuracy of Sun-tracking devices

    Science.gov (United States)

    Baumgartner, Dietmar J.; Pötzi, Werner; Freislich, Heinrich; Strutzmann, Heinz; Veronig, Astrid M.; Rieder, Harald E.

    2017-03-01

    The accuracy of solar radiation measurements, for direct (DIR) and diffuse (DIF) radiation, depends significantly on the precision of the operational Sun-tracking device. Thus, rigid targets for instrument performance and operation have been specified for international monitoring networks, e.g., the Baseline Surface Radiation Network (BSRN) operating under the auspices of the World Climate Research Program (WCRP). Sun-tracking devices that fulfill these accuracy requirements are available from various instrument manufacturers; however, none of the commercially available systems comprise an automatic accuracy control system allowing platform operators to independently validate the pointing accuracy of Sun-tracking sensors during operation. Here we present KSO-STREAMS (KSO-SunTRackEr Accuracy Monitoring System), a fully automated, system-independent, and cost-effective system for evaluating the pointing accuracy of Sun-tracking devices. We detail the monitoring system setup, its design and specifications, and the results from its application to the Sun-tracking system operated at the Kanzelhöhe Observatory (KSO) Austrian radiation monitoring network (ARAD) site. The results from an evaluation campaign from March to June 2015 show that the tracking accuracy of the device operated at KSO lies within BSRN specifications (i.e., 0.1° tracking accuracy) for the vast majority of observations (99.8 %). The evaluation of manufacturer-specified active-tracking accuracies (0.02°), during periods with direct solar radiation exceeding 300 W m-2, shows that these are satisfied in 72.9 % of observations. Tracking accuracies are highest during clear-sky conditions and on days where prevailing clear-sky conditions are interrupted by frontal movement; in these cases, we obtain the complete fulfillment of BSRN requirements and 76.4 % of observations within manufacturer-specified active-tracking accuracies. Limitations to tracking surveillance arise during overcast conditions and

  19. Design and Manufacturing of a High-Precision Sun Tracking System Based on Image Processing

    Directory of Open Access Journals (Sweden)

    Kianoosh Azizi

    2013-01-01

    Full Text Available Concentration solar arrays require greater solar tracking precision than conventional photovoltaic arrays. This paper presents a high precision low cost dual axis sun tracking system based on image processing for concentration photovoltaic applications. An imaging device is designed according to the principle of pinhole imaging, making sun rays to be received on a screen through pinhole and to be a sun spot. The location of the spot is used to adjust the orientation of the solar panel. A fuzzy logic controller is developed to achieve this goal. A prototype was built, and experimental results have proven the good performance of the proposed system and low error of tracking. The operation of this system is independent of geographical location, initial calibration, and periodical regulations.

  20. Two Axes Sun Tracking System for Heliostat: Case Study in Algeria

    Directory of Open Access Journals (Sweden)

    Mihoub Sofiane

    2016-03-01

    Full Text Available In this paper, using Proteus software, sun tracking system with 2 axes has developped to site of GHARDAIA, in the south of ALGERIA.O2 DC motors have used to move heliostat in N–S and E–W axis polar, in order to tracking the sun path.the distinction between day and night has provided by light dependent resistor (LDR.An algorithm of two axes sun tracking system hab developed and simulated under Proteus software, after DC motor’s parameters have verified and simulated under MATLAB software. The results show that: in the first, the development of the heliostat control requires the knowledge of the position of each heliostat relative to the tower to ensure the proper operation of the motors, and the uniformity of the reflected beam to the target.Then the choice of the drive motors is based on the useful power, including the weight of the heliostat, and all efforts affects on operation of motors in different seasons of the year, like the wind.And The position of the heliostat depends of chopper duty cycle.Finally,Conducting a power tower with mobile heliostats requires a techno-economic study on all components (heliostats, tower... of the plant, for example weather two motors for each heliostat field.

  1. Design, construction and operation of spherical solar cooker with automatic sun tracking system

    International Nuclear Information System (INIS)

    Abu-Malouh, Riyad; Abdallah, Salah; Muslih, Iyad M.

    2011-01-01

    In this work, the effect of two axes tracking on a solar cooking system was studied. A dish was built to concentrate solar radiation on a pan that is fixed at the focus of the dish. The dish tracks the sun using a two axes sun tracking system. This system was built and tested. Experimental results obtained show that the temperature inside the pan reached more than 93 o C in a day where the maximum ambient temperature was 32 o C. This temperature is suitable for cooking purposes and this was achieved by using the two axes sun tracking system.

  2. Analysis of fixed tilt and sun tracking photovoltaic–micro wind based hybrid power systems

    International Nuclear Information System (INIS)

    Sinha, Sunanda; Chandel, S.S.

    2016-01-01

    Graphical abstract: 6 kW_p photovoltaic–micro wind based hybrid power system analysis in a Indian Western Himalayan location. - Highlights: • Power generation by a roof mounted photovoltaic–micro wind hybrid system is explored. • Optimum hybrid configurations using fixed and sun tracking photovoltaic systems are determined. • Analysis of hybrid systems with optimally tilted and different sun tracking systems is presented. • Two axis sun tracking systems are found to generate 4.88–26.29% more energy than fixed tilt system. • Hybrid system installed at optimum tilt angle is found to be cost effective than a sun tracking system. - Abstract: In this study fixed tilt and sun tracking photovoltaic based micro wind hybrid power systems are analyzed along with determining the optimum configurations for a 6 kW_p roof mounted micro wind based hybrid system using fixed and tracking photovoltaic systems to enhance the power generation potential in a low windy Indian hilly terrain with good solar resource. The main objective of the study is to enhance power generation by focusing on photovoltaic component of the hybrid system. A comparative power generation analysis of different configurations of hybrid systems with fixed tilt, monthly optimum tilt, yearly optimum tilt and 6 different sun tracking photovoltaic systems is carried out using Hybrid Optimization Model for Electric Renewables. Monthly and seasonal optimum tilt angles determined for the location vary between 0° and 60° with annual optimum tilt angle as 29.25°. The optimum configurations for all sun tracking systems except for the two axis tracking system is found to be 7 kW_p photovoltaic system, one 5 kW_p wind turbine, 10 batteries and a 2 kW_p inverter. The optimum configuration for two axis tracking system and two types of fixed tilt systems, is found to be a 8 kW_p photovoltaic system, one 5 kW_p wind turbine, 10 batteries and a 2 kW_p inverter. The results show that horizontal axis with

  3. Comparative analysis of fixed and sun tracking low power PV systems considering energy consumption

    International Nuclear Information System (INIS)

    Lazaroiu, George Cristian; Longo, Michela; Roscia, Mariacristina; Pagano, Mario

    2015-01-01

    Highlights: • Photovoltaic system prototype with sun tracking. • Energy analysis of fixed and sun tracking built prototypes. • Experimental tests in different environmental conditions. • Theoretical and experimental validation of the prototype. - Abstract: Photovoltaic technology allows to directly convert solar energy into electrical energy with clear advantages: no environmental impact during operation, reliability and durability of the systems, reduced operating costs and maintenance, ability to both supply remote customers and simply connect to the electrical network. This paper evaluates the performance of two photovoltaic systems: one fixed and one equipped with a sun tracker. The objective of this research is to analyze the increase of daily produced energy by using the sun tracking system. The analysis accounts also the energy consumption of the sun tracker. An analytical approach is proposed. To validate the results through experimental tests, two alternative low power PV systems were built. Each system consists of a PV source, a MPPT (Maximum Power Point Tracker) power converter and a 12 V–40 A h electrochemical battery, which is used as electric load. The sun tracker system evidenced an important growth of power production during morning and evening

  4. Research and application of devices for synchronously tracking the sun

    Energy Technology Data Exchange (ETDEWEB)

    Wei, Ming; Sun, Youhong; Wang, Qinghua; Wu, Xiaohan [Jilin Univ. Changchun (China). College of Construction Engineering

    2008-07-01

    This paper introduces a concept of apparent motion orbit of the sun, and put forward the theory of synchronous (linear) tracking the sun. Using solarium mechanism to trail the running path of solar hour angel, and using modified sine function framework to trace solar apparent declination path, and then connect these two mechanisms with linear transmission chain. More than 45%{proportional_to}122% electricity can be output by the synchronous tracking photovoltaic (PV) devices compare with those fixed PV ones with the same area between the spring equinox to the summer solstice. The 17m{sup 2} heat collector of synchronous tracking, its static wind-driven power consumption is less than 3.5W (0.2W/m{sup 2}), and the gale consumption is less than 7W(0.34W/m{sup 2}). The apparatus can be utilized widely in solar power, heating, lighting systems and other solar energy utilization. (orig.)

  5. Novel high accurate sensorless dual-axis solar tracking system controlled by maximum power point tracking unit of photovoltaic systems

    International Nuclear Information System (INIS)

    Fathabadi, Hassan

    2016-01-01

    Highlights: • Novel high accurate sensorless dual-axis solar tracker. • It has the advantages of both sensor based and sensorless solar trackers. • It does not have the disadvantages of sensor based and sensorless solar trackers. • Tracking error of only 0.11° that is less than the tracking errors of others. • An increase of 28.8–43.6% depending on the seasons in the energy efficiency. - Abstract: In this study, a novel high accurate sensorless dual-axis solar tracker controlled by the maximum power point tracking unit available in almost all photovoltaic systems is proposed. The maximum power point tracking controller continuously calculates the maximum output power of the photovoltaic module/panel/array, and uses the altitude and azimuth angles deviations to track the sun direction where the greatest value of the maximum output power is extracted. Unlike all other sensorless solar trackers, the proposed solar tracking system is a closed loop system which means it uses the actual direction of the sun at any time to track the sun direction, and this is the contribution of this work. The proposed solar tracker has the advantages of both sensor based and sensorless dual-axis solar trackers, but it does not have their disadvantages. Other sensorless solar trackers all are open loop, i.e., they use offline estimated data about the sun path in the sky obtained from solar map equations, so low exactness, cloudy sky, and requiring new data for new location are their problems. A photovoltaic system has been built, and it is experimentally verified that the proposed solar tracking system tracks the sun direction with the tracking error of 0.11° which is less than the tracking errors of other both sensor based and sensorless solar trackers. An increase of 28.8–43.6% depending on the seasons in the energy efficiency is the main advantage of utilizing the proposed solar tracking system.

  6. Optimization Controller for Mechatronic Sun Tracking System to Improve Performance

    Directory of Open Access Journals (Sweden)

    Mustafa Engin

    2013-01-01

    Full Text Available An embedded system that contains hardware and software was developed for two-axis solar tracking system to improve photovoltaic panel utilization. The hardware section of the embedded system consists of a 32-bit ARM core microcontroller, motor driver circuits, a motion control unit, pyranometer, GPS receiver, and an anemometer. The real-time control algorithm enables the solar tracker to operate automatically without external control as a stand-alone system, combining the advantages of the open-loop and the closed-loop control methods. The pyranometer is employed to continuously send radiation data to the controller if the measured radiation is above the lower radiation limit the photovoltaic panel can generate power, guaranteeing the solar tracking process to be highly efficient. The anemometer is utilized in the system to ensure that the solar tracking procedure halts under high wind speed conditions to protect the entire system. Latitude, longitude, altitude, date, and real-time clock data are provided by GPS receiver. The algorithm calculates solar time using astronomical equations with GPS data and converts it to pulse-width modulated motor control signal. The overall objective of this study is to develop a control algorithm that improves performance and reliability of the two-axis solar tracker, focusing on optimization of the controller board, drive hardware, and software.

  7. The Logic-Based Supervisor Control for Sun-Tracking System of 1 MW HCPV Demo Plant: Study Case

    Directory of Open Access Journals (Sweden)

    Hong-Yih Yeh

    2012-02-01

    Full Text Available This paper presents a logic-based supervisor controller designed for trackers for a 1MW HCPV demo plant in Taiwan. A sun position sensor on the tracker is used to detect the sun position, as the sensor is sensitive to the intensity of sun light. The signal output of the sensor is partially affected by the cloud, which has a hard control position with the traditional PID control. Therefore we have used logic-based supervisor (LBS control which permits switching the PID control to sun trajectory under sunny or cloudy conditions. To verify the stability of the proposed control, an experiment was performed and the results show that the proposed control can efficiently achieve stabilization of the trackers of the 1MW HCPV demo plant.

  8. ultra-Stable Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (5STAR)

    Science.gov (United States)

    Dunagan, S. E.; Johnson, R. R.; Redemann, J.; Holben, B. N.; Schmid, B.; Flynn, C. J.; Fahey, L.; LeBlanc, S. E.; Liss, J.; Kacenelenbogen, M. S.; Segal-Rosenhaimer, M.; Shinozuka, Y.; Dahlgren, R. P.; Pistone, K.; Karol, Y.

    2017-12-01

    The Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) combines airborne sun tracking and sky scanning with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to air pollution and climate. Direct beam hyperspectral measurement of optical depth improves retrievals of gas constituents and determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution. Hyperspectral cloud-transmitted radiance measurements enable the retrieval of cloud properties from below clouds. These measurements tighten the closure between satellite and ground-based measurements. 4STAR incorporates a modular sun-tracking/ sky-scanning optical head with optical fiber signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical tracking head, and future detector evolution. 4STAR has supported a broad range of flight experiments since it was first flown in 2010. This experience provides the basis for a series of improvements directed toward reducing measurement uncertainty and calibration complexity, and expanding future measurement capabilities, to be incorporated into a new 5STAR instrument. A 9-channel photodiode radiometer with AERONET-matched bandpass filters will be incorporated to improve calibration stability. A wide dynamic range tracking camera will provide a high precision solar position tracking signal as well as an image of sky conditions around the solar axis. An ultrasonic window cleaning system design will be tested. A UV spectrometer tailored for formaldehyde and SO2 gas retrievals will be added to the spectrometer enclosure. Finally, expansion capability for a 4 channel polarized radiometer to measure the Stokes polarization vector of sky light will be incorporated. This paper presents initial progress on this next-generation 5STAR instrument. Keywords: atmosphere; climate; pollution; radiometry; technology; hyperspectral; fiber optic

  9. Development of Intelligent Fuzzy Controller for a Two-Axis Solar Tracking System

    Directory of Open Access Journals (Sweden)

    Cong-Hui Huang

    2016-05-01

    Full Text Available This paper proposes the development of a two-axis sun tracking solar energy system using fuzzy logic as intelligent quality policy. To achieve maximum efficiency for solar panels, it is necessary to follow the sun’s path in the sky. Therefore, the architecture for the two-axis sun tracking solar energy system uses software to control the hardware. The hardware comprises (i solar cells; (ii lead-acid batteries; (iii a gear box; (iv a stepping motor; and (v a light detection circuit, while the software comprises (i a detection system; (ii a fuzzy tracking controller; and (iii a database system. A fuzzy logic controller is designed as the software architecture of the system to decide the timing for tracking the sun. The nearest position that results in receiving direct sunlight is obtained from the database. Our system is fully automatic in a changing environment and takes into account meteorological changes and the effects of the external environment arising from a malfunction. This approach reduces the number of starting motors and results in smaller energy loss in cloudy, cloud mask, or unstable weather conditions.

  10. Design and Implementation of Neuro-Fuzzy Controller Using FPGA for Sun Tracking System

    OpenAIRE

    Ammar A. Aldair; Adel A. Obed; Ali F. Halihal

    2016-01-01

    Nowadays, renewable energy is being used increasingly because of the global warming and destruction of the environment. Therefore, the studies are concentrating on gain of maximum power from this energy such as the solar energy. A sun tracker is device which rotates a photovoltaic (PV) panel to the sun to get the maximum power. Disturbances which are originated by passing the clouds are one of great challenges in design of the controller in addition to the losses power due to energy consumpti...

  11. Solar tracking control tower; Steuerungstechnik folgt der Sonne

    Energy Technology Data Exchange (ETDEWEB)

    Leu, Andreas [Jetter AG, Ludwigsburg (Germany). Bereich technisches Marketing und Seminare

    2010-11-15

    The ''Gemue-Dome'' building at Waldzimmern is a unique industrial building. The research, development and innovation center has a rotary control tower equipped with solar cells which automatically tracks the sun. This automation task was a challenge for the control and power supply sections. (orig.)

  12. Thermal heliotrope - A passive sun-tracker

    Science.gov (United States)

    Byxbee, R. C.

    1971-01-01

    Continuous sun tracking device consists of helical bimetallic coil and control mechanism. Coil produces torque and angular displacement with temperature change, and acts as device's driving element. Control mechanism, concentric shading mechanism containing bimetallic sensor coil, controls tracking rate and provides for reset cycle.

  13. Flat Optical Fiber Daylighting System with Lateral Displacement Sun-Tracking Mechanism for Indoor Lighting

    Directory of Open Access Journals (Sweden)

    Ngoc Hai Vu

    2017-10-01

    Full Text Available An essential impact which can improve the indoor environment and save on power consumption for artificial lighting is utilization of daylight. Optical fiber daylighting technology offers a way to use direct daylight for remote spaces in a building. However, the existing paradigm based on the precise orientation of sunlight concentrator toward the Sun is very costly and difficult to install on the roof of buildings. Here, we explore an alternative approach using mirror-coated lens array and planar waveguide to develop a flat optical fiber daylighting system (optical fiber daylighting panel with lateral displacement Sun-tracking mechanism. Sunlight collected and reflected by each mirror-coated lens in a rectangular lens array is coupled into a planar waveguide using cone prisms placed at each lens focus. This geometry yields a thin, flat profile for Sunlight concentrator. Our proposed concentrating panel can be achieved with 35 mm thickness while the concentrator’s width and length are 500 mm × 500 mm. The commercial optical simulation tool (LightToolsTM was used to develop the simulation models and analyze the system performance. Simulation results based on the designed system demonstrated an optical efficiency of 51.4% at a concentration ratio of 125. The system can support utilizing a lateral displacement Sun-tracking system, which allows for replacing bulky and robust conventional rotational Sun-tracking systems. This study shows a feasibility of a compact and inexpensive optical fiber daylighting system to be installed on the roof of buildings.

  14. Sun Safe Mode Controller Design for LADEE

    Science.gov (United States)

    Fusco, Jesse C.; Swei, Sean S. M.; Nakamura, Robert H.

    2015-01-01

    This paper presents the development of sun safe controllers which are designed to keep the spacecraft power positive and thermally balanced in the event an anomaly is detected. Employed by NASA's Lunar Atmosphere and Dust Environment Explorer (LADEE), the controllers utilize the measured sun vector and the spacecraft body rates for feedback control. To improve the accuracy of sun vector estimation, the least square minimization approach is applied to process the sensor data, which is proven to be effective and accurate. To validate the controllers, the LADEE spacecraft model engaging the sun safe mode was first simulated and then compared with the actual LADEE orbital fight data. The results demonstrated the applicability of the proposed sun safe controllers.

  15. Automated positioning dual-axis solar tracking system with precision elevation and azimuth angle control

    International Nuclear Information System (INIS)

    Sidek, M.H.M.; Azis, N.; Hasan, W.Z.W.; Ab Kadir, M.Z.A.; Shafie, S.; Radzi, M.A.M.

    2017-01-01

    This paper presents a study on an automated positioning open-loop dual-axis solar tracking system. The solar tracker was designed and fabricated using standard cylindrical aluminium hollow and Polyuthrene (PE). The control system of the solar tracker was governed by Micro Controller Unit (MCU) with auxiliary devices which includes encoder and Global Positioning System (GPS). The sun path trajectory algorithm utilizing the astronomical equation and GPS information was also embedded in the system. The power generation performance of the dual-axis solar tracking system was compared with the fixed-tilted Photovoltaic (PV) system. It is found that the solar tracker is able to position itself automatically based on sun path trajectory algorithm with an accuracy of ±0.5°. The embedded Proportional Integral Derivative (PID) positioning system improves the tracking of elevation and azimuth angles with minimum energy consumption. It is reveals that the proposed solar tracker is able generate 26.9% and 12.8% higher power than fixed-tilted PV system on a clear and heavy overcast conditions respectively. Overall, the open-loop dual-axis solar tracker can be deployed automatically at any location on the earth with minimal configurations and is suitable for mobile solar tracking system. - Highlights: • Self-positioning dual-axis solar tracking system. • Precise control of elevation and azimuth angle. • Sun path trajectory based on astronomical equation and GPS. • Can achieve up to 26.9% higher power than fixed-tilted PV system under clear weather condition.

  16. Reactive granular optics for passive tracking of the sun

    Science.gov (United States)

    Frenkel, I.; Niv, A.

    2017-08-01

    The growing need for cost-effective renewable energy sources is hampered by the stagnation in solar cell technology, thus preventing a substantial reduction in the module and energy-production price. Lowering the energy-production cost could be achieved by using modules with efficiency. One of the possible means for increasing the module efficiency is concentrated photovoltaics (CPV). CPV, however, requires complex and accurate active tracking of the sun that reduces much of its cost-effectiveness. Here, we propose a passive tracking scheme based on a reactive optical device. The optical reaction is achieved by a new kind of light activated mechanical force that acts on micron-sized particles. This optical force allows the formation of granular disordered optical media that can be switched from being opaque to become transparent based on the intensity of light it interacts with. Such media gives rise to an efficient passive tracking scheme that when combined with an external optical cavity forms a new solar power conversion approach. Being external to the cell itself, this approach is indifferent to the type of semiconducting material that is used, as well as to other aspects of the cell design. This, in turn, liberates the cell layout from its optical constraints thus paving the way to higher efficiencies at lower module price.

  17. MICROCONTROLLER BASED SOLAR-TRACKING SYSTEM AND ITS IMPLEMENTATION

    Directory of Open Access Journals (Sweden)

    Okan BİNGÖL

    2006-02-01

    Full Text Available In this paper, a new micro-controller based solar-tracking system is proposed, implemented and tested. The scheme presented here can be operated as independent of the geographical location of the site of setting up. The system checks the position of the sun and controls the movement of a solar panel so that radiation of the sun comes normally to the surface of the solar panel. The developed-tracking system tracks the sun both in the azimuth as well as in the elevation plane. PC based system monitoring facility is also included in the design.

  18. The effect of using sun tracking systems on the voltage-current characteristics and power generation of flat plate photovoltaics

    International Nuclear Information System (INIS)

    Abdallah, Salah

    2004-01-01

    An experimental study was performed to investigate the effect of using different types of sun tracking systems on the voltage-current characteristics and electrical power generation at the output of flat plate photovoltaics (FPPV). Four electromechanical sun tracking systems, two axes, one axis vertical, one axis east-west and one axis north-south, were designed and constructed for the purpose of investigating the effect of tracking on the electrical values, current, voltage and power, according to the different loads (variable resistance). The above mentioned variables were measured at the output of the FPPV and compared with those on a fixed surface. The results indicated that the volt-ampere characteristics on the tracking surfaces were significantly greater than that on a fixed surface. There were increases of electrical power gain up to 43.87%, 37.53%, 34.43% and 15.69% for the two axes, east-west, vertical and north-south tracking, respectively, as compared with the fixed surface inclined 32 deg. to the south in Amman, Jordan

  19. Guaranteeing Pointing Performance of the SDO Sun-Pointing Controllers in Light of Nonlinear Effects

    Science.gov (United States)

    Starin, Scott R.; Bourkland, Kristin L.

    2007-01-01

    The Solar Dynamics Observatory (SDO) mission is the first Space Weather Research Network mission, part of NASA s Living With a Star program.1 This program seeks to understand the changing Sun and its effects on the Solar System, life, and society. To this end, the SDO spacecraft will carry three Sun-observing instruments to geosynchronous orbit: Helioseismic and Magnetic Imager (HMI), led by Stanford University; Atmospheric Imaging Assembly (AIA), led by Lockheed Martin Space and Astrophysics Laboratory; and Extreme Ultraviolet Variability Experiment (EVE), led by the University of Colorado. Links describing the instruments in detail may be found through the SDO web site.2 The basic mission goals are to observe the Sun for a very high percentage of the 5-year mission (10-year goal) with long stretches of uninterrupted observations and with constant, high-data-rate transmission to a dedicated ground station. These goals guided the design of the spacecraft bus that will carry and service the three-instrument payload. At the time of this publication, the SDO spacecraft bus is well into the integration and testing phase at the NASA Goddard Space Flight Center (GSFC). A three-axis stabilized attitude control system (ACS) is needed both to point at the Sun accurately and to keep the roll about the Sun vector correctly positioned. The ACS has four reaction wheel modes and 2 thruster actuated modes. More details about the ACS in general and the control modes in particular can be found in Refs. [3-6]. All four of SDO s wheel-actuated control modes involve Sun-pointing controllers, as might be expected from such a mission. Science mode, during which most science data is collected, uses specialized guide telescopes to point accurately at the Sun. Inertial mode has two sub-modes, one tracks a Sun-referenced target orientation, and another maintains an absolute (star-referenced) target orientation, that both employ a Kalman filter to process data from a digital Sun sensor and

  20. Triana Safehold: A New Gyroless, Sun-Pointing Attitude Controller

    Science.gov (United States)

    Chen, J.; Morgenstern, Wendy; Garrick, Joseph

    2001-01-01

    Triana is a single-string spacecraft to be placed in a halo orbit about the sun-earth Ll Lagrangian point. The Attitude Control Subsystem (ACS) hardware includes four reaction wheels, ten thrusters, six coarse sun sensors, a star tracker, and a three-axis Inertial Measuring Unit (IMU). The ACS Safehold design features a gyroless sun-pointing control scheme using only sun sensors and wheels. With this minimum hardware approach, Safehold increases mission reliability in the event of a gyroscope anomaly. In place of the gyroscope rate measurements, Triana Safehold uses wheel tachometers to help provide a scaled estimation of the spacecraft body rate about the sun vector. Since Triana nominally performs momentum management every three months, its accumulated system momentum can reach a significant fraction of the wheel capacity. It is therefore a requirement for Safehold to maintain a sun-pointing attitude even when the spacecraft system momentum is reasonably large. The tachometer sun-line rate estimation enables the controller to bring the spacecraft close to its desired sun-pointing attitude even with reasonably high system momentum and wheel drags. This paper presents the design rationale behind this gyroless controller, stability analysis, and some time-domain simulation results showing performances with various initial conditions. Finally, suggestions for future improvements are briefly discussed.

  1. Sizing procedures for sun-tracking PV system with batteries

    Directory of Open Access Journals (Sweden)

    Gerek Ömer Nezih

    2017-01-01

    Full Text Available Deciding optimum number of PV panels, wind turbines and batteries (i.e. a complete renewable energy system for minimum cost and complete energy balance is a challenging and interesting problem. In the literature, some rough data models or limited recorded data together with low resolution hourly averaged meteorological values are used to test the sizing strategies. In this study, active sun tracking and fixed PV solar power generation values of ready-to-serve commercial products are recorded throughout 2015–2016. Simultaneously several outdoor parameters (solar radiation, temperature, humidity, wind speed/direction, pressure are recorded with high resolution. The hourly energy consumption values of a standard 4-person household, which is constructed in our campus in Eskisehir, Turkey, are also recorded for the same period. During sizing, novel parametric random process models for wind speed, temperature, solar radiation, energy demand and electricity generation curves are achieved and it is observed that these models provide sizing results with lower LLP through Monte Carlo experiments that consider average and minimum performance cases. Furthermore, another novel cost optimization strategy is adopted to show that solar tracking PV panels provide lower costs by enabling reduced number of installed batteries. Results are verified over real recorded data.

  2. Sizing procedures for sun-tracking PV system with batteries

    Science.gov (United States)

    Nezih Gerek, Ömer; Başaran Filik, Ümmühan; Filik, Tansu

    2017-11-01

    Deciding optimum number of PV panels, wind turbines and batteries (i.e. a complete renewable energy system) for minimum cost and complete energy balance is a challenging and interesting problem. In the literature, some rough data models or limited recorded data together with low resolution hourly averaged meteorological values are used to test the sizing strategies. In this study, active sun tracking and fixed PV solar power generation values of ready-to-serve commercial products are recorded throughout 2015-2016. Simultaneously several outdoor parameters (solar radiation, temperature, humidity, wind speed/direction, pressure) are recorded with high resolution. The hourly energy consumption values of a standard 4-person household, which is constructed in our campus in Eskisehir, Turkey, are also recorded for the same period. During sizing, novel parametric random process models for wind speed, temperature, solar radiation, energy demand and electricity generation curves are achieved and it is observed that these models provide sizing results with lower LLP through Monte Carlo experiments that consider average and minimum performance cases. Furthermore, another novel cost optimization strategy is adopted to show that solar tracking PV panels provide lower costs by enabling reduced number of installed batteries. Results are verified over real recorded data.

  3. Control system for solar tracking based on artificial vision; Sistema de control para seguimiento solar basado en vision artificial

    Energy Technology Data Exchange (ETDEWEB)

    Pacheco Ramirez, Jesus Horacio; Anaya Perez, Maria Elena; Benitez Baltazar, Victor Hugo [Universidad de onora, Hermosillo, Sonora (Mexico)]. E-mail: jpacheco@industrial.uson.mx; meanaya@industrial.uson.mx; vbenitez@industrial.uson.mx

    2010-11-15

    This work shows how artificial vision feedback can be applied to control systems. The control is applied to a solar panel in order to track the sun position. The algorithms to calculate the position of the sun and the image processing are developed in LabView. The responses obtained from the control show that it is possible to use vision for a control scheme in closed loop. [Spanish] El presente trabajo muestra la manera en la cual un sistema de control puede ser retroalimentado mediante vision artificial. El control es aplicado en un panel solar para realizar el seguimiento del sol a lo largo del dia. Los algoritmos para calcular la posicion del sol y para el tratamiento de la imagen fueron desarrollados en LabView. Las respuestas obtenidas del control muestran que es posible utilizar vision para un esquema de control en lazo cerrado.

  4. Tracking instrument and control for solar concentrators. Final technical report, October 1979-January 1981

    Energy Technology Data Exchange (ETDEWEB)

    Gray, J; Kuhlman, J

    1981-01-31

    The tracker uses a single photo sensor, and a rotating aperature to obtain tracking accuracies better than 1.5 mrads (0.1 degs). Peak signal detection is used to eliminate tracking of false sources, i.e., clouds, etc. A prism is employed to obtain an extended field of view (150 degs axially - 360 degs radially). The tracker digitally measures the Suns displacement angle relative to the concentrator axis, and repositions it incrementally. This arrangement permits the use of low cost non-servo motors. The local controller contains microprocessor based electronics, incorporating digital signal processing. A single controller may be time shared by a maximum of sixteen trackers, providing a high performance, cost effective solar tracking system, suitable for both line and point focus concentrators. An installation may have the local controller programmed as a standalone unit or slaved to a central controller. When used with a central controller, dynamic data monitoring and logging is available, together with the ability to change system modes and parameters, as desired.

  5. STUDY AND REALIZATION OF DEVICE OF SOLAR SENSITIVE TRACKING FOR A PROTOTYPE OF CYLINDRO-PARABOLIC CONCENTRATOR

    Directory of Open Access Journals (Sweden)

    A. Gama

    2015-08-01

    Full Text Available After the realization of a new prototype of concentrator through, we have study the realization of a sun tracking system in order to assure the best system efficiency throughout the day. We started in the first step by the blind sun tracking where we have acquired the good results. In this paper we try to speak about the realization of a new system of sun tracking who is the sensitive sun tracking. In this sort of tracking we have used a special telescope, like a sensitive element in for the detection of sun position. An electronic Card based PIC microcontroller is realized to pilot the mechanic system of the san tracking. In order to controlled the prototype we have put on a chain of data acquisition. The results were compared with the results of the blind sun tracking system and the stationary position, it was noted that the results were better this time and the efficiency is very important.

  6. Sun meter

    Science.gov (United States)

    Younskevicius, Robert E.

    1978-01-01

    A simple, inexpensive device for measuring the radiation energy of the sun impinging on the device. The measurement of the energy over an extended period of time is accomplished without moving parts or tracking mechanisms.

  7. Tracking Planets around the Sun

    Science.gov (United States)

    Riddle, Bob

    2008-01-01

    In earlier columns, the celestial coordinate system of hour circles of right ascension and degrees of declination was introduced along with the use of an equatorial star chart (see SFA Star Charts in Resources). This system shows the planets' motion relative to the ecliptic, the apparent path the Sun follows during the year. An alternate system,…

  8. The Research of Sun Tracking Photovoltaic Power Generation System%太阳跟踪式光伏发电系统的研究

    Institute of Scientific and Technical Information of China (English)

    郭志冬; 潘晓贝

    2011-01-01

    为了提高对太阳能的利用率,最大限度地获得输出功率,目前普遍采用太阳跟踪式的光伏发电方式.介绍了常见的太阳跟踪式光伏发电系统的基本原理、结构及其实现.%In order to improve the utilization of solar energy,and to obtain the maximum output power,sun-tracking photovoltaic power generation is used widely now.This paper describes the basic principles of common sun tracking photovoltaic power generation systems,system architecture and its implementation.

  9. Upgrade of the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) to its Full Science Capability of Sun-Sky-Cloud-Trace Gas Spectrometry in Airborne Science Deployments

    Science.gov (United States)

    Johnson, Roy R.; Russell, P.; Dunagan, S.; Redemann, J.; Shinozuka, Y.; Segal-Rosenheimer, M.; LeBlanc, S.; Flynn, C.; Schmid, B.; Livingston, J.

    2014-01-01

    The objectives of this task in the AITT (Airborne Instrument Technology Transition) Program are to (1) upgrade the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) instrument to its full science capability of measuring (a) direct-beam sun transmission to derive aerosol optical depth spectra, (b) sky radiance vs scattering angle to retrieve aerosol absorption and type (via complex refractive index spectra, shape, and mode-resolved size distribution), (c) zenith radiance for cloud properties, and (d) hyperspectral signals for trace gas retrievals, and (2) demonstrate its suitability for deployment in challenging NASA airborne multiinstrument campaigns. 4STAR combines airborne sun tracking, sky scanning, and zenith pointing with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to air pollution, radiant energy budgets (hence climate), and remote measurements of Earth's surfaces. Direct beam hyperspectral measurement of optical depth improves retrievals of gas constituents and determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution. 4STAR measurements are intended to tighten the closure between satellite and ground-based measurements. 4STAR incorporates a modular sun-tracking/sky-scanning optical head with fiber optic signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical head, and future detector evolution. 4STAR test flights, as well as science flights in the 2012-13 TCAP (Two-Column Aerosol Project) and 2013 SEAC4RS (Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys) have demonstrated that the following are essential for 4STAR to achieve its full science potential: (1) Calibration stability for both direct-beam irradiance and sky radiance, (2) Improved light collection and usage, and (3) Improved flight operability and reliability. A particular challenge

  10. Conception and realization of a PV system provided with a sun tracker operating at dual axis

    Directory of Open Access Journals (Sweden)

    Khalil Kassmi

    2016-06-01

    Full Text Available In this paper, we present the conception, the realization and the experimentation of  a photovoltaic (PV system provided with a sun tracker reliable and low cost operating at dual axis. The tracker's role is to orient the PV generator, whose weight may reach 9 Kg, perpendicular to the sun with very good accuracy. This tracking  based on the use of four LDR sensors, which detect the intensity of light scattered by the sun a processing unit, from  command and control (UTCC, which manages all of the sun tracking tasks (the end detection of parcours, regulation of the power supplied by the PV panels (Command MPPT, ... . The results obtained show a significant improvement of the energy produced, compared to conventional PV installations where generators are fixed and oriented south at a  tilt 45°. During a day of operation, improvement could reach 41% and consumption of the tracking does not exceed 0.55% of the energy production produced by the PV generator (an improvement of 5 % compared to existing trackers.

  11. Design of a Solar Tracking System Using the Brightest Region in the Sky Image Sensor.

    Science.gov (United States)

    Wei, Ching-Chuan; Song, Yu-Chang; Chang, Chia-Chi; Lin, Chuan-Bi

    2016-11-25

    Solar energy is certainly an energy source worth exploring and utilizing because of the environmental protection it offers. However, the conversion efficiency of solar energy is still low. If the photovoltaic panel perpendicularly tracks the sun, the solar energy conversion efficiency will be improved. In this article, we propose an innovative method to track the sun using an image sensor. In our method, it is logical to assume the points of the brightest region in the sky image representing the location of the sun. Then, the center of the brightest region is assumed to be the solar-center, and is mathematically calculated using an embedded processor (Raspberry Pi). Finally, the location information on the sun center is sent to the embedded processor to control two servo motors that are capable of moving both horizontally and vertically to track the sun. In comparison with the existing sun tracking methods using image sensors, such as the Hough transform method, our method based on the brightest region in the sky image remains accurate under conditions such as a sunny day and building shelter. The practical sun tracking system using our method was implemented and tested. The results reveal that the system successfully captured the real sun center in most weather conditions, and the servo motor system was able to direct the photovoltaic panel perpendicularly to the sun center. In addition, our system can be easily and practically integrated, and can operate in real-time.

  12. Design of a Solar Tracking System Using the Brightest Region in the Sky Image Sensor

    Directory of Open Access Journals (Sweden)

    Ching-Chuan Wei

    2016-11-01

    Full Text Available Solar energy is certainly an energy source worth exploring and utilizing because of the environmental protection it offers. However, the conversion efficiency of solar energy is still low. If the photovoltaic panel perpendicularly tracks the sun, the solar energy conversion efficiency will be improved. In this article, we propose an innovative method to track the sun using an image sensor. In our method, it is logical to assume the points of the brightest region in the sky image representing the location of the sun. Then, the center of the brightest region is assumed to be the solar-center, and is mathematically calculated using an embedded processor (Raspberry Pi. Finally, the location information on the sun center is sent to the embedded processor to control two servo motors that are capable of moving both horizontally and vertically to track the sun. In comparison with the existing sun tracking methods using image sensors, such as the Hough transform method, our method based on the brightest region in the sky image remains accurate under conditions such as a sunny day and building shelter. The practical sun tracking system using our method was implemented and tested. The results reveal that the system successfully captured the real sun center in most weather conditions, and the servo motor system was able to direct the photovoltaic panel perpendicularly to the sun center. In addition, our system can be easily and practically integrated, and can operate in real-time.

  13. The Sun Radio Imaging Space Experiment (SunRISE) Mission

    Science.gov (United States)

    Kasper, J. C.; Lazio, J.; Alibay, F.; Amiri, N.; Bastian, T.; Cohen, C.; Landi, E.; Hegedus, A. M.; Maksimovic, M.; Manchester, W.; Reinard, A.; Schwadron, N.; Cecconi, B.; Hallinan, G.; Krupar, V.

    2017-12-01

    Radio emission from coronal mass ejections (CMEs) is a direct tracer of particle acceleration in the inner heliosphere and potential magnetic connections from the lower solar corona to the larger heliosphere. Energized electrons excite Langmuir waves, which then convert into intense radio emission at the local plasma frequency, with the most intense acceleration thought to occur within 20 R_S. The radio emission from CMEs is quite strong such that only a relatively small number of antennas is required to detect and map it, but many aspects of this particle acceleration and transport remain poorly constrained. Ground-based arrays would be quite capable of tracking the radio emission associated with CMEs, but absorption by the Earth's ionosphere limits the frequency coverage of ground-based arrays (nu > 15 MHz), which in turn limits the range of solar distances over which they can track the radio emission (concept: A constellation of small spacecraft in a geostationary graveyard orbit designed to localize and track radio emissions in the inner heliosphere. Each spacecraft would carry a receiving system for observations below 25 MHz, and SunRISE would produce the first images of CMEs more than a few solar radii from the Sun. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.

  14. Prototype of a control board solar tracking mechanism on a shaft; Prototipo de una tarjeta de control del mecanismo de seguimiento solar en un eje

    Energy Technology Data Exchange (ETDEWEB)

    Ramos Berumen, Carlos; Ramirez Benitez, Juan Rafael; Lopez Perez, Manuel de Jesus; Beltran Adan, Jose; Lagunas Mendoza, Javier [Instituto de Investigaciones Electricas, Cuernavaca, Morelos (Mexico)

    2010-11-15

    A solar concentrator prototype of Parabolic Trough (PT) for solar process heat generation has been designed, manufactured and put into operation by the Instituto de Investigaciones Electricas. By means of a sun tracking mechanism controlled by an automatic device, the PT is moving from East to West during the day then this way the solar energy is focused continually over the lineal receiver. Such movement is reached thanks to the electronic module fitted with special software. In this paper, the design of an electronic module based on calculation algorithm of the sun position along the day and over the year which controls the PT sun tracking is presented. The main purpose of the development is to integrate a control system which is using the algorithm of low cost (it was tested in a commercial system with success). [Spanish] El Instituto de Investigaciones Electricas (IIE) ha disenado, fabricado y puesto en operacion un prototipo de concentrador solar de canal parabolico para la generacion de calor de proceso. La tecnologia termosolar a concentracion de canal parabolica mantiene el concentrador moviendose de este a oeste durante el dia, enfocando continuamente el sol en el receptor lineal, mediante un mecanismo y un control automatico que permite el seguimiento aparente del sol. Se ha desarrollado el software para el control del mecanismo de seguimiento solar. En este articulo se presenta el diseno de un modulo electronico que controla el mecanismo de seguimiento solar de un canal parabolico, el cual tiene sus bases en un algoritmo que calcula la posicion del sol durante todo el dia y a lo largo del ano. El proposito principal es integrar un sistema de control de bajo costo, que utilice el algoritmo desarrollado por el IIE, el cual fue probado con exito en un sistema comercial para el seguimiento solar de un canal parabolico.

  15. The effects on grid matching and ramping requirements, of single and distributed PV systems employing various fixed and sun-tracking technologies

    International Nuclear Information System (INIS)

    Solomon, A.A.; Faiman, D.; Meron, G.

    2010-01-01

    In this second paper, which studies the hourly generation data from the Israel Electric Corporation for the year 2006, with a view to adding very large-scale photovoltaic power (VLS-PV) plants, three major extensions are made to the results reported in our first paper. In the first extension, PV system simulations are extended to include the cases of 1- and 2-axis sun-tracking, and 2-axis concentrator photovoltaic (CPV) technologies. Secondly, the effect of distributing VLS-PV plants among 8 Negev locations, for which hourly metrological data exist, is studied. Thirdly, in addition to studying the effect of VLS-PV on grid penetration, the present paper studies its effect on grid ramping requirements. The principal results are as follows: (i) sun-tracking improves grid matching at high but not low levels of grid flexibility; (ii) geographical distribution has little effect on grid penetration; (iii) VLS-PV significantly increases grid ramping requirements, particularly for CPV systems, but not beyond existing ramping capabilities; (iv) geographical distribution considerably ameliorates this effect.

  16. Solar tracking system

    Science.gov (United States)

    Okandan, Murat; Nielson, Gregory N.

    2016-07-12

    Solar tracking systems, as well as methods of using such solar tracking systems, are disclosed. More particularly, embodiments of the solar tracking systems include lateral supports horizontally positioned between uprights to support photovoltaic modules. The lateral supports may be raised and lowered along the uprights or translated to cause the photovoltaic modules to track the moving sun.

  17. Optical performance of inclined south-north axis three-positions tracked solar panels

    International Nuclear Information System (INIS)

    Zhong, Hao; Li, Guihua; Tang, Runsheng; Dong, Wenli

    2011-01-01

    In this work, the optical performance of solar panels with a new sun-tracking technique was theoretically investigated based on the proposed mathematical method and monthly horizontal radiation. The mechanism of the investigated sun-tracking is that the attitude angle of solar panels is daily adjusted three times at three fixed positions: eastward, southward, and westward in the morning, noon, and afternoon, respectively, by rotating solar panels about the inclined south-north axis (ISNA-3P sun-tracking). Calculation results showed that, for ISNA-3P tracked solar panels with a yearly fixed tilt-angle of the ISNA, the maximum annual collectible radiation on ISNA-3P tracked solar panels was about 93% of that on a solar panel with 2-axis sun-tracking; whereas for those with the ISNA being yearly adjusted four times at three fixed tilt-angles, it was about 96%. Results also indicated that the attempt to further increase the annual solar gain on ISNA-3P tracked solar panels by seasonally optimizing design of the sun-tracking system for maximizing solar gain in each of four seasons was not efficient, and thus not advisable in practical applications. Optimal parametric designs of such sun-tracking system for maximizing the annual solar gain on solar panels in different cases were also presented. -- Research highlights: → The paper presented a new sun-tracking technique (ISNA-3P) for possible applications in PV generating systems. → Algorithms to estimate daily collectible radiation on the fixed, 2-axis and ISNA-3P tracked solar panels were proposed based on solar geometry and monthly horizontal radiation. → A detailed theoretical study on the optical performance of such tracked solar panels in terms of R 3P-0 and R 3P-2 , the ratios of maximum annual solar gain to that on fixed and 2-axis tracked solar panels; optimal parameters affecting the optical performance of the systems were presented in the different cases. → Results showed that such sun-tracking system

  18. Controlled ion track etching

    Science.gov (United States)

    George, J.; Irkens, M.; Neumann, S.; Scherer, U. W.; Srivastava, A.; Sinha, D.; Fink, D.

    2006-03-01

    It is a common practice since long to follow the ion track-etching process in thin foils via conductometry, i.e . by measurement of the electrical current which passes through the etched track, once the track breakthrough condition has been achieved. The major disadvantage of this approach, namely the absence of any major detectable signal before breakthrough, can be avoided by examining the track-etching process capacitively. This method allows one to define precisely not only the breakthrough point before it is reached, but also the length of any non-transient track. Combining both capacitive and conductive etching allows one to control the etching process perfectly. Examples and possible applications are given.

  19. TWO NOVEL PARAMETERS TO EVALUATE THE GLOBAL COMPLEXITY OF THE SUN'S MAGNETIC FIELD AND TRACK THE SOLAR CYCLE

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, L.; Landi, E. [Department of Atmospheric, Oceanic, and Space Sciences, University of Michigan, Ann Arbor, MI 48105 (United States); Gibson, S. E., E-mail: lzh@umich.edu [NCAR/HAO, P.O. Box 3000, Boulder, CO 80307-3000 (United States)

    2013-08-20

    Since the unusually prolonged and weak solar minimum between solar cycles 23 and 24 (2008-2010), the sunspot number is smaller and the overall morphology of the Sun's magnetic field is more complicated (i.e., less of a dipole component and more of a tilted current sheet) compared with the same minimum and ascending phases of the previous cycle. Nearly 13 yr after the last solar maximum ({approx}2000), the monthly sunspot number is currently only at half the highest value of the past cycle's maximum, whereas the polar magnetic field of the Sun is reversing (north pole first). These circumstances make it timely to consider alternatives to the sunspot number for tracking the Sun's magnetic cycle and measuring its complexity. In this study, we introduce two novel parameters, the standard deviation (SD) of the latitude of the heliospheric current sheet (HCS) and the integrated slope (SL) of the HCS, to evaluate the complexity of the Sun's magnetic field and track the solar cycle. SD and SL are obtained from the magnetic synoptic maps calculated by a potential field source surface model. We find that SD and SL are sensitive to the complexity of the HCS: (1) they have low values when the HCS is flat at solar minimum, and high values when the HCS is highly tilted at solar maximum; (2) they respond to the topology of the HCS differently, as a higher SD value indicates that a larger part of the HCS extends to higher latitude, while a higher SL value implies that the HCS is wavier; (3) they are good indicators of magnetically anomalous cycles. Based on the comparison between SD and SL with the normalized sunspot number in the most recent four solar cycles, we find that in 2011 the solar magnetic field had attained a similar complexity as compared to the previous maxima. In addition, in the ascending phase of cycle 24, SD and SL in the northern hemisphere were on the average much greater than in the southern hemisphere, indicating a more tilted and wavier

  20. Robust tracking control of uncertain Duffing-Holmes control systems

    International Nuclear Information System (INIS)

    Sun, Y.-J.

    2009-01-01

    In this paper, the notion of virtual stabilizability for dynamical systems is introduced and the virtual stabilizability of uncertain Duffing-Holmes control systems is investigated. Based on the time-domain approach with differential inequality, a tracking control is proposed such that the states of uncertain Duffing-Holmes control system track the desired trajectories with any pre-specified exponential decay rate and convergence radius. Moreover, we present an algorithm to find such a tracking control. Finally, a numerical example is provided to illustrate the use of the main results.

  1. The sun in time

    International Nuclear Information System (INIS)

    Sonett, C.P.; Giampapa, M.S.; Matthews, M.S.

    1991-01-01

    Various papers on solar science are presented. The topics considered include: variability of solar irradiance, sunspot number, solar diameter, and solar wind properties; theory of luminosity and radius variations; standard solar models; the sun and the IMF; variations of cosmic-ray flux with time; accelerated particles in solar flares; solar cosmic ray fluxes during the last 10 million yrs; solar neutrinos and solar history; time variations of Be-10 and solar activity; solar and terrestrial components of the atmospheric C-14 variation spectrum; solar flare heavy-ion tracks in extraterrestrial objects. Also addressed are: the faint young sun problem; atmospheric responses to solar irradiation; quaternary glaciations; solar-terrestrial relationships in recent sea sediments; magnetic history of the sun; pre- and main-sequence evolution of solar activity; magnetic activity in pre-main-sequence stars; classical T Tauri stars; relict magnetism of meteorites; luminosity variability of solar-type stars; evolution of angular momentum in solar-mass stars; time evolution of magnetic fields on solarlike stars

  2. Tracking control of DC motors via mimo nonlinear fuzzy control

    International Nuclear Information System (INIS)

    Harb, Ahmad M.; Smadi, Issam A.

    2009-01-01

    This paper proposed a nonlinear controller for speed tracking of separately excited DC motors (SEDCM's) using the multi-input multi-output (MIMO) fuzzy logic controller (FLC's). Based on a nonlinear mathematical model of SEDCM, a FLC is designed to achieve high performance speed tracking through rejection load disturbance. Computer simulations are presented to show speed tracking performance and the effectiveness of the proposed controller.

  3. Adaptive tracking control of nonholonomic systems: an example

    NARCIS (Netherlands)

    Lefeber, A.A.J.; Nijmeijer, Henk

    1999-01-01

    We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not

  4. Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

    Science.gov (United States)

    Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

    2018-04-01

    In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

  5. Modelling Structural Flexure Effects in CPV Sun Trackers

    OpenAIRE

    Luque-Heredia, Ignacio; Quéméré, G.; Magalhães, P.H.; Fraile de Lerma, Alberto; Hermanns, Lutz Karl Heinz; Alarcón Álvarez, Enrique; Luque López, Antonio

    2006-01-01

    Nowadays CPV trends mostly based in lens parqueted flat modules, enable the separate design of the sun tracker. To enable this possibility a set of specifications is to be prescribed for the tracker design team, which take into account fundamental requisites such as the maximum service loads both permanent and variable, the sun tracking accuracy and the tracker structural stiffness required to maintain the CPV array acceptance angle loss below a certain threshold. In its first part this paper...

