WorldWideScience

Sample records for system based autonomous

  1. Autonomous power networks based power system

    International Nuclear Information System (INIS)

    Jokic, A.; Van den Bosch, P.P.J.

    2006-01-01

    This paper presented the concept of autonomous networks to cope with this increased complexity in power systems while enhancing market-based operation. The operation of future power systems will be more challenging and demanding than present systems because of increased uncertainties, less inertia in the system, replacement of centralized coordinating activities by decentralized parties and the reliance on dynamic markets for both power balancing and system reliability. An autonomous network includes the aggregation of networked producers and consumers in a relatively small area with respect to the overall system. The operation of an autonomous network is coordinated and controlled with one central unit acting as an interface between internal producers/consumers and the rest of the power system. In this study, the power balance problem and system reliability through provision of ancillary services was formulated as an optimization problem for the overall autonomous networks based power system. This paper described the simulation of an optimal autonomous network dispatching in day ahead markets, based on predicted spot prices for real power, and two ancillary services. It was concluded that large changes occur in a power systems structure and operation, most of them adding to the uncertainty and complexity of the system. The introduced concept of an autonomous power network-based power system was shown to be a realistic and consistent approach to formulate and operate a market-based dispatch of both power and ancillary services. 9 refs., 4 figs

  2. Fuzzy Logic Based Autonomous Traffic Control System

    Directory of Open Access Journals (Sweden)

    Muhammad ABBAS

    2012-01-01

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

  3. Dynamic market behaviour of autonomous network based power systems

    NARCIS (Netherlands)

    Jokic, A.; Wittebol, E.H.M.; Bosch, van den P.P.J.

    2006-01-01

    Dynamic models of real-time markets are important since they lead to additional insights of the behavior and stability of power system markets. The main topic of this paper is the analysis of real-time market dynamics in a novel power system structure that is based on the concept of autonomous

  4. Motor execution detection based on autonomic nervous system responses

    International Nuclear Information System (INIS)

    Marchal-Crespo, Laura; Riener, Robert; Zimmermann, Raphael; Lambercy, Olivier; Edelmann, Janis; Fluet, Marie-Christine; Gassert, Roger; Wolf, Martin

    2013-01-01

    Triggered assistance has been shown to be a successful robotic strategy for provoking motor plasticity, probably because it requires neurologic patients’ active participation to initiate a movement involving their impaired limb. Triggered assistance, however, requires sufficient residual motor control to activate the trigger and, thus, is not applicable to individuals with severe neurologic injuries. In these situations, brain and body–computer interfaces have emerged as promising solutions to control robotic devices. In this paper, we investigate the feasibility of a body–machine interface to detect motion execution only monitoring the autonomic nervous system (ANS) response. Four physiological signals were measured (blood pressure, breathing rate, skin conductance response and heart rate) during an isometric pinching task and used to train a classifier based on hidden Markov models. We performed an experiment with six healthy subjects to test the effectiveness of the classifier to detect rest and active pinching periods. The results showed that the movement execution can be accurately classified based only on peripheral autonomic signals, with an accuracy level of 84.5%, sensitivity of 83.8% and specificity of 85.2%. These results are encouraging to perform further research on the use of the ANS response in body–machine interfaces. (paper)

  5. Knowledge-based and integrated monitoring and diagnosis in autonomous power systems

    Science.gov (United States)

    Momoh, J. A.; Zhang, Z. Z.

    1990-01-01

    A new technique of knowledge-based and integrated monitoring and diagnosis (KBIMD) to deal with abnormalities and incipient or potential failures in autonomous power systems is presented. The KBIMD conception is discussed as a new function of autonomous power system automation. Available diagnostic modelling, system structure, principles and strategies are suggested. In order to verify the feasibility of the KBIMD, a preliminary prototype expert system is designed to simulate the KBIMD function in a main electric network of the autonomous power system.

  6. Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

    Science.gov (United States)

    Panomruttanarug, Benjamas; Higuchi, Kohji

    This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

  7. Autonomic Nervous System Disorders

    Science.gov (United States)

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

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

    OpenAIRE

    Anthony, Richard

    2011-01-01

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

  9. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  10. DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

    Energy Technology Data Exchange (ETDEWEB)

    Maiden, Wendy M. [Washington State Univ., Pullman, WA (United States)

    2010-05-01

    Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.

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

    Science.gov (United States)

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

    2016-01-01

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

  12. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  13. Autonomous Systems and Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Systems and Operations (ASO) project will develop an understanding of the impacts of increasing communication time delays on mission operations,...

  14. Autonomous e-coaching in the wild: Empirical validation of a model-based reasoning system

    OpenAIRE

    Kamphorst, B.A.; Klein, M.C.A.; van Wissen, A.

    2014-01-01

    Autonomous e-coaching systems have the potential to improve people's health behaviors on a large scale. The intelligent behavior change support system eMate exploits a model of the human agent to support individuals in adopting a healthy lifestyle. The system attempts to identify the causes of a person's non-adherence by reasoning over a computational model (COMBI) that is based on established psychological theories of behavior change. The present work presents an extensive, monthlong empiric...

  15. Mobile Autonomous Reconfigurable System

    Directory of Open Access Journals (Sweden)

    Pavliuk N.A.

    2018-04-01

    Full Text Available The object of this study is a multifunctional modular robot able to assemble independently in a given configuration and responsively change it in the process of operation depending on the current task. In this work we aim at developing and examining unified modules for a modular robot, which can both perform autonomous movement and form a complex structure by connecting to other modules. The existing solutions in the field of modular robotics were reviewed and classified by power supply, the ways of interconnection, the ways of movement and the possibility of independent movement of separate modules. Basing on the analysis of the shortcomings of existing analogues, we have developed a module of mobile autonomous reconfigurable system, including a base unit, a set of magneto-mechanical connectors and two motor wheels. The basic kinematic scheme of the modular robot, the features of a single module, as well as the modular structure formed by an array of similar modules were described. Two schemes for placing sets of magneto-mechanical connectors in the basic module have been proposed. We described the principle of operation of a magneto-mechanical connector based on redirection of the magnetic flux of a permanent magnet. This solution simplifies the system for controlling a mechanism of connection with other modules, increases energy efficiency and a battery life of the module. Since the energy is required only at the moment of switching the operating modes of the connector, there is no need to power constantly the connector mechanism to maintain the coupling mode.

  16. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

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

  17. Obstacle avoidance test using a sensor-based autonomous robotic system

    International Nuclear Information System (INIS)

    Fujii, Yoshio; Suzuki, Katsuo

    1998-12-01

    From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

  18. Problems in the development of autonomous mobile laser systems based on a cw chemical DF laser

    International Nuclear Information System (INIS)

    Aleksandrov, B P; Bashkin, A S; Beznozdrev, V N; Parfen'ev, M V; Pirogov, N A; Semenov, S N

    2003-01-01

    The problems involved in designing autonomous mobile laser systems based on high-power cw chemical DF lasers, whose mass and size parameters would make it possible to install them on various vehicles, are discussed. The need for mobility of such lasers necessitates special attention to be paid to the quest for ways and means of reducing the mass and size of the main laser systems. The optimisation of the parameters of such lasers is studied for various methods of scaling their systems. A complex approach to analysis of the optical scheme of the laser system is developed. (special issue devoted to the 80th anniversary of academician n g basov's birth)

  19. Fibonacci-based hardware post-processing for non-autonomous signum hyperchaotic system

    KAUST Repository

    Mansingka, Abhinav S.; Barakat, Mohamed L.; Zidan, Mohammed A.; Radwan, Ahmed Gomaa; Salama, Khaled N.

    2013-01-01

    This paper presents a hardware implementation of a robust non-autonomous hyperchaotic-based PRNG driven by a 256-bit LFSR. The original chaotic output is post-processed using a novel technique based on the Fibonacci series, bitwise XOR, rotation, and feedback. The proposed post-processing technique preserves the throughput of the system and enhances the randomness in the output which is verified by successfully passing all NIST SP. 800-22 tests. The system is realized on a Xilinx Virtex 4 FPGA achieving throughput up to 13.165 Gbits/s for 16-bit bus-width surpassing previously reported CB-PRNGs. © 2013 IEEE.

  20. Fibonacci-based hardware post-processing for non-autonomous signum hyperchaotic system

    KAUST Repository

    Mansingka, Abhinav S.

    2013-12-01

    This paper presents a hardware implementation of a robust non-autonomous hyperchaotic-based PRNG driven by a 256-bit LFSR. The original chaotic output is post-processed using a novel technique based on the Fibonacci series, bitwise XOR, rotation, and feedback. The proposed post-processing technique preserves the throughput of the system and enhances the randomness in the output which is verified by successfully passing all NIST SP. 800-22 tests. The system is realized on a Xilinx Virtex 4 FPGA achieving throughput up to 13.165 Gbits/s for 16-bit bus-width surpassing previously reported CB-PRNGs. © 2013 IEEE.

  1. A Framework for Evidence-Based Licensure of Adaptive Autonomous Systems: Technical Areas

    Science.gov (United States)

    2016-03-01

    autonomous tractor-trailer, the natural next evolution of the self - driving cars under development today. The tractor-trailer must be able to drive safely...letting other teens drive the vehicle , etc.) In this example, gradual permission for additional licensure and extended autonomous driving privileges under...to achieve a quasi-structured goal such as landing an airplane or driving a vehicle . This kind of autonomous system begins with core

  2. Overview of the Autonomic Nervous System

    Science.gov (United States)

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

  3. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

  4. Autonomous Driver Based on an Intelligent System of Decision-Making.

    Science.gov (United States)

    Czubenko, Michał; Kowalczuk, Zdzisław; Ordys, Andrew

    The paper presents and discusses a system ( xDriver ) which uses an Intelligent System of Decision-making (ISD) for the task of car driving. The principal subject is the implementation, simulation and testing of the ISD system described earlier in our publications (Kowalczuk and Czubenko in artificial intelligence and soft computing lecture notes in computer science, lecture notes in artificial intelligence, Springer, Berlin, 2010, 2010, In Int J Appl Math Comput Sci 21(4):621-635, 2011, In Pomiary Autom Robot 2(17):60-5, 2013) for the task of autonomous driving. The design of the whole ISD system is a result of a thorough modelling of human psychology based on an extensive literature study. Concepts somehow similar to the ISD system can be found in the literature (Muhlestein in Cognit Comput 5(1):99-105, 2012; Wiggins in Cognit Comput 4(3):306-319, 2012), but there are no reports of a system which would model the human psychology for the purpose of autonomously driving a car. The paper describes assumptions for simulation, the set of needs and reactions (characterizing the ISD system), the road model and the vehicle model, as well as presents some results of simulation. It proves that the xDriver system may behave on the road as a very inexperienced driver.

  5. Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

    Science.gov (United States)

    Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

    2013-01-01

    Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris. PMID:23429581

  6. Autonomous docking based on infrared system for electric vehicle charging in urban areas.

    Science.gov (United States)

    Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

    2013-02-21

    Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

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

    Science.gov (United States)

    Huang, Shiuh-Jer; Chen, Hung-Yi

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

  8. Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

    Directory of Open Access Journals (Sweden)

    Joshué Pérez

    2013-02-01

    Full Text Available Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

  9. A New Approach to Design Autonomous Wireless Sensor Node Based on RF Energy Harvesting System.

    Science.gov (United States)

    Mouapi, Alex; Hakem, Nadir

    2018-01-05

    Energy Harvesting techniques are increasingly seen as the solution for freeing the wireless sensor nodes from their battery dependency. However, it remains evident that network performance features, such as network size, packet length, and duty cycle, are influenced by the sum of recovered energy. This paper proposes a new approach to defining the specifications of a stand-alone wireless node based on a Radio-frequency Energy Harvesting System (REHS). To achieve adequate performance regarding the range of the Wireless Sensor Network (WSN), techniques for minimizing the energy consumed by the sensor node are combined with methods for optimizing the performance of the REHS. For more rigor in the design of the autonomous node, a comprehensive energy model of the node in a wireless network is established. For an equitable distribution of network charges between the different nodes that compose it, the Low-Energy Adaptive Clustering Hierarchy (LEACH) protocol is used for this purpose. The model considers five energy-consumption sources, most of which are ignored in recently used models. By using the hardware parameters of commercial off-the-shelf components (Mica2 Motes and CC2520 of Texas Instruments), the energy requirement of a sensor node is quantified. A miniature REHS based on a judicious choice of rectifying diodes is then designed and developed to achieve optimal performance in the Industrial Scientific and Medical (ISM) band centralized at 2.45 GHz . Due to the mismatch between the REHS and the antenna, a band pass filter is designed to reduce reflection losses. A gradient method search is used to optimize the output characteristics of the adapted REHS. At 1 mW of input RF power, the REHS provides an output DC power of 0.57 mW and a comparison with the energy requirement of the node allows the Base Station (BS) to be located at 310 m from the wireless nodes when the Wireless Sensor Network (WSN) has 100 nodes evenly spread over an area of 300 × 300 m 2 and

  10. A New Approach to Design Autonomous Wireless Sensor Node Based on RF Energy Harvesting System

    Directory of Open Access Journals (Sweden)

