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. 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.

  5. 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.

  6. 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

  7. 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)

  8. 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...

  9. 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.

  10. 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,…

  11. 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.

  12. mechanical sun mechanical sun-tracking techn tracking techn power

    African Journals Online (AJOL)

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    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 ...

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

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    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.

  14. 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.

  15. 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.

  16. 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)

  17. 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.

  18. 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.

  19. 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.)

  20. 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)

  1. 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.

  2. 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)

  3. 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

  4. 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

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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)

  12. 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.

  13. 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

  14. 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

  15. 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.

  16. 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.

  17. 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

  18. 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.)

  19. 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.

  20. 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

  1. 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

  2. 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.

  3. 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.

  4. 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

  5. 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.

  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. 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.

  8. 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.

  9. 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.

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. 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

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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...

  6. 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.

  7. 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

  8. 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.

  9. 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

  10. 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...

  11. 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.

  12. 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

  13. 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 ...

  14. 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.

  15. 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.

  16. 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.

  17. 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 ...

  18. 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.

  19. 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.

  20. 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

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

  2. 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. 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

  4. 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.

  5. 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 ...

  6. 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.

  7. 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

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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-.

  14. 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.

  15. Angular Position Tracking Control of a Quadcopter

    OpenAIRE

    T. V. Glazkov; A. E. Golubev

    2017-01-01

    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 s...

  16. Tracking Control for Switched Cascade Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Xiaoxiao Dong

    2015-01-01

    Full Text Available The issue of H∞ output tracking for switched cascade nonlinear systems is discussed in this paper, where not all the linear parts of subsystems are stabilizable. The conditions of the solvability for the issue are given by virtue of the structural characteristics of the systems and the average dwell time method, in which the total activation time for stabilizable subsystems is longer than that for the unstabilizable subsystems. At last, a simulation example is used to demonstrate the validity and advantages of the proposed approach.

  17. 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.

  18. Tracking the Sun: The Installed Cost of Photovoltaics in the U.S. from 1998-2007

    Energy Technology Data Exchange (ETDEWEB)

    Wiser, Ryan; Barbose, Galen; Peterman, Carla

    2009-02-11

    As installations of grid-connected solar photovoltaic (PV) systems have grown, so too has the desire to track the installed cost of these systems over time, by system characteristics, by system location, and by component. This report helps to fill this need by summarizing trends in the installed cost of grid-connected PV systems in the United States from 1998 through 2007. The report is based on an analysis of installed cost data from nearly 37,000 residential and non-residential PV systems, totaling 363 MW of capacity, and representing 76percent of all grid-connected PV capacity installed in the U.S. through 2007.

  19. 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)

  20. 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.

  1. 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.

  2. Stabilization and trajectory tracking control for underactuated

    Indian Academy of Sciences (India)

    The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to ...

  3. 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.

  4. 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% ...

  5. 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

  6. 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

  7. 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.

  8. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

    Salah, M; McIntyre, M; Dawson, D; Wagner, J

    2006-01-01

    In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

  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. 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.

  11. Tracking the Sun III; The Installed Cost of Photovoltaics in the United States from 1998-2009

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen; Darghouth, Naim; Wiser, Ryan

    2010-12-13

    Installations of solar photovoltaic (PV) systems have been growing at a rapid pace in recent years. In 2009, approximately 7,500 megawatts (MW) of PV were installed globally, up from approximately 6,000 MW in 2008, consisting primarily of grid-connected applications. With 335 MW of grid-connected PV capacity added in 2009, the United States was the world's fourth largest PV market in 2009, behind Germany, Italy, and Japan. The market for PV in the United States is driven by national, state, and local government incentives, including up-front cash rebates, production-based incentives, requirements that electricity suppliers purchase a certain amount of solar energy, and federal and state tax benefits. These programs are, in part, motivated by the popular appeal of solar energy, and by the positive attributes of PV - modest environmental impacts, avoidance of fuel price risks, coincidence with peak electrical demand, and the possible deployment of PV at the point of use. Given the relatively high cost of PV, however, a key goal of these policies is to encourage cost reductions over time. Therefore, as policy incentives have become more significant and as PV deployment has accelerated, so too has the desire to track the installed cost of PV systems over time, by system characteristics, by system location, and by component. Despite the significant year-on-year growth, however, the share of global and U.S. electricity supply met with PV remains small, and annual PV additions are currently modest in the context of the overall electric system. To address this need, Lawrence Berkeley National Laboratory initiated a report series focused on describing trends in the installed cost of grid-connected PV systems in the United States. The present report, the third in the series, describes installed cost trends from 1998 through 2009, and provides preliminary cost data for systems installed in 2010. The analysis is based on project-level cost data from approximately 78

  12. Tracking the Sun II: The Installed Cost of Photovoltaics in the U.S. from 1998-2008

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen L; Wiser, Ryan; Peterman, Carla; Darghouth, Naim

    2009-10-05

    Installations of solar photovoltaic (PV) systems have been growing at a rapid pace in recent years. In 2008, 5,948 MW of PV was installed globally, up from 2,826 MW in 2007, and was dominated by grid-connected applications. The United States was the world's third largest PV market in terms of annual capacity additions in 2008, behind Spain and Germany; 335 MW of PV was added in the U.S. in 2008, 293 MW of which came in the form of grid-connected installations. Despite the significant year-on-year growth, however, the share of global and U.S. electricity supply met with PV remains small, and annual PV additions are currently modest in the context of the overall electric system. The market for PV in the U.S. is driven by national, state, and local government incentives, including up-front cash rebates, production-based incentives, requirements that electricity suppliers purchase a certain amount of solar energy, and Federal and state tax benefits. These programs are, in part, motivated by the popular appeal of solar energy, and by the positive attributes of PV - modest environmental impacts, avoidance of fuel price risks, coincidence with peak electrical demand, and the location of PV at the point of use. Given the relatively high cost of PV, however, a key goal of these policies is to encourage cost reductions over time. Therefore, as policy incentives have become more significant and as PV deployment has accelerated, so too has the desire to track the installed cost of PV systems over time, by system characteristics, by system location, and by component. To address this need, Lawrence Berkeley National Laboratory initiated a report series focused on describing trends in the installed cost of grid-connected PV systems in the U.S. The present report, the second in the series, describes installed cost trends from 1998 through 2008. The analysis is based on project-level cost data from more than 52,000 residential and non-residential PV systems in the U.S., all of

  13. 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 ...

  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

    2011-10-01

    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.

  15. 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.

  16. 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…

  17. 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.

  18. 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.

  19. Robust Tracking Control for a Piezoelectric Actuator

    Science.gov (United States)

    2006-01-01

    1 ε ρ ( kzk )2 kzk2 r ¸ (31) where kr ∈ R+ is a constant gain, ε ∈ R+ is a small constant, and ρ ( kzk ) ∈ R is a function of norm z (t) ∈ R2. The...equality can be developed (see Appendix 3 for further details) ¯̄̄ Ñ ¯̄̄ ≤ ρ ( kzk ) kzk . (33) After substituting (31) into (27), the following...closed- loop error system can be obtained mṙ = ∼ N +Nd − e+ µ Tem Cc ¶ s− krr (34) −1 ε ρ ( kzk )2 kzk2 r. 3.3 Stability Analysis Theorem 1 The controller

  20. 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

  1. 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.

  2. 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...

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

    Science.gov (United States)

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

    2015-07-27

    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 cohort. Cases were women reporting difficulty getting pregnant. Controls did not consult due to difficulty conceiving and had at least one child during follow-up. After adjustment for potential confounders, we found no association between self-reported difficulty getting pregnant and the number of alcoholic beverages consumed per week, (Odds Ratio [OR] > 5 drinks/week vs. none = 1.04, 95% Confidence Interval [CI] = 0.72-1.51). No association between types of alcoholic beverage and difficulty conceiving (OR > 5 drinks of wine/week vs. none = 1.16, 95% CI = 0.72-1.88; OR > 5 drinks of beer/week vs. none = 1.06, 95% CI = 0.82-1.37; OR > 5 drinks of spirits/week vs. none = 1.24, 95% CI = 0.84-1.64) was observed. In conclusion, we found no association between alcohol intake and risk of consulting a physician due to difficulty conceiving. More studies are needed to clearly elucidate the effects of alcohol intake on women's fertility. In the meantime, recommendations about alcohol intake to couples trying to conceive have to be given cautiously.

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

    Directory of Open Access Journals (Sweden)

    Cristina Lopez-del Burgo

    2015-07-01

    Full Text Available 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 cohort. Cases were women reporting difficulty getting pregnant. Controls did not consult due to difficulty conceiving and had at least one child during follow-up. After adjustment for potential confounders, we found no association between self-reported difficulty getting pregnant and the number of alcoholic beverages consumed per week, (Odds Ratio [OR] > 5 drinks/week vs. none = 1.04, 95% Confidence Interval [CI] = 0.72–1.51. No association between types of alcoholic beverage and difficulty conceiving (OR > 5 drinks of wine/week vs. none = 1.16, 95% CI = 0.72–1.88; OR > 5 drinks of beer/week vs. none = 1.06, 95% CI = 0.82–1.37; OR > 5 drinks of spirits/week vs. none = 1.24, 95% CI = 0.84–1.64 was observed. In conclusion, we found no association between alcohol intake and risk of consulting a physician due to difficulty conceiving. More studies are needed to clearly elucidate the effects of alcohol intake on women’s fertility. In the meantime, recommendations about alcohol intake to couples trying to conceive have to be given cautiously.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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)

  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. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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 ...

  18. 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.

  19. 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 ...

  20. 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.

  1. 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)

  2. 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

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

    Directory of Open Access Journals (Sweden)

    Youssif Mohamed Toum Elobaid

    2014-01-01

    Full Text Available Presently pneumatic muscles (PMs are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.

  8. 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.

  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. 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.

  11. 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.

  12. 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

  13. 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....

  14. 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.

  15. 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 ...

  16. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  17. 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)

  18. 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)

  19. 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)

  20. 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

  1. [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.

  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. 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. 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.

  5. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  6. 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...

  7. 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

  8. yimin sun

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Genetics. YIMIN SUN. Articles written in Journal of Genetics. Volume 96 Issue 4 September 2017 pp 687-693 RESEARCH NOTE. The association study of nonsyndromic cleft lip with or without cleft palate identified risk variants of the GLI3 gene in a Chinese population · YIRUI WANG YIMIN SUN ...

  9. jianhua sun

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Biosciences. JIANHUA SUN. Articles written in Journal of Biosciences. Volume 42 Issue 4 December 2017 pp 575-584 Article. MicroRNA-486-5p suppresses TGF-b2-induced proliferation, invasion and epithelial–mesenchymal transition of lens epithelial cells by targeting Smad2.

  10. 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...

  11. A Unified Lorenz-Like System and Its Tracking Control

    International Nuclear Information System (INIS)

    Li Chun-Lai; Zhao Yi-Bo

    2015-01-01

    This paper introduces the finding of a unified Lorenz-like system. By gradually tuning the only parameter d, the reported system belongs to Lorenz-type system in the sense defined by Člikovský. Meanwhile, this system belongs to Lorenz-type system, Lü-type system, Chen-type system with d less than, equivalent to and greater than 1.5, respectively, according to the classification defined by Yang. However, this system can only generate a succession of Lorenz-like attractors. Some basic dynamical properties of the system are investigated theoretically and numerically. Moreover, the tracking control of the system with exponential convergence rate is studied. Theoretical analysis and computer simulation show that the proposed scheme can allow us to drive the output variable x 1 to arbitrary reference signals exponentially, and the guaranteed exponential convergence rate can be estimated accurately. (paper)

  12. 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.

  13. Advanced Lyapunov control of a novel laser beam tracking system

    Science.gov (United States)

    Nikulin, Vladimir V.; Sofka, Jozef; Skormin, Victor A.

    2005-05-01

    Laser communication systems developed for mobile platforms, such as satellites, aircraft, and terrain vehicles, require fast wide-range beam-steering devices to establish and maintain a communication link. Conventionally, the low-bandwidth, high-steering-range part of the beam-positioning task is performed by gimbals that inherently constitutes the system bottleneck in terms of reliability, accuracy and dynamic performance. Omni-WristTM, a novel robotic sensor mount capable of carrying a payload of 5 lb and providing a full 180-deg hemisphere of azimuth/declination motion is known to be free of most of the deficiencies of gimbals. Provided with appropriate controls, it has the potential to become a new generation of gimbals systems. The approach we demonstrate describes an adaptive controller enabling Omni-WristTM to be utilized as a part of a laser beam positioning system. It is based on a Lyapunov function that ensures global asymptotic stability of the entire system while achieving high tracking accuracy. The proposed scheme is highly robust, does not require knowledge of complex system dynamics, and facilitates independent control of each channel by full decoupling of the Omni-WristTM dynamics. We summarize the basic algorithm and demonstrate the results obtained in the simulation environment.

  14. The Control System for the CMS Strip Tracking Detector

    CERN Document Server

    Fahrer, Manuel; Chen, Jie; Dierlamm, Alexander; Frey, Martin; Masetti, Lorenzo; Militaru, Otilia; Shah, Yousaf; Stringer, Robert; Tsirou, Andromachi

    2008-01-01

    The Tracker of the CMS silicon strip tracking detector covers a surface of 206 m2. 9648128 channels are available on 75376 APV front-end chips on 15232 modules, built of 24328 silicon sensors. The power supply of the detector modules is split up in 1944 power supplies with two low voltage for front end power and two high voltage channels each for the bias voltage of the silicon sensors. In addition 356 low voltage channels are needed to power the control chain. The tracker will run at -20°C at low relative humidity for at least 10 years. The Tracker Control System handles all interdependencies of control, low and high voltages, as well as fast ramp downs in case of higher than allowed temperatures or currents in the detector and experimental cavern problems. This is ensured by evaluating $10^{4}$ power supply parameters, $10^{3}$ information from Tracker Safety System and $10^{5}$ information from the tracker front end.

  15. 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.

  16. 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.

  17. 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

  18. 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.

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

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

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

  20. 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.

  1. 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.

  2. 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.

  3. The Sun

    International Nuclear Information System (INIS)

    Hejna, L.; Sobotka, M.

    1987-01-01

    The conference proceedings contain 50 papers classified in six parts. The introductory paper is devoted to magnetic fields of the Sun and of low-mass main-sequence stars. 7 papers discuss the morphology and fine structure of solar active regions, 9 papers deal with evolutionary aspects of the regions, 6 papers with observations and theories of the solar magnetic field, 9 deal with velocity fields, oscillations and waves in the active regions and 18 papers discuss the physical structure of active regions and its diagnostics. (M.D.). 218 figs., 19 tabs., 1,317 refs

  4. 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.

  5. 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.

  6. Cooperative vehicle control, feature tracking and ocean sampling

    Science.gov (United States)

    Fiorelli, Edward A.

    This dissertation concerns the development of a feedback control framework for coordinating multiple, sensor-equipped, autonomous vehicles into mobile sensing arrays to perform adaptive sampling of observed fields. The use of feedback is central; it maintains the array, i.e. regulates formation position, orientation, and shape, and directs the array to perform its sampling mission in response to measurements taken by each vehicle. Specifically, we address how to perform autonomous gradient tracking and feature detection in an unknown field such as temperature or salinity in the ocean. Artificial potentials and virtual bodies are used to coordinate the autonomous vehicles, modelled as point masses (with unit mass). The virtual bodies consist of linked, moving reference points called virtual leaders. Artificial potentials couple the dynamics of the vehicles and the virtual bodies. The dynamics of the virtual body are then prescribed allowing the virtual body, and thus the vehicle group, to perform maneuvers that include translation, rotation and contraction/expansion, while ensuring that the formation error remains bounded. This methodology is called the Virtual Body and Artificial Potential (VBAP) methodology. We then propose how to utilize these arrays to perform autonomous gradient climbing and front tracking in the presence of both correlated and uncorrelated noise. We implement various techniques for estimation of gradients (first-order and higher), including finite differencing, least squares error minimization, averaging, and Kalman filtering. Furthermore, we illustrate how the estimation error can be used to optimally choose the formation size. To complement our theoretical work, we present an account of sea trials performed with a fleet of autonomous underwater gliders in Monterey Bay during the Autonomous Ocean Sampling Network (AOSN) II project in August 2003. During these trials, Slocum autonomous underwater gliders were coordinated into triangle

  7. Integrated control of sun shades, daylight and artificial light; Integreret regulering af solafskaermning, dagslys og kunstlys

    Energy Technology Data Exchange (ETDEWEB)

    Johnsen, K.; Christoffersen, J.; Soerensen, Henrik; Jessen, G.