  6. Optical performance of vertical axis three azimuth angles tracked solar panels

    International Nuclear Information System (INIS)

    Ma, Yi; Li, Guihua; Tang, Runsheng

    2011-01-01

    In this work, a new sun-tracking concept was proposed, and the optical performance of solar panels with such sun-tracking system was theoretically investigated based on the developed mathematical method and monthly horizontal radiation. The mechanism of the proposed sun-tracking technique is that the azimuth angle of solar panels is daily adjusted three times at three fixed positions: eastward, southward and westward in the morning, noon, and afternoon, respectively, by rotating solar panels about the vertical axis (3A sun-tracking, in short). The analysis indicated that the tilt-angle of solar panels, β 3A , azimuth angle of solar panels in the morning and afternoon from due south, φ a , and solar hour angle when the azimuth angle adjustment was made in the morning and afternoon, ω a , were three key parameters affecting the optical performance of such tracked solar panels. Calculation results showed that, for 3A tracked solar panels with a yearly fixed tilt-angle, the maximum annual collectible radiation was above 92% of that on a solar panel with full 2-axis sun-tracking; whereas for those with the tilt-angle being seasonally adjusted, it was above 95%. Results also showed that yearly or seasonally optimal values of β 3A , φ a and ω a for maximizing annual solar gain were related to site latitudes, and empirical correlations for a quick estimation of optimal values of these parameters were proposed based on climatic data of 32 sites in China.

  7. Continuous fractional-order Zero Phase Error Tracking Control.

    Science.gov (United States)

    Liu, Lu; Tian, Siyuan; Xue, Dingyu; Zhang, Tao; Chen, YangQuan

    2018-04-01

    A continuous time fractional-order feedforward control algorithm for tracking desired time varying input signals is proposed in this paper. The presented controller cancels the phase shift caused by the zeros and poles of controlled closed-loop fractional-order system, so it is called Fractional-Order Zero Phase Tracking Controller (FZPETC). The controlled systems are divided into two categories i.e. with and without non-cancellable (non-minimum-phase) zeros which stand in unstable region or on stability boundary. Each kinds of systems has a targeted FZPETC design control strategy. The improved tracking performance has been evaluated successfully by applying the proposed controller to three different kinds of fractional-order controlled systems. Besides, a modified quasi-perfect tracking scheme is presented for those systems which may not have available future tracking trajectory information or have problem in high frequency disturbance rejection if the perfect tracking algorithm is applied. A simulation comparison and a hardware-in-the-loop thermal peltier platform are shown to validate the practicality of the proposed quasi-perfect control algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Solar flare and galactic cosmic ray tracks in lunar samples and meteorites - What they tell us about the ancient sun

    International Nuclear Information System (INIS)

    Crozaz, G.

    1980-01-01

    Evidence regarding the past activity of the sun in the form of nuclear particle tracks in lunar samples and meteorites produced by heavy ions in galactic cosmic rays and solar flares is reviewed. Observations of track-rich grains found in deep lunar cores and meteorite interiors are discussed which demonstrate the presence of solar flare activity for at least the past 4 billion years, and the similarity of track density profiles from various lunar and meteoritic samples with those in a glass filter from Surveyor 3 exposed at the lunar surface for almost three years is presented as evidence of the relative constancy of the solar flare energy spectrum over the same period. Indications of a heavy ion enrichment in solar flares are considered which are confirmed by recent satellite measurements, although difficult to quantify in lunar soil grains. Finally, it is argued that, despite previous claims, there exists as yet no conclusive evidence for either a higher solar activity during the early history of the moon or a change in galactic cosmic ray intensity, average composition or spectrum over the last 50 million years

  9. mechanical sun mechanical sun-tracking techn tracking techn power

    African Journals Online (AJOL)

    User

    the maximum possible power. In order maximum power output from PV cells, the sunlig angle of ... means of a DC motor controlled by an intelligent drive unit that receive sors. .... be extracted using MPPT (MMPPT or electronic. MPPT) and ...

  10. Study protocol: a randomised controlled trial of a theory-based online intervention to improve sun safety among Australian adults

    International Nuclear Information System (INIS)

    Cleary, Cathy M; White, Katherine M; Young, Ross McD; Hawkes, Anna L; Leske, Stuart; Starfelt, Louise C; Wihardjo, Kylie

    2014-01-01

    The effects of exposure to ultraviolet radiation are a significant concern in Australia which has one of the highest incidences of skin cancer in the world. Despite most skin cancers being preventable by encouraging consistent adoption of sun-protective behaviours, incidence rates are not decreasing. There is a dearth of research examining the factors involved in engaging in sun-protective behaviours. Further, online multi-behavioural theory-based interventions have yet to be explored fully as a medium for improving sun-protective behaviour in adults. This paper presents the study protocol of a randomised controlled trial of an online intervention based on the Theory of Planned Behaviour (TPB) that aims to improve sun safety among Australian adults. Approximately 420 adults aged 18 and over and predominantly from Queensland, Australia, will be recruited and randomised to the intervention (n = 200), information only (n = 200) or the control group (n = 20). The intervention focuses on encouraging supportive attitudes and beliefs toward sun-protective behaviour, fostering perceptions of normative support for sun protection, and increasing perceptions of control/self-efficacy over sun protection. The intervention will be delivered online over a single session. Data will be collected immediately prior to the intervention (Time 1), immediately following the intervention (Time 1b), and one week (Time 2) and one month (Time 3) post-intervention. Primary outcomes are intentions to sun protect and sun-protective behaviour. Secondary outcomes are the participants’ attitudes toward sun protection, perceptions of normative support for sun protection (i.e. subjective norms, group norms, personal norms and image norms) and perceptions of control/self-efficacy toward sun protection. The study will contribute to an understanding of the effectiveness of a TPB-based online intervention to improve Australian adults’ sun-protective behaviour. Australian and New Zealand Trials

  11. Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

    Directory of Open Access Journals (Sweden)

    Ameer L. Saleh

    2018-02-01

    Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

  12. Trajectory tracking control for underactuated stratospheric airship

    Science.gov (United States)

    Zheng, Zewei; Huo, Wei; Wu, Zhe

    2012-10-01

    Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

  13. High Precision Sunphotometer using Wide Dynamic Range (WDR) Camera Tracking

    Science.gov (United States)

    Liss, J.; Dunagan, S. E.; Johnson, R. R.; Chang, C. S.; LeBlanc, S. E.; Shinozuka, Y.; Redemann, J.; Flynn, C. J.; Segal-Rosenhaimer, M.; Pistone, K.; Kacenelenbogen, M. S.; Fahey, L.

    2016-12-01

    High Precision Sunphotometer using Wide Dynamic Range (WDR) Camera TrackingThe NASA Ames Sun-photometer-Satellite Group, DOE, PNNL Atmospheric Sciences and Global Change Division, and NASA Goddard's AERONET (AErosol RObotic NETwork) team recently collaborated on the development of a new airborne sunphotometry instrument that provides information on gases and aerosols extending far beyond what can be derived from discrete-channel direct-beam measurements, while preserving or enhancing many of the desirable AATS features (e.g., compactness, versatility, automation, reliability). The enhanced instrument combines the sun-tracking ability of the current 14-Channel NASA Ames AATS-14 with the sky-scanning ability of the ground-based AERONET Sun/sky photometers, while extending both AATS-14 and AERONET capabilities by providing full spectral information from the UV (350 nm) to the SWIR (1,700 nm). Strengths of this measurement approach include many more wavelengths (isolated from gas absorption features) that may be used to characterize aerosols and detailed (oversampled) measurements of the absorption features of specific gas constituents. The Sky Scanning Sun Tracking Airborne Radiometer (3STAR) replicates the radiometer functionality of the AATS-14 instrument but incorporates modern COTS technologies for all instruments subsystems. A 19-channel radiometer bundle design is borrowed from a commercial water column radiance instrument manufactured by Biospherical Instruments of San Diego California (ref, Morrow and Hooker)) and developed using NASA funds under the Small Business Innovative Research (SBIR) program. The 3STAR design also incorporates the latest in robotic motor technology embodied in Rotary actuators from Oriental motor Corp. having better than 15 arc seconds of positioning accuracy. Control system was designed, tested and simulated using a Hybrid-Dynamical modeling methodology. The design also replaces the classic quadrant detector tracking sensor with a

  14. Design and implementation of a Sun tracker with a dual-axis single motor for an optical sensor-based photovoltaic system.

    Science.gov (United States)

    Wang, Jing-Min; Lu, Chia-Liang

    2013-03-06

    The dual threats of energy depletion and global warming place the development of methods for harnessing renewable energy resources at the center of public interest. Solar energy is one of the most promising renewable energy resources. Sun trackers can substantially improve the electricity production of a photovoltaic (PV) system. This paper proposes a novel design of a dual-axis solar tracking PV system which utilizes the feedback control theory along with a four-quadrant light dependent resistor (LDR) sensor and simple electronic circuits to provide robust system performance. The proposed system uses a unique dual-axis AC motor and a stand-alone PV inverter to accomplish solar tracking. The control implementation is a technical innovation that is a simple and effective design. In addition, a scaled-down laboratory prototype is constructed to verify the feasibility of the scheme. The effectiveness of the Sun tracker is confirmed experimentally. To conclude, the results of this study may serve as valuable references for future solar energy applications.

  15. Design and Implementation of a Sun Tracker with a Dual-Axis Single Motor for an Optical Sensor-Based Photovoltaic System

    Directory of Open Access Journals (Sweden)

    Chia-Liang Lu

    2013-03-01

    Full Text Available The dual threats of energy depletion and global warming place the development of methods for harnessing renewable energy resources at the center of public interest. Solar energy is one of the most promising renewable energy resources. Sun trackers can substantially improve the electricity production of a photovoltaic (PV system. This paper proposes a novel design of a dual-axis solar tracking PV system which utilizes the feedback control theory along with a four-quadrant light dependent resistor (LDR sensor and simple electronic circuits to provide robust system performance. The proposed system uses a unique dual-axis AC motor and a stand-alone PV inverter to accomplish solar tracking. The control implementation is a technical innovation that is a simple and effective design. In addition, a scaled-down laboratory prototype is constructed to verify the feasibility of the scheme. The effectiveness of the Sun tracker is confirmed experimentally. To conclude, the results of this study may serve as valuable references for future solar energy applications.

  16. Design and Implementation of a Sun Tracker with a Dual-Axis Single Motor for an Optical Sensor-Based Photovoltaic System

    Science.gov (United States)

    Wang, Jing-Min; Lu, Chia-Liang

    2013-01-01

    The dual threats of energy depletion and global warming place the development of methods for harnessing renewable energy resources at the center of public interest. Solar energy is one of the most promising renewable energy resources. Sun trackers can substantially improve the electricity production of a photovoltaic (PV) system. This paper proposes a novel design of a dual-axis solar tracking PV system which utilizes the feedback control theory along with a four-quadrant light dependent resistor (LDR) sensor and simple electronic circuits to provide robust system performance. The proposed system uses a unique dual-axis AC motor and a stand-alone PV inverter to accomplish solar tracking. The control implementation is a technical innovation that is a simple and effective design. In addition, a scaled-down laboratory prototype is constructed to verify the feasibility of the scheme. The effectiveness of the Sun tracker is confirmed experimentally. To conclude, the results of this study may serve as valuable references for future solar energy applications. PMID:23467030

  17. Evolution of the SOFIA tracking control system

    Science.gov (United States)

    Fiebig, Norbert; Jakob, Holger; Pfüller, Enrico; Röser, Hans-Peter; Wiedemann, Manuel; Wolf, Jürgen

    2014-07-01

    The airborne observatory SOFIA (Stratospheric Observatory for Infrared Astronomy) is undergoing a modernization of its tracking system. This included new, highly sensitive tracking cameras, control computers, filter wheels and other equipment, as well as a major redesign of the control software. The experiences along the migration path from an aged 19" VMbus based control system to the application of modern industrial PCs, from VxWorks real-time operating system to embedded Linux and a state of the art software architecture are presented. Further, the concept is presented to operate the new camera also as a scientific instrument, in parallel to tracking.

  18. Control system design for UAV trajectory tracking

    Science.gov (United States)

    Wang, Haitao; Gao, Jinyuan

    2006-11-01

    In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

  19. SunRISE Mission Concept Step 2 Study Status

    Science.gov (United States)

    Alibay, F.; Kasper, J. C.; Lazio, J.; Neilsen, T. L.

    2017-12-01

    We present an update on the Sun Radio Interferometer Space Experiment (SunRISE) mission concept, which was selected for a Step 2 study as part of the Small Explorer (SMEX) Mission of Opportunity (MoO) call. SunRISE is space-based sparse array, composed of six 6U CubeSats, designed to localize the radio emission associated with coronal mass ejections (CMEs) from the Sun. Radio emission from CMEs is a direct tracer of the particle acceleration in the inner heliosphere and potential magnetic connections from the lower solar corona to the larger heliosphere. Furthermore, CME radio emission is quite strong such that only a relatively small number of antennas is required, and a small mission would make a fundamental advancement. Indeed, the state-of-the-art for tracking CME radio emission is defined by single antennas (Wind/WAVES, Stereo/SWAVES) in which the tracking is accomplished by assuming a frequency-to-density mapping. This type of Heliophysics mission would be inherently cost prohibitive in a traditional spacecraft paradigm. However, the use of CubeSats, accompanied by the miniaturization of subsystem components, enables the development of this concept at lower cost than ever before. We present the most recent updates on this mission concept, starting from the concept's performance as compared to the required science and driving technical requirements. We then focus on the SunRISE mission concept of operations, which consists of six 6U CubeSats placed in a GEO graveyard orbit for 6 months to achieve the aforementioned science goals. The spacecraft fly in a passive formation, which allows them to form an interferometer while minimizing the impact on operations complexity. We also present details of the engineering design and the key trades being performed as part of the Step 2 concept study.

  20. Tracking strategy for photovoltaic solar systems in high latitudes

    International Nuclear Information System (INIS)

    Quesada, Guillermo; Guillon, Laura; Rousse, Daniel R.; Mehrtash, Mostafa; Dutil, Yvan; Paradis, Pierre-Luc

    2015-01-01

    Highlights: • In cloudy conditions tracking the sun is ineffective. • A methodology to estimate a theoretical threshold for solar tracking was developed. • A tracking strategy to maximize electricity production was proposed. - Abstract: Several studies show that from about 20% to 50% more solar energy can be recovered by using photovoltaic systems that track the sun rather than systems set at a fixed angle. For overcast or cloudy days, recent studies propose the use of a set position in which each photovoltaic panel faces toward the zenith (horizontal position). Compared to a panel that follows the sun’s path, this approach claims that a horizontal panel increases the amount of solar radiation captured and subsequently the quantity of electricity produced. The present work assesses a solar tracking photovoltaic panel hourly and seasonally in high latitudes. A theoretical method based on an isotropic sky model was formulated, implemented, and used in a case study analysis of a grid-connected photovoltaic system in Montreal, Canada. The results obtained, based on the definition of a critical hourly global solar radiation, were validated numerically and experimentally. The study confirmed that a zenith-set sun tracking strategy for overcast or mostly cloudy days in summer is not advantageous

  1. On a forecast of geomagnetic activity according to magnetic fields on the Sun

    International Nuclear Information System (INIS)

    Ponyavin, D.I.; Pudovkin, M.I.

    1988-01-01

    Technique for tracking the current layer orientation in the solar corona and solar wind high-velocity flux sources is suggested according to the observation of large-scale magnetic fields at the Sun. Ionospheric magnetic fields in potential approximation are extrapolated to the Sun atmosphere high layers - in the region of probable formation of solar wind and interplanetary magnetic field. The chart of isocline-lines of field vector even inclination to the surface of R=1.8R sun radius sphere is plotted according to the calculated magnetic field. Daily plotting of such charts allows to continuosly track the large-scale structure and evolution of solar wind and interplanetary magnetic field. Th comparison of isoclinic charts with geomagnetic activity for October 1982 has shown the principal possibility to use this technique for the purposes of geomagnetic activity forecasting

  2. Sun behaviour in Canadian children: results of the 2006 National Sun Survey.

    Science.gov (United States)

    Pichora, Erin C; Marrett, Loraine D

    2010-01-01

    Childhood sun exposure is a particularly important determinant of skin cancer, yet little data are available for children. This paper describes sun behaviour among Canadian children for the summer of 2006. As part of the Second National Sun Survey (NSS2), 1,437 parents reported on the time spent in the sun, and the frequency of sun protection behaviours and sunburning for one of their children aged 1 to 12 years. Analysis was carried out using complex survey procedures in SAS and STATA. The majority of children (94%) spend at least 30 minutes in the sun on a typical summer day; however, regular sun protection is only commonly reported for young children (1 to 5 years) and involves covering their heads and wearing sunscreen (85%). The frequency of other protective behaviours is much lower, and sun protection decreases with age. Older children are also twice as likely to spend extended time in the sun and to get a sunburn. Among older children, boys are more likely to cover their heads and girls are more likely to wear sunscreen. Regular sun protection among Canadian children is low, given their sun exposure. Heavy reliance on sunscreen is consistent with previous reports and indicates that other measures, such as seeking shade and wearing protective clothing, need to be promoted. Riskier sun behaviour among older children may reflect decreased parental control, as well as changing attitudes and peer pressure, and highlights the importance of adult role models and targeted interventions for this age group.

  3. Maximum-power-point tracking control of solar heating system

    KAUST Repository

    Huang, Bin-Juine

    2012-11-01

    The present study developed a maximum-power point tracking control (MPPT) technology for solar heating system to minimize the pumping power consumption at an optimal heat collection. The net solar energy gain Q net (=Q s-W p/η e) was experimentally found to be the cost function for MPPT with maximum point. The feedback tracking control system was developed to track the optimal Q net (denoted Q max). A tracking filter which was derived from the thermal analytical model of the solar heating system was used to determine the instantaneous tracking target Q max(t). The system transfer-function model of solar heating system was also derived experimentally using a step response test and used in the design of tracking feedback control system. The PI controller was designed for a tracking target Q max(t) with a quadratic time function. The MPPT control system was implemented using a microprocessor-based controller and the test results show good tracking performance with small tracking errors. It is seen that the average mass flow rate for the specific test periods in five different days is between 18.1 and 22.9kg/min with average pumping power between 77 and 140W, which is greatly reduced as compared to the standard flow rate at 31kg/min and pumping power 450W which is based on the flow rate 0.02kg/sm 2 defined in the ANSI/ASHRAE 93-1986 Standard and the total collector area 25.9m 2. The average net solar heat collected Q net is between 8.62 and 14.1kW depending on weather condition. The MPPT control of solar heating system has been verified to be able to minimize the pumping energy consumption with optimal solar heat collection. © 2012 Elsevier Ltd.

  4. Cheap two axis sun following device

    International Nuclear Information System (INIS)

    Roth, P.; Georgiev, A.; Boudinov, H.

    2005-01-01

    A sun following system was constructed and tested. The tracker gives the possibility for automatic measuring of direct solar radiation with a phetylureum. The mechanism is operated by a digital program in the control system, situated separately from the mechanical part. The position of the sun is calculated, and the pointing errors appearing during its daily work are stored for later analysis. Additionally, in the active operation mode, the tracker uses the signal of a sun detecting linear sensor to control the pointing. Two stepper motors move the instrument platform, keeping the sun's beam at the center of the sensor. The mechanism was created at the Laboratory 'Evaluation Solar' of the Technical University Faradaic Santa Maria (UTFSM) in Valparaiso, Chile. The experiments show good results. The described sun tracker gives similar results as the Swiss sun tracker INTRA at a very much lower price

  5. Sun-Earth Day 2005: Ancient Observatories: Timeless Knowledge

    Science.gov (United States)

    Thieman, J. R.; Cline, T.; Lewis, E.; Hawkins, I.; Odenwald, S.; Mayo, L.

    2005-05-01

    The NASA Sun-Earth Connection Education Forum (SECEF) annually promotes an event called Sun-Earth Day. For Sun-Earth Day 2005 SECEF has selected a theme called "Ancient Observatories: Timeless Knowledge. This year's Sun-Earth Day theme is your ticket to a fascinating journey through time as we explore centuries of sun watching by a great variety of cultures. From ancient solar motion tracking to modern solar activity monitoring the Sun has always occupied an important spot in mankind's quest to understand the Universe. Sun-Earth Day events usually are centered on the spring equinox around March 21, but this year there has already been a webcast from the San Francisco Exploratorium and the Native American ruins at Chaco Canyon, New Mexico on the day of winter solstice 2004. There will be another webcast on March 20 live from Chichen Itza, Mexico highlighting the solar alignment that makes a serpent appear on one of the ancient pyramids. The website http://sunearthday.nasa.gov has been developed to provide the necessary resources and opportunities for participation by scientists and educators in giving school or general public programs about Sun-Earth Day. The goal is to involve as much of the student population and the public in this event as possible and to help them understand the importance of the Sun for ancient and modern peoples. Through engaging activities available on the website, classrooms and museums can create their own event or participate in one of the opportunities we make available. Scientists, educators, amateur astronomers, and museums are invited to register on the website to receive a free packet of materials about Sun-Earth Day for use in making presentations or programs about the event. Past and future Sun-Earth Days will be discussed as well.

  6. Sun-Direction Estimation Using a Partially Underdetermined Set of Coarse Sun Sensors

    Science.gov (United States)

    O'Keefe, Stephen A.; Schaub, Hanspeter

    2015-09-01

    A comparison of different methods to estimate the sun-direction vector using a partially underdetermined set of cosine-type coarse sun sensors (CSS), while simultaneously controlling the attitude towards a power-positive orientation, is presented. CSS are commonly used in performing power-positive sun-pointing and are attractive due to their relative inexpensiveness, small size, and reduced power consumption. For this study only CSS and rate gyro measurements are available, and the sensor configuration does not provide global triple coverage required for a unique sun-direction calculation. The methods investigated include a vector average method, a combination of least squares and minimum norm criteria, and an extended Kalman filter approach. All cases are formulated such that precise ground calibration of the CSS is not required. Despite significant biases in the state dynamics and measurement models, Monte Carlo simulations show that an extended Kalman filter approach, despite the underdetermined sensor coverage, can provide degree-level accuracy of the sun-direction vector both with and without a control algorithm running simultaneously. If no rate gyro measurements are available, and rates are partially estimated from CSS, the EKF performance degrades as expected, but is still able to achieve better than 10∘ accuracy using only CSS measurements.

  7. Solar tracking mechanism in two axes; Mecanismo de seguimiento solar en dos ejes

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez Benitez, Juan Rafael; Ramos Berumen, Carlos; Beltran Adan, Jose; Lagunas Mendoza, Javier [Instituto de Investigaciones Electricas, Cuernavaca, Morelos (Mexico)]. E-mail: jlagunas@iie.org.mx; rramirez@iie.org.mx; cramos@iie.org.mx

    2010-11-15

    The Instituto de Investigaciones Electricas (IIE) has been interested in the Parabolic Dish technology for electricity generation in Mexico, then through its Non Conventional Energy Department has dedicated special tasks concerning to the knowledge and development of such technology. The structural component, reflective surface support and the tracking system which allows concentrate the solar energy into the receiver have been designed and manufactured. For the mechanical device and control of the solar tracking have been projected a set with servomotors, an electronic control as well as an interface for the equipment configuration and follow-up. In order for getting the following of the apparent movement of the sun, information on the sun paths through the year was analyzed and in consequence elevation and azimuth angles were determined. Using that approaches, for fixing the sun position sensors are not used and then only the control algorithm and the electronic device developed at the IIE were implemented. In this paper the sun tracking system and the electronic control device are presented. [Spanish] La tecnologia de plato parabolico para la generacion de electricidad en Mexico, ha sido de gran interes para el Instituto de Investigaciones Electricas, por lo que a traves de la Gerencia de Energias No Convencionales se ha avocado a la tarea de conocer y desarrollar esta tecnologia. Se ha disenado y fabricado la parte estructural, la base de la superficie reflejante y el sistema de seguimiento que permite concentrar la energia solar en el receptor. Para el mecanismo y control del seguidor solar se ha propuesto un mecanismo que utiliza servomotores, un control electronico asi como una interfaz para configurar el equipo y monitorear sus variables. Para lograr el seguimiento del movimiento aparente del sol se analizo la informacion en literatura de las trayectorias del sol a lo largo del ano, logrando asi determinar los angulos de altitud y azimut para acotar el

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

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

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

  9. Tracking Control Based on Control Allocation with an Innovative Control Effector Aircraft Application

    Directory of Open Access Journals (Sweden)

    Chaoyang Dong

    2016-01-01

    Full Text Available This paper proposes a control allocation method for the tracking control problem of a class of morphing aircraft with special actuators which are different from the conventional actuation surfaces. This design of actuators can bring about some potential advantages to the flight vehicles; however, due to the integral constraints, the desired control cannot be performed accurately; therefore, it leads to undesirable tracking errors, so influencing the performance of the system. Because the system could be control allocated, based on the designed cost function that describes the tracking errors, the cuckoo search algorithm (CSA is introduced to search for the optimum solution within the calculated actuator execution commands that are equivalent to the desired commands. Several improvement measures are proposed for boosting the efficiency of the CSA and ensuring reasonable solutions. Simulation results show that the proposed control allocation method is necessary and effective, and the improvement measures are helpful in obtaining the optimum solution.

  10. Evolutionary tracks of the terrestrial planets

    International Nuclear Information System (INIS)

    Matsui, Takafumi; Abe, Yutaka

    1987-01-01

    On the basis of the model proposed by Matsui and Abe, the authors show that two major factors - distance from the Sun and the efficiency of retention of accretional energy - control the early evolution of the terrestrial planets. A diagram of accretional energy versus the optical depth of a proto-atmosphere provides a means to follow the evolutionary track of surface temperature of the terrestrial planets and an explanation for why the third planet in our solar system is an 'aqua'-planet. 15 refs; 3 figs

  11. Design Of Single-Axis And Dual-Axis Solar Tracking Systems Protected Against High Wind Speeds

    Directory of Open Access Journals (Sweden)

    Mai Salaheldin Elsherbiny

    2017-09-01

    Full Text Available Solar energy is rapidly gaining ground as an important mean of expanding renewable energy use. Solar tracking is employed in order to maximize collected solar radiation by a photovoltaic panel. In this paper we present a prototype for Automatic solar tracker that is designed using Arduino UNO with Wind sensor to Cease Wind effect on panels if wind speed exceeds certain threshold. The Proposed solar tracker tracks the location of the sun anywhere in any time by calculating the position of the sun. For producing the maximum amount of solar energy a solar panel must always be perpendicular to the source of light. Because the sun motion plane varies daily and during the day it moves from east to west one needs two axis tracking to follow the suns position. Maximum possible power is collected when two axis tracking is done. However two axis tracking is relatively costly and complex. A compromise between maximum power collection and system simplicity is obtained by single axis tracking where the plane North south axis is fixed while the east west motion is accomplished. This work deals with the design of both single and two axis tracking systems. Automatic trackers is also compared to Fixed one in terms of Energy generated Efficiency Cost and System reliability.

  12. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking

    Science.gov (United States)

    Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

    2016-01-01

    Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works. PMID:27327657

  13. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

    Directory of Open Access Journals (Sweden)

    Yajie Wang

    Full Text Available Currently, tracking in photovoltaic (PV systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

  14. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

    Science.gov (United States)

    Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

    2016-01-01

    Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

  15. Robot trajectory tracking with self-tuning predicted control

    Science.gov (United States)

    Cui, Xianzhong; Shin, Kang G.

    1988-01-01

    A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

  16. Feasibility study of one axis three positions tracking solar PV with low concentration ratio reflector

    International Nuclear Information System (INIS)

    Huang, B.J.; Sun, F.S.

    2007-01-01

    A new PV design, called 'one axis three position sun tracking PV module', with low concentration ratio reflector was proposed in the present study. Every PV module is designed with a low concentration ratio reflector and is mounted on an individual sun tracking frame. The one axis tracking mechanism adjusts the PV position only at three fixed angles (three position tracking): morning, noon and afternoon. This 'one axis three position sun tracking PV module' can be designed in a simple structure with low cost. A design analysis was performed in the present study. The analytical results show that the optimal stopping angle β in the morning or afternoon is about 50 o from the solar noon position and the optimal switching angle that controls the best time for changing the attitude of the PV module is half of the stopping angle, i.e. θ H = β/2, and both are independent of the latitude. The power generation increases by approximately 24.5% as compared to a fixed PV module for latitude φ o . The analysis also shows that the effect of installation misalignment away from the true south direction is negligible ( o . An experiment performed in the present study indicates that the PV power generation can increase by about 23% using low concentration (2X) reflectors. Hence, combining with the power output increase of 24.5%, by using one axis three position tracking, the total increase in power generation is about 56%. The economic analysis shows that the price reduction is between 20% and 30% for the various market prices of flat plate PV modules

  17. An Approach of Tracking Control for Chaotic Systems

    Directory of Open Access Journals (Sweden)

    Jin Xing

    2016-01-01

    Full Text Available Combining the ergodicity of chaos and the Jacobian matrix, we design a general tracking controller for continuous and discrete chaotic systems. The control scheme has the ability to track a bounded reference signal. We prove its globally asymptotic stability and extend it to generalized projective synchronization. Numerical simulations verify the effectiveness of the proposed scheme.

  18. Fuzzy logic control for camera tracking system

    Science.gov (United States)

    Lea, Robert N.; Fritz, R. H.; Giarratano, J.; Jani, Yashvant

    1992-01-01

    A concept utilizing fuzzy theory has been developed for a camera tracking system to provide support for proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning are used in a control system which utilizes images from a camera and generates required pan and tilt commands to track and maintain a moving target in the camera's field of view. This control system can be implemented on a fuzzy chip to provide an intelligent sensor for autonomous operations. Capabilities of the control system can be expanded to include approach, handover to other sensors, caution and warning messages.

  19. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  20. Measurements in Concentrated Sun using a Remote Controlled Robot

    Directory of Open Access Journals (Sweden)

    Dan Floroian

    2013-04-01

    Full Text Available Nowdays, using the concentrated sunlight is a big issue because the amount of energy is very high and the light is concentrated in a very small area. The main problem in this situation is the heating, and in order to make safe measurements a remote controlled robot is needed. After that, a remote controlled robot will assume the duty of protect the measured sample and to expose it for a precise time to the concentrated sun in order to reduce heating of the sample. For easy operating, and for automatize the process, all the duties, starting with initial conditions, continuing with triggering the measurements, and conditioning the signals and finalizing with data saving must be assured by the robot.

  1. Sun behaviour after cutaneous malignant melanoma

    DEFF Research Database (Denmark)

    Idorn, L W; Datta, P; Heydenreich, J

    2013-01-01

    Background  It has been reported that patients with cutaneous malignant melanoma (CMM) can lower their risk of a second primary melanoma by limiting recreational sun exposure. Previous studies based on questionnaires and objective surrogate measurements indicate that before their diagnosis......, patients with CMM are exposed to higher ultraviolet radiation (UVR) doses than controls, followed by a reduction after diagnosis. Objectives  In a prospective, observational case-control study, we aimed to assess sun exposure after diagnosis of CMM by objective measurements to substantiate advice about sun...... months and 6 years before the start of the study. During a summer season participants filled in sun exposure diaries daily and wore personal electronic UVR dosimeters in a wristwatch that continuously measured time-stamped UVR doses in standard erythema dose. Results  The UVR dose of recently diagnosed...

  2. Sun following system adjustment at the UTFSM

    International Nuclear Information System (INIS)

    Georgiev, A.; Roth, P.; Olivares, A.

    2004-01-01

    The 'Evaluacion Solar' Laboratory of the Technical University Federico Santa Maria (UTFSM) in Valparaiso exists since 1957. Some types of sun following systems using instruments for different types of solar measurements were created during the mentioned period in this Laboratory. A solar tracking unit INTRA was recently installed in the UTFSM. It is considered a modern measuring and registering system for actual measuring of radiation in digital form, easier to store and to process. The action of the sun tracker is autonomous, which makes it a flexible tool to support direct radiation measurements. A special device was designed and constructed to support the measuring instruments. Three Eppley pyrheliometers were mounted on the unit and connected with an automatic registering system. An additional UV measuring sensor will be mounted soon. The realized measurements were compared with the results obtained manually from a K and Z pyrheliometer. The difference between both types of pyrheliometers is very small, which is a good precondition for using the INTRA sun tracker for precise measurements in the future

  3. Autonomous Sun-Direction Estimation Using Partially Underdetermined Coarse Sun Sensor Configurations

    Science.gov (United States)

    O'Keefe, Stephen A.

    In recent years there has been a significant increase in interest in smaller satellites as lower cost alternatives to traditional satellites, particularly with the rise in popularity of the CubeSat. Due to stringent mass, size, and often budget constraints, these small satellites rely on making the most of inexpensive hardware components and sensors, such as coarse sun sensors (CSS) and magnetometers. More expensive high-accuracy sun sensors often combine multiple measurements, and use specialized electronics, to deterministically solve for the direction of the Sun. Alternatively, cosine-type CSS output a voltage relative to the input light and are attractive due to their very low cost, simplicity to manufacture, small size, and minimal power consumption. This research investigates using coarse sun sensors for performing robust attitude estimation in order to point a spacecraft at the Sun after deployment from a launch vehicle, or following a system fault. As an alternative to using a large number of sensors, this thesis explores sun-direction estimation techniques with low computational costs that function well with underdetermined sets of CSS. Single-point estimators are coupled with simultaneous nonlinear control to achieve sun-pointing within a small percentage of a single orbit despite the partially underdetermined nature of the sensor suite. Leveraging an extensive analysis of the sensor models involved, sequential filtering techniques are shown to be capable of estimating the sun-direction to within a few degrees, with no a priori attitude information and using only CSS, despite the significant noise and biases present in the system. Detailed numerical simulations are used to compare and contrast the performance of the five different estimation techniques, with and without rate gyro measurements, their sensitivity to rate gyro accuracy, and their computation time. One of the key concerns with reducing the number of CSS is sensor degradation and failure. In

  4. Sun Radio Interferometer Space Experiment (SunRISE)

    Science.gov (United States)

    Kasper, Justin C.; SunRISE Team

    2018-06-01

    The Sun Radio Interferometer Space Experiment (SunRISE) is a NASA Heliophysics Explorer Mission of Opportunity currently in Phase A. SunRISE is a constellation of spacecraft flying in a 10-km diameter formation and operating as the first imaging radio interferometer in space. The purpose of SunRISE is to reveal critical aspects of solar energetic particle (SEP) acceleration at coronal mass ejections (CMEs) and transport into space by making the first spatially resolved observations of coherent Type II and III radio bursts produced by electrons accelerated at CMEs or released from flares. SunRISE will focus on solar Decametric-Hectometric (DH, 0.1 space before major SEP events, but cannot be seen on Earth due to ionospheric absorption. This talk will describe SunRISE objectives and implementation. Presented on behalf of the entire SunRISE team.

  5. Sun protection counseling by pediatricians has little effect on parent and child sun protection behavior.

    Science.gov (United States)

    Cohen, Liza; Brown, Judith; Haukness, Heather; Walsh, Lori; Robinson, June K

    2013-02-01

    To compare counseling concerning sun protection and outdoor exercise with the parent's report of the behavior of a child aged 9-16 years old. Structured interviews of medical personnel in 3 Chicago area practices elicited information about counseling methods and recommendations. In each practice, a convenience sample of parents completed a self-reported survey of their and their child's behavior. Sun protection counseling occurred more frequently than exercise counseling in all practices (P = .014). Sun protection counseling was associated with parental prompting (P = .004), performing a summer camp physical (P = .002), and the child having a sunburn (P = .003). After controlling for the child's age, sex, and skin tone, sun protection counseling was not associated with the child's use of sun protection. In multivariate analysis of the child's sun protection behavior, parental sunburns, indoor tanning in the last 12 months, perception of skin cancer risk, and sun protection self-efficacy were significant (P = .02). Children who pursued outdoor sports were twice as likely to use inadequate sun protection and sustain sunburns (CI 1.3-1.7). The child's sun protection behavior was influenced by parental sun protection, parental perception of skin cancer risk, and parental sun protection self-efficacy; therefore, sun protection for children needs to be aimed at parents as well as children. Communication with parents in a way that incorporates the principles of motivational interviewing may be more effective in promoting behavioral change than admonitions to use sunscreen. Copyright © 2013 Mosby, Inc. All rights reserved.

  6. Quadrotor trajectory tracking using PID cascade control

    Science.gov (United States)

    Idres, M.; Mustapha, O.; Okasha, M.

    2017-12-01

    Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

  7. Photovoltaic System Equipped with Digital Command Control and Acquisition

    Directory of Open Access Journals (Sweden)

    Khalil Kassmi

    2013-07-01

    Full Text Available In this paper, we present results concerning the design, the realization and the characterization of a photovoltaic system (PV, equipped with a digital controls: Power Point Tracking (MPPT, charge/discharge lead acid batteries, sun tracker and supervision. These different functions are performed with a microcontroller that has capabilities and functions to the reliability of PV systems (signal generation Pulses Width Modulation (PWM, speed etc.. Concerning the MPPT control operation, we improved the accuracy and reliability of research by improving the search algorithm “Hill Climbing” taking into account the optimal operation of PV panels depending on weather conditions (temperature and light.The experiment of each block shows that the MPPT control converges instantly the operating point of the PV panels around the maximum power point, independently of sudden changes of the illumination or the load. The control blocks charge/discharge battery and sun tracking show good control of charge/discharge lead acid batteries and the need of sun tracker to increase the power supplied by the PV panel. By using the improved MPPT control, loss of power supplied by the PV panels are very low (below 5%.

  8. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    International Nuclear Information System (INIS)

    Gering, Stefan; Adamy, Jürgen

    2014-01-01

    Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis

  9. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    Science.gov (United States)

    Gering, Stefan; Adamy, Jürgen

    2014-12-01

    Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.

  10. Sun Proof

    Centers for Disease Control (CDC) Podcasts

    2012-10-23

    In this podcast for kids, the Kidtastics talk about the harmful effects of the sun and how to protect yourself from it.  Created: 10/23/2012 by Centers for Disease Control and Prevention (CDC).   Date Released: 10/23/2012.

  11. Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking

    Science.gov (United States)

    Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin

    2017-08-01

    Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.

  12. Tracking local control of a parabolic trough collector

    International Nuclear Information System (INIS)

    Ajona, J.I.; Alberdi, J.; Gamero, E.; Blanco, J.

    1992-01-01

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. The provided electronic signal is then compared with reference levels in order to get a set of B logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of o P.R.O.M. memory which is programmed with the logical equations of the control system. The memory output lines give the control command of the parabolic trough collector motor. (Author)

  13. Solar tracking system

    Science.gov (United States)

    White, P. R.; Scott, D. R. (Inventor)

    1981-01-01

    A solar tracker for a solar collector is described in detail. The collector is angularly oriented by a motor wherein the outputs of two side-by-side photodetectors are discriminated as to three ranges: a first corresponding to a low light or darkness condition; a second corresponding to light intensity lying in an intermediate range; and a third corresponding to light above an intermediate range, direct sunlight. The first output drives the motor to a selected maximum easterly angular position; the second enables the motor to be driven westerly at the Earth rotational rate; and the third output, the separate outputs of the two photodetectors, differentially controls the direction of rotation of the motor to effect actual tracking of the Sun.

  14. The design and development of a solar tracking unit

    Science.gov (United States)

    Jones, I. W.; Miller, J. B.

    1984-01-01

    The solar tracking unit was developed to support the Laser Heterodyne Spectrometer (LHS) airborne instrument, but has application to a general class of airborne solar occultation research instruments. The unit consists of a mirror mounted on two gimbals, one of which is hollow. The mirror reflects a 7.6 cm (3.0 in.) diameter beam of sunlight through the hollow gimbal into the research instrument optical axis. A portion of the reflected sunlight is directed into a tracking telescope which uses a four quadrant silicon detector to produce the servo error signals. The colinearity of the tracker output beam and the research instrument optical axis is maintained to better than + or - 1 arc-minute. The unit is microcomputer controlled and is capable of stand alone operation, including automatic Sun acquisition or operation under the control of the research instrument.

  15. Robust Tracking Control for Rendezvous in Near-Circular Orbits

    Directory of Open Access Journals (Sweden)

    Neng Wan

    2013-01-01

    Full Text Available This paper investigates a robust guaranteed cost tracking control problem for thrust-limited spacecraft rendezvous in near-circular orbits. Relative motion model is established based on the two-body problem with noncircularity of the target orbit described as a parameter uncertainty. A guaranteed cost tracking controller with input saturation is designed via a linear matrix inequality (LMI method, and sufficient conditions for the existence of the robust tracking controller are derived, which is more concise and less conservative compared with the previous works. Numerical examples are provided for both time-invariant and time-variant reference signals to illustrate the effectiveness of the proposed control scheme when applied to the terminal rendezvous and other astronautic missions with scheduled states signal.

  16. Associations between authoritative parenting and the sun exposure and sun protective behaviours of adolescents and their friends.

    Science.gov (United States)

    Mewse, Avril J; Lea, Stephen E G; Ntala, Eleni; Eiser, J Richard

    2011-05-01

    Associations between the sun exposure and sun protective behaviours of adolescents and their friends were examined along with the role played by authoritative parenting and other family and peer socialisation factors. Four hundred and two adolescents (198 males, 204 females) participated in the research. It was found that these adolescents and their friends shared similar sun exposure and sun protective behaviours and had similar parenting backgrounds. Parental authoritativeness was positively associated with the use of sun protection, even after the effects of other familial and peer variables were controlled, but not with the time spent sunbathing which was associated with friends' behaviours. The theoretical and practical implications of these findings are discussed.

  17. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

  18. 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.

  19. Model tracking dual stochastic controller design under irregular internal noises

    International Nuclear Information System (INIS)

    Lee, Jong Bok; Heo, Hoon; Cho, Yun Hyun; Ji, Tae Young

    2006-01-01

    Although many methods about the control of irregular external noise have been introduced and implemented, it is still necessary to design a controller that will be more effective and efficient methods to exclude for various noises. Accumulation of errors due to model tracking, internal noises (thermal noise, shot noise and l/f noise) that come from elements such as resistor, diode and transistor etc. in the circuit system and numerical errors due to digital process often destabilize the system and reduce the system performance. New stochastic controller is adopted to remove those noises using conventional controller simultaneously. Design method of a model tracking dual controller is proposed to improve the stability of system while removing external and internal noises. In the study, design process of the model tracking dual stochastic controller is introduced that improves system performance and guarantees robustness under irregular internal noises which can be created internally. The model tracking dual stochastic controller utilizing F-P-K stochastic control technique developed earlier is implemented to reveal its performance via simulation

  20. Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

    Science.gov (United States)

    Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

    2016-11-01

    Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

  1. Mass casualty tracking with air traffic control methodologies.

    Science.gov (United States)

    Hoskins, Jason D; Graham, Ross F; Robinson, Duane R; Lutz, Clifford C; Folio, Les R

    2009-06-01

    An intrahospital casualty throughput system modeled after air traffic control (ATC) tracking procedures was tested in mass casualty exercises. ATC uses a simple tactile process involving informational progress strips representing each aircraft, which are held in bays representing each stage of flight to prioritize and manage aircraft. These strips can be reordered within the bays to indicate a change in priority of aircraft sequence. In this study, a similar system was designed for patient tracking. We compared the ATC model and traditional casualty tracking methods of paper and clipboard in 18 four-hour casualty scenarios, each with 5 to 30 mock casualties. The experimental and control groups were alternated to maximize exposure and minimize training effects. Results were analyzed with Mann-Whitney statistical analysis with p value < 0.05 (two-sided). The ATC method had significantly (p = 0.017) fewer errors in critical patient data (eg, name, social security number, diagnosis). Specifically, the ATC method better tracked the mechanism of injury, working diagnosis, and disposition of patients. The ATC method also performed considerably better with patient accountability during mass casualty scenarios. Data strips were comparable with the control method in terms of ease of use. In addition, participants preferred the ATC method to the control (p = 0.003) and preferred using the ATC method (p = 0.003) to traditional methods in the future. The ATC model more effectively tracked patient data with fewer errors when compared with the clipboard method. Application of these principles can enhance trauma management and can have application in civilian and military trauma centers and emergency rooms.

  2. Lifestyle, sun worshipping and sun tanning - what about UV-A sun beds?

    International Nuclear Information System (INIS)

    Thune, P.

    1991-01-01

    This article considers the effects of ultraviolet (UV) light from the sun and UV-A sun beds on the skin. Sun worshipping and sun therapy has been en vogue for centuries, but in another way than used today. A changing lifestyle has led to an increase of various skin diseases, including skin cancer. Short wave UV-light (UV-B) in particular has been blamed for inducing not only erythema and pigmentation but also more chronic skin lesions. Long wave UV-light (UV-A) has been shown to be the cause of similar changes to the skin but the pigmentation is of another quality and affords less protection against the harmful effects of UV-B. A concept of sun reactive skin typing has been created. This is based on self-reported responses to an initial exposure to sun as regards tanning ability and erythema reaction. These two factors have certain practical consequences, not only for UV-phototherapy but also for a person's risk of developing skin cancer. Recently, several research groups and dermatologists have discouraged extensive use of UV-A sun beds because of side effects of varying degrees of seriousness. The possible implications of these side effects for the organism are not fully elucidated and may be more profound than known today. The British Photodermatology Group has issued more stringent rules for persons who, despite advice to the contrary, still wish to use UV-A sun beds. 14 refs., 1 tab

  3. A randomised controlled trial of a theory-based intervention to improve sun protective behaviour in adolescents ('you can still be HOT in the shade': study protocol

    Directory of Open Access Journals (Sweden)

    Hawkes Anna L

    2012-01-01

    Full Text Available Abstract Background Most skin cancers are preventable by encouraging consistent use of sun protective behaviour. In Australia, adolescents have high levels of knowledge and awareness of the risks of skin cancer but exhibit significantly lower sun protection behaviours than adults. There is limited research aimed at understanding why people do or do not engage in sun protective behaviour, and an associated absence of theory-based interventions to improve sun safe behaviour. This paper presents the study protocol for a school-based intervention which aims to improve the sun safe behaviour of adolescents. Methods/design Approximately 400 adolescents (aged 12-17 years will be recruited through Queensland, Australia public and private schools and randomized to the intervention (n = 200 or 'wait-list' control group (n = 200. The intervention focuses on encouraging supportive sun protective attitudes and beliefs, fostering perceptions of normative support for sun protection behaviour, and increasing perceptions of control/self-efficacy over using sun protection. It will be delivered during three × one hour sessions over a three week period from a trained facilitator during class time. Data will be collected one week pre-intervention (Time 1, and at one week (Time 2 and four weeks (Time 3 post-intervention. Primary outcomes are intentions to sun protect and sun protection behaviour. Secondary outcomes include attitudes toward performing sun protective behaviours (i.e., attitudes, perceptions of normative support to sun protect (i.e., subjective norms, group norms, and image norms, and perceived control over performing sun protective behaviours (i.e., perceived behavioural control. Discussion The study will provide valuable information about the effectiveness of the intervention in improving the sun protective behaviour of adolescents.

  4. Robust H(infinity) tracking control of boiler-turbine systems.

    Science.gov (United States)

    Wu, J; Nguang, S K; Shen, J; Liu, G; Li, Y G

    2010-07-01

    In this paper, the problem of designing a fuzzy H(infinity) state feedback tracking control of a boiler-turbine is solved. First, the Takagi and Sugeno fuzzy model is used to model a boiler-turbine system. Next, based on the Takagi and Sugeno fuzzy model, sufficient conditions for the existence of a fuzzy H(infinity) nonlinear state feedback tracking control are derived in terms of linear matrix inequalities. The advantage of the proposed tracking control design is that it does not involve feedback linearization technique and complicated adaptive scheme. An industrial boiler-turbine system is used to illustrate the effectiveness of the proposed design as compared with a linearized approach. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Sun Exposure, Sun-Related Symptoms, and Sun Protection Practices in an African Informal Traditional Medicines Market.

    Science.gov (United States)

    Wright, Caradee Y; Reddy, Tarylee; Mathee, Angela; Street, Renée A

    2017-09-28

    Informal workers in African market trade have little formal protection against sun exposure. We aimed to examine sun exposure, sun-related symptoms, and sun protection practices in an informal occupational setting. Trained fieldworkers asked 236 workers in the Warwick Junction market about their workplace, skin and eye sensitivity and skin colour, symptoms faced at work during the summer due to heat, and preventive measures. Data were analyzed using univariate logistic regression to assess the effect of gender and the risk of experiencing symptoms to sun exposure in relation to pre-existing diseases and perception of sun exposure as a hazard. Of the 236 participants, 234 were Black African and 141 (59.7%) were female. Portable shade was the most commonly used form of sun protection (69.9%). Glare from the sun (59.7%) and excessive sweating (57.6%) were commonly reported sun-related health symptoms. The use of protective clothing was more prevalent among those who perceived sun exposure as a hazard ( p = 0.003). In an informal occupational setting, sun exposure was high. Protective clothing and portable shade to eliminate heat and bright light were self-implemented. Action by local authorities to protect informal workers should consider sun exposure to support workers in their efforts to cope in hot weather.

  6. Sun Exposure, Sun-Related Symptoms, and Sun Protection Practices in an African Informal Traditional Medicines Market

    Directory of Open Access Journals (Sweden)

    Caradee Y. Wright

    2017-09-01

    Full Text Available Informal workers in African market trade have little formal protection against sun exposure. We aimed to examine sun exposure, sun-related symptoms, and sun protection practices in an informal occupational setting. Trained fieldworkers asked 236 workers in the Warwick Junction market about their workplace, skin and eye sensitivity and skin colour, symptoms faced at work during the summer due to heat, and preventive measures. Data were analyzed using univariate logistic regression to assess the effect of gender and the risk of experiencing symptoms to sun exposure in relation to pre-existing diseases and perception of sun exposure as a hazard. Of the 236 participants, 234 were Black African and 141 (59.7% were female. Portable shade was the most commonly used form of sun protection (69.9%. Glare from the sun (59.7% and excessive sweating (57.6% were commonly reported sun-related health symptoms. The use of protective clothing was more prevalent among those who perceived sun exposure as a hazard (p = 0.003. In an informal occupational setting, sun exposure was high. Protective clothing and portable shade to eliminate heat and bright light were self-implemented. Action by local authorities to protect informal workers should consider sun exposure to support workers in their efforts to cope in hot weather.