    Alex Mouapi

    2018-01-01

    Full Text Available Energy Harvesting techniques are increasingly seen as the solution for freeing the wireless sensor nodes from their battery dependency. However, it remains evident that network performance features, such as network size, packet length, and duty cycle, are influenced by the sum of recovered energy. This paper proposes a new approach to defining the specifications of a stand-alone wireless node based on a Radio-frequency Energy Harvesting System (REHS. To achieve adequate performance regarding the range of the Wireless Sensor Network (WSN, techniques for minimizing the energy consumed by the sensor node are combined with methods for optimizing the performance of the REHS. For more rigor in the design of the autonomous node, a comprehensive energy model of the node in a wireless network is established. For an equitable distribution of network charges between the different nodes that compose it, the Low-Energy Adaptive Clustering Hierarchy (LEACH protocol is used for this purpose. The model considers five energy-consumption sources, most of which are ignored in recently used models. By using the hardware parameters of commercial off-the-shelf components (Mica2 Motes and CC2520 of Texas Instruments, the energy requirement of a sensor node is quantified. A miniature REHS based on a judicious choice of rectifying diodes is then designed and developed to achieve optimal performance in the Industrial Scientific and Medical (ISM band centralized at 2.45 GHz . Due to the mismatch between the REHS and the antenna, a band pass filter is designed to reduce reflection losses. A gradient method search is used to optimize the output characteristics of the adapted REHS. At 1 mW of input RF power, the REHS provides an output DC power of 0.57 mW and a comparison with the energy requirement of the node allows the Base Station (BS to be located at 310 m from the wireless nodes when the Wireless Sensor Network (WSN has 100 nodes evenly spread over an area of 300

  11. Intelligent autonomous systems 12. Vol. 2. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

    2013-02-01

    Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

  12. Tool for optimal design and operation of hydrogen storage based autonomous energy systems

    Energy Technology Data Exchange (ETDEWEB)

    Oberschachtsiek, B.; Lemken, D. [ZBT - Duisburg (Germany); Stark, M.; Krost, G. [Duisburg-Essen Univ. (Germany)

    2010-07-01

    Decentralized small scale electricity generation based on renewable energy sources usually necessitates decoupling of volatile power generation and consumption by means of energy storage. Hydrogen has proven as an eligible storage medium for mid- and long-term range, which - when indicated - can be reasonably complemented by accumulator short term storage. The selection of appropriate system components - sources, storage devices and the appertaining peripherals - is a demanding task which affords a high degree of freedom but, on the other hand, has to account for various operational dependencies and restrictions of system components, as well as for conduct of load and generation. An innovative tool facilitates the configuration and dimensioning of renewable energy based power supply systems with hydrogen storage paths, and allows for applying appropriate operation strategies. This tool accounts for the characteristics and performances of relevant power sources, loads, and types of energy storage, and also regards safety rules the energy system has to comply with. In particular, the tool is addressing small, detached and autonomous supply systems. (orig.)

  13. Autonomous Operations System: Development and Application

    Science.gov (United States)

    Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

    2016-01-01

    Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

  14. The relationship between nature-based tourism and autonomic nervous system function among older adults.

    Science.gov (United States)

    Chang, Liang-Chih

    2014-01-01

    Nature-based tourism has recently become a topic of interest in health research. This study was aimed at examining relationships among nature-based tourism, stress, and the function of the autonomic nervous system (ANS). Three hundred and twenty-two older adults living in Taichung City, Taiwan, were selected as participants. Data were collected by a face-to-face survey that included measures of the frequency of participation in domestic and international nature-based tourism and the stress and ANS function of these participants. The data were analyzed using a path analysis. The results demonstrated that the frequency of participation in domestic nature-based tourism directly contributed to ANS function and that it also indirectly contributed to ANS function through stress reduction. Domestic nature-based tourism can directly and indirectly contribute to ANS function among older adults. Increasing the frequency of participation in domestic nature-based tourism should be considered a critical element of health programs for older adults. © 2014 International Society of Travel Medicine.

  15. A Multiagent System for Autonomous Operation of Islanded Microgrids Based on a Power Market Environment

    Directory of Open Access Journals (Sweden)

    Myong-Chul Shin

    2010-12-01

    Full Text Available One of the most important requirements of microgrid operation is to maintain a constant frequency such as 50 Hz or 60 Hz, which is closely related to a power balance between supply and demand. In general, microgrids are connected to power grids and surplus/shortage power of microgrids is traded with power grids. Since islanded microgrids are isolated from any power grids, the decrease in generation or load-shedding can be used to maintain the frequency when a power imbalance between supply and demand occurs. The power imbalance restricts the electricity use of consumers in the case of supply shortage and the power supply of suppliers in the case of supply surplus. Therefore, the islanded microgrid should be operated to reduce power imbalance conditions. Meanwhile, the microgrid is a small-scale power system and the employment of skillful operators for effective operation of its components requires high costs. Therefore, automatic operation of the components is effective realistically. In addition, the components are distributed in the microgrid and their operation should consider their owners’ profits. For these reasons, a multiagent system application can be a good alternative for microgrid operation. In this paper, we present a multiagent system for autonomous operation of the islanded microgrid on a power market environment. The proposed multiagent system is designed based on a cooperative operation scheme. We show the functionality and the feasibility of the proposed multiagent system through several tests.

  16. A multiagent system for autonomous operation of islanded microgrids based on a power market environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, H.-M. [Department of Electrical Engineering, University of Incheon/12-1, Sondo-dong, Yeonsu-gu, Incheon, 406-840 (Korea, Republic of); Kinoshita, T. [Graduate School of Information Science, Tohoku University/2-1-1, Katahira, Aoba-ku, Sendai, 980-8577 (Japan); Shin, M.-Ch. [School of Information and Communication Engineering, Sungkyunkwan University/300, Cheoncheon-dong, Jangan-gu, Suwon, Gyeonggi-do, 440-746 (Korea, Republic of)

    2010-12-15

    One of the most important requirements of microgrid operation is to maintain a constant frequency such as 50 Hz or 60 Hz, which is closely related to a power balance between supply and demand. In general, microgrids are connected to power grids and surplus/shortage power of microgrids is traded with power grids. Since islanded microgrids are isolated from any power grids, the decrease in generation or load-shedding can be used to maintain the frequency when a power imbalance between supply and demand occurs. The power imbalance restricts the electricity use of consumers in the case of supply shortage and the power supply of suppliers in the case of supply surplus. Therefore, the islanded microgrid should be operated to reduce power imbalance conditions. Meanwhile, the microgrid is a small-scale power system and the employment of skillful operators for effective operation of its components requires high costs. Therefore, automatic operation of the components is effective realistically. In addition, the components are distributed in the microgrid and their operation should consider their owners' profits. For these reasons, a multiagent system application can be a good alternative for microgrid operation. In this paper, we present a multiagent system for autonomous operation of the islanded microgrid on a power market environment. The proposed multiagent system is designed based on a cooperative operation scheme. We show the functionality and the feasibility of the proposed multiagent system through several tests. (authors)

  17. Agent-based autonomous systems and abstraction engines: Theory meets practice

    OpenAIRE

    Dennis, L.A.; Aitken, J.M.; Collenette, J.; Cucco, E.; Kamali, M.; McAree, O.; Shaukat, A.; Atkinson, K.; Gao, Y.; Veres, S.M.; Fisher, M.

    2016-01-01

    We report on experiences in the development of hybrid autonomous systems where high-level decisions are made by a rational agent. This rational agent interacts with other sub-systems via an abstraction engine. We describe three systems we have developed using the EASS BDI agent programming language and framework which supports this architecture. As a result of these experiences we recommend changes to the theoretical operational semantics that underpins the EASS framework and present a fourth...

  18. Using infrared HOG-based pedestrian detection for outdoor autonomous searching UAV with embedded system

    Science.gov (United States)

    Shao, Yanhua; Mei, Yanying; Chu, Hongyu; Chang, Zhiyuan; He, Yuxuan; Zhan, Huayi

    2018-04-01

    Pedestrian detection (PD) is an important application domain in computer vision and pattern recognition. Unmanned Aerial Vehicles (UAVs) have become a major field of research in recent years. In this paper, an algorithm for a robust pedestrian detection method based on the combination of the infrared HOG (IR-HOG) feature and SVM is proposed for highly complex outdoor scenarios on the basis of airborne IR image sequences from UAV. The basic flow of our application operation is as follows. Firstly, the thermal infrared imager (TAU2-336), which was installed on our Outdoor Autonomous Searching (OAS) UAV, is used for taking pictures of the designated outdoor area. Secondly, image sequences collecting and processing were accomplished by using high-performance embedded system with Samsung ODROID-XU4 and Ubuntu as the core and operating system respectively, and IR-HOG features were extracted. Finally, the SVM is used to train the pedestrian classifier. Experiment show that, our method shows promising results under complex conditions including strong noise corruption, partial occlusion etc.

  19. Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

    Science.gov (United States)

    Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

    2017-12-01

    Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

  20. Self-localization for an autonomous mobile robot based on an omni-directional vision system

    Science.gov (United States)

    Chiang, Shu-Yin; Lin, Kuang-Yu; Chia, Tsorng-Lin

    2013-12-01

    In this study, we designed an autonomous mobile robot based on the rules of the Federation of International Robotsoccer Association (FIRA) RoboSot category, integrating the techniques of computer vision, real-time image processing, dynamic target tracking, wireless communication, self-localization, motion control, path planning, and control strategy to achieve the contest goal. The self-localization scheme of the mobile robot is based on the algorithms featured in the images from its omni-directional vision system. In previous works, we used the image colors of the field goals as reference points, combining either dual-circle or trilateration positioning of the reference points to achieve selflocalization of the autonomous mobile robot. However, because the image of the game field is easily affected by ambient light, positioning systems exclusively based on color model algorithms cause errors. To reduce environmental effects and achieve the self-localization of the robot, the proposed algorithm is applied in assessing the corners of field lines by using an omni-directional vision system. Particularly in the mid-size league of the RobotCup soccer competition, selflocalization algorithms based on extracting white lines from the soccer field have become increasingly popular. Moreover, white lines are less influenced by light than are the color model of the goals. Therefore, we propose an algorithm that transforms the omni-directional image into an unwrapped transformed image, enhancing the extraction features. The process is described as follows: First, radical scan-lines were used to process omni-directional images, reducing the computational load and improving system efficiency. The lines were radically arranged around the center of the omni-directional camera image, resulting in a shorter computational time compared with the traditional Cartesian coordinate system. However, the omni-directional image is a distorted image, which makes it difficult to recognize the

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

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

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

  2. Compact autonomous navigation system (CANS)

    Science.gov (United States)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

    2017-11-01

    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  3. Towards an Autonomous Vision-Based Unmanned Aerial System against Wildlife Poachers

    Directory of Open Access Journals (Sweden)

    Miguel A. Olivares-Mendez

    2015-12-01

    Full Text Available Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $ 213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing.

  4. Towards an Autonomous Vision-Based Unmanned Aerial System against Wildlife Poachers

    Science.gov (United States)

    Olivares-Mendez, Miguel A.; Fu, Changhong; Ludivig, Philippe; Bissyandé, Tegawendé F.; Kannan, Somasundar; Zurad, Maciej; Annaiyan, Arun; Voos, Holger; Campoy, Pascual

    2015-01-01

    Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing. PMID:26703597

  5. Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer

    Science.gov (United States)

    Schrading, J. Nicolas

    2013-01-01

    The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  6. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  8. Physics Based Model for Online Fault Detection in Autonomous Cryogenic Loading System

    Science.gov (United States)

    Kashani, Ali; Devine, Ekaterina Viktorovna P; Luchinsky, Dmitry Georgievich; Smelyanskiy, Vadim; Sass, Jared P.; Brown, Barbara L.; Patterson-Hine, Ann

    2013-01-01

    We report the progress in the development of the chilldown model for rapid cryogenic loading system developed at KSC. The nontrivial characteristic feature of the analyzed chilldown regime is its active control by dump valves. The two-phase flow model of the chilldown is approximated as one-dimensional homogeneous fluid flow with no slip condition for the interphase velocity. The model is built using commercial SINDAFLUINT software. The results of numerical predictions are in good agreement with the experimental time traces. The obtained results pave the way to the application of the SINDAFLUINT model as a verification tool for the design and algorithm development required for autonomous loading operation.

  9. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    First we review innovative control architectures in electric power systems such as Microgrids, Virtual power plants and Cell based systems. We evaluate application of autonomous systems and intelligent agents in each of these control architectures particularly in the context of Denmark's strategic energy plans. The second ...