    2011-07-01

    The project established a basis of calculation and a practical basis for optimum choice of solar shading and integrated control strategies for both new buildings and for office, commercial and institutional buildings to be renovated with new calculation models for controlling solar shading integrated in the BSim program. A complete and applicable model for optimum, integrated solar shading control was established, focusing on thermal and visual comfort criteria towards energy consumption for heating, cooling and lighting. A prototype was tested in the daylight laboratory at Danish Building Research Institute-Aalborg University and at University of Southern Denmark. (LN)

  8. 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.

  9. 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

  10. 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

  11. 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.

  12. 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.

  13. 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

  14. 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...

  15. 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.

  16. Design, Analysis, and On-Sun Evaluation of Reflective Strips Under Controlled Buckling

    Science.gov (United States)

    Jaworske, Donald A.; Sechkar, Edward A.; Colozza, Anthony J.

    2014-01-01

    Solar concentrators are envisioned for use in a variety of space-based applications, including applications involving in situ resource utilization. Identifying solar concentrators that minimize mass and cost are of great interest, especially since launch cost is driven in part by the mass of the payload. Concentrators must also be able to survive the wide temperature excursions on the lunar surface. Identifying smart structures which compensate for changes in concentrator geometry brought about by temperature extremes are of interest. Some applications may benefit from the ability to change the concentrators focal pattern at will. This paper addresses a method of designing a single reflective strip to produce a desired focal pattern through the use of controlled buckling. Small variations in the cross section over the length of the reflective strip influence the distribution of light in the focal region. A finite element method of analysis is utilized here which calculates the curve produced for a given strip cross section and axial load. Varying axial force and strip cross section over the length of the reflective strip provide a means of optimizing ray convergence in the focal region. Careful selection of a tapered cross section yields a reflective strip that approximates a parabola. An array of reflective strips under controlled buckling produces a light weight concentrator and adjustments in the compression of individual strips provide a means of compensating for temperature excursions or changing the focal pattern at will.

  17. 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.

  18. Surfactant-enhanced control of track-etch pore morphology

    International Nuclear Information System (INIS)

    Apel', P.Yu.; Blonskaya, I.V.; Didyk, A.Yu.; Dmitriev, S.N.; Orelovich, O.L.; Samojlova, L.I.; Vutsadakis, V.A.; Root, D.

    2000-01-01

    The influence of surfactants on the process of chemical development of ion tracks in polymers is studied. Based on the experimental data, a mechanism of the surfactant effect on the track-etch pore morphology is proposed. In the beginning of etching the surfactant is adsorbed on the surface and creates a layer that is quasi-solid and partially protects the surface from the etching agent. However, some etchant molecules diffuse through the barrier and react with the polymer surface. This results in the formation of a small hole at the entrance to the ion track. After the hole has attained a few annometers in diameter, the surfactant molecules penetrate into the track and cover its walls. Further diffusion of the surfactant into the growing pore is hindered. The adsorbed surfactant layer is not permeable for large molecules. In contrast, small alkali molecules and water molecules diffuse into the track and provide the etching process enlarging the pore. At this stage the transport of the surfactant into the pore channel can proceed only due to the lateral diffusion in the adsorbed layer. The volume inside the pore is free of surfactant molecules and grows at a higher rate than pore entrance. After a more prolonged etching the bottle-like (or 'cigar-like') pore channels are formed. The bottle-like shape of the pore channels depends on the etching conditions such as alkali and surfactant concentration, temperature, and type of the surfactant. The use of surfactants enables one to produce track-etch membranes with improved flow rate characteristics compared with those having cylindrical pores with the same nominal pore diameters

  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. 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

  1. 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.

  2. 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.

  3. Stability control for high speed tracked unmanned vehicles

    Science.gov (United States)

    Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

    2005-05-01

    The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

  4. 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.

  5. 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

  6. 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.

  7. 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)

  8. 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.

  9. 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.

  10. Wind Farm Dispatch Control for Demand Tracking and Minimized Fatigue

    DEFF Research Database (Denmark)

    Juelsgaard, Morten; Schiøler, Henrik; Leth, John-Josef

    2012-01-01

    This work presents a strategy for dispatching production references to the individual turbines in a wind farm, such that an overall production demand for the farm is obeyed, while the fatigue experienced by the turbines is minimized. Using a turbine fatigue model for simulating the aging across...... the farm, we show that a 17 % reduction of the turbine aging can be obtained compared to a commonly employed industrial dispatcher, without degrading the power demand tracking....

  11. 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.

  12. 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.

  13. 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).

  14. 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.

  15. 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...

  16. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  17. Tracking the Sun V: An Historical Summary of the Installed Price of Photovoltaics in the United States from 1998 to 2011

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Darghouth, Naim [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Wiser, Ryan [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2012-11-01

    As the deployment of grid-connected solar photovoltaic (PV) systems has increased, so too has the desire to track the installed price of these systems over time and by location, customer type, and system characteristics. This report helps to fill this need by summarizing trends in the installed price of grid-connected PV systems in the United States from 1998 through 2011, with preliminary data for 2012. The analysis is based on project-level data for more than 150,000 individual residential, commercial, and utility-scale PV systems, totaling more than 3,000 megawatts (MW) and representing 76% of all grid-connected PV capacity installed in the United States through 2011. The report describes installed price trends for residential and commercial PV systems, and another set of trends for utility-scale PV. In all cases, installed prices are identified in terms of real 2011 dollars per installed watt (DC-STC), prior to receipt of any direct financial incentives or tax credits.

  18. 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.

  19. 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.

  20. 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....

  1. 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.

  2. 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.

  3. 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.

  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. 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

  6. 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.

  7. 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.

  8. 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

  9. 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.

  10. Space station communications and tracking equipment management/control system

    Science.gov (United States)

    Kapell, M. H.; Seyl, J. W.

    1982-01-01

    Design details of a communications and tracking (C and T) local area network and the distribution system requirements for the prospective space station are described. The hardware will be constructed of LRUs, including those for baseband, RF, and antenna subsystems. It is noted that the C and T equipment must be routed throughout the station to accommodate growth of the station. Configurations of the C and T modules will therefore be dependent on the function of the space station module where they are located. A block diagram is provided of a sample C and T hardware distribution configuration. A topology and protocol will be needed to accommodate new terminals, wide bandwidths, bidirectional message transmission, and distributed functioning. Consideration will be given to collisions occurring in the data transmission channels.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. The research on algorithms for optoelectronic tracking servo control systems

    Science.gov (United States)

    Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

    2016-10-01

    The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

  20. 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.

  1. 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...

  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. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

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

  4. A trajectory tracking controller for an underwater hexapod vehicle.

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

  5. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

  6. 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....

  7. 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....

  8. 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.

  9. 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.

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. Adaptive Control of Wind Turbines for Maximum Power Point Tracking

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei

    2018-01-01

    induction generator (SCIG) is used to illustrate the generator control system for a variable‐speed WECS. The chapter also presents case studies have been carried out to verify the developed adaptive controller for WECSs. WECSs are non‐linear systems with parameter uncertainties and which are subject...... to disturbances, in the form of non‐linear and unmodeled aerodynamics....

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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

  20. The method to increase an adequacy and exactitude of the tracking of controlled airplane flight

    Directory of Open Access Journals (Sweden)

    В. М. Васильєв

    2003-03-01

    Full Text Available The method to increase the adequacy and exactitude of trajectory estimates for tracking of controlled flight is proposed. The method of a solution of a non-linearity problem is also offered when imitate in trajectory estimation algorithm a control signal which includes nonlinear functions of restriction. The results of computer simulation are demonstrated

  1. 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.

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

    Indian Academy of Sciences (India)

    Moreover, other different papers and thesis of flexible manipulators ... various applications is highly sensitive to variations of disturbance torque acting on ...... Dang X 2014 Robust adaptive sliding-mode control of condenser-cleaning mobile.

  3. Robust tracking control for linear vibrating mechanical systems

    Directory of Open Access Journals (Sweden)

    Francisco Beltrán-Carbajal

    2015-01-01

    Full Text Available Se propone un enfoque de control novedoso para seguimiento por realimentación de la salida para sistemas mecánicos vibratorios del tipo masa-resorte-amortiguador lineales sub-actuados. La metodología de diseño de control que se presenta considera robustez con respecto de dinámicas no modeladas y fuerzas externas. El esquema de control propuesto solamente requiere mediciones de la variable de la salida de posición. Se utiliza compensación integral del error de seguimiento de manera apropiada para evitar la estimación en tiempo real de las perturbaciones. Resultado analíticos y numéricos muestran la efectividad del esquema de control activo de vibración para atenuación de vibraciones resonantes y caóticas afectando la respuesta de la variable de salida.

  4. Nonlinear Optimal Tracking Control of a Piezoelectric Nanopositioning Stage

    National Research Council Canada - National Science Library

    Oates, William S; Smith, Ralph C

    2006-01-01

    ... over relatively large displacements and a broad frequency range. Piezoelectric materials, which are typically employed in nanopositioning stages, provide excellent position control when driven at relatively low frequency and low field levels...

  5. 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.

  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. 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.

  8. 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.

  9. 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

  10. 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)

  11. 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.

  12. 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.

  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. Experimental evaluation of wind turbines maximum power point tracking controllers

    International Nuclear Information System (INIS)

    Camblong, H.; Martinez de Alegria, I.; Rodriguez, M.; Abad, G.

    2006-01-01

    Wind energy technology has experienced important improvements this last decade. The transition from fixed speed to variable speed wind turbines has been a significant element of these improvements. It has allowed adapting the turbine rotational speed to the wind speed variations with the aim of optimizing the aerodynamic efficiency. A classic controller that has slow dynamics relative to the mechanical dynamics of the drive train is implemented in commercial wind turbines. The objective of the work related in this paper has been to evaluate the implementation, on a test bench, of a controller whose dynamics can be adjusted to be faster and to compare in particular its aerodynamic efficiency with the conventional controller. In theory, the higher dynamics of the non-classic controller has to lead to a better efficiency. A 180 kW wind turbine whose simulation model has been validated with field data is emulated on an 18 kW test bench. The emulator has also been validated. Test bench trials are a very useful step between numerical simulation and trials on the real system because they allow analyzing some phenomena that may not appear in simulations without endangering the real system. The trials on the test bench show that the non-conventional controller leads to a higher aerodynamic efficiency and that this is offset by higher mechanical torque and electric power fluctuations. Nevertheless, the amplitudes of these fluctuations are relatively low compared to their rated values

  15. Pressure tracking control of vehicle ABS using piezo valve modulator

    Science.gov (United States)

    Jeon, Juncheol; Choi, Seung-Bok

    2011-03-01

    This paper presents a wheel slip control for the ABS(anti-lock brake system) of a passenger vehicle using a controllable piezo valve modulator. The ABS is designed to optimize for braking effectiveness and good steerability. As a first step, the principal design parameters of the piezo valve and pressure modulator are appropriately determined by considering the braking pressure variation during the ABS operation. The proposed piezo valve consists of a flapper, pneumatic circuit and a piezostack actuator. In order to get wide control range of the pressure, the pressure modulator is desired. The modulator consists of a dual-type cylinder filled with different substances (fluid and gas) and a piston rod moving vertical axis to transmit the force. Subsequently, a quarter car wheel slip model is formulated and integrated with the governing equation of the piezo valve modulator. A sliding mode controller to achieve the desired slip rate is then designed and implemented. Braking control performances such as brake pressure and slip rate are evaluated via computer simulations.

  16. Head-target tracking control of well drilling

    Science.gov (United States)

    Agzamov, Z. V.

    2018-05-01

    The method of directional drilling trajectory control for oil and gas wells using predictive models is considered in the paper. The developed method does not apply optimization and therefore there is no need for the high-performance computing. Nevertheless, it allows following the well-plan with high precision taking into account process input saturation. Controller output is calculated both from the present target reference point of the well-plan and from well trajectory prediction with using the analytical model. This method allows following a well-plan not only on angular, but also on the Cartesian coordinates. Simulation of the control system has confirmed the high precision and operation performance with a wide range of random disturbance action.

  17. 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.

  18. 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.

  19. Reliable Control of Ship-mounted Satellite Tracking Antenna

    DEFF Research Database (Denmark)

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

    2010-01-01

    Motorized antenna is a key element in overseas satellite telecommunication. The control system directs the on-board antenna toward a chosen satellitewhile the high sea waves disturb the antenna. Certain faults (communication system malfunction or signal blocking) cause interruption in the communi...

  20. 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.

  1. 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.

  2. 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...

  3. 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

  4. Tracking control of the hydraulically actuated flexible manipulator

    International Nuclear Information System (INIS)

    Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

    1995-01-01

    The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  5. Tracking control mechanisms for positioning automatic CRD exchanger

    International Nuclear Information System (INIS)

    Koizumi, Akira; Takada, Satoshi.

    1984-01-01

    Purpose: To enable completely automatic positioning for the automatic CRD (control rod drives) exchanger, as well as shorten the time for the exchanging operation and save the operator's labour. Constitution: Images of a target attached to the lower flange face of CRD are picked up by a fiber scope mounted to a mounting head. The images are converted through I.T.V. into electrical signals, passed through a cable and then sent to a pattern recognition mechanism. The position for the images of the target is calculated and the calculated position is sent to a drive control section, where the position for the images of the target is compared with a reference position for the images (exactly aligned position) and the moving amount of the mounting head is calculated to move the driving section and thereby complete the positioning. (Kawakami, Y.)

  6. 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.

  7. Maximum Power Point Tracking Control of a Thermoelectric Generation System Using the Extremum Seeking Control Method

    Directory of Open Access Journals (Sweden)

    Ssennoga Twaha

    2017-12-01

    Full Text Available This study proposes and implements maximum power Point Tracking (MPPT control on thermoelectric generation system using an extremum seeking control (ESC algorithm. The MPPT is applied to guarantee maximum power extraction from the TEG system. The work has been carried out through modelling of thermoelectric generator/dc-dc converter system using Matlab/Simulink. The effectiveness of ESC technique has been assessed by comparing the results with those of the Perturb and Observe (P&O MPPT method under the same operating conditions. Results indicate that ESC MPPT method extracts more power than the P&O technique, where the output power of ESC technique is higher than that of P&O by 0.47 W or 6.1% at a hot side temperature of 200 °C. It is also noted that the ESC MPPT based model is almost fourfold faster than the P&O method. This is attributed to smaller MPPT circuit of ESC compared to that of P&O, hence we conclude that the ESC MPPT method outperforms the P&O technique.

  8. 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.

  9. 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.

  10. 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…

  11. 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.)

  12. 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.