  7. Pneumatic motor speed control by trajectory tracking fuzzy logic

    Indian Academy of Sciences (India)

    In this study, trajectory tracking fuzzy logic controller (TTFLC) is proposed for the speed control of a pneumatic motor (PM). A third order trajectory is defined to determine the trajectory function that has to be tracked by the PM speed. Genetic algorithm (GA) is used to find the TTFLC boundary values of membership functions ...

  8. Possible conservation units of the sun bear (Helarctos malayanus) in Sarawak based on variation of mtDNA control region.

    Science.gov (United States)

    Onuma, Manabu; Suzuki, Masatsugu; Ohtaishi, Noriyuki

    2006-11-01

    The mitochondrial DNA control region of the sun bear (Helarctos malayanus) was sequenced using 21 DNA samples collected from confiscated sun bears to identify conservation units, such as evolutionarily significant units and management units, in Sarawak, Borneo Island. A total of 10 haplotypes were observed, indicating the presence of at least two lineages in the sun bear population in Sarawak. Presumably, these two lineages could represent evolutionarily significant units. However, the geographical distributions of the two lineages remained unknown due to the lack of information regarding the exact capture locations of the confiscated sun bears. It is essential to elucidate the geographical distributions of these lineages in order to create a proper conservation plan for the sun bears in Sarawak. Therefore, further studies examining the haplotype distributions using DNA samples from known localities are essential.

  9. Long-term field test of solar PV power generation using one-axis 3-position sun tracker

    KAUST Repository

    Huang, B.J.; Ding, W.L.; Huang, Y.C.

    2011-01-01

    The 1 axis-3 position (1A-3P) sun tracking PV was built and tested to measure the daily and long-term power generation of the solar PV system. A comparative test using a fixed PV and a 1A-3P tracking PV was carried out with two identical stand

  10. Position and Attitude Alternate of Path Tracking Heading Control

    Directory of Open Access Journals (Sweden)

    Baocheng Tan

    2014-03-01

    Full Text Available The path tracking control algorithm is one of the key problems in the control system design of autonomous vehicle. In this paper, we have conducted dynamic modeling for autonomous vehicle, the relationship between course deviation and yaw rate and centroid deflection angle. From the angle of the dynamics and geometrical, this paper have described the path tracking problem, analyzed the emergence of the eight autonomous vehicles pose binding - position and attitude alternate control methods to identify the relationship between posture and the controlling variables, and design a controller, the experimental results verify the feasibility and effectiveness of this control method.

  11. Alcohol and Difficulty Conceiving in the SUN Cohort: A Nested Case-Control Study

    OpenAIRE

    Cristina Lopez-del Burgo; Alfredo Gea; Jokin de Irala; Miguel A. Martínez-González; Jorge E. Chavarro; Estefania Toledo

    2015-01-01

    The role of alcohol on fertility remains unclear. We aimed to investigate the association between alcohol and specific alcoholic beverages consumption and the risk of difficulty getting pregnant. We used a case-control study nested within the Seguimiento Universidad de Navarra (SUN) cohort, a prospective, dynamic and multipurpose cohort of 21,705 Spanish university graduates, followed biennially with mailed questionnaires. We identified 686 case-control pairs, matched for age and time in the ...

  12. Searching for possible hidden chambers in the Pyramid of the Sun

    Science.gov (United States)

    Alfaro, R.; Belmont, E.; Grabski, V.; Manzanilla, L.; Martinez-Davalos, A.; Menchaca-Rocha, A.; Moreno, M.; Sandoval, A.

    The Pyramid of the Sun, at Teotihuacan, Mexico, is being searched for possible hidden chambers, using a muon tracking technique inspired in the experiment carried out by Luis Alvarez over 30 years ago at the Chephren Pyramid, in Giza. A fortunate similarity between this monument and the Pyramid of the Sun is a tunnel, running 8 m below the base and ending close to the symmetry axis, which permits the use muon attenuation measurements. A brief account of the project, including planning, detector design, construction and simulations, as well as the current status of the project is presented

  13. 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.

  14. Designing and Simulation of a Two-Axis Solar Tracking System by Exact Relations of Solar Angles

    Directory of Open Access Journals (Sweden)

    Faezeh Esmaili Ranjbar

    2013-01-01

    Full Text Available In this study, a system has been designed and simulated to track sunlight, which identifies sun location based on the exact relations of solar angles and without any optical sensor. In fact the relations which have been used in this study are far more accurate compared to similar cases, because of using the "equation of time" and reducing the tracking time of every 15 minutes. In this system, an economical micro-controller has been used to generate the necessary orders to control system and two stepper motors for powering solar array. By adding a real-time clock IC (RTC to angle differentiation circuit, dynamic plane has improved.

  15. Relative tracking control of constellation satellites considering inter-satellite link

    Science.gov (United States)

    Fakoor, M.; Amozegary, F.; Bakhtiari, M.; Daneshjou, K.

    2017-11-01

    In this article, two main issues related to the large-scale relative motion of satellites in the constellation are investigated to establish the Inter Satellite Link (ISL) which means the dynamic and control problems. In the section related to dynamic problems, a detailed and effective analytical solution is initially provided for the problem of satellite relative motion considering perturbations. The direct geometric method utilizing spherical coordinates is employed to achieve this solution. The evaluation of simulation shows that the solution obtained from the geometric method calculates the relative motion of the satellite with high accuracy. Thus, the proposed analytical solution will be applicable and effective. In the section related to control problems, the relative tracking control system between two satellites will be designed in order to establish a communication link between the satellites utilizing analytical solution for relative motion of satellites with respect to the reference trajectory. Sliding mode control approach is employed to develop the relative tracking control system for body to body and payload to payload tracking control. Efficiency of sliding mode control approach is compared with PID and LQR controllers. Two types of payload to payload tracking control considering with and without payload degree of freedom are designed and suitable one for practical ISL applications is introduced. Also, Fuzzy controller is utilized to eliminate the control input in the sliding mode controller.

  16. Linear wide angle sun sensor for spinning satellites

    Science.gov (United States)

    Philip, M. P.; Kalakrishnan, B.; Jain, Y. K.

    1983-08-01

    A concept is developed which overcomes the defects of the nonlinearity of response and limitation in range exhibited by the V-slit, N-slit, and crossed slit sun sensors normally used for sun elevation angle measurements on spinning spacecraft. Two versions of sensors based on this concept which give a linear output and have a range of nearly + or - 90 deg of elevation angle are examined. Results are presented for the application of the twin slit version of the sun sensor in the three Indian satellites, Rohini, Apple, and Bhaskara II, which was successfully used for spin rate control and spin axis orientation control corrections as well as for sun elevation angle and spin period measurements.

  17. Biaxial Solar Tracking System Based on the MPPT Approach Integrating ICTs for Photovoltaic Applications

    Directory of Open Access Journals (Sweden)

    Raúl Gregor

    2015-01-01

    Full Text Available The smart grid and distributed generation based on renewable energy applications often involve the use of information and communication technology (ICT coupled with advanced control and monitoring algorithms to improve the efficiency and reliability of the electrical grid and renewable generation systems. Photovoltaic (PV systems have been recently applied with success in the fields of distributed generation due to their lower environmental impact where the electrical energy generation is related to the amount of solar irradiation and thus the angle of incident ray of the sun on the surface of the modules. This paper introduces an integration of ICTs in order to achieve the maximum power point tracking (MPPT using a biaxial solar tracking system for PV power applications. To generate the references for the digital control of azimuth and elevation angles a Global Positioning System (GPS by satellites is used which enables acquiring the geographic coordinates of the sun in real-time. As a total integration of the system a communication platform based on the 802.15.4 protocol for the wireless sensor networks (WSNs is adopted for supervising and monitoring the PV plant. A 2.4 kW prototype system is implemented to validate the proposed control scheme performance.

  18. Sun and Sun Worship in Different Cultures

    Science.gov (United States)

    Farmanyan, S. V.; Mickaelian, A. M.

    2014-10-01

    The Sun symbol is found in many cultures throughout history, it has played an important role in shaping our life on Earth since the dawn of time. Since the beginning of human existence, civilisations have established religious beliefs that involved the Sun's significance to some extent. As new civilisations and religions developed, many spiritual beliefs were based on those from the past so that there has been an evolution of the Sun's significance throughout cultural development. For comparing and finding the origin of the Sun we made a table of 66 languages and compared the roots of the words. For finding out from where these roots came from, we also made a table of 21 Sun Gods and Goddesses and proved the direct crossing of language and mythology.

  19. The case for a single-axis tracking solar PV array system to mitigate against the time-of-use tariff

    CSIR Research Space (South Africa)

    Szewczuk, S

    2016-08-01

    Full Text Available peak tariff is from 6:00pm to 8:00pm. A fixed-axis PV system generates peak electricity when the sun is overhead of the PV array. A single-axis PV tracking system allows for maximum production of electricity by tracking the sun soon after it appears...

  20. Skin Tone Dissatisfaction, Sun Exposure, and Sun Protection in Australian Adolescents.

    Science.gov (United States)

    Hutchinson, Amanda D; Prichard, Ivanka; Ettridge, Kerry; Wilson, Carlene

    2015-08-01

    This study aimed to assess the adoption of sun protection and sun exposure behaviors, the extent to which these behaviors group together, and the relationship between skin tone dissatisfaction and sun-related behaviors in South Australian adolescents (aged 12-17). A total of 2,875 secondary school students (1,461 male and 1,414 female) completed a questionnaire including questions about sun protection and sun exposure behaviors and skin tone dissatisfaction. Regular adoption of sun protection behaviors was low and ranged from 20% (wearing protective clothing) to 44% (sunscreen use). A principal components analysis identified four subgroups of sun-related behaviors: sun protection, appearance enhancement, sun avoidance, and sun exposure. Females had significantly higher skin tone dissatisfaction than males. Skin tone dissatisfaction was associated with decreased sun protection and avoidance and increased appearance enhancement and sun exposure in both males and females. Skin tone dissatisfaction plays an important role in Australian adolescents' sun-related behavior. Appearance-based interventions may be effective in reducing skin cancer risk through reduced sun exposure.

  1. Tracking control of mobile robots: a case study in backstepping

    NARCIS (Netherlands)

    Jiang, Zhong-Ping; Nijmeijer, Henk

    1997-01-01

    A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small.

  2. A New Robust Tracking Control Design for Turbofan Engines: H∞/Leitmann Approach

    Directory of Open Access Journals (Sweden)

    Muxuan Pan

    2017-04-01

    Full Text Available In this paper, a H ∞ /Leitmann approach to the robust tracking control design is presented for an uncertain dynamic system. This new method is developed in the following two steps. Firstly, a tracking dynamic system with simultaneous consideration of parameter uncertainty and noise is modeled based on a linear system and a reference model. Accordingly, a “nominal system” from the tracking system is defined and controlled by a H ∞ control to obtain the asymptotical stability and noise resistance. Secondly, by making use of a Lyapunov function and the norm boundedness, a new robust control with the “Leitmann approach” is designed to cope with the uncertainty. The two controls collaborate with each other to achieve “uniform tracking boundedness” and “uniform ultimate tracking boundedness”. The new approach is then applied to an aircraft turbofan control design, and the numerical simulation results show the prescribed performances of the closed-loop system and the advantage of the developed approach.

  3. Sun-Earth Day - Teaching Heliophysics Through Education Technology

    Science.gov (United States)

    Thieman, J.; Cline, T.; Lewis, E.

    2010-01-01

    Sun-Earth Day (SED) is an Education and Outreach program supported by the U.S, National Aeronautics and Space Administration (NASA). The intent of the program is to teach students and the general public about Heliophysics (the science of the study of the Sun, how it varies, and how solar dynamics affect the rest of the solar system, especially the Earth). The program was begun ten years ago. Each year since that time a particular day has been designated as "Sun-Earth Day ,,. Usually the day of the spring equinox (March 20 or 21) is Sun-Earth Day, but other days have been used as well. Each year a theme is chosen relating to Heliophysics and events reflecting that theme are planned not only for Sun-Earth Day, but for the entire year. From the very beginning educational technology was emphasized in the events in order to effectively reach wide audiences with the SED message. The main approach has been to have a "webcast" related to each year's theme, often from a location that supports the theme as well. For example, a webcast took place from the Mayan pyramids at Chichen Itza, Mexico to highlight the theme of "Ancient Observatories, Timeless Knowledge". Webcasts were not the only technology employed, however. Many of the themes centered on the dynamic nature of the Sun and the effects that solar storms can have on interplanetary space and in our day-to-day life on Earth. Activities for tracking when solar storms happen and how they affect the Earth were developed and brought together in an educational package called Space Weather Action Centers. This project is explained in more detail in another presentation in this session being given by Norma Teresinha Oliveira Reis. Recent Sun-Earth Days have utilized "social networking" technologies to reach widespread groups on the internet. Podcasts, Vodcasts, Facebook, Twitter, and Second Life are the types of network technologies being employed now. The NASA Distance learning Network is another method for bringing Sun

  4. A randomised controlled trial using mobile advertising to promote safer sex and sun safety to young people.

    Science.gov (United States)

    Gold, J; Aitken, C K; Dixon, H G; Lim, M S C; Gouillou, M; Spelman, T; Wakefield, M; Hellard, M E

    2011-10-01

    Mobile phone text messages (SMS) are a promising method of health promotion, but a simple and low cost way to obtain phone numbers is required to reach a wide population. We conducted a randomised controlled trial with simultaneous brief interventions to (i) evaluate effectiveness of messages related to safer sex and sun safety and (ii) pilot the use of mobile advertising for health promotion. Mobile advertising subscribers aged 16-29 years residing in Victoria, Australia (n = 7606) were randomised to the 'sex' or 'sun' group and received eight messages during the 2008-2009 summer period. Changes in sex- and sun-related knowledge and behaviour were measured by questionnaires completed on mobile phones. At follow-up, the sex group had significantly higher sexual health knowledge and fewer sexual partners than the sun group. The sun group had no change in hat-wearing frequency compared with a significant decline in hat-wearing frequency in the sex group. This is the first study of mobile advertising for health promotion, which can successfully reach most young people. Challenges experienced with project implementation and evaluation should be considered as new technological approaches to health promotion continue to be expanded.

  5. Maximum-power-point tracking control of solar heating system

    KAUST Repository

    Huang, Bin-Juine; Ton, Wei-Zhe; Wu, Chen-Chun; Ko, Hua-Wei; Chang, Hsien-Shun; Yen, Rue-Her; Wang, Jiunn-Cherng

    2012-01-01

    was used to determine the instantaneous tracking target Q max(t). The system transfer-function model of solar heating system was also derived experimentally using a step response test and used in the design of tracking feedback control system. The PI

  6. Controller Design and Experiment for Tracking Mount of Movable SLR, ARGO-M

    Directory of Open Access Journals (Sweden)

    Cheol Hoon Park

    2012-04-01

    Full Text Available Controller design procedure for prototype tracking mount of Movable SLR (Satellite Laser Ranging, ARGO-M is presented. Tracking mount of ARGO-M is altitude-azimuth type and it has two axes of elevation and azimuth to control its position. Controller consists of velocity and acceleration feed-forward controller, position controller at outer loop, velocity controller at inner loop. There are two kinds of position control modes. One is the pointing mode to move from one position to the other position as fast as possible and the other one is tracking mode to follow SLR trajectory as precise as possible. Because the requirement of tracking accuracy is less than 5 arcsec and it is very tight error budget, a sophisticated controller needs to be prepared to meet the accuracy. Especially, ARGO-M is using the cross-roller bearing at each axis to increase the mechanical accuracy, which requires add-on controller DOB (Disturbance observer to suppress friction load and low frequency disturbances. The pointing and tracking performance of the designed controller is simulated and visualized using MATLAB/ Simulink and SimMechanics and the experimental results using test are presented as well.

  7. Design of tracking mount and controller for mobile satellite laser ranging system

    Science.gov (United States)

    Park, Cheol Hoon; Son, Young Su; Kim, Byung In; Ham, Sang Young; Lee, Sung Whee; Lim, Hyung Chul

    2012-01-01

    In this study, we have proposed and implemented a design for the tracking mount and controller of the ARGO-M (Accurate Ranging system for Geodetic Observation - Mobile) which is a mobile satellite laser ranging (SLR) system developed by the Korea Astronomy and Space Science Institute (KASI) and Korea Institute of Machinery and Materials (KIMM). The tracking mount comprises a few core components such as bearings, driving motors and encoders. These components were selected as per the technical specifications for the tracking mount of the ARGO-M. A three-dimensional model of the tracking mount was designed. The frequency analysis of the model predicted that the first natural frequency of the designed tracking mount was high enough. The tracking controller is simulated using MATLAB/xPC Target to achieve the required pointing and tracking accuracy. In order to evaluate the system repeatability and tracking accuracy of the tracking mount, a prototype of the ARGO-M was fabricated, and repeatability tests were carried out using a laser interferometer. Tracking tests were conducted using the trajectories of low earth orbit (LEO) and high earth orbit (HEO) satellites. Based on the test results, it was confirmed that the prototype of the tracking mount and controller of the ARGO-M could achieve the required repeatability along with a tracking accuracy of less than 1 arcsec.

  8. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

  9. Control de seguimiento solar de alta precisión con autocalibración

    OpenAIRE

    Luque Heredia, Ignacio

    2010-01-01

    Abstract This work describes the development of high accuracy sun tracking control equipment, to be integrated in high concentration photovoltaic systems. In order to achieve the sub degree accuracies required by these photovoltaic concentrators, a new control approach is presented that primarily based in the computation of analytic sun ephemeris equations, adds in its software a calibration model, that characterizes the concentrator geometry through a set of parameters, in order to precisely...

  10. Underactuated ship tracking control : theory and experiments

    NARCIS (Netherlands)

    Pettersen, K.Y.; Nijmeijer, H.

    2001-01-01

    We consider complete state tracking feedback control of a ship having two controls, namely surge force and yaw moment. The ship model has similarities with chained form systems but cannot directly be transformed in chained form. In particular, the model has a drift vector field as opposed to the

  11. Observer-based linear parameter varying H∞ tracking control for hypersonic vehicles

    Directory of Open Access Journals (Sweden)

    Yiqing Huang

    2016-11-01

    Full Text Available This article aims to develop observer-based linear parameter varying output feedback H∞ tracking controller for hypersonic vehicles. Due to the complexity of an original nonlinear model of the hypersonic vehicle dynamics, a slow–fast loop linear parameter varying polytopic model is introduced for system stability analysis and controller design. Then, a state observer is developed by linear parameter varying technique in order to estimate the unmeasured attitude angular for slow loop system. Also, based on the designed linear parameter varying state observer, a kind of attitude tracking controller is presented to reduce tracking errors for all bounded reference attitude angular inputs. The closed-loop linear parameter varying system is proved to be quadratically stable by Lypapunov function technique. Finally, simulation results show that the developed linear parameter varying H∞ controller has good tracking capability for reference commands.

  12. Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

    Science.gov (United States)

    Ata, W. G.; Salem, A. M.

    2017-05-01

    In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.

  13. Dual Fine Tracking Control of a Satellite Laser Communication Uplink

    National Research Council Canada - National Science Library

    Noble, Louis A

    2006-01-01

    A dual fine tracking control system (FTCS) is developed for a single aperture optical communication receiver to compensate for high frequency disturbances affecting tracking of two incident laser communication beams...

  14. Multi-rate h2 tracking control with mixed continuous-discrete performance criteria

    International Nuclear Information System (INIS)

    Kahane, A.C.; Palmor, Z.J.; Mirkin, L.

    1998-01-01

    Control goals defined both in continuous and discrete time arise naturally in many sampled-data tracking control problems. The design methods found in the literature deal with each kind of those control goals separately, over-emphasizing one kind at the expense of the other. We formulate and solve these tracking control problems as an H2 optimization problem with a mixed continuous/discrete performance criterion. It is argued that the proposed setup enables tradeoff between the various control goals in a natural manner and thus leads to better tracking characteristics

  15. Tracking Control of Hysteretic Piezoelectric Actuator using Adaptive Rate-Dependent Controller.

    Science.gov (United States)

    Tan, U-Xuan; Latt, Win Tun; Widjaja, Ferdinan; Shee, Cheng Yap; Riviere, Cameron N; Ang, Wei Tech

    2009-03-16

    With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must first be modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. It is troublesome and costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Most literature model the actuator using a cascade of rate-independent hysteresis operators and a dynamical system. However, the inertial dynamics of the structure is not the only contributing factor. A complete model will be complex. Thus, based on the studies done on the phenomenological hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller. The main contribution of this paper is its ability to perform tracking control of non-periodic motion and is illustrated with the tracking control ability of a couple of different non-periodic waveforms which were created by passing random numbers through a low pass filter with a cutoff frequency of 20Hz.

  16. Sun Allergy

    Science.gov (United States)

    Sun allergy Overview Sun allergy is a term often used to describe a number of conditions in which an itchy red rash occurs on skin that has been exposed to sunlight. The most common form of sun allergy is ...

  17. A simple tracking system to monitor solar PV panels

    International Nuclear Information System (INIS)

    Bentaher, H.; Kaich, H.; Ayadi, N.; Ben Hmouda, M.; Maalej, A.; Lemmer, U.

    2014-01-01

    Highlights: • We designed and constructed a solar tracking system based on light-dependent resistors (LDRs). • A study was made to determine the optimal angle of LDRs inducing the best precision of the device. • An experimental system was built to test different values of the angle between LDRs. • Results showed a good agreement between the experience and the predicted values. • The obtained results are useful for the design of new trackers based on the use of LDRs. - Abstract: The solar tracking systems are a center of interest of a big number of researchers from the fifties. The deflection of sun rays on a solar photovoltaic panel can reduce its power output until 50%. For concentrators solar trackers are master parts of the systems. A simple tracking system based on light dependent resistors was locally constructed, tested and optimized. Good agreement was recorded between numerical optimization results and experimental ones. These results are useful for the design and construction of new sun trackers

  18. Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model.

    Science.gov (United States)

    Li, Pengzhi; Yan, Feng; Ge, Chuan; Zhang, Mingchao

    2012-08-01

    In this paper, a novel Takagi-Sugeno (T-S) fuzzy system based model is proposed for hysteresis in piezoelectric actuators. The antecedent and consequent structures of the fuzzy hysteresis model (FHM) can be, respectively, identified on-line through uniform partition approach and recursive least squares (RLS) algorithm. With respect to controller design, the inverse of FHM is used to develop a feedforward controller to cancel out the hysteresis effect. Then a hybrid controller is designed for high-performance tracking. It combines the feedforward controller with a proportional integral differential (PID) controller favourable for stabilization and disturbance compensation. To achieve nanometer-scale tracking precision, the enhanced adaptive hybrid controller is further developed. It uses real-time input and output data to update FHM, thus changing the feedforward controller to suit the on-site hysteresis character of the piezoelectric actuator. Finally, as to 3 cases of 50 Hz sinusoidal, multiple frequency sinusoidal and 50 Hz triangular trajectories tracking, experimental results demonstrate the efficiency of the proposed controllers. Especially, being only 0.35% of the maximum desired displacement, the maximum error of 50 Hz sinusoidal tracking is greatly reduced to 5.8 nm, which clearly shows the ultra-precise nanometer-scale tracking performance of the developed adaptive hybrid controller.

  19. Improving maximum power point tracking of partially shaded photovoltaic system by using IPSO-BELBIC

    International Nuclear Information System (INIS)

    El-Garhy, M. Abd Al-Alim; Mubarak, R.I.; El-Bably, M.

    2017-01-01

    Solar photovoltaic (PV) arrays in remote applications are often related to the rapid changes in the partial shading pattern. Rapid changes of the partial shading pattern make the tracking of maximum power point (MPP) of the global peak through the local ones too difficult. An essential need to make a fast and efficient algorithm to detect the peaks values which always vary as the sun irradiance changes. This paper presents two algorithms based on the improved particle swarm optimization technique one of them with PID controller (IPSO-PID), and the other one with Brain Emotional Learning Based Intelligent Controller (IPSO-BELBIC). These techniques improve the maximum power point (MPP) tracking capabilities for photovoltaic (PV) system under partial shading circumstances. The main aim of these improved algorithms is to accelerate the velocity of IPSO to reach to (MPP) and increase its efficiency. These algorithms also improve the tracking time under complex irradiance conditions. Based on these conditions, the tracking time of these presented techniques improves to 2 msec, with an efficiency of 100%.

  20. Improving maximum power point tracking of partially shaded photovoltaic system by using IPSO-BELBIC

    Science.gov (United States)

    Al-Alim El-Garhy, M. Abd; Mubarak, R. I.; El-Bably, M.

    2017-08-01

    Solar photovoltaic (PV) arrays in remote applications are often related to the rapid changes in the partial shading pattern. Rapid changes of the partial shading pattern make the tracking of maximum power point (MPP) of the global peak through the local ones too difficult. An essential need to make a fast and efficient algorithm to detect the peaks values which always vary as the sun irradiance changes. This paper presents two algorithms based on the improved particle swarm optimization technique one of them with PID controller (IPSO-PID), and the other one with Brain Emotional Learning Based Intelligent Controller (IPSO-BELBIC). These techniques improve the maximum power point (MPP) tracking capabilities for photovoltaic (PV) system under partial shading circumstances. The main aim of these improved algorithms is to accelerate the velocity of IPSO to reach to (MPP) and increase its efficiency. These algorithms also improve the tracking time under complex irradiance conditions. Based on these conditions, the tracking time of these presented techniques improves to 2 msec, with an efficiency of 100%.

  1. Energy Optimal Tracking Control with Discrete Fluid Power Systems using Model Predictive Control

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Asmussen, Magnus Færing; Bech, Michael Møller

    2017-01-01

    For Discrete Displacement Cylinder (DDC) drives the control task lies in choosing force level. Hence, which force level to apply and thereby which pressure level each cylinder chambers shall be connected to. The DDC system is inherently a force system why often a force reference is generated...... and compared to a PID like tracking controller combined with a FSA. The results indicate that the energy efficiency of position tracking DDC systems may be improved significantly by using the MPC algorithm....

  2. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  3. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Shijie Zhang

    2013-01-01

    Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

  4. Tracking Control of Nonlinear Mechanical Systems

    NARCIS (Netherlands)

    Lefeber, A.A.J.

    2000-01-01

    The subject of this thesis is the design of tracking controllers for certain classes of mechanical systems. The thesis consists of two parts. In the first part an accurate mathematical model of the mechanical system under consideration is assumed to be given. The goal is to follow a certain

  5. Tracking the Sun VIII. The Installed Price of Residential and Non-Residential Photovoltaic Systems in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen L. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Darghouth, Naïm R. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Millstein, Dev [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Spears, Mike [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Wiser, Ryan H. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Buckley, Michael [Exeter Associates, Columbia, MD (United States); Widiss, Rebecca [Exeter Associates, Columbia, MD (United States); Grue, Nick [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2015-08-01

    Now in its eighth edition, Lawrence Berkeley National Laboratory (LBNL)’s Tracking the Sun report series is dedicated to summarizing trends in the installed price of grid-connected solar photovoltaic (PV) systems in the United States. The present report focuses on residential and nonresidential systems installed through year-end 2014, with preliminary trends for the first half of 2015. As noted in the text box below, this year’s report incorporates a number of important changes and enhancements. Among those changes, this year's report focuses solely on residential and nonresidential PV systems; data on utility-scale PV are reported in LBNL’s companion Utility-Scale Solar report series. Installed pricing trends presented within this report derive primarily from project-level data reported to state agencies and utilities that administer PV incentive programs, solar renewable energy credit (SREC) registration systems, or interconnection processes. In total, data were collected for roughly 400,000 individual PV systems, representing 81% of all U.S. residential and non-residential PV capacity installed through 2014 and 62% of capacity installed in 2014, though a smaller subset of this data were used in analysis.

  6. Evaluation of a tracking flat-plate solar collector in Brazil

    International Nuclear Information System (INIS)

    Maia, Cristiana B.; Ferreira, André G.; Hanriot, Sérgio M.

    2014-01-01

    The continuing research for an alternative power source due to the perceived scarcity of fuel fossils has, in recent years, given solar energy a remarkable edge. Nevertheless, the Earth's daily and seasonal movement affects the intensity of the incident solar radiation. Devices can track the sun in order to ensure optimum positions with regard to incident solar radiation, maximizing the absorbed solar energy, and the useful energy gain. In this paper, a mathematical model is developed to estimate the solar radiation absorbed, the useful energy gain, and the efficiency of a flat-plate solar collector in Brazil. The results for a sun tracking flat-plate solar collector were compared to fixed devices. The full tracking system with rotation about two axes presented higher absorbed energy, when compared to the rotation about a single axe and to a fixed collector. Also, it was shown that the tilt angle for a fixed solar collector does not cause significant variations in the useful energy gain or in the absorbed solar radiation, for the same azimuth angle. - Highlights: • A model was developed for solar radiation based on experimental data for K T . • Useful energy gain and efficiency of a flat-plate solar collector were evaluated for a one-year period. • Several sun tracking systems were compared to fixed devices. • Tilt angle for a fixed device does not significantly affect the useful energy gain

  7. An integration time adaptive control method for atmospheric composition detection of occultation

    Science.gov (United States)

    Ding, Lin; Hou, Shuai; Yu, Fei; Liu, Cheng; Li, Chao; Zhe, Lin

    2018-01-01

    When sun is used as the light source for atmospheric composition detection, it is necessary to image sun for accurate identification and stable tracking. In the course of 180 second of the occultation, the magnitude of sun light intensity through the atmosphere changes greatly. It is nearly 1100 times illumination change between the maximum atmospheric and the minimum atmospheric. And the process of light change is so severe that 2.9 times per second of light change can be reached. Therefore, it is difficult to control the integration time of sun image camera. In this paper, a novel adaptive integration time control method for occultation is presented. In this method, with the distribution of gray value in the image as the reference variable, and the concepts of speed integral PID control, the integration time adaptive control problem of high frequency imaging. The large dynamic range integration time automatic control in the occultation can be achieved.

  8. Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

    Science.gov (United States)

    Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

    2017-03-01

    This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

  9. Sun protection

    Science.gov (United States)

    ... sun exposure. The start of summer is when UV rays can cause the most skin damage. Use sun protection, even on cloudy days. Clouds and haze don't protect you from the sun. Avoid surfaces that reflect light, such as water, sand, concrete, snow, and areas ...

  10. Attitude tracking control of flexible spacecraft with large amplitude slosh

    Science.gov (United States)

    Deng, Mingle; Yue, Baozeng

    2017-12-01

    This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli-Euler beam, and the assumed modal method is employed. A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics, liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.

  11. Seasonal Vitamin D Status in Polish Elite Athletes in Relation to Sun Exposure and Oral Supplementation.

    Directory of Open Access Journals (Sweden)

    Jaroslaw Krzywanski

    Full Text Available Vitamin D does not only influence the musculoskeletal health and mineral homeostasis but it also affects cardiovascular, endocrine, nervous, immune and mental functions, thus it is of considerable importance for both physically active people and elite athletes. However, vitamin D deficiency is common worldwide and results from inadequate endogenous skin synthesis (insufficient ultraviolet B exposure and diet. To improve the vitamin D status elite athletes often travel to lower latitude during winter. The aim of the study was to evaluate the seasonal vitamin D status in Polish elite athletes according to the sun exposure and oral supplementation. Serum concentration of 25-hydroxyvitamin D (25(OHD was measured in the years 2010-2014 in 409 elite athletes, who were divided into the following groups: OUTD-outdoor sports, represented by track and field athletes, who trained in Poland; IND-weightlifters, handball and volleyball players who trained indoors in Poland; SUN-track and field athletes who trained during Polish winter in lower latitude with high sunshine exposure; SUPL-track and field athletes who trained in Poland, had an inadequate vitamin D status (25(OHD < 30 ng/ml and were supplemented orally. Inadequate Vitamin D status was observed in 80% of OUTD and 84% of IND athletes in winter, whereas in summer the values amounted to 42% and 83%, respectively. The athletes exposed to sun in winter had significantly higher vitamin D concentration than OUTD group. Oral supplementation improved vitamin D concentration by 45%, whereas winter sun exposure caused its increase by 85%. Except for a few summer months an inadequate status of vitamin D was found in the majority of Polish elite athletes, with the deficiency level being similar to the one observed in non-athletic population. The most serious deficiency was observed in indoor disciplines. Adequate vitamin D status can be achieved by both increased sun exposure, especially in winter, and oral

  12. Seasonal Vitamin D Status in Polish Elite Athletes in Relation to Sun Exposure and Oral Supplementation.

    Science.gov (United States)

    Krzywanski, Jaroslaw; Mikulski, Tomasz; Krysztofiak, Hubert; Mlynczak, Marcel; Gaczynska, Ewa; Ziemba, Andrzej

    2016-01-01

    Vitamin D does not only influence the musculoskeletal health and mineral homeostasis but it also affects cardiovascular, endocrine, nervous, immune and mental functions, thus it is of considerable importance for both physically active people and elite athletes. However, vitamin D deficiency is common worldwide and results from inadequate endogenous skin synthesis (insufficient ultraviolet B exposure) and diet. To improve the vitamin D status elite athletes often travel to lower latitude during winter. The aim of the study was to evaluate the seasonal vitamin D status in Polish elite athletes according to the sun exposure and oral supplementation. Serum concentration of 25-hydroxyvitamin D (25(OH)D) was measured in the years 2010-2014 in 409 elite athletes, who were divided into the following groups: OUTD-outdoor sports, represented by track and field athletes, who trained in Poland; IND-weightlifters, handball and volleyball players who trained indoors in Poland; SUN-track and field athletes who trained during Polish winter in lower latitude with high sunshine exposure; SUPL-track and field athletes who trained in Poland, had an inadequate vitamin D status (25(OH)D Vitamin D status was observed in 80% of OUTD and 84% of IND athletes in winter, whereas in summer the values amounted to 42% and 83%, respectively. The athletes exposed to sun in winter had significantly higher vitamin D concentration than OUTD group. Oral supplementation improved vitamin D concentration by 45%, whereas winter sun exposure caused its increase by 85%. Except for a few summer months an inadequate status of vitamin D was found in the majority of Polish elite athletes, with the deficiency level being similar to the one observed in non-athletic population. The most serious deficiency was observed in indoor disciplines. Adequate vitamin D status can be achieved by both increased sun exposure, especially in winter, and oral supplementation. Athletes should therefore routinely assess their

  13. A novel adaptive sun tracker for spacecraft solar panel based on hybrid unsymmetric composite laminates

    Science.gov (United States)

    Wu, Zhangming; Li, Hao

    2017-11-01

    This paper proposes a novel adaptive sun tracker which is constructed by hybrid unsymmetric composite laminates. The adaptive sun tracker could be applied on spacecraft solar panels to increase their energy efficiency through decreasing the inclined angle between the sunlight and the solar panel normal. The sun tracker possesses a large rotation freedom and its rotation angle depends on the laminate temperature, which is affected by the light condition in the orbit. Both analytical model and finite element model (FEM) are developed for the sun tracker to predict its rotation angle in different light conditions. In this work, the light condition of the geosynchronous orbit on winter solstice is considered in the numerical prediction of the temperatures of the hybrid laminates. The final inclined angle between the sunlight and the solar panel normal during a solar day is computed using the finite element model. Parametric study of the adaptive sun tracker is conducted to improve its capacity and effectiveness of sun tracking. The improved adaptive sun tracker is lightweight and has a state-of-the-art design. In addition, the adaptive sun tracker does not consume any power of the solar panel, since it has no electrical driving devices. The proposed adaptive sun tracker provides a potential alternative to replace the traditional sophisticated electrical driving mechanisms for spacecraft solar panels.

  14. Maximum-likelihood-based extended-source spatial acquisition and tracking for planetary optical communications

    Science.gov (United States)

    Tsou, Haiping; Yan, Tsun-Yee

    1999-04-01

    This paper describes an extended-source spatial acquisition and tracking scheme for planetary optical communications. This scheme uses the Sun-lit Earth image as the beacon signal, which can be computed according to the current Sun-Earth-Probe angle from a pre-stored Earth image or a received snapshot taken by other Earth-orbiting satellite. Onboard the spacecraft, the reference image is correlated in the transform domain with the received image obtained from a detector array, which is assumed to have each of its pixels corrupted by an independent additive white Gaussian noise. The coordinate of the ground station is acquired and tracked, respectively, by an open-loop acquisition algorithm and a closed-loop tracking algorithm derived from the maximum likelihood criterion. As shown in the paper, the optimal spatial acquisition requires solving two nonlinear equations, or iteratively solving their linearized variants, to estimate the coordinate when translation in the relative positions of onboard and ground transceivers is considered. Similar assumption of linearization leads to the closed-loop spatial tracking algorithm in which the loop feedback signals can be derived from the weighted transform-domain correlation. Numerical results using a sample Sun-lit Earth image demonstrate that sub-pixel resolutions can be achieved by this scheme in a high disturbance environment.

  15. Enhancement of tracking performance in electro-optical system based on servo control algorithm

    Science.gov (United States)

    Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

    2017-10-01

    Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

  16. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  17. Approximate optimal tracking control for near-surface AUVs with wave disturbances

    Science.gov (United States)

    Yang, Qing; Su, Hao; Tang, Gongyou

    2016-10-01

    This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

  18. Natural biological control of pest mites in Brazilian sun coffee agroecosystems.

    Science.gov (United States)

    Teodoro, Adenir V; Sarmento, Renato A; Rêgo, Adriano S; da Graça S Maciel, Anilde

    2010-06-01

    Coffee is one of the leading commodities in tropical America. Although plantations are usually established under a canopy of trees in most producing countries in the region, Brazilian coffee is mostly produced under full sun conditions. Such simple, single-crop agroecosystems with intensive agrochemical inputs often suffer with pests like mites. Predatory mites of the family Phytoseiidae are the main natural enemies associated with pest mites in the field. However, these beneficial arthropods struggle to survive in intensive agroecosystems such as coffee monocultures due to unfavorable microclimatic conditions, widespread pesticide use, and lack of alternative food (pollen, nectar). Conservation biological control uses a range of management strategies to sustain and enhance populations of indigenous natural enemies such as predatory mites. We discuss here conservation biological control as a strategy to improve biological control of pest mites by native predatory mites in Brazilian coffee monocultures as well as some related patents.

  19. Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

    Science.gov (United States)

    Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

    2018-03-01

    Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

  20. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  1. Robust Control of Welding Robot for Tracking a Rectangular Welding Line

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2008-11-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.

  2. Robust Control of Welding Robot for Tracking a Rectangular Welding Line

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2006-09-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.

  3. Distributed Systems for Problems in Robust Control and Visual Tracking

    National Research Council Canada - National Science Library

    Tannenbaum, Allen

    2000-01-01

    .... A key application is in controlled active vision, including visual tracking, the control of autonomous vehicles, motion planning, and the utilization of visual information in guidance and control...

  4. Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

    Directory of Open Access Journals (Sweden)

    M. Navabi

    Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  6. Master-slave control with trajectory planning and Bouc-Wen model for tracking control of piezo-driven stage

    Science.gov (United States)

    Lu, Xiaojun; Liu, Changli; Chen, Lei

    2018-04-01

    In this paper, a redundant Piezo-driven stage having 3RRR compliant mechanism is introduced, we propose the master-slave control with trajectory planning (MSCTP) strategy and Bouc-Wen model to improve its micro-motion tracking performance. The advantage of the proposed controller lies in that its implementation only requires a simple control strategy without the complexity of modeling to avoid the master PEA's tracking error. The dynamic model of slave PEA system with Bouc-Wen hysteresis is established and identified via particle swarm optimization (PSO) approach. The Piezo-driven stage with operating period T=1s and 2s is implemented to track a prescribed circle. The simulation results show that MSCTP with Bouc-Wen model reduces the trajectory tracking errors to the range of the accuracy of our available measurement.

  7. The Sun

    CERN Document Server

    Golub, Leon

    2017-01-01

    Essential for life on earth and a major influence on our environment, the Sun is also the most fascinating object in the daytime sky. Every day we feel the effect of its coming and going – literally the difference between day and night. But figuring out what the Sun is, what it’s made of, why it glows so brightly, how old it is, how long it will last – all of these take thought and observation. Leon Golub and Jay M. Pasachoff offer an engaging and informative account of what scientists know about the Sun, and the history of these discoveries. Solar astronomers have studied the Sun over the centuries both for its intrinsic interest and in order to use it as a laboratory to reveal the secrets of other stars. The authors discuss the surface of the Sun, including sunspots and their eleven-year cycle, as well as the magnetism that causes them; the Sun’s insides, as studied mainly from seismic waves that astronomers record on its surface; the outer layers of the Sun that we see from Earth only at eclipses ...

  8. Offset Free Tracking Predictive Control Based on Dynamic PLS Framework

    Directory of Open Access Journals (Sweden)

    Jin Xin

    2017-10-01

    Full Text Available This paper develops an offset free tracking model predictive control based on a dynamic partial least square (PLS framework. First, state space model is used as the inner model of PLS to describe the dynamic system, where subspace identification method is used to identify the inner model. Based on the obtained model, multiple independent model predictive control (MPC controllers are designed. Due to the decoupling character of PLS, these controllers are running separately, which is suitable for distributed control framework. In addition, the increment of inner model output is considered in the cost function of MPC, which involves integral action in the controller. Hence, the offset free tracking performance is guaranteed. The results of an industry background simulation demonstrate the effectiveness of proposed method.

  9. A Sliding Mode Control for a Sensorless Tracker: Application on a Photovoltaic System

    OpenAIRE

    Rhif, Ahmed

    2012-01-01

    The photovoltaic sun tracker allows us to increase the energy production. The sun tracker considered in this study has two degrees of freedom (2-DOF) and especially specified by the lack of sensors. In this way, the tracker will have as a set point the sun position at every second during the day for a period of five years. After sunset, the tracker goes back to the initial position (which of sunrise). The sliding mode control (SMC) will be applied to ensure at best the tracking mechanism and,...

  10. Robust tracking and distributed synchronization control of a multi-motor servomechanism with H-infinity performance.

    Science.gov (United States)

    Wang, Minlin; Ren, Xuemei; Chen, Qiang

    2018-01-01

    The multi-motor servomechanism (MMS) is a multi-variable, high coupling and nonlinear system, which makes the controller design challenging. In this paper, an adaptive robust H-infinity control scheme is proposed to achieve both the load tracking and multi-motor synchronization of MMS. This control scheme consists of two parts: a robust tracking controller and a distributed synchronization controller. The robust tracking controller is constructed by incorporating a neural network (NN) K-filter observer into the dynamic surface control, while the distributed synchronization controller is designed by combining the mean deviation coupling control strategy with the distributed technique. The proposed control scheme has several merits: 1) by using the mean deviation coupling synchronization control strategy, the tracking controller and the synchronization controller can be designed individually without any coupling problem; 2) the immeasurable states and unknown nonlinearities are handled by a NN K-filter observer, where the number of NN weights is largely reduced by using the minimal learning parameter technique; 3) the H-infinity performances of tracking error and synchronization error are guaranteed by introducing a robust term into the tracking controller and the synchronization controller, respectively. The stabilities of the tracking and synchronization control systems are analyzed by the Lyapunov theory. Simulation and experimental results based on a four-motor servomechanism are conducted to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  11. SUN1 splice variants, SUN1_888, SUN1_785, and predominant SUN1_916, variably function in directional cell migration

    OpenAIRE

    Nishioka, Yu; Imaizumi, Hiromasa; Imada, Junko; Katahira, Jun; Matsuura, Nariaki; Hieda, Miki

    2016-01-01

    The LINC complex is a multifunctional protein complex that is involved in various processes at the nuclear envelope, such as nuclear migration, mechanotransduction and chromatin tethering in the meiotic phase. However, it remains unknown how these functions are regulated in different cell contexts. An inner nuclear membrane component of the LINC complex, SUN1, is ubiquitously expressed. The human SUN1 gene produces over 10 variants by alternative splicing. Although functions of SUN1 are relat...

  12. Track and mode controller (TMC): a software executive for a high-altitude pointing and tracking experiment

    Science.gov (United States)

    Michnovicz, Michael R.

    1997-06-01

    A real-time executive has been implemented to control a high altitude pointing and tracking experiment. The track and mode controller (TMC) implements a table driven design, in which the track mode logic for a tracking mission is defined within a state transition diagram (STD). THe STD is implemented as a state transition table in the TMC software. Status Events trigger the state transitions in the STD. Each state, as it is entered, causes a number of processes to be activated within the system. As these processes propagate through the system, the status of key processes are monitored by the TMC, allowing further transitions within the STD. This architecture is implemented in real-time, using the vxWorks operating system. VxWorks message queues allow communication of status events from the Event Monitor task to the STD task. Process commands are propagated to the rest of the system processors by means of the SCRAMNet shared memory network. The system mode logic contained in the STD will autonomously sequence in acquisition, tracking and pointing system through an entire engagement sequence, starting with target detection and ending with aimpoint maintenance. Simulation results and lab test results will be presented to verify the mode controller. In addition to implementing the system mode logic with the STD, the TMC can process prerecorded time sequences of commands required during startup operations. It can also process single commands from the system operator. In this paper, the author presents (1) an overview, in which he describes the TMC architecture, the relationship of an end-to-end simulation to the flight software and the laboratory testing environment, (2) implementation details, including information on the vxWorks message queues and the SCRAMNet shared memory network, (3) simulation results and lab test results which verify the mode controller, and (4) plans for the future, specifically as to how this executive will expedite transition to a fully

  13. Construction of a WMR for Trajectory Tracking Control: Experimental Results

    Directory of Open Access Journals (Sweden)

    R. Silva-Ortigoza

    2013-01-01

    Full Text Available This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x*,y* and orientation (φ*. Then, a low-level control law, based on a proportional integral (PI approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1 time-varying parametric trajectories such as straight lines and parabolas and (2 smooth curves fitted by cubic splines which are generated by the desired data points x1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

  14. Tracking the Sun 10: The Installed Price of Residential and Non-Residential Photovoltaic Systems in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Darghouth, Naim R. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Millstein, Dev [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); LaCommare, Kristina [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); DiSanti, Nicholas [Exeter Associates, Columbia, MD (United States); Widiss, Rebecca [Exeter Associates, Columbia, MD (United States)

    2017-09-21

    Berkeley Lab’s Tracking the Sun report series is dedicated to summarizing trends in the installed price of grid-connected, residential and non-residential systems solar photovoltaic (PV) systems in the United States. The present report, the tenth edition in the series, focuses on systems installed through year-end 2016, with preliminary data for the first half of 2017. The report provides an overview of both long-term and more-recent trends, highlighting key drivers for installed price declines over different time horizons. The report also extensively characterizes the widespread variability in system pricing, comparing installed prices across states, market segments, installers, and various system and technology characteristics. The trends described in this report derive from project-level data collected by state agencies and utilities that administer PV incentive programs, solar renewable energy credit (SREC) registration systems, or interconnection processes. In total, data for this report were compiled and cleaned for more than 1.1 million individual PV systems, though the analysis in the report is based on a subset of that sample, consisting of roughly 630,000 systems with available installed price data. The full underlying dataset of project-level data (excluding any confidential information) is available in a public data file, for use by other researchers and analysts.

  15. Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

    Directory of Open Access Journals (Sweden)

    Wei Sun

    2013-01-01

    Full Text Available This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

  16. A randomised control crossover trial of a theory based intervention to improve sun-safe and healthy behaviours in construction workers: study protocol.

    Science.gov (United States)

    Nioi, Amanda; Wendelboe-Nelson, Charlotte; Cowan, Sue; Cowie, Hilary; Rashid, Shahzad; Ritchie, Peter; Cherrie, Mark; Lansdown, Terry C; Cherrie, John W

    2018-02-15

    Exposure to sunlight can have both positive and negative health impacts. Excessive exposure to ultra-violet (UV) radiation from the sun can cause skin cancer, however insufficient exposure to sunlight has a detrimental effect on production of Vitamin D. In the construction industry there are onsite proactive behaviours for safety, but sun-safety remains a low priority. There is limited research on understanding the barriers to adopting sun-safe behaviours and the association this may have with Vitamin D production. This paper reports a protocol for an intervention study, using text messaging in combination with a supportive smartphone App. The intervention aims to both reduce UV exposure during months with higher UV levels and promote appropriate dietary changes to boost Vitamin D levels during months with low UV levels. Approximately 60 construction workers will be recruited across the United Kingdom. A randomised control crossover trial (RCCT) will be used to test the intervention, with randomisation at site level - i.e. participants will receive both the control (no text messages or supportive App support) and intervention (daily text messages and supportive App). Using the Theory of Planned Behaviour (TPB) the intervention focuses on supporting sun-safety and healthy dietary decisions in relation to Vitamin D intake. The intervention emphasises cultivating the perception of normative support in the workplace, increasing awareness of control and self-efficacy in taking sun-protective behaviours, making healthier eating choices to boost Vitamin D, and tackling stigmas attached to image and group norms. Each study epoch will last 21 days with intervention text messages delivered on workdays only. The supportive App will provide supplementary information about sun protective behaviours and healthy dietary choices. The primary outcome measure is 25-hydroxy-Vitamin D [25(OH)D] level (obtained using blood spot sampling), which will be taken pre and post control and

  17. Pre-main-sequence evolution of the sun

    International Nuclear Information System (INIS)

    Gough, D.

    1980-01-01

    The phase of solar evolution after the dynamical collapse is considered. The physics of the Kelvin-Helmholtz phase of gravitational collapse is described, attention being given to the early stages of the star when it was completely convective. It is noted that subsequently, a radiative core developed and evolution was controlled by the rate at which heat can diffuse through it by radiative transfer. Since the study of the Kelvin-Helmholtz contraction alone does not give enough information regarding the state of the sun when it first settled down to approximate hydrostatic equilibrium, other stars are studied, and information on the sun is obtained by analogy. Many young solar-type stars, such as the T Tauri stars, are not in the completely convective Hayashi (1961) phase hence it is proposed that the sun was completely mixed soon after its formation, which has some bearing on the sun's chemical structure. It is suggested that the surface of the sun was very nonuniform compared with the photosphere of today. The simple solar evolution model presented gives a good guide to the general way in which the sun contracted to the main sequence

  18. 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...

  19. High precision tracking control of a servo gantry with dynamic friction compensation.

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2016-05-01

    This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Vitamin D Beliefs and Associations with Sunburns, Sun Exposure, and Sun Protection

    Science.gov (United States)

    Kim, Bang Hyun; Glanz, Karen; Nehl, Eric J.