  10. Autonomous navigation system and method

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  11. Development of autonomous operation system

    International Nuclear Information System (INIS)

    Endou, Akira; Watanabe, Kenshiu; Miki, Tetsushi

    1992-01-01

    To enhance operation reliability of nuclear plants by removing human factors, study on an autonomous operation system has been carried out to substitute artificial intelligence (AI) for plant operators and, in addition, traditional controllers used in existing plants. For construction of the AI system, structurization of knowledge on the basis of the principles such as physical laws, function and structure of relevant objects and generalization of problem solving process are intended. A hierarchical distributed cooperative system configuration in employed because it is superior from the viewpoint of dynamical reorganization of system functions. This configuration is realized by an object-oriented multi-agent system. Construction of a prototype system was planned and the conceptual design was made for FBR plant in order to evaluate applicability of AI to the autonomous operation and to have a prospect for the realization of the system. The prototype system executes diagnosis, state evaluation, operation and control for the main plant subsystems. (author)

  12. Autonomous System Design for Moessbauer Spectra Acquisition

    International Nuclear Information System (INIS)

    Morales, A. L.; Zuluaga, J.; Cely, A.; Tobon, J.

    2001-01-01

    An autonomous system for Moessbauer spectroscopy based in a microcontroller has been designed. A timer of the microcontroller was used to generate the control signal for the Moessbauer linear motor, and a counter for the spectra acquisition. Additionally, the system has its own memory for data storage and a serial port to transmit the data to a computer for its later processing and display

  13. Autonomous photovoltaic lighting system

    OpenAIRE

    Hafez, Ahmed A. A.; Montesinos Miracle, Daniel; Sudrià Andreu, Antoni

    2012-01-01

    This paper introduces a comparison between the conventional and Photovoltaic (PV) lighting systems. A simple sizing procedure for a PV stand-alone system was advised. The paper also proposes a novel PV lighting system. The proposed system is simple, compact and reliable. The system operation was investigated by thoroughly mathematical and simulation work.

  14. Mobile intelligent autonomous systems

    National Research Council Canada - National Science Library

    Raol, J. R; Gopal, Ajith K

    2013-01-01

    "Written for systems, mechanical, aero, electrical, civil, industrial, and robotics engineers, this book covers robotics from a theoretical and systems point of view, with an emphasis on the sensor...

  15. Autonomously managed electrical power systems

    Science.gov (United States)

    Callis, Charles P.

    1986-01-01

    The electric power systems for future spacecraft such as the Space Station will necessarily be more sophisticated and will exhibit more nearly autonomous operation than earlier spacecraft. These new power systems will be more reliable and flexible than their predecessors offering greater utility to the users. Automation approaches implemented on various power system breadboards are investigated. These breadboards include the Hubble Space Telescope power system test bed, the Common Module Power Management and Distribution system breadboard, the Autonomusly Managed Power System (AMPS) breadboard, and the 20 kilohertz power system breadboard. Particular attention is given to the AMPS breadboard. Future plans for these breadboards including the employment of artificial intelligence techniques are addressed.

  16. Autonomous intelligent cruise control system

    Science.gov (United States)

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

    1995-01-01

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

  17. Mobile intelligent autonomous systems

    National Research Council Canada - National Science Library

    Raol, J. R; Gopal, Ajith K

    2013-01-01

    ..., and includes examples and applications throughout. The organization of the book is based on fundamental concepts, with sections covering fundamental concepts, methods and approaches, block/flow diagrams, and numerical examples...

  18. Advanced Autonomous Systems for Space Operations

    Science.gov (United States)

    Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

    2002-01-01

    New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not

  19. Autonomously managed high power systems

    International Nuclear Information System (INIS)

    Weeks, D.J.; Bechtel, R.T.

    1985-01-01

    The need for autonomous power management capabilities will increase as the power levels of spacecraft increase into the multi-100 kW range. The quantity of labor intensive ground and crew support consumed by the 9 kW Skylab cannot be afforded in support of a 75-300 kW Space Station or high power earth orbital and interplanetary spacecraft. Marshall Space Flight Center is managing a program to develop necessary technologies for high power system autonomous management. To date a reference electrical power system and automation approaches have been defined. A test facility for evaluation and verification of management algorithms and hardware has been designed with the first of the three power channel capability nearing completion

  20. Development of multi copter based autonomous unmanned aerial radiation monitoring system for the remote impact assessment of radiation emergencies

    International Nuclear Information System (INIS)

    Jose, Jis Romal; Gupta, Ashutosh; Bahadur, Shuchita; Chaudhury, Probal; Pradeepkumar, K.S.

    2016-01-01

    During any radiation emergency, the level and extent of radioactive contamination need to be monitored for the timely and effective implementation of countermeasures to reduce the radiation exposure to public. In such a scenario, radiation surveillance can be carried out using either ground based mobile monitoring techniques or aerial radiation monitoring. Aerial radiation monitoring is quick and capable of scanning the areas which are not easily accessible by the ground based mobile monitoring. Compact unmanned aerial vehicle based radiation surveillance system is ideal in above mentioned radiation emergency scenarios as it can be rapidly deployed in the affected area and radiation exposure to the monitoring personal can be totally avoided. This paper describes development of multi copter based autonomous unmanned aerial radiation monitoring system for the remote impact assessment of radiation emergencies

  1. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

    ... actuators, development of a visualization lab for modeling vision based guidance algorithms, concept development of a rapid prototyping and aero characterization lab, vision based control of autonomous...

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  3. Wavefront Propagation and Fuzzy Based Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Adel Al-Jumaily

    2005-06-01

    Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

  4. Stochastic sensitivity analysis of periodic attractors in non-autonomous nonlinear dynamical systems based on stroboscopic map

    Energy Technology Data Exchange (ETDEWEB)

    Guo, Kong-Ming, E-mail: kmguo@xidian.edu.cn [School of Electromechanical Engineering, Xidian University, P.O. Box 187, Xi' an 710071 (China); Jiang, Jun, E-mail: jun.jiang@mail.xjtu.edu.cn [State Key Laboratory for Strength and Vibration, Xi' an Jiaotong University, Xi' an 710049 (China)

    2014-07-04

    To apply stochastic sensitivity function method, which can estimate the probabilistic distribution of stochastic attractors, to non-autonomous dynamical systems, a 1/N-period stroboscopic map for a periodic motion is constructed in order to discretize the continuous cycle into a discrete one. In this way, the sensitivity analysis of a cycle for discrete map can be utilized and a numerical algorithm for the stochastic sensitivity analysis of periodic solutions of non-autonomous nonlinear dynamical systems under stochastic disturbances is devised. An external excited Duffing oscillator and a parametric excited laser system are studied as examples to show the validity of the proposed method. - Highlights: • A method to analyze sensitivity of stochastic periodic attractors in non-autonomous dynamical systems is proposed. • Probabilistic distribution around periodic attractors in an external excited Φ{sup 6} Duffing system is obtained. • Probabilistic distribution around a periodic attractor in a parametric excited laser system is determined.

  5. Safety performance monitoring of autonomous marine systems

    International Nuclear Information System (INIS)

    Thieme, Christoph A.; Utne, Ingrid B.

    2017-01-01

    The marine environment is vast, harsh, and challenging. Unanticipated faults and events might lead to loss of vessels, transported goods, collected scientific data, and business reputation. Hence, systems have to be in place that monitor the safety performance of operation and indicate if it drifts into an intolerable safety level. This article proposes a process for developing safety indicators for the operation of autonomous marine systems (AMS). The condition of safety barriers and resilience engineering form the basis for the development of safety indicators, synthesizing and further adjusting the dual assurance and the resilience based early warning indicator (REWI) approaches. The article locates the process for developing safety indicators in the system life cycle emphasizing a timely implementation of the safety indicators. The resulting safety indicators reflect safety in AMS operation and can assist in planning of operations, in daily operational decision-making, and identification of improvements. Operation of an autonomous underwater vehicle (AUV) exemplifies the process for developing safety indicators and their implementation. The case study shows that the proposed process leads to a comprehensive set of safety indicators. It is expected that application of the resulting safety indicators consequently will contribute to safer operation of current and future AMS. - Highlights: • Process for developing safety indicators for autonomous marine systems. • Safety indicators based on safety barriers and resilience thinking. • Location of the development process in the system lifecycle. • Case study on AUV demonstrating applicability of the process.

  6. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  7. An Autonomous Learning System of Bengali Characters Using Web-Based Intelligent Handwriting Recognition

    Science.gov (United States)

    Khatun, Nazma; Miwa, Jouji

    2016-01-01

    This research project was aimed to develop an intelligent Bengali handwriting education system to improve the literacy level in Bangladesh. Due to the socio-economical limitation, all of the population does not have the chance to go to school. Here, we developed a prototype of web-based (iPhone/smartphone or computer browser) intelligent…

  8. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

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

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

    Science.gov (United States)

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

    2008-12-01

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

  10. 12th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

    2013-01-01

    Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security ...

  11. A Framework for Autonomous Trajectory-Based Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The innovation proposed is a framework for autonomous Traffic Flow Management (TFM) under Trajectory Based Operations (TBO) for Unmanned Aerial Systems (UAS). The...

  12. Optimization design of wireless charging system for autonomous robots based on magnetic resonance coupling

    Directory of Open Access Journals (Sweden)

    Junhua Wang

    2018-05-01

    Full Text Available Wireless charging is the key technology to realize real autonomy of mobile robots. As the core part of wireless power transfer system, coupling mechanism including coupling coils and compensation topology is analyzed and optimized through simulations, to achieve stable and practical wireless charging suitable for ordinary robots. Multi-layer coil structure, especially double-layer coil is explored and selected to greatly enhance coupling performance, while shape of ferrite shielding goes through distributed optimization to guarantee coil fault tolerance and cost effectiveness. On the basis of optimized coils, primary compensation topology is analyzed to adopt composite LCL compensation, to stabilize operations of the primary side under variations of mutual inductance. Experimental results show the optimized system does make sense for wireless charging application for robots based on magnetic resonance coupling, to realize long-term autonomy of robots.

  13. Optimization design of wireless charging system for autonomous robots based on magnetic resonance coupling

    Science.gov (United States)

    Wang, Junhua; Hu, Meilin; Cai, Changsong; Lin, Zhongzheng; Li, Liang; Fang, Zhijian

    2018-05-01

    Wireless charging is the key technology to realize real autonomy of mobile robots. As the core part of wireless power transfer system, coupling mechanism including coupling coils and compensation topology is analyzed and optimized through simulations, to achieve stable and practical wireless charging suitable for ordinary robots. Multi-layer coil structure, especially double-layer coil is explored and selected to greatly enhance coupling performance, while shape of ferrite shielding goes through distributed optimization to guarantee coil fault tolerance and cost effectiveness. On the basis of optimized coils, primary compensation topology is analyzed to adopt composite LCL compensation, to stabilize operations of the primary side under variations of mutual inductance. Experimental results show the optimized system does make sense for wireless charging application for robots based on magnetic resonance coupling, to realize long-term autonomy of robots.

  14. Photo-driven autonomous hydrogen generation system based on hierarchically shelled ZnO nanostructures

    International Nuclear Information System (INIS)

    Kim, Heejin; Yong, Kijung

    2013-01-01

    A quantum dot semiconductor sensitized hierarchically shelled one-dimensional ZnO nanostructure has been applied as a quasi-artificial leaf for hydrogen generation. The optimized ZnO nanostructure consists of one dimensional nanowire as a core and two-dimensional nanosheet on the nanowire surface. Furthermore, the quantum dot semiconductors deposited on the ZnO nanostructures provide visible light harvesting properties. To realize the artificial leaf, we applied the ZnO based nanostructure as a photoelectrode with non-wired Z-scheme system. The demonstrated un-assisted photoelectrochemical system showed the hydrogen generation properties under 1 sun condition irradiation. In addition, the quantum dot modified photoelectrode showed 2 mA/cm 2 current density at the un-assisted condition

  15. Imposing limits on autonomous systems.

    Science.gov (United States)

    Hancock, P A

    2017-02-01

    Our present era is witnessing the genesis of a sea-change in the way that advanced technologies operate. Amongst this burgeoning wave of untrammelled automation there is now beginning to arise a cadre of ever-more independent, autonomous systems. The degree of interaction between these latter systems with any form of human controller is becoming progressively more diminished and remote; and this perhaps necessarily so. Here, I advocate for human-centred and human favouring constraints to be designed, programmed, promulgated and imposed upon these nascent forms of independent entity. I am not sanguine about the collective response of modern society to this call. Nevertheless, the warning must be voiced and the issue debated, especially among those who most look to mediate between people and technology. Practitioner Summary: Practitioners are witnessing the penetration of progressively more independent technical orthotics into virtually all systems' operations. This work enjoins them to advocate for sentient, rational and mindful human-centred approaches towards such innovations. Practitioners need to place user-centred concerns above either the technical or the financial imperatives which motivate this line of progress.

  16. Monitoring aquatic environments with autonomous systems

    DEFF Research Database (Denmark)

    Christensen, Jesper Philip Aagaard

    High frequency measurements from autonomous sensors have become a widely used tool among aquatic scientists. This report focus primarily on the use of ecosystem metabolism based on high frequency oxygen measurements and relates the calculations to spatial variation, biomass of the primary producers...... and in shallow systems the macrophytes can completely dominate primary production. This was despite the fact that the plants in the studied system were light-saturated most of the light hours and occasionally carbon limited. It was also shown that the GPP and the total phytoplankton biomass in a nutrient...