  13. Controlled change of transport properties of poly(ethylene terephthalate) track membranes by plasma method

    International Nuclear Information System (INIS)

    Kravets, L I; Dmitriev, S N; Drachev, A I; Gilman, A B; Lazea, A; Dinescu, G

    2007-01-01

    A process of plasma polymerization of dimethylaniline and acrylic acid vapours on the surface of poly(ethylene terephthalate) track membranes has been investigated. The surface and hydrodynamic properties of the composite membranes produced in this case have been studied. It is shown that the water permeability of the obtained polymeric membranes can be controlled by changing the filtrate pH. Membranes with such properties can be used for controllable drug delivery and in sensor control

  14. Parallel Tracking and Mapping for Controlling VTOL Airframe

    Directory of Open Access Journals (Sweden)

    Michal Jama

    2011-01-01

    Full Text Available This work presents a vision based system for navigation on a vertical takeoff and landing unmanned aerial vehicle (UAV. This is a monocular vision based, simultaneous localization and mapping (SLAM system, which measures the position and orientation of the camera and builds a map of the environment using a video stream from a single camera. This is different from past SLAM solutions on UAV which use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras. Solution presented in this paper extends and significantly modifies a recent open-source algorithm that solves SLAM problem using approach fundamentally different from a traditional approach. Proposed modifications provide the position measurements necessary for the navigation solution on a UAV. The main contributions of this work include: (1 extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; (2 improved performance of the SLAM algorithm for lower camera frame rates; and (3 the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map. This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible.

  15. 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

  16. 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.

  17. 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.

  18. 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.

  19. Tracking control of concentration profiles in a fed-batch bioreactor using a linear algebra methodology.

    Science.gov (United States)

    Rómoli, Santiago; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Vega, Jorge Rubén; Eduardo Scaglia, Gustavo Juan

    2015-07-01

    Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined in the literature. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal controller parameters are selected through Monte Carlo Randomized Algorithm in order to minimize a proposed cost index. The controller performance is evaluated through several tests, and compared with other controller reported in the literature. Finally, a Monte Carlo Randomized Algorithm is conducted to assess the performance of the proposed controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  20. 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...

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. First responder tracking and visualization for command and control toolkit

    Science.gov (United States)

    Woodley, Robert; Petrov, Plamen; Meisinger, Roger

    2010-04-01

    In order for First Responder Command and Control personnel to visualize incidents at urban building locations, DHS sponsored a small business research program to develop a tool to visualize 3D building interiors and movement of First Responders on site. 21st Century Systems, Inc. (21CSI), has developed a toolkit called Hierarchical Grid Referenced Normalized Display (HiGRND). HiGRND utilizes three components to provide a full spectrum of visualization tools to the First Responder. First, HiGRND visualizes the structure in 3D. Utilities in the 3D environment allow the user to switch between views (2D floor plans, 3D spatial, evacuation routes, etc.) and manually edit fast changing environments. HiGRND accepts CAD drawings and 3D digital objects and renders these in the 3D space. Second, HiGRND has a First Responder tracker that uses the transponder signals from First Responders to locate them in the virtual space. We use the movements of the First Responder to map the interior of structures. Finally, HiGRND can turn 2D blueprints into 3D objects. The 3D extruder extracts walls, symbols, and text from scanned blueprints to create the 3D mesh of the building. HiGRND increases the situational awareness of First Responders and allows them to make better, faster decisions in critical urban situations.

  8. Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control

    NARCIS (Netherlands)

    Wey, T.; Lemmen, M.; Bernzen, W.; Wey, T.

    1999-01-01

    This paper deals with an application of the differential algebraic flatness approach to hydraulic drives. Here, an elastic robot arm driven by a differential cylinder is investigated. The task is to design a suitable control law which not only tracks a given trajectory but also allows the damping of

  9. 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

  10. Self-tracking of physical activity in people with type 2 diabetes : a randomized controlled trial

    NARCIS (Netherlands)

    Kooiman, Thea; de Groot, Martijn; Hoogenberg, Klaas; Krijnen, Wim P; van der Schans, Cees P; Kooy, Adriaan

    2018-01-01

    The purpose of this study was to determine the efficacy of an online self-tracking program on physical activity, glycated hemoglobin, and other health measures in patients with type 2 diabetes. Seventy-two patients with type 2 diabetes were randomly assigned to an intervention or control group. All

  11. Self-directed learning skills in air-traffic control training; An eye-tracking approach

    NARCIS (Netherlands)

    Van Meeuwen, Ludo; Brand-Gruwel, Saskia; Van Merriënboer, Jeroen; Bock, Jeano; Kirschner, Paul A.

    2011-01-01

    Van Meeuwen, L. W., Brand-Gruwel, S., De Bock, J. J. P. R., Kirschner, P. A., & Van Merriënboer, J. J. G. (2010, September). Self-directed Learning Skills in Air-traffic Control Training; An Eye-tracking Approach. Paper presented at the European Association for Aviation Psychology, Budapest.

  12. 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,

  13. 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)

  14. 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.

  15. 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.

  16. Front tracking based modeling of the solid grain growth on the adaptive control volume grid

    Science.gov (United States)

    Seredyński, Mirosław; Łapka, Piotr

    2017-07-01

    The paper presents the micro-scale model of unconstrained solidification of the grain immersed in under-cooled liquid, based on the front tracking approach. For this length scale, the interface tracked through the domain is meant as the solid-liquid boundary. To prevent generation of huge meshes the energy transport equation is discretized on the adaptive control volume (c.v.) mesh. The coupling of dynamically changing mesh and moving front position is addressed. Preliminary results of simulation of a test case, the growth of single grain, are presented and discussed.

  17. 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).

  18. Development of requirements tracking and verification system for the software design of distributed control system

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Chul Hwan; Kim, Jang Yeol; Kim, Jung Tack; Lee, Jang Soo; Ham, Chang Shik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1999-12-31

    In this paper a prototype of Requirement Tracking and Verification System(RTVS) for a Distributed Control System was implemented and tested. The RTVS is a software design and verification tool. The main functions required by the RTVS are managing, tracking and verification of the software requirements listed in the documentation of the DCS. The analysis of DCS software design procedures and interfaces with documents were performed to define the user of the RTVS, and the design requirements for RTVS were developed. 4 refs., 3 figs. (Author)

  19. Development of requirements tracking and verification system for the software design of distributed control system

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Chul Hwan; Kim, Jang Yeol; Kim, Jung Tack; Lee, Jang Soo; Ham, Chang Shik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1998-12-31

    In this paper a prototype of Requirement Tracking and Verification System(RTVS) for a Distributed Control System was implemented and tested. The RTVS is a software design and verification tool. The main functions required by the RTVS are managing, tracking and verification of the software requirements listed in the documentation of the DCS. The analysis of DCS software design procedures and interfaces with documents were performed to define the user of the RTVS, and the design requirements for RTVS were developed. 4 refs., 3 figs. (Author)

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

    Directory of Open Access Journals (Sweden)

    Ming-Tzu Ho

    2013-07-01

    Full Text Available This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA device to meet real-time constraints. A detailed dynamic model of the system is derived for the simulation study. By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input-output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP. The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

  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. 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.

  11. 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

  12. 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.

  13. 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.

  14. Design and Development of Mechanical Structure and Control System for Tracked Trailing Mobile Robot

    OpenAIRE

    Hongchuan Xu; Jianxing Ren; Rui Zhu; Zhiwei Chen

    2013-01-01

    Along with the science and technology unceasing progress, the uses of tracing robots become more and more widely. Tracked tracing robot was adopted as the research object in this paper, mechanical structure and control system of robot was designed and developmented. In mechanical structure design part, structure designed and positioned  were completed, including design of robot body, wheel, underpan, transmission structure and the positioning of batteries, control panel, sensors, etc, and the...

  15. A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

    Science.gov (United States)

    Kwon, Dong-Soo; Book, Wayne J.

    1991-01-01

    The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

  16. 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.

  17. 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.

  18. A controllable resistor and its applications in pole-zero tracking frequency compensation methods for LDOs

    International Nuclear Information System (INIS)

    Wang Yi; He Lenian; Ning Zhihua; Shao Yali

    2009-01-01

    This paper presents a controllable resistor, which is formed by a MOS-resistor working in the deep triangle region and an auxiliary circuit. The auxiliary circuit can generate the gate-source voltage which is proportional to the output current of an low dropout regulator for the MOS-resistor. Thus, the equivalent output resistance of the MOS-resistor is inversely proportional to the output current, which is a suitable feature for pole-zero tracking frequency compensation methods. By switching the type of the MOS-resistor and current direction through the auxiliary circuit, the controllable resistor can be suitable for different applications. Three pole-zero tracking frequency compensation methods based on a single Miller capacitor with nulling resistor, unit-gain compensation cell and pseudo-ESR (equivalent serial resistor of load capacitor) power stage have been realized by this controllable resistor. Their advantages and limitations are discussed and verified by simulation results.

  19. A controllable resistor and its applications in pole-zero tracking frequency compensation methods for LDOs

    Energy Technology Data Exchange (ETDEWEB)

    Wang Yi; He Lenian; Ning Zhihua; Shao Yali, E-mail: wangyi@vlsi.zju.edu.c [Institute of VLSI Design, Zhejiang University, Hangzhou 310027 (China)

    2009-09-15

    This paper presents a controllable resistor, which is formed by a MOS-resistor working in the deep triangle region and an auxiliary circuit. The auxiliary circuit can generate the gate-source voltage which is proportional to the output current of an low dropout regulator for the MOS-resistor. Thus, the equivalent output resistance of the MOS-resistor is inversely proportional to the output current, which is a suitable feature for pole-zero tracking frequency compensation methods. By switching the type of the MOS-resistor and current direction through the auxiliary circuit, the controllable resistor can be suitable for different applications. Three pole-zero tracking frequency compensation methods based on a single Miller capacitor with nulling resistor, unit-gain compensation cell and pseudo-ESR (equivalent serial resistor of load capacitor) power stage have been realized by this controllable resistor. Their advantages and limitations are discussed and verified by simulation results.

  20. A photodiode based on PbS nanocrystallites for FYTRONIX solar panel automatic tracking controller

    Science.gov (United States)

    Wageh, S.; Farooq, W. A.; Tataroğlu, A.; Dere, A.; Al-Sehemi, Abdullah G.; Al-Ghamdi, Ahmed A.; Yakuphanoglu, F.

    2017-12-01

    The structural, optical and photoelectrical properties of the fabricated Al/PbS/p-Si/Al photodiode based on PbS nanocrystallites were investigated. The PbS nanocrystallites were characterized by X-ray diffraction (XRD), UV-VIS-NIR, Infrared and Raman spectroscopy. The XRD diffraction peaks show that the prepared PbS nanostructure is in high crystalline state. Various electrical parameters of the prepared photodiode were analyzed from the electrical characteristics based on I-V and C-V-G. The photodiode has a high rectification ratio of 5.85×104 at dark and ±4 V. Moreover, The photocurrent results indicate a strong photovoltaic behavior. The frequency dependence of capacitance and conductance characteristics was attributed to depletion region behavior of the photodiode. The diode was used to control solar panel power automatic tracking controller in dual axis. The fabricated photodiode works as a photosensor to control Solar tracking systems.

  1. 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.

  2. 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.

  3. 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.

  4. 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

  5. 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)

  6. APPLICATION OF EYE TRACKING FOR MEASUREMENT AND EVALUATION IN HUMAN FACTORS STUDIES IN CONTROL ROOM MODERNIZATION

    Energy Technology Data Exchange (ETDEWEB)

    Kovesdi, C.; Spielman, Z.; LeBlanc, K.; Rice, B.

    2017-05-01

    An important element of human factors engineering (HFE) pertains to measurement and evaluation (M&E). The role of HFE-M&E should be integrated throughout the entire control room modernization (CRM) process and be used for human-system performance evaluation and diagnostic purposes with resolving potential human engineering deficiencies (HEDs) and other human machine interface (HMI) design issues. NUREG-0711 describes how HFE in CRM should employ a hierarchical set of measures, particularly during integrated system validation (ISV), including plant performance, personnel task performance, situation awareness, cognitive workload, and anthropometric/ physiological factors. Historically, subjective measures have been primarily used since they are easier to collect and do not require specialized equipment. However, there are pitfalls with relying solely on subjective measures in M&E such that negatively impact reliability, sensitivity, and objectivity. As part of comprehensively capturing a diverse set of measures that strengthen findings and inferences made of the benefits from emerging technologies like advanced displays, this paper discusses the value of using eye tracking as an objective method that can be used in M&E. A brief description of eye tracking technology and relevant eye tracking measures is provided. Additionally, technical considerations and the unique challenges with using eye tracking in full-scaled simulations are addressed. Finally, this paper shares preliminary findings regarding the use of a wearable eye tracking system in a full-scale simulator study. These findings should help guide future full-scale simulator studies using eye tracking as a methodology to evaluate human-system performance.

  7. 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

  8. Design of an embedded inverse-feedforward biomolecular tracking controller for enzymatic reaction processes.

    Science.gov (United States)

    Foo, Mathias; Kim, Jongrae; Sawlekar, Rucha; Bates, Declan G

    2017-04-06

    Feedback control is widely used in chemical engineering to improve the performance and robustness of chemical processes. Feedback controllers require a 'subtractor' that is able to compute the error between the process output and the reference signal. In the case of embedded biomolecular control circuits, subtractors designed using standard chemical reaction network theory can only realise one-sided subtraction, rendering standard controller design approaches inadequate. Here, we show how a biomolecular controller that allows tracking of required changes in the outputs of enzymatic reaction processes can be designed and implemented within the framework of chemical reaction network theory. The controller architecture employs an inversion-based feedforward controller that compensates for the limitations of the one-sided subtractor that generates the error signals for a feedback controller. The proposed approach requires significantly fewer chemical reactions to implement than alternative designs, and should have wide applicability throughout the fields of synthetic biology and biological engineering.

  9. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

    Directory of Open Access Journals (Sweden)

    José Rafael García-Sánchez

    2017-01-01

    Full Text Available The trajectory tracking task in a wheeled mobile robot (WMR is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR, actuators (DC motors, and power stage (DC/DC Buck power converters. The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ–Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

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

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

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

  11. 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

  12. 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.

  13. 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.

  14. Genetic algorithms optimized fuzzy logic control for the maximum power point tracking in photovoltaic system

    Energy Technology Data Exchange (ETDEWEB)

    Larbes, C.; Ait Cheikh, S.M.; Obeidi, T.; Zerguerras, A. [Laboratoire des Dispositifs de Communication et de Conversion Photovoltaique, Departement d' Electronique, Ecole Nationale Polytechnique, 10, Avenue Hassen Badi, El Harrach, Alger 16200 (Algeria)

    2009-10-15

    This paper presents an intelligent control method for the maximum power point tracking (MPPT) of a photovoltaic system under variable temperature and irradiance conditions. First, for the purpose of comparison and because of its proven and good performances, the perturbation and observation (P and O) technique is briefly introduced. A fuzzy logic controller based MPPT (FLC) is then proposed which has shown better performances compared to the P and O MPPT based approach. The proposed FLC has been also improved using genetic algorithms (GA) for optimisation. Different development stages are presented and the optimized fuzzy logic MPPT controller (OFLC) is then simulated and evaluated, which has shown better performances. (author)

  15. Maximum Power Point Tracking Control of Photovoltaic Systems: A Polynomial Fuzzy Model-Based Approach

    DEFF Research Database (Denmark)

    Rakhshan, Mohsen; Vafamand, Navid; Khooban, Mohammad Hassan

    2018-01-01

    This paper introduces a polynomial fuzzy model (PFM)-based maximum power point tracking (MPPT) control approach to increase the performance and efficiency of the solar photovoltaic (PV) electricity generation. The proposed method relies on a polynomial fuzzy modeling, a polynomial parallel......, a direct maximum power (DMP)-based control structure is considered for MPPT. Using the PFM representation, the DMP-based control structure is formulated in terms of SOS conditions. Unlike the conventional approaches, the proposed approach does not require exploring the maximum power operational point...

  16. Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

    International Nuclear Information System (INIS)

    Khaki-Sedigh, A.; Yazdanpanah-Goharrizi, A.

    2006-01-01

    A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology

  17. Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Khaki-Sedigh, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: sedigh@kntu.ac.ir; Yazdanpanah-Goharrizi, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: yazdanpanah@ee.kntu.ac.ir

    2006-09-15

    A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology.