    2012-01-01

    The main objective of this study was to examine certain beliefs about vitamin D and associations with sun exposure, sun protection behaviors, and sunburns. A total of 3,922 lifeguards, pool managers, and parents completed a survey in 2006 about beliefs regarding vitamin D and sun-related behaviors. Multivariate ordinal regression analyses and linear regression analysis were used to examine associations of beliefs and other variables. Results revealed that Non-Caucasian lifeguards and pool managers were less likely to agree that they needed to go out in the sun to get enough vitamin D. Lifeguards and parents who were non-Caucasian were less likely to report that sunlight helped the body to produce vitamin D. A stronger belief about the need to go out in the sun to get enough vitamin D predicted more sun exposure for lifeguards. For parents, a stronger belief that they can get enough vitamin D from foods predicted greater sun protection and a stronger belief that sunlight helps the body produce vitamin D predicted lower sun exposure. This study provides information regarding vitamin D beliefs and their association with certain sun related behaviors across different demographic groups that can inform education efforts about vitamin D and sun protection. PMID:22851950

  1. Tracking control of time-varying knee exoskeleton disturbed by interaction torque.

    Science.gov (United States)

    Li, Zhan; Ma, Wenhao; Yin, Ziguang; Guo, Hongliang

    2017-11-01

    Knee exoskeletons have been increasingly applied as assistive devices to help lower-extremity impaired people to make their knee joints move through providing external movement compensation. Tracking control of knee exoskeletons guided by human intentions often encounters time-varying (time-dependent) issues and the disturbance interaction torque, which may dramatically put an influence up on their dynamic behaviors. Inertial and viscous parameters of knee exoskeletons can be estimated to be time-varying due to unexpected mechanical vibrations and contact interactions. Moreover, the interaction torque produced from knee joint of wearers has an evident disturbance effect on regular motions of knee exoskeleton. All of these points can increase difficultly of accurate control of knee exoskeletons to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-varying inertial and viscous coefficients disturbed by interaction torque. Such designed controller is able to make the tracking error of joint angle of knee exoskeletons exponentially converge to zero. Meanwhile, the proposed approach is robust to guarantee the tracking error bounded when the interaction torque exists. Illustrative simulation and experiment results are presented to show efficiency of the proposed controller. Additionally, comparisons with gradient dynamic (GD) approach and other methods are also presented to demonstrate efficiency and superiority of the proposed control strategy for tracking joint angle of knee exoskeleton. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Model Predictive Control for Offset-Free Reference Tracking

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav

    2016-01-01

    Roč. 5, č. 1 (2016), s. 8-13 ISSN 1805-3386 Institutional support: RVO:67985556 Keywords : offset-free reference tracking * predictive control * ARX model * state-space model * multi-input multi-output system * robotic system * mechatronic system Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2016/AS/belda-0458355.pdf

  3. Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2017-01-01

    Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

  4. Robust Model Predictive Control Schemes for Tracking Setpoints

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2010-01-01

    Full Text Available This paper briefly reviews the development of nontracking robust model predictive control (RMPC schemes for uncertain systems using linear matrix inequalities (LMIs subject to input saturated and softened state constraints. Then we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. The novel tracking setpoint RMPC schemes are able to stabilize uncertain systems once the output setpoints lead to the violation of the state constraints. The state violation can be regulated by changing the value of the weighting factor. A brief comparative simulation study of the two tracking setpoint RMPC schemes is done via simple examples to demonstrate the ability of the softened state constraint schemes. Finally, some features of future research from this study are discussed.

  5. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    International Nuclear Information System (INIS)

    Dohner, J.L.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed

  6. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    Energy Technology Data Exchange (ETDEWEB)

    Dohner, J.L. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics Dept.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

  7. Sun exposure, sun protection and sunburn among Canadian adults.

    Science.gov (United States)

    Pinault, Lauren; Fioletov, Vitali

    2017-05-17

    Ultraviolet radiation (UVR) exposure and a history of sunburn are important risk factors for skin cancer. Sunburn is more common among men, younger age groups, and people in higher income households. Sun protection measures also vary by sex, age, and socioeconomic characteristics. Associations between ambient UVR and sunburn and sun safety measures have not been quantified. A total of 53,130 respondents aged 18 or older answered a Canadian Community Health Survey (CCHS) module on sun safety, which was administered in six provinces from 2005 to 2014. The module contained questions about sunburn, time in the sun, and sun protection. These respondents were linked to an ambient erythemal UVR dataset representing the June-to-August mean. Descriptive statistics and logistic regression were used to examine associations between population characteristics, sunburn, sun safety, time in the sun, and ambient UVR. Sunburn was reported by 33% of respondents and was more common among men, younger age groups, people who were not members of visible minorities, residents of higher income households, and individuals who were employed. On a typical summer day, a larger percentage of women than men sought shade and wore sunscreen, whereas a larger percentage of men wore a hat or long pants. As ambient summer UVR increased, women were more likely to apply sunscreen to their face, seek shade, or wear a hat (OR~1.02 to 1.09 per increase of 187 J/m² of erythemally-weighted UVR, or 5.4% of the mean); these associations were not observed among men. Findings related to sunburn and sun protection were similar to those of previous studies. The association between ambient UVR and women's precautionary measures suggests that information about UVR may influence their decision to protect their skin.

  8. Our turbulent sun

    International Nuclear Information System (INIS)

    Frazier, K.

    1982-01-01

    The quest for a new understanding of the sun and its surprising irregularities, variations, and effects is described. Attention is given to the sun's impact on life on earth, the weather and geomagnetic storms, sunspots, solar oscillations, the missing neutrinos in the sun, the 'shrinking sun', the 'dance' of the orbits, and the search for the 'climate connection'. It is noted that the 1980s promise to be the decade of the sun: not only because solar power may be a crucial ingredient in efforts to solve the energy crisis, but also because there will be brilliant auroras over North America, because sunspot activity will be the second highest since the 17th century, and because an unmanned spacecraft (i.e., the solar polar mission) will leave the plane of the solar system and observe the sun from above and below

  9. Modeling of Maximum Power Point Tracking Controller for Solar Power System

    Directory of Open Access Journals (Sweden)

    Aryuanto Soetedjo

    2012-09-01

    Full Text Available In this paper, a Maximum Power Point Tracking (MPPT controller for solar power system is modeled using MATLAB Simulink. The model consists of PV module, buck converter, and MPPT controller. The contribution of the work is in the modeling of buck converter that allowing the input voltage of the converter, i.e. output voltage of PV is changed by varying the duty cycle, so that the maximum power point could be tracked when the environmental changes. The simulation results show that the developed model performs well in tracking the maximum power point (MPP of the PV module using Perturb and Observe (P&O Algorithm.

  10. The star ''Sun''

    International Nuclear Information System (INIS)

    Pecker, J.-C.

    1982-01-01

    The author gives a resume of our knowledge of the Sun. In particular, he discusses the mass, luminosity and chemical composition of the Sun, and then asks what an observer from Sirius would think about the Sun. (G.T.H.)

  11. Sun Exposure and Protection Habits in Pediatric Patients with a History of Malignancy.

    Directory of Open Access Journals (Sweden)

    Yael Levy-Shraga

    Full Text Available Survivors of childhood cancer are at high risk for developing non-melanoma skin cancer and therefore are firmly advised to avoid or minimize sun exposure and adopt skin protection measures. We aimed to compare sun exposure and protection habits in a cohort of pediatric patients with a history of malignancy to those of healthy controls.Case-control study of 143 pediatric patients with a history of malignancy (aged 11.2±4.6 y, Male = 68, mean interval from diagnosis 4.4±3.8 y and 150 healthy controls (aged 10.4±4.8 y, Male = 67. Sun exposure and protection habits were assessed using validated questionnaires.Patients and controls reported similar sun exposure time during weekdays (94±82 minutes/day vs. 81±65 minutes/day; p = 0.83, while during weekends patients spent significantly less time outside compared to controls (103±85 minutes/day vs. 124±87 minutes/day; p = 0.02. Time elapsed from diagnosis positively correlated with time spent outside both during weekdays (r = 0.194, p = 0.02 and weekends (r = 0.217, p = 0.01, and there was a step-up in sun exposure starting three years after diagnosis. There was no significant difference regarding composite sun protection score between patients and controls. Age was positively correlated with number of sunburns per year and sun exposure for the purpose of tanning, and was negatively correlated with the use of sun protection measures.Although childhood cancer survivors are firmly instructed to adopt sun protection habits, the adherence to these instructions is incomplete, and more attention should be paid to improve these habits throughout their lives. Since sunlight avoidance may results in vitamin D deficiency, dietary supplementation will likely be needed.

  12. Sun Exposure and Protection Habits in Pediatric Patients with a History of Malignancy

    Science.gov (United States)

    Levy-Shraga, Yael; Cohen, Rinat; Ben Ami, Michal; Yeshayahu, Yonatan; Temam, Vered; Modan-Moses, Dalit

    2015-01-01

    Background Survivors of childhood cancer are at high risk for developing non-melanoma skin cancer and therefore are firmly advised to avoid or minimize sun exposure and adopt skin protection measures. We aimed to compare sun exposure and protection habits in a cohort of pediatric patients with a history of malignancy to those of healthy controls. Methods Case-control study of 143 pediatric patients with a history of malignancy (aged 11.2±4.6y, Male = 68, mean interval from diagnosis 4.4±3.8y) and 150 healthy controls (aged 10.4±4.8y, Male = 67). Sun exposure and protection habits were assessed using validated questionnaires. Results Patients and controls reported similar sun exposure time during weekdays (94±82minutes/day vs. 81±65minutes/day; p = 0.83), while during weekends patients spent significantly less time outside compared to controls (103±85minutes/day vs. 124±87minutes/day; p = 0.02). Time elapsed from diagnosis positively correlated with time spent outside both during weekdays (r = 0.194, p = 0.02) and weekends (r = 0.217, p = 0.01), and there was a step-up in sun exposure starting three years after diagnosis. There was no significant difference regarding composite sun protection score between patients and controls. Age was positively correlated with number of sunburns per year and sun exposure for the purpose of tanning, and was negatively correlated with the use of sun protection measures. Conclusions Although childhood cancer survivors are firmly instructed to adopt sun protection habits, the adherence to these instructions is incomplete, and more attention should be paid to improve these habits throughout their lives. Since sunlight avoidance may results in vitamin D deficiency, dietary supplementation will likely be needed. PMID:26348212

  13. The sophisticated control of the tram bogie on track

    Directory of Open Access Journals (Sweden)

    Radovan DOLECEK

    2015-09-01

    Full Text Available The paper deals with the problems of routing control algorithms of new conception of tram vehicle bogie. The main goal of these research activities is wear reduction of rail wheels and tracks, wear reduction of traction energy losses and increasing of running comfort. The testing experimental tram vehicle with special bogie construction powered by traction battery is utilized for these purposes. This vehicle has a rotary bogie with independent rotating wheels driven by permanent magnets synchronous motors and a solid axle. The wheel forces in bogie are measured by large amounts of the various sensors placed on the testing experimental tram vehicle. Nowadays the designed control algorithms are implemented to the vehicle superset control system. The traction requirements and track characteristics have an effect to these control algorithms. This control including sophisticated routing brings other improvements which is verified and corrected according to individual traction and driving characteristics, and opens new possibilities.

  14. Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

    Directory of Open Access Journals (Sweden)

    Yiding Hua

    2017-01-01

    Full Text Available This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

  15. Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

    Directory of Open Access Journals (Sweden)

    Xuan Vinh Ha

    2013-04-01

    Full Text Available Skid-steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO feedback control method is proposed for a four track wheel skid-steered mobile robot (4-TW SSMR using flexible fuzzy logic control (FLC. The extended Kalman filter is utilized to estimate the positions, velocities and orientation angles, which are used for feedback control signals in the FVFO method, based on the AHRS kinematic motion model and velocity constraints. In addition, in light of the wheel slip and the braking ability of the robot, we propose a new method for estimating online wheel slip parameters based on a discrete Kalman filter to compensate for the velocity constraints. As demonstrated by our experimental results, the advantages of the combination of the proposed FVFO and wheel slip estimation methods overcome the limitations of the others in the trajectory tracking control problem for a 4-TW SSMR.

  16. Air-cooled Photovoltaic Blinds with Automatic Sun Tracking System%空冷型自动追光百叶帘式光伏窗的应用研究

    Institute of Scientific and Technical Information of China (English)

    陈海飞; 蔡宝瑞; 郭晶晶; 王超伟; 陈孚江; 杨洁

    2017-01-01

    This paper summarizes the domestic and foreign photovoltaic in architectural form, and designs a new type of air - cooled photovoltaic blind with automatic sun tracking system to solve the problems of low solar radiation receiving capacity of conventional photovoltaic windows and the problems of architectural lighting and ventilation. It replaces the traditional Venetian blinds with the thin-film solar photovoltaic sheets and put in the hollow double window to adjust the amount of indoor lighting and get electric energy revenues. This system is able to track the sun 's rays by the photosensitive element, and photovoltaic shutter angle adjustment will bring in disturbed flow formation, thereby accelerating the air cooling heat dissipation and improving the photoelectric conversion efficiency. In addition, photovoltaic windows have four basic working modes: internal circulation heating mode in winter, outer circulation cooling mode in summer, fully enclosed mode and full lighting mode, which enable transfer heat between the indoor and outdoor environment. The first two models automatically track the sun by the light sensor, and the signal will be processed by the intelligent processor to drive the motor to control the tilt angle of the photovoltaic louver components, so that the sun directly irradiate to the photovoltaic louvre components, which fully accept the light and improve power production. Therefore, the system not only obtain the maximum radiation through the automatic tracking of sunshine, but also ensure the temperature of the photovoltaic cell not too high through the winter and summer internal and external cooling cycle mode, which improve the power generation efficiency of the photovoltaic window. In addition, the summer cycle and the winter cycle can not only have a cooling effect on the PV cell itself, but also greatly reduce the indoor load to achieve the effect of building energy efficiency. Three kinds of photovoltaic windows with different

  17. Neuro-PID tracking control of a discharge air temperature system

    International Nuclear Information System (INIS)

    Zaheer-uddin, M.; Tudoroiu, N.

    2004-01-01

    In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system

  18. Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

    Science.gov (United States)

    Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

    2016-01-01

    This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

  19. Invariant Solar Sail Formations in Elliptical Sun-Synchronous Orbits

    Science.gov (United States)

    Parsay, Khashayar

    Current and past missions that study the Earth's geomagnetic tail require multiple spacecraft to fly in formation about a highly eccentric Keplerian reference orbit that has its apogee inside a predefined science region of interest. Because the geomagnetic tail is directed along the Sun-Earth line and therefore rotates annually, inertially fixed Keplerian orbits are only aligned with the geomagnetic tail once per year. This limitation reduces the duration of the science phase to less than a few months annually. Solar sails are capable of creating non-Keplerian, Sun-synchronous orbits that rotate with the geomagnetic tail. A solar sail flying in a Sun-synchronous orbit will have a continuous presence in the geomagnetic tail throughout the entire year, which significantly improves the in situ observations of the magnetosphere. To achieve a Sun-synchronous orbit, a solar sail is required to maintain a Sun-pointing attitude, which leads to the artificial precession of the orbit apse line in a Sun-synchronous manner, leaving the orbit apogee inside the science region of interest throughout entire the year. To study the spatial and temporal variations of plasma in the highly dynamic environment of the magnetosphere, multiple spacecraft must fly in a formation. The objective for this dissertation is to investigate the feasibility of solar sail formation flying in the Earth-centered, Sun-synchronous orbit regime. The focus of this effort is to enable formation flying for a group of solar sails that maintain a nominally fixed Sun-pointing attitude during formation flight, solely for the purpose of precessing their orbit apse lines Sun-synchronously. A fixed-attitude solar sail formation is motivated by the difficulties in the simultaneous control of orbit and attitude in flying solar sails. First, the secular rates of the orbital elements resulting from the effects of solar radiation pressure (SRP) are determined using averaging theory for a Sun-pointing attitude sail

  20. Coherent states related with SU(N) and SU(N,1) groups

    International Nuclear Information System (INIS)

    Gitman, D.M.; Shelepin, A.L.

    1990-01-01

    The basis of coherent state (CS) for symmetric presentations of groups SU(N) and SU(N,1) is plotted, its properties being investigated. Evolution of CS is considered. Relation between CS of groups SU(N) and Glauber is ascertained

  1. Tracking local control of a parabolic trough collector. Control local de Seguimiento cilindro parabolico ACE 20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona Maeztu, J.I.; Alberdi Primicia, J.; Gamero Aranda, E.; Blanco, J.

    1991-01-01

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. the provided electronic signal is then compared with reference levels in order to get a set of 8 logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of a P.R.O.M. memory which is programmed with the logical ecuations of the control system. the memory output lines give the control commands of the parabolic trough collector motor. (author)

  2. Tracking local control of a parabolic trough collector; Control local de Seguimiento cilindro parabolico ACE 20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona Maeztu, J.I.; Alberdi Primicia, J.; Gamero Aranda, E.; Blanco, J.

    1991-12-31

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. the provided electronic signal is then compared with reference levels in order to get a set of 8 logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of a P.R.O.M. memory which is programmed with the logical ecuations of the control system. the memory output lines give the control commands of the parabolic trough collector motor. (author)

  3. Tracking local control of a parabolic trough collector; Control local de seguimiento cilindro parabolico ACE20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona, J I; Alberdi, J; Gamero, E; Blanco, J

    1992-07-01

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. The provided electronic signal is then compared with reference levels in order to get a set of B logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of o P.R.O.M. memory which is programmed with the logical equations of the control system. The memory output lines give the control command of the parabolic trough collector motor. (Author)

  4. Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

    Science.gov (United States)

    Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

    2018-04-01

    Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

  5. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  6. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  7. Micro technology based sun sensor

    DEFF Research Database (Denmark)

    Hales, Jan Harry; Pedersen, Martin; Fléron, René

    2003-01-01

    various payloads and platforms. The conventional and commercial actuators and attitude sensors are in most cases not suited for these satellites, which again lead to new design considerations. Another important property is the launch cost, which can be kept relatively low as a result of the concept....... This fact enables students to get hands-on experience with satellite systems design and project management. This paper describes the attitude control and determination system of a Danish student satellite (DTUsat), with main focus on the two-axis MOEMS sun sensor developed. On the magnetotorquer controlled...... DTUsat sun sensors are needed along with a magnetometer to obtain unambiguous attitude determination for the ACDS and the payloads - an electrodynamic tether and a camera. The accuracy needed was not obtainable by employing conventional attitude sensors. Hence a linear slit sensor was designed...

  8. Rate control and quality assurance during rhythmic force tracking.

    Science.gov (United States)

    Huang, Cheng-Ya; Su, Jyong-Huei; Hwang, Ing-Shiou

    2014-02-01

    Movement characteristics can be coded in the single neurons or in the summed activity of neural populations. However, whether neural oscillations are conditional to the frequency demand and task quality of rhythmic force regulation is still unclear. This study was undertaken to investigate EEG dynamics and behavior correlates during force-tracking at different target rates. Fourteen healthy volunteers conducted load-varying isometric abduction of the index finger by coupling the force output to sinusoidal targets at 0.5 Hz, 1.0 Hz, and 2.0 Hz. Our results showed that frequency demand significantly affected EEG delta oscillation (1-4 Hz) in the C3, CP3, CPz, and CP4 electrodes, with the greatest delta power and lowest delta peak around 1.5 Hz for slower tracking at 0.5 Hz. Those who had superior tracking congruency also manifested enhanced alpha oscillation (8-12 Hz). Alpha rhythms of the skilled performers during slow tracking spread through the whole target cycle, except for the phase of direction changes. However, the alpha rhythms centered at the mid phase of a target cycle with increasing target rate. In conclusion, our findings clearly suggest two advanced roles of cortical oscillation in rhythmic force regulation. Rate-dependent delta oscillation involves a paradigm shift in force control under different time scales. Phasic organization of alpha rhythms during rhythmic force tracking is related to behavioral success underlying the selective use of bimodal controls (feedback and feedforward processes) and the timing of attentional focus on the target's peak velocity. Copyright © 2013 Elsevier B.V. All rights reserved.

  9. Position and attitude tracking control for a quadrotor UAV.

    Science.gov (United States)

    Xiong, Jing-Jing; Zheng, En-Hui

    2014-05-01

    A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

    Directory of Open Access Journals (Sweden)

    Lie Guo

    2014-01-01

    Full Text Available To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.

  11. The Development of Monitoring and Control System of the Low PV/T Solar System

    OpenAIRE

    Okhorzina Alena; Bikbulatov Alexander; Yurchenko Alexey; Bernhard Norbert; Aldoshina Oksana

    2016-01-01

    The article presents an autonomous PV/T solar installation. Installing converts solar energy into electricity and heat. The description of its components and elements that enhance its effectiveness shows. The description of the control program and control of the installation is given. The control system provides for tracking the sun and cooling the photovoltaic module.

  12. Sun exposure and sun protection practices of children and their parents.

    LENUS (Irish Health Repository)

    Kiely, A D

    2009-05-01

    The primary aims of this study were: to estimate sun exposure in hours of children in Cork during the summer months; to examine sun protection measures used by children and their parents and to explore parental knowledge of sun exposure and protection. A cross-sectional study, using a semi-structured questionnaire, was conducted in June 2006 in primary schools, pre-schools and creches throughout Cork City and County. Parents of 250 children aged less than 12 years were sampled. Mean sun exposure of Cork children was 40.9 hours per week in the summer months, with 77 (46.1%) children developing sunburn. 59.3% of the studied children were of skin type 1 or 2. 95 (57%) children on weekdays and 137 (82%) children at weekends were exposed to the sun between 11 am and 3 pm. Sunscreen and hats\\/caps were the most common protection measures used. A minority used protective clothing, sunglasses or sought shade. Thirty one (30.5%) children had sunscreen reapplied every 2 hours. Knowledge of sun protection was considerable among Irish parents. However the frequency of sunburn among Irish children suggests we are not providing them with adequate sun protection.

  13. Stabilization and tracking controller for a class of nonlinear discrete-time systems

    International Nuclear Information System (INIS)

    Sharma, B.B.; Kar, I.N.

    2011-01-01

    Highlights: → We present recursive design of stabilizing controller for nonlinear discrete-time systems. → Problem of stabilizing and tracking control of single link manipulator system is addressed. → We extend the proposed results to output tracking problems. → The proposed methodology is applied satisfactorily to discrete-time chaotic maps. - Abstract: In this paper, stabilization and tracking control problem for parametric strict feedback class of discrete time systems is addressed. Recursive design of control function based on contraction theory framework is proposed instead of traditional Lyapunov based method. Explicit structure of controller is derived for the addressed class of nonlinear discrete-time systems. Conditions for exponential stability of system states are derived in terms of controller parameters. At each stage of recursive procedure a specific structure of Jacobian matrix is ensured so as to satisfy conditions of stability. The closed loop dynamics in this case remains nonlinear in nature. The proposed algorithm establishes global stability results in quite a simple manner as it does not require formulation of error dynamics. Problem of stabilization and output tracking control in case of single link manipulator system with actuator dynamics is analyzed using the proposed strategy. The proposed results are further extended to stabilization of discrete time chaotic systems. Numerical simulations presented in the end show the effectiveness of the proposed approach.

  14. Modal-space reference-model-tracking fuzzy control of earthquake excited structures

    Science.gov (United States)

    Park, Kwan-Soon; Ok, Seung-Yong

    2015-01-01

    This paper describes an adaptive modal-space reference-model-tracking fuzzy control technique for the vibration control of earthquake-excited structures. In the proposed approach, the fuzzy logic is introduced to update optimal control force so that the controlled structural response can track the desired response of a reference model. For easy and practical implementation, the reference model is constructed by assigning the target damping ratios to the first few dominant modes in modal space. The numerical simulation results demonstrate that the proposed approach successfully achieves not only the adaptive fault-tolerant control system against partial actuator failures but also the robust performance against the variations of the uncertain system properties by redistributing the feedback control forces to the available actuators.

  15. Sun Safety

    Science.gov (United States)

    ... Children from the Sun? Are There Benefits to Spending Time Outdoors? The Surgeon General’s Call to Action to Prevent Skin Cancer Related Resources Sun Safety Tips for Men Tips for Families Tips for Schools Tips for Employers Tips for ...

  16. Nonlinear control of ships minimizing the position tracking errors

    Directory of Open Access Journals (Sweden)

    Svein P. Berge

    1999-07-01

    Full Text Available In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.

  17. Tracking the Sun IX: The Installed Price of Residential and Non-Residential Photovoltaic Systems in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). Energy Technologies Area; Darghouth, Naïm [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). Energy Technologies Area; Millstein, Dev [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Cates, Sarah [Exeter Associates, Columbia, MD (United States); DiSanti, Nicholas [Exeter Associates, Columbia, MD (United States); Widiss, Rebecca [Exeter Associates, Columbia, MD (United States)

    2016-08-16

    Now in its ninth edition, Lawrence Berkeley National Laboratory (LBNL)’s Tracking the Sun report series is dedicated to summarizing trends in the installed price of grid-connected solar photovoltaic (PV) systems in the United States. The present report focuses on residential and non-residential systems installed through year-end 2015, with preliminary trends for the first half of 2016. An accompanying LBNL report, Utility-Scale Solar, addresses trends in the utility-scale sector. This year’s report incorporates a number of important changes and enhancements from prior editions. Among those changes, LBNL has made available a public data file containing all non-confidential project-level data underlying the analysis in this report. Installed pricing trends presented within this report derive primarily from project-level data reported to state agencies and utilities that administer PV incentive programs, solar renewable energy credit (SREC) registration systems, or interconnection processes. Refer to the text box to the right for several key notes about these data. In total, data were collected and cleaned for more than 820,000 individual PV systems, representing 85% of U.S. residential and non-residential PV systems installed cumulatively through 2015 and 82% of systems installed in 2015. The analysis in this report is based on a subset of this sample, consisting of roughly 450,000 systems with available installed price data.

  18. Response Across the Health-Literacy Spectrum of Kidney Transplant Recipients to a Sun-Protection Education Program Delivered on Tablet Computers: Randomized Controlled Trial.

    Science.gov (United States)

    Robinson, June K; Friedewald, John J; Desai, Amishi; Gordon, Elisa J

    2015-08-18

    Sun protection can reduce skin cancer development in kidney transplant recipients, who have a greater risk of developing squamous cell carcinoma than the general population. A culturally sensitive sun-protection program (SunProtect) was created in English and Spanish with the option of choosing audio narration provided by the tablet computer (Samsung Galaxy Tab 2 10.1). The intervention, which showed skin cancer on patients with various skin tones, explained the following scenarios: skin cancer risk, the ability of sun protection to reduce this risk, as well as offered sun-protection choices. The length of the intervention was limited to the time usually spent waiting during a visit to the nephrologist. The development of this culturally sensitive, electronic, interactive sun-protection educational program, SunProtect, was guided by the "transtheoretical model," which focuses on decision making influenced by perceptions of personal risk or vulnerability to a health threat, importance (severity) of the disease, and benefit of sun-protection behavior. Transportation theory, which holds that narratives can have uniquely persuasive effects in overcoming preconceived beliefs and cognitive biases because people transported into a narrative world will alter their beliefs based on information, claims, or events depicted, guided the use of testimonials. Participant tablet use was self-directed. Self-reported responses to surveys were entered into the database through the tablet. Usability was tested through interviews. A randomized controlled pilot trial with 170 kidney transplant recipients was conducted, where the educational program (SunProtect) was delivered through a touch-screen tablet to 84 participants. The study involved 62 non-Hispanic white, 60 non-Hispanic black, and 48 Hispanic/Latino kidney transplant recipients. The demographic survey data showed no significant mean differences between the intervention and control groups in age, sex, income, or time since

  19. Innovative Solar Tracking Concept by Rotating Prism Array

    Directory of Open Access Journals (Sweden)

    Héctor García

    2014-01-01

    Full Text Available Solar energy has become one of the most promising renewable energies and is the most widely used nowadays. In order to achieve an optimum performance, both photovoltaic and solar thermal applications are required to track the position of the sun throughout the day and year in the most effective way possible to avoid a high negative impact on the system efficiency. The present paper attempts to describe a novel semipassive solar tracking concentrator (SPSTC in which, in order to track the sun, two independent arrays of polymethyl methacrylate (PMMA prisms are implemented to refract sunlight by rotating said prisms, thus being able to redirect solar radiation as desired. The first set is responsible for eliminating one of the directional components of the solar radiation; the task is achieved by rotating the prisms within the array at a specific angle. The second set deals with another of the sunlight’s directional components, transforming its direction into a completely perpendicular pattern to the array. Having downward vertical radiation makes it possible to implement a stationary Fresnel lens to concentrate the solar radiation for any application desired. The system is designed and validated using simulation software to prove the feasibility of the concept.

  20. Comparison of Extremum-Seeking Control Techniques for Maximum Power Point Tracking in Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Chen-Han Wu

    2011-12-01

    Full Text Available Due to Japan’s recent nuclear crisis and petroleum price hikes, the search for renewable energy sources has become an issue of immediate concern. A promising candidate attracting much global attention is solar energy, as it is green and also inexhaustible. A maximum power point tracking (MPPT controller is employed in such a way that the output power provided by a photovoltaic (PV system is boosted to its maximum level. However, in the context of abrupt changes in irradiance, conventional MPPT controller approaches suffer from insufficient robustness against ambient variation, inferior transient response and a loss of output power as a consequence of the long duration required of tracking procedures. Accordingly, in this work the maximum power point tracking is carried out successfully using a sliding mode extremum-seeking control (SMESC method, and the tracking performances of three controllers are compared by simulations, that is, an extremum-seeking controller, a sinusoidal extremum-seeking controller and a sliding mode extremum-seeking controller. Being able to track the maximum power point promptly in the case of an abrupt change in irradiance, the SMESC approach is proven by simulations to be superior in terms of system dynamic and steady state responses, and an excellent robustness along with system stability is demonstrated as well.

  1. Robust tracking control of two-degrees-of-freedom mobile robots

    NARCIS (Netherlands)

    Oelen, W.; Oelen, W.; van Amerongen, J.

    1994-01-01

    A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of

  2. Development of Feedforward Control in a Dynamic Manual Tracking Task

    Science.gov (United States)

    van Roon, Dominique; Caeyenberghs, Karen; Swinnen, Stephan P.; Smits-Engelsman, Bouwien C. M.

    2008-01-01

    To examine the development of feedforward control during manual tracking, 117 participants in 5 age groups (6 to 7, 8 to 9, 10 to 11, 12 to 14, and 15 to 17 years) tracked an accelerating dot presented on a monitor by moving an electronic pen on a digitizer. To remain successful at higher target velocities, they had to create a predictive model of…

  3. On-Line Tracking Controller for Brushless DC Motor Drives Using Artificial Neural Networks

    Science.gov (United States)

    Rubaai, Ahmed

    1996-01-01

    A real-time control architecture is developed for time-varying nonlinear brushless dc motors operating in a high performance drives environment. The developed control architecture possesses the capabilities of simultaneous on-line identification and control. The dynamics of the motor are modeled on-line and controlled using an artificial neural network, as the system runs. The control architecture combines the experience and dependability of adaptive tracking systems with potential and promise of the neural computing technology. The sensitivity of real-time controller to parametric changes that occur during training is investigated. Such changes are usually manifested by rapid changes in the load of the brushless motor drives. This sudden change in the external load is simulated for the sigmoidal and sinusoidal reference tracks. The ability of the neuro-controller to maintain reasonable tracking accuracy in the presence of external noise is also verified for a number of desired reference trajectories.

  4. Visual Trajectory-Tracking Model-Based Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Andrej Zdešar

    2013-09-01

    Full Text Available In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the

  5. Fuzzy Tracking and Control Algorithm for an SSVEP-Based BCI System

    Directory of Open Access Journals (Sweden)

    Yeou-Jiunn Chen

    2016-09-01

    Full Text Available Subjects with amyotrophic lateral sclerosis (ALS consistently experience decreasing quality of life because of this distinctive disease. Thus, a practical brain-computer interface (BCI application can effectively help subjects with ALS to participate in communication or entertainment. In this study, a fuzzy tracking and control algorithm is proposed for developing a BCI remote control system. To represent the characteristics of the measured electroencephalography (EEG signals after visual stimulation, a fast Fourier transform is applied to extract the EEG features. A self-developed fuzzy tracking algorithm quickly traces the changes of EEG signals. The accuracy and stability of a BCI system can be greatly improved by using a fuzzy control algorithm. Fifteen subjects were asked to attend a performance test of this BCI system. The canonical correlation analysis (CCA was adopted to compare the proposed approach, and the average recognition rates are 96.97% and 94.49% for proposed approach and CCA, respectively. The experimental results showed that the proposed approach is preferable to CCA. Overall, the proposed fuzzy tracking and control algorithm applied in the BCI system can profoundly help subjects with ALS to control air swimmer drone vehicles for entertainment purposes.

  6. Sun Protection Practices and Sun Exposure among Children with a Parental History of Melanoma

    Science.gov (United States)

    Glenn, Beth A.; Lin, Tiffany; Chang, L. Cindy; Okada, Ashley; Wong, Weng Kee; Glanz, Karen; Bastani, Roshan

    2014-01-01

    Background First-degree relatives of melanoma survivors have a substantially higher lifetime risk for melanoma than individuals with no family history. Exposure to ultraviolet radiation is the primary modifiable risk factor for the disease. Reducing UV exposure through sun protection may be particularly important for children with a parental history of melanoma. Nonetheless, limited prior research has investigated sun protection practices and sun exposure among these children. Methods The California Cancer Registry was used to identify melanoma survivors eligible to participate in a survey to assess their children's sun protection practices and sun exposure. The survey was administered by mail, telephone, or web to Latino and non-Latino white melanoma survivors with at least one child (0–17 years; N = 324). Results Sun exposure was high and the rate of sunburn was equivalent to or higher than estimates from average risk populations. Use of sun protection was suboptimal. Latino children were less likely to wear sunscreen and hats and more likely to wear sunglasses, although these differences disappeared in adjusted analyses. Increasing age of the child was associated with lower sun protection and higher risk for sunburn whereas higher objective risk for melanoma predicted improved sun protection and a higher risk for sunburns. Perception of high barriers to sun protection was the strongest modifiable correlate of sun protection. Conclusions Interventions to improve sun protection and reduce sun exposure and sunburns in high risk children are needed. Impact Intervening in high risk populations may help reduce the burden of melanoma in the U.S. PMID:25587110

  7. baonan sun

    Indian Academy of Sciences (India)

    Home; Journals; Pramana – Journal of Physics. BAONAN SUN. Articles written in Pramana – Journal of Physics. Volume 90 Issue 2 February 2018 pp 23 Research Article. Rogue waves in the multicomponent Mel'nikov system and multicomponent Schrödinger–Boussinesq system · BAONAN SUN ZHAN LIAN.

  8. Fengrui Sun

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. Fengrui Sun. Articles written in Sadhana. Volume 34 Issue 5 October 2009 pp 851-864. Profit rate performance optimization for a generalized irreversible combined refrigeration cycle · Kang Ma Lingen Chen Fengrui Sun · More Details Abstract Fulltext PDF. Finite-time exergoeconomic ...

  9. Sunburn, sun exposure, and sun sensitivity in the Study of Nevi in Children.

    Science.gov (United States)

    Satagopan, Jaya M; Oliveria, Susan A; Arora, Arshi; Marchetti, Michael A; Orlow, Irene; Dusza, Stephen W; Weinstock, Martin A; Scope, Alon; Geller, Alan C; Marghoob, Ashfaq A; Halpern, Allan C

    2015-11-01

    To examine the joint effect of sun exposure and sunburn on nevus counts (on the natural logarithm scale; log nevi) and the role of sun sensitivity. We describe an analysis of cross-sectional data from 443 children enrolled in the prospective Study of Nevi in Children. To evaluate the joint effect, we partitioned the sum of squares because of interaction between sunburn and sun exposure into orthogonal components representing (1) monotonic increase in log nevi with increasing sun exposure (rate of increase of log nevi depends on sunburn), and (2) nonmonotonic pattern. In unadjusted analyses, there was a marginally significant monotonic pattern of interaction (P = .08). In adjusted analyses, sun exposure was associated with higher log nevi among those without sunburn (P sunburn (P = .14). Sunburn was independently associated with log nevi (P = .02), even though sun sensitivity explained 29% (95% confidence interval: 2%-56%, P = .04) of its effect. Children with high sun sensitivity and sunburn had more nevi, regardless of sun exposure. A program of increasing sun protection in early childhood as a strategy for reducing nevi, when applied to the general population, may not equally benefit everyone. Copyright © 2015 Elsevier Inc. All rights reserved.

  10. Modeling and Velocity Tracking Control for Tape Drive System ...

    African Journals Online (AJOL)

    Modeling and Velocity Tracking Control for Tape Drive System. ... Journal of Applied Sciences and Environmental Management ... The result of the study revealed that 7.07, 8 and 10 of koln values met the design goal and also resulted in optimal control performance with the following characteristics 7.31%,7.71% , 9.41% ...

  11. Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

    Directory of Open Access Journals (Sweden)

    Daisuke Endo

    2017-01-01

    Full Text Available In search-and-rescue missions, multi-degrees-of-freedom (DOF tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

  12. Sun-Induced Changes in Stratum Corneum Function Are Gender and Dose Dependent in a Chinese Population

    Science.gov (United States)

    Liu, Z.; Fluhr, J.W.; Song, S.P.; Sun, Z.; Wang, H.; Shi, Y.J.; Elias, P.M.; Man, M.-Q.

    2010-01-01

    Previous studies have demonstrated that UVB radiation changes the epidermal permeability barrier and stratum corneum (SC) hydration. It is well known that sun exposure causes erythema, sunburn and melanoma. However, whether daily sun exposure alters SC integrity and epidermal permeability barrier function is largely unknown, especially in Chinese subjects. In the present study, we assess the SC integrity, SC hydration and epidermal permeability barrier function following various doses of sun exposure. A total of 258 subjects (124 males and 134 females) aged 18–50 years were enrolled. A multifunctional skin physiology monitor (Courage & Khazaka MPA5) was used to measure SC hydration and transepidermal water loss (TEWL) on the forearms. In males, basal TEWL was higher with higher doses of sun exposure than with lower doses and control, whereas in females, basal TEWL was higher with lower doses of sun exposure than with higher doses and control. In the group with higher doses of sun exposure, TEWL in females was significantly lower than that in males. The barrier recovery was faster in females than in males in both control and lower-dose groups. In both males and females, barrier recovery was delayed with higher doses of sun exposure. In males, sun exposure did not alter SC hydration, while in females SC hydration was lower with lower doses of sun exposure as compared with control and higher doses of sun exposure. These results demonstrated that sun-induced changes in SC function and SC hydration vary with gender and the extent of sun exposure. PMID:20571289

  13. Optimal Vibration Control for Tracked Vehicle Suspension Systems

    Directory of Open Access Journals (Sweden)

    Yan-Jun Liang

    2013-01-01

    Full Text Available Technique of optimal vibration control with exponential decay rate and simulation for vehicle active suspension systems is developed. Mechanical model and dynamic system for a class of tracked vehicle suspension vibration control is established and the corresponding system of state space form is described. In order to prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an optimal vibration controller with exponential decay rate is designed. Numerical simulations are carried out, and the control effects of the ordinary optimal controller and the proposed controller are compared. Numerical simulation results illustrate the effectiveness of the proposed technique.

  14. On the Impact of Localization and Density Control Algorithms in Target Tracking Applications for Wireless Sensor Networks

    Science.gov (United States)

    Campos, Andre N.; Souza, Efren L.; Nakamura, Fabiola G.; Nakamura, Eduardo F.; Rodrigues, Joel J. P. C.

    2012-01-01

    Target tracking is an important application of wireless sensor networks. The networks' ability to locate and track an object is directed linked to the nodes' ability to locate themselves. Consequently, localization systems are essential for target tracking applications. In addition, sensor networks are often deployed in remote or hostile environments. Therefore, density control algorithms are used to increase network lifetime while maintaining its sensing capabilities. In this work, we analyze the impact of localization algorithms (RPE and DPE) and density control algorithms (GAF, A3 and OGDC) on target tracking applications. We adapt the density control algorithms to address the k-coverage problem. In addition, we analyze the impact of network density, residual integration with density control, and k-coverage on both target tracking accuracy and network lifetime. Our results show that DPE is a better choice for target tracking applications than RPE. Moreover, among the evaluated density control algorithms, OGDC is the best option among the three. Although the choice of the density control algorithm has little impact on the tracking precision, OGDC outperforms GAF and A3 in terms of tracking time. PMID:22969329

  15. Creating a Sun-Safe Camp.

    Science.gov (United States)

    Landrey, Ann

    1996-01-01

    Strategies for minimizing sun exposure of campers and staff include educating campers about the sun's effect on their skin, scheduling activities when the sun is less intense, creating shade at the camp site, incorporating sun protection into camp dress code, and training staff regarding sun protection. Addresses OSHA and liability issues. (LP)

  16. High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

    Science.gov (United States)

    Gu, Guoying; Zhu, Limin

    2010-08-01

    In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

  17. Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

    Science.gov (United States)

    Ren, Wei

    Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and

  18. A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Schmidt, Lasse; Pedersen, Henrik Clemmensen

    2016-01-01

    in the entire range of operation, rather than reducing stationary errors, and may be parameterized from the desired gain margin, as well as linear model parameters. The proposed control design approaches are evaluated in an experimentally validated, nonlinear simulation model of a hydraulic valve-cylinder drive......The control of hydraulic valve-cylinder drives is still an active subject of research, and various linear and particularly nonlinear approaches has been proposed, especially in the last two-three decades. In many cases the proposed controllers appear to produce excellent tracking ability due...... generally has failed to break through in industry. This paper discusses the dominant properties necessary to take into account when considering position tracking control of hydraulic valve-cylinder drives, and presents two generally applicable, generic control design approaches that combines non...

  19. Input-output linearizing tracking control of induction machine with the included magnetic saturation

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2003-01-01

    The tracking control design of an induction motor, based on input-output linearisation with magnetic saturation included is addressed. The magnetic saturation is represented by a nonlinear magnetising curve for the iron core and is used in the control, the observer of the state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances. It is based on the mixed 'stator current - rotor flux linkage' induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with saturation included behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  20. Robust intelligent backstepping tracking control for uncertain non-linear chaotic systems using H∞ control technique

    International Nuclear Information System (INIS)

    Peng, Y.-F.

    2009-01-01

    The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with built-in simple computation, good generalization capability and fast learning property. In this paper, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive CMAC and H ∞ control technique is proposed for a class of chaotic systems with unknown system dynamics and external disturbance. In the proposed control system, an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to mimic an ideal backstepping control (IBC), and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. Finally, three application examples, including a Duffing-Holmes chaotic system, a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the effectiveness and performance of proposed robust control technique.

  1. Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

    Science.gov (United States)

    Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

    2017-07-01

    In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

    Science.gov (United States)

    Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

    2017-03-01

    In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

  3. SunBlock '99: Young Scientists Investigate the Sun

    Science.gov (United States)

    Walsh, R. W.; Pike, C. D.; Mason, H.; Young, P.; Ireland, J.; Galsgaard, K.

    1999-10-01

    SunBlock `99 is a Web-based Public Understanding of Science and educational project which seeks to present the very latest solar research as seen through the eyes of young British scientists. These ``solar guides'' discuss not only their scientific interests, but also their extra-curricular activities and the reasons they chose scientific careers; in other words the human face of scientific research. The SunBlock '99 pages gather a range of solar images and movies from current solar space observatories and discuss the underlying physics and its relationship to the school curriculum. The instructional level is pitched at UK secondary school children (aged 13-16 years). It is intended that the material should not only provide a visually appealing introduction to the study of the Sun, but that it should help bridge the often wide gap between classroom science lessons and the research scientist `out in the field'. SunBlock '99 is managed by a team from the Rutherford Appleton Laboratory and the Universities of St Andrews and Cambridge, together with educational consultants. The production has, in part, been sponsored by PPARC and the Millennium Mathematics Project. Web site addresss: http://www.sunblock99.org.uk

  4. 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.

  5. Combined Optimal Sizing and Control for a Hybrid Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

    Full Text Available The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coupled optimizations, one for the plant parameters, forming the outer optimization loop and one for the control strategy, forming the inner optimization loop, are used to achieve minimum fuel consumption under the selected driving schedule. The dynamic programming technique is applied to find the optimal controller in the inner loop while the component parameters are optimized iteratively in the outer loop. The results are analyzed, and the relationship between the key parameters is observed to keep the optimal sizing and control simultaneously.

  6. A New MPPT Control for Photovoltaic Panels by Instantaneous Maximum Power Point Tracking

    Science.gov (United States)

    Tokushima, Daiki; Uchida, Masato; Kanbei, Satoshi; Ishikawa, Hiroki; Naitoh, Haruo

    This paper presents a new maximum power point tracking control for photovoltaic (PV) panels. The control can be categorized into the Perturb and Observe (P & O) method. It utilizes instantaneous voltage ripples at PV panel output terminals caused by the switching of a chopper connected to the panel in order to identify the direction for the maximum power point (MPP). The tracking for the MPP is achieved by a feedback control of the average terminal voltage of the panel. Appropriate use of the instantaneous and the average values of the PV voltage for the separate purposes enables both the quick transient response and the good convergence with almost no ripples simultaneously. The tracking capability is verified experimentally with a 2.8 W PV panel under a controlled experimental setup. A numerical comparison with a conventional P & O confirms that the proposed control extracts much more power from the PV panel.

  7. The gain of single-axis tracked panel according to extraterrestrial radiation

    International Nuclear Information System (INIS)

    Chang, T.P.

    2009-01-01

    In the present study, the gain in extraterrestrial radiation received by a single-axis tracked panel relative to a fixed panel was systematically analyzed over a specific period of time. The dynamic angle that the tracked panel should rotate by in order to follow the sun was derived through a series of spherical trigonometric procedures. The instantaneous incident angle of sunlight upon the panel was then calculated, assuming that the panel would simultaneously follow the sun's position. Thus, instantaneous increments of solar energy received by the tracked panel relative to the fixed panel are originally presented. The results show that the angle the tracked panel has to rotate by is 0 deg. at solar noon, and increases towards dawn or dusk. The incident angle of sunlight upon the tracked panel is always smaller than that upon the fixed panel, except at solar noon. As for panels installed with a yearly optimal tilt angle in Taipei, the gains are between 36.3% and 62.1% for four particular days of year, between 37.8% and 60.8% for the four seasons and 49.3% over the entire year. The amount of radiation collected by the tracked panel is enhanced as the maximum rotation angle is increased. The irradiation ratio of the tracked panel to the fixed panel is close to 1.5 for latitudes below 65 deg. and gradually increases for latitudes above this. The yearly optimal tilt angle of a south-facing fixed panel is approximately equal to 0.9 multiplied by the latitude (i.e. 0.9 x φ) for latitudes below 65 deg. and is about 56 + 0.4 x (φ - 65) otherwise

  8. The Sun - From the star to domestic energy

    International Nuclear Information System (INIS)

    2009-06-01

    Considered as a star and a deity, for a long period of time the Sun was thought to be another planet, whereas the word 'star' was reserved for all the brilliant points of light in the night sky. The Sun's status as a star in the sense of 'an astral body producing and emitting energy' was firmly established only at the beginning of the 20. century. Today astrophysicists are revealing more and more secrets of the fusion burning region located in its core. It is thanks to the Sun that life has appeared and evolved on Earth; it controls the cycle of 'For the last 4.6 million years the Sun has being providing us with light and heat. Today it is man's ambition to control this energy source'. The seasons and provides us with heat and light. But what exactly is the nature and origin of this prodigious energy source, with which man attempts to provide warmth and produce electricity? What is happening in this gigantic ball of fire, impossible to observe without protective glasses? And finally, how long will it continue to shine? Questions such as these took many centuries to be solved and will continue to be the subject of research for a long time to come. (authors)

  9. SU(N) Irreducible Schwinger Bosons

    OpenAIRE

    Mathur, Manu; Raychowdhury, Indrakshi; Anishetty, Ramesh

    2010-01-01

    We construct SU(N) irreducible Schwinger bosons satisfying certain U(N-1) constraints which implement the symmetries of SU(N) Young tableaues. As a result all SU(N) irreducible representations are simple monomials of $(N-1)$ types of SU(N) irreducible Schwinger bosons. Further, we show that these representations are free of multiplicity problems. Thus all SU(N) representations are made as simple as SU(2).

  10. Sliding mode control of photoelectric tracking platform based on the inverse system method

    Directory of Open Access Journals (Sweden)

    Yao Zong Chen

    2016-01-01

    Full Text Available In order to improve the photoelectric tracking platform tracking performance, an integral sliding mode control strategy based on inverse system decoupling method is proposed. The electromechanical dynamic model is established based on multi-body system theory and Newton-Euler method. The coupled multi-input multi-output (MIMO nonlinear system is transformed into two pseudo-linear single-input single-output (SISO subsystems based on the inverse system method. An integral sliding mode control scheme is designed for the decoupled pseudo-linear system. In order to eliminate system chattering phenomenon caused by traditional sign function in sliding-mode controller, the sign function is replaced by the Sigmoid function. Simulation results show that the proposed decoupling method and the control strategy can restrain the influences of internal coupling and disturbance effectively, and has better robustness and higher tracking accuracy.

  11. Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

    Science.gov (United States)

    Ayvali, Elif; Desai, Jaydev P

    2014-04-01

    This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

  12. Global Tracking Control of Quadrotor VTOL Aircraft in Three-Dimensional Space

    Directory of Open Access Journals (Sweden)

    Duc Khac Do

    2014-07-01

    Full Text Available This paper presents a method to design controllers that force a quadrotor vertical take-off and landing (VTOL aircraft to globally asymptotically track a reference trajectory in three-dimensional space. Motivated by the vehicle's steering practice, the roll and pitch angles are considered as immediate controls plus the total thrust force  provided by the aircraft's four rotors to control the position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, the standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to obtain global tracking control results. The paper also includes a design of observers that exponentially estimate the aircraft's linear velocity vector and disturbances. Simulations illustrate the results.

  13. Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law

    Directory of Open Access Journals (Sweden)

    Wei-Na ZHAI

    2013-04-01

    Full Text Available Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.

  14. A Randomised Controlled Trial Using Mobile Advertising to Promote Safer Sex and Sun Safety to Young People

    Science.gov (United States)

    Gold, J.; Aitken, C. K.; Dixon, H. G.; Lim, M. S. C.; Gouillou, M.; Spelman, T.; Wakefield, M.; Hellard, M. E.