  17. An autonomic security monitor for distributed operating systems

    OpenAIRE

    Arenas, A.; Aziz, Benjamin; Maj, S.; Matthews, B.

    2011-01-01

    This paper presents an autonomic system for the monitoring of security-relevant information in a Grid-based operating system. The system implements rule-based policies using Java Drools. Policies are capable of controlling the system environment based on changes in levels of CPU/memory usage, accesses to system resources, detection of abnormal behaviour such as DDos attacks.

  18. Autonomous renewable energy conversion system

    Energy Technology Data Exchange (ETDEWEB)

    Valtchev, V. [Technical University of Varna (Bulgaria). Dept. of Electronics; Bossche, A. van den; Ghijselen, J.; Melkebeek, J. [University of Gent (Belgium). Dept. of Electrical Power Engineering

    2000-02-01

    This paper briefly reviews the need for renewable power generation and describes a medium-power Autonomous Renewable Energy Conversion System (ARECS), integrating conversion of wind and solar energy sources. The objectives of the paper are to extract maximum power from the proposed wind energy conversion scheme and to transfer this power and the power derived by the photovoltaic system in a high efficiency way to a local isolated load. The wind energy conversion operates at variable shaft speed yielding an improved annual energy production over constant speed systems. An induction generator (IG) has been used because of its reduced cost, robustness, absence of separate DC source for excitation, easier dismounting and maintenance. The maximum energy transfer of the wind energy is assured by a simple and reliable control strategy adjusting the stator frequency of the IG so that the power drawn is equal to the peak power production of the wind turbine at any wind speed. The presented control strategy also provides an optimal efficiency operation of the IG by applying a quadratic dependence between the IG terminal voltage and frequency V {approx} f{sup 2}. For improving the total system efficiency, high efficiency converters have been designed and implemented. The modular principle of the proposed DC/DC conversion provides the possibility for modifying the system structure depending on different conditions. The configuration of the presented ARECS and the implementation of the proposed control algorithm for optimal power transfer are fully discussed. The stability and dynamic performance as well as the different operation modes of the proposed control and the operation of the converters are illustrated and verified on an experimental prototype. (author)

  19. Advisory and autonomous cooperative driving systems

    NARCIS (Netherlands)

    Broek, T.H.A. van den; Ploeg, J.; Netten, B.D.

    2011-01-01

    In this paper, the traffic efficiency of an advisory cooperative driving system, Advisory Acceleration Control is examined and compared to the efficiency of an autonomous cooperative driving system, Cooperative Adaptive Cruise Control. The algorithms and implementation thereof are explained. The

  20. The Cardiovascular Autonomic Nervous System and Anaesthesia

    African Journals Online (AJOL)

    QuickSilver

    system that continues to sustain and control our vital organ systems. .... vagal tone and increased sympathetic outflow to the sinus node due to the fall in blood pressure) ... intraoperative autonomic balance of a particular patient population.

  1. Design and Implementation of a Fully Autonomous UAV's Navigator Based on Omni-directional Vision System

    Directory of Open Access Journals (Sweden)

    Seyed Mohammadreza Kasaei

    2011-12-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are the subject of an increasing interest in many applications . UAVs are seeing more widespread use in military, scenic, and civilian sectors in recent years. Autonomy is one of the major advantages of these vehicles. It is then necessary to develop particular sensor in order to provide efficient navigation functions. The helicopter has been stabilized with visual information through the control loop. Omni directional vision can be a useful sensor for this propose. It can be used as the only sensor or as complementary sensor. In this paper , we propose a novel method for path planning on an UAV based on electrical potential .We are using an omni directional vision system for navigating and path planning.

  2. A survey of autonomous vision-based See and Avoid for Unmanned Aircraft Systems

    Science.gov (United States)

    Mcfadyen, Aaron; Mejias, Luis

    2016-01-01

    This paper provides a comprehensive review of the vision-based See and Avoid problem for unmanned aircraft. The unique problem environment and associated constraints are detailed, followed by an in-depth analysis of visual sensing limitations. In light of such detection and estimation constraints, relevant human, aircraft and robot collision avoidance concepts are then compared from a decision and control perspective. Remarks on system evaluation and certification are also included to provide a holistic review approach. The intention of this work is to clarify common misconceptions, realistically bound feasible design expectations and offer new research directions. It is hoped that this paper will help us to unify design efforts across the aerospace and robotics communities.

  3. Assessment of autonomic nervous system by using empirical mode decomposition-based reflection wave analysis during non-stationary conditions

    International Nuclear Information System (INIS)

    Chang, C C; Hsiao, T C; Kao, S C; Hsu, H Y

    2014-01-01

    Arterial blood pressure (ABP) is an important indicator of cardiovascular circulation and presents various intrinsic regulations. It has been found that the intrinsic characteristics of blood vessels can be assessed quantitatively by ABP analysis (called reflection wave analysis (RWA)), but conventional RWA is insufficient for assessment during non-stationary conditions, such as the Valsalva maneuver. Recently, a novel adaptive method called empirical mode decomposition (EMD) was proposed for non-stationary data analysis. This study proposed a RWA algorithm based on EMD (EMD-RWA). A total of 51 subjects participated in this study, including 39 healthy subjects and 12 patients with autonomic nervous system (ANS) dysfunction. The results showed that EMD-RWA provided a reliable estimation of reflection time in baseline and head-up tilt (HUT). Moreover, the estimated reflection time is able to assess the ANS function non-invasively, both in normal, healthy subjects and in the patients with ANS dysfunction. EMD-RWA provides a new approach for reflection time estimation in non-stationary conditions, and also helps with non-invasive ANS assessment. (paper)

  4. ADRES : autonomous decentralized regenerative energy systems

    Energy Technology Data Exchange (ETDEWEB)

    Brauner, G.; Einfalt, A.; Leitinger, C.; Tiefgraber, D. [Vienna Univ. of Technology (Austria)

    2007-07-01

    The autonomous decentralized regenerative energy systems (ADRES) research project demonstrates that decentralized network independent microgrids are the target power systems of the future. This paper presented a typical structure of a microgrid, demonstrating that all types of generation available can be integrated, from wind and small hydro to photovoltaic, fuel cell, biomass or biogas operated stirling motors and micro turbines. In grid connected operation the balancing energy and reactive power for voltage control will come from the public grid. If there is no interconnection to a superior grid, it will form an autonomous micro grid. In order to reduce peak power demand and base energy, autonomous microgrid technology requires highly efficient appliances. Otherwise large collector design, high storage and balancing generation capacities would be necessary, which would increase costs. End-use energy efficiency was discussed with reference to demand side management (DSM) strategies that match energy demand with actual supply in order to minimize the storage size needed. This paper also discussed network controls that comprise active and reactive power. Decentralized robust algorithms were investigated with reference to black-start ability and congestion management features. It was concluded that the trend to develop small decentralized grids in parallel to existing large systems will improve security of supply and reduce greenhouse gas emissions. Decentralized grids will also increase energy efficiency because regenerative energy will be used where it is collected in the form of electricity and heat, thus avoiding transport and the extension of transmission lines. Decentralized energy technology is now becoming more economic by efficient and economic mass production of components. Although decentralized energy technology requires energy automation, computer intelligence is becoming increasingly cost efficient. 2 refs., 4 figs.

  5. Development of an autonomous power system testbed

    International Nuclear Information System (INIS)

    Barton, J.R.; Adams, T.; Liffring, M.E.

    1985-01-01

    A power system testbed has been assembled to advance the development of large autonomous electrical power systems required for the space station, spacecraft, and aircraft. The power system for this effort was designed to simulate single- or dual-bus autonomous power systems, or autonomous systems that reconfigure from a single bus to a dual bus following a severe fault. The approach taken was to provide a flexible power system design with two computer systems for control and management. One computer operates as the control system and performs basic control functions, data and command processing, charge control, and provides status to the second computer. The second computer contains expert system software for mission planning, load management, fault identification and recovery, and sends load and configuration commands to the control system

  6. Advanced autonomous model-based operation of industrial process systems (Autoprofit) : technological developments and future perspectives

    NARCIS (Netherlands)

    Ozkan, L.; Bombois, X.J.A.; Ludlage, J.H.A.; Rojas, C.R.; Hjalmarsson, H.; Moden, P.E.; Lundh, M.; Backx, A.C.P.M.; Van den Hof, P.M.J.

    2016-01-01

    Model-based operation support technology such as Model Predictive Control (MPC) is a proven and accepted technology for multivariable and constrained large scale control problems in process industry. Despite the growing number of successful implementations, the low level of operational efficiency of

  7. Run-Time Dynamically-Adaptable FPGA-Based Architecture for High-Performance Autonomous Distributed Systems

    OpenAIRE

    Valverde Alcalá, Juan

    2016-01-01

    Esta tesis doctoral se enmarca dentro del campo de los sistemas embebidos reconfigurables, redes de sensores inalámbricas para aplicaciones de altas prestaciones, y computación distribuida. El documento se centra en el estudio de alternativas de procesamiento para sistemas embebidos autónomos distribuidos de altas prestaciones (por sus siglas en inglés, High-Performance Autonomous Distributed Systems (HPADS)), así como su evolución hacia el procesamiento de alta resolución. El estudio se ha ...

  8. A science-based executive for autonomous planetary vehicles

    Science.gov (United States)

    Peters, S.

    2001-01-01

    If requests for scientific observations, rather than specific plans, are uplinked to an autonomous execution system on the vehicle, it would be able to adjust its execution based upon actual performance. Such a science-based executive control system had been developed and demonstrated for the Rocky7 research rover.

  9. Autonomous Formations of Multi-Agent Systems

    Science.gov (United States)

    Dhali, Sanjana; Joshi, Suresh M.

    2013-01-01

    Autonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.

  10. Cheap electricity with autonomous solar cell systems

    International Nuclear Information System (INIS)

    Ouwens, C.D.

    1993-01-01

    A comparison has been made between the costs of an autonomous solar cell system and a centralized electricity supply system. In both cases investment costs are the main issue. It is shown that for households in densely populated sunny areas, the use of autonomous solar cell systems is - even with today's market prices - only as expensive or even cheaper than a grid connection, as long as efficient electric appliances are used. The modular nature of solar cell systems makes it possible to start with any number of appliances, depending on the amount of money available to be spent. (author)

  11. Development of an autonomous transportable SOFC system operating on C-based fuel. The lilith system; Development of an autonomous transportable SOFC system operating on C-based fuel. The lilith system. Schlussbericht

    Energy Technology Data Exchange (ETDEWEB)

    Bucheli, O; Ihringer, R; Diethelm, S

    2006-07-01

    The aim of the project is to adapt a prototype portable SOFC system to the requirements of demonstrator for educational institutions as niche market. This involves on the one hand stable operation of the unit with reformed fuels, on the other hand the integration and control of auxiliaries such as fan and visualization. The result is aimed to be a practical communication vector, letting people touch SOFC technology. As intended, 2 redesigned systems have been realised and mounted. While design simplification allowed an easier construction of the units, more technical challenges than anticipated were encountered on the level of thermal management. The re-designed thermal system did not improve the thermal management to the level expected. Heat transfer to the stack chamber was on the lower limit, leading to rather high exhaust temperatures and also affected stack performance and robustness. Reforming of methanol worked to satisfaction on the short term, long-term data have not been obtained to date. Electronic controls, visualisation and auxiliaries have been elaborated based on the given specifications, but could not be validated on the complete system within the project time-frame. After a major personnel change within HTceramix, it is intended to pursue the activity next year with a new team. (author)

  12. Autonomous Renewable Energy Systems | Van Voorden | Nigerian ...

    African Journals Online (AJOL)

    The problems of having many renewable sources such as wind and solar generating units in a power system are uncontrollable fluctuations in power generation and the difficulty in forecasting the power generation capability of these sources due to their stochastic nature. Therefore, autonomous electricity systems with a ...

  13. Sohbrit: Autonomous COTS System for Satellite Characterization

    Science.gov (United States)

    Blazier, N.; Tarin, S.; Wells, M.; Brown, N.; Nandy, P.; Woodbury, D.

    As technology continues to improve, driving down the cost of commercial astronomical products while increasing their capabilities, manpower to run observations has become the limiting factor in acquiring continuous and repeatable space situational awareness data. Sandia National Laboratories set out to automate a testbed comprised entirely of commercial off-the-shelf (COTS) hardware for space object characterization (SOC) focusing on satellites in geosynchronous orbit. Using an entirely autonomous system allows collection parameters such as target illumination and nightly overlap to be accounted for habitually; this enables repeatable development of target light curves to establish patterns of life in a variety of spectral bands. The system, known as Sohbrit, is responsible for autonomously creating an optimized schedule, checking the weather, opening the observatory dome, aligning and focusing the telescope, executing the schedule by slewing to each target and imaging it in a number of spectral bands (e.g., B, V, R, I, wide-open) via a filter wheel, closing the dome at the end of observations, processing the data, and storing/disseminating the data for exploitation via the web. Sohbrit must handle various situations such as weather outages and focus changes due to temperature shifts and optical seeing variations without human interaction. Sohbrit can collect large volumes of data nightly due to its high level of automation. To store and disseminate these large quantities of data, we utilize a cloud-based big data architecture called Firebird, which exposes the data out to the community for use by developers and analysts. Sohbrit is the first COTS system we are aware of to automate the full process of multispectral geosynchronous characterization from scheduling all the way to processed, disseminated data. In this paper we will discuss design decisions, issues encountered and overcome during implementation, and show results produced by Sohbrit.