  18. 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.

  19. Dynamic surface tracking controller design for a constrained hypersonic vehicle based on disturbance observer

    Directory of Open Access Journals (Sweden)

    Fang Wang

    2017-05-01

    Full Text Available The tracking control problem of a flexible air-breathing hypersonic vehicle subjects to aerodynamic parameter uncertainty and input constraint is investigated by combining nonlinear disturbance observer and dynamic surface control. To design controller simply, a control-oriented model is firstly derived and divided into two subsystems, velocity subsystem and altitude subsystem based on the engineering backgrounds of flexible air-breathing hypersonic vehicle. In every subsystem, compounded disturbances are included to consider aerodynamic uncertainty and the effect of the flexible modes. Then, disturbance observer is not only used to handle the compounded disturbance but also to handle the input constraint, where the estimation error converges to a random small region through appropriately choosing the observer parameters. To sequel, the disturbance observer–based robust control scheme and the disturbance observer-based dynamic surface control scheme are developed for the velocity subsystem and altitude subsystem, respectively. Besides, novel filters are designed to alleviate the problem of “explosion of terms” induced by backstepping method. On the basis of Lyapunov stability theory, the presented control scheme can assure that tracking error converges to an arbitrarily small neighborhood around zero by rigorous theoretical analysis. At last, simulation result shows the effectiveness of the presented control method.

  20. 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.

  1. 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

  2. Active fault tolerant control of piecewise affine systems with reference tracking and input constraints

    DEFF Research Database (Denmark)

    Gholami, M.; Cocquempot, V.; Schiøler, H.

    2014-01-01

    An active fault tolerant control (AFTC) method is proposed for discrete-time piecewise affine (PWA) systems. Only actuator faults are considered. The AFTC framework contains a supervisory scheme, which selects a suitable controller in a set of controllers such that the stability and an acceptable...... performance of the faulty system are held. The design of the supervisory scheme is not considered here. The set of controllers is composed of a normal controller for the fault-free case, an active fault detection and isolation controller for isolation and identification of the faults, and a set of passive...... fault tolerant controllers (PFTCs) modules designed to be robust against a set of actuator faults. In this research, the piecewise nonlinear model is approximated by a PWA system. The PFTCs are state feedback laws. Each one is robust against a fixed set of actuator faults and is able to track...

  3. Combating dephasing decoherence by periodically performing tracking control and projective measurement

    International Nuclear Information System (INIS)

    Zhang Ming; Dai Hongyi; Xi Zairong; Xie Hongwei; Hu Dewen

    2007-01-01

    We propose a scheme to overcome phase damping decoherence by periodically performing open loop tracking control and projective measurement. Although it is impossible to stabilize a qubit subject to Markovian dynamics only by open loop coherent control, one can attain a 'softened' control goal with the help of periodical projective measurement. The 'softened' control objective in our scheme is to keep the state of the controlled qubit to stay near a reference pure state with a high probability for a sufficiently long time. Two suboptimal control problems are given in the sense of trace distance and fidelity, respectively, and they are eventually reduced to the design of a period T. In our scheme, one can choose the period T as long as possible if the 'softened' control goal is attained. This is in contrast to the observation that quantum Zeno effect takes place only if measurements are performed in a very frequent manner, i.e., the period T must be extremely small

  4. 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.

  5. Design of a Discrete Tracking Controller for a Magnetic Levitation System: A Nonlinear Rational Model Approach

    Directory of Open Access Journals (Sweden)

    Fernando Gómez-Salas

    2015-01-01

    Full Text Available This work proposes a discrete-time nonlinear rational approximate model for the unstable magnetic levitation system. Based on this model and as an application of the input-output linearization technique, a discrete-time tracking control design will be derived using the corresponding classical state space representation of the model. A simulation example illustrates the efficiency of the proposed methodology.

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

    OpenAIRE

    Christian Rathgeber; Franz Winkler; Dirk Odenthal; Steffen Muller

    2015-01-01

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

  7. Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    OpenAIRE

    Shiuh-Jer Huang; Yu-Sheng Hsu

    2017-01-01

    On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be u...

  8. Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

    Directory of Open Access Journals (Sweden)

    Chuanjing Hou

    2015-01-01

    Full Text Available An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

  9. Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

    OpenAIRE

    Hou, Chuanjing; Hu, Lisheng; Zhang, Yingwei

    2015-01-01

    An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

  10. 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.

  11. Implementing an Internet-Delivered Skin Cancer Genetic Testing Intervention to Improve Sun Protection Behavior in a Diverse Population: Protocol for a Randomized Controlled Trial.

    Science.gov (United States)

    Hay, Jennifer L; Berwick, Marianne; Zielaskowski, Kate; White, Kirsten Am; Rodríguez, Vivian M; Robers, Erika; Guest, Dolores D; Sussman, Andrew; Talamantes, Yvonne; Schwartz, Matthew R; Greb, Jennie; Bigney, Jessica; Kaphingst, Kimberly A; Hunley, Keith; Buller, David B

    2017-04-25

    Limited translational genomic research currently exists to guide the availability, comprehension, and appropriate use of personalized genomics in diverse general population subgroups. Melanoma skin cancers are preventable, curable, common in the general population, and disproportionately increasing in Hispanics. Variants in the melanocortin-1 receptor (MC1R) gene are present in approximately 50% of the population, are major factors in determining sun sensitivity, and confer a 2-to-3-fold increase in melanoma risk in the general population, even in populations with darker skin. Therefore, feedback regarding MC1R risk status may raise risk awareness and protective behavior in the general population. We are conducting a randomized controlled trial examining Internet presentation of the risks and benefits of personalized genomic testing for MC1R gene variants that are associated with increased melanoma risk. We will enroll a total of 885 participants (462 participants are currently enrolled), who will be randomized 6:1 to personalized genomic testing for melanoma risk versus waiting list control. Control participants will be offered testing after outcome assessments. Participants will be balanced across self-reported Hispanic versus non-Hispanic ethnicity (n=750 in personalized genomic testing for melanoma risk arm; n=135 in control arm), and will be recruited from a general population cohort in Albuquerque, New Mexico, which is subject to year-round sun exposure. Baseline surveys will be completed in-person with study staff and follow-up measures will be completed via telephone. Aim 1 of the trial will examine the personal utility of personalized genomic testing for melanoma risk in terms of short-term (3-month) sun protection and skin screening behaviors, family and physician communication, and melanoma threat and control beliefs (ie, putative mediators of behavior change). We will also examine potential unintended consequences of testing among those who receive

  12. 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.

  13. Dynamic Learning from Adaptive Neural Control of Uncertain Robots with Guaranteed Full-State Tracking Precision

    Directory of Open Access Journals (Sweden)

    Min Wang

    2017-01-01

    Full Text Available A dynamic learning method is developed for an uncertain n-link robot with unknown system dynamics, achieving predefined performance attributes on the link angular position and velocity tracking errors. For a known nonsingular initial robotic condition, performance functions and unconstrained transformation errors are employed to prevent the violation of the full-state tracking error constraints. By combining two independent Lyapunov functions and radial basis function (RBF neural network (NN approximator, a novel and simple adaptive neural control scheme is proposed for the dynamics of the unconstrained transformation errors, which guarantees uniformly ultimate boundedness of all the signals in the closed-loop system. In the steady-state control process, RBF NNs are verified to satisfy the partial persistent excitation (PE condition. Subsequently, an appropriate state transformation is adopted to achieve the accurate convergence of neural weight estimates. The corresponding experienced knowledge on unknown robotic dynamics is stored in NNs with constant neural weight values. Using the stored knowledge, a static neural learning controller is developed to improve the full-state tracking performance. A comparative simulation study on a 2-link robot illustrates the effectiveness of the proposed scheme.

  14. 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.

  15. Evaluation of head-free eye tracking as an input device for air traffic control.

    Science.gov (United States)

    Alonso, Roland; Causse, Mickaël; Vachon, François; Parise, Robert; Dehais, Frédéric; Terrier, Patrice

    2013-01-01

    The purpose of this study was to investigate the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC) activity. Sixteen participants used an eye tracker to select targets displayed on a screen as quickly and accurately as possible. We assessed the impact of the presence of visual feedback about gaze position and the method of target selection on selection performance under different difficulty levels induced by variations in target size and target-to-target separation. We tend to consider that the combined use of gaze dwell-time selection and continuous eye-gaze feedback was the best condition as it suits naturally with gaze displacement over the ATC display and free the hands of the controller, despite a small cost in terms of selection speed. In addition, target size had a greater impact on accuracy and selection time than target distance. These findings provide guidelines on possible further implementation of eye tracking in ATC everyday activity. We investigated the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC). We found that the combined use of gaze dwell-time selection and continuous eye-gaze feedback allowed the best performance and that target size had a greater impact on performance than target distance.

  16. 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.

  17. 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.

  18. Tracking control of a leg rehabilitation machine driven by pneumatic artificial muscles using composite fuzzy theory.

    Science.gov (United States)

    Chang, Ming-Kun

    2014-01-01

    It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs) because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems. The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs) in order to determine controller gains based on the Lyapunov direct method. Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine. Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.

  19. 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.

  20. 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.

  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. Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

    Science.gov (United States)

    Pan, Huihui; Jing, Xingjian; Sun, Weichao

    2017-05-01

    This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

  3. Experimental evaluation of feedforward control for the trajectory tracking of power in nuclear reactors

    International Nuclear Information System (INIS)

    Lau, S.H.; Bernard, J.A.; Lanning, D.D.

    1991-01-01

    This paper reports on an experimental comparison of feedforward control techniques for the trajectory-tracking of neutronic power was performed on the 5-MWt MIT Research Reactor. Included in the comparison were pure feedforward control in which the actuator signal is found solely by processing a demanded output through a system model, hybrid feedforward/feedback control in which the actuator signal is obtained by summing feedforward and feedback components, and period-generated control in which feedback is used to update the demand trajectory prior to its being processed through the system model for calculation of the actuator signal. This latter approach was found to be the most effective. In addition to the experimental results, discussions are given of both the rationale for model-based, feedforward control and the designs of the various controllers

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

    International Nuclear Information System (INIS)

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

    2010-01-01

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

  5. Optimality based repetitive controller design for track-following servo system of optical disk drives.

    Science.gov (United States)

    Chen, Wentao; Zhang, Weidong

    2009-10-01

    In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

  6. Evaluation of the Tobii EyeX Eye tracking controller and Matlab toolkit for research.

    Science.gov (United States)

    Gibaldi, Agostino; Vanegas, Mauricio; Bex, Peter J; Maiello, Guido

    2017-06-01

    The Tobii Eyex Controller is a new low-cost binocular eye tracker marketed for integration in gaming and consumer applications. The manufacturers claim that the system was conceived for natural eye gaze interaction, does not require continuous recalibration, and allows moderate head movements. The Controller is provided with a SDK to foster the development of new eye tracking applications. We review the characteristics of the device for its possible use in scientific research. We develop and evaluate an open source Matlab Toolkit that can be employed to interface with the EyeX device for gaze recording in behavioral experiments. The Toolkit provides calibration procedures tailored to both binocular and monocular experiments, as well as procedures to evaluate other eye tracking devices. The observed performance of the EyeX (i.e. accuracy < 0.6°, precision < 0.25°, latency < 50 ms and sampling frequency ≈55 Hz), is sufficient for some classes of research application. The device can be successfully employed to measure fixation parameters, saccadic, smooth pursuit and vergence eye movements. However, the relatively low sampling rate and moderate precision limit the suitability of the EyeX for monitoring micro-saccadic eye movements or for real-time gaze-contingent stimulus control. For these applications, research grade, high-cost eye tracking technology may still be necessary. Therefore, despite its limitations with respect to high-end devices, the EyeX has the potential to further the dissemination of eye tracking technology to a broad audience, and could be a valuable asset in consumer and gaming applications as well as a subset of basic and clinical research settings.

  7. Production controls (PC) and technical verification testing (TVT). A methodology for the control and tracking of LILW waste package conditioning

    International Nuclear Information System (INIS)

    Leon, A.M.; Nieto, J.L.L.; Garrido, J.G.

    2003-01-01

    As part of its low and intermediate level radioactive waste (LILW) characterisation and acceptance activities, ENRESA has set up a quality control programme that covers the different phases of radioactive waste package production and implies different levels of tracking in generation, assessment of activity and control of the documentation associated therewith. Furthermore, ENRESA has made available the mechanisms required for verification, depending on the results of periodic sampling, of the quality of the end product delivered by the waste producers. Both processes are included within the framework of two programmes of complementary activities: production controls (PC) and technical verification testing (TVT). (orig.)

  8. 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.

  9. ANALYTICAL SYNTHESIS OF FORCED PULSE ELECTRONIC DRIVE CONTROL OF A TRACKING SYSTEM

    Directory of Open Access Journals (Sweden)

    A. S. Abufanas

    2017-01-01

    Full Text Available The problem of analytical synthesis of a control signal by a linear dynamical system is considered. As an optimization criterion, it is proposed to consider the transition time of the system from the initial state to a given final state. This type of control is called forced, providing the maximum system speed. The principle of solving this problem is considered on the basis of application of uncertain Lagrange multipliers and the Pontryagin maximum principle. Expressions are obtained for the matrix of transitions of the system and the control signal in a vector form.As an example, the electric drive described by the widespread second-order mathematical model is considered to evaluate the efficiency of the proposed method. Qualitative illustrations of the operability of the proposed approach, obtained by modeling in the Mathcad environment, and quantitative characteristics of the change in the input and output signals of the hypothetical control system are presented. It is shown that the use of forced control does not lead to the output of variables characterizing the state of the system, beyond the limits of admissible values.The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles. Key words: forced control, target function, electric drive, pulse train. The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles.

  10. Effects of controlled element dynamics on human feedforward behavior in ramp-tracking tasks.

    Science.gov (United States)

    Laurense, Vincent A; Pool, Daan M; Damveld, Herman J; van Paassen, Marinus René M; Mulder, Max

    2015-02-01

    In real-life manual control tasks, human controllers are often required to follow a visible and predictable reference signal, enabling them to use feedforward control actions in conjunction with feedback actions that compensate for errors. Little is known about human control behavior in these situations. This paper investigates how humans adapt their feedforward control dynamics to the controlled element dynamics in a combined ramp-tracking and disturbance-rejection task. A human-in-the-loop experiment is performed with a pursuit display and vehicle-like controlled elements, ranging from a single integrator through second-order systems with a break frequency at either 3, 2, or 1 rad/s, to a double integrator. Because the potential benefits of feedforward control increase with steeper ramp segments in the target signal, three steepness levels are tested to investigate their possible effect on feedforward control with the various controlled elements. Analyses with four novel models of the operator, fitted to time-domain data, reveal feedforward control for all tested controlled elements and both (nonzero) tested levels of ramp steepness. For the range of controlled element dynamics investigated, it is found that humans adapt to these dynamics in their feedforward response, with a close to perfect inversion of the controlled element dynamics. No significant effects of ramp steepness on the feedforward model parameters are found.

  11. 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.

  12. 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.

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

    Science.gov (United States)

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

    2018-05-01

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

  14. Maximum Power Point Tracking Using Sliding Mode Control for Photovoltaic Array

    Directory of Open Access Journals (Sweden)

    J. Ghazanfari

    2013-09-01

    Full Text Available In this paper, a robust Maximum Power Point Tracking (MPPT for PV array has been proposed using sliding mode control by defining a new formulation for sliding surface which is based on increment conductance (INC method. The stability and robustness of the proposed controller are investigated to load variations and environment changes. Three different types of DC-DC converter are used in Maximum Power Point (MPP system and the results obtained are given. The simulation results confirm the effectiveness of the proposed method in the presence of load variations and environment changes for different types of DC-DC converter topologies.