    2011-01-01

    Mobile phone text messages (SMS) are a promising method of health promotion, but a simple and low cost way to obtain phone numbers is required to reach a wide population. We conducted a randomised controlled trial with simultaneous brief interventions to (i) evaluate effectiveness of messages related to safer sex and sun safety and (ii) pilot the…

  15. Lifestyle, sun worshipping and sun tanning - what about UV-A sun beds. Livsstil, soling og bruning - hva med UV-A solarier

    Energy Technology Data Exchange (ETDEWEB)

    Thune, P [Ullevaal Sykehus, Oslo (Norway)

    1991-06-01

    This article considers the effects of ultraviolet (UV) light from the sun and UV-A sun beds on the skin. Sun worshipping and sun therapy has been en vogue for centuries, but in another way than used today. A changing lifestyle has led to an increase of various skin diseases, including skin cancer. Short wave UV-light (UV-B) in particular has been blamed for inducing not only erythema and pigmentation but also more chronic skin lesions. Long wave UV-light (UV-A) has been shown to be the cause of similar changes to the skin but the pigmentation is of another quality and affords less protection against the harmful effects of UV-B. A concept of sun reactive skin typing has been created. This is based on self-reported responses to an initial exposure to sun as regards tanning ability and erythema reaction. These two factors have certain practical consequences, not only for UV-phototherapy but also for a person's risk of developing skin cancer. Recently, several research groups and dermatologists have discouraged extensive use of UV-A sun beds because of side effects of varying degrees of seriousness. The possible implications of these side effects for the organism are not fully elucidated and may be more profound than known today. The British Photodermatology Group has issued more stringent rules for persons who, despite advice to the contrary, still wish to use UV-A sun beds. 14 refs., 1 tab.

  16. Lifestyle, sun worshipping and sun tanning - what about UV-A sun beds. Livsstil, soling og bruning - hva med UV-A solarier

    Energy Technology Data Exchange (ETDEWEB)

    Thune, P. (Ullevaal Sykehus, Oslo (Norway))

    1991-06-01

    This article considers the effects of ultraviolet (UV) light from the sun and UV-A sun beds on the skin. Sun worshipping and sun therapy has been en vogue for centuries, but in another way than used today. A changing lifestyle has led to an increase of various skin diseases, including skin cancer. Short wave UV-light (UV-B) in particular has been blamed for inducing not only erythema and pigmentation but also more chronic skin lesions. Long wave UV-light (UV-A) has been shown to be the cause of similar changes to the skin but the pigmentation is of another quality and affords less protection against the harmful effects of UV-B. A concept of sun reactive skin typing has been created. This is based on self-reported responses to an initial exposure to sun as regards tanning ability and erythema reaction. These two factors have certain practical consequences, not only for UV-phototherapy but also for a person's risk of developing skin cancer. Recently, several research groups and dermatologists have discouraged extensive use of UV-A sun beds because of side effects of varying degrees of seriousness. The possible implications of these side effects for the organism are not fully elucidated and may be more profound than known today. The British Photodermatology Group has issued more stringent rules for persons who, despite advice to the contrary, still wish to use UV-A sun beds. 14 refs., 1 tab.

  17. Medical curriculum reform in Sun Yat-sen University: implications from the results of GMER evaluation in China.

    Science.gov (United States)

    Xiao, Haipeng; Xian, Liqing; Yu, Xueqing; Wang, Jianping

    2007-09-01

    Created by interlocking economies, a global language, the informatics revolution and rapid travel, globalization has penetrated all aspects of human life including science, environment, public health and medicine. Physicians are now members of a global community. The global physician should possess universal core essential competences required for medical practice throughout the world. The Institute for International Medical Education (IIME), created by the China Medical Board (CMB) of New York, has developed the " global minimal essential requirements" (GMER) that define the knowledge, skills, professional behavior and ethics that all physicians must have regardless of where they received their general medical education and training. The IIME initiated a pilot project in China in October, 2003, to evaluate the graduates of the 7- or 8-year track program of eight leading medical schools, including Medical School of Sun Yat-sen University. The results of GMER evaluation indicated strengths and areas for improvement of our school in relation to international standards, which greatly re-invigorate our enthusiasm on medical curriculum reform on the new 8-year track program in Medical School of Sun Yat-sen University. The modifications of our medical curriculum for the new 8-year track program based on the results of GMER evaluation are discussed in this paper.

  18. Research on Precision Tracking on Fast Steering Mirror and Control Strategy

    Science.gov (United States)

    Di, Lin; Yi-ming, Wu; Fan, Zhu

    2018-01-01

    Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

  19. Complex Dynamical Network Control for Trajectory Tracking Using Delayed Recurrent Neural Networks

    Directory of Open Access Journals (Sweden)

    Jose P. Perez

    2014-01-01

    Full Text Available In this paper, the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a complex dynamical network is obtained. To illustrate the analytic results, we present a tracking simulation of a dynamical network with each node being just one Lorenz’s dynamical system and three identical Chen’s dynamical systems.

  20. A comparison of vision-based tracking schemes for control of microbiorobots

    International Nuclear Information System (INIS)

    Kim, Dal Hyung; Steager, Edward B; Cheang, U Kei; Kim, Min Jun; Byun, Doyoung

    2010-01-01

    There has been significant recent interest in micro-nano robots operating in low Reynold's number fluidic environments. Even though recent works showed the success of controlling micro-nano robots, there are some limitations because of the tracking method. In this paper, we introduce and implement a feature-based tracking method (FTM). Scale invariant feature transform (SIFT) is a well-explored technique at much larger length scales for research fields regarding robotics and vision. Here, the technique is extensively investigated and optimized for microbiorobots (MBRs) in low Reynold's number environments. Also, we compare the FTM with the conventional tracking method for cells, which is known as the region-based tracking method (RTM). We clearly show that the FTM can track more accurate positions of the objects in comparison with the RTM in cases where objects are in close contact or overlapped. Also, we demonstrate that the FTM allows tracking microscopic objects even though illumination changes over time or portions of the object are occluded or outside the field of view.

  1. Long-term field test of solar PV power generation using one-axis 3-position sun tracker

    KAUST Repository

    Huang, B.J.

    2011-09-01

    The 1 axis-3 position (1A-3P) sun tracking PV was built and tested to measure the daily and long-term power generation of the solar PV system. A comparative test using a fixed PV and a 1A-3P tracking PV was carried out with two identical stand-alone solar-powered LED lighting systems. The field test in the particular days shows that the 1A-3P tracking PV can generate 35.8% more electricity than the fixed PV in a partly-cloudy weather with daily-total solar irradiation HT=11.7MJ/m2day, or 35.6% in clear weather with HT=18.5MJ/m2day. This indicates that the present 1A-3P tracking PV can perform very close to a dual-axis continuous tracking PV (Kacira et al., 2004). The long-term outdoor test results have shown that the increase of daily power generation of 1A-3P tracking PV increases with increasing daily-total solar irradiation. The increase of monthly-total power generation for 1A-3P sun tracking PV is between 18.5-28.0%. The total power generation increase in the test period from March 1, 2010 to March 31, 2011, is 23.6% in Taipei (an area of low solar energy resource). The long-term performance of the present 1X-3P tracking PV is shown very close to the 1-axis continuous tracking PV in Taiwan (Chang, 2009). If the 1A-3P tracking PV is used in the area of high solar energy resource with yearly-average HT>17MJ/m2day, the increase of total long-term power generation with respect to fixed PV will be higher than 37.5%. This is very close to that of dual-axis continuous tracking PV. The 1A-3P tracker can be easily mounted on the wall of a building. The cost of the whole tracker is about the same as the regular mounting cost of a conventional rooftop PV system. This means that there is no extra cost for 1A-3P PV mounted on buildings. The 1A-3P PV is quite suitable for building-integrated applications. © 2011 Elsevier Ltd.

  2. Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

    Directory of Open Access Journals (Sweden)

    Glenn-Ole Kaasa

    2003-10-01

    Full Text Available This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

  3. Irradiance optimization of outdoor microalgal cultures using solar tracked photobioreactors.

    Science.gov (United States)

    Hindersin, Stefan; Leupold, Marco; Kerner, Martin; Hanelt, Dieter

    2013-03-01

    Photosynthetic activity and temperature regulation of microalgal cultures (Chlorella vulgaris and Scenedesmus obliquus) under different irradiances controlled by a solar tracker and different cell densities were studied in outdoor flat panel photobioreactors. An automated process control unit regulated light and temperature as well as pH value and nutrient concentration in the culture medium. CO2 was supplied using flue gas from an attached combined block heat and power station. Photosynthetic activity was determined by pulse amplitude modulation fluorometry. Compared to the horizontal irradiance of 55 mol photons m(-2) d(-1) on a clear day, the solar tracked photobioreactors enabled a decrease and increase in the overall light absorption from 19 mol photons m(-2) d(-1) (by rotation out of direct irradiance) to 79 mol photons m(-2) d(-1) (following the position of the sun). At biomass concentrations below 1.1 g cell dry weight (CDW) L(-1), photoinhibition of about 35 % occurred at irradiances of ≥1,000 μmol photons m(-2) s(-1) photosynthetic active radiation (PAR). Using solar tracked photobioreactors, photoinhibition can be reduced and at optimum biomass concentration (≥2.3 g CDW L(-1)), the culture was irradiated up to 2,000 μmol photons m(-2) s(-1) to overcome light limitation with biomass yields of 0.7 g CDW mol photons(-1) and high photosynthetic activities indicated by an effective quantum yield of 0.68 and a maximum quantum yield of 0.80 (F v/F m). Overheating due to high irradiance was avoided by turning the PBR out of the sun or using a cooling system, which maintained the temperature close to the species-specific temperature optima.

  4. 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.

  5. Maneuver Planning for Conjunction Risk Mitigation with Ground-track Control Requirements

    Science.gov (United States)

    McKinley, David

    2008-01-01

    The planning of conjunction Risk Mitigation Maneuvers (RMM) in the presence of ground-track control requirements is analyzed. Past RMM planning efforts on the Aqua, Aura, and Terra spacecraft have demonstrated that only small maneuvers are available when ground-track control requirements are maintained. Assuming small maneuvers, analytical expressions for the effect of a given maneuver on conjunction geometry are derived. The analytical expressions are used to generate a large trade space for initial RMM design. This trade space represents a significant improvement in initial maneuver planning over existing methods that employ high fidelity maneuver models and propagation.

  6. Chattering-Free Adaptive Sliding Mode Control for Attitude Tracking of Spacecraft with External Disturbance

    Directory of Open Access Journals (Sweden)

    Xuxi Zhang

    2014-01-01

    Full Text Available The attitude tracking problem of spacecraft in the presence of unknown disturbance is investigated. By using the adaptive control technique and the Lyapunov stability theory, a chattering-free adaptive sliding mode control law is proposed for the attitude tracking problem of spacecraft with unknown disturbance. Simulation results are employed to demonstrate the effectiveness of the proposed control design technique in this paper.

  7. Electron beam irradiation of sun-dried apricots for quality maintenance

    International Nuclear Information System (INIS)

    Wei, Ming; Zhou, Linyan; Song, Hongbo; Yi, Jianyong; Wu, Bin; Li, Yaru; Zhang, Le; Che, Fengbin; Wang, Zhidong; Gao, Meixu

    2014-01-01

    The chemical, sensory, and microbial quality parameters of electron beam (EB)-irradiated and non-irradiated sun-dried apricots were periodically evaluated to optimize the EB irradiation of sun-dried apricots for quality maintenance. The sun-dried apricots were treated with 1.0, 2.0, 3.0, 4.0, and 5.0 kGy of EB and subsequently stored at ambient temperature. EB treatment at 1.0–3.0 kGy proved to be beneficial for retaining high levels of β-carotene, ascorbic acid, titratable acidity, total sugars, and color without any significant effect on sensory properties. Doses of 1.0–3.0 kGy retained the β-carotene content of sun-dried apricots to 8.21%, 9.27%, and 10.43% compared with 6.09% in control samples after 10 months of storage. After 10 months of storage, the maximum losses of ascorbic acid were 37.8% in control samples and 35.5% in 3.0 kGy-irradiated samples. Titratable acidity and total sugars were significantly enhanced immediately after 1.0–3.0 kGy irradiation treatment, and both parameters showed no significant change after 10 months of storage. Samples subjected to EB treatment at 3.0 kGy maintained a high overall acceptability of sun-dried apricots. Decreased number of viable microorganisms to below detection limits were observed after 3.0 kGy irradiation, and compared with the control, the logarithmic reductions after 10 months of storage were 0.98 for yeast and mold count, as well as 1.71 for bacterial count. - Highlights: • Electron beam irradiation was used for sun-dried apricots quality maintenance. • The chemical, sensory, and microbial quality parameters of apricots were evaluated. • 1.0–3.0 kGy proved to be beneficial for retaining high levels of apricots quality. • 3.0 kGy of irradiation maintained a high overall acceptability of sun-dried apricots. • 3.0 kGy of irradiation reduced the viable microorganisms to below detection limits

  8. Work-time sun behaviours among Canadian outdoor workers: results from the 2006 National Sun Survey.

    Science.gov (United States)

    Marrett, Loraine D; Pichora, Erin C; Costa, Michelle L

    2010-01-01

    The objective of the study was to describe summer work-related sun behaviours among Canadian outdoor workers. Information on time in the sun and sun protection practices at work during the summer of 2006 were collected from 1,337 outdoor workers aged 16-64 years as part of the Second National Sun Survey. Proportions (and 95% confidence intervals) were estimated using procedures appropriate for complex survey designs. Twenty-six percent of all Canadians, 39% of males and 33% of those aged 16-24 years work outdoors during the summer. Although 41% spend four or more hours daily in the sun at work, just over half always or often protect themselves by covering their heads (58%), wearing protective clothing (56%) or wearing sunglasses (54%), and only 29% use sunscreen. Males and those aged 16-24 spend the most work time in the sun but are the least likely to use protection. The prevalence of outdoor work and sun behaviours varies among regions. Study findings confirm the need for strategies to reduce time in the sun and increase the use of sun protection among outdoor workers. In order to be effective, these strategies must include both enhanced workplace policies and practice, and increased individual use of sun protection.

  9. Sun exposure and sun protection behaviours among young adult sport competitors.

    Science.gov (United States)

    Lawler, Sheleigh; Spathonis, Kym; Eakin, Elizabeth; Gallois, Cindy; Leslie, Eva; Owen, Neville

    2007-06-01

    To explore the relationship between sun protection and physical activity in young adults (18-30 years) involved in four organised sports. Participants (n=237) in field hockey, soccer, tennis and surf sports completed a self-administered survey on demographic and sun-protective behaviours while playing sport. Differences in sun-protective behaviour were explored by sport and by gender. Sunburn during the previous sporting season was high (69%). There were differences between sports for sunburn, sunscreen use and reapplication of sunscreen. Lifesaving had the highest rates compared with the other three sports. Hats and sunglasses worn by participants varied significantly by sports. A greater proportion of soccer and hockey players indicated they were not allowed to wear a hat or sunglasses during competition. For all sports, competition was played mainly in the open with no shade provision for competitors while they were playing. There were some gender differences within each of the sports. Female soccer and tennis players were more likely to wear sunscreen compared with males. Female hockey players were more likely to wear a hat compared with males. Our findings highlight that there is still room for improvement in sun-protective behaviours among young adult sport competitors. There is a need for a systematic approach to sun protection in the sporting environments of young adults. Health promotion efforts to increase physical activity need to be paired with sun protection messages.

  10. A variable structure tracking controller for robot manipulators

    International Nuclear Information System (INIS)

    Lee, Jung Hoon; Shin, Hwi Beom

    1997-01-01

    In this paper, a continuous variable structure tracking controller is designed for the purpose of the control of robot manipulators to follow a given desired planned trajectory with high accuracy. The robustness and continuity of the algorithm are much improved by means of the feedforward compensation technique based on the disturbance observer without any chattering problem. Also the stability of the algorithm is analyzed in detail, further more the usefulness and good performances are verified through computer simulation studies. (author)

  11. MedSun Reports

    Data.gov (United States)

    U.S. Department of Health & Human Services — The Medical Product Safety Network (MedSun) is an adverse event reporting program launched in 2002. The primary goal for MedSun is to work collaboratively with the...

  12. Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

    Directory of Open Access Journals (Sweden)

    ZeFang He

    2015-01-01

    Full Text Available Internal model control (IMC design method based on quasi-LPV (Linear Parameter Varying system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

  13. CRUQS: A Miniature Fine Sun Sensor for Nanosatellites

    Science.gov (United States)

    Heatwole, Scott; Snow, Carl; Santos, Luis

    2013-01-01

    A new miniature fine Sun sensor has been developed that uses a quadrant photodiode and housing to determine the Sun vector. Its size, mass, and power make it especially suited to small satellite applications, especially nanosatellites. Its accuracy is on the order of one arcminute, and it will enable new science in the area of nanosatellites. The motivation for this innovation was the need for high-performance Sun sensors in the nanosatellite category. The design idea comes out of the LISS (Lockheed Intermediate Sun Sensor) used by the sounding rocket program on their solar pointing ACS (Attitude Control System). This system uses photodiodes and a wall between them. The shadow cast by the Sun is used to determine the Sun angle. The new sensor takes this concept and miniaturizes it. A cruciform shaped housing and a surface-mount quadrant photodiode package allow for a two-axis fine Sun sensor to be packaged into a space approx.1.25xl x0.25 in. (approx.3.2x2.5x0.6 cm). The circuitry to read the photodiodes is a simple trans-impedance operational amplifier. This is much less complex than current small Sun sensors for nanosatellites that rely on photo-arrays and processing of images to determine the Sun center. The simplicity of the circuit allows for a low power draw as well. The sensor consists of housing with a cruciform machined in it. The cruciform walls are 0.5-mm thick and the center of the cruciform is situated over the center of the quadrant photodiode sensor. This allows for shadows to be cast on each of the four photodiodes based on the angle of the Sun. A simple operational amplifier circuit is used to read the output of the photodiodes as a voltage. The voltage output of each photodiode is summed based on rows and columns, and then the values of both rows or both columns are differenced and divided by the sum of the voltages for all four photodiodes. The value of both difference over sums for the rows and columns is compared to a table or a polynomial fit

  14. 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.

  15. Influence of a stellar wind on the evolution of a star of 30 M/sub sun/

    International Nuclear Information System (INIS)

    Stothers, R.; Chin, C.

    1980-01-01

    A coarse grid of theoretical evolutionary tracks has been computed for a star of 30 M/sub sun/, in an attempt to delineate the role of mass loss in the star's evolution during core helium burning. For all of the tracks, Cox-Stewart opacities have been adopted, and the free parameters have included the rate of mass loss, criterion for convection, and initial chemical composition. With the use of the Schwarzschild criterion, the star suffers little mass loss during core helium burning and remains almost to the end, a blue supergiant, well separated from main-sequence stars on the H-R diagram. With the use of the Ledoux criterion, the same consequences are obtained only in the case of a relatively low initial hydrogen or initial metals abundance. Otherwise, the star evolves, first, into a red supergiant, whereupon rapid mass loss must be assumed to take place, if the observed paucity of very bright red supergiants is to be accounted for. The stellar remnant then consists of little more than the original helium core, and may appear, for a time, bluer than equally luminous main-sequence stars, provided that the the initial hydrogen and metals abundances are normal. Thus, a wide variety of possible evolutionary tracks can be obtained for an initial mass of 30 M/sub sun/ with reasonable choices of the free parameters

  16. Designing and manufacturing of solar imaging and tracking system

    Directory of Open Access Journals (Sweden)

    Mehrdad Hosseini

    2017-11-01

    Full Text Available Abstract – in this study, designing and manufacturing of solar imaging and tracking system in order to research and spectroscopy applications are investigated. The device has the ability to be used as a Telescope, spectroscope, spectrophotometer and spectrohelioscope. The results obtained from this device are used in the various field of research such as absorption spectra of the surface of the sun, transit of planets in front of the sun, Doppler effects, evaluation of the Fraunhofer lines, plot of intensity versus wavelength and studying of Solar Flares. In this research, design and manufacture of the device, along with some of the results, are reported.

  17. Biaxial-Type Concentrated Solar Tracking System with a Fresnel Lens for Solar-Thermal Applications

    Directory of Open Access Journals (Sweden)

    Tsung Chieh Cheng

    2016-04-01

    Full Text Available In this paper, an electromechanical, biaxial-type concentrated solar tracking system was designed for solar-thermal applications. In our tracking system, the sunlight was concentrated by the microstructure of Fresnel lens to the heating head of the Stirling engine and two solar cells were installed to provide the power for tracking system operation. In order to obtain the maximum sun power, the tracking system traces the sun with the altitude-azimuth biaxial tracing method and accurately maintains the sun’s radiation perpendicular to the plane of the heating head. The results indicated that the position of heating head is an important factor for power collection. If the sunlight can be concentrated to completely cover the heating head with small heat loss, we can obtain the maximum temperature of the heating head of the Stirling engine. Therefore, the temperature of heating head can be higher than 1000 °C in our experiment on a sunny day. Moreover, the results also revealed that the temperature decrease of the heating head is less than the power decrease of solar irradiation because of the latent heat of copper and the small heat loss from the heating head.

  18. Angular Position Tracking Control of a Quadcopter

    Directory of Open Access Journals (Sweden)

    T. V. Glazkov

    2017-01-01

    Full Text Available The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles.Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the stabilization problems with uncertainties available in the system. However, in synthesis of the feedback through backstepping, there is still an urgent issue: how to ensure desirable quality of transients in the closed-loop system. The paper presents a solution of this problem using as an example the tracking a given (programmed change of the angular position of a quad-copter.The control algorithms obtained in this paper are implemented using the Rolling Spider MATLAB Toolbox (ROSMAT tool package on the Parrot Rolling Spider quad-copter. A numerical simulation and experiments have shown the efficiency of obtained control laws, with the transient processes taking into account the desired quality indicators. However, the experiments showed that lack of terms in the mathematical model to describe the aerodynamic effects, resulted in the instability of the quad-copter flight near the obstacle (the effect of the reflected airflow.Further research can be aimed at solving the control problem in question using a mathematical model of the quad-copter motion that takes into account various aerodynamic effects.One of the potential application areas for the theoretical results, obtained in the paper, is to solve the problems of automatic control of unmanned aerial vehicles.

  19. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

    2014-07-01

    Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This

  20. Adaptive fuzzy tracking control for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

    Directory of Open Access Journals (Sweden)

    Peng Fei Wang

    2016-10-01

    Full Text Available The design of an adaptive fuzzy tracking control for a flexible air-breathing hypersonic vehicle with actuator constraints is discussed. Based on functional decomposition methodology, velocity and altitude controllers are designed. Fuzzy logic systems are applied to approximate the lumped uncertainty of each subsystem of air-breathing hypersonic vehicle model. Every controllers contain only one adaptive parameter that needs to be updated online with a minimal-learning-parameter scheme. The back-stepping design is not demanded by converting the altitude subsystem into the normal output-feedback formulation, which predigests the design of a controller. The special contribution is that novel auxiliary systems are developed to compensate both the tracking errors and desired control laws, based on which the explored controller can still provide effective tracking of velocity and altitude commands when the inputs are saturated. Finally, reference trajectory tracking simulation shows the effectiveness of the proposed method in its application to air-breathing hypersonic vehicle control.

  1. Seasons by the Sun

    Science.gov (United States)

    Stark, Meri-Lyn

    2005-01-01

    Understanding the Sun has challenged people since ancient times. Mythology from the Greek, Inuit, and Inca cultures attempted to explain the daily appearance and nightly disappearance of the Sun by relating it to a chariot being chased across the sky. While people no longer believe the Sun is a chariot racing across the sky, teachers are still…

  2. Positioning and tracking control system analysis for mobile free space optical network

    Science.gov (United States)

    Li, Yushan; Refai, Hazem; Sluss, , James J., Jr.; Verma, Pramode; LoPresti, Peter

    2005-08-01

    Free Space Optical (FSO) communication has evolved to be applied to the mobile network, because it can provide up to 2.5Gbps or higher data rate wireless communication. One of the key challenges with FSO systems is to maintain the Line of Sight (LOS) between transmitter and receiver. In this paper, the feasibility and performance of applying the FSO technology to the mobile network is explored, and the design plan of the attitude positioning and tracking control system of the FSO transceiver is investigated. First, the system architecture is introduced, the requirements for the control system are analyzed, the involved reference frames and frame transformation are presented. Second, the control system bandwidth is used to evaluate the system performance in controlling a positioning system consisting of a gimbal and a steering mirror, some definitions to describe the positioning accuracy and tracking capacity are given. The attitude control of a FSO transceiver is split into 2 similar channels: pitch and yaw. Using an equivalent linear control system model, the simulations are carried out, with and without the presence of uncertainties that includes GPS data errors and sensor measurement errors. Finally, based on the simulation results in the pitch channel, the quantitative evaluation on the performance of the control system is given, including positioning accuracy, tracking capability and uncertainty tolerance.

  3. Sun-Earth Scientists and Native Americans Collaborate on Sun-Earth Day

    Science.gov (United States)

    Ng, C. Y.; Lopez, R. E.; Hawkins, I.

    2004-12-01

    Sun-Earth Connection scientists have established partnerships with several minority professional societies to reach out to the blacks, Hispanics and Native American students. Working with NSBP, SACNAS, AISES and NSHP, SEC scientists were able to speak in their board meetings and national conferences, to network with minority scientists, and to engage them in Sun-Earth Day. Through these opportunities and programs, scientists have introduced NASA research results as well indigenous views of science. They also serve as role models in various communities. Since the theme for Sun-Earth Day 2005 is Ancient Observatories: Timeless Knowledge, scientists and education specialists are hopeful to excite many with diverse backgrounds. Sun-Earth Day is a highly visible annual program since 2001 that touches millions of students and the general public. Interviews, classroom activities and other education resources are available on the web at sunearthday.nasa.gov.

  4. Cooperative Fault Tolerant Tracking Control for Multiagent Systems: An Intermediate Estimator-Based Approach.

    Science.gov (United States)

    Zhu, Jun-Wei; Yang, Guang-Hong; Zhang, Wen-An; Yu, Li

    2017-10-17

    This paper studies the observer based fault tolerant tracking control problem for linear multiagent systems with multiple faults and mismatched disturbances. A novel distributed intermediate estimator based fault tolerant tracking protocol is presented. The leader's input is nonzero and unavailable to the followers. By applying a projection technique, the mismatched disturbances are separated into matched and unmatched components. For each node, a tracking error system is established, for which an intermediate estimator driven by the relative output measurements is constructed to estimate the sensor faults and a combined signal of the leader's input, process faults, and matched disturbance component. Based on the estimation, a fault tolerant tracking protocol is designed to eliminate the effects of the combined signal. Besides, the effect of unmatched disturbance component can be attenuated by directly adjusting some specified parameters. Finally, a simulation example of aircraft demonstrates the effectiveness of the designed tracking protocol.This paper studies the observer based fault tolerant tracking control problem for linear multiagent systems with multiple faults and mismatched disturbances. A novel distributed intermediate estimator based fault tolerant tracking protocol is presented. The leader's input is nonzero and unavailable to the followers. By applying a projection technique, the mismatched disturbances are separated into matched and unmatched components. For each node, a tracking error system is established, for which an intermediate estimator driven by the relative output measurements is constructed to estimate the sensor faults and a combined signal of the leader's input, process faults, and matched disturbance component. Based on the estimation, a fault tolerant tracking protocol is designed to eliminate the effects of the combined signal. Besides, the effect of unmatched disturbance component can be attenuated by directly adjusting some

  5. Cost Cumulant-Based Control for a Class of Linear Quadratic Tracking Problems

    National Research Council Canada - National Science Library

    Pham, Khanh D

    2007-01-01

    .... For instance, the present paper extends the application of cost-cumulant controller design to control of a wide class of linear-quadratic tracking systems where output measurements of a tracker...

  6. Many skies alternative histories of the Sun, Moon, planets, and stars

    CERN Document Server

    Upgren, Arthur

    2005-01-01

    Many Skies: Alternative Histories of the Sun, Moon, Planets, and Stars examines the changes in science that  alternative solar, stellar, and galactic arrangements would have brought, and explores the different theologies, astrologies, and methods of tracking time that would have developed to reflect them. Our perception of our surroundings, the number of gods we worship, the symbols we use in art and literature, even the way we form nations and empires are all closely tied to our particular (and accidental) placement in the universe.  Upgren also explores the actual ways tha

  7. State-dependent differential Riccati equation to track control of time-varying systems with state and control nonlinearities.

    Science.gov (United States)

    Korayem, M H; Nekoo, S R

    2015-07-01

    This work studies an optimal control problem using the state-dependent Riccati equation (SDRE) in differential form to track for time-varying systems with state and control nonlinearities. The trajectory tracking structure provides two nonlinear differential equations: the state-dependent differential Riccati equation (SDDRE) and the feed-forward differential equation. The independence of the governing equations and stability of the controller are proven along the trajectory using the Lyapunov approach. Backward integration (BI) is capable of solving the equations as a numerical solution; however, the forward solution methods require the closed-form solution to fulfill the task. A closed-form solution is introduced for SDDRE, but the feed-forward differential equation has not yet been obtained. Different ways of solving the problem are expressed and analyzed. These include BI, closed-form solution with corrective assumption, approximate solution, and forward integration. Application of the tracking problem is investigated to control robotic manipulators possessing rigid or flexible joints. The intention is to release a general program for automatic implementation of an SDDRE controller for any manipulator that obeys the Denavit-Hartenberg (D-H) principle when only D-H parameters are received as input data. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  8. The Best Achievable ℋ2 Tracking Performances for SIMO Feedback Control Systems

    Directory of Open Access Journals (Sweden)

    Shinji Hara

    2007-01-01

    Full Text Available This paper is concerned with the inherent ℋ2 tracking performance limitation of single-input and multiple-output (SIMO linear time-invariant (LTI feedback control systems. The performance is measured by the tracking error between a step reference input and the plant output with additional penalty on control input. We employ the plant augmentation strategy, which enables us to derive analytical closed-form expressions of the best achievable performance not only for discrete-time system, but also for continuous-time system by exploiting the delta domain version of the expressions.

  9. Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

    International Nuclear Information System (INIS)

    Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

    1994-01-01

    Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

  10. Tracking and shape errors measurement of concentrating heliostats

    Science.gov (United States)

    Coquand, Mathieu; Caliot, Cyril; Hénault, François

    2017-09-01

    In solar tower power plants, factors such as tracking accuracy, facets misalignment and surface shape errors of concentrating heliostats are of prime importance on the efficiency of the system. At industrial scale, one critical issue is the time and effort required to adjust the different mirrors of the faceted heliostats, which could take several months using current techniques. Thus, methods enabling quick adjustment of a field with a huge number of heliostats are essential for the rise of solar tower technology. In this communication is described a new method for heliostat characterization that makes use of four cameras located near the solar receiver and simultaneously recording images of the sun reflected by the optical surfaces. From knowledge of a measured sun profile, data processing of the acquired images allows reconstructing the slope and shape errors of the heliostats, including tracking and canting errors. The mathematical basis of this shape reconstruction process is explained comprehensively. Numerical simulations demonstrate that the measurement accuracy of this "backward-gazing method" is compliant with the requirements of solar concentrating optics. Finally, we present our first experimental results obtained at the THEMIS experimental solar tower plant in Targasonne, France.

  11. High Precision Control of Ship-Mounted Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Mohsen, Soltani; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the under...

  12. Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker

    Directory of Open Access Journals (Sweden)

    Ping Sun

    2014-01-01

    Full Text Available The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained. A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.

  13. A maximum power point tracking for photovoltaic-SPE system using a maximum current controller

    Energy Technology Data Exchange (ETDEWEB)

    Muhida, Riza [Osaka Univ., Dept. of Physical Science, Toyonaka, Osaka (Japan); Osaka Univ., Dept. of Electrical Engineering, Suita, Osaka (Japan); Park, Minwon; Dakkak, Mohammed; Matsuura, Kenji [Osaka Univ., Dept. of Electrical Engineering, Suita, Osaka (Japan); Tsuyoshi, Akira; Michira, Masakazu [Kobe City College of Technology, Nishi-ku, Kobe (Japan)

    2003-02-01

    Processes to produce hydrogen from solar photovoltaic (PV)-powered water electrolysis using solid polymer electrolysis (SPE) are reported. An alternative control of maximum power point tracking (MPPT) in the PV-SPE system based on the maximum current searching methods has been designed and implemented. Based on the characteristics of voltage-current and theoretical analysis of SPE, it can be shown that the tracking of the maximum current output of DC-DC converter in SPE side will track the MPPT of photovoltaic panel simultaneously. This method uses a proportional integrator controller to control the duty factor of DC-DC converter with pulse-width modulator (PWM). The MPPT performance and hydrogen production performance of this method have been evaluated and discussed based on the results of the experiment. (Author)

  14. Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

    Directory of Open Access Journals (Sweden)

    Mousumi Ahmed

    2016-02-01

    Full Text Available This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser’s state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1 stationary white noise; (2 stationary colored noise and (3 non-stationary (range correlated white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.

  15. A practical equation of state for the sun and sun-like stars

    International Nuclear Information System (INIS)

    Lin, H.H.; Daeppen, W.

    2012-01-01

    For models of the Sun and Sun-like stars, a high-quality equation of state is crucial. Conversely, helio- and asteroseismological observations put constraints on the physical formalisms. They effectively turn the Sun and stars into laboratories for dense plasmas. For models of the Sun and Sun-like stars, the most accurate equation of state so far has been the one developed as part of OPAL opacity project of Livermore. However, the OPAL equation of state is limited in two important respects. First, it is only available in the form of pre-computed tables that are provided from Lawrence Livermore National Laboratory. Applications to stellar modeling require therefore interpolation, with unavoidable loss of accuracy. Second, the OPAL equation of state is proprietary and not freely available. Varying its underlying physical parameters is therefore no option for the community. We report on the most recent progress with the development of a high-precision emulation of the OPAL equation of state that will lead to an in-line tool for modelers (copyright 2011 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim) (orig.)

  16. Child sun protection: sun-related attitudes mediate the association between children's knowledge and behaviours.

    Science.gov (United States)

    Wright, Caradee; Reeder, Anthony I; Gray, Andrew; Cox, Brian

    2008-12-01

    To describe and investigate the relationship among the sun-related knowledge, attitudes and behaviours of New Zealand primary schoolchildren and consider the roles of sex and school year level. A randomly selected, two-stage cluster sample of 488 children from 27 primary schools in five regions of New Zealand was surveyed regarding their sun-related knowledge, attitudes and behaviours. A scoring system was used to assign a knowledge, attitude and behaviour score to each child. Although knowledge increased with school year level, there was a decline in sun protective attitudes and behaviours. There was little variation in knowledge, attitudes and behaviour between boys and girls, but sex-year level interactions were found for knowledge and behaviour. When considering children's knowledge, attitudes and behaviours simultaneously, knowledge was only significantly associated with behaviours when mediated by attitudes. When targeting child sun protection and skin cancer prevention programmes, a focus on attitudes towards sun exposure and a suntan may prove beneficial in influencing sun-related behaviours.

  17. Disturbance Observer based internal Model Controller Design: Applications to Tracking Control of Optical Disk Drive

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Hyun Taek; Suh, Il Hong [Hanyang University (Korea, Republic of)

    1999-02-01

    A digital tracking controller is proposed for a precise positioning control under a large repetitive and/or non repetitive disturbances. The proposed controller consists of the internal model controller and the disturbance observer to eliminate the modeling uncertainty. A sufficient condition is given for robust stability of the proposed control system. Numerical Examples are illustrated for a precise head positioning of optical disk drives regardless of a torque disturbance and/or output disturbance. (author). 8 refs., 19 figs.

  18. Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

    Science.gov (United States)

    Liu, Dalong; Xu, Lijuan

    2018-01-01

    In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

  19. Totality eclipses of the Sun

    CERN Document Server

    Littmann, Mark; Willcox, Ken

    2008-01-01

    A total eclipse of the Sun is the most awesome sight in the heavens. Totality: Eclipses of the Sun takes you to eclipses of the past, present, and future, and lets you see - and feel - why people travel to the ends of the Earth to observe them. - ;A total eclipse of the Sun is the most awesome sight in the heavens. Totality: Eclipses of the Sun takes you to eclipses of the past, present, and future, and lets you see - and feel - why people travel to the ends of the Earth to observe them. Totality: Eclipses of the Sun is the best guide and reference book on solar eclipses ever written. It explains: how to observe them; how to photograph and videotape them; why they occur; their history and mythology; and future eclipses - when and where to see them. Totality also tells the remarkable story of how eclipses shocked scientists, revealed the workings of the Sun, and made Einstein famous. And the book shares the experiences and advice of many veteran eclipse observers. Totality: Eclipses of the Sun is profusely ill...

  20. Two-axis tracking using translation stages for a lens-to-channel waveguide solar concentrator.

    Science.gov (United States)

    Liu, Yuxiao; Huang, Ran; Madsen, Christi K

    2014-10-20

    A two-axis tracking scheme designed for tracker and a translation stage is discussed. The translation stage is used for adjusting positions for seasonal sun movement. It has two-dimensional x-y tracking instead of horizontal movement x-only. This tracking method is compatible with planar waveguide solar concentrators. A prototype system with 50x concentration shows >75% optical efficiency throughout the year in simulation and >65% efficiency experimentally. This efficiency can be further improved by the use of anti-reflection layers and a larger waveguide refractive index.

  1. Effects of multiple viewings of an ultraviolet photo on sun protection behaviors.

    Science.gov (United States)

    Mahler, H I M

    2018-05-02

    To determine whether multiple viewings of one's ultraviolet (UV) facial photo differentially affects subsequent sun protection behaviors relative to a single viewing. Pretest-posttest control group. Southern California college students (N = 151) were randomly assigned to be shown their UV facial photo one time, multiple times over the course of 2 weeks, or not at all. Emotional reactions, perceived susceptibility to skin damage, and sun protection intentions were assessed immediately, and sun protection behaviors were assessed during a surprise telephonic follow-up 1 month later. Immediately after viewing a UV photo of their face, participants reported significantly greater perceived susceptibility to skin damage, greater intentions to engage in future sun protection, and more negative emotions than those who had not seen a UV photo. Moreover, 1 month later, those who had viewed their UV photo were less likely to report having sunbathed and reported significantly greater sun protection than did controls. There were no differences in sun protection behaviors between those who had been shown their UV photo only once during the initial intervention session and those who had been sent their UV photo several times thereafter. However, among those who had been sent their UV photo several times, those who reported having viewed their photo on additional occasions reported significantly greater sun protection behaviors than those who had not. Being randomly assigned to view a UV facial photo multiple times generally neither strengthened nor weakened effects on subsequent sun protection behaviors relative to being shown the photo just once. However, among those who were sent their photo and thus had the option of viewing it more often than they had been assigned to, those who chose to view their photo more frequently also engaged in more sun protection behaviors. Copyright © 2018 The Royal Society for Public Health. Published by Elsevier Ltd. All rights reserved.

  2. Sun's dynamics and nucleosynthesis

    International Nuclear Information System (INIS)

    Gavanescu, Adela; Rusu, Mircea V.

    2005-01-01

    Nucleosynthesis processes in the sun are one of the main results related to the evolution of the Sun. Dynamics and energetics of the Sun could be studied indirectly by their elements products in produced by nucleosynthesis. Also solar atmosphere and its characteristics reveled in its full development is observed during the solar eclipses. We try to correlate these facts in order to obtained data to be used in solar models. (authors)

  3. Internal Model-Based Robust Tracking Control Design for the MEMS Electromagnetic Micromirror.

    Science.gov (United States)

    Tan, Jiazheng; Sun, Weijie; Yeow, John T W

    2017-05-26

    The micromirror based on micro-electro-mechanical systems (MEMS) technology is widely employed in different areas, such as scanning, imaging and optical switching. This paper studies the MEMS electromagnetic micromirror for scanning or imaging application. In these application scenarios, the micromirror is required to track the command sinusoidal signal, which can be converted to an output regulation problem theoretically. In this paper, based on the internal model principle, the output regulation problem is solved by designing a robust controller that is able to force the micromirror to track the command signal accurately. The proposed controller relies little on the accuracy of the model. Further, the proposed controller is implemented, and its effectiveness is examined by experiments. The experimental results demonstrate that the performance of the proposed controller is satisfying.

  4. Measuring Human Performance in Simulated Nuclear Power Plant Control Rooms Using Eye Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Kovesdi, Casey Robert [Idaho National Lab. (INL), Idaho Falls, ID (United States); Rice, Brandon Charles [Idaho National Lab. (INL), Idaho Falls, ID (United States); Bower, Gordon Ross [Idaho National Lab. (INL), Idaho Falls, ID (United States); Spielman, Zachary Alexander [Idaho National Lab. (INL), Idaho Falls, ID (United States); Hill, Rachael Ann [Idaho National Lab. (INL), Idaho Falls, ID (United States); LeBlanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-11-01

    Control room modernization will be an important part of life extension for the existing light water reactor fleet. As part of modernization efforts, personnel will need to gain a full understanding of how control room technologies affect performance of human operators. Recent advances in technology enables the use of eye tracking technology to continuously measure an operator’s eye movement, which correlates with a variety of human performance constructs such as situation awareness and workload. This report describes eye tracking metrics in the context of how they will be used in nuclear power plant control room simulator studies.

  5. Measuring Human Performance in Simulated Nuclear Power Plant Control Rooms Using Eye Tracking

    International Nuclear Information System (INIS)

    Kovesdi, Casey Robert; Rice, Brandon Charles; Bower, Gordon Ross; Spielman, Zachary Alexander; Hill, Rachael Ann; LeBlanc, Katya Lee

    2015-01-01

    Control room modernization will be an important part of life extension for the existing light water reactor fleet. As part of modernization efforts, personnel will need to gain a full understanding of how control room technologies affect performance of human operators. Recent advances in technology enables the use of eye tracking technology to continuously measure an operator's eye movement, which correlates with a variety of human performance constructs such as situation awareness and workload. This report describes eye tracking metrics in the context of how they will be used in nuclear power plant control room simulator studies.

  6. Kug Sun Hong

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science. Kug Sun Hong. Articles written in Bulletin of Materials Science. Volume 33 Issue 1 February 2010 pp 43-47 Composites. Microstructure and mechanical properties of Mg–HAP composites · Asit Kumar Khanra Hwa Chul Jung Seung Hoon Yu Kug Sun Hong Kwang Seon Shin.

  7. An Improvement of a Fuzzy Logic-Controlled Maximum Power Point Tracking Algorithm for Photovoltic Applications

    Directory of Open Access Journals (Sweden)

    Woonki Na

    2017-03-01

    Full Text Available This paper presents an improved maximum power point tracking (MPPT algorithm using a fuzzy logic controller (FLC in order to extract potential maximum power from photovoltaic cells. The objectives of the proposed algorithm are to improve the tracking speed, and to simultaneously solve the inherent drawbacks such as slow tracking in the conventional perturb and observe (P and O algorithm. The performances of the conventional P and O algorithm and the proposed algorithm are compared by using MATLAB/Simulink in terms of the tracking speed and steady-state oscillations. Additionally, both algorithms were experimentally validated through a digital signal processor (DSP-based controlled-boost DC-DC converter. The experimental results show that the proposed algorithm performs with a shorter tracking time, smaller output power oscillation, and higher efficiency, compared with the conventional P and O algorithm.

  8. Two-Axis Solar Heat Collection Tracker System for Solar Thermal Applications

    Directory of Open Access Journals (Sweden)

    Tsung-Chieh Cheng

    2013-01-01

    Full Text Available An experimental study was performed to investigate the effect of using a continuous operation two-axes tracking on the solar heat energy collected. This heat-collection sun tracking which LDR (light dependent resistor sensors installed on the Fersnel lens was used to control the tracking path of the sun with programming method of control with a closed loop system. The control hardware was connected to a computer through Zigbee wireless module and it also can monitor the whole tracking process information on a computer screen. An experimental study was performed to investigate the effect of using two-axes tracking on the solar heat energy collected. The results indicate that sun tracking systems are being increasingly employed to enhance the efficiency of heat collection by polar-axis tracking of the sun. Besides, the heating power was also measured by designed power measurement module at the different focal length of Fresnel lens, and the design of shadow mask of LDR sensors is an important factor for solar photothermal applications. Moreover, the results also indicated that the best time to obtain the largest solar irradiation power is during 11:00 –13:00  in Taiwan.

  9. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Robot manipulators have become progressively important in the field of flexible ... this research, tracking of tool position and minimization of motor torque are ...... and Menhaj M B 2013a Position and current control of a permanent-magnet syn-.

  10. Simulation study of multi-step model algorithmic control of the nuclear reactor thermal power tracking system

    International Nuclear Information System (INIS)

    Shi Xiaoping; Xu Tianshu

    2001-01-01

    The classical control method is usually hard to ensure the thermal power tracking accuracy, because the nuclear reactor system is a complex nonlinear system with uncertain parameters and disturbances. A sort of non-parameter model is constructed with the open-loop impulse response of the system. Furthermore, a sort of thermal power tracking digital control law is presented using the multi-step model algorithmic control principle. The control method presented had good tracking performance and robustness. It can work despite the existence of unmeasurable disturbances. The simulation experiment testifies the correctness and effectiveness of the method. The high accuracy matching between the thermal power and the referenced load is achieved

  11. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System

    Directory of Open Access Journals (Sweden)

    Zhao Yan

    2016-01-01

    Full Text Available An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.

  12. Photospheric activity of the Sun with VIRGO and GOLF. Comparison with standard activity proxies

    Science.gov (United States)

    Salabert, D.; García, R. A.; Jiménez, A.; Bertello, L.; Corsaro, E.; Pallé, P. L.

    2017-12-01

    We study the variability of solar activity using new photospheric proxies originally developed for the analysis of stellar magnetism with the CoRoT and Kepler photometric observations. These proxies were obtained by tracking the temporal modulations in the observations associated with the spots and magnetic features as the Sun rotates. We analyzed 21 yr of observations, spanning solar cycles 23 and 24, collected by the space-based photometric VIRGO and radial velocity GOLF instruments on board the SoHO satellite. We then calculated the photospheric activity proxy Sph is for each of the three VIRGO photometers and the associated Svel proxy from the radial velocity GOLF observations. Comparisons with several standard solar activity proxies sensitive to different layers of the Sun demonstrate that these new activity proxies, Sph and Svel, provide a new manner to monitor solar activity. We show that both the long- and short-term magnetic variabilities respectively associated with the 11-yr cycle and the quasi-biennial oscillation are well monitored, and that the magnetic field interaction between the subsurface, photosphere, and chromosphere of the Sun was modified between Cycle 24 and Cycle 23. Furthermore, the photometric proxies show a wavelength dependence of the response function of the solar photosphere among the three channels of the VIRGO photometers, providing inputs for the study of the stellar magnetism of Sun-like stars.

  13. Optical losses due to tracking on solar thermal collectors

    DEFF Research Database (Denmark)

    Sallaberry, Fabienne; Pujol-Nadal, Ramn; Peres, Bengt

    2017-01-01

    For a wide range of operational temperatures, the solar thermal collectors can use optical concentration systems to optimize their efficiency. However, as optical concentration relies on direct solar radiation, it is necessary to use a solar tracker following the sun direction to maximize...... the amount of useful solar radiation received. The selection of the appropriate tracking systems matching the optical concentration factor is essential to achieve optimal collector efficiency. Otherwise, the concentrator would experience high optical losses due to the inadequate focusing of the direct solar...... radiation onto its receiver, regardless of its quality. This paper gives the state-of-the-art of the methodologies available to characterize the tracking error of a concentrating collector, a summary of different previous studies done in this subject and of the standardization regarding the tracking...

  14. Fuzzy Controller Design Using FPGA for Photovoltaic Maximum Power Point Tracking

    OpenAIRE

    Basil M Hamed; Mohammed S. El-Moghany

    2012-01-01

    The cell has optimum operating point to be able to get maximum power. To obtain Maximum Power from photovoltaic array, photovoltaic power system usually requires Maximum Power Point Tracking (MPPT) controller. This paper provides a small power photovoltaic control system based on fuzzy control with FPGA technology design and implementation for MPPT. The system composed of photovoltaic module, buck converter and the fuzzy logic controller implemented on FPGA for controlling on/off time of MOSF...

  15. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

    Directory of Open Access Journals (Sweden)

    Xing Fang

    2015-01-01

    Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

  16. Tracking control of WMRs on loose soil based on mixed H2/H∞ control with longitudinal slip ratio estimation

    Science.gov (United States)

    Gao, Haibo; Chen, Chao; Ding, Liang; Li, Weihua; Yu, Haitao; Xia, Kerui; Liu, Zhen

    2017-11-01

    Wheeled mobile robots (WMRs) often suffer from the longitudinal slipping when moving on the loose soil of the surface of the moon during exploration. Longitudinal slip is the main cause of WMRs' delay in trajectory tracking. In this paper, a nonlinear extended state observer (NESO) is introduced to estimate the longitudinal velocity in order to estimate the slip ratio and the derivative of the loss of velocity which are used in modelled disturbance compensation. Owing to the uncertainty and disturbance caused by estimation errors, a multi-objective controller using the mixed H2/H∞ method is employed to ensure the robust stability and performance of the WMR system. The final inputs of the trajectory tracking consist of the feedforward compensation, compensation for the modelled disturbances and designed multi-objective control inputs. Finally, the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

  17. Tracking Solar Type II Bursts with Space Based Radio Interferometers

    Science.gov (United States)

    Hegedus, Alexander M.; Kasper, Justin C.; Manchester, Ward B.

    2018-06-01

    The Earth’s Ionosphere limits radio measurements on its surface, blocking out any radiation below 10 MHz. Valuable insight into many astrophysical processes could be gained by having a radio interferometer in space to image the low frequency window for the first time. One application is observing type II bursts tracking solar energetic particle acceleration in Coronal Mass Ejections (CMEs). In this work we create a simulated data processing pipeline for several space based radio interferometer (SBRI) concepts and evaluate their performance in the task of localizing these type II bursts.Traditional radio astronomy software is hard coded to assume an Earth based array. To circumvent this, we manually calculate the antenna separations and insert them along with the simulated visibilities into a CASA MS file for analysis. To create the realest possible virtual input data, we take a 2-temperature MHD simulation of a CME event, superimpose realistic radio emission models from the CME-driven shock front, and propagate the signal through simulated SBRIs. We consider both probabilistic emission models derived from plasma parameters correlated with type II bursts, and analytical emission models using plasma emission wave interaction theory.One proposed SBRI is the pathfinder mission SunRISE, a 6 CubeSat interferometer to circle the Earth in a GEO graveyard orbit. We test simulated trajectories of SunRISE and image what the array recovers, comparing it to the virtual input. An interferometer on the lunar surface would be a stable alternative that avoids noise sources that affect orbiting arrays, namely the phase noise from positional uncertainty and atmospheric 10s-100s kHz noise. Using Digital Elevation Models from laser altimeter data, we test different sets of locations on the lunar surface to find near optimal configurations for tracking type II bursts far from the sun. Custom software is used to model the response of different array configurations over the lunar year

  18. Impact of magnetic saturation on the input-output linearising tracking control of an induction motor

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2004-01-01

    This paper deals with the tracking control design of an induction motor, based on input-output linearization with magnetic saturation included. Magnetic saturation is represented by the nonlinear magnetizing curve of the iron core and is used in the control design, the observer of state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances of the drive. It is based on the mixed ”stator current - rotor flux linkage” induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with the included saturation behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  19. TRACKING CONTROL FOR A HYDRAULIC DRIVE WITH A PRESSURE COMPENSATOR

    Directory of Open Access Journals (Sweden)

    S. V. Aranovskiy

    2015-07-01

    Full Text Available A problem of tracking control is considered for a hydraulic drive with a pressure compensator that is widespread in the equipment of heavy-duty machines. Method. The control problem is solved by means of a switching sliding-mode controller coupled with static nonlinear compensation and desired velocity feedforward. Main Results. Mathematical model of a hydraulic drive is given in view of the pressure compensator presence. Traditional model of a hydraulic drive is formulated for a system with a spool valve; purpose and principles of operation of the pressure compensator in hydraulic systems are described, and the extended model is presented illustrating compensator contribution to overall system dynamics. It is shown that the obtained model has an input static nonlinearity; the nonlinearity cancellation method is proposed giving the possibility for injection of a desired velocity feedforward term. The control law is chosen as a switching one and two chattering attenuation methods are studied: equivalent control estimation via filtering and sign function integration. Experimental studies are performed at a forestry hydraulic crane prototype and illustrate high tracking accuracy achieved for typical crane motions. Practical Significance. The results are suitable for heavy-duty hydraulic machines automation in construction, road building and forestry.