  14. Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

    Science.gov (United States)

    Sterritt, Roy; Hinchey, Mike

    2006-01-01

    Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

  15. Digital Autonomous Terminal Access Communication (DATAC) system

    Science.gov (United States)

    Novacki, Stanley M., III

    1987-01-01

    In order to accommodate the increasing number of computerized subsystems aboard today's more fuel efficient aircraft, the Boeing Co. has developed the DATAC (Digital Autonomous Terminal Access Control) bus to minimize the need for point-to-point wiring to interconnect these various systems, thereby reducing total aircraft weight and maintaining an economical flight configuration. The DATAC bus is essentially a local area network providing interconnections for any of the flight management and control systems aboard the aircraft. The task of developing a Bus Monitor Unit was broken down into four subtasks: (1) providing a hardware interface between the DATAC bus and the Z8000-based microcomputer system to be used as the bus monitor; (2) establishing a communication link between the Z8000 system and a CP/M-based computer system; (3) generation of data reduction and display software to output data to the console device; and (4) development of a DATAC Terminal Simulator to facilitate testing of the hardware and software which transfer data between the DATAC's bus and the operator's console in a near real time environment. These tasks are briefly discussed.

  16. Does Virtual Reality-based Kinect Dance Training Paradigm Improve Autonomic Nervous System Modulation in Individuals with Chronic Stroke?

    Science.gov (United States)

    Sampaio, Luciana Maria Malosá; Subramaniam, Savitha; Arena, Ross; Bhatt, Tanvi

    2016-10-01

    Physical inactivity and low resting heart rate variability (HRV) are associated with an increased cardiovascular deconditioning, risk of secondary stroke and mortality. Aerobic dance is a multidimensional physical activity and recent research supports its application as a valid alternative cardiovascular training. Furthermore, technological advances have facilitated the emergence of new approaches for exercise training holding promise, especially those methods that integrate rehabilitation with virtual gaming. The purpose of this study was to evaluate cardiac autonomic modulation in individuals with chronic stroke post-training using a virtual reality - based aerobic dance training paradigm. Eleven community-dwelling individuals with hemiparetic stroke [61.7( ± 4.3) years] received a virtual reality-based dance paradigm for 6 weeks using the commercially available Kinect dance video game "Just Dance 3." The training was delivered in a high-intensity tapering method with the first two weeks consisting of 5 sessions/week, next two weeks of 3 sessions/week and last two weeks of 2 sessions/week, with a total of 20 sessions. Data obtained for HRV analysis pre- and post-intervention consists of HRV for ten minutes in (1) supine resting position; (2) quiet standing. High-frequency (HF) power measures as indicators of cardiac parasympathetic activity, low-frequency (LF) power of parasympathetic-sympathetic balance and LF/HF of sympatho-vagal balance were calculated. YMCA submaximal cycle Ergometer test was used to acquire VO 2 max pre- and post-intervention. Changes in physical activity during dance training were assessed using Omran HJ-321 Tri-Axis Pedometer. After training, participants demonstrated a significant improvement in autonomic modulation in the supine position, indicating an improvement in LF=48.4 ( ± 20.1) to 40.3 ( ± 8.0), p =0.03; HF=51.5 ( ± 19) to 59.7 ( ± 8), p = 0.02 and LF/HF=1.6 ( ± 1.9) to 0.8 ( ± 0.26), p =0.05]. Post-training the

  17. Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

    Science.gov (United States)

    Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

    2017-04-13

    The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

  18. Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

    Science.gov (United States)

    Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

    2017-01-01

    The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

  19. Autonomous system for launch vehicle range safety

    Science.gov (United States)

    Ferrell, Bob; Haley, Sam

    2001-02-01

    The Autonomous Flight Safety System (AFSS) is a launch vehicle subsystem whose ultimate goal is an autonomous capability to assure range safety (people and valuable resources), flight personnel safety, flight assets safety (recovery of valuable vehicles and cargo), and global coverage with a dramatic simplification of range infrastructure. The AFSS is capable of determining current vehicle position and predicting the impact point with respect to flight restriction zones. Additionally, it is able to discern whether or not the launch vehicle is an immediate threat to public safety, and initiate the appropriate range safety response. These features provide for a dramatic cost reduction in range operations and improved reliability of mission success. .

  20. An Expert System for Autonomous Spacecraft Control

    Science.gov (United States)

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

    2005-01-01

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

  1. Advances in Autonomous Systems for Missions of Space Exploration

    Science.gov (United States)

    Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

    New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost

  2. Intelligent Autonomous Systems 11: IAS-11

    NARCIS (Netherlands)

    Christensen, H.I.; Groen, F.; Petriu, E.

    2010-01-01

    This volume contains the proceedings of the eleventh International Conference on Intelligent Autonomous Systems (IAS-11) at the University of Ottawa in Canada. As ever, the purpose of the IAS conference is to bring together leading international researchers with an interest in all aspects of the

  3. Validation of Autonomous Space Systems

    Data.gov (United States)

    National Aeronautics and Space Administration — System validation addresses the question "Will the system do the right thing?" When system capability includes autonomy, the question becomes more pointed. As NASA...

  4. CSIR eNews: Mobile Intelligent Autonomous Systems

    CSIR Research Space (South Africa)

    CSIR

    2008-03-01

    Full Text Available autonomous systems Distinguished scientist from India to share knowledge with CSIR An esteemed scientist from India, Dr Jitendra Raol, will spend the next 14 months at the CSIR, specifically in the mobile intelligence autonomous systems (MIAS) emerging...

  5. Autonomous System Technologies for Resilient Airspace Operations

    Science.gov (United States)

    Houston, Vincent E.; Le Vie, Lisa R.

    2017-01-01

    Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

  6. Active State Model for Autonomous Systems

    Science.gov (United States)

    Park, Han; Chien, Steve; Zak, Michail; James, Mark; Mackey, Ryan; Fisher, Forest

    2003-01-01

    The concept of the active state model (ASM) is an architecture for the development of advanced integrated fault-detection-and-isolation (FDI) systems for robotic land vehicles, pilotless aircraft, exploratory spacecraft, or other complex engineering systems that will be capable of autonomous operation. An FDI system based on the ASM concept would not only provide traditional diagnostic capabilities, but also integrate the FDI system under a unified framework and provide mechanism for sharing of information between FDI subsystems to fully assess the overall health of the system. The ASM concept begins with definitions borrowed from psychology, wherein a system is regarded as active when it possesses self-image, self-awareness, and an ability to make decisions itself, such that it is able to perform purposeful motions and other transitions with some degree of autonomy from the environment. For an engineering system, self-image would manifest itself as the ability to determine nominal values of sensor data by use of a mathematical model of itself, and selfawareness would manifest itself as the ability to relate sensor data to their nominal values. The ASM for such a system may start with the closed-loop control dynamics that describe the evolution of state variables. As soon as this model was supplemented with nominal values of sensor data, it would possess self-image. The ability to process the current sensor data and compare them with the nominal values would represent self-awareness. On the basis of self-image and self-awareness, the ASM provides the capability for self-identification, detection of abnormalities, and self-diagnosis.

  7. Development of autonomous vehicles’ testing system

    Science.gov (United States)

    Ivanov, A. M.; Shadrin, S. S.

    2018-02-01

    This article describes overview of automated and, in perspective, autonomous vehicles’ (AV) implementation risks. Set of activities, actual before the use of AVs on public roads, minimizing negative technical and social problems of AVs’ implementation is presented. Classification of vehicle’s automated control systems operating conditions is formulated. Groups of tests for AVs are developed and justified, sequence of AVs’ testing system formation is proposed.

  8. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

    This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

  9. Development of an Automatic Identification System Autonomous Positioning System

    Directory of Open Access Journals (Sweden)

    Qing Hu

    2015-11-01

    Full Text Available In order to overcome the vulnerability of the global navigation satellite system (GNSS and provide robust position, navigation and time (PNT information in marine navigation, the autonomous positioning system based on ranging-mode Automatic Identification System (AIS is presented in the paper. The principle of the AIS autonomous positioning system (AAPS is investigated, including the position algorithm, the signal measurement technique, the geometric dilution of precision, the time synchronization technique and the additional secondary factor correction technique. In order to validate the proposed AAPS, a verification system has been established in the Xinghai sea region of Dalian (China. Static and dynamic positioning experiments are performed. The original function of the AIS in the AAPS is not influenced. The experimental results show that the positioning precision of the AAPS is better than 10 m in the area with good geometric dilution of precision (GDOP by the additional secondary factor correction technology. This is the most economical solution for a land-based positioning system to complement the GNSS for the navigation safety of vessels sailing along coasts.

  10. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

    ... vehicles, cooperative flight of autonomous aerial vehicles using GPS and vision information, cooperative and sharing of information in search missions involving multiple autonomous agents, multi-scale...

  11. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

    Griepentrog, Hans W.; Ruckelhausen, Arno; Jørgensen, Rasmus N.

    2010-01-01

    Advances in automation are demanded by the market mainly as a response to high labor costs. Robotic outdoor systems are ready to allow not only economically viable operations but also increased efficiency in agriculture, horticulture and forestry. The aim of this chapter is to give examples of au...

  12. Autonomous grain combine control system

    Science.gov (United States)

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

    2013-06-25

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

  13. Autonomous Highway Systems Safety and Security

    OpenAIRE

    Sajjad, Imran

    2017-01-01

    Automated vehicles are getting closer each day to large-scale deployment. It is expected that self-driving cars will be able to alleviate traffic congestion by safely operating at distances closer than human drivers are capable of and will overall improve traffic throughput. In these conditions, passenger safety and security is of utmost importance. When multiple autonomous cars follow each other on a highway, they will form what is known as a cyber-physical system. In a general setting, t...

  14. Vision Based Autonomous Robot Navigation Algorithms and Implementations

    CERN Document Server

    Chatterjee, Amitava; Nirmal Singh, N

    2013-01-01

    This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book descri...

  15. PET imaging of the autonomic nervous system

    International Nuclear Information System (INIS)

    THACKERAY, James T.; BENGEL, Frank M.

    2016-01-01

    The autonomic nervous system is the primary extrinsic control of heart rate and contractility, and is subject to adaptive and maladaptive changes in cardiovascular disease. Consequently, noninvasive assessment of neuronal activity and function is an attractive target for molecular imaging. A myriad of targeted radiotracers have been developed over the last 25 years for imaging various components of the sympathetic and parasympathetic signal cascades. While routine clinical use remains somewhat limited, a number of larger scale studies in recent years have supplied momentum to molecular imaging of autonomic signaling. Specifically, the findings of the ADMIRE HF trial directly led to United States Food and Drug Administration approval of 123I-metaiodobenzylguanidine (MIBG) for Single Photon Emission Computed Tomography (SPECT) assessment of sympathetic neuronal innervation, and comparable results have been reported using the analogous PET agent 11C-meta-hydroxyephedrine (HED). Due to the inherent capacity for dynamic quantification and higher spatial resolution, regional analysis may be better served by PET. In addition, preliminary clinical and extensive preclinical experience has provided a broad foundation of cardiovascular applications for PET imaging of the autonomic nervous system. Recent years have witnessed the growth of novel quantification techniques, expansion of multiple tracer studies, and improved understanding of the uptake of different radiotracers, such that the transitional biology of dysfunctional subcellular catecholamine handling can be distinguished from complete denervation. As a result, sympathetic neuronal molecular imaging is poised to play a role in individualized patient care, by stratifying cardiovascular risk, visualizing underlying biology, and guiding and monitoring therapy.

  16. Autonomous Reconfiguration Procedures for EJB-based Enterprise Applications

    OpenAIRE

    Vogel, Thomas; Bruhn, Jens; Wirtz, Guido

    2018-01-01

    Enterprise Applications (EA) are complex software systems for supporting the business of companies. Evolution of an EA should not affect its availability, e.g., because of a temporal shutdown, business operations may be affected. One possibility to address this problem is the seamless reconfiguration of the affected EA, i.e., applying the relevant changes while the system is running. Our approach to seamless reconfiguration focuses on component-oriented EAs. It is based on the Autonomic Compu...

  17. Topological equivalence of nonlinear autonomous dynamical systems

    International Nuclear Information System (INIS)

    Nguyen Huynh Phan; Tran Van Nhung

    1995-12-01

    We show in this paper that the autonomous nonlinear dynamical system Σ(A,B,F): x' = Ax+Bu+F(x) is topologically equivalent to the linear dynamical system Σ(A,B,O): x' = Ax+Bu if the projection of A on the complement in R n of the controllable vectorial subspace is hyperbolic and if lipschitz constant of F is sufficiently small ( * ) and F(x) = 0 when parallel x parallel is sufficiently large ( ** ). In particular, if Σ(A,B,O) is controllable, it is topologically equivalent to Σ(A,B,F) when it is only that F satisfy ( ** ). (author). 18 refs

  18. Model-Based Off-Nominal State Isolation and Detection System for Autonomous Fault Management, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed model-based Fault Management system addresses the need for cost-effective solutions that enable higher levels of onboard spacecraft autonomy to reliably...