  15. Experimental Tracking of Limit-Point Bifurcations and Backbone Curves Using Control-Based Continuation

    Science.gov (United States)

    Renson, Ludovic; Barton, David A. W.; Neild, Simon A.

    Control-based continuation (CBC) is a means of applying numerical continuation directly to a physical experiment for bifurcation analysis without the use of a mathematical model. CBC enables the detection and tracking of bifurcations directly, without the need for a post-processing stage as is often the case for more traditional experimental approaches. In this paper, we use CBC to directly locate limit-point bifurcations of a periodically forced oscillator and track them as forcing parameters are varied. Backbone curves, which capture the overall frequency-amplitude dependence of the system’s forced response, are also traced out directly. The proposed method is demonstrated on a single-degree-of-freedom mechanical system with a nonlinear stiffness characteristic. Results are presented for two configurations of the nonlinearity — one where it exhibits a hardening stiffness characteristic and one where it exhibits softening-hardening.

  16. 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.

  17. BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.

    Science.gov (United States)

    Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe

    2015-01-01

    Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.

  18. A Novel Maximum Power Point Tracking Control for Permanent Magnet Direct Drive Wind Energy Conversion Systems

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2012-05-01

    Full Text Available This paper proposes a novel optimal current given (OCG maximum power point tracking (MPPT control strategy based on the theory of power feedback and hill climb searching (HCS for a permanent magnet direct drive wind energy conversion system (WECS. The presented strategy not only has the advantages of not needing the wind speed and wind turbine characteristics of the traditional HCS method, but it also improves the stability and accuracy of MPPT by estimating the exact loss torque. The OCG MPPT control strategy is first carried out by simulation, then an experimental platform based on the dSPACE1103 controller is built and a 5.5 kW permanent magnet synchronous generator (PMSG is tested. Furthermore, the proposed method is compared experimentally with the traditional optimum tip speed ratio (TSR MPPT control. The experiments verify the effectiveness of the proposed OCG MPPT strategy and demonstrate its better performance than the traditional TSR MPPT control.

  19. Amplitude control of the track-induced self-excited vibration for a maglev system.

    Science.gov (United States)

    Zhou, Danfeng; Li, Jie; Zhang, Kun

    2014-09-01

    The Electromagnet Suspension (EMS) maglev train uses controlled electromagnetic forces to achieve suspension, and self-excited vibration may occur due to the flexibility of the track. In this article, the harmonic balance method is applied to investigate the amplitude of the self-excited vibration, and it is found that the amplitude of the vibration depends on the voltage of the power supplier. Based on this observation, a vibration amplitude control method, which controls the amplitude of the vibration by adjusting the voltage of the power supplier, is proposed to attenuate the vibration. A PI controller is designed to control the amplitude of the vibration at a given level. The effectiveness of this method shows a good prospect for its application to commercial maglev systems. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Xianlei Cheng

    2015-01-01

    Full Text Available We propose a predictive sliding mode control (PSMC scheme for attitude control of hypersonic vehicle (HV with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO. First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC, which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

  1. Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Yi-Hsiang Tseng

    2013-01-01

    Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

  2. A Novel SHLNN Based Robust Control and Tracking Method for Hypersonic Vehicle under Parameter Uncertainty

    Directory of Open Access Journals (Sweden)

    Chuanfeng Li

    2017-01-01

    Full Text Available Hypersonic vehicle is a typical parameter uncertain system with significant characteristics of strong coupling, nonlinearity, and external disturbance. In this paper, a combined system modeling approach is proposed to approximate the actual vehicle system. The state feedback control strategy is adopted based on the robust guaranteed cost control (RGCC theory, where the Lyapunov function is applied to get control law for nonlinear system and the problem is transformed into a feasible solution by linear matrix inequalities (LMI method. In addition, a nonfragile guaranteed cost controller solved by LMI optimization approach is employed to the linear error system, where a single hidden layer neural network (SHLNN is employed as an additive gain compensator to reduce excessive performance caused by perturbations and uncertainties. Simulation results show the stability and well tracking performance for the proposed strategy in controlling the vehicle system.

  3. Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Chengshun Yang

    2013-01-01

    Full Text Available Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

  4. 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.

  5. 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...

  6. 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.

  7. Comparative Analysis of Maximum Power Point Tracking Controllers under Partial Shaded Conditions in a Photovoltaic System

    Directory of Open Access Journals (Sweden)

    R. Ramaprabha

    2015-06-01

    Full Text Available Mismatching effects due to partial shaded conditions are the major drawbacks existing in today’s photovoltaic (PV systems. These mismatch effects are greatly reduced in distributed PV system architecture where each panel is effectively decoupled from its neighboring panel. To obtain the optimal operation of the PV panels, maximum power point tracking (MPPT techniques are used. In partial shaded conditions, detecting the maximum operating point is difficult as the characteristic curves are complex with multiple peaks. In this paper, a neural network control technique is employed for MPPT. Detailed analyses were carried out on MPPT controllers in centralized and distributed architecture under partial shaded environments. The efficiency of the MPPT controllers and the effectiveness of the proposed control technique under partial shaded environments was examined using MATLAB software. The results were validated through experimentation.

  8. Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

    Directory of Open Access Journals (Sweden)

    Jurkiewicz Andrzej

    2017-09-01

    Full Text Available The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous sky-hook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

  9. An Optimal Augmented Monotonic Tracking Controller for Aircraft Engines with Output Constraints

    Directory of Open Access Journals (Sweden)

    Jiakun Qin

    2017-01-01

    Full Text Available This paper proposes a novel min-max control scheme for aircraft engines, with the aim of transferring a set of regulated outputs between two set-points, while ensuring a set of auxiliary outputs remain within prescribed constraints. In view of this, an optimal augmented monotonic tracking controller (OAMTC is proposed, by considering a linear plant with input integration, to enhance the ability of the control system to reject uncertainty in system parameters and ensure no crossing limits. The key idea is to use the eigenvalue and eigenvector placement method and genetic algorithms to shape the output responses. The approach is validated by numerical simulation. The results show that the designed OAMTC controller can achieve a satisfactory dynamic and steady performance and keep the auxiliary outputs within constraints in the transient regime.

  10. An RFID-based luggage and passenger tracking system for airport security control applications

    Science.gov (United States)

    Vastianos, George E.; Kyriazanos, Dimitris M.; Kountouriotis, Vassilios I.; Thomopoulos, Stelios C. A.

    2014-06-01

    Market analysis studies of recent years have shown a steady and significant increase in the usage of RFID technology. Key factors for this growth were the decreased costs of passive RFIDs and their improved performance compared to the other identification technologies. Besides the benefits of RFID technologies into the supply chains, warehousing, traditional inventory and asset management applications, RFID has proven itself worth exploiting on experimental, as well as on commercial level in other sectors, such as healthcare, transport and security. In security sector, airport security is one of the biggest challenges. Airports are extremely busy public places and thus prime targets for terrorism, with aircraft, passengers, crew and airport infrastructure all subject to terrorist attacks. Inside this labyrinth of security challenges, the long range detection capability of the UHF passive RFID technology can be turned into a very important tracking tool that may outperform all the limitations of the barcode tracking inside the current airport security control chain. The Integrated Systems Lab of NCSR Demokritos has developed an RFID based Luggage and Passenger tracking system within the TASS (FP7-SEC-2010-241905) EU research project. This paper describes application scenarios of the system categorized according to the structured nature of the environment, the system architecture and presents evaluation results extracted from measurements with a group of different massive production GEN2 UHF RFID tags that are widely available in the world market.

  11. 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.

  12. Surfactant-controlled etching of ion track nanopores and its practical applications in membrane technology

    International Nuclear Information System (INIS)

    Apel, P.Yu.; Blonskaya, I.V.; Dmitriev, S.N.; Mamonova, T.I.; Orelovitch, O.L.; Sartowska, B.; Yamauchi, Yu.

    2008-01-01

    The effect of surfactants on chemical development of ion tracks in polymers has been studied. It has been shown that surface-active agents added to an alkaline etching solution adsorb on the polymer surface at the pore entrances. This reduces the etch rate, which leads to the formation of pores tapered toward the surface. Self-assembly of surfactant molecules at the pore entrance creates a barrier for their penetration into the etched-out nanopores, whereas hydroxide ions diffuse freely. Due to this, the internal pore volume grows faster than the pore surface diameter. The ability to control pore shape is demonstrated with the fabrication of profiled nano- and micropores in polyethylene terephthalate, polycarbonate. Some earlier published data on small track-etched pores in polycarbonate (in particular, the pore diameter vs. etching time curves measured conductometrically) have been revised in light of the above findings. Adding surfactants to chemical etchants makes it possible to optimize the structure of track membranes, thus improving their retention and permeation properties. Asymmetric membranes with thin skin retention layers have been produced and their performance studied

  13. Sun and Sjogren's Syndrome

    Science.gov (United States)

    Patient Education Sheet The Sun and Sjögren’s Syndrome The SSF thanks Mona Z. Mofid, MD, FAAD, Diplomate, American Board of Dermatology, and Medical Director, American Melanoma Foundation, San Diego, California, ...

  14. Vision based guidance and flight control in problems of aerial tracking

    Science.gov (United States)

    Stepanyan, Vahram

    The use of visual sensors in providing the necessary information for the autonomous guidance and navigation of the unmanned-air vehicles (UAV) or micro-air vehicles (MAV) applications is inspired by biological systems and is motivated first of all by the reduction of the navigational sensor cost. Also, visual sensors can be more advantageous in military operations since they are difficult to detect. However, the design of a reliable guidance, navigation and control system for aerial vehicles based only on visual information has many unsolved problems, ranging from hardware/software development to pure control-theoretical issues, which are even more complicated when applied to the tracking of maneuvering unknown targets. This dissertation describes guidance law design and implementation algorithms for autonomous tracking of a flying target, when the information about the target's current position is obtained via a monocular camera mounted on the tracking UAV (follower). The visual information is related to the target's relative position in the follower's body frame via the target's apparent size, which is assumed to be constant, but otherwise unknown to the follower. The formulation of the relative dynamics in the inertial frame requires the knowledge of the follower's orientation angles, which are assumed to be known. No information is assumed to be available about the target's dynamics. The follower's objective is to maintain a desired relative position irrespective of the target's motion. Two types of guidance laws are designed and implemented in the dissertation. The first one is a smooth guidance law that guarantees asymptotic tracking of a target, the velocity of which is viewed as a time-varying disturbance, the change in magnitude of which has a bounded integral. The second one is a smooth approximation of a discontinuous guidance law that guarantees bounded tracking with adjustable bounds when the target's acceleration is viewed as a bounded but otherwise

  15. 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.

  16. 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.

  17. 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...

  18. A novel approach to particle track etching: surfactant enhanced control of pore morphology

    International Nuclear Information System (INIS)

    Apel', P.Yu.; Dmitriev, S.N.; Vutsadakis, V.A.; Root, D.

    2000-01-01

    Based on the understanding of the mechanism behind a long observed but thus far unexplained effect, a new method to control the geometry of nano- and micropores is described. Surfactant molecules added to an etching solution used for etching out ion tracks, create a steric-hindrance effect which is responsible for the formation of 'bottleneck' or 'cigar-like' pores. Filtration membranes thus obtained exhibit significantly improved flow rates without deterioration in the retention properties. New applications are made possible with these new pore geometries

  19. Tracking Control Based on Recurrent Neural Networks for Nonlinear Systems with Multiple Inputs and Unknown Deadzone

    Directory of Open Access Journals (Sweden)

    J. Humberto Pérez-Cruz

    2012-01-01

    Full Text Available This paper deals with the problem of trajectory tracking for a broad class of uncertain nonlinear systems with multiple inputs each one subject to an unknown symmetric deadzone. On the basis of a model of the deadzone as a combination of a linear term and a disturbance-like term, a continuous-time recurrent neural network is directly employed in order to identify the uncertain dynamics. By using a Lyapunov analysis, the exponential convergence of the identification error to a bounded zone is demonstrated. Subsequently, by a proper control law, the state of the neural network is compelled to follow a bounded reference trajectory. This control law is designed in such a way that the singularity problem is conveniently avoided and the exponential convergence to a bounded zone of the difference between the state of the neural identifier and the reference trajectory can be proven. Thus, the exponential convergence of the tracking error to a bounded zone and the boundedness of all closed-loop signals can be guaranteed. One of the main advantages of the proposed strategy is that the controller can work satisfactorily without any specific knowledge of an upper bound for the unmodeled dynamics and/or the disturbance term.

  20. 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.

  1. Relay tracking control for second-order multi-agent systems with damaged agents.

    Science.gov (United States)

    Dong, Lijing; Li, Jing; Liu, Qin

    2017-11-01

    This paper investigates a situation where smart agents capable of sensory and mobility are deployed to monitor a designated area. A preset number of agents start tracking when a target intrudes this area. Some of the tracking agents are possible to be out of order over the tracking course. Thus, we propose a cooperative relay tracking strategy to ensure the successful tracking with existence of damaged agents. Relay means that, when a tracking agent quits tracking due to malfunction, one of the near deployed agents replaces it to continue the tracking task. This results in jump of tracking errors and dynamic switching of topology of the multi-agent system. Switched system technique is employed to solve this specific problem. Finally, the effectiveness of proposed tracking strategy and validity of the theoretical results are verified by conducting a numerical simulation. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. 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)

  3. Modeling and simulation of the feedwater system, associated controller and interface with the user for the SUN-RAH nucleo electric plants university student simulator

    International Nuclear Information System (INIS)

    Sanchez B, A.

    2003-01-01

    The simulation process of the component systems of the feedwater of a nucleo electric plant is presented, using several models of reduced order that represent the diverse elements that compose the systems like: the heaters of feedwater, the condenser, the feedwater pump, etc. The integration of the same ones in one simulative structure, and the development of a platform that to give the appearance of to be executed in continuous time, it is the objective of the feedwater simulator, as well as of the SUN-RAH simulator, of which is part. The simulator uses models of reduced order that respond to the observed behavior of a nuclear plant of BWR type. Likewise, it is presented a model of a flow controller of feedwater that will be the one in charge of regulating the demand of the system according to the characteristics and criticize restrictions of safety and controllability, assigned according to those wanted parameters of performance of this system inside the nucleo electric plant. The integration of these models, the adaptation of the variables and parameters, are presented in a way that the integration with the other ones models of the remaining systems of the plant (reactor, steam lines, turbine, etc.), be direct and coherent with the principles of thermodynamic cycles relative to this type of generation plants. The design of those graphic interfaces and the environment where the simulator works its are part of those developments of this work. The reaches and objectives of the simulator complement the description of the simulator. (Author)

  4. Intelligent Photovoltaic Maximum Power Point Tracking Controller for Energy Enhancement in Renewable Energy System

    Directory of Open Access Journals (Sweden)

    Subiyanto

    2013-01-01

    Full Text Available Photovoltaic (PV system is one of the promising renewable energy technologies. Although the energy conversion efficiency of the system is still low, but it has the advantage that the operating cost is free, very low maintenance and pollution-free. Maximum power point tracking (MPPT is a significant part of PV systems. This paper presents a novel intelligent MPPT controller for PV systems. For the MPPT algorithm, an optimized fuzzy logic controller (FLC using the Hopfield neural network is proposed. It utilizes an automatically tuned FLC membership function instead of the trial-and-error approach. The MPPT algorithm is implemented in a new variant of coupled inductor soft switching boost converter with high voltage gain to increase the converter output from the PV panel. The applied switching technique, which includes passive and active regenerative snubber circuits, reduces the insulated gate bipolar transistor switching losses. The proposed MPPT algorithm is implemented using the dSPACE DS1104 platform software on a DS1104 board controller. The prototype MPPT controller is tested using an agilent solar array simulator together with a 3 kW real PV panel. Experimental test results show that the proposed boost converter produces higher output voltages and gives better efficiency (90% than the conventional boost converter with an RCD snubber, which gives 81% efficiency. The prototype MPPT controller is also found to be capable of tracking power from the 3 kW PV array about 2.4 times more than that without using the MPPT controller.