  20. Open-loop position tracking control of a piezoceramic flexible beam using a dynamic hysteresis compensator

    International Nuclear Information System (INIS)

    Nguyen, Phuong-Bac; Choi, Seung-Bok

    2010-01-01

    This paper proposes a novel hysteresis compensator to enhance control accuracy in open-loop position tracking control of a piezoceramic flexible beam. The proposed hysteresis compensator consists of two components: a rate-independent hysteresis compensator and a nonlinear filter. The compensator is formulated based on the inverse Preisach model, while the weight coefficients of the filter are identified adaptively using a recursive least square (RLS) algorithm. In this work, two dynamic hysteresis compensators (or rate-independent hysteresis compensators) are developed by adopting two different nonlinear filters: Volterra and bilinear filters. In order to demonstrate the improved control accuracy of the proposed dynamic compensators, a flexible beam associated with the piezoceramic actuator is modeled using the finite element method (FEM) and Euler–Bernoulli beam theory. The beam model is then integrated with the proposed hysteresis model to achieve accurate position tracking control at the tip of the beam. An experimental investigation on the tip position tracking control is undertaken by realizing three different hysteresis compensators: a rate-independent hysteresis compensator, a rate-dependent hysteresis compensator with a Volterra nonlinear filter and a rate-independent hysteresis compensator with a bilinear nonlinear filter. It is shown that the proposed dynamic hysteresis compensators can provide much better tracking control accuracy than conventional rate-independent hysteresis compensators

  1. F F Sun

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science. F F Sun. Articles written in Bulletin of Materials Science. Volume 37 Issue 1 February 2014 pp 71-76. Study of electroless copper plating on ABS resin surface modified by heterocyclic organosilane self-assembled film · H N Zhang J Wang F F Sun D Liu H Y Wang F Wang.

  2. Subjective evaluation with FAA criteria: A multidimensional scaling approach. [ground track control management

    Science.gov (United States)

    Kreifeldt, J. G.; Parkin, L.; Wempe, T. E.; Huff, E. F.

    1975-01-01

    Perceived orderliness in the ground tracks of five A/C during their simulated flights was studied. Dynamically developing ground tracks for five A/C from 21 separate runs were reproduced from computer storage and displayed on CRTS to professional pilots and controllers for their evaluations and preferences under several criteria. The ground tracks were developed in 20 seconds as opposed to the 5 minutes of simulated flight using speedup techniques for display. Metric and nonmetric multidimensional scaling techniques are being used to analyze the subjective responses in an effort to: (1) determine the meaningfulness of basing decisions on such complex subjective criteria; (2) compare pilot/controller perceptual spaces; (3) determine the dimensionality of the subjects' perceptual spaces; and thereby (4) determine objective measures suitable for comparing alternative traffic management simulations.

  3. Skin Cancer-Sun Knowledge and Sun Protection Behaviors of Liver Transplant Recipients in Turkey.

    Science.gov (United States)

    Haney, Meryem Ozturk; Ordin, Yaprak Sarigol; Arkan, Gulcihan

    2017-09-08

    The aim of this study was to compare liver transplant recipients (LTRs) with the general population regarding their knowledge of skin cancer, sun health, sun protection behaviors, and affecting factors. This cross-sectional study was conducted in Turkey between March 2016 and September 2016 with 104 LTRs and 100 participants from the general population group (GPG). The mean age of the LTRs was 53.2 ± 11.8 and that of the GPG was 42.7 ± 14.5. The LTRs' skin cancer and sun knowledge were significantly lower than in the GPG, but there was no difference between the two groups in terms of their sun protection behavior scores. The most commonly used sun protection behaviors of LTRs were not being outside and not sunbathing between 10 a.m. and 4 p.m., wearing clothing that covers the skin, and avoiding the solarium. Behaviors commonly practiced by the GPG were wearing sunglasses, wearing sunscreen with a sun protection factor of 15 or higher before going outside, wearing sunscreen at the beach, while swimming or doing physical activity outside, and reapplying it every 2 h. Results of our study will contribute to the development of education and training programs for LTRs on skin cancer. The results also demonstrated the importance of practicing adequate sun protection behaviors which will certainly impact their future health.

  4. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

    It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.

  5. SunShot Initiative Portfolio Book 2014

    Energy Technology Data Exchange (ETDEWEB)

    Solar Energy Technologies Office

    2014-05-01

    The 2014 SunShot Initiative Portfolio Book outlines the progress towards the goals outlined in the SunShot Vision Study. Contents include overviews of each of SunShot’s five subprogram areas, as well as a description of every active project in the SunShot’s project portfolio as of May 2014.

  6. Approximation-Based Discrete-Time Adaptive Position Tracking Control for Interior Permanent Magnet Synchronous Motors.

    Science.gov (United States)

    Yu, Jinpeng; Shi, Peng; Yu, Haisheng; Chen, Bing; Lin, Chong

    2015-07-01

    This paper considers the problem of discrete-time adaptive position tracking control for a interior permanent magnet synchronous motor (IPMSM) based on fuzzy-approximation. Fuzzy logic systems are used to approximate the nonlinearities of the discrete-time IPMSM drive system which is derived by direct discretization using Euler method, and a discrete-time fuzzy position tracking controller is designed via backstepping approach. In contrast to existing results, the advantage of the scheme is that the number of the adjustable parameters is reduced to two only and the problem of coupling nonlinearity can be overcome. It is shown that the proposed discrete-time fuzzy controller can guarantee the tracking error converges to a small neighborhood of the origin and all the signals are bounded. Simulation results illustrate the effectiveness and the potentials of the theoretic results obtained.

  7. Optimal Control Strategy for Marine Ssp Podded Propulsion Motor Based on Strong Tracking-Epf

    Directory of Open Access Journals (Sweden)

    Yao Wenlong

    2015-09-01

    Full Text Available Aiming at the non-linearity of state equation and observation equation of SSP (Siemen Schottel Propulsor propulsion motor, an improved particle filter algorithm based on strong tracking extent Kalman filter (ST-EKF was presented, and it was imported into the marine SSP propulsion motor control system. The strong tracking filter was used to update particles in the new algorithm and produce importance densities. As a result, the problems of particle degeneracy and sample impoverishment were ameliorated, the propulsion motor states and the rotor resistance were estimated simultaneously using strong track filter (STF, and the tracking ability of marine SSP propulsion motor control system was improved. Simulation result shown that the improved EPF algorithm was not only improving the prediction accuracy of the motor states and the rotor resistance, but also it can satisfy the requirement of navigation in harbor. It had the better accuracy than EPF algorithm.

  8. A Comparative Study of Analog Voltage-mode Control Methods for Ultra-Fast Tracking Power Supplies

    DEFF Research Database (Denmark)

    Høyerby, Mikkel Christian Wendelboe; Andersen, Michael Andreas E.

    2007-01-01

    This paper presents a theoretical and experimental comparison of the standard PWM/PID voltage-mode control method for single-phase buck converters with two highperformance self-oscillating (a.k.a. sliding mode) control methods. The application considered is ultra-fast tracking power supplies...... (UFTPSs) for RF power amplifiers, where the switching converter needs to track a varying reference voltage precisely and quickly while maintaining low output impedance. The small-signal analyses performed on the different controllers show that the hysteretic-type controller can achieve the highest loop...

  9. School Sun-Protection Policies--Does Being SunSmart Make a Difference?

    Science.gov (United States)

    Turner, Denise; Harrison, Simone L.; Buettner, Petra; Nowak, Madeleine

    2014-01-01

    Evaluate the comprehensiveness of primary school sun-protection policies in tropical North Queensland, Australia. Pre-determined criteria were used to assess publicly available sun-protection policies from primary schools in Townsville (latitude 19.3°S; n = 43), Cairns (16.9°S; n = 46) and the Atherton Tablelands (17.3°S; n = 23) during 2009-2012.…

  10. A comparison of kinesthetic-tactual and visual displays via a critical tracking task. [for aircraft control

    Science.gov (United States)

    Jagacinski, R. J.; Miller, D. P.; Gilson, R. D.

    1979-01-01

    The feasibility of using the critical tracking task to evaluate kinesthetic-tactual displays was examined. The test subjects were asked to control a first-order unstable system with a continuously decreasing time constant by using either visual or tactual unidimensional displays. The results indicate that the critical tracking task is both a feasible and a reliable methodology for assessing tactual tracking. Further, that the critical tracking methodology is as sensitive and valid a measure of tactual tracking as visual tracking is demonstrated by the approximately equal effects of quickening for the tactual and visual displays.

  11. The flight over the sun

    International Nuclear Information System (INIS)

    Ducrocq, A.

    1985-01-01

    With the ''Ulysse'' mission, a satellite is going for the first time to leave the ecliptic plane to observe the sun poles. The ISPM (International Solar Polar Mission) probe will go and visit the sun in passing Jupiter way. Sun pole regions are surmised to play a major role in solar wind production [fr

  12. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    Science.gov (United States)

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  13. Power producing sun shades; Elproducerende solafskaermninger

    Energy Technology Data Exchange (ETDEWEB)

    Johnsen, K.; Soerensen, Henrik; Katic, I.; Schmidt-Petersen, H.; AAroe, D.

    2012-01-15

    Integrating photovoltaics into sun shades takes advantage of the best opportunities to capture and utilize solar energy when the shades are most needed to shield users from solar radiation. The report describes results of a development project for solar shading in the form of broad, horizontal and rotating lamellae with solar cells and an integrated control function that simultaneously is optimized based on energy consumption and thermal and visual indoor climate. The project idea was to meet the needs for effective sun protection in the present office, commercial and public buildings, where glass facades are dominant. The conclusion of the development project is that it rarely would be optimal to integrate solar cells into movable shades. This will normally only be relevant in cases where it is justified by architectural considerations. (LN)

  14. A Survey of Sun Protection Policy and Education in Secondary Schools

    Science.gov (United States)

    Buller, David B.; Buller, Mary Klein; Reynolds, Kim D.

    2006-01-01

    Background The Centers for Disease Control and Prevention (CDC) issued recommendations for school programs to reduce skin cancer. Objective Personnel at U.S. secondary schools were surveyed to describe sun protection policy and education prior to these recommendations. Methods School principals or other personnel at 484 secondary schools in 27 cities responded to a telephone survey in January and February 2002 (response rate = 31%). Results A sun protection policy was reported at 10% of the schools but sun protection education occurred at nearly all schools (96%). Policies were more prevalent in regions with high ultraviolet radiation (pprotection was a low policy priority for U.S. schools. Sun safety education was prevalent but written materials were used infrequently. A substantial proportion of school personnel were receptive to the CDC’s advice. PMID:16488293

  15. Statistical evolution of quiet-Sun small-scale magnetic features using Sunrise observations

    Science.gov (United States)

    Anusha, L. S.; Solanki, S. K.; Hirzberger, J.; Feller, A.

    2017-02-01

    The evolution of small magnetic features in quiet regions of the Sun provides a unique window for probing solar magneto-convection. Here we analyze small-scale magnetic features in the quiet Sun, using the high resolution, seeing-free observations from the Sunrise balloon borne solar observatory. Our aim is to understand the contribution of different physical processes, such as splitting, merging, emergence and cancellation of magnetic fields to the rearrangement, addition and removal of magnetic flux in the photosphere. We have employed a statistical approach for the analysis and the evolution studies are carried out using a feature-tracking technique. In this paper we provide a detailed description of the feature-tracking algorithm that we have newly developed and we present the results of a statistical study of several physical quantities. The results on the fractions of the flux in the emergence, appearance, splitting, merging, disappearance and cancellation qualitatively agrees with other recent studies. To summarize, the total flux gained in unipolar appearance is an order of magnitude larger than the total flux gained in emergence. On the other hand, the bipolar cancellation contributes nearly an equal amount to the loss of magnetic flux as unipolar disappearance. The total flux lost in cancellation is nearly six to eight times larger than the total flux gained in emergence. One big difference between our study and previous similar studies is that, thanks to the higher spatial resolution of Sunrise, we can track features with fluxes as low as 9 × 1014 Mx. This flux is nearly an order of magnitude lower than the smallest fluxes of the features tracked in the highest resolution previous studies based on Hinode data. The area and flux of the magnetic features follow power-law type distribution, while the lifetimes show either power-law or exponential type distribution depending on the exact definitions used to define various birth and death events. We have

  16. Observer-based leader-following tracking control under both fixed and switching topologies

    Institute of Scientific and Technical Information of China (English)

    Jinhuan WANG; Pengxiao ZHANG; Zhixin LIU; Xiaoming HU

    2016-01-01

    This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer-based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.

  17. Sun protection and skin self-examination in melanoma survivors.

    Science.gov (United States)

    Mujumdar, Urvi J; Hay, Jennifer L; Monroe-Hinds, Yvette C; Hummer, Amanda J; Begg, Colin B; Wilcox, Homer B; Oliveria, Susan A; Berwick, Marianne

    2009-10-01

    Patients diagnosed with melanoma are at risk for developing recurrent and second primary disease. Skin self-examination (SSE) and sun protection are standard clinical recommendations to minimize risk. In this study we examined performance of these behaviors in individuals with melanoma drawn from the general population. Potential participants (N=148) with a first primary melanoma diagnosed in 2000 were identified through a population-based cancer registry in New Jersey, USA. One hundred and fifteen individuals participated in a 30 min telephone interview concerning behavioral adherence with SSE and sun protection, self-efficacy for performing these behaviors, and perceived risk of developing another skin cancer. We utilized logistic regression to estimate potential associations of demographic, medical, and psychosocial factors with SSE and sun protection, respectively. Seventeen percent of subjects reported performing comprehensive SSE at least once every two months and 23% engaged in regular sun protection. Utilization of SSE was related to the presence of moles (OR=4.2, 95% CI: 1.1-15) and higher SSE self-efficacy (OR=14.4, 95% CI: 1.9-112). Regular sun protection was related to older age (>60 years; OR=3.3, 95% CI: 1.3-8.7), being female (OR=2.8, 95% CI: 1.1-7.3), and higher sun protection self-efficacy (OR=5.0, 95% CI: 1.4-18). These factors remained significant in multivariate models. In this group of primary melanoma survivors, the rates of SSE and sun protection are comparable to, but do not exceed, general population estimates. This study provides justification for further research to address barriers to prevention and control behaviors in melanoma survivors.

  18. Study of Λ parameters and crossover phenomena in SU(N) x SU(N) sigma models in two dimensions

    International Nuclear Information System (INIS)

    Shigemitsu, J.; Kogut, J.B.

    1981-01-01

    The spin system analogues of recent studies of the string tension and Λ parameters of SU(N) gauge theories in 4 dimensions are carried out for the SU(N) x SU(N) and O(N) models in 2 dimensions. The relations between the Λ parameters of both the Euclidean and Hamiltonian formulation of the lattice models and the Λ parameter of the continuum models are obtained. The one loop finite renormalization of the speed of light in the lattice Hamiltonian formulations of the O(N) and SU(N) x SU(N) models is calculated. Strong coupling calculations of the mass gaps of these spin models are done for all N and the constants of proportionality between the gap and the Λ parameter of the continuum models are obtained. These results are contrasted with similar calculations for the SU(N) gauge models in 3+1 dimensions. Identifying suitable coupling constants for discussing the N → infinity limits, the numerical results suggest that the crossover from weak to strong coupling in the lattice O(N) models becomes less abrupt as N increases while the crossover for the SU(N) x SU(N) models becomes more abrupt. The crossover in SU(N) gauge theories also becomes more abrupt with increasing N, however, at an even greater rate than in the SU(N) x SU(N) spin models

  19. Sinusoidal visuomotor tracking: intermittent servo-control or coupled oscillations?

    Science.gov (United States)

    Russell, D M; Sternad, D

    2001-12-01

    In visuomotor tasks that involve accuracy demands, small directional changes in the trajectories have been taken as evidence of feedback-based error corrections. In the present study variability, or intermittency, in visuomanual tracking of sinusoidal targets was investigated. Two lines of analyses were pursued: First, the hypothesis that humans fundamentally act as intermittent servo-controllers was re-examined, probing the question of whether discontinuities in the movement trajectory directly imply intermittent control. Second, an alternative hypothesis was evaluated: that rhythmic tracking movements are generated by entrainment between the oscillations of the target and the actor, such that intermittency expresses the degree of stability. In 2 experiments, participants (N = 6 in each experiment) swung 1 of 2 different hand-held pendulums, tracking a rhythmic target that oscillated at different frequencies with a constant amplitude. In 1 line of analyses, the authors tested the intermittency hypothesis by using the typical kinematic error measures and spectral analysis. In a 2nd line, they examined relative phase and its variability, following analyses of rhythmic interlimb coordination. The results showed that visually guided corrective processes play a role, especially for slow movements. Intermittency, assessed as frequency and power components of the movement trajectory, was found to change as a function of both target frequency and the manipulandum's inertia. Support for entrainment was found in conditions in which task frequency was identical to or higher than the effector's eigenfrequency. The results suggest that it is the symmetry between task and effector that determines which behavioral regime is dominant.

  20. A randomized intervention study of sun protection promotion in well-child care.

    Science.gov (United States)

    Crane, Lori A; Deas, Ann; Mokrohisky, Stefan T; Ehrsam, Gretchen; Jones, Richard H; Dellavalle, Robert; Byers, Tim E; Morelli, Joseph

    2006-03-01

    This study evaluated the behavioral impact of a skin cancer prevention program in which health care providers delivered advice and materials to parents of infants over a 3-year period from 1998 to 2001. Fourteen offices of a large managed care organization in Colorado were randomly assigned to the intervention or control groups. 728 infants and their parents were recruited within 6 months of birth. At intervention offices, health care providers attended orientation sessions, prompts for delivering sun protection advice were placed in medical records, and parents received sun protection packets at each well-child visit between 2 and 36 months of age. Based on provider self-report and exit interviews of parents, providers in the intervention group delivered approximately twice as much sun protection advice as providers in the control group. Annual telephone interviews of parents indicated small but statistically significant differences in parent sun protection practices favoring the intervention. Skin exams revealed no significant differences in tanning, freckling, or number of nevi. Behavioral differences between groups appeared to grow over the 3 years of follow-up. This intervention strategy was successful in increasing the delivery of sun protection advice by health care providers and resulted in changes in parents' behaviors. While the behavioral effect was probably not strong enough to reduce risk for skin cancer, the effect may increase as children age and have more opportunities for overexposure to the sun.

  1. Controlling and tracking hyperchaotic Roessler system via active backstepping design

    International Nuclear Information System (INIS)

    Zhang Hao; Ma Xikui; Li Ming; Zou Jianlong

    2005-01-01

    This paper presents a novel active backstepping control approach for controlling hyperchaotic Roessler system to a steady state as well as tracking of any desire trajectory to be achieved in a systematic way. The proposed method is a systematic design approach and consists in a recursive procedure that interlaces the choice of a Lyapunov function with the design of active control. Numerical results show that the controller is singularity free and the closed-loop system is stable globally. Especially, the main feature of this technique is that it gives the flexibility to construct a control law. Finally, numerical experiments verify the feasibility and effectiveness of the proposed control technique

  2. Lithospheric controls on magma composition along Earth's longest continental hotspot track.

    Science.gov (United States)

    Davies, D R; Rawlinson, N; Iaffaldano, G; Campbell, I H

    2015-09-24

    Hotspots are anomalous regions of volcanism at Earth's surface that show no obvious association with tectonic plate boundaries. Classic examples include the Hawaiian-Emperor chain and the Yellowstone-Snake River Plain province. The majority are believed to form as Earth's tectonic plates move over long-lived mantle plumes: buoyant upwellings that bring hot material from Earth's deep mantle to its surface. It has long been recognized that lithospheric thickness limits the rise height of plumes and, thereby, their minimum melting pressure. It should, therefore, have a controlling influence on the geochemistry of plume-related magmas, although unambiguous evidence of this has, so far, been lacking. Here we integrate observational constraints from surface geology, geochronology, plate-motion reconstructions, geochemistry and seismology to ascertain plume melting depths beneath Earth's longest continental hotspot track, a 2,000-kilometre-long track in eastern Australia that displays a record of volcanic activity between 33 and 9 million years ago, which we call the Cosgrove track. Our analyses highlight a strong correlation between lithospheric thickness and magma composition along this track, with: (1) standard basaltic compositions in regions where lithospheric thickness is less than 110 kilometres; (2) volcanic gaps in regions where lithospheric thickness exceeds 150 kilometres; and (3) low-volume, leucitite-bearing volcanism in regions of intermediate lithospheric thickness. Trace-element concentrations from samples along this track support the notion that these compositional variations result from different degrees of partial melting, which is controlled by the thickness of overlying lithosphere. Our results place the first observational constraints on the sub-continental melting depth of mantle plumes and provide direct evidence that lithospheric thickness has a dominant influence on the volume and chemical composition of plume-derived magmas.

  3. SOHO reveals violent action on the quiet Sun

    Science.gov (United States)

    1996-05-01

    One instrument in SOHO avoids looking at the Sun, because it would be dazzled. Instead, SWAN surveys the sky all around and sees an ultraviolet glow from hydrogen atoms lit by the Sun. These atoms come on a breeze from the stars that blows through the Solar System. But the competing wind of charged particles from the Sun breaks the incoming atoms, so that they no longer emit their characteristic wavelength. The result is a hole in the pattern of emissions downstream from the Sun. The surviving emissions are brightest upstream, and far above the plane of the Sun's equator. The scientists conclude that the solar wind blowing from high-latitude regions of Sun is less strong, at least during the present quiet phase of the eleven-year cycle of activity. The Earth is also visible in the maps, because a cloud of hydrogen gas called the geocorona envelops it and glows in the ultraviolet. The geocorona would hamper observations of the interstellar glow by satellites close to the Earth. SOHO sees the geocorona from the outside, and will be able to monitor effects of solar activity on the Earth's outer atmosphere. "At the present time of a quiet Sun, our sky maps clearly indicate a situation of increased solar wind around the Sun's equator," says Jean-Loup Bertaux of the Service d'Aéronomie near Paris, who has prime responsibility for SWAN. "We are anxious to see what will happen when the Sun becomes stormier. Then we shall see important changes in the solar wind's impact on the interstellar gas, revealed by the changes in the sky maps. Meanwhile we use alternate days for special investigations, and at present we are tracking Comet Hyakutake as it approaches the Sun. When colleagues ask me why a solar spacecraft should look at comets, I remind them that the solar wind was discovered by studying comet tails." Sub-surface currents mapped SOHO is successfully probing the Sun's interior. It does so with several instruments that observe oscillations of the Sun's surface. They detect

  4. Fuzzy sliding mode control for maximum power point tracking of a photovoltaic pumping system

    Directory of Open Access Journals (Sweden)

    Sabah Miqoi

    2017-03-01

    Full Text Available In this paper a new maximum power point tracking method based on fuzzy sliding mode control is proposed, and employed in a PV water pumping system based on a DC-DC boost converter, to produce maximum power from the solar panel hence more speed in the DC motor and more water quantity. This method combines two different tracking techniques sliding mode control and fuzzy logic; our controller is based on sliding mode control, then to give better stability and enhance the power production a fuzzy logic technique was added. System modeling, sliding method definition and the new control method presentation are represented in this paper. The results of the simulation that are compared to both sliding mode controller and perturbation and observation method demonstrate effectiveness and robustness of the proposed controller.

  5. L1 Adaptive Speed Control of a Small Wind Energy Conversion System for Maximum Power Point Tracking

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei; Rasmussen, Claus Nygaard

    2014-01-01

    This paper presents the design of an L1 adaptive controller for maximum power point tracking (MPPT) of a small variable speed Wind Energy Conversion System (WECS). The proposed controller generates the optimal torque command for the vector controlled generator side converter (GSC) based on the wi......) is used to carry out case studies using Matlab/Simulink. The case study results show that the designed L1 adaptive controller has good tracking performance even with unmodeled dynamics and in the presence of parameter uncertainties and unknown disturbances.......This paper presents the design of an L1 adaptive controller for maximum power point tracking (MPPT) of a small variable speed Wind Energy Conversion System (WECS). The proposed controller generates the optimal torque command for the vector controlled generator side converter (GSC) based on the wind...

  6. Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle

    Directory of Open Access Journals (Sweden)

    Tao Teng

    2016-02-01

    Full Text Available In this article, a global adaptive neural dynamic surface control with predefined tracking performance is developed for a class of hypersonic flight vehicles, whose accurate dynamics is hard to obtain. The control scheme developed in this paper overcomes the limitations of neural approximation region by employing a switching mechanism which incorporates an additional robust controller outside the neural approximation region to pull the transient state variables back when they overstep the neural approximation region, such that globally uniformly ultimately bounded stability can be guaranteed. Especially, the developed global adaptive neural control also improves the tracking performance by introducing an error transformation mechanism, such that both transient and steady-state performance can be shaped according to the predefined bounds. Simulation studies on the hypersonic flight vehicle validate that the designed controller has good velocity modulation and velocity stability performance.

  7. The Sun Sense Study: An Intervention to Improve Sun Protection in Children

    Science.gov (United States)

    Glasser, Alice; Shaheen, Magda; Glenn, Beth A.; Bastani, Roshan

    2010-01-01

    Objectives: To assess the effect of a multicomponent intervention on parental knowledge, sun avoidance behaviors, and sun protection practices in children 3-10 years. Methods: A randomized trial at a pediatric clinic recruited 197 caregiver-child pairs (90% parents). Intervention included a brief presentation and brochure for the parent and…

  8. Little sun

    DEFF Research Database (Denmark)

    Ebbesen, Toke Riis

    2017-01-01

    the ideas of Alfred Gell’s anthropology of art and the indicative framework derived from Argentinian semiotician Juan Pablo Bonta and Jørn Guldberg. The toy-like solar lamp Little Sun by Olafur Eliasson and Frederik Ottesen is used as case that blends the registers of social design and art......, and as an example of how designers attempt to determine meaning potentials through design in a complex interplay of different strategies. In the final analysis, what characterise objects like Little Sun is seldom that they communicate their meanings in themselves, but instead rely on forceful mediations to gain...

  9. Dynamic Modeling and Control Strategy Optimization for a Hybrid Electric Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Hong Wang

    2015-01-01

    Full Text Available A new hybrid electric tracked bulldozer composed of an engine generator, two driving motors, and an ultracapacitor is put forward, which can provide high efficiencies and less fuel consumption comparing with traditional ones. This paper first presents the terramechanics of this hybrid electric tracked bulldozer. The driving dynamics for this tracked bulldozer is then analyzed. After that, based on analyzing the working characteristics of the engine, generator, and driving motors, the power train system model and control strategy optimization is established by using MATLAB/Simulink and OPTIMUS software. Simulation is performed under a representative working condition, and the results demonstrate that fuel economy of the HETV can be significantly improved.

  10. Recurrent fuzzy neural network backstepping control for the prescribed output tracking performance of nonlinear dynamic systems.

    Science.gov (United States)

    Han, Seong-Ik; Lee, Jang-Myung

    2014-01-01

    This paper proposes a backstepping control system that uses a tracking error constraint and recurrent fuzzy neural networks (RFNNs) to achieve a prescribed tracking performance for a strict-feedback nonlinear dynamic system. A new constraint variable was defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries. An adaptive RFNN was also used to obtain the required improvement on the approximation performances in order to avoid calculating the explosive number of terms generated by the recursive steps of traditional backstepping control. The boundedness and convergence of the closed-loop system was confirmed based on the Lyapunov stability theory. The prescribed performance of the proposed control scheme was validated by using it to control the prescribed error of a nonlinear system and a robot manipulator. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  11. 77 FR 34122 - Application of Sun Air Express, LLC, d/b/a Sun Air International for Commuter Authority

    Science.gov (United States)

    2012-06-08

    ... DEPARTMENT OF TRANSPORTATION Office of the Secretary [Docket DOT-OST-2011-0169] Application of Sun Air Express, LLC, d/b/a Sun Air International for Commuter Authority AGENCY: Department of... order finding Sun Air Express, LLC d/b/a Sun Air International fit, willing, and able, and awarding it...

  12. Controlled neural network application in track-match problem

    International Nuclear Information System (INIS)

    Baginyan, S.A.; Ososkov, G.A.

    1993-01-01

    Track-match problem of high energy physics (HEP) data handling is formulated in terms of incidence matrices. The corresponding Hopfield neural network is developed to solve this type of constraint satisfaction problems (CSP). A special concept of the controlled neural network is proposed as a basis of an algorithm for the effective CSP solution. Results of comparable calculations show the very high performance of this algorithm against conventional search procedures. 8 refs.; 1 fig.; 1 tab

  13. Experiments in nonlinear dynamics using control-based continuation: Tracking stable and unstable response curves

    DEFF Research Database (Denmark)

    Bureau, Emil; Schilder, Frank; Santos, Ilmar

    2014-01-01

    We show how to implement control-based continuation in a nonlinear experiment using existing and freely available software. We demonstrate that it is possible to track the complete frequency response, including the unstable branches, for a harmonically forced impact oscillator.......We show how to implement control-based continuation in a nonlinear experiment using existing and freely available software. We demonstrate that it is possible to track the complete frequency response, including the unstable branches, for a harmonically forced impact oscillator....

  14. The Sun and Earth

    Science.gov (United States)

    Gopalswamy, Natchimuthuk

    2012-01-01

    Thus the Sun forms the basis for life on Earth via the black body radiation it emits. The Sun also emits mass in the form of the solar wind and the coronal mass ejections (CMEs). Mass emission also occurs in the form of solar energetic particles (SEPs), which happens during CMEs and solar flares. Both the mass and electromagnetic energy output of the Sun vary over a wide range of time scales, thus introducing disturbances on the space environment that extends from the Sun through the entire heliosphere including the magnetospheres and ionospheres of planets and moons of the solar system. Although our habitat is located in the neutral atmosphere of Earth, we are intimately connected to the non-neutral space environment starting from the ionosphere to the magnetosphere and to the vast interplanetary space. The variability of the solar mass emissions results in the interaction between the solar wind plasma and the magnetospheric plasma leading to huge disturbances in the geospace. The Sun ionizes our atmosphere and creates the ionosphere. The ionosphere can be severely disturbed by the transient energy input from solar flares and the solar wind during geomagnetic storms. The complex interplay between Earth's magnetic field and the solar magnetic field carried by the solar wind presents varying conditions that are both beneficial and hazardous to life on earth. This seminar presents some of the key aspects of this Sun-Earth connection that we have learned since the birth of space science as a scientific discipline some half a century ago.

  15. Expertise differences in air traffic control: An eye-tracking study

    NARCIS (Netherlands)

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

    2012-01-01

    Van Meeuwen, L. W., Jarodzka, H., Brand-Gruwel, S., Kirschner, P. A., De Bock, J. J. P. R., & Van Merriënboer, J. J. G. (2012, April). Expertise differences in air traffic control: An eye-tracking study. Paper presented at the American Educational Research Association Annual Meeting 2012, Vancouver,

  16. Sun-Earth Day, 2001

    Science.gov (United States)

    Adams, Mitzi L.; Mortfield, P.; Hathaway, D. H.; Whitaker, Ann F. (Technical Monitor)

    2001-01-01

    To promote awareness of the Sun-Earth connection, NASA's Marshall Space Flight Center, in collaboration with the Stanford SOLAR Center, sponsored a one-day Sun-Earth Day event on April 27, 2001. Although "celebrated" on only one day, teachers and students from across the nation, prepared for over a month in advance. Workshops were held in March to train teachers. Students performed experiments, results of which were shared through video clips and an internet web cast. Our poster includes highlights from student experiments (grades 2 - 12), lessons learned from the teacher workshops and the event itself, and plans for Sun-Earth Day 2002.

  17. Output Tracking Control of Switched Hybrid Systems: A Fliess Functional Expansion Approach

    Directory of Open Access Journals (Sweden)

    Fenghua He

    2013-01-01

    Full Text Available The output tracking problem is investigated for a nonlinear affine system with multiple modes of continuous control inputs. We convert the family of nonlinear affine systems under consideration into a switched hybrid system by introducing a multiple-valued logic variable. The Fliess functional expansion is adopted to express the input and output relationship of the switched hybrid system. The optimal switching control is determined for a multiple-step output tracking performance index. The proposed approach is applied to a multitarget tracking problem for a flight vehicle aiming for one real target with several decoys flying around it in the terminal guidance course. These decoys appear as apparent targets and have to be distinguished with the approaching of the flight vehicle. The guidance problem of one flight vehicle versus multiple apparent targets should be considered if no large miss distance might be caused due to the limitation of the flight vehicle maneuverability. The target orientation at each time interval is determined. Simulation results show the effectiveness of the proposed method.

  18. Sun burn incidence and knowledge of greek elementary and high school children about sun protection.

    Science.gov (United States)

    Saridi, Maria Ioannis; Toska, Aikaterini George; Rekleiti, Maria Dimitrios; Tsironi, Maria; Geitona, Maria; Souliotis, Kyriakos

    2015-01-01

    Overexposure to sun radiation and particularly its accumulation during childhood and adolescence is a significant risk factor for skin cancer development. The sun burn is particularly important. To estimate sun burn incidence in young pupils in a coastal area of Greece. Two surveys were conducted in a school population in the same district in Greece, over different periods of time, in young people 9 to 18 years old (n=2 977). Anonymous questionnaires were completed. Levels of significance were two- tailed and statistical significance was set at p=0.05. SPSS 17.0 software was used for statistical analysis. From the individual characteristics of the participants it was shown that the majority of them had dark hair and fair skin, whereas a significant percentage reported the existence of moles on face and their body (83.4% vs 68.1%). The sun burn incidence was high in adolescents and the younger pupils (41.9% vs 55.6%). The younger aged children who were living in an urban area had significantly higher rates of sun burn than those living in semi-urban areas (33.8% vs 24.8%, p=0.020). As far as the knowledge of pupils about the risks of sun radiation it was shown that the elementary school pupils had better knowledge than those at high school. Finally, those with better knowledge had the fewer sun burns (Mean 2.83 SD 0.87, pknowledge to the decrease of sun burn incidence is important as long as this is continuous. Therefore, the education should concern not only children but also teachers and parents in the context of continuous and systematic programs of health education.

  19. Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

    Science.gov (United States)

    Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

    2018-03-01

    Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

  20. TRMM On-Orbit Performance Reassessed After Control Change

    Science.gov (United States)

    Bilanow, Stephen

    2006-01-01

    The Tropical Rainfall Measuring Mission (TRMM) spacecraft, a joint mission between the U.S. and Japan, launched onboard an H-I1 rocket on November 27, 1997, and transitioned in August, 2001, from an average operating altitude of 350 kilometers to 402.5 kilometers. Due to problems using the Earth Sensor Assembly (ESA) at the higher altitude, TRMM switched to a backup attitude control mode. Prior to the orbit boost TRMM controlled pitch and roll to the local vertical using ESA measurements while using gyro data to propagate yaw attitude between yaw updates from the Sun sensors. After the orbit boost, a Kalman filter used 3-axis gyro data with Sun sensor and magnetometers to estimate onboard attitude. While originally intended to meet a degraded attitude accuracy of 0.7 degrees, the new control mode met the original 0.2 degree attitude accuracy requirement after improving onboard ephemeris prediction and adjusting the magnetometer calibration onboard. Independent roll attitude checks using a science instrument, the Precipitation Radar (PR) which was built in Japan, provided a novel insight into the pointing performance. The PR data helped identify the pointing errors after the orbit boost, track the performance improvements, and show subtle effects from ephemeris errors and gyro bias errors. It also helped identify average bias trends throughout the mission. Roll errors tracked by the PR from sample orbits pre-boost and post-boost are shown in Figure 1. Prior to the orbit boost, the largest attitude errors were due to occasional interference in the ESA. These errors were sometime larger than 0.2 degrees in pitch and roll, but usually less, as estimated from a comprehensive review of the attitude excursions using gyro data. Sudden jumps in the onboard roll show up as spikes in the reported attitude since the control responds within tens of seconds to null the pointing error. The PR estimated roll tracks well with an estimate of the roll history propagated using gyro

  1. Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

    Science.gov (United States)

    Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

    2017-12-01

    In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

  2. Development of intelligent MPPT (maximum power point tracking) control for a grid-connected hybrid power generation system

    International Nuclear Information System (INIS)

    Hong, Chih-Ming; Ou, Ting-Chia; Lu, Kai-Hung

    2013-01-01

    A hybrid power control system is proposed in the paper, consisting of solar power, wind power, and a diesel-engine. To achieve a fast and stable response for the real power control, an intelligent controller was proposed, which consists of the Wilcoxon (radial basis function network) RBFN and the improved (Elman neural network) ENN for (maximum power point tracking) MPPT. The pitch angle control of wind power uses improved ENN controller, and the output is fed to the wind turbine to achieve the MPPT. The solar array is integrated with an RBFN control algorithm to track the maximum power. MATLAB (MATrix LABoratory)/Simulink was used to build the dynamic model and simulate the solar and diesel-wind hybrid power system. - Highlights: ► To achieve a fast and stable response for the real power control. ► The pitch control of wind power uses improved ENN (Elman neural network) controller to achieve the MPPT (maximum power point tracking). ► The RBFN (radial basis function network) can quickly and accurately track the maximum power output for PV (photovoltaic) array. ► MATLAB was used to build the dynamic model and simulate the hybrid power system. ► This method can reach the desired performance even under different load conditions

  3. Modulated solar pressure-based surface shape control of paraboloid space reflectors with an off-axis Sun-line

    Science.gov (United States)

    Liu, Jiafu; McInnes, Colin R.

    2018-03-01

    This paper considers utilizing solar radiation pressure (SRP) to actively control the surface shape of a reflector consisting of a rigid hoop and slack membrane with embedded reflectivity control devices. The full nonlinear static partial differential governing equations for a reflector with negligible elastic deformations are established for the circumferential, radial and transverse directions respectively, in which the SRP force with ideal/non-perfect models, the centripetal force caused by the rotation of the reflector and the internal stresses are considered. The inverse problem is then formulated by assuming that the required surface shape is known, and then the governing algebraic-differential equations used to determine the required surface reflectivity, together with the internal stresses where are presented accordingly. The validity of the approach is verified by comparing the results in this paper with corresponding published results as benchmarks. The feasible regions of the angular velocity and Sun angle for a paraboloidal reflector with an invariant radius and focal length (case 1), and the achievable focal lengths with a specific angular velocity and Sun angle (case 2) are presented for two SRP models respectively, both by considering the constraints on the reflectivity and internal stresses. It is then found that the feasible region is toward a larger angular velocity and Sun angle when using the non-perfect SRP model, compared with the ideal one in case 1. The angular velocity of the spinning reflector should be within a certain range to make the required reflectivity profiles within a practical range, i.e., [0, 0.88], as indicated from prior NASA solar sail studies. In case 2, it is found that the smallest achievable focal length of the reflector with the non-perfect SRP model is smaller than that with the ideal SRP model. It is also found that the stress level is extremely low for all cases considered and that the typical real material strength

  4. Design and control of the precise tracking bed based on complex electromechanical design theory

    Science.gov (United States)

    Ren, Changzhi; Liu, Zhao; Wu, Liao; Chen, Ken

    2010-05-01

    The precise tracking technology is wide used in astronomical instruments, satellite tracking and aeronautic test bed. However, the precise ultra low speed tracking drive system is one high integrated electromechanical system, which one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The precise Tracking Bed is one ultra-exact, ultra-low speed, high precision and huge inertial instrument, which some kind of mechanism and environment of the ultra low speed is different from general technology. This paper explores the design process based on complex electromechanical optimizing design theory, one non-PID with a CMAC forward feedback control method is used in the servo system of the precise tracking bed and some simulation results are discussed.

  5. Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

    Directory of Open Access Journals (Sweden)

    Wenjie Lou

    2016-02-01

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

  6. Sun, Earth and Sky

    CERN Document Server

    Lang, Kenneth R

    2006-01-01

    This Second Edition of Sun, Earth and Sky updates the popular text by providing comprehensive accounts of the most recent discoveries made by five modern solar spacecraft during the past decade. Their instruments have used sound waves to peer deep into the Sun’s inner regions and measure the temperature of its central nuclear reactor, and extended our gaze far from the visible Sun to record energetic outbursts that threaten Earth. Breakthrough observations with the underground Sudbury Neutrino Observatory are also included, which explain the new physics of ghostly neutrinos and solve the problematic mismatch between the predicted and observed amounts of solar neutrinos. This new edition of Sun, Earth and Sky also describes our recent understanding of how the Sun’s outer atmosphere is heated to a million degrees, and just where the Sun’s continuous winds come from. As humans we are more intimately linked with our life-sustaining Sun than with any other astronomical object, and the new edition therefore p...

  7. An adaptive vibration control method to suppress the vibration of the maglev train caused by track irregularities

    Science.gov (United States)

    Zhou, Danfeng; Yu, Peichang; Wang, Lianchun; Li, Jie

    2017-11-01

    The levitation gap of the urban maglev train is around 8 mm, which puts a rather high requirement on the smoothness of the track. In practice, it is found that the track irregularity may cause stability problems when the maglev train is traveling. In this paper, the dynamic response of the levitation module, which is the basic levitation structure of the urban maglev train, is investigated in the presence of track irregularities. Analyses show that due to the structural configuration of the levitation module, the vibration of the levitation gap may be amplified and "resonances" may be observed under some specified track wavelengths and train speeds; besides, it is found that the gap vibration of the rear levitation unit in a levitation module is more significant than that of the front levitation unit, which agrees well with practice. To suppress the vibration of the rear levitation gap, an adaptive vibration control method is proposed, which utilizes the information of the front levitation unit as a reference. A pair of mirror FIR (finite impulse response) filters are designed and tuned by an adaptive mechanism, and they produce a compensation signal for the rear levitation controller to cancel the disturbance brought by the track irregularity. Simulations under some typical track conditions, including the sinusoidal track profile, random track irregularity, as well as track steps, indicate that the adaptive vibration control scheme can significantly reduce the amplitude of the rear gap vibration, which provides a method to improve the stability and ride comfort of the maglev train.

  8. Globally Stable Adaptive Backstepping Neural Network Control for Uncertain Strict-Feedback Systems With Tracking Accuracy Known a Priori.

    Science.gov (United States)

    Chen, Weisheng; Ge, Shuzhi Sam; Wu, Jian; Gong, Maoguo

    2015-09-01

    This paper addresses the problem of globally stable direct adaptive backstepping neural network (NN) tracking control design for a class of uncertain strict-feedback systems under the assumption that the accuracy of the ultimate tracking error is given a priori. In contrast to the classical adaptive backstepping NN control schemes, this paper analyzes the convergence of the tracking error using Barbalat's Lemma via some nonnegative functions rather than the positive-definite Lyapunov functions. Thus, the accuracy of the ultimate tracking error can be determined and adjusted accurately a priori, and the closed-loop system is guaranteed to be globally uniformly ultimately bounded. The main technical novelty is to construct three new n th-order continuously differentiable functions, which are used to design the control law, the virtual control variables, and the adaptive laws. Finally, two simulation examples are given to illustrate the effectiveness and advantages of the proposed control method.

  9. Knowledge Management for Distributed Tracking and the Next-Generation Command and Control

    National Research Council Canada - National Science Library

    Ceruti, Marion G; Wright, Tedd L

    2006-01-01

    Knowledge Management for Distributed-Tracking (KMDT) is an ongoing research and development project to improve military-information functions in the battle space, such as command, control, and decision support...

  10. The Sun in Time

    Science.gov (United States)

    Adams, Mitzi L.; Sever, Thomas L.; Bero, Elizabeth

    1998-01-01

    Using a grant from NASA's Initiative to Develop Education through Astronomy and Space Science (IDEAS) program, we have developed an inter-disciplinary curriculum for middle-school students which targets both history and astronomy. Our curriculum explores the attitudes and techniques of ancient spiritual leaders, specifically those of the Maya and Inca cultures, who observed and tried to control the Sun. We wish students to understand the probable importance of astronomical observations to these ancient peoples. In addition, using the experience of an archaeologist, we show how modern techniques of viewing the Earth through satellite imagery, has allowed the re-discovery of ancient sites where solar observations and attempted manipulation of the universe took place. To contrast ancient observations of the Sun with modern ones, we use the experience of a solar astronomer and bring to the classroom up-to-date information about solar astronomy and the impact of solar activity on the Earth's environment. In this presentation, we will present fragments of our curriculum as well as results from pre- and post-tests given to participating groups of students. Finally, we will discuss comments from local middle-school teachers who were asked to evaluate our curriculum.

  11. Probing dark matter self-interaction in the Sun with IceCube-PINGU

    International Nuclear Information System (INIS)

    Chen, Chian-Shu; Lee, Fei-Fan; Lin, Guey-Lin; Lin, Yen-Hsun

    2014-01-01

    We study the capture, annihilation and evaporation of dark matter (DM) inside the Sun. It has been shown that the DM self-interaction can increase the DM number inside the Sun. We demonstrate that this enhancement becomes more significant in the regime of small DM mass, given a fixed DM self-interaction cross section. This leads to the enhancement of neutrino flux from DM annihilation. On the other hand, for DM mass as low as as a few GeVs, not only the DM-nuclei scatterings can cause the DM evaporation, DM self-interaction also provides non-negligible contributions to this effect. Consequently, the critical mass for DM evaporation (typically 3 ∼ 4 GeV without the DM self-interaction) can be slightly increased. We discuss the prospect of detecting DM self-interaction in IceCube-PINGU using the annihilation channels χχ → τ + τ - , νν-bar as examples. The PINGU sensitivities to DM self-interaction cross section σ χχ are estimated for track and cascade events

  12. Transient stability improvement by nonlinear controllers based on tracking

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez, Juan M. [Centro de Investigacion y Estudios Avanzados, Guadalajara, Mexico. Av. Cientifica 1145. Col. El Bajio. Zapopan, Jal. 45015 (Mexico); Arroyave, Felipe Valencia; Correa Gutierrez, Rosa Elvira [Universidad Nacional de Colombia, Sede Medellin. Facultad de Minas, Escuela de Mecatronica (Colombia)

    2011-02-15

    This paper deals with the control problem in multi-machine electric power systems, which represent complex great scale nonlinear systems. Thus, the controller design is a challenging problem. These systems are subjected to different perturbations, such as short circuits, connection and/or disconnection of loads, lines, or generators. Then, the utilization of controllers which guarantee good performance under those perturbations is required in order to provide electrical energy to the loads with admissible stability margins. The proposed controllers are based on a systematic strategy, which calculate nonlinear controllers for generating units in a power plant, both for voltage and velocity regulation. The formulation allows designing controllers in a multi-machine power system without intricate calculations. Results on a power system of the open research indicate the proposition's suitability. The problem is formulated as a tracking problem. The designed controllers may be implemented in any electric power system. (author)

  13. Clustering of Sun Exposure Measurements

    OpenAIRE

    Have, Anna Szynkowiak; Larsen, Jan; Hansen, Lars Kai; Philipsen, Peter Alshede; Thieden, Elisabeth; Wulf, Hans Christian

    2002-01-01

    In a medically motivated Sun-exposure study, questionnaires concerning Sun-habits were collected from a number of subjects together with UV radiation measurements. This paper focuses on identifying clusters in the heterogeneous set of data for the purpose of understanding possible relations between Sun-habits exposure and eventually assessing the risk of skin cancer. A general probabilistic framework originally developed for text and Web mining is demonstrated to be useful for clustering of b...

  14. Signal differentiation in position tracking control of dc motors

    International Nuclear Information System (INIS)

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C

    2015-01-01

    An asymptotic differentiation approach with respect to time is used for on-line estimation of velocity and acceleration signals in controlled dc motors. The attractive feature of this differentiator of signals is that it does not require any system mathematical model, which allows its use in engineering systems that require the signal differentiation for its control, identification, fault detection, among other applications. Moreover, it is shown that the differentiation approach can be applied for output signals showing a chaotic behavior. In addition a differential flatness control scheme with additional integral compensation of the output error is proposed for tracking tasks of position reference trajectories for direct current electric motors using angular position measurements only

  15. NEW SUNS IN THE COSMOS?

    Energy Technology Data Exchange (ETDEWEB)

    De Freitas, D. B.; Leao, I. C.; Lopes, C. E. Ferreira; Paz-Chinchon, F.; Canto Martins, B. L.; Alves, S.; De Medeiros, J. R. [Departamento de Fisica, Universidade Federal do Rio Grande do Norte, 59072-970 Natal, RN (Brazil); Catelan, M. [Departamento de Astronomia y Astrofisica, Pontificia Universidad Catolica de Chile, Av. Vicuna Mackenna 4860, 782-0436 Macul, Santiago (Chile)

    2013-08-20

    The present work reports on the discovery of three stars that we have identified to be rotating Sun-like stars, based on rotational modulation signatures inferred from light curves from the CoRoT mission's Public Archives. In our analysis, we performed an initial selection based on the rotation period and position in the period-T{sub eff} diagram. This revealed that the stars CoRoT IDs 100746852, 102709980, and 105693572 provide potentially good matches to the Sun with a similar rotation period. To refine our analysis, we applied a novel procedure, taking into account the fluctuations of the features associated with photometric modulation at different time intervals and the fractality traces that are present in the light curves of the Sun and of these ''New Sun'' candidates alike. In this sense, we computed the so-called Hurst exponent for the referred stars, for a sample of 14 CoRoT stars with sub- and super-solar rotational periods, and for the Sun itself in its active and quiet phases. We found that the Hurst exponent can provide a strong discriminant of Sun-like behavior, going beyond what can be achieved with solely the rotation period itself. In particular, we find that CoRoT ID 105693572 is the star that most closely matches the solar rotation properties as far as the latter's imprints on light curve behavior are concerned. The stars CoRoT IDs 100746852 and 102709980 have significant smaller Hurst exponents than the Sun, notwithstanding their similarity in rotation periods.