  19. Model-Based Off-Nominal State Isolation and Detection System for Autonomous Fault Management, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed model-based Fault Management system addresses the need for cost-effective solutions that enable higher levels of onboard spacecraft autonomy to reliably...

  20. Vision Analysis System for Autonomous Landing of Micro Drone

    Directory of Open Access Journals (Sweden)

    Skoczylas Marcin

    2014-12-01

    Full Text Available This article describes a concept of an autonomous landing system of UAV (Unmanned Aerial Vehicle. This type of device is equipped with the functionality of FPV observation (First Person View and radio broadcasting of video or image data. The problem is performance of a system of autonomous drone landing in an area with dimensions of 1m × 1m, based on CCD camera coupled with an image transmission system connected to a base station. Captured images are scanned and landing marker is detected. For this purpose, image features detectors (such as SIFT, SURF or BRISK are utilized to create a database of keypoints of the landing marker and in a new image keypoints are found using the same feature detector. In this paper results of a framework that allows detection of defined marker for the purpose of drone landing field positioning will be presented.

  1. Accomplishments and challenges in development of an autonomous operation system

    International Nuclear Information System (INIS)

    Endou, A.; Saiki, A.; Yoshikawa, S.; Okusa, K.; Suda, K.

    1994-01-01

    The authors are studying an autonomous operation system for nuclear power plants in which AI plays key roles as an alternative of plant operators and traditional controllers. In contrast with past studies dedicated to assist the operators, the ultimate target of development of the autonomous operation system is to operate the nuclear plants by AI. To realize humanlike decision-making process by means of AI, the authors used a model-based approach from multiple viewpoints and methodology diversity. A hierarchical distributed cooperative multi-agent system configuration is adopted to allow to incorporate diversified methodologies and to dynamically reorganize system functions. In the present paper, accomplishments to date in the course of the development are described. Challenges for developing methodologies to attain dynamic reorganization are also addressed. (author)

  2. Automated Search-Based Robustness Testing for Autonomous Vehicle Software

    Directory of Open Access Journals (Sweden)

    Kevin M. Betts

    2016-01-01

    Full Text Available Autonomous systems must successfully operate in complex time-varying spatial environments even when dealing with system faults that may occur during a mission. Consequently, evaluating the robustness, or ability to operate correctly under unexpected conditions, of autonomous vehicle control software is an increasingly important issue in software testing. New methods to automatically generate test cases for robustness testing of autonomous vehicle control software in closed-loop simulation are needed. Search-based testing techniques were used to automatically generate test cases, consisting of initial conditions and fault sequences, intended to challenge the control software more than test cases generated using current methods. Two different search-based testing methods, genetic algorithms and surrogate-based optimization, were used to generate test cases for a simulated unmanned aerial vehicle attempting to fly through an entryway. The effectiveness of the search-based methods in generating challenging test cases was compared to both a truth reference (full combinatorial testing and the method most commonly used today (Monte Carlo testing. The search-based testing techniques demonstrated better performance than Monte Carlo testing for both of the test case generation performance metrics: (1 finding the single most challenging test case and (2 finding the set of fifty test cases with the highest mean degree of challenge.

  3. Scheduling lessons learned from the Autonomous Power System

    Science.gov (United States)

    Ringer, Mark J.

    1992-01-01

    The Autonomous Power System (APS) project at NASA LeRC is designed to demonstrate the applications of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The AIPS scheduler was tested within the APS system. This scheduler is able to efficiently assign available power to the requesting activities and share this information with other software agents within the APS system in order to implement the generated schedule. The AIPS scheduler is also able to cooperatively recover from fault situations by rescheduling the affected loads on the Brassboard in conjunction with the APEX FDIR system. AIPS served as a learning tool and an initial scheduling testbed for the integration of FDIR and automated scheduling systems. Many lessons were learned from the AIPS scheduler and are now being integrated into a new scheduler called SCRAP (Scheduler for Continuous Resource Allocation and Planning). This paper will service three purposes: an overview of the AIPS implementation, lessons learned from the AIPS scheduler, and a brief section on how these lessons are being applied to the new SCRAP scheduler.

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

    Directory of Open Access Journals (Sweden)

    V. S. Kudryashov

    2016-01-01

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

  5. On analysis of operating efficiency of autonomous ventilation systems

    Directory of Open Access Journals (Sweden)

    Kostuganov Arman

    2017-01-01

    Full Text Available The paper deals with the causes and consequences of malfunctioning of natural and mechanical ventilation systems in civil buildings of Russia. Furthermore it gives their classification and analysis based on the literature review. On the basis of the analysis technical solutions for improving the efficiency of ventilation systems in civil buildings are summarized and the field of their application is specified. Among the offered technical solutions the use of autonomous ventilation systems with heat recovery is highlighted as one of the most promising and understudied. Besides it has a wide range of applications. The paper reviews and analyzes the main Russian and foreign designs of ventilation systems with heat recovery that are mostly used in practice. Three types of such systems: UVRK-50, Prana-150, ТеFо are chosen for consideration. The sequence of field tests of selected autonomous ventilation systems have been carried out in order to determine the actual air exchange and efficiency of heat recovery. The paper presents the processed results of the research on the basis of which advantages and disadvantages of the tested ventilation systems are identified and recommendations for engineering and manufacturing of new design models of autonomous ventilation systems with heat recovery are formulated.

  6. Autonomic dysfunction in different subtypes of multiple system atrophy.

    Science.gov (United States)

    Schmidt, Claudia; Herting, Birgit; Prieur, Silke; Junghanns, Susann; Schweitzer, Katherine; Globas, Christoph; Schöls, Ludger; Reichmann, Heinz; Berg, Daniela; Ziemssen, Tjalf

    2008-09-15

    Multiple system atrophy (MSA) can clinically be divided into the cerebellar (MSA-C) and the parkinsonian (MSA-P) variant. However, till now, it is unknown whether autonomic dysfunction in these two entities differs regarding severity and profile. We compared the pattern of autonomic dysfunction in 12 patients with MSA-C and 26 with MSA-P in comparison with 27 age- and sex-matched healthy controls using a standard battery of autonomic function tests and a structured anamnesis of the autonomic nervous system. MSA-P patients complained significantly more often about the symptoms of autonomic dysfunctions than MSA-C patients, especially regarding vasomotor, secretomotor, and gastrointestinal subsystems. However, regarding cardiovascular, sudomotor pupil, urogenital, and sleep subsystems, there were no significant quantitative or qualitative differences as analyzed by autonomic anamnesis and testing. Our results suggest that there are only minor differences in the pattern of autonomic dysfunction between the two clinical MSA phenotypes. (c) 2007 Movement Disorder Society.

  7. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  8. An Intelligent Multiagent System for Autonomous Microgrid Operation

    Directory of Open Access Journals (Sweden)

    Tetsuo Kinoshita

    2012-09-01

    Full Text Available A microgrid is an eco-friendly power system because renewable sources such as solar and wind power are used as the main power sources. For this reason, much research, development, and demonstration projects have recently taken place in many countries. Operation is one of the important research topics for microgrids. For efficient and economical microgrid operation, a human operator is required as in other power systems, but it is difficult because there are some restrictions related to operation costs and privacy issues. To overcome the restriction, autonomous operation for microgrids is required. Recently, an intelligent agent system for autonomous microgrid operation has been studied as a potential solution. This paper proposes a multiagent system for autonomous microgrid operation. To build the multiagent system, the functionalities of agents, interactions among agents, and an effective agent protocol have been designed. The proposed system has been implemented by using an ADIPS/DASH framework as an agent platform. The intelligent multiagent system for microgrid operation based on the proposed scheme is tested to show the functionality and feasibility on a distributed environment through the Internet.

  9. Effects of the Autonomic Nervous System, Central Nervous System ...

    African Journals Online (AJOL)

    The gastrointestinal tract is chiefly involved in the digestion of ingested food, facilitation of absorption process and expulsion of the undigested food material through motility process. Motility is influenced by neurohormonal system which is associated with the enteric nervous system , autonomic nervous system and the ...

  10. Monitoring aquatic environments with autonomous systems

    DEFF Research Database (Denmark)

    Christensen, Jesper Philip Aagaard

    High frequency measurements from autonomous sensors have become a widely used tool among aquatic scientists. This report focus primarily on the use of ecosystem metabolism based on high frequency oxygen measurements and relates the calculations to spatial variation, biomass of the primary producers...... and environmental variables. The results can be formulated in three main conclusions. 1) Primary production and respiration in stratified lakes are not evenly distributed in the water column. Generally you can expect the net production to decreases with depth as gross primary production (GPP) decreases with depth......, unless it is a very clear lake, while respiration is relatively stable. Metabolism estimates based on data from the epilimnion will only represent a minor proportion of the whole lake metabolism under conditions of strong stratification and high water transparency. At a low depth of the upper mixed layer...

  11. A Secure, Scalable and Elastic Autonomic Computing Systems Paradigm: Supporting Dynamic Adaptation of Self-* Services from an Autonomic Cloud

    Directory of Open Access Journals (Sweden)

    Abdul Jaleel

    2018-05-01

    Full Text Available Autonomic computing embeds self-management features in software systems using external feedback control loops, i.e., autonomic managers. In existing models of autonomic computing, adaptive behaviors are defined at the design time, autonomic managers are statically configured, and the running system has a fixed set of self-* capabilities. An autonomic computing design should accommodate autonomic capability growth by allowing the dynamic configuration of self-* services, but this causes security and integrity issues. A secure, scalable and elastic autonomic computing system (SSE-ACS paradigm is proposed to address the runtime inclusion of autonomic managers, ensuring secure communication between autonomic managers and managed resources. Applying the SSE-ACS concept, a layered approach for the dynamic adaptation of self-* services is presented with an online ‘Autonomic_Cloud’ working as the middleware between Autonomic Managers (offering the self-* services and Autonomic Computing System (requiring the self-* services. A stock trading and forecasting system is used for simulation purposes. The security impact of the SSE-ACS paradigm is verified by testing possible attack cases over the autonomic computing system with single and multiple autonomic managers running on the same and different machines. The common vulnerability scoring system (CVSS metric shows a decrease in the vulnerability severity score from high (8.8 for existing ACS to low (3.9 for SSE-ACS. Autonomic managers are introduced into the system at runtime from the Autonomic_Cloud to test the scalability and elasticity. With elastic AMs, the system optimizes the Central Processing Unit (CPU share resulting in an improved execution time for business logic. For computing systems requiring the continuous support of self-management services, the proposed system achieves a significant improvement in security, scalability, elasticity, autonomic efficiency, and issue resolving time

  12. One-dimensional autonomous systems and dissipative systems

    International Nuclear Information System (INIS)

    Lopez, G.

    1996-01-01

    The Lagrangian and the Generalized Linear Momentum are given in terms of a constant of motion for a one-dimensional autonomous system. The possibility of having an explicit Hamiltonian expression is also analyzed. The approach is applied to some dissipative systems. Copyright copyright 1996 Academic Press, Inc

  13. Sweden: Autonomous Reactivity Control (ARC) Systems

    International Nuclear Information System (INIS)

    Qvist, Staffan A.

    2015-01-01

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

  14. Evaluation of an autonomous GPS-based system for intra-row weed control by assessing the tilled area

    DEFF Research Database (Denmark)

    Nørremark, M; Griepentrog, H W; Nielsen, J

    2012-01-01

    -1 and at even plant spacing. A double pass, once on each side of the row in opposite directions, provided higher soil disturbance intensity and resulted in tillage of 31–58% of the intra-row area with highest coverage at a speed of 0.32 m s-1. The intra-row weed control effect was predicted to be up......An automatic tillage system for inter- and intra-row weed control based on real-time kinematic GPS navigation and control has been used to address the problem of mechanically removing weeds within rows of precision seeded crops. The system comprised a side-shifting frame with an attached tine...... crop plants. The system evaluation was based on quantification of treated areas for uprooting and burial and the corresponding prediction of weed control efficiencies. A single pass of an 80 mm wide row band provided tillage of 30–49% of the intra-row area, with highest coverage at a speed of 0.32 m s...

  15. Simulation Framework for Rebalancing of Autonomous Mobility on Demand Systems

    Directory of Open Access Journals (Sweden)

    Marczuk Katarzyna A.

    2016-01-01

    This study is built upon our previous work on Autonomous Mobility on Demand (AMOD systems. Our methodology is simulation-based and we make use of SimMobility, an agent-based microscopic simulation platform. In the current work we focus on the framework for testing different rebalancing policies for the AMOD systems. We compare three different rebalancing methods: (i no rebalancing, (ii offline rebalancing, and (iii online rebalancing. Simulation results indicate that rebalancing reduces the required fleet size and shortens the customers’ wait time.