  5. 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

  6. Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

    Directory of Open Access Journals (Sweden)

    Jian Hu

    2016-05-01

    Full Text Available Uncertainties, including parametric uncertainties and uncertain nonlinearities, always exist in positioning servo systems driven by a hydraulic actuator, which would degrade their tracking accuracy. In this article, an integrated control scheme, which combines adaptive robust control together with radial basis function neural network–based disturbance observer, is proposed for high-accuracy motion control of hydraulic systems. Not only parametric uncertainties but also uncertain nonlinearities (i.e. nonlinear friction, external disturbances, and/or unmodeled dynamics are taken into consideration in the proposed controller. The above uncertainties are compensated, respectively, by adaptive control and radial basis function neural network, which are ultimately integrated together by applying feedforward compensation technique, in which the global stabilization of the controller is ensured via a robust feedback path. A new kind of parameter and weight adaptation law is designed on the basis of Lyapunov stability theory. Furthermore, the proposed controller obtains an expected steady performance even if modeling uncertainties exist, and extensive simulation results in various working conditions have proven the high performance of the proposed control scheme.

  7. Measurement from sun-synchronous orbit of a reaction rate controlling the diurnal NOx cycle in the stratosphere

    Directory of Open Access Journals (Sweden)

    A. Dudhia

    2011-05-01

    Full Text Available A reaction rate associated with the nighttime formation of an important diurnally varying species, N2O5, is determined from MIPAS-ENVISAT. During the day, photolysis of N2O5 in the stratosphere contributes to nitrogen-catalysed ozone destruction. However, at night concentrations of N2O5 increase, temporarily sequestering reactive NOx NO and NO2 in a natural cycle which regulates the majority of stratospheric ozone. In this paper, the reaction rate controlling the formation of N2O5 is determined from this instrument for the first time. The observed reaction rate is compared to the currently accepted rate determined from laboratory measurements. Good agreement is obtained between the observed and accepted experimental reaction rates within the error bars.

  8. 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...

  9. Efficiency of Photovoltaic Maximum Power Point Tracking Controller Based on a Fuzzy Logic

    Directory of Open Access Journals (Sweden)

    Ammar Al-Gizi

    2017-07-01

    Full Text Available This paper examines the efficiency of a fuzzy logic control (FLC based maximum power point tracking (MPPT of a photovoltaic (PV system under variable climate conditions and connected load requirements. The PV system including a PV module BP SX150S, buck-boost DC-DC converter, MPPT, and a resistive load is modeled and simulated using Matlab/Simulink package. In order to compare the performance of FLC-based MPPT controller with the conventional perturb and observe (P&O method at different irradiation (G, temperature (T and connected load (RL variations – rising time (tr, recovering time, total average power and MPPT efficiency topics are calculated. The simulation results show that the FLC-based MPPT method can quickly track the maximum power point (MPP of the PV module at the transient state and effectively eliminates the power oscillation around the MPP of the PV module at steady state, hence more average power can be extracted, in comparison with the conventional P&O method.

  10. Optimized Adaptive Perturb and Observe Maximum Power Point Tracking Control for Photovoltaic Generation

    Directory of Open Access Journals (Sweden)

    Luigi Piegari

    2015-04-01

    Full Text Available The power extracted from PV arrays is usually maximized using maximum power point tracking algorithms. One of the most widely used techniques is the perturb & observe algorithm, which periodically perturbs the operating point of the PV array, sometime with an adaptive perturbation step, and compares the PV power before and after the perturbation. This paper analyses the most suitable perturbation step to optimize maximum power point tracking performance and suggests a design criterion to select the parameters of the controller. Using this proposed adaptive step, the MPPT perturb & observe algorithm achieves an excellent dynamic response by adapting the perturbation step to the actual operating conditions of the PV array. The proposed algorithm has been validated and tested in a laboratory using a dual input inductor push-pull converter. This particular converter topology is an efficient interface to boost the low voltage of PV arrays and effectively control the power flow when input or output voltages are variable. The experimental results have proved the superiority of the proposed algorithm in comparison of traditional perturb & observe and incremental conductance techniques.

  11. The tracking performance of distributed recoverable flight control systems subject to high intensity radiated fields

    Science.gov (United States)

    Wang, Rui

    It is known that high intensity radiated fields (HIRF) can produce upsets in digital electronics, and thereby degrade the performance of digital flight control systems. Such upsets, either from natural or man-made sources, can change data values on digital buses and memory and affect CPU instruction execution. HIRF environments are also known to trigger common-mode faults, affecting nearly-simultaneously multiple fault containment regions, and hence reducing the benefits of n-modular redundancy and other fault-tolerant computing techniques. Thus, it is important to develop models which describe the integration of the embedded digital system, where the control law is implemented, as well as the dynamics of the closed-loop system. In this dissertation, theoretical tools are presented to analyze the relationship between the design choices for a class of distributed recoverable computing platforms and the tracking performance degradation of a digital flight control system implemented on such a platform while operating in a HIRF environment. Specifically, a tractable hybrid performance model is developed for a digital flight control system implemented on a computing platform inspired largely by the NASA family of fault-tolerant, reconfigurable computer architectures known as SPIDER (scalable processor-independent design for enhanced reliability). The focus will be on the SPIDER implementation, which uses the computer communication system known as ROBUS-2 (reliable optical bus). A physical HIRF experiment was conducted at the NASA Langley Research Center in order to validate the theoretical tracking performance degradation predictions for a distributed Boeing 747 flight control system subject to a HIRF environment. An extrapolation of these results for scenarios that could not be physically tested is also presented.

  12. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Science.gov (United States)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

  13. The processing of raising and nominal control: An eye-tracking study

    Directory of Open Access Journals (Sweden)

    Patrick eSturt

    2015-03-01

    Full Text Available According to some views of sentence processing, the memory retrieval processes involved in dependency formation may differ as a function of the type of dependency involved. For example, using closely matched materials in a single experiment Dillon et al (2013 found evidence for retrieval interference in subject-verb agreement, but not in reflexive-antecedent agreement. We report four eye-tracking experiments that examine examine reflexive-antecedent dependencies, combined with raising (e.g. ``John seemed to Tom to be kind to himself...'', or nominal control (e.g. ``John’s agreement with Tom to be kind to himself...''. We hypothesized that dependencies involving raising would (a be processed more quickly, and (b be less subject to retrieval interference, relative to those involving nominal control. This is due to the fact that the interpretation of raising is structurally constrained, while the interpretation of nominal control depends crucially on lexical properties of the control nominal. The results showed evidence of interference when the reflexive-antecedent dependency was mediated by raising or nominal control, but very little evidence that could be interpreted in terms of interference for direct reflexive-antecedent dependencies that did not involve raising or control. However, there was no evidence either for greater interference, or for quicker dependency formation, for raising than for nominal control.

  14. 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)

  15. Study on Oil Pressure Characteristics and Trajectory Tracking Control in Shift Process of Wet-Clutch for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Junqiu Li

    2016-01-01

    Full Text Available Accurate control of oil pressure of wet-clutch is of great importance for improving shift quality. Based on dynamic models of two-gear planetary transmission and hydraulic control system, a trajectory tracking model of oil pressure was built by sliding mode control method. An experiment was designed to verify the validity of hydraulic control system, through which the relationship between duty cycle of on-off valve and oil pressure of clutch was determined. The tracking effect was analyzed by simulation. Results showed that oil pressure could follow well the optimal trajectory and the shift quality was effectively improved.

  16. 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...

  17. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  18. 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.

  19. Realworld maximum power point tracking simulation of PV system based on Fuzzy Logic control

    Science.gov (United States)

    Othman, Ahmed M.; El-arini, Mahdi M. M.; Ghitas, Ahmed; Fathy, Ahmed

    2012-12-01

    In the recent years, the solar energy becomes one of the most important alternative sources of electric energy, so it is important to improve the efficiency and reliability of the photovoltaic (PV) systems. Maximum power point tracking (MPPT) plays an important role in photovoltaic power systems because it maximize the power output from a PV system for a given set of conditions, and therefore maximize their array efficiency. This paper presents a maximum power point tracker (MPPT) using Fuzzy Logic theory for a PV system. The work is focused on the well known Perturb and Observe (P&O) algorithm and is compared to a designed fuzzy logic controller (FLC). The simulation work dealing with MPPT controller; a DC/DC Ćuk converter feeding a load is achieved. The results showed that the proposed Fuzzy Logic MPPT in the PV system is valid.

  20. Realworld maximum power point tracking simulation of PV system based on Fuzzy Logic control

    Directory of Open Access Journals (Sweden)

    Ahmed M. Othman

    2012-12-01

    Full Text Available In the recent years, the solar energy becomes one of the most important alternative sources of electric energy, so it is important to improve the efficiency and reliability of the photovoltaic (PV systems. Maximum power point tracking (MPPT plays an important role in photovoltaic power systems because it maximize the power output from a PV system for a given set of conditions, and therefore maximize their array efficiency. This paper presents a maximum power point tracker (MPPT using Fuzzy Logic theory for a PV system. The work is focused on the well known Perturb and Observe (P&O algorithm and is compared to a designed fuzzy logic controller (FLC. The simulation work dealing with MPPT controller; a DC/DC Ćuk converter feeding a load is achieved. The results showed that the proposed Fuzzy Logic MPPT in the PV system is valid.

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

    Science.gov (United States)

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

    2017-06-01

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

  2. 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)

  3. Maximum power point tracking-based control algorithm for PMSG wind generation system without mechanical sensors

    International Nuclear Information System (INIS)

    Hong, Chih-Ming; Chen, Chiung-Hsing; Tu, Chia-Sheng

    2013-01-01

    Highlights: ► This paper presents MPPT based control for optimal wind energy capture using RBFN. ► MPSO is adopted to adjust the learning rates to improve the learning capability. ► This technique can maintain the system stability and reach the desired performance. ► The EMF in the rotating reference frame is utilized in order to estimate speed. - Abstract: This paper presents maximum-power-point-tracking (MPPT) based control algorithms for optimal wind energy capture using radial basis function network (RBFN) and a proposed torque observer MPPT algorithm. The design of a high-performance on-line training RBFN using back-propagation learning algorithm with modified particle swarm optimization (MPSO) regulating controller for the sensorless control of a permanent magnet synchronous generator (PMSG). The MPSO is adopted in this study to adapt the learning rates in the back-propagation process of the RBFN to improve the learning capability. The PMSG is controlled by the loss-minimization control with MPPT below the base speed, which corresponds to low and high wind speed, and the maximum energy can be captured from the wind. Then the observed disturbance torque is feed-forward to increase the robustness of the PMSG system

  4. A Low-Cost Maximum Power Point Tracking System Based on Neural Network Inverse Model Controller

    Directory of Open Access Journals (Sweden)

    Carlos Robles Algarín

    2018-01-01

    Full Text Available This work presents the design, modeling, and implementation of a neural network inverse model controller for tracking the maximum power point of a photovoltaic (PV module. A nonlinear autoregressive network with exogenous inputs (NARX was implemented in a serial-parallel architecture. The PV module mathematical modeling was developed, a buck converter was designed to operate in the continuous conduction mode with a switching frequency of 20 KHz, and the dynamic neural controller was designed using the Neural Network Toolbox from Matlab/Simulink (MathWorks, Natick, MA, USA, and it was implemented on an open-hardware Arduino Mega board. To obtain the reference signals for the NARX and determine the 65 W PV module behavior, a system made of a 0.8 W PV cell, a temperature sensor, a voltage sensor and a static neural network, was used. To evaluate performance a comparison with the P&O traditional algorithm was done in terms of response time and oscillations around the operating point. Simulation results demonstrated the superiority of neural controller over the P&O. Implementation results showed that approximately the same power is obtained with both controllers, but the P&O controller presents oscillations between 7 W and 10 W, in contrast to the inverse controller, which had oscillations between 1 W and 2 W.

  5. Ground-based telescope pointing and tracking optimization using a neural controller.

    Science.gov (United States)

    Mancini, D; Brescia, M; Schipani, P

    2003-01-01

    Neural network models (NN) have emerged as important components for applications of adaptive control theories. Their basic generalization capability, based on acquired knowledge, together with execution rapidity and correlation ability between input stimula, are basic attributes to consider NN as an extremely powerful tool for on-line control of complex systems. By a control system point of view, not only accuracy and speed, but also, in some cases, a high level of adaptation capability is required in order to match all working phases of the whole system during its lifetime. This is particularly remarkable for a new generation ground-based telescope control system. Infact, strong changes in terms of system speed and instantaneous position error tolerance are necessary, especially in case of trajectory disturb induced by wind shake. The classical control scheme adopted in such a system is based on the proportional integral (PI) filter, already applied and implemented on a large amount of new generation telescopes, considered as a standard in this technological environment. In this paper we introduce the concept of a new approach, the neural variable structure proportional integral, (NVSPI), related to the implementation of a standard multi layer perceptron network in new generation ground-based Alt-Az telescope control systems. Its main purpose is to improve adaptive capability of the Variable structure proportional integral model, an already innovative control scheme recently introduced by authors [Proc SPIE (1997)], based on a modified version of classical PI control model, in terms of flexibility and accuracy of the dynamic response range also in presence of wind noise effects. The realization of a powerful well tested and validated telescope model simulation system allowed the possibility to directly compare performances of the two control schemes on simulated tracking trajectories, revealing extremely encouraging results in terms of NVSPI control robustness and

  6. Sun, weather, and climate

    International Nuclear Information System (INIS)

    Herman, J.R.; Goldberg, R.A.

    1985-01-01

    The general field of sun-weather/climate relationships that is, apparent weather and climate responses to solar activity is introduced and theoretical and experimental suggestions for further research to identify and investigate the unknown casual mechanisms are provided. Topics of discussion include: (1) solar-related correlation factors and energy sources; (2) long-term climate trends; (3) short-term meteorological correlations; (4) miscellaneous obscuring influences; (5) physical processes and mechanisms; (6) recapitulation of sun-weather relationships; and (7) guidelines for experiments. 300 references

  7. Sun and solar flares

    Energy Technology Data Exchange (ETDEWEB)

    McKenna-Lawlor, S. (Saint Patrick' s Coll., Maynooth (Ireland))

    1982-07-01

    The subject is discussed under the headings: the sun's core (thermonuclear reactions, energy transfer from core through radiation zone, convection zone, photosphere, chromosphere and corona); the photosphere (convection, granulation, sunspots, magnetic fields, solar cycle, rotation of the sun); solar variability and paleoclimatic records (correlation of low solar activity with increased /sup 14/C production in atmosphere); the chromosphere and corona (turbulence, temperature, coronal streamers, energy transfer); solar flares (cosmic rays, aurorae, spectra, velocity of flares, prominences, mechanisms of flares); the solar wind.

  8. Piece of the sun

    CERN Document Server

    Wayne, Teddy

    2015-01-01

    Our rapidly industrialising world has an insatiable hunger for energy, and conventional sources are struggling to meet demand. Oil is running out, coal is damaging our climate, many nations are abandoning nuclear, yet solar, wind and water will never be a complete replacement. The solution, says Daniel Clery in this deeply researched and revelatory book, is to be found in the original energy source: the Sun itself. There, at its centre, the fusion of 630 million tonnes of hydrogen every second generates an unfathomable amount of energy. By replicating even a tiny piece of the Sun's power

  9. On the design of multi-rate tracking controllers : application to rotorcraft guidance and control

    NARCIS (Netherlands)

    Guerreiro Tome Antunes, D.J.; Silvestre, C.J.; Cunha, R.