  16. Sunning as a technique for disinfecting stored beans

    International Nuclear Information System (INIS)

    Chinwada, P.; Giga, D.P.

    1996-01-01

    The effectiveness of sunning (solar heating) as a small farm technique for controlling the bean bruchids Zabrotes subfasciatus (Boheman) and Acanthoscelides obtectus (Say) was investigated. Bean seeds infested with mixed-stage larvae were placed on clear or black polyethylene sheets or inside polyethylene pouches with clear upper and black lower surfaces and exposed to the sun for five hours each day for 0, 3 and 5 successive days. No live insects emerged from seeds heated in the pouches while the few that emerged from seeds on the black sheets resulted in damage to less than 1% of the seeds. Of the three polyethylene systems used, the clear sheet was the least useful, while the pouches even for only 3 days, were the most effective in eliminating infestations. These studies demonstrated that effective bruchid control can be achieved with daily 5-h exposure periods of seeds for a successive 5-day duration. However, the success of the method of control may be influenced by the time of the year and prevailing environmental conditions

  17. Drift-free solar sail formations in elliptical Sun-synchronous orbits

    Science.gov (United States)

    Parsay, Khashayar; Schaub, Hanspeter

    2017-10-01

    To study the spatial and temporal variations of plasma in the highly dynamic environment of the magnetosphere, multiple spacecraft must fly in a formation. The objective for this study is to investigate the feasibility of solar sail formation flying in the Earth-centered, Sun-synchronous orbit regime. The focus of this effort is to enable formation flying for a group of solar sails that maintain a nominally fixed Sun-pointing attitude during formation flight, solely for the purpose of precessing their orbit apse lines Sun-synchronously. A fixed-attitude solar sail formation is motivated by the difficulties in the simultaneous control of orbit and attitude in flying solar sails. First, the secular rates of the orbital elements resulting from the effects of solar radiation pressure (SRP) are determined using averaging theory for a Sun-pointing attitude sail. These averaged rates are used to analytically derive the first-order necessary conditions for a drift-free solar sail formation in Sun-synchronous orbits, assuming a fixed Sun-pointing orientation for each sail in formation. The validity of the first-order necessary conditions are illustrated by designing quasi-periodic relative motions. Next, nonlinear programming is applied to design truly drift-free two-craft solar sail formations. Lastly, analytic expressions are derived to determine the long-term dynamics and sensitivity of the formation with respect to constant attitude errors, uncertainty in orbital elements, and uncertainty in a sail's characteristic acceleration.

  18. Occupational sun exposure and mycosis fungoides

    DEFF Research Database (Denmark)

    Morales-Suárez-Varela, Maria M.; Olsen, Jorn; Johansen, Preben

    2006-01-01

    OBJECTIVE: We sought to study the association between occupational sun exposure and mycosis fungoides (MF), a peripheral T-cell lymphoma. SUBJECTS and METHODS: A European multicenter case-control study including seven rare cases (one being MF) was conducted between 1995 and 1997. From the 118...... accepted cases, 104 were interviewed, of which 76 were definite cases. Population controls were selected randomly from the regions of case ascertainment. Information based on occupational experiences was coded according to industry types. A job exposure matrix was created according to the expected exposure...

  19. Augmented Nonlinear Controller for Maximum Power-Point Tracking with Artificial Neural Network in Grid-Connected Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Suliang Ma

    2016-11-01

    Full Text Available Photovoltaic (PV systems have non-linear characteristics that generate maximum power at one particular operating point. Environmental factors such as irradiance and temperature variations greatly affect the maximum power point (MPP. Diverse offline and online techniques have been introduced for tracking the MPP. Here, to track the MPP, an augmented-state feedback linearized (AFL non-linear controller combined with an artificial neural network (ANN is proposed. This approach linearizes the non-linear characteristics in PV systems and DC/DC converters, for tracking and optimizing the PV system operation. It also reduces the dependency of the designed controller on linearized models, to provide global stability. A complete model of the PV system is simulated. The existing maximum power-point tracking (MPPT and DC/DC boost-converter controller techniques are compared with the proposed ANN method. Two case studies, which simulate realistic circumstances, are presented to demonstrate the effectiveness and superiority of the proposed method. The AFL with ANN controller can provide good dynamic operation, faster convergence speed, and fewer operating-point oscillations around the MPP. It also tracks the global maxima under different conditions, especially irradiance-mutating situations, more effectively than the conventional methods. Detailed mathematical models and a control approach for a three-phase grid-connected intelligent hybrid system are proposed using MATLAB/Simulink.

  20. The Effect of Sun Radiation on the Course of Cutaneous Leishmaniasis in BALB/c Mice

    Directory of Open Access Journals (Sweden)

    Amir Abas Azarian

    2011-03-01

    Full Text Available Objective(sStudies have described immunomedulatory effects of sun exposure and ultraviolet radiation on infectious and neoplastic diseases. Here the effect of exposure to low potency radiation of sun on the course of leishmaniasis in mice was studied. Materials and MethodsFifteen BALB/c mice were exposed to suberythemogenic doses of sun (mean 180 mJ/cm2/day of UVB 2 months before and 4 months after Leishmania major inoculation to food pad. Control group was kept in the sun protected environment. From 2nd to 17th week after inoculation, size of the lesion was recorded in each group weekly and at last week the parasite burden in spleen was detected. Results were compared between two groups. ResultsSeven mice from case group and 9 mice from control group survived up to last week. The mean lesion size was 0.90±0.59 cm in exposed and 4.01±3.59 cm in unexposed mice (P= 0.037. Parasite burden in spleen of case and control groups were 5.5±4.61 and 106.94±279.76 respectively (P= 0.006.ConclusionChronic exposure of BALB/c mice to suberythemogenic doses of sun suppressed skin lesion and decreased the extension of L. major to spleen.

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

    Science.gov (United States)

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

    2018-06-01

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

  2. A development of radioactive material tracking and location control system

    International Nuclear Information System (INIS)

    Joo, Gwang Tae; Jung Seung Yong; Song, Jung Ho

    2005-01-01

    As the whole industry fields such as construction, chemistry, machine, medicine including nuclear-related field have extended the range of radioactive material uses, it is tendency that domestic uses of radioactive material have been increased in quantity and number. In addition, as the transportation, transfer and use of radioactive material have been frequent, its loss, robbery, and carelessness of handling may cause not only employees in charge but the public to worry about damage of explosion and put an obstacle to increase trust in nuclear-related industry. At present, though the transportation, use and storage of radioactive material conform to the institution and standard of the atomic energy law, if we tracking radioactive material in real time, we can take immediate actions to prevent its loss, robbery. As our research institute developed a terminal that control location and tracking real time location for gamma-ray projector used in transporting, transferring, and using nondestructive test, we take a good look at utilities by using GPS-Cell ID bases location control

  3. Implementation of FPGA-Based Charge Control for a Self-Sufficient Solar Tracking Power Supply System

    Directory of Open Access Journals (Sweden)

    Jui-Ho Chen

    2016-02-01

    Full Text Available This study used a field-programmable gate array (FPGA with a Xilinx Spartan-3 FPGA to implement Reflex charge control in a dual-axis solar tracking system with maximum power point tracking (MPPT. The chaos embedded particle swarm optimization method was used to search for the optimum gain constants of the PI controller and the Reflex charging frequency. This scheme not only increases the output power of solar panels but also has a significant effect on switching loss and oscillation of solar charging. The experiment results showed that the proposed method can also significantly improve temperature rise, and that charging efficiency is also better than it is in a traditional charge mode. The results also showed that charging power was enough for solar tracking and the requirements of the charging system. The most significant contribution of this paper is that the scheme can be applied to any active solar tracking and charging system.

  4. Integrable multi parametric SU(N) chain

    International Nuclear Information System (INIS)

    Foerster, Angela; Roditi, Itzhak; Rodrigues, Ligia M.C.S.

    1996-03-01

    We analyse integrable models associated to a multi parametric SU(N) R-matrix. We show that the Hamiltonians describe SU(N) chains with twisted boundary conditions and that the underlying algebraic structure is the multi parametric deformation of SU(N) enlarged by the introduction of a central element. (author). 15 refs

  5. Sun Exposure, Vitamin D Receptor Genetic Variants, and Risk of Breast Cancer in the Agricultural Health Study

    Science.gov (United States)

    Satagopan, Jaya; Sima, Camelia S.; Orlow, Irene; Mujumdar, Urvi; Coble, Joseph; Roy, Pampa; Yoo, Sarah; Sandler, Dale P.; Alavanja, Michael C.

    2013-01-01

    Background: Epidemiologic evidence suggests a negative relation between sunlight exposure and breast cancer risk. The hypothesized mechanism is sunlight-induced cutaneous synthesis of vitamin D. Objectives: Our goal was to examine sun exposure and its interaction with vitamin D receptor (VDR) gene variants on breast cancer risk. Methods: We examined sun exposure and breast cancer incidence among 31,021 private pesticide applicators’ wives, including 578 cases, enrolled in the prospective Agricultural Health Study cohort and followed 8.6 years on average. We estimated interactions between sun exposure, VDR variants, and breast cancer in a nested case–control study comprising 293 cases and 586 matched controls. Information on sun exposure was obtained by questionnaire at cohort enrollment. Relative risks were estimated using Cox proportional hazards regression for the cohort data and conditional logistic regression for the nested case–control data. Results: We observed a small decrease in breast cancer risk in association with usual sun exposure of ≥ 1 hr/day (versus sun exposure may be associated with reduced risk of breast cancer, but we did not find clear evidence of modification by VDR variants. Larger studies are warranted, particularly among populations in whom low levels of usual sun exposure can be more precisely characterized. Citation: Engel LS, Satagopan J, Sima CS, Orlow I, Mujumdar U, Coble J, Roy P, Yoo S, Sandler DP, Alavanja MC. 2014. Sun exposure, vitamin D receptor genetic variants, and risk of breast cancer in the Agricultural Health Study. Environ Health Perspect 122:165–171; http://dx.doi.org/10.1289/ehp.1206274 PMID:24252436

  6. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    Science.gov (United States)

    Kim, Gi-Woo; Wang, K. W.

    2009-08-01

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

  7. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    International Nuclear Information System (INIS)

    Kim, Gi-Woo; Wang, K W

    2009-01-01

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

  8. Optimising position control of a solar parabolic trough

    Directory of Open Access Journals (Sweden)

    Puramanathan Naidoo

    2011-03-01

    Full Text Available In today’s climate of growing energy needs and increasing environmental concerns, alternatives to the use of non-renewable and polluting fossil fuels have to be investigated. One such alternative is solar energy. This study is based on the implementation of a mathematical computation – the PSA (Plataforma Solar de Almeria computation developed at PSA (the European Test Centre for solar energy applications – embedded in a control algorithm to locate the position of the sun. Tests were conducted on a solar parabolic trough (SPT constructed at the Solar Thermal Applications Research Laboratory of the Mangosuthu University of Technology (Durban, South Africa for optimal position control using the PSA value. The designed control algorithm embedded in an industrial Siemens S7-314 C-2PtP programmable logic controller compared the PSA computation to a measured position of the SPT to optimally rotate the SPT to a desired position with the constant movement of the sun. The two main angles of the sun relative to the position of the SPT on earth, the zenith angle and the azimuth angle, both calculated in the PSA from the vertical and horizontal planes, respectively, were applied to the control algorithm to generate an appropriate final tracking angle within a 0.007 radian (0° 24′ 3.6″ tolerance, in accordance to the construction specifications and solar collector testing standards of the American Society of Heating, Refrigerating and Air-Conditioning Engineers (ASHRAE, 1991. These values, together with the longitude and latitude applicable to the geographical location of the SPT, were processed in the control software to rotate the SPT to an optimal position with respect to the position of the sun in its daily path, for solar-to-thermal conversion.

  9. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Nimrod Vázquez

    2015-01-01

    Full Text Available Solar panels, which have become a good choice, are used to generate and supply electricity in commercial and residential applications. This generated power starts with the solar cells, which have a complex relationship between solar irradiation, temperature, and output power. For this reason a tracking of the maximum power point is required. Traditionally, this has been made by considering just current and voltage conditions at the photovoltaic panel; however, temperature also influences the process. In this paper the voltage, current, and temperature in the PV system are considered to be a part of a sliding surface for the proposed maximum power point tracking; this means a sliding mode controller is applied. Obtained results gave a good dynamic response, as a difference from traditional schemes, which are only based on computational algorithms. A traditional algorithm based on MPPT was added in order to assure a low steady state error.

  10. A novel non-uniform control vector parameterization approach with time grid refinement for flight level tracking optimal control problems.

    Science.gov (United States)

    Liu, Ping; Li, Guodong; Liu, Xinggao; Xiao, Long; Wang, Yalin; Yang, Chunhua; Gui, Weihua

    2018-02-01

    High quality control method is essential for the implementation of aircraft autopilot system. An optimal control problem model considering the safe aerodynamic envelop is therefore established to improve the control quality of aircraft flight level tracking. A novel non-uniform control vector parameterization (CVP) method with time grid refinement is then proposed for solving the optimal control problem. By introducing the Hilbert-Huang transform (HHT) analysis, an efficient time grid refinement approach is presented and an adaptive time grid is automatically obtained. With this refinement, the proposed method needs fewer optimization parameters to achieve better control quality when compared with uniform refinement CVP method, whereas the computational cost is lower. Two well-known flight level altitude tracking problems and one minimum time cost problem are tested as illustrations and the uniform refinement control vector parameterization method is adopted as the comparative base. Numerical results show that the proposed method achieves better performances in terms of optimization accuracy and computation cost; meanwhile, the control quality is efficiently improved. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Trends in sunburns, sun protection practices, and attitudes toward sun exposure protection and tanning among US adolescents, 1998-2004.

    Science.gov (United States)

    Cokkinides, Vilma; Weinstock, Martin; Glanz, Karen; Albano, Jessica; Ward, Elizabeth; Thun, Michael

    2006-09-01

    Sun exposure in childhood is an important risk factor for developing skin cancer as an adult. Despite extensive efforts to reduce sun exposure among the young, there are no population-based data on trends in sunburns and sun protection practices in the young. The aim of this study was to describe nationally representative trend data on sunburns, sun protection, and attitudes related to sun exposure among US youth. Cross-sectional telephone surveys of youth aged 11 to 18 years in 1998 (N = 1196) and in 2004 (N = 1613) were conducted using a 2-stage sampling process to draw population-based samples. The surveys asked identical questions about sun protection, number of sunburns experienced, and attitudes toward sun exposure. Time trends were evaluated using pooled logistic regression analysis. In 2004, 69% of subjects reported having been sunburned during the summer, not significantly less than in 1998 (72%). There was a significant decrease in the percentage of those aged 11 to 15 years who reported sunburns and a nonsignificant increase among the 16- to 18-year-olds. The proportion of youth who reported regular sunscreen use increased significantly from 31% to 39%. Little change occurred in other recommended sun protection practices. A small reduction in sunburn frequency and modest increases in sun protection practices were observed among youth between 1998 and 2004, despite widespread sun protection campaigns. Nevertheless, the decrease in sunburns among younger teens may be cause for optimism regarding future trends. Overall, there was rather limited progress in improving sun protection practices and reducing sunburns among US youth between 1998 and 2004.

  12. After the Bell: Developing Sun Sense--Learning about Protection from the Sun's Rays

    Science.gov (United States)

    Farenga, Stephen J.; Ness, Daniel

    2008-01-01

    The American Academy of Dermatology (2008) reports that our students will experience 80% of their lifetime exposure to the Sun by the time they are 18. Further, research has demonstrated that continued exposure to the Sun's ultraviolet rays can lead to skin aging, sunburn, immune suppression, ocular melanoma, cataracts, corneal burns, and even…

  13. A model predictive control approach combined unscented Kalman filter vehicle state estimation in intelligent vehicle trajectory tracking

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

    Full Text Available Trajectory tracking and state estimation are significant in the motion planning and intelligent vehicle control. This article focuses on the model predictive control approach for the trajectory tracking of the intelligent vehicles and state estimation of the nonlinear vehicle system. The constraints of the system states are considered when applying the model predictive control method to the practical problem, while 4-degree-of-freedom vehicle model and unscented Kalman filter are proposed to estimate the vehicle states. The estimated states of the vehicle are used to provide model predictive control with real-time control and judge vehicle stability. Furthermore, in order to decrease the cost of solving the nonlinear optimization, the linear time-varying model predictive control is used at each time step. The effectiveness of the proposed vehicle state estimation and model predictive control method is tested by driving simulator. The results of simulations and experiments show that great and robust performance is achieved for trajectory tracking and state estimation in different scenarios.

  14. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Science.gov (United States)

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  15. Discovery Mondays "Controlling the accelerators: tracking the protons"

    CERN Multimedia

    2007-01-01

    Le Centre de contrôle des accélérateurs du CERN.Like a train of particles that picks up speed every time it passes a set of points, by the time they collide the protons and ions in the LHC will have followed their path through the six stages of the CERN accelerator complex, picking up speed at each stage. Operating the controls of this huge complex designed to accelerate the infinitesimally small are its peerless controllers. From the CERN Control Centre, they will be on duty day and night to accelerate the "wagon-loads" of particles, ensuring that they stay on track and lining them up for head-on collisions. At the next Discovery Monday you will discover the path taken by the particles through the accelerator chain. You will gain an insight into the complex work performed by those controlling the particles and learn more about the CERN accelerator complex and its Control Centre. Hop on board for a speed-of-light tour of the C...

  16. Development of an Architecture of Sun-Synchronous Orbital Slots to Minimize Conjunctions

    Science.gov (United States)

    Weeden, B.

    Sun-synchronous orbit (SSO) satellites serve many important functions, primarily in the areas of Earth reconnaissance and weather. The orbital parameters of altitude, inclination and right ascension which allow for the unique utility of Sun-sync orbit limit these satellites to a very specific region of space. The popularity of these satellite missions combined with the use of similar engineering solutions has resulted in the majority of current Sun-sync satellites within this region having very similar inclinations and altitudes while also spaced around the Equator in right ascension, creating the opportunity for conjunctions at the polar crossing points and a serious safety issue that could endanger long-term sustainability of SSO. This paper outlines the development of a new architecture of SSO zoning to create specific slots separating SSO satellites in altitude, right ascension and time at all orbital intersections while minimizing the limitations on utility. A methodical approach for the development of the system is presented along with the work-to-date and a software tool for calculating repeating ground track orbits. The slot system is intended to allow for continued utility of and safe operation within SSO while greatly decreasing the chance of collisions at orbital intersections. This architecture is put forward as one possible element of a new Space Traffic Management (STM) system with the overall goal of maintaining the safe and continued used of space by all actors.

  17. Vibration Based Sun Gear Damage Detection

    Science.gov (United States)

    Hood, Adrian; LaBerge, Kelsen; Lewicki, David; Pines, Darryll

    2013-01-01

    Seeded fault experiments were conducted on the planetary stage of an OH-58C helicopter transmission. Two vibration based methods are discussed that isolate the dynamics of the sun gear from that of the planet gears, bearings, input spiral bevel stage, and other components in and around the gearbox. Three damaged sun gears: two spalled and one cracked, serve as the focus of this current work. A non-sequential vibration separation algorithm was developed and the resulting signals analyzed. The second method uses only the time synchronously averaged data but takes advantage of the signal/source mapping required for vibration separation. Both algorithms were successful in identifying the spall damage. Sun gear damage was confirmed by the presence of sun mesh groups. The sun tooth crack condition was inconclusive.

  18. As reliable as the sun

    Science.gov (United States)

    Leijtens, J. A. P.

    2017-11-01

    Fortunately there is almost nothing as reliable as the sun which can consequently be utilized as a very reliable source of spacecraft power. In order to harvest this power, the solar panels have to be pointed towards the sun as accurately and reliably as possible. To this extend, sunsensors are available on almost every satellite to support vital sun-pointing capability throughout the mission, even in the deployment and save mode phases of the satellites life. Given the criticality of the application one would expect that after more than 50 years of sun sensor utilisation, such sensors would be fully matured and optimised. In actual fact though, the majority of sunsensors employed are still coarse sunsensors which have a proven extreme reliability but present major issues regarding albedo sensitivity and pointing accuracy.

  19. Sun protection training based on a theater play for preschoolers: an effective method for imparting knowledge on sun protection?

    Science.gov (United States)

    Seidel, Nadja; Stoelzel, Friederike; Garzarolli, Marlene; Herrmann, Sandra; Breitbart, Eckhard Wilhelm; Berth, Hendrik; Baumann, Michael; Ehninger, Gerhard

    2013-09-01

    Sun protection in childhood is important to reduce the risk of developing skin cancer later in life. The "Periods-of-Life-Program" for primary prevention of skin cancer introduces a combination of individual and environmental interventions for the preschool period. Within this pilot study, an intervention group received cognitive-behavioral and environmental interventions. A control group had solely received the environmental intervention, and a wait-control group received no intervention. Nursery school children (n = 80, 3 to 6 years of age) of four nursery schools were randomly assigned to these groups on school level. The ability of the cognitive-behavioral intervention (a theater play) to enhance sun protection knowledge was examined. The theater play improved knowledge over all age groups (p < .05 η(2) = .06). Age-specific analyses showed better results for children aged 5 to 6 (p < .05 η(2) = .20) compared to children aged 3 to 4 years (p = .17 η(2) = .04). In combining cognitive-behavioral and environmental interventions, the "Periods-of-Life-Program" is a promising strategy for primary prevention of skin cancer.

  20. Computer controlled scanning systems for quantitative track measurements

    International Nuclear Information System (INIS)

    Gold, R.; Roberts, J.H.; Preston, C.C.; Ruddy, F.H.

    1982-01-01

    The status of three computer cntrolled systems for quantitative track measurements is described. Two systems, an automated optical track scanner (AOTS) and an automated scanning electron microscope (ASEM) are used for scanning solid state track recorders (SSTR). The third system, the emulsion scanning processor (ESP), is an interactive system used to measure the length of proton tracks in nuclear research emulsions (NRE). Recent advances achieved with these systems are presented, with emphasis placed upon the current limitation of these systems for reactor neutron dosimetry

  1. Tube collector with integrated tracking parabolic concentrator

    Energy Technology Data Exchange (ETDEWEB)

    Grass, C.; Benz, N.; Hacker, Z.; Timinger, A. [ZAE Bayern, Bavarian Centre for Applied Energy Research, Muenchen (Germany)

    2000-07-01

    Low concentrating CPC collectors usually do not track the sun and are mounted in east-west direction with a latitude dependent slope angle. They are most suitable for maximum working temperatures up to 200 250 deg. C. We present a novel evacuated tube-collector with a trough-like concentrating mirror. Single-axis tracking of the mirror is realized with a magnetic mechanism. The mirror is mounted inside the evacuated tube and hence protected from environmental influences. One axis tracking in combination with a small acceptance angle allows for higher concentration as compared to non-tracking concentrating collectors. Ray-tracing analysis shows a half acceptance angle of about 5 deg. at a geometrical concentration ratio of 3.2. The losses of evacuated tube collectors are dominated by the radiation losses of the absorber. Hence, reducing the absorber size can lead to higher efficiencies at high operating temperature levels. With the presented collector we aim for operating temperatures up to 400 deg. C. At temperatures of 300 deg. C we expect efficiencies of 65 %. This allows for application in industrial process heat generation, high efficient solar cooling and power generation. A first prototype was tested at the ZAE Bayern. The optical efficiency was measured to be 75 %. (au)

  2. Tracking versus fixed flat-plate arrays: Experimental results of one year's operation at Adrano pilot plant

    International Nuclear Information System (INIS)

    Guastella, S.; Iliceto, A.; Piazza, V.

    1988-01-01

    To investigate the cost/benefits of sun-tracking photovoltaic (PV) systems as compared with fixed arrays, an experiment is under way at the Adrano PV plant in Italy to look into the performance of actually operating systems. This paper reports both theoretical evaluations on energy gain achievable with tracking PV plants and actual data collected over a year of continuous operation. Such data allow an analysis of financial viability, herein presented for a particular PV installation

  3. How to Observe the Sun Safely

    CERN Document Server

    Macdonald, Lee

    2012-01-01

    How to Observe the Sun Safely, Second Edition gives all the basic information and advice the amateur astronomer needs to get started in observing our own ever-fascinating star. Unlike many other astronomical objects, you do not need a large telescope or expensive equipment to observe the Sun. And it is possible to take excellent pictures of the Sun with today's low-cost digital cameras! This book surveys what is visible on the Sun and then describes how to record solar features and measure solar activity levels. There is also an account of how to use H-alpha and Calcium-K filters to observe and record prominences and other features of the solar chromosphere, the Sun's inner atmosphere. Because we are just entering a period of high activity on the Sun, following a long, quiet period, this is a great time to get involved with solar observing. Still emphasizing safety first, this Second Edition reflects recent and exciting advances in solar observing equipment. Chapters 6 through 8 have been completely revised ...

  4. Design and Characterization of the 4STAR Sun-Sky Spectrometer with Results from 4- Way Intercomparison of 4STAR, AATS-14, Prede, and Cimel Photometers at Mauna Loa Observatory.

    Science.gov (United States)

    Flynn, C. J.; Dunagan, S. E.; Johnson, R. R.; Schmid, B.; Shinozuka, Y.; Ramachandran, S.; Livingston, J. M.; Russell, P. B.; Redemann, J.; Tran, A. K.; Holben, B. N.

    2008-12-01

    Uncertainties in radiative forcing of climate are still dominated by uncertainties in forcing by aerosols. Aerosols impact the radiation balance in three primary ways: the direct effect through scattering and absorption of radiation, the indirect effect by acting as cloud condensation nuclei affecting cloud optical depth and longevity, and the semi-direct effect affecting cloud formation and longevity through heating and thermodynamics. An active collaboration between the Pacific Northwest National Laboratory (PNNL), National Aeronautics and Space Administration (NASA) Ames Research Center (ARC), and NASA Goddard Space Flight Center (GSFC) is advancing new instrument concepts with application to reducing these aerosol uncertainties. The concept of 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) combines airborne sun tracking capabilities of the Ames Airborne Tracking Sun Photometer (AATS-14) and Aeronet-like sky scanning capability with state-of-the-art monolithic spectrometry. The overall science goal for the new instruments is to improve knowledge of atmospheric constituents and their links to climate. The high-resolution spectral capability will improve retrievals of gas constituents (e.g., H2O, O3, and NO2) and thereby improve determination of aerosol properties as residual components of the total optical depth. The sky scanning capability will enable retrievals of aerosol type (via complex refractive index and shape) and aerosol size distribution extending to larger sizes than attainable by direct-beam sun photometry alone. Additional technical goals are to reduce instrument size, weight, and power requirements while increasing autonomy and component modularity to permit operation on a wide range of aircraft including unmanned aerial vehicles (UAVs). To investigate techniques to accomplish these goals, we developed a ground-based prototype, 4STAR-Ground. The 4STAR-Ground operating performance has been characterized in many tests

  5. [Haptic tracking control for minimally invasive robotic surgery].

    Science.gov (United States)

    Xu, Zhaohong; Song, Chengli; Wu, Wenwu

    2012-06-01

    Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

  6. Germinal Center Optimization Applied to Neural Inverse Optimal Control for an All-Terrain Tracked Robot

    Directory of Open Access Journals (Sweden)

    Carlos Villaseñor

    2017-12-01

    Full Text Available Nowadays, there are several meta-heuristics algorithms which offer solutions for multi-variate optimization problems. These algorithms use a population of candidate solutions which explore the search space, where the leadership plays a big role in the exploration-exploitation equilibrium. In this work, we propose to use a Germinal Center Optimization algorithm (GCO which implements temporal leadership through modeling a non-uniform competitive-based distribution for particle selection. GCO is used to find an optimal set of parameters for a neural inverse optimal control applied to all-terrain tracked robot. In the Neural Inverse Optimal Control (NIOC scheme, a neural identifier, based on Recurrent High Orden Neural Network (RHONN trained with an extended kalman filter algorithm, is used to obtain a model of the system, then, a control law is design using such model with the inverse optimal control approach. The RHONN identifier is developed without knowledge of the plant model or its parameters, on the other hand, the inverse optimal control is designed for tracking velocity references. Applicability of the proposed scheme is illustrated using simulations results as well as real-time experimental results with an all-terrain tracked robot.

  7. Clustering of Sun Exposure Measurements

    DEFF Research Database (Denmark)

    Have, Anna Szynkowiak; Larsen, Jan; Hansen, Lars Kai

    2002-01-01

    In a medically motivated Sun-exposure study, questionnaires concerning Sun-habits were collected from a number of subjects together with UV radiation measurements. This paper focuses on identifying clusters in the heterogeneous set of data for the purpose of understanding possible relations between...... Sun-habits exposure and eventually assessing the risk of skin cancer. A general probabilistic framework originally developed for text and Web mining is demonstrated to be useful for clustering of behavioral data. The framework combines principal component subspace projection with probabilistic...

  8. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Jhih-Hong Lin

    2016-08-01

    Full Text Available Magnetic shape memory (MSM alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  9. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    Science.gov (United States)

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  10. Sun Protection; A risk management approach

    Science.gov (United States)

    Diffey, Brian

    2017-10-01

    Sun Protection differentiates itself from other texts by adopting a risk-management approach to determine whether, how, and in what circumstances, harm might be caused, and to explore the feasibility of various strategies in controlling exposure to solar UV radiation. This multi-disciplinary book covers topics from climatology through human exposure to sunlight, as well as biological and clinical effects of UV radiation to physical and chemical strategies for photoprotection.

  11. 'My child did not like using sun protection': practices and perceptions of child sun protection among rural black African mothers.

    Science.gov (United States)

    Kunene, Zamantimande; Albers, Patricia N; Lucas, Robyn M; Banwell, Cathy; Mathee, Angela; Wright, Caradee Y

    2017-08-25

    Photodamage is partially mitigated by darker skin pigmentation, but immune suppression, photoaging and cataracts occur among individuals with all skin types. To assess practices and acceptability to Black African mothers of sun protection equipment for their children living in a rural area, participants were recruited at the time of their child's 18-month vaccinations. Mothers completed a baseline questionnaire on usual sun behaviours and sun protection practices. They were then provided with sun protection equipment and advice. A follow-up questionnaire was administered two weeks later. Mothers reported that during the week prior to the baseline questionnaire, children spent on average less than 1 hour of time outdoors (most often spent in the shade). Most mothers (97%) liked the sun protection equipment. However, many (78 of 86) reported that their child did not like any of the sun protection equipment and two-thirds stated that the sun protection equipment was not easy to use. Among Black Africans in rural northern South Africa, we found a mismatch between parental preferences and child acceptance for using sun protection when outdoors. A better understanding of the health risks of incidental excess sun exposure and potential benefits of sun protection is required among Black Africans.

  12. Adaptive Backstepping-Based Neural Tracking Control for MIMO Nonlinear Switched Systems Subject to Input Delays.

    Science.gov (United States)

    Niu, Ben; Li, Lu

    2018-06-01

    This brief proposes a new neural-network (NN)-based adaptive output tracking control scheme for a class of disturbed multiple-input multiple-output uncertain nonlinear switched systems with input delays. By combining the universal approximation ability of radial basis function NNs and adaptive backstepping recursive design with an improved multiple Lyapunov function (MLF) scheme, a novel adaptive neural output tracking controller design method is presented for the switched system. The feature of the developed design is that different coordinate transformations are adopted to overcome the conservativeness caused by adopting a common coordinate transformation for all subsystems. It is shown that all the variables of the resulting closed-loop system are semiglobally uniformly ultimately bounded under a class of switching signals in the presence of MLF and that the system output can follow the desired reference signal. To demonstrate the practicability of the obtained result, an adaptive neural output tracking controller is designed for a mass-spring-damper system.

  13. Caddo Sun Accounts across Time and Place

    Science.gov (United States)

    Gerona, Carla

    2012-01-01

    Billy Day, a Tunica/Biloxi, recently described the significance of the sun for Caddoan people. Day quoted an "old Caddo relative" of his who said: "I used to go outside and hold my hands up and bless myself with the sun--'a'hat.' Well, I can't do that anymore because they say we are sun worshipers. We didn't worship the sun. We worshiped what was…

  14. Design and Implementation of Photovoltaic Maximum Power Point Tracking Controller

    Directory of Open Access Journals (Sweden)

    Fawaz S. Abdullah

    2018-03-01

    Full Text Available  The power supplied by any solar array depends upon the environmental conditions as weather conditions (temperature and radiation intensity and the incident angle of the radiant source. The work aims to study the maximum power tracking schemes that used to compare the system performance without and with different types of controllers. The maximum power points of the solar panel under test studied and compared with two controller's types.  The first controller is the proportional- integral - derivative controller type and the second is the perturbation and observation algorithm controller. The associated converter system is a microcontroller based type, whereas the results studied and compared of greatest power point of the Photovoltaic panels under the different two controllers. The experimental tests results compared with simulation results to verify accurate performance.

  15. Physicochemical and microbiological evaluation of sun dried tomatoes in comparison with fresh tomatoes

    International Nuclear Information System (INIS)

    Sohail, M.

    2011-01-01

    The present study was conducted to evaluate the quality of sun dried tomatoes in comparison with fresh tomatoes. Fresh fully ripen tomatoes were washed and cut in thin slices with sterilized stainless steel knife and divided into two lots, one was taken as control and other was dipped in 3% potassium meta bisulfite solution for 5 minutes. The samples were spread over stainless steel trays covered with muslin cloth and kept in solar dehydrator for 5 days at 55 +- 2 deg. C. The physicochemical analyses were carried out in both dried and fresh (control) tomatoes. They were also analyzed microbiologically for bacterial and fugal count. Results showed that sun dried tomatoes are microbiologically safe. The values of moisture content and vitamin C of fresh and sun dried tomatoes statistically differ from each others at probability level of 5 %. The nutrient which is highly affected by sun drying is vitamin C. In fresh tomatoes it was 32.5 mg/100 g which is reduced to 24.6 mg/100 g after sun drying and further reduced to 15.86 mg/100 g during three months storage. The moisture content of the fresh tomatoes was 94.4% which decreased to 8.15% after drying, and then slowly increased to 9.95% in the three months storage. Statistically no major difference was found in the other nutrients during storage, which indicates that sun drying is nutritionally and microbiologically safe and can be used to preserve tomatoes and other fruits and vegetables for off season use. (author)

  16. SunPy—Python for solar physics

    International Nuclear Information System (INIS)

    Community, The SunPy; Mumford, Stuart J; Freij, Nabil; Bennett, Samuel M; Christe, Steven; Ireland, Jack; Shih, Albert Y; Inglis, Andrew R; Pérez-Suárez, David; Liedtke, Simon; Hewett, Russell J; Mayer, Florian; Hughitt, Keith; Meszaros, Tomas; Malocha, Michael; Evans, John; Agrawal, Ankit; Leonard, Andrew J; Robitaille, Thomas P; Mampaey, Benjamin

    2015-01-01

    This paper presents SunPy (version 0.5), a community-developed Python package for solar physics. Python, a free, cross-platform, general-purpose, high-level programming language, has seen widespread adoption among the scientific community, resulting in the availability of a large number of software packages, from numerical computation (NumPy, SciPy) and machine learning (scikit-learn) to visualization and plotting (matplotlib). SunPy is a data-analysis environment specializing in providing the software necessary to analyse solar and heliospheric data in Python. SunPy is open-source software (BSD licence) and has an open and transparent development workflow that anyone can contribute to. SunPy provides access to solar data through integration with the Virtual Solar Observatory (VSO), the Heliophysics Event Knowledgebase (HEK), and the HELiophysics Integrated Observatory (HELIO) webservices. It currently supports image data from major solar missions (e.g., SDO, SOHO, STEREO, and IRIS), time-series data from missions such as GOES, SDO/EVE, and PROBA2/LYRA, and radio spectra from e-Callisto and STEREO/SWAVES. We describe SunPy's functionality, provide examples of solar data analysis in SunPy, and show how Python-based solar data-analysis can leverage the many existing tools already available in Python. We discuss the future goals of the project and encourage interested users to become involved in the planning and development of SunPy. (paper)

  17. Mediation analysis of decisional balance, sun avoidance and sunscreen use in the precontemplation and preparation stages for sun protection.

    Science.gov (United States)

    Santiago-Rivas, Marimer; Velicer, Wayne F; Redding, Colleen

    2015-01-01

    Mediation analyses of sun protection were conducted testing structural equation models using longitudinal data with three waves. An effect was said to be mediated if the standardised path between processes of change, decisional balance and sun protection outcomes was significant. Longitudinal models of sun protection using data from individuals in the precontemplation (N = 964) and preparation (N = 463) stages who participated of an expert system intervention. Nine processes of change for sun protection, decisional balance constructs of sun protection (pros and cons), sun avoidance behaviour and sunscreen use. With the exception of two processes in the preparation stage, processes of change predicted the pros (r = .126-.614), and the pros predicted the outcomes (r = .181-.272). Three models with the cons as mediator in the preparation stage, and none in the precontemplation stage, showed a mediated relationship between processes and outcomes. In general, mediation analyses found both the process of change-to-pros and pros-to-behaviour paths significant for both precontemplation and preparation stages, and for both sun avoidance and sunscreen use outcomes. Findings provide support for the importance of assessing the role of underlying risk cognitions in improving sun protection adherence.

  18. Tracking Control of A Balancing Robot – A Model-Based Approach

    Directory of Open Access Journals (Sweden)

    Zaiczek Tobias

    2014-08-01

    Full Text Available This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.

  19. Index Tracking with Control on the Number of Assets

    Directory of Open Access Journals (Sweden)

    Leonardo Riegel Sant'Anna

    2014-06-01

    Full Text Available Index tracking is a passive investment strategy, which aims at generating portfolios to reproduce a specific market index’s performance. This article proposes a model for a index tracking problem with control on the number of assets in the portfolio, which corresponds to a restriction in transaction costs. The model is applied to Ibovespa (sample: 67 stocks from January/2009 to July/2012. Portfolios were formed without limiting the amount of stocks and limiting this amount to 40, 30 and 20 stocks, with rebalancing periods of 20, 40 and 60 trading days. The results were satisfactory especially for the 60 days rebalancing period, in which transaction costs become lower due to the longer rebalancing period. We also verified that changes in Cplex parameters didn’t influence the results especially in relation to the computational times. Therefore, we also conclude about the need of using heuristic approaches to form portfolios with smaller amounts of assets.

  20. Automatic Hotspot and Sun Glint Detection in UAV Multispectral Images.

    Science.gov (United States)

    Ortega-Terol, Damian; Hernandez-Lopez, David; Ballesteros, Rocio; Gonzalez-Aguilera, Diego

    2017-10-15

    Last advances in sensors, photogrammetry and computer vision have led to high-automation levels of 3D reconstruction processes for generating dense models and multispectral orthoimages from Unmanned Aerial Vehicle (UAV) images. However, these cartographic products are sometimes blurred and degraded due to sun reflection effects which reduce the image contrast and colour fidelity in photogrammetry and the quality of radiometric values in remote sensing applications. This paper proposes an automatic approach for detecting sun reflections problems (hotspot and sun glint) in multispectral images acquired with an Unmanned Aerial Vehicle (UAV), based on a photogrammetric strategy included in a flight planning and control software developed by the authors. In particular, two main consequences are derived from the approach developed: (i) different areas of the images can be excluded since they contain sun reflection problems; (ii) the cartographic products obtained (e.g., digital terrain model, orthoimages) and the agronomical parameters computed (e.g., normalized vegetation index-NVDI) are improved since radiometric defects in pixels are not considered. Finally, an accuracy assessment was performed in order to analyse the error in the detection process, getting errors around 10 pixels for a ground sample distance (GSD) of 5 cm which is perfectly valid for agricultural applications. This error confirms that the precision in the detection of sun reflections can be guaranteed using this approach and the current low-cost UAV technology.

  1. The Sun in Time

    Science.gov (United States)

    Adams, Mitzi L.; Bero, Elizabeth; Sever, Thomas L.

    1999-01-01

    Leveraging funds from NASA's Initiative to Develop Education through Astronomy and Space Science (IDEAS) program, we combined the expertise of an archaeoastronomer, a solar scientist, and a teacher to trace humankind's view of the Sun and how that has changed, from the time of Stonehenge in about 1800 B.C.E., to the time of the Maya in 700 C.E., up to the modem era. Our program was aimed at middle-school students in an attempt to explain not only how science is done today, but how science has evolved from the observations of ancient societies. From these varied cultures, we touched on methods of observing the Sun, ideas of the composition of the Sun, and the relationship of the Sun to everyday life. Further, using the von Braun Astronomical Society's Planetarium in Huntsville, Alabama as a test-bed for the program, we illustrated concepts such as solstices, equinoxes, and local noon with approximately 800 eighth grade students from the local area. Our presentation to SEPA will include a description of NASA's IDEAS program and how to go about partnering with a NASA astronomer, some slides from our planetarium program and web-site, and some hands-on activities.

  2. Comparison of different "along the track" high resolution satellite stereo-pair for DSM extraction

    Science.gov (United States)

    Nikolakopoulos, Konstantinos G.

    2013-10-01

    The possibility to create DEM from stereo pairs is based on the Pythagoras theorem and on the principles of photogrammetry that are applied to aerial photographs stereo pairs for the last seventy years. The application of these principles to digital satellite stereo data was inherent in the first satellite missions. During the last decades the satellite stereo-pairs were acquired across the track in different days (SPOT, ERS etc.). More recently the same-date along the track stereo-data acquisition seems to prevail (Terra ASTER, SPOT5 HRS, Cartosat, ALOS Prism) as it reduces the radiometric image variations (refractive effects, sun illumination, temporal changes) and thus increases the correlation success rate in any image matching.Two of the newest satellite sensors with stereo collection capability is Cartosat and ALOS Prism. Both of them acquire stereopairs along the track with a 2,5m spatial resolution covering areas of 30X30km. In this study we compare two different satellite stereo-pair collected along the track for DSM creation. The first one is created from a Cartosat stereopair and the second one from an ALOS PRISM triplet. The area of study is situated in Chalkidiki Peninsula, Greece. Both DEMs were created using the same ground control points collected with a Differential GPS. After a first control for random or systematic errors a statistical analysis was done. Points of certified elevation have been used to estimate the accuracy of these two DSMs. The elevation difference between the different DEMs was calculated. 2D RMSE, correlation and the percentile value were also computed and the results are presented.

  3. Sun and planet detection system for satellites. Sonnen- und Erderfassungsverfahren fuer Satelliten

    Energy Technology Data Exchange (ETDEWEB)

    Lange, B O; Scheit, A

    1980-05-22

    The invention refers to a process for the sun and planet detection system for satellites stabilised in three axes and equipped with detection sensors. The purpose of the invention is to describe such a detection system, which makes quick and reliable guiding of the satellite to its final position possible, permits the use of sensors of simple construction and of simple control laws and simple control logic. According to the invention, this problem is solved by having cumulative or alternate steps, depending on the position of the satellite relative to the sun. According to the invention they refer to the position of the sun outside the field of view for the measurement of various components and the simultaneous availability of several component values. It is particularly advantageous if only the absolutely necessary satellite manoeuvres have to be carried out, as this saves fuel and makes it possible to increase the payload or extend the satellite's life. (HWJ).

  4. Adaptive PSO for optimal LQR tracking control of 2 DoF laboratory helicopter

    NARCIS (Netherlands)

    Vinodh Kumar, E.; Ganapathy Subramanian, R.; Jerome, J.

    2016-01-01

    This paper deals with the attitude tracking control problem for a 2 DoF laboratory helicopter using optimal linear quadratic regulator (LQR). As the performance of the LQR controller greatly depends on the weighting matrices (Q and R), it is important to select them optimally. However, normally the

  5. Sun-care product advertising in parenting magazines: what information does it provide about sun protection?

    Science.gov (United States)

    Kang, Hannah; Walsh-Childers, Kim

    2014-01-01

    This study analyzed the content of sun-care product advertisements in five major U.S. parenting magazines with high circulation: Family Circle, Parents, Family Fun, Parenting (Early Years), and Parenting (School Years). The study examined what information sun-care product advertisements tell parents about skin cancer prevention and about sunscreen use for themselves or for their children based on the Health Belief Model concepts of perceived benefits and perceived barriers. Results showed that the most commonly mentioned benefit of the product was that it blocks ultraviolet A (UVA) and ultraviolet B (UVB) rays. One-third of the ads promoted the product's effectiveness in overcoming four of the barriers that prevent people from using sunscreens: eye irritation, skin irritation, an unpleasant smell, and the need to reapply sunscreen too often or after physical activity. However, only a few of the ads provided information about the consequences of unprotected sun exposure or mentioned methods of sun protection or skin cancer prevention other than sunscreen use. We discuss the implications of these messages for parents' ability to understand correctly how to protect their children from damaging sun exposure.

  6. Phototropic solar tracking in sunflower plants: an integrative perspective

    Science.gov (United States)

    Kutschera, Ulrich; Briggs, Winslow R.

    2016-01-01

    Background One of the best-known plant movements, phototropic solar tracking in sunflower (Helianthus annuus), has not yet been fully characterized. Two questions are still a matter of debate. (1) Is the adaptive significance solely an optimization of photosynthesis via the exposure of the leaves to the sun? (2) Is shade avoidance involved in this process? In this study, these concepts are discussed from a historical perspective and novel insights are provided. Scope and Methods Results from the primary literature on heliotropic growth movements led to the conclusion that these responses cease before anthesis, so that the flowering heads point to the East. Based on observations on 10-week-old plants, the diurnal East–West oscillations of the upper fifth of the growing stem and leaves in relation to the position of the sun (inclusive of nocturnal re-orientation) were documented, and photon fluence rates on the leaf surfaces on clear, cloudy and rainy days were determined. In addition, the light–response curve of net CO2 assimilation was determined on the upper leaves of the same batch of plants, and evidence for the occurrence of shade-avoidance responses in growing sunflower plants is summarized. Conclusions. Only elongating, vegetative sunflower shoots and the upper leaves perform phototropic solar tracking. Photon fluence response and CO2 assimilation measurements cast doubt on the ‘photosynthesis-optimization hypothesis’ as the sole explanation for the evolution of these plant movements. We suggest that the shade-avoidance response, which maximizes light-driven CO2 assimilation, plays a major role in solar tracking populations of competing sunflower plants, and an integrative scheme of these growth movements is provided. PMID:26420201

  7. Sliding-Mode Controller for Maximum Power Point Tracking in Grid-Connected Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Paula Andrea Ortiz Valencia

    2015-11-01

    Full Text Available The maximum power point tracking (MPPT of photovoltaic systems must be as fast and accurate as possible to increase the power production, which eventually increases the PV system profitability. This paper proposes and mathematically analyses a sliding-mode controller to provide a fast and accurate maximum power point tracking in grid-connected photovoltaic systems using a single control stage. This approach avoids the circular dependency in the design of classical cascade controllers used to optimize the photovoltaic system operation, and at the same time, it reduces the number of controllers and avoids the use of linearized models to provide global stability in all the operation range. Such a compact solution also reduces the system cost and implementation complexity. To ensure the stability of the proposed solution, detailed mathematical analyses are performed to demonstrate the fulfillment of the transversality, reachability and equivalent control conditions. Finally, the performance of the proposed solution is validated using detailed simulations, executed in the power electronics simulator PSIM, accounting for both environmental and load perturbations.

  8. The Sun on Trial

    Science.gov (United States)

    Robitaille, Pierre-Marie

    2014-03-01

    For 150 years, the Sun has been seen as a gaseous object devoid of a surface, as required by the Standard Solar Model (SSM). Yet, not one line of observational evidence supports a gaseous Sun. In contrast, overwhelming evidence exists that the Sun is comprised of condensed matter. Recently, 40 proofs have been compiled in conjunction with the Liquid Metallic Hydrogen Solar Model (LMHSM). This model advances that the Sun has a true surface. Photospheric structures, such as sunspots, granules, and faculae, are not optical illusions, as in the SSM, but real objects with a condensed nature. The LMHSM accounts for the thermal spectrum by invoking true inter-atomic structure on the photosphere in the form of the graphite-like layered hexagonal metallic hydrogen lattice first proposed by Wigner and Huntington. Within the convection zone, layered metallic hydrogen, insulated by intercalate atoms, enables the generation of the solar dynamo. Electrons located in conduction bands provide a proper means of generating magnetic fields. Metallic hydrogen ejected from the photosphere also thinly populates the corona, as reflected by the continuous K-coronal spectrum. This coronal matter harvests electrons, resulting in the production of highly ionized atoms. Electron affinity, not temperature, governs the ion profile. The chromosphere is a site of hydrogen and proton capture. Line emission in this region, strongly supports the idea that exothermic condensation reactions are occurring in the chromosphere. In the LMHSM, solar activity and solar winds are regulated by exfoliation reactions occurring in the Sun itself, as the metallic hydrogen lattice excludes non-hydrogen elements from the solar body.

  9. Sun Protection for Children: A Review

    Directory of Open Access Journals (Sweden)

    Nazanin Shafie Pour

    2015-01-01

    Full Text Available Chronic ultraviolet exposure results in premature skin aging (photoaging, dyspigmentation, sallow color, textural changes, loss of elasticity, and premalignant actinic keratoses. UVB radiation is mainly responsible for acute damages such as sunburn, and long-term damage including melanoma. Today the sun's ultraviolet radiation (UVR induced skin cancer is a major issue worldwide. History of sun exposure and sunburns are the most important behavioral risks. Childhood sun exposure is considered as a substantial risk because a child’s skin has a thinner stratum corneum, lower levels of protective melanin, and a higher surface area to body-mass-ratio. Thus, protection against UVR in childhood is essential. Research has shown that people who have had a sunburn in childhood or were in the sun unprotected are more likely to have skin cancer. In this article, we review the literature to address the protection of children against sun and skin cancer.