  16. Networks for Autonomous Formation Flying Satellite Systems

    Science.gov (United States)

    Knoblock, Eric J.; Konangi, Vijay K.; Wallett, Thomas M.; Bhasin, Kul B.

    2001-01-01

    The performance of three communications networks to support autonomous multi-spacecraft formation flying systems is presented. All systems are comprised of a ten-satellite formation arranged in a star topology, with one of the satellites designated as the central or "mother ship." All data is routed through the mother ship to the terrestrial network. The first system uses a TCP/lP over ATM protocol architecture within the formation the second system uses the IEEE 802.11 protocol architecture within the formation and the last system uses both of the previous architectures with a constellation of geosynchronous satellites serving as an intermediate point-of-contact between the formation and the terrestrial network. The simulations consist of file transfers using either the File Transfer Protocol (FTP) or the Simple Automatic File Exchange (SAFE) Protocol. The results compare the IF queuing delay, and IP processing delay at the mother ship as well as application-level round-trip time for both systems, In all cases, using IEEE 802.11 within the formation yields less delay. Also, the throughput exhibited by SAFE is better than FTP.

  17. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

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

    2007-01-01

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

  18. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-11-30

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

  19. Exact Solutions for Certain Nonlinear Autonomous Ordinary Differential Equations of the Second Order and Families of Two-Dimensional Autonomous Systems

    Directory of Open Access Journals (Sweden)

    M. P. Markakis

    2010-01-01

    Full Text Available Certain nonlinear autonomous ordinary differential equations of the second order are reduced to Abel equations of the first kind ((Ab-1 equations. Based on the results of a previous work, concerning a closed-form solution of a general (Ab-1 equation, and introducing an arbitrary function, exact one-parameter families of solutions are derived for the original autonomous equations, for the most of which only first integrals (in closed or parametric form have been obtained so far. Two-dimensional autonomous systems of differential equations of the first order, equivalent to the considered herein autonomous forms, are constructed and solved by means of the developed analysis.

  20. Design of an Autonomous Transport System for Coastal Areas

    Directory of Open Access Journals (Sweden)

    Andrzej Lebkowski

    2018-03-01

    Full Text Available The article presents a project of an autonomous transport system that can be deployed in coastal waters, bays or between islands. Presented solutions and development trends in the transport of autonomous and unmanned units (ghost ships are presented. The structure of the control system of autonomous units is discussed together with the presentation of applied solutions in the field of artificial intelligence. The paper presents the concept of a transport system consisting of autonomous electric powered vessels designed to carry passengers, bikes, mopeds, motorcycles or passenger cars. The transport task is to be implemented in an optimal way, that is, most economically and at the same time as safe as possible. For this reason, the structure of the electric propulsion system that can be found on such units is shown. The results of simulation studies of autonomous system operation using simulator of marine navigational environment are presented.

  1. Conceptual design of autonomous operation system for nuclear power plants

    International Nuclear Information System (INIS)

    Endou, A.; Saiki, A.; Miki, T.; Himeno, Y.

    1993-01-01

    Conceptual design of an autonomous operation system for nuclear power plants has been carried out. Prime objective is to grade up operation reliability by eliminating human factors and enhancing control capabilities. For this objective, operators' role and traditional controllers are replaced with artificial intelligence (AI). Norms of autonomy are defined as (a) to maintain its own basic functions, (b) to protect oneself from catastrophic events, (c) to reorganize oneself in case of its partial failure, (d) to harmonize with the environment, and (e) to improve its performance by itself. For the present, a great emphasis is put on realizing humanlike knowledge-based decision-making process by AI in accordance with the norms (a) and (c). To do this, the authors take a model-based approach and it is intended to make modeling of a problem-solving process from multiple viewpoints and structurization of knowledge used in the process. A hierarchical distributed cooperative system configuration is adopted to allow to dynamically reorganize system functions and it is realized by an object-oriented multi-agent system. Plural agents based on different methodology from each other are applied to individual function or methodology diversity is assured to prevent loss of system functions by common cause failure and to reorganize integrant agents. A prototype autonomous operation system is now under development. (orig.)

  2. Generic FMS Platform for Evaluation of Autonomous Trajectory-Based Operation Concepts, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of the Phase II work is to develop a generic, advanced Flight Management System (FMS) for the evaluation of autonomous 4D-trajectory based operations...

  3. Lightweight autonomous chemical identification system (LACIS)

    Science.gov (United States)

    Lozos, George; Lin, Hai; Burch, Timothy

    2012-06-01

    Smiths Detection and Intelligent Optical Systems have developed prototypes for the Lightweight Autonomous Chemical Identification System (LACIS) for the US Department of Homeland Security. LACIS is to be a handheld detection system for Chemical Warfare Agents (CWAs) and Toxic Industrial Chemicals (TICs). LACIS is designed to have a low limit of detection and rapid response time for use by emergency responders and could allow determination of areas having dangerous concentration levels and if protective garments will be required. Procedures for protection of responders from hazardous materials incidents require the use of protective equipment until such time as the hazard can be assessed. Such accurate analysis can accelerate operations and increase effectiveness. LACIS is to be an improved point detector employing novel CBRNE detection modalities that includes a militaryproven ruggedized ion mobility spectrometer (IMS) with an array of electro-resistive sensors to extend the range of chemical threats detected in a single device. It uses a novel sensor data fusion and threat classification architecture to interpret the independent sensor responses and provide robust detection at low levels in complex backgrounds with minimal false alarms. The performance of LACIS prototypes have been characterized in independent third party laboratory tests at the Battelle Memorial Institute (BMI, Columbus, OH) and indoor and outdoor field tests at the Nevada National Security Site (NNSS). LACIS prototypes will be entering operational assessment by key government emergency response groups to determine its capabilities versus requirements.

  4. Wireless IR Image Transfer System for Autonomous Vehicles

    Science.gov (United States)

    2003-12-01

    the camera can operate between 0 and 500 C; this uniquely suites it for employment on autonomous vehicles in rugged environments. The camera is...system is suitable for used on autonomous vehicles under varying antenna orientations. • The third is the use of MDS transceivers allows the received

  5. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

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

    2006-05-01

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

  6. AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION

    Directory of Open Access Journals (Sweden)

    M. Qin

    2018-04-01

    Full Text Available Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching based VO (Visual Odometry software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.

  7. An Autonomous Gps-Denied Unmanned Vehicle Platform Based on Binocular Vision for Planetary Exploration

    Science.gov (United States)

    Qin, M.; Wan, X.; Shao, Y. Y.; Li, S. Y.

    2018-04-01

    Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching) based VO (Visual Odometry) software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment) modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.

  8. Enabling autonomous control for space reactor power systems

    International Nuclear Information System (INIS)

    Wood, R. T.

    2006-01-01

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

  9. Proving autonomous vehicle and advanced driver assistance systems safety : final research report.

    Science.gov (United States)

    2016-02-15

    The main objective of this project was to provide technology for answering : crucial safety and correctness questions about verification of autonomous : vehicle and advanced driver assistance systems based on logic. : In synergistic activities, we ha...

  10. Cislunar Autonomous Positioning System (CAPS), Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Recent efforts led by the PI of this proposal have studied the benefits of a satellite navigation technique known as Linked Autonomous Interplanetary Satellite Orbit...

  11. Data Provisioning Systems for Autonomous Vehicles

    National Research Council Canada - National Science Library

    Varaiya, Pravin

    1999-01-01

    This project is part of a portfolio comprising four other projects to investigate the possibility of operating a collection of intelligent autonomous agents so that the collection can undertakes complex missions...

  12. Future Autonomous and Automated Systems Testbed

    Data.gov (United States)

    National Aeronautics and Space Administration — Trust is the greatest obstacle to implementing greater autonomy and automation (A&A) in the human spaceflight program. The Future Autonomous and Automated...

  13. Autonomous entropy-based intelligent experimental design

    Science.gov (United States)

    Malakar, Nabin Kumar

    2011-07-01

    The aim of this thesis is to explore the application of probability and information theory in experimental design, and to do so in a way that combines what we know about inference and inquiry in a comprehensive and consistent manner. Present day scientific frontiers involve data collection at an ever-increasing rate. This requires that we find a way to collect the most relevant data in an automated fashion. By following the logic of the scientific method, we couple an inference engine with an inquiry engine to automate the iterative process of scientific learning. The inference engine involves Bayesian machine learning techniques to estimate model parameters based upon both prior information and previously collected data, while the inquiry engine implements data-driven exploration. By choosing an experiment whose distribution of expected results has the maximum entropy, the inquiry engine selects the experiment that maximizes the expected information gain. The coupled inference and inquiry engines constitute an autonomous learning method for scientific exploration. We apply it to a robotic arm to demonstrate the efficacy of the method. Optimizing inquiry involves searching for an experiment that promises, on average, to be maximally informative. If the set of potential experiments is described by many parameters, the search involves a high-dimensional entropy space. In such cases, a brute force search method will be slow and computationally expensive. We develop an entropy-based search algorithm, called nested entropy sampling, to select the most informative experiment. This helps to reduce the number of computations necessary to find the optimal experiment. We also extended the method of maximizing entropy, and developed a method of maximizing joint entropy so that it could be used as a principle of collaboration between two robots. This is a major achievement of this thesis, as it allows the information-based collaboration between two robotic units towards a same

  14. 50-57 Effects of the Autonomic Nervous System, Centra

    African Journals Online (AJOL)

    admin

    facilitation of absorption process and expulsion of the undigested food material through ... which is associated with the enteric nervous system , autonomic nervous system and the higher ..... short-chain neutralized fatty acids and 5-HT or radial ...

  15. 12th International Conference on Intelligent Autonomous Systems (IAS-12)

    CERN Document Server

    Yoon, Kwang-Joon; Lee, Jangmyung; Frontiers of Intelligent Autonomous Systems

    2013-01-01

    This carefully edited volume aims at providing readers with the most recent progress on intelligent autonomous systems, with its particular emphasis on intelligent autonomous ground, aerial and underwater vehicles as well as service robots for home and healthcare under the context of the aforementioned convergence. “Frontiers of Intelligent Autonomous Systems” includes thoroughly revised and extended papers selected from the 12th International Conference on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26-29, 2012. The editors chose 35 papers out of the 202 papers presented at IAS-12 which are organized into three chapters: Chapter 1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to unmanned aerial and underwater vehicles and Chapter 3 to service robots for home and healthcare. To help the readers to easily access this volume, each chapter starts with a chapter summary introduced by one of the editors: Chapter 1 by Sukhan Lee, Chapter 2 by Kwang Joon Yoon and...

  16. Design and realization of an autonomous solar system

    Science.gov (United States)

    Gaga, A.; Diouri, O.; Es-sbai, N.; Errahimi, F.

    2017-03-01

    The aim of this work is the design and realization of an autonomous solar system, with MPPT control, a regulator charge/discharge of batteries, an H-bridge multi-level inverter with acquisition system and supervising based on a microcontroller. The proposed approach is based on developing a software platform in the LabVIEW environment which gives the system a flexible structure for controlling, monitoring and supervising the whole system in real time while providing power maximization and best quality of energy conversion from DC to AC power. The reliability of the proposed solar system is validated by the simulation results on PowerSim and experimental results achieved with a solar panel, a Lead acid battery, solar regulator and an H-bridge cascaded topology of single-phase inverter.

  17. Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

    Science.gov (United States)

    Huang, Wan-Ju; Shu, Chih-Hung; Chou, Kun-Ta; Wang, Yi-Fen; Hsu, Yen-Bin; Ho, Ching-Yin; Lan, Ming-Ying

    2013-06-01

    The pathogenesis of laryngopharyngeal reflux (LPR) remains unclear. It is linked to but distinct from gastroesophageal reflux disease (GERD), which has been shown to be related to disturbed autonomic regulation. The aim of this study is to investigate whether autonomic dysfunction also plays a role in the pathogenesis of LPR. Case-control study. Tertiary care center. Seventeen patients with LPR and 19 healthy controls, aged between 19 and 50 years, were enrolled in the study. The patients were diagnosed with LPR if they had a reflux symptom index (RSI) ≥ 13 and a reflux finding score (RFS) ≥ 7. Spectral analysis of heart rate variability (HRV) analysis was used to assess autonomic function. Anxiety and depression levels measured by the Beck Anxiety Inventory (BAI) and Beck Depression Inventory II (BDI-II) were also conducted. In HRV analysis, high frequency (HF) represents the parasympathetic activity of the autonomic nervous system, whereas low frequency (LF) represents the total autonomic activity. There were no significant differences in the LF power and HF power between the 2 groups. However, significantly lower HF% (P = .003) and a higher LF/HF ratio (P = .012) were found in patients with LPR, who demonstrated poor autonomic modulation and higher sympathetic activity. Anxiety was also frequently observed in the patient group. The study suggests that autonomic dysfunction seems to be involved in the pathogenesis of LPR. The potential beneficial effect of autonomic nervous system modulation as a therapeutic modality for LPR merits further investigation.