    2010-01-01

    This paper presents a new methodology for the design and implementation of gain-scheduled controllers for multi-rate systems. The proposed methodology provides a natural way to address the integrated guidance and control problem for autonomous vehicles when the outputs are sampled at different

  10. Combining extremum seeking control and tracking control for high-performance CVT operation

    NARCIS (Netherlands)

    Meulen, van der S.H.; Jager, de A.G.; Veldpaus, F.E.; Steinbuch, M.

    2010-01-01

    The control design for the variator in a pushbelt continuously variable transmission (CVT) is investigated. The variator enables a stepless variation of the transmission ratio within a finite range. A conventional variator control design is typically obtained by the use of a variator model, which

  11. 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...

  12. Assessment of Motor Control during Three-Dimensional Movements Tracking with Position-Varying Gravity Compensation

    Directory of Open Access Journals (Sweden)

    Yao Huang

    2017-05-01

    Full Text Available Active movements are important in the rehabilitation training for patients with neurological motor disorders, while weight of upper limb impedes movements due to muscles weakness. The objective of this study is to develop a position-varying gravity compensation strategy for a cable-based rehabilitation robot. The control strategy can estimate real-time gravity torque according to position feedback. Then, the performance of this control strategy was compared with the other two kinds of gravity compensation strategies (i.e., without compensation and with fixed compensation during movements tracking. Seven healthy subjects were invited to conduct tracking tasks along four different directions (i.e., upward, forward, leftward, and rightward. The performance of movements with different compensation strategies was compared in terms of root mean square error (RMSE between target and actual moving trajectories, normalized jerk score (NJS, mean velocity ratio (MVR of main motion direction, and the activation of six muscles. The results showed that there were significant effects in control strategies in all four directions with the RMSE and NJS values in the following order: without compensation > fixed compensation > position-varying compensation and MVR values in the following order: without compensation < fixed compensation < position-varying compensation (p < 0.05. Comparing with movements without compensation in all four directions, the activation of muscles during movements with position-varying compensation showed significant reductions, except the activations of triceps and in forward and leftward movements, the activations of upper trapezius and middle parts of deltoid in upward movements and the activations of posterior parts of deltoid in all four directions (p < 0.05. Therefore, with position-varying gravity compensation, the upper limb cable-based rehabilitation robotic system might assist subjects to perform movements with higher quality and

  13. 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

  14. Adaptive tracking control for active suspension systems with non-ideal actuators

    Science.gov (United States)

    Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

    2017-07-01

    As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

  15. Attitude Dynamics and Tracking Control of Spacecraft in the Presence of Gravity Oblateness Perturbations

    Directory of Open Access Journals (Sweden)

    Achim IONITA

    2016-03-01

    Full Text Available The orbital docking represents a problem of great importance in aerospace engineering. The paper aims to perform an analysis of docking maneuvers between a chaser vehicle and a target vehicle in permanent LEO (low earth orbit. The work begins with a study of the attitude dynamics modeling intended to define the strategy that facilitates the chaser movement toward a docking part of the target. An LQR (linear quadratic regulator approach presents an optimal control design that provides linearized closed-loop error dynamics for tracking a desired quaternion. The control law formulation is combined with the control architecture based on SDRE (State Dependent Riccati equation technique for rotational maneuvers, including the Earth oblateness perturbation. The chaser body-fixed frame must coincide with the target body-fixed frame at the docking moment. Then the implementation of the control architecture based on LQR technique using the computational tool MATLAB is carried out. In simulation of the docking strategy V-R bar operations are analyzed and the minimum accelerations needs the control of chaser vehicle. The simulation analysis of those maneuvers considered for a chaser vehicle and a target vehicle in LEO orbit is validated in a case study.

  16. Dynamic wake model with coordinated pitch and torque control of wind farms for power tracking

    Science.gov (United States)

    Shapiro, Carl; Meyers, Johan; Meneveau, Charles; Gayme, Dennice

    2017-11-01

    Control of wind farm power production, where wind turbines within a wind farm coordinate to follow a time-varying power set point, is vital for increasing renewable energy participation in the power grid. Previous work developed a one-dimensional convection-diffusion equation describing the advection of the velocity deficit behind each turbine (wake) as well the turbulent mixing of the wake with the surrounding fluid. Proof-of-concept simulations demonstrated that a receding horizon controller built around this time-dependent model can effectively provide power tracking services by modulating the thrust coefficients of individual wind turbines. In this work, we extend this model-based controller to include pitch angle and generator torque control and the first-order dynamics of the drive train. Including these dynamics allows us to investigate control strategies for providing kinetic energy reserves to the grid, i.e. storing kinetic energy from the wind in the rotating mass of the wind turbine rotor for later use. CS, CM, and DG are supported by NSF (ECCS-1230788, CMMI 1635430, and OISE-1243482, the WINDINSPIRE project). JM is supported by ERC (ActiveWindFarms, 306471). This research was conducted using computational resources at MARCC.

  17. Adaptive estimation for control of uncertain nonlinear systems with applications to target tracking

    Science.gov (United States)

    Madyastha, Venkatesh Kattigari

    2005-08-01

    Design of nonlinear observers has received considerable attention since the early development of methods for linear state estimation. The most popular approach is the extended Kalman filter (EKF), that goes through significant degradation in the presence of nonlinearities, particularly if unmodeled dynamics are coupled to the process and the measurement. For uncertain nonlinear systems, adaptive observers have been introduced to estimate the unknown state variables where no priori information about the unknown parameters is available. While establishing global results, these approaches are applicable only to systems transformable to output feedback form. Over the recent years, neural network (NN) based identification and estimation schemes have been proposed that relax the assumptions on the system at the price of sacrificing on the global nature of the results. However, most of the NN based adaptive observer approaches in the literature require knowledge of the full dimension of the system, therefore may not be suitable for systems with unmodeled dynamics. We first propose a novel approach to nonlinear state estimation from the perspective of augmenting a linear time invariant observer with an adaptive element. The class of nonlinear systems treated here are finite but of otherwise unknown dimension. The objective is to improve the performance of the linear observer when applied to a nonlinear system. The approach relies on the ability of the NNs to approximate the unknown dynamics from finite time histories of available measurements. Next we investigate nonlinear state estimation from the perspective of adaptively augmenting an existing time varying observer, such as an EKF. EKFs find their applications mostly in target tracking problems. The proposed approaches are robust to unmodeled dynamics, including unmodeled disturbances. Lastly, we consider the problem of adaptive estimation in the presence of feedback control for a class of uncertain nonlinear systems

  18. 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.

  19. 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.

  20. 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.

  1. 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...

  2. Licensing the Sun

    Science.gov (United States)

    Demski, Jennifer

    2013-01-01

    The University of San Diego (USD) and Point Loma Nazarene University (PLNU) are licensing the sun. Both California schools are generating solar power on campus without having to sink large amounts of capital into equipment and installation. By negotiating power purchasing agreements (PPAs) with Amsolar and Perpetual Energy Systems, respectively,…

  3. 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.

  4. The Toboggan Sun

    NARCIS (Netherlands)

    Davidson, WPS; van der Werf, SY

    2005-01-01

    Special variants of the Novaya Zemlya effect may arise from localized temperature inversions that follow the height profile of hills or mountains. Rather than following its natural path, the rising or setting Sun may, under such circumstances, appear to slide along a distant mountain slope. We found

  5. Our Explosive Sun

    Science.gov (United States)

    Brown, D. S.

    2009-01-01

    The Sun's atmosphere is a highly structured but dynamic place, dominated by the solar magnetic field. Hot charged gas (plasma) is trapped on lines of magnetic force that can snap like an elastic band, propelling giant clouds of material out into space. A range of ground-based and space-based solar telescopes observe these eruptions, particularly…

  6. Sun Ultra 5

    CERN Multimedia

    1998-01-01

    The Sun Ultra 5 is a 64-bit personal computer based on the UltraSPARC microprocessor line at a low price. The Ultra 5 has been declined in several variants: thus, some models have a processor with less cache memory to further decrease the price of the computer.

  7. YUAN-BO SUN

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Genetics. YUAN-BO SUN. Articles written in Journal of Genetics. Volume 97 Issue 1 March 2018 pp 173-178 RESEARCH ARTICLE. Investigating multiple dysregulated pathways in rheumatoid arthritis based on pathway interaction network · XIAN-DONG SONG XIAN-XU SONG GUI-BO LIU ...

  8. Dynamic performance of maximum power point tracking circuits using sinusoidal extremum seeking control for photovoltaic generation

    Science.gov (United States)

    Leyva, R.; Artillan, P.; Cabal, C.; Estibals, B.; Alonso, C.

    2011-04-01

    The article studies the dynamic performance of a family of maximum power point tracking circuits used for photovoltaic generation. It revisits the sinusoidal extremum seeking control (ESC) technique which can be considered as a particular subgroup of the Perturb and Observe algorithms. The sinusoidal ESC technique consists of adding a small sinusoidal disturbance to the input and processing the perturbed output to drive the operating point at its maximum. The output processing involves a synchronous multiplication and a filtering stage. The filter instance determines the dynamic performance of the MPPT based on sinusoidal ESC principle. The approach uses the well-known root-locus method to give insight about damping degree and settlement time of maximum-seeking waveforms. This article shows the transient waveforms in three different filter instances to illustrate the approach. Finally, an experimental prototype corroborates the dynamic analysis.

  9. Region stability analysis and tracking control of memristive recurrent neural network.

    Science.gov (United States)

    Bao, Gang; Zeng, Zhigang; Shen, Yanjun

    2018-02-01

    Memristor is firstly postulated by Leon Chua and realized by Hewlett-Packard (HP) laboratory. Research results show that memristor can be used to simulate the synapses of neurons. This paper presents a class of recurrent neural network with HP memristors. Firstly, it shows that memristive recurrent neural network has more compound dynamics than the traditional recurrent neural network by simulations. Then it derives that n dimensional memristive recurrent neural network is composed of [Formula: see text] sub neural networks which do not have a common equilibrium point. By designing the tracking controller, it can make memristive neural network being convergent to the desired sub neural network. At last, two numerical examples are given to verify the validity of our result. Copyright © 2017 Elsevier Ltd. All rights reserved.

  10. Simulation model of ANN based maximum power point tracking controller for solar PV system

    Energy Technology Data Exchange (ETDEWEB)

    Rai, Anil K.; Singh, Bhupal [Department of Electrical and Electronics Engineering, Ajay Kumar Garg Engineering College, Ghaziabad 201009 (India); Kaushika, N.D.; Agarwal, Niti [School of Research and Development, Bharati Vidyapeeth College of Engineering, A-4 Paschim Vihar, New Delhi 110063 (India)

    2011-02-15

    In this paper the simulation model of an artificial neural network (ANN) based maximum power point tracking controller has been developed. The controller consists of an ANN tracker and the optimal control unit. The ANN tracker estimates the voltages and currents corresponding to a maximum power delivered by solar PV (photovoltaic) array for variable cell temperature and solar radiation. The cell temperature is considered as a function of ambient air temperature, wind speed and solar radiation. The tracker is trained employing a set of 124 patterns using the back propagation algorithm. The mean square error of tracker output and target values is set to be of the order of 10{sup -5} and the successful convergent of learning process takes 1281 epochs. The accuracy of the ANN tracker has been validated by employing different test data sets. The control unit uses the estimates of the ANN tracker to adjust the duty cycle of the chopper to optimum value needed for maximum power transfer to the specified load. (author)

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

    Science.gov (United States)

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

    2016-01-01

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

  12. Variable Parameter Nonlinear Control for Maximum Power Point Tracking Considering Mitigation of Drive-train Load

    Institute of Scientific and Technical Information of China (English)

    Zaiyu; Chen; Minghui; Yin; Lianjun; Zhou; Yaping; Xia; Jiankun; Liu; Yun; Zou

    2017-01-01

    Since mechanical loads exert a significant influence on the life span of wind turbines, the reduction of transient load on drive-train shaft has received more attention when implementing a maximum power point tracking(MPPT) controller.Moreover, a trade-off between the efficiency of wind energy extraction and the load level of drive-train shaft becomes a key issue. However, for the existing control strategies based on nonlinear model of wind turbines, the MPPT efficiencies are improved at the cost of the intensive fluctuation of generator torque and significant increase of transient load on drive train shaft. Hence, in this paper, a nonlinear controller with variable parameter is proposed for improving MPPT efficiency and mitigating transient load on drive-train simultaneously. Then,simulations on FAST(Fatigue, Aerodynamics, Structures, and Turbulence) code and experiments on the wind turbine simulator(WTS) based test bench are presented to verify the efficiency improvement of the proposed control strategy with less cost of drive-train load.

  13. Variable Parameter Nonlinear Control for Maximum Power Point Tracking Considering Mitigation of Drive-train Load

    Institute of Scientific and Technical Information of China (English)

    Zaiyu Chen; Minghui Yin; Lianjun Zhou; Yaping Xia; Jiankun Liu; Yun Zou

    2017-01-01

    Since mechanical loads exert a significant influence on the life span of wind turbines,the reduction of transient load on drive-train shaft has received more attention when implementing a maximum power point tracking (MPPT) controller.Moreover,a trade-off between the efficiency of wind energy extraction and the load level of drive-train shaft becomes a key issue.However,for the existing control strategies based on nonlinear model of wind turbines,the MPPT efficiencies are improved at the cost of the intensive fluctuation of generator torque and significant increase of transient load on drive train shaft.Hence,in this paper,a nonlinear controller with variable parameter is proposed for improving MPPT efficiency and mitigating transient load on drive-train simultaneously.Then,simulations on FAST (Fatigue,Aerodynamics,Structures,and Turbulence) code and experiments on the wind turbine simulator (WTS) based test bench are presented to verify the efficiency improvement of the proposed control strategy with less cost of drive-train load.

  14. 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.

  15. 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

  16. Virtual decoupling flight control via real-time trajectory synthesis and tracking

    Science.gov (United States)

    Zhang, Xuefu

    The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.

  17. 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.

  18. An Error-Entropy Minimization Algorithm for Tracking Control of Nonlinear Stochastic Systems with Non-Gaussian Variables

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Yunlong; Wang, Aiping; Guo, Lei; Wang, Hong

    2017-07-09

    This paper presents an error-entropy minimization tracking control algorithm for a class of dynamic stochastic system. The system is represented by a set of time-varying discrete nonlinear equations with non-Gaussian stochastic input, where the statistical properties of stochastic input are unknown. By using Parzen windowing with Gaussian kernel to estimate the probability densities of errors, recursive algorithms are then proposed to design the controller such that the tracking error can be minimized. The performance of the error-entropy minimization criterion is compared with the mean-square-error minimization in the simulation results.

  19. Maximum power point tracking controller for PV systems using neural networks

    Energy Technology Data Exchange (ETDEWEB)

    Bahgat, A.B.G. [Cairo Univ. (Egypt). Faculty of Engineering; Helwa, N.H.; Ahmad, G.E.; El Shenawy, E.T. [National Research Center, Dokki, Cairo (Egypt). Solar Energy Dept.