  10. The Sun and How to Observe It

    CERN Document Server

    Jenkins, Jamey L

    2009-01-01

    Without the Sun, all life on Earth would perish. But what exactly do we know about this star that lights, heats, and powers Earth? Actually, we know quite a lot, thanks mainly to a host of eager solar observers. Looking directly at the Sun is EXTREMELY hazardous. But many astronomers, both professional and amateur, have found ways to view the Sun safely to learn about it. You, too, can view the Sun in all of its glorious detail. Some of the newest, most exciting telescopes on the market are affordable to amateur astronomers or even just curious sky watchers, and with this guide to what the Sun has to offer, including sunspots, prominences, and flares, plus reviews of the latest instruments for seeing and capturing images of the Sun, you can contribute to humankind’s knowledge of this immense ball of glowing gases that gives us all life. For a complete guide to Sun viewing, see also Total Solar Eclipses and How to Observe Them (2007) by Martin Mobberley in this same series.

  11. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  12. Track-match procedure criteria in the reference mark plane for quality control of event measurements from the JINR measuring devices

    International Nuclear Information System (INIS)

    Stepanenko, V.A.

    1978-01-01

    A new technique to preselect potential tracks of events in a reference plane is described. This technique allows to log bench marks used in track projections which connect two tops or a top and a break point in the TRACK-MATCH procedure. The above technique is implemented in a modular measurement quality control program. The results of measurement quality control obtained using a geometry restoration program are compared with those of the measurement quality control program

  13. Assessing delay and lag in sagittal trunk control using a tracking task.

    Science.gov (United States)

    Reeves, N Peter; Luis, Abraham; Chan, Elizabeth C; Sal Y Rosas, Victor G; Tanaka, Martin L

    2018-05-17

    Slower trunk muscle responses are linked to back pain and injury. Unfortunately, clinical assessments of spine function do not objectively evaluate this important attribute, which reflects speed of trunk control. Speed of trunk control can be parsed into two components: (1) delay, the time it takes to initiate a movement, and (2) lag, the time it takes to execute a movement once initiated. The goal of this study is to demonstrate a new approach to assess delay and lag in trunk control using a simple tracking task. Ten healthy subjects performed four blocks of six trials of trunk tracking in the sagittal plane. Delay and lag were estimated by modeling trunk control for predictable and unpredictable (control mode) trunk movements in flexion and extension (control direction) at movement amplitudes of 2°, 4°, and 6° (control amplitude). The main effect of control mode, direction, and amplitude of movement were compared between trial blocks to assess secondary influencers (e.g., fatigue). Only control mode was consistent across trial blocks with predictable movements being faster than unpredictable for both delay and lag. Control direction and amplitude effects on delay and lag were consistent across the first two trial blocks and less consistent in later blocks. Given the heterogeneity in the presentation of back pain, clinical assessment of trunk control should include different control modes, directions, and amplitudes. To reduce testing time and the influence of fatigue, we recommend six trials to assess trunk control. Copyright © 2018 Elsevier Ltd. All rights reserved.

  14. Does the sun ring

    International Nuclear Information System (INIS)

    Isaak, G.R.

    1978-01-01

    The work of various groups, which have been investigating the possibility of measuring the periodicities of solar oscillations in an attempt to test theoretical models of the sun, is reported. In particular the observation of small velocity oscillations of the surface layers of the sun that permits the measurement of the sound waves (or phonons) in the solar atmosphere, is discussed. Oscillations with periods of 2.65 h, 58 and 40 min and amplitudes of 2.7, 0.8 and 0.7 ms -1 respectively are reported. Support for a periodicity at about 2.65 h from a number of other groups using other measuring techniques are considered. It is felt that the most probable interpretation of the observed solar oscillations is that the sun is a resonator which is ringing. (UK)

  15. Study on turning performance of four-track steering vehicles. Effect of traction force and track speed distribution control; Sodashiki sokisha no senkai seino ni kansuru kenkyu. Kudoryoku haibun to sokudo haibun no eikyo

    Energy Technology Data Exchange (ETDEWEB)

    Imamura, M; Watanabe, K; Kitano, M [National Defense Academy, Kanagawa (Japan)

    1997-10-01

    The four-track steering vehicles (4TS) is a new type of off-road vehicle which can replace four wheels with track units to improve the mobility on soft terrains. In this paper, the numerical simulations, under the various types of differential and track velocity control systems, are conducted to predict the turning performance and steer ability of the 4TS vehicles. The results of the numerical analysis demonstrate that the differential systems with realistic combined distribution control systems of the track speed is efficient at a small turning radius. 4 refs., 13 figs.

  16. Propagation Characteristics of Two Coronal Mass Ejections from the Sun Far into Interplanetary Space

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, Xiaowei; Liu, Ying D.; Hu, Huidong; Wang, Rui, E-mail: liuxying@spaceweather.ac.cn [State Key Laboratory of Space Weather, National Space Science Center, Chinese Academy of Sciences, Beijing 100190 (China)

    2017-03-01

    Propagation of coronal mass ejections (CMEs) from the Sun far into interplanetary space is not well understood, due to limited observations. In this study we examine the propagation characteristics of two geo-effective CMEs, which occurred on 2005 May 6 and 13, respectively. Significant heliospheric consequences associated with the two CMEs are observed, including interplanetary CMEs (ICMEs) at the Earth and Ulysses , interplanetary shocks, a long-duration type II radio burst, and intense geomagnetic storms. We use coronagraph observations from SOHO /LASCO, frequency drift of the long-duration type II burst, in situ measurements at the Earth and Ulysses , and magnetohydrodynamic propagation of the observed solar wind disturbances at 1 au to track the CMEs from the Sun far into interplanetary space. We find that both of the CMEs underwent a major deceleration within 1 au and thereafter a gradual deceleration when they propagated from the Earth to deep interplanetary space, due to interactions with the ambient solar wind. The results also reveal that the two CMEs interacted with each other in the distant interplanetary space even though their launch times on the Sun were well separated. The intense geomagnetic storm for each case was caused by the southward magnetic fields ahead of the CME, stressing the critical role of the sheath region in geomagnetic storm generation, although for the first case there is a corotating interaction region involved.

  17. Tip Speed Ratio Based Maximum Power Tracking Control of Variable Speed Wind Turbines; A Comprehensive Design

    Directory of Open Access Journals (Sweden)

    Murat Karabacak

    2017-08-01

    Full Text Available The most primitive control method of wind turbines used to generate electric energy from wind is the fixed speed control method. With this method, it is not possible that turbine input power is transferred to grid at maximum rate. For this reason, Maximum Power Tracking (MPT schemes are proposed. In order to implement MPT, the propeller has to rotate at a different speed for every different wind speed. This situation has led MPT based systems to be called Variable Speed Wind Turbine (VSWT systems. In VSWT systems, turbine input power can be transferred to grid at rates close to maximum power. When MPT based control of VSWT systems is the case, two important processes come into prominence. These are instantaneously determination and tracking of MPT point. In this study, using a Maximum Power Point Tracking (MPPT method based on tip speed ratio, power available in wind is transferred into grid over a back to back converter at maximum rate via a VSWT system with permanent magnet synchronous generator (PMSG. Besides a physical wind turbine simulator is modelled and simulated. Results show that a time varying MPPT point is tracked with a high performance.

  18. Reference-tracking feedforward control design for linear dynamical systems through signal decomposition

    NARCIS (Netherlands)

    Kasemsinsup, Y.; Romagnoli, R.; Heertjes, M.F.; Weiland, S.; Butler, H.

    2017-01-01

    In this work, we study a novel approach towards the reference-tracking feedforward control design for linear dynamical systems. By utilizing the superposition property and exploiting signal decomposition together with a quadratic optimization process, we obtain a feedforward design procedure for

  19. Optical performance of inclined south-north single-axis tracked solar panels

    International Nuclear Information System (INIS)

    Li, Zhimin; Liu, Xinyue; Tang, Runsheng

    2010-01-01

    To investigate optical performance of the inclined south-north single-axis (ISN-axis, in short) tracked solar panels, a mathematical procedure to estimate the annual collectible radiation on fixed and tracked panels was suggested based on solar geometry and monthly horizontal radiation. For solar panels tracking about ISN-axis, the yearly optimal tilt-angle of ISN-axis for maximizing annual solar gain was about 3 o deviating from the site latitude in most of China except in areas with poor solar resources, and the maximum annual collectible radiation on ISN-axis tracked panels was about 97-98% of that on dual-axis tracked panels; whereas for ISN-axis tracked panels with the tilt-angle of ISN-axis being adjusted four times in a year at three fixed tilt-angles, the annual collectible radiation was almost close to that on dual-axis tracked panels, the optimum date of tilt-angle adjustment of ISN-axis was 23 days from the equinoxes, and the optimum tilt-angle adjustment value for each adjustment was about 22 o . Compared to fixed south-facing solar panels inclined at an optimal tilt-angle, the increase in the annual solar gain due to using ISN-axis sun tracking was above 30% in the areas with abundant solar resources and less than 20% in the areas with poor solar resources.

  20. ‘My child did not like using sun protection’: practices and perceptions of child sun protection among rural black African mothers

    Directory of Open Access Journals (Sweden)

    Zamantimande Kunene

    2017-08-01

    Full Text Available Abstract Background Photodamage is partially mitigated by darker skin pigmentation, but immune suppression, photoaging and cataracts occur among individuals with all skin types. Methods To assess practices and acceptability to Black African mothers of sun protection equipment for their children living in a rural area, participants were recruited at the time of their child’s 18-month vaccinations. Mothers completed a baseline questionnaire on usual sun behaviours and sun protection practices. They were then provided with sun protection equipment and advice. A follow-up questionnaire was administered two weeks later. Results Mothers reported that during the week prior to the baseline questionnaire, children spent on average less than 1 hour of time outdoors (most often spent in the shade. Most mothers (97% liked the sun protection equipment. However, many (78 of 86 reported that their child did not like any of the sun protection equipment and two-thirds stated that the sun protection equipment was not easy to use. Conclusions Among Black Africans in rural northern South Africa, we found a mismatch between parental preferences and child acceptance for using sun protection when outdoors. A better understanding of the health risks of incidental excess sun exposure and potential benefits of sun protection is required among Black Africans.

  1. The association between osteoporotic hip fractures and actinic lesions as a biomarker for cumulative sun exposure in older people-a retrospective case-control study in Argentina.

    Science.gov (United States)

    Perroud, H A; Dagatti, M S; Amigot, B; Levit, G P; Tomat, M F; Morosano, M E; Masoni, A M; Pezzotto, S M

    2017-05-01

    The aim of this study was to analyze the association between the presence of actinic lesions (solar keratosis and non-melanoma skin cancer) and osteoporotic hip fractures in older patients. Both pathologies are common conditions in this age group. Since cumulative sun exposure is difficult to quantify, the presence of actinic lesions can be used to indirectly analyze the association between ultraviolet radiation and osteoporotic hip fractures. This was an observational case-control study. We reviewed the centralized medical records of patients with hip fracture (cases, n = 51) and patients with other diseases hospitalized in the same institution and period (controls, n = 59). The mean age of the patients was 80 ± 8.3 years (range 50-103 years). Differences in maternal hip fracture history were found between cases and controls (14.8 and 8 %, respectively; p = 0.047). Falls history in the past year was higher in cases than in controls (p < 0.0001). Actinic lesions were observed in 32.7 % of patients (prevalence rate 23.5 % in cases, 40.7 % in controls; p = 0.04). When considering patients with actinic lesions, controls have a higher FRAX score compared with cases. Although sun exposure is recommended for bone health, it represents a risk factor for actinic lesions. The presence of actinic lesions may indicate a lower osteoporotic hip fracture risk. A balance between adequate lifetime sun exposure and protection against its adverse effects is required for each patient, in the context of geographic location.

  2. Controlling type I error rate for fast track drug development programmes.

    Science.gov (United States)

    Shih, Weichung J; Ouyang, Peter; Quan, Hui; Lin, Yong; Michiels, Bart; Bijnens, Luc

    2003-03-15

    The U.S. Food and Drug Administration (FDA) Modernization Act of 1997 has a Section (No. 112) entitled 'Expediting Study and Approval of Fast Track Drugs' (the Act). In 1998, the FDA issued a 'Guidance for Industry: the Fast Track Drug Development Programs' (the FTDD programmes) to meet the requirement of the Act. The purpose of FTDD programmes is to 'facilitate the development and expedite the review of new drugs that are intended to treat serious or life-threatening conditions and that demonstrate the potential to address unmet medical needs'. Since then many health products have reached patients who suffered from AIDS, cancer, osteoporosis, and many other diseases, sooner by utilizing the Fast Track Act and the FTDD programmes. In the meantime several scientific issues have also surfaced when following the FTDD programmes. In this paper we will discuss the concept of two kinds of type I errors, namely, the 'conditional approval' and the 'final approval' type I errors, and propose statistical methods for controlling them in a new drug submission process. Copyright 2003 John Wiley & Sons, Ltd.

  3. Sun tracker for clear or cloudy weather

    Science.gov (United States)

    Scott, D. R.; White, P. R.

    1979-01-01

    Sun tracker orients solar collector so that they absorb maximum possible sunlight without being fooled by bright clouds, holes in cloud cover, or other atmospheric conditions. Tracker follows sun within 0.25 deg arc and is accurate within + or - 5 deg when sun is hidden.

  4. Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

    Science.gov (United States)

    Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

    2017-09-01

    Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

  5. On-sun performance of an improved dish-based HCPV system

    Science.gov (United States)

    Stalcup, Thomas; Angel, Roger P.; Coughenour, Blake; Wheelwright, Brian; Connors, Tom; Davison, Warren; Lesser, David; Elliott, Justin; Schaefer, John

    2012-10-01

    The University of Arizona has developed a new dish-based High Concentration Photovoltaic (HCPV) system which is in the process of being commercialized by REhnu, Inc. The basic unit uses a paraboloidal glass reflector 3.1 m x 3.1 m square to bring sunlight to a high power point focus at a concentration of ~20,000x. A unique optical system at the focus reformats the concentrated sunlight so as to uniformly illuminate 36 triple junction cells at 1200x geometric concentration1. The relay optics and cells are integrated with an active cooling system in a self-contained Power Conversion Unit (PCU) suspended above the dish reflector. Only electrical connections are made to the PCU as the active cooling system within is completely sealed. Eight of these reflector/PCU units can be mounted on a single two axis tracking structure2. Our 1st generation prototype reflector/PCU unit consistently generated 2.2 kW of power normalized to 1kW/m2 DNI in over 200 hours of on-sun testing in 20113. Here, we present on-sun performance results for our 2nd generation prototype reflector/PCU unit, which has been in operation since June 2012. This improved system consistently generates 2.7 kW of power normalized to 1kW/m2 DNI and has logged over 100 hours of on-sun testing. This system is currently operating at28% DC net system efficiency with an operating cell temperature of only 20°C above ambient. Having proven this system concept, work on our 3rd generation prototype is underway with a focus on manufacturability, lower cost, and DC efficiency target of 32% or better.

  6. Prototype of sun projector device

    Science.gov (United States)

    Ihsan; Dermawan, B.

    2016-11-01

    One way to introduce astronomy to public, including students, can be handled by solar observation. The widely held device for this purpose is coelostat and heliostat. Besides using filter attached to a device such as telescope, it is safest to use indirect way for observing the Sun. The main principle of the indirect way is deflecting the sun light and projecting image of the sun on a screen. We design and build a simple and low-cost astronomical device, serving as a supplement to increase public service, especially for solar observation. Without using any digital and intricate supporting equipment, people can watch and relish image of the Sun in comfortable condition, i.e. in a sheltered or shady place. Here we describe a design and features of our prototype of the device, which still, of course, has some limitations. In the future, this prototype can be improved for more efficient and useful applications.

  7. The Award Winning Black Suns

    Science.gov (United States)

    Holbrook, Jarita

    2018-01-01

    Black Suns: An Astrophysics Adventure is a documentary film focusing on the annular and total solar eclipses of 2012. We made a different kind of astronomy documentary showing the human aspects rather than just focusing on pretty astronomy pictures. The film combines personal stories with science. Our heroes are Hakeem Oluseyi and Alphonse Sterling, who valiantly travel to study the solar corona during total solar eclipses. The goals of the film included presenting three dimensional scientists, to show their paths to becoming astrophysicists, and to show them as they collect data and work as scientists. Drama and tension surround taking data during the small window of time during totality. The Black Suns was filmed in Tokyo, Cairns, Tucson, and Melbourne Florida. Uniquely, the film began through a Kickstarter campaign to fund travel and filming in Tokyo. Many American Astronomical Society members donated to the film! Black Suns won the Jury Prize at the 2017 Art of Brooklyn Film Festival. Black Suns will be screening in full on ???.

  8. Sun-Earth Day Connects History, Culture and Science

    Science.gov (United States)

    Cline, T.; Thieman, J.

    2003-12-01

    The NASA Sun-Earth Connection Education forum annually promotes and event called Sun-Earth Day: a national celebration of the Sun, the space around the Earth (geospace), and how all of it affects life on our planet. For the past 3 years this event has provided a venue by which classrooms, museums, planetaria, and at NASA centers have had a sensational time sharing stories, images, and activities related to the Sun-Earth connections and the views o fthe Sun from Earth. Each year we select a different theme by which NASA Space Science can be further related to cross-curricular activities. Sun-Earth Day 2002, "Celebrate the Equinox", drew parallels between Native American Cultures and NASA's Sun-Earth Connection research via cultural stories, interviews, web links, activities and Native American participation. Sun-Earth Day 2003, "Live From the Aurora", shared the beauty of the Aurora through a variety of activities and stories related to perspectives of Northern Peoples. Sun-Earth Day 2004 will share the excitement of the transit of Venus through comparisons of Venus with Earth and Mars, calculations of the distances to nearby stars, and the use of transits to identify extra-solar planets. Finally, Sun-Earth Day 2005 will bring several of these themes together by turning our focus to the history and culture surrounding ancient observatories such as Chaco Canyon, Machu Picchu, and Chichen Itza.

  9. Moscow University race-track microtron control system: ideas and development

    International Nuclear Information System (INIS)

    Chepurnov, A.S.; Gribov, I.V.; Morozov, S.Yu.; Shumakov, A.V.; Zinoviev, S.V.

    1992-01-01

    Moscow University race-track microtron (RTM) control system is a star-shape network of LSI-11 compatible microcomputers. Each of them is connected with RTM systems via CAMAC; optical fiber coupling is also used. Control system software is designed on Pascal-1, supplemented with real time modules and Macro. A unified real time technique and reenterable data acquisition drivers allow to simplify development of control drivers and algorithms. Among the latter three main types are used: DDC methods, those, based on optimization technique and algorithms, applying models of microtron's systems. Man-machine interface is based on concept of the 'world of accelerator'. It supports means to design, within hardware possibilities, various computer images of the RTM. (author)

  10. Preliminary Data Pipeline for SunRISE: Assessing the Performance of Space Based Radio Arrays

    Science.gov (United States)

    Hegedus, A. M.; Kasper, J. C.; Lazio, J.; Amiri, N.; Stuart, J.

    2017-12-01

    elliptical Gaussian, which we can compare directly to the input. We find that at the upper frequencies the phase noise can negatively affect performance of the array, but for the large majority of the tracking range of interest, SunRISE can sufficiently resolve the radio bursts to fulfill its science requirements and constrain Solar Energetic Particle acceleration and transport.

  11. The shivering sun opens its heart

    International Nuclear Information System (INIS)

    Gough, D.

    1976-01-01

    Recent discoveries, by various workers, of global oscillations of the Sun are summarised. The two major ways in which the Sun can vibrate, as a standing acoustic wave and as a standing gravity wave, are discussed. The recently discovered oscillations provide a new rich class of data with which to test theoretical models of the internal structure of the Sun. The implications of these new data with reference to solar models are considered. (U.K.)

  12. Tracking a major interplanetary disturbance

    International Nuclear Information System (INIS)

    Tappin, S.J.; Hewish, A.; Gapper, G.R.

    1983-01-01

    The severe geomagnetic storm which occurred during 27-29 August 1978 was remarkable because it arrived unexpectedly and was not related to a solar flare or long-lived coronal hole. Observations on 900 celestial radio sources show that the storm was associated with a large-scale region causing enhanced interplanetary scintillation which enveloped the Earth at the same time. The disturbance was first detected on 26 August, when the outer boundary had reached a distance of about 0.8 a.u. from the Sun and it was tracked until 30 August. The enhancement was followed by a fast solar wind stream and its shape suggests that it was a compression zone caused by the birth of the stream. (author)

  13. Tribute to Sun Kwok

    International Nuclear Information System (INIS)

    Leung, Kam Ching

    2016-01-01

    Sun Kwok was bom in Hong Kong in 1949. He did all his early schooling in Hong Kong and went to the same high school, Pui Ching Middle School, as I did but he was more than a decade later. There are two Education Systems in Hong Kong; the Chinese Language Schools and English Language School. Pui Ching was started by Christian missionaries in China and has a long history of providing quality education. Pui Ching is a Chinese Language School, and during colonial times, school entrance was difficult for students as we were not eligible to apply for admission to the University of Hong Kong, nor were we able to join the civil service. In spite of these handicaps, the school still managed to produce many excellent academics, including one Nobel Prize winner in physics and one Field's medalist in mathematics. Most of its graduates who sought further education went to the U.S. Or Canada as Sun Kwok did. Sun graduated from McMaster University and then went to the University of Minnesota for graduate studies. In the early 1970s, the University of Minnesota had just built one of the world's first infrared bolometers and the astronomers there (Nick Woolf and Ed Ney) were able to make some of the first infrared observations in the mid-infrared region. Through these observations, circumstellar dust was discovered, leading to the realization the evolved stars are losing mass. Sun wrote his PhD thesis on the mass loss mechanism of red giant stars, proposing that the stellar winds are driven by the mechanism of radiation pressure on grains. His 1975 paper is still widely cited to this date. In the same thesis, he showed that OH maser emission is a manifestation of the mass loss process and OH/IR stars are the most heavily mass-losing stars known. He went back to Canada for postdoctoral studies, first at UBC and then at York University. While at York, he applied his knowledge of mass loss to the problem of formation of planetary nebulae, leading to now well-established interacting

  14. Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

    Directory of Open Access Journals (Sweden)

    Ce Shang

    2016-04-01

    Full Text Available Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov’s method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%–0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.

  15. Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Jie Niu

    2017-12-01

    Full Text Available Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

  16. Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle

    Directory of Open Access Journals (Sweden)

    Zhonghua Wu

    2017-02-01

    Full Text Available A robust adaptive neural control scheme based on a back-stepping technique is developed for the longitudinal dynamics of a flexible hypersonic flight vehicle, which is able to ensure the state tracking error being confined in the prescribed bounds, in spite of the existing model uncertainties and actuator constraints. Minimal learning parameter technique–based neural networks are used to estimate the model uncertainties; thus, the amount of online updated parameters is largely lessened, and the prior information of the aerodynamic parameters is dispensable. With the utilization of an assistant compensation system, the problem of actuator constraint is overcome. By combining the prescribed performance function and sliding mode differentiator into the neural back-stepping control design procedure, a composite state tracking error constrained adaptive neural control approach is presented, and a new type of adaptive law is constructed. As compared with other adaptive neural control designs for hypersonic flight vehicle, the proposed composite control scheme exhibits not only low-computation property but also strong robustness. Finally, two comparative simulations are performed to demonstrate the robustness of this neural prescribed performance controller.

  17. Evaluation of a proper controller performance for maximum-power point tracking of a stand-alone PV system

    Energy Technology Data Exchange (ETDEWEB)

    Nafeh, A.E.-S.A.; Fahmy, F.H. [Electronics Research Institute, Cairo (Egypt); El-Zahab, E.M.A. [Cairo University, Giza (Egypt). Faculty of Engineering

    2003-02-01

    In this paper the implementation of a suggested stand-alone PV system, for maximum-power point tracking (MPPT), is carried out. Also, this paper presents a comparative study, through experimental work, between the conventional PI controller and the fuzzy logic controller (FLC) under different atmospheric conditions. The implemented system with both the PI controller and the FLC gives a good maximum-power operation of the PV array, but the tracking capability for different optimum operating points is better and faster for the case of using the FLC compared to the case of using the PI controller. (author)

  18. Gravity Probe-B (GP-B) Mission and Tracking, Telemetry and Control Subsystem Overview

    Science.gov (United States)

    Kennedy, Paul; Bell, Joseph L. (Technical Monitor)

    2001-01-01

    The National Aeronautics and Space Administration's (NASA) Marshall Space Flight Center (MSFC) in Huntsville, Alabama will launch the Gravity Probe B (GP-B) space experiment in the Fall of 2002. The GP-B spacecraft was developed to prove Einstein's theory of General Relativity. This paper will provide an overview of the GPB mission and will discuss the design, and test of the spacecraft Tracking, Telemetry and Control (TT&C) subsystem which incorporates NASA's latest generation standard transponder for use with the NASA Tracking and Data Relay Satellite System (TDRSS).

  19. Analysis of meiosis in SUN1 deficient mice reveals a distinct role of SUN2 in mammalian meiotic LINC complex formation and function.

    Directory of Open Access Journals (Sweden)

    Jana Link

    2014-02-01

    Full Text Available LINC complexes are evolutionarily conserved nuclear envelope bridges, composed of SUN (Sad-1/UNC-84 and KASH (Klarsicht/ANC-1/Syne/homology domain proteins. They are crucial for nuclear positioning and nuclear shape determination, and also mediate nuclear envelope (NE attachment of meiotic telomeres, essential for driving homolog synapsis and recombination. In mice, SUN1 and SUN2 are the only SUN domain proteins expressed during meiosis, sharing their localization with meiosis-specific KASH5. Recent studies have shown that loss of SUN1 severely interferes with meiotic processes. Absence of SUN1 provokes defective telomere attachment and causes infertility. Here, we report that meiotic telomere attachment is not entirely lost in mice deficient for SUN1, but numerous telomeres are still attached to the NE through SUN2/KASH5-LINC complexes. In Sun1(-/- meiocytes attached telomeres retained the capacity to form bouquet-like clusters. Furthermore, we could detect significant numbers of late meiotic recombination events in Sun1(-/- mice. Together, this indicates that even in the absence of SUN1 telomere attachment and their movement within the nuclear envelope per se can be functional.

  20. Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters.

    Science.gov (United States)

    Kim, Yonjae; Leonard, Simon; Shademan, Azad; Krieger, Axel; Kim, Peter C W

    2014-06-01

    Current surgical robots are controlled by a mechanical master located away from the patient, tracking surgeon's hands by wire and pulleys or mechanical linkage. Contactless hand tracking for surgical robot control is an attractive alternative, because it can be executed with minimal footprint at the patient's bedside without impairing sterility, while eliminating current disassociation between surgeon and patient. We compared technical and technologic feasibility of contactless hand tracking to the current clinical standard master controllers. A hand-tracking system (Kinect™-based 3Gear), a wire-based mechanical master (Mantis Duo), and a clinical mechanical linkage master (da Vinci) were evaluated for technical parameters with strong clinical relevance: system latency, static noise, robot slave tremor, and controller range. Five experienced surgeons performed a skill comparison study, evaluating the three different master controllers for efficiency and accuracy in peg transfer and pointing tasks. da Vinci had the lowest latency of 89 ms, followed by Mantis with 374 ms and 3Gear with 576 ms. Mantis and da Vinci produced zero static error. 3Gear produced average static error of 0.49 mm. The tremor of the robot used by the 3Gear and Mantis system had a radius of 1.7 mm compared with 0.5 mm for da Vinci. The three master controllers all had similar range. The surgeons took 1.98 times longer to complete the peg transfer task with the 3Gear system compared with Mantis, and 2.72 times longer with Mantis compared with da Vinci (p value 2.1e-9). For the pointer task, surgeons were most accurate with da Vinci with average error of 0.72 mm compared with Mantis's 1.61 mm and 3Gear's 2.41 mm (p value 0.00078). Contactless hand-tracking technology as a surgical master can execute simple surgical tasks. Whereas traditional master controllers outperformed, given that contactless hand-tracking is a first-generation technology, clinical potential is promising and could

  1. Tanel Padar & The Sun veab õhukitarri

    Index Scriptorium Estoniae

    2008-01-01

    Õhukitarri Eesti meistrivõistlustest 19. apr. Tallinnas Rock Cafés (võistluste eestvedajaks on ansambel Tanel Padar & The Sun, kes samas esitleb oma esimest ingliskeelset albumit "Here Comes The Sun")

  2. Genome-wide identification, phylogeny and expression analysis of SUN, OFP and YABBY gene family in tomato.

    Science.gov (United States)

    Huang, Zejun; Van Houten, Jason; Gonzalez, Geoffrey; Xiao, Han; van der Knaap, Esther

    2013-04-01

    Members of the plant-specific gene families IQD/SUN, OFP and YABBY are thought to play important roles in plant growth and development. YABBY family members are involved in lateral organ polarity and growth; OFP members encode transcriptional repressors, whereas the role of IQD/SUN members is less clear. The tomato fruit shape genes SUN, OVATE, and FASCIATED belong to IQD/SUN, OFP and the YABBY gene family, respectively. A gene duplication resulting in high expression of SUN leads to elongated fruit, whereas a premature stop codon in OVATE and a large inversion within FASCIATED control fruit elongation and a flat fruit shape, respectively. In this study, we identified 34 SlSUN, 31 SlOFP and 9 SlYABBY genes in tomato and identified their position on 12 chromosomes. Genome mapping analysis showed that the SlSUN, SlOFP, and SlYABBY genes were enriched on the top and bottom segments of several chromosomes. In particular, on chromosome 10, a cluster of SlOFPs were found to originate from tandem duplication events. We also constructed three phylogenetic trees based on the protein sequences of the IQ67, OVATE and YABBY domains, respectively, from members of these families in Arabidopsis and tomato. The closest putative orthologs of the Arabidopsis and tomato genes were determined by the position on the phylogenetic tree and sequence similarity. Furthermore, expression analysis showed that some family members exhibited tissue-specific expression, whereas others were more ubiquitously expressed. Also, certain family members overlapped with known QTLs controlling fruit shape in Solanaceous plants. Combined, these results may help elucidate the roles of SUN, OFP and YABBY family members in plant growth and development.

  3. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

    Directory of Open Access Journals (Sweden)

    Dewei Zhang

    2014-01-01

    Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

  4. Seasonal skin darkening in Chinese women: the Shanghaiese experience of daily sun protection.

    Science.gov (United States)

    Qiu, Huixia; Flament, Frederic; Long, Xiaohui; Wu, Jun; Xu, Mengzhi; Leger, Didier Saint; Meaudre, Helene; Senee, Jerome; Piot, Bertrand; Bazin, Roland

    2013-01-01

    The facial skin tone of two groups of Chinese women from Shanghai was compared using standard colorimetric space techniques during a 6-month interval between January and July 2011. During the study period, one group of women (n = 40) applied a potent sun-protective cosmetic product daily, while the other group (n = 40) did not use any sun protection. The results, based on images taken using a standardized digital camera coupled to a spectroradiometer, showed that sun protection largely mitigated changes in the components of skin tone, ie, lightness, melanization, and individual typology angle parameters. The skin darkening process appeared to be reduced or prevented in the sun-protected group when compared with the control group. The sun-protected women had participated in an earlier study in 2008, which confirmed that seasonal skin darkening occurs from winter through summer in Shanghaiese women. Comparing the data obtained in the winters of 2008 and 2011, we were able to identify better the impact of 3 years of aging on the components of skin tone. Comparing data between seasons on the same women with (2011 study) and without (2008 study) sun protection highlights the role of the test product in preventing skin darkening.

  5. Case study of a grid connected with a battery photovoltaic system: V-trough concentration vs. single-axis tracking

    International Nuclear Information System (INIS)

    Tina, G.M.; Scandura, P.F.

    2012-01-01

    Highlights: ► PV systems with sun tracking and concentrators (CPVS) can reduce the cost of energy per kWh produced. ► The V-trough low-concentration system solution is compatible with flat PV module technologies. ► Optical, thermal and electrical models are needed to forecast real power production. ► The description of a PV grid connected system with batteries, a one-axis tracker and CPV photovoltaic system is presented. ► Outdoor measurements of the generating system are provided and discussed. - Abstract: Photovoltaic systems (PVSs) combined with either some form of storage, such as a battery energy storage system (BESS), or direct load control, can play a crucial role in achieving a more economical operation of the electric utility system while enhancing its reliability with additional energy sources. At the same time, it is also important to use cost-effective PV solutions. In this context, a low-concentration PVS (CPVS) is analysed as a feasible alternative. This paper, present a case study of a complex PVS, composed of two PVSs, a storage system (BEES) and an inverter that allows the system to operate in both the island and grid-connected modes. The first PVS, is a 2.76-kWp single-axis tracking system (azimuth) with modules facing south and tilted 30°, while the second PVS is a dual-axis tracking system, rated 860 Wp, consisting of a concentrator at the flat mirrors (DoubleSun® Four). The system is installed on the roof of the main building of the “ITIS Marconi” school (Italy). A detailed description of the system is provided, and preliminary operating data are presented and discussed. The efficiencies of the PV systems are calculated and measured to evaluate the cost effectiveness of a low-concentration system.

  6. Home-range and activity pattern of rehabilitated malayan sun bears (Helarctos malayanus) in the Tembat Forest Reserve, Terengganu

    Science.gov (United States)

    Abidin, Mohammad Kamaruddin Zainal; Mohammed, Ahmad Azhar; Nor, Shukor Md

    2018-04-01

    Re-introduction programme has been adopted in solving the conflict issues related with the Malayan sun bears in Peninsular Malaysia. Two rehabilitated sun bears (#1533 and #1532) were collared and released in Tembat Forest Reserve, Hulu Terengganu to study the home-range and activity pattern. Tracking of sun bear in wild have be conducted manually by using telemetry devices namely radio frequency systems and GPS-UHF download system. A total of 912 locations were recorded. The home range size (indicate by the size of convex polygon) of bear #1533 is larger than bear #1532, with value of 95% minimum convex polygon was 130 km2 compared to its counterpart was 33.28 km2. Bears moved to forest (primary and secondary) and oil palm area. Bear #1533 and #1532 were more active in daytime (diurnal) especially from sunrise to midday. Activity pattern of both rehabilitated bears suggested influence by their daily activity in captivity. This study has proposed two guidelines in re-introduction, 1) minimum distance between release site and possible conflict area is 10-13 km and 2) release during the bear's active time.

  7. Optimal Design of MPPT Controllers for Grid Connected Photovoltaic Array System

    Science.gov (United States)

    Ebrahim, M. A.; AbdelHadi, H. A.; Mahmoud, H. M.; Saied, E. M.; Salama, M. M.

    2016-10-01

    Integrating photovoltaic (PV) plants into electric power system exhibits challenges to power system dynamic performance. These challenges stem primarily from the natural characteristics of PV plants, which differ in some respects from the conventional plants. The most significant challenge is how to extract and regulate the maximum power from the sun. This paper presents the optimal design for the most commonly used Maximum Power Point Tracking (MPPT) techniques based on Proportional Integral tuned by Particle Swarm Optimization (PI-PSO). These suggested techniques are, (1) the incremental conductance, (2) perturb and observe, (3) fractional short circuit current and (4) fractional open circuit voltage techniques. This research work provides a comprehensive comparative study with the energy availability ratio from photovoltaic panels. The simulation results proved that the proposed controllers have an impressive tracking response. The system dynamic performance improved greatly using the proposed controllers.

  8. Evaluation of knowledge, attitude, and behavior about harmful effects of the sun and sun protection among patients attending an outpatient clinic

    Directory of Open Access Journals (Sweden)

    Sevim Terzi

    2017-03-01

    Full Text Available Background and Design: The aim of the study was to evaluate harmful effects of sun exposure and knowledge, attitude and behaviors related to sun protection among patients attending our outpatient clinic. Materials and Methods: A total of 400 patients (171 male and 229 female aged between 16 and 89 years were included in this study. Subjects were requested to fill out a questionnaire composed of 52 questions. In the first part of the questionnaire, patients’ socio-demographic characteristics, history of sunburn, first-degree relatives with a history of skin cancer; in the second part, knowledge about harmful effects of sun and sun protection were inquired. In the third part, patient attitude and behaviors related to sun protection was evaluated. Results: Our results revealed that 69.25% of patients had satisfactory level of knowledge. While the level of knowledge was not affected by economic status, place of residence, skin type and presence of skin cancer in participants or their first-degree relatives, it was found to be increased with increasing educational level. The patients were found to prefer avoiding mid-day sun (75.5% and staying in the shade (64.8% chiefly as sun protection methods and 45.3% of patients were found to use sunscreens. Most frequently preferred sources of information about harmful effects of the sun and sun protection methods were found to be television, magazines and newspapers (76.3%, doctor’s advice and internet, respectively. Conclusion: Although a satisfactory level of knowledge about harmful effects of the sun and protection methods was found, it was observed that individuals could not convert their knowledge into the sun protection behavior

  9. EPA's Review of DOE's Inventory Tracking for TRU Wastes at Waste Control Specialists

    Science.gov (United States)

    On April 9, 2014, EPA's Waste Isolation Pilot Plant (WIPP) waste characterization team visited Waste Control Specialists (WCS) to determine whether DOE was meeting EPA's waste inventory tracking requirements at 40 CFR 194.24(c)(4).

  10. ESC Track Fusion Demonstration Tool for Distributed Environments

    Science.gov (United States)

    Cox, C.; Degraaf, E.; Perry, R.; Diaz, R.

    A key requirement of future net-centric Space Situational Awareness systems development and operations will be decentralized operations, including multi-level distributed data fusion. Raytheon has developed a demonstration for ESC 850 ELSG/NS that fuses sensor-supplied tracks in a dense resident space object (RSO) environment. The demonstration use the state vector and covariance input data from single pass orbit solutions and applies track-to-track correlation algorithms to fuse the individual tracks into composite orbits. Platform independent Java technology and an agent-based software design using asynchronous inter-process communications was used in the demonstration tool development. The tool has been tested against a simulated scenario corresponding to the future 100,000+ object catalog environment. Ten days of simulated data from Fylingdales, Shemya, Eglin, and a future Space Fence sensor were generated for a co-orbiting family of 122 sun-synchronous objects between 700 and 800 km altitude from the NASA simulated small debris for 2015. The selected set exceeds the average object densities for the 100,000+ RSO environment, and provides a scenario similar to an evolved breakup where the debris has had time to disperse. The demo produced very good results using fast and simple astrodynamic models. A total of 16678 input tracks were fused, with less than 1.6% being misassociated. Pure tracks were generated for 65% of the 122 truth objects, and 97% of the objects had a misassociation rate tool that can be used to assess current breakups such as the Chinese ASAT event.

  11. Gamma irradiation of sun-dried apricots (Prunus armeniaca L.) for quality maintenance and quarantine purposes

    International Nuclear Information System (INIS)

    Hussain, Peerzada R.; Meena, Raghuveer S.; Dar, Mohd A.; Wani, Ali M.

    2011-01-01

    The study is aimed at the optimization of gamma irradiation treatment of sun-dried apricots for quality maintenance and quarantine purposes. Sun-dried apricots pre-treated with potassium meta-bisulphite (KMS) at 2.5% w/v were procured from progressive apricot grower of district Kargil, Ladakh region of Jammu and Kashmir state. The sun-dried apricots were packed in 250 gauge polyethylene packs and gamma irradiated in the dose range 1.0-3.0 kGy. The gamma irradiated fruit including control was stored under ambient (15±2-25±2 o C, RH 70-80%) conditions and periodically evaluated for physico-chemical, sensory and microbial quality parameters. Radiation treatment at dose levels of 2.5 and 3.0 kGy proved significantly (p≤0.05) beneficial in retention of higher levels of β-carotene, ascorbic acid, total sugars and color values without impairing the taste as perceived by the sensory panel analysists. The above optimized doses retained the β-carotene content of sun-dried apricots to the extent of 71.2% and 72.6% compared to 63.9% in control samples after 18 months of storage. Irradiation treatment facilitated the release of residual sulfur dioxide in KMS pre-treated sun-dried apricots significantly (p≤0.05) below the prescribed limit for dried products. During storage, two-fold decrease in sulfur dioxide content was recorded in irradiated samples (3.0 kGy) as compared to 16.9% in control. The above optimized doses besides maintaining the higher overall acceptability of sun-dried apricots resulted in 5 log reductions in microbial load just after irradiation and 1.0 and 1.3 log reductions in yeast and mold and bacterial count after 18 months of ambient storage.

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

    Science.gov (United States)

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

    2018-05-01

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

  13. Fly me to the Sun! ESA inaugurates the European Project on the Sun

    Science.gov (United States)

    2000-11-01

    In an initiative mounted by ECSITE (European Collaborative for Science, Industry and Technology Exhibitions) with funding from the European Commission and under the supervision, coordination and co-sponsorship of ESA, five teams of youngsters (16-18 years old) from Belgium, France, Germany, Italy and the Netherlands were selected and coordinated by European science museums from each of their countries (Musée des Sciences et des Techniques - Parentville, B; Cité de l'Espace - Toulouse, F; Deutsches Museum - Munich, D; Fondazione IDIS - Naples, I; Foundation Noordwijk Space Expo - Noordwijk, NL). The teams each focused on a theme related to solar research: "How does the Sun work?" (I), "The Sun as a star" (F), "Solar activity" (NL), "Observing the Sun" (D), "Humans and the Sun" (B), and built exhibition "modules" that they will present at the inauguration, in the context of European Science and Technology Week 2000 (6-10 November), promoted by the European Commission. During the two-day event, a jury of representatives of other European science and technology museums, ESA scientists, a science journalist, and two ESA astronauts (Frank de Winne and Andre Kuipers) will judge the youngsters' exhibition modules on the basis of their scientific correctness, their museological value and the commitment shown by the young "communication experts". The winning team will be officially announced on 9 November. The prize is a weekend at the Space Camp in Redu, Belgium. The objective of the European Project on the Sun is educational. It aims, through the direct and "fresh" involvement of youngsters, to heighten European citizens' awareness of space research in general and the Sun's influence on our daily lives in particular. The role of the European Space Agency as reference point in Europe for solar research has been fundamental to the project. From ESA's perspective, EPOS is part of this autumn's wider communication initiative called the Solar Season, which is highlighting ESA

  14. The Sun: the Earth light source

    Science.gov (United States)

    Berrilli, Francesco; Giovannelli, Luca; Del Moro, Dario; Piazzesi, Roberto; Catena, Liu` Maria; Amicucci, Giordano; Vittorio, Nicola

    2015-04-01

    We have implemented at Department of Physics of University of Rome Tor Vergata a project called "The Sun: the Earth light source". The project obtained the official endorsement from the IAU Executive Committee Working Group for the International Year of Light. The project, specifically designed for high school students, is focused on the "scientific" study of Sun light by means of a complete acquisition system based on "on the shelf" appropriately CMOS low-cost sensor with free control s/w and self-assembled telescopes. The project (hereafter stage) plan is based on a course of two weeks (60 hours in total). The course contains 20 hours of theoretical lectures, necessary to learn basics about Sun, optics, telescopes and image sensors, and 40 hours of laboratory. During the course, scientists and astronomers share with high schools students, work activities in real research laboratories. High schools teachers are intensely involved in the project. Their role is to share activities with university teachers and realize outreach actions in the home institutions. Simultaneously, they are introduced to innovative teaching methods and the project in this way is regarded as a professional development course. Sun light analysis and Sun-Earth connection through light are the main scientific topics of this project. The laboratory section of the stage is executed in two phases (weeks): First phase aims are the realization of a keplerian telescope and low-cost acquisition system. During this week students are introduced to astronomical techniques used to safety collect and acquire solar light; Second phase aims is the realization of a low-cost instrument to analyse sunlight extracting information about the solar spectrum, solar irradiance and Sun-Earth connection. The proposed stage has been already tested in Italy reached the fifth edition in 2014. Since 2010, the project has been a cornerstone outreach program of the University of Rome Tor Vergata, the Italian Ministry of

  15. Periodic reference tracking control approach for smart material actuators with complex hysteretic characteristics

    Science.gov (United States)

    Sun, Zhiyong; Hao, Lina; Song, Bo; Yang, Ruiguo; Cao, Ruimin; Cheng, Yu

    2016-10-01

    Micro/nano positioning technologies have been attractive for decades for their various applications in both industrial and scientific fields. The actuators employed in these technologies are typically smart material actuators, which possess inherent hysteresis that may cause systems behave unexpectedly. Periodic reference tracking capability is fundamental for apparatuses such as scanning probe microscope, which employs smart material actuators to generate periodic scanning motion. However, traditional controller such as PID method cannot guarantee accurate fast periodic scanning motion. To tackle this problem and to conduct practical implementation in digital devices, this paper proposes a novel control method named discrete extended unparallel Prandtl-Ishlinskii model based internal model (d-EUPI-IM) control approach. To tackle modeling uncertainties, the robust d-EUPI-IM control approach is investigated, and the associated sufficient stabilizing conditions are derived. The advantages of the proposed controller are: it is designed and represented in discrete form, thus practical for digital devices implementation; the extended unparallel Prandtl-Ishlinskii model can precisely represent forward/inverse complex hysteretic characteristics, thus can reduce modeling uncertainties and benefits controllers design; in addition, the internal model principle based control module can be utilized as a natural oscillator for tackling periodic references tracking problem. The proposed controller was verified through comparative experiments on a piezoelectric actuator platform, and convincing results have been achieved.

  16. Influence of age, gender, educational level and self-estimation of skin type on sun exposure habits and readiness to increase sun protection.

    Science.gov (United States)

    Falk, M; Anderson, C D

    2013-04-01

    Sun exposure habits and the propensity to undertake sun protection differ between individuals. Not least in primary prevention of skin cancer, aiming at reducing ultraviolet (UV) exposure, knowledge about these factors may be of importance. The aim of the present study was to investigate, in a primary health care (PHC) population, the relationship between sun exposure habits/sun protection behaviour/readiness to increase sun protection and gender, age, educational level and skin UV-sensitivity. The baseline data from a previously performed RCT on skin cancer prevention was used. 415 patients, aged > 18 years, visiting a PHC centre in southern Sweden, filled-out a questionnaire mapping sun exposure, readiness to increase sun protection according to the Transtheoretical Model of Behaviour Change (TTM), and the above mentioned factors. Female gender was associated with more frequent suntanning (p protection. Subjects with low educational level reported less frequent sunscreen use than those with higher educational level, and also chose lower SPF (p skin UV-sensitivity was associated with markedly lower sun exposure (p protection. Females and subjects with high educational level reported higher readiness to increase sunscreen use than males and subjects with lower educational level (p skin type appear to be important factors affecting sun exposure habits and sun protection behaviour, which supports the idea of appropriate mapping of these factors in patients in order to individualise sun protection advice according to the individual patient situation and capabilities. Copyright © 2013 Elsevier Ltd. All rights reserved.

  17. Observing the Sun with NuSTAR

    Science.gov (United States)

    Kohler, Susanna

    2016-07-01

    The Nuclear Spectroscopic Telescope Array (NuSTAR) is a space telescope primarily designed to detect high-energy X-rays from faint, distant astrophysical sources. Recently, however, its occasionally been pointing much closer to home, with the goal of solving a few longstanding mysteries about the Sun.Intensity maps from an observation of a quiet-Sun region near the north solar pole and an active region just below the solar limb. The quiet-Sun data will be searched for small flares that could be heating the solar corona, and the high-altitude emission above the limb may provide clues about particle acceleration. [Adapted from Grefenstette et al. 2016]An Unexpected TargetThough we have a small fleet of space telescopes designed to observe the Sun, theres an important gap: until recently, there was no focusing telescope making solar observations in the hard X-ray band (above ~3 keV). Conveniently, there is a tool capable of doing this: NuSTAR.Though NuSTARs primary mission is to observe faint astrophysical X-ray sources, a team of scientists has recently conducted a series of observations in which NuSTAR was temporarily repurposed and turned to focus on the Sun instead.These observations pose an interesting challenge precisely because of NuSTARs extreme sensitivity: pointing at such a nearby, bright source can quickly swamp the detectors. But though the instrument cant be used to observe the bright flares and outbursts from the Sun, its the perfect tool for examining the parts of the Sun weve been unable to explore in hard X-rays before now such as faint flares, or the quiet, inactive solar surface.In a recently published study led by Brian Grefenstette (California Institute of Technology), the team describes the purpose and initial results of NuSTARs first observations of the Sun.Solar MysteriesWhat is NuSTAR hoping to accomplish with its solar observations? There are two main questions that hard X-ray observations may help to answer.How are particles accelerated in

  18. Analysis of the flight dynamics of the Solar Maximum Mission (SMM) off-sun scientific pointing

    Science.gov (United States)

    Pitone, D. S.; Klein, J. R.; Twambly, B. J.

    1990-01-01

    Algorithms are presented which were created and implemented by the Goddard Space Flight Center's (GSFC's) Solar Maximum Mission (SMM) attitude operations team to support large-angle spacecraft pointing at scientific objectives. The mission objective of the post-repair SMM satellite was to study solar phenomena. However, because the scientific instruments, such as the Coronagraph/Polarimeter (CP) and the Hard X-ray Burst Spectrometer (HXRBS), were able to view objects other than the Sun, attitude operations support for attitude pointing at large angles from the nominal solar-pointing attitudes was required. Subsequently, attitude support for SMM was provided for scientific objectives such as Comet Halley, Supernova 1987A, Cygnus X-1, and the Crab Nebula. In addition, the analysis was extended to include the reverse problem, computing the right ascension and declination of a body given the off-Sun angles. This analysis led to the computation of the orbits of seven new solar comets seen in the field-of-view (FOV) of the CP. The activities necessary to meet these large-angle attitude-pointing sequences, such as slew sequence planning, viewing-period prediction, and tracking-bias computation are described. Analysis is presented for the computation of maneuvers and pointing parameters relative to the SMM-unique, Sun-centered reference frame. Finally, science data and independent attitude solutions are used to evaluate the larg-angle pointing performance.

  19. Sun Tracker Operates a Year Between Calibrations

    Science.gov (United States)

    Berdahl, C. M.

    1984-01-01

    Low-cost modification of Sun tracker automatically compensates equation of time and seasonal variations in declination of Sun. Output of Scotch Yoke drive mechanism adjusted through proper sizing of crank, yoke and other components and through choice of gear ratios to approximate seasonal northand south motion of Sun. Used for industrial solar-energy monitoring and in remote meteorological stations.

  20. Revelation of the Sun Self-Similarity Skeletal Structures

    International Nuclear Information System (INIS)

    Rantsev-Kartinov, V.A.

    2005-01-01

    The analysis of databases of photographic images of a surface of the Sun, its atmosphere and the closest its space environment taken at various spatial resolutions and for various types of radiation of a surface of the Sun by means of a method multilevel dynamic contrasting, has revealed presence skeletal structures as on the Sun directly such and in its environment. It is demonstrated the revealed a global structures of the Sun and powerful ejections of mass of its corona, as well as the structures of its atmosphere, protuberances, sun-spots and a globular structures of its photosphere