    2005-07-01

    This paper presents a development and implementation of a PC-based maximum power point tracker (MPPT) for PV system using neural networks (NN). The system consists of a PV module via a MPPT supplying a dc motor that drives an air fan. The control algorithm is developed to use the artificial NN for detecting the optimal operating point under different operating conditions, then the control action gives the driving signals to the MPPT. A PC is used for data acquisition, running the control algorithm, data storage, as well as data display and analysis. The system has been implemented and tested under various operating conditions. The experimental results showed that the PV system with MPPT always tracks the peak power point of the PV module under various operating conditions. The MPPT transmits about 97% of the actual maximum power generated by the PV module. The MPPT not only increases the power from the PV module to the load, but also maintains longer operating periods for the PV system. The air velocity and the air mass flow rate of the mechanical load are increased considerably, due to the increase of the PV system power. It is also found that the increase in the output energy due to using the MPPT is about 45.2% for a clear sunny day. (Author)

  20. Neural Modeling of Fuzzy Controllers for Maximum Power Point Tracking in Photovoltaic Energy Systems

    Science.gov (United States)

    Lopez-Guede, Jose Manuel; Ramos-Hernanz, Josean; Altın, Necmi; Ozdemir, Saban; Kurt, Erol; Azkune, Gorka

    2018-06-01

    One field in which electronic materials have an important role is energy generation, especially within the scope of photovoltaic energy. This paper deals with one of the most relevant enabling technologies within that scope, i.e, the algorithms for maximum power point tracking implemented in the direct current to direct current converters and its modeling through artificial neural networks (ANNs). More specifically, as a proof of concept, we have addressed the problem of modeling a fuzzy logic controller that has shown its performance in previous works, and more specifically the dimensionless duty cycle signal that controls a quadratic boost converter. We achieved a very accurate model since the obtained medium squared error is 3.47 × 10-6, the maximum error is 16.32 × 10-3 and the regression coefficient R is 0.99992, all for the test dataset. This neural implementation has obvious advantages such as a higher fault tolerance and a simpler implementation, dispensing with all the complex elements needed to run a fuzzy controller (fuzzifier, defuzzifier, inference engine and knowledge base) because, ultimately, ANNs are sums and products.

  1. Supporting Tablet Configuration, Tracking, and Infection Control Practices in Digital Health Interventions: Study Protocol.

    Science.gov (United States)

    Furberg, Robert D; Ortiz, Alexa M; Zulkiewicz, Brittany A; Hudson, Jordan P; Taylor, Olivia M; Lewis, Megan A

    2016-06-27

    Tablet-based health care interventions have the potential to encourage patient care in a timelier manner, allow physicians convenient access to patient records, and provide an improved method for patient education. However, along with the continued adoption of tablet technologies, there is a concomitant need to develop protocols focusing on the configuration, management, and maintenance of these devices within the health care setting to support the conduct of clinical research. Develop three protocols to support tablet configuration, tablet management, and tablet maintenance. The Configurator software, Tile technology, and current infection control recommendations were employed to develop three distinct protocols for tablet-based digital health interventions. Configurator is a mobile device management software specifically for iPhone operating system (iOS) devices. The capabilities and current applications of Configurator were reviewed and used to develop the protocol to support device configuration. Tile is a tracking tag associated with a free mobile app available for iOS and Android devices. The features associated with Tile were evaluated and used to develop the Tile protocol to support tablet management. Furthermore, current recommendations on preventing health care-related infections were reviewed to develop the infection control protocol to support tablet maintenance. This article provides three protocols: the Configurator protocol, the Tile protocol, and the infection control protocol. These protocols can help to ensure consistent implementation of tablet-based interventions, enhance fidelity when employing tablets for research purposes, and serve as a guide for tablet deployments within clinical settings.

  2. Distributed adaptive asymptotically consensus tracking control of uncertain Euler-Lagrange systems under directed graph condition.

    Science.gov (United States)

    Wang, Wei; Wen, Changyun; Huang, Jiangshuai; Fan, Huijin

    2017-11-01

    In this paper, a backstepping based distributed adaptive control scheme is proposed for multiple uncertain Euler-Lagrange systems under directed graph condition. The common desired trajectory is allowed totally unknown by part of the subsystems and the linearly parameterized trajectory model assumed in currently available results is no longer needed. To compensate the effects due to unknown trajectory information, a smooth function of consensus errors and certain positive integrable functions are introduced in designing virtual control inputs. Besides, to overcome the difficulty of completely counteracting the coupling terms of distributed consensus errors and parameter estimation errors in the presence of asymmetric Laplacian matrix, extra information transmission of local parameter estimates are introduced among linked subsystem and adaptive gain technique is adopted to generate distributed torque inputs. It is shown that with the proposed distributed adaptive control scheme, global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  3. 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.

  4. 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

  5. Target tracking control and semi-physical simulation of Qball-X4 quad-rotor unmanned aerial vehicle

    Directory of Open Access Journals (Sweden)

    Lu Liu

    2017-01-01

    Full Text Available In this article, a set of integrated ground target tracking flight system has been proposed based on the Qball-X4 quad-rotor unmanned aerial vehicle hardware platform and the QuaRC software platform. Both of the hardware and software platforms are developed by Quanser Company, Canada. The proposed tracking and positioning algorithm could be divided into several stages. First, a tracker is developed based on an optical flow method to track the target; and then, in order to improve the reliability of tracking algorithm and also help in retrieving the lost target, a cascade target detector is developed; meanwhile, a model updated scheme aiming at some possible errors in tracking and detecting process is presented based on Positive-Negative (P-N learning system; at last, a monocular visual positioning system is designed based on the corresponding navigation message. In addition, the effectiveness of the proposed flight control system is verified by both simulation and hardware-in-loop system results in several tracking flight tests.

  6. 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

  7. SCIENCE OF SUN PHOTOMETRY

    Directory of Open Access Journals (Sweden)

    Alexandru Dan Toma

    2013-07-01

    Full Text Available Typically, the total amount of gases and particles in a column of atmosphere cannot be determined from measurements just at Earth's surface, by a single measurement essentially at the bottom of the atmosphere column. Balloons, airplanes, and rockets are all used to perform direct measurements in the atmosphere at altitudes up to and beyond the stratosphere. Satellite-based instruments provide global views, but it is difficult to infer surface and column distributions from space-based measurements, so such measurements must still be supplemented by ground-based measurements. Sun photometry is an important way of probing the atmosphere from the ground to measure the effects of the atmosphere on Sun radiation crossing through the atmosphere to Earth's surface. These indirect technique provide information about the entire atmosphere above the observer, not just the atmosphere that can be sampled directly close to Earth's surface.

  8. 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.

  9. A proposed defect tracking model for classifying the inserted defect reports to enhance software quality control.

    Science.gov (United States)

    Sultan, Torky; Khedr, Ayman E; Sayed, Mostafa

    2013-01-01

    NONE DECLARED Defect tracking systems play an important role in the software development organizations as they can store historical information about defects. There are many research in defect tracking models and systems to enhance their capabilities to be more specifically tracking, and were adopted with new technology. Furthermore, there are different studies in classifying bugs in a step by step method to have clear perception and applicable method in detecting such bugs. This paper shows a new proposed defect tracking model for the purpose of classifying the inserted defects reports in a step by step method for more enhancement of the software quality.

  10. Sun, Moon and Earthquakes

    Science.gov (United States)

    Kolvankar, V. G.

    2013-12-01

    During a study conducted to find the effect of Earth tides on the occurrence of earthquakes, for small areas [typically 1000km X1000km] of high-seismicity regions, it was noticed that the Sun's position in terms of universal time [GMT] shows links to the sum of EMD [longitude of earthquake location - longitude of Moon's foot print on earth] and SEM [Sun-Earth-Moon angle]. This paper provides the details of this relationship after studying earthquake data for over forty high-seismicity regions of the world. It was found that over 98% of the earthquakes for these different regions, examined for the period 1973-2008, show a direct relationship between the Sun's position [GMT] and [EMD+SEM]. As the time changes from 00-24 hours, the factor [EMD+SEM] changes through 360 degree, and plotting these two variables for earthquakes from different small regions reveals a simple 45 degree straight-line relationship between them. This relationship was tested for all earthquakes and earthquake sequences for magnitude 2.0 and above. This study conclusively proves how Sun and the Moon govern all earthquakes. Fig. 12 [A+B]. The left-hand figure provides a 24-hour plot for forty consecutive days including the main event (00:58:23 on 26.12.2004, Lat.+3.30, Long+95.980, Mb 9.0, EQ count 376). The right-hand figure provides an earthquake plot for (EMD+SEM) vs GMT timings for the same data. All the 376 events including the main event faithfully follow the straight-line curve.

  11. 100 billion suns

    International Nuclear Information System (INIS)

    Kippenhahn, R.

    1983-01-01

    A work on the world of astrophysics primarily for lay readers. The author writes only about the discoveries he ''experienced'' during the past 25 years (before 1979). Illustrated somewhat in color plus a set of superb colar plates. Contents, abridged: The long life of stars. The life story of the sun. The life story of massive stars. The end of stars. How stars are born. Planets and their inhabitants

  12. 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

  13. Maximum power point tracking in PV systems based on adaptive control and sliding mode control

    Directory of Open Access Journals (Sweden)

    Paula Andrea Ortiz-Valencia

    2015-01-01

    Full Text Available Los sistemas fotovoltaicos (PV son comúnmente controlados utilizando estructuras PI o PID, las cuales no pueden asegurar estabilidad global y un tiempo de establecimiento constante. Por esto, los algoritmos de optimización, e.g. Perturbar y Observar (P&O, son diseñados utilizando el tiempo de establecimiento más alto en el rango de operación, lo cual produce una búsqueda lenta del punto de máxima potencia (MPP para gran parte del rango de operación, introduciendo pérdidas dinámicas de potencia al sistema. Este artículo propone combinar un controlador adaptativo y un controlador de corriente por modos deslizantes (SMCC para garantizar estabilidad global y un tiempo de establecimiento constante para cualquier condición de operación, lo que permite incrementar la potencia generada en comparación con controladores PI y PID. El SMCC permite mitigar las perturbaciones del sistema y garantizar estabilidad global, mientras que el controlador adaptativo define la referencia del SMCC para asegurar un tiempo de estabilización constante. El diseño de la nueva estructura de control se soporta con análisis matemáticos y simulaciones realizadas en Matlab® para validar la robustez del sistema.

  14. Adaptive tracking control of leader-following linear multi-agent systems with external disturbances

    Science.gov (United States)

    Lin, Hanquan; Wei, Qinglai; Liu, Derong; Ma, Hongwen

    2016-10-01

    In this paper, the consensus problem for leader-following linear multi-agent systems with external disturbances is investigated. Brownian motions are used to describe exogenous disturbances. A distributed tracking controller based on Riccati inequalities with an adaptive law for adjusting coupling weights between neighbouring agents is designed for leader-following multi-agent systems under fixed and switching topologies. In traditional distributed static controllers, the coupling weights depend on the communication graph. However, coupling weights associated with the feedback gain matrix in our method are updated by state errors between neighbouring agents. We further present the stability analysis of leader-following multi-agent systems with stochastic disturbances under switching topology. Most traditional literature requires the graph to be connected all the time, while the communication graph is only assumed to be jointly connected in this paper. The design technique is based on Riccati inequalities and algebraic graph theory. Finally, simulations are given to show the validity of our method.

  15. Optimizing the balance between task automation and human manual control in simulated submarine track management.

    Science.gov (United States)

    Chen, Stephanie I; Visser, Troy A W; Huf, Samuel; Loft, Shayne

    2017-09-01

    Automation can improve operator performance and reduce workload, but can also degrade operator situation awareness (SA) and the ability to regain manual control. In 3 experiments, we examined the extent to which automation could be designed to benefit performance while ensuring that individuals maintained SA and could regain manual control. Participants completed a simulated submarine track management task under varying task load. The automation was designed to facilitate information acquisition and analysis, but did not make task decisions. Relative to a condition with no automation, the continuous use of automation improved performance and reduced subjective workload, but degraded SA. Automation that was engaged and disengaged by participants as required (adaptable automation) moderately improved performance and reduced workload relative to no automation, but degraded SA. Automation engaged and disengaged based on task load (adaptive automation) provided no benefit to performance or workload, and degraded SA relative to no automation. Automation never led to significant return-to-manual deficits. However, all types of automation led to degraded performance on a nonautomated task that shared information processing requirements with automated tasks. Given these outcomes, further research is urgently required to establish how to design automation to maximize performance while keeping operators cognitively engaged. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

  16. Eye Tracking Based Control System for Natural Human-Computer Interaction

    Directory of Open Access Journals (Sweden)

    Xuebai Zhang

    2017-01-01

    Full Text Available Eye movement can be regarded as a pivotal real-time input medium for human-computer communication, which is especially important for people with physical disability. In order to improve the reliability, mobility, and usability of eye tracking technique in user-computer dialogue, a novel eye control system with integrating both mouse and keyboard functions is proposed in this paper. The proposed system focuses on providing a simple and convenient interactive mode by only using user’s eye. The usage flow of the proposed system is designed to perfectly follow human natural habits. Additionally, a magnifier module is proposed to allow the accurate operation. In the experiment, two interactive tasks with different difficulty (searching article and browsing multimedia web were done to compare the proposed eye control tool with an existing system. The Technology Acceptance Model (TAM measures are used to evaluate the perceived effectiveness of our system. It is demonstrated that the proposed system is very effective with regard to usability and interface design.

  17. Eye Tracking Based Control System for Natural Human-Computer Interaction.

    Science.gov (United States)

    Zhang, Xuebai; Liu, Xiaolong; Yuan, Shyan-Ming; Lin, Shu-Fan

    2017-01-01

    Eye movement can be regarded as a pivotal real-time input medium for human-computer communication, which is especially important for people with physical disability. In order to improve the reliability, mobility, and usability of eye tracking technique in user-computer dialogue, a novel eye control system with integrating both mouse and keyboard functions is proposed in this paper. The proposed system focuses on providing a simple and convenient interactive mode by only using user's eye. The usage flow of the proposed system is designed to perfectly follow human natural habits. Additionally, a magnifier module is proposed to allow the accurate operation. In the experiment, two interactive tasks with different difficulty (searching article and browsing multimedia web) were done to compare the proposed eye control tool with an existing system. The Technology Acceptance Model (TAM) measures are used to evaluate the perceived effectiveness of our system. It is demonstrated that the proposed system is very effective with regard to usability and interface design.

  18. Towards free 3D end-point control for robotic-assisted human reaching using binocular eye tracking.

    Science.gov (United States)

    Maimon-Dror, Roni O; Fernandez-Quesada, Jorge; Zito, Giuseppe A; Konnaris, Charalambos; Dziemian, Sabine; Faisal, A Aldo

    2017-07-01

    Eye-movements are the only directly observable behavioural signals that are highly correlated with actions at the task level, and proactive of body movements and thus reflect action intentions. Moreover, eye movements are preserved in many movement disorders leading to paralysis (or amputees) from stroke, spinal cord injury, Parkinson's disease, multiple sclerosis, and muscular dystrophy among others. Despite this benefit, eye tracking is not widely used as control interface for robotic interfaces in movement impaired patients due to poor human-robot interfaces. We demonstrate here how combining 3D gaze tracking using our GT3D binocular eye tracker with custom designed 3D head tracking system and calibration method enables continuous 3D end-point control of a robotic arm support system. The users can move their own hand to any location of the workspace by simple looking at the target and winking once. This purely eye tracking based system enables the end-user to retain free head movement and yet achieves high spatial end point accuracy in the order of 6 cm RMSE error in each dimension and standard deviation of 4 cm. 3D calibration is achieved by moving the robot along a 3 dimensional space filling Peano curve while the user is tracking it with their eyes. This results in a fully automated calibration procedure that yields several thousand calibration points versus standard approaches using a dozen points, resulting in beyond state-of-the-art 3D accuracy and precision.

  19. 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.

  20. Direct Adaptive Tracking Control for a Class of Pure-Feedback Stochastic Nonlinear Systems Based on Fuzzy-Approximation

    Directory of Open Access Journals (Sweden)

    Huanqing Wang

    2014-01-01

    Full Text Available The problem of fuzzy-based direct adaptive tracking control is considered for a class of pure-feedback stochastic nonlinear systems. During the controller design, fuzzy logic systems are used to approximate the packaged unknown nonlinearities, and then a novel direct adaptive controller is constructed via backstepping technique. It is shown that the proposed controller guarantees that all the signals in the closed-loop system are bounded in probability and the tracking error eventually converges to a small neighborhood around the origin in the sense of mean quartic value. The main advantages lie in that the proposed controller structure is simpler and only one adaptive parameter needs to be updated online. Simulation results are used to illustrate the effectiveness of the proposed approach.