  18. Autonomous Agent-Based Systems and Their Applications in Fluid Dynamics, Particle Separation, and Co-evolving Networks

    Science.gov (United States)

    Graeser, Oliver

    This thesis comprises three parts, reporting research results in Fluid Dynamics (Part I), Particle Separation (Part II) and Co-evolving Networks (Part III). Part I deals with the simulation of fluid dynamics using the lattice-Boltzmann method. Microfluidic devices often feature two-dimensional, repetitive arrays. Flows through such devices are pressure-driven and confined by solid walls. We have defined new adaptive generalised periodic boundary conditions to represent the effects of outer solid walls, and are thus able to exploit the periodicity of the array by simulating the flow through one unit cell in lieu of the entire device. The so-calculated fully developed flow describes the flow through the entire array accurately, but with computational requirements that are reduced according to the dimensions of the array. Part II discusses the problem of separating macromolecules like proteins or DNA coils. The reliable separation of such molecules is a crucial task in molecular biology. The use of Brownian ratchets as mechanisms for the separation of such particles has been proposed and discussed during the last decade. Pressure-driven flows have so far been dismissed as possible driving forces for Brownian ratchets, as they do not generate ratchet asymmetry. We propose a microfluidic design that uses pressure-driven flows to create asymmetry and hence allows particle separation. The dependence of the asymmetry on various factors of the microfluidic geometry is discussed. We further exemplify the feasibility of our approach using Brownian dynamics simulations of particles of different sizes in such a device. The results show that ratchet-based particle separation using flows as the driving force is possible. Simulation results and ratchet theory predictions are in excellent agreement. Part III deals with the co-evolution of networks and dynamic models. A group of agents occupies the nodes of a network, which defines the relationship between these agents. The

  19. A Hybrid RES Distributed Generation System for Autonomous Islands: A DER-CAM and Storage-Based Economic and Optimal Dispatch Analysis

    DEFF Research Database (Denmark)

    Michalitsakos, Panagiotis; Mihet-Popa, Lucian; Xydis, George

    2017-01-01

    -CAM (Distributed Energy Resources Customer Adoption Model) decision support tool was used for the multi-objective analysis conducted, which proposes a set of optimal solutions defining the appropriate Distributed Generation (DG) technologies, the capacities of storage and other technologies and the optimal......The possibility of replacing the existing autonomous thermal power plants by Distributed Energy Resources (DER) based on renewable energy sources (RES), along with the appropriate energy storage technologies in order to deal with the major problems that autonomous islands usually face...... was investigated. A case study of a small Greek island, which is confronted by various energy and water shortages, was studied for assessing the feasibility of DER deployment. The main objectives investigated were cost minimization, CO2 emissions minimization and DER reliability maximization. The DER...

  20. From Autonomous Systems to Sociotechnical Systems: Designing Effective Collaborations

    Directory of Open Access Journals (Sweden)

    Kyle J. Behymer

    Full Text Available Effectiveness in sociotechnical systems often depends on coordination among multiple agents (including both humans and autonomous technologies. This means that autonomous technologies must be designed to function as collaborative systems, or team players. In many complex work domains, success is beyond the capabilities of humans unaided by technologies. However, at the same time, human capabilities are often critical to ultimate success, as all automated control systems will eventually face problems their designers did not anticipate. Unfortunately, there is often an either/or attitude with respect to humans and technology that tends to focus on optimizing the separate human and autonomous components, with the design of interfaces and team processes as an afterthought. The current paper discusses the limitations of this approach and proposes an alternative where the goal of design is a seamless integration of human and technological capabilities into a well-functioning sociotechnical system. Drawing lessons from both the academic (SRK Framework and commercial (IBM’s Watson, video games worlds, suggestions for enriching the coupling between the human and automated systems by considering both technical and social aspects are discussed.

  1. Individualized Teaching and Autonomous Learning: Developing EFL Learners' CLA in a Web-Based Language Skills Training System

    Science.gov (United States)

    Lu, Zhihong; Wen, Fuan; Li, Ping

    2012-01-01

    Teaching listening and speaking in English in China has been given top priority on the post-secondary level. This has lead to the question of how learners develop communicative language ability (CLA) effectively in computer-assisted language learning (CALL) environments. The authors demonstrate a self-developed language skill learning system with…

  2. Cardiovascular Autonomic Neuropathy in Systemic Lupus Erythematosus.

    Science.gov (United States)

    Alam, Md Mahboob; Das, Pinaki; Ghosh, Parasar; Zaman, Md Salim Uz; Boro, Madhusmita; Sadhu, Manika; Mazumdar, Ardhendu

    2015-01-01

    Objective is to evaluate cardiovascular autonomic function in SLE by simple non-invasive tests. A case control study was carried out involving 18-50 yrs old previously diagnosed SLE patients and same number of age and sex-matched controls. Parasympathetic function was assessed by heart rate (HR) response to Valsalva maneuver, deep breathing and standing. Sympathetic function was evaluated by blood pressure response to standing and sustained hand-grip test (HGT). There were 50 female SLE patients. They had significantly higher minimum resting HR and diastolic blood pressure (DBP). HR variation with deep breathing, expiratory inspiratory ratio, 30:15 ratio and DBP change in response to HGT were significantly lower inpatients compared to controls. Thirty patients (60%) had at least one abnormal or two borderline test results indicating autonomic impairment of which 27 had parasympathetic dysfunction and 7 had sympathetic dysfunction. Autonomic dysfunction is common in SLE with higher prevalence of parasympathetic impairment.

  3. Autonomic Nervous System in Paralympic Athletes with Spinal Cord Injury.

    Science.gov (United States)

    Walter, Matthias; Krassioukov, Andrei V

    2018-05-01

    Individuals sustaining a spinal cord injury (SCI) frequently suffer from sensorimotor and autonomic impairment. Damage to the autonomic nervous system results in cardiovascular, respiratory, bladder, bowel, and sexual dysfunctions, as well as temperature dysregulation. These complications not only impede quality of life, but also affect athletic performance of individuals with SCI. This article summarizes existing evidence on how damage to the spinal cord affects the autonomic nervous system and impacts the performance in athletes with SCI. Also discussed are frequently used performance-enhancing strategies, with a special focus on their legal aspect and implication on the athletes' health. Copyright © 2018 Elsevier Inc. All rights reserved.

  4. A System for Fast Navigation of Autonomous Vehicles

    Science.gov (United States)

    1991-09-01

    AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

  5. Simulation of an autonomous power supply system based on lithium-iron-phosphate (LiFePO4

    Directory of Open Access Journals (Sweden)

    Popov Mikhail

    2017-01-01

    Full Text Available Optimization of equipment composition and operation mode of power supply systems with renewable energy sources is an important and urgent task. As a result of the study, graphs of generation and consumption of electrical energy, charge-discharge characteristics of electric energy storage devices were constructed, the type and capacity of storage batteries were selected, the solar power plant scheme was developed and the main equipment was selected in accordance with the scheme, the economic efficiency of the solar power plant project was estimated and the payback period was determined.

  6. Bioimpedance-Based Wearable Measurement Instrumentation for Studying the Autonomic Nerve System Response to Stressful Working Conditions

    Science.gov (United States)

    Ferreira, J.; Álvarez, L.; Buendía, R.; Ayllón, D.; Llerena, C.; Gil-Pita, R.; Seoane, F.

    2013-04-01

    The assessment of mental stress on workers under hard and stressful conditions is critical to identify which workers are not ready to undertake a mission that might put in risk their own life and the life of others. The ATREC project aims to enable Real Time Assessment of Mental Stress of the Spanish Armed Forces during military activities. Integrating sensors with garments and using wearable measurement devices, the following physiological measurements were recorded: heart and respiration rate, skin galvanic response as well as peripheral temperature. The measuring garments are the following: a sensorized glove, an upper-arm strap and a repositionable textrode chest strap system with 6 textrodes. The implemented textile-enabled instrumentation contains: one skin galvanometer, two temperature sensors, for skin and environmental, and an Impedance Cardiographer/Pneumographer containing a 1 channel ECG amplifier to record cardiogenic biopotentials. The implemented wearable systems operated accordingly to the specifications and are ready to be used for the mental stress experiments that will be executed in the coming phases of the project in healthy volunteers.

  7. Bioimpedance-Based Wearable Measurement Instrumentation for Studying the Autonomic Nerve System Response to Stressful Working Conditions

    International Nuclear Information System (INIS)

    Ferreira, J; Buendía, R; Seoane, F; Álvarez, L; Ayllón, D; Llerena, C; Gil-Pita, R

    2013-01-01

    The assessment of mental stress on workers under hard and stressful conditions is critical to identify which workers are not ready to undertake a mission that might put in risk their own life and the life of others. The ATREC project aims to enable Real Time Assessment of Mental Stress of the Spanish Armed Forces during military activities. Integrating sensors with garments and using wearable measurement devices, the following physiological measurements were recorded: heart and respiration rate, skin galvanic response as well as peripheral temperature. The measuring garments are the following: a sensorized glove, an upper-arm strap and a repositionable textrode chest strap system with 6 textrodes. The implemented textile-enabled instrumentation contains: one skin galvanometer, two temperature sensors, for skin and environmental, and an Impedance Cardiographer/Pneumographer containing a 1 channel ECG amplifier to record cardiogenic biopotentials. The implemented wearable systems operated accordingly to the specifications and are ready to be used for the mental stress experiments that will be executed in the coming phases of the project in healthy volunteers.

  8. Study on autonomous decentralized-cooperative function monitoring system

    International Nuclear Information System (INIS)

    Matsuoka, Takeshi; Numano, Masayoshi; Someya, Minoru; Fukuto, Junji; Mitomo, Nobuo; Miyazaki, Keiko; Matsukura, Hiroshi; Tanba, Yasuyuki

    1999-01-01

    In this study, a study further advanced on a base of results of study on artificial intelligence for nuclear power', one of nuclear basis crossover studies, conducted at five years planning from 1989 fiscal year was executed. Here was conducted on study on a system technology for supplying cooperation, judgement process, judgement results, and so forth between decentralized artificial intelligent elements (agents) to operation managers (supervisors) by focussing a system for monitoring if autonomous decentralized system containing plant operation and robot group action functioned appropriately. In 1997 fiscal year, by mainly conducting development for displaying working state of robot group, some investigations on integrated management of each function already development and maintained were executed. Furthermore, some periodical meetings on realization of its integration with operation control system and maintenance system with other research institutes were conducted. (G.K.)

  9. Integration Framework for Building Autonomous Intelligent Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Among the many challenges of Mars exploration is the creation of autonomous systems that support crew activities without reliance on Earth mission control. These...

  10. Self-Organizing and Autonomous Learning Agents and Systems

    National Research Council Canada - National Science Library

    Shen, Wei-Min

    2004-01-01

    ...) Autonomous discovery and response to unexpected topology changes; (2) A new distributed functional language called DH2 for programming of self-reconfigurable systems using hormone-inspired computational methods...

  11. Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

    Science.gov (United States)

    Regalado Reyes, Bjorn Constant

    2015-01-01

    1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

  12. Autonomous Robot Navigation based on Visual Landmarks

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2005-01-01

    The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...

  13. Autonomous star tracker based on active pixel sensors (APS)

    Science.gov (United States)

    Schmidt, U.

    2017-11-01

    Star trackers are opto-electronic sensors used onboard of satellites for the autonomous inertial attitude determination. During the last years, star trackers became more and more important in the field of the attitude and orbit control system (AOCS) sensors. High performance star trackers are based up today on charge coupled device (CCD) optical camera heads. The Jena-Optronik GmbH is active in the field of opto-electronic sensors like star trackers since the early 80-ties. Today, with the product family ASTRO5, ASTRO10 and ASTRO15, all marked segments like earth observation, scientific applications and geo-telecom are supplied to European and Overseas customers. A new generation of star trackers can be designed based on the APS detector technical features. The measurement performance of the current CCD based star trackers can be maintained, the star tracker functionality, reliability and robustness can be increased while the unit costs are saved.

  14. Early Seizure Detection Based on Cardiac Autonomic Regulation Dynamics

    Directory of Open Access Journals (Sweden)

    Jonatas Pavei

    2017-10-01

    Full Text Available Epilepsy is a neurological disorder that causes changes in the autonomic nervous system. Heart rate variability (HRV reflects the regulation of cardiac activity and autonomic nervous system tone. The early detection of epileptic seizures could foster the use of new treatment approaches. This study presents a new methodology for the prediction of epileptic seizures using HRV signals. Eigendecomposition of HRV parameter covariance matrices was used to create an input for a support vector machine (SVM-based classifier. We analyzed clinical data from 12 patients (9 female; 3 male; age 34.5 ± 7.5 years, involving 34 seizures and a total of 55.2 h of interictal electrocardiogram (ECG recordings. Data from 123.6 h of ECG recordings from healthy subjects were used to test false positive rate per hour (FP/h in a completely independent data set. Our methodological approach allowed the detection of impending seizures from 5 min to just before the onset of a clinical/electrical seizure with a sensitivity of 94.1%. The FP rate was 0.49 h−1 in the recordings from patients with epilepsy and 0.19 h−1 in the recordings from healthy subjects. Our results suggest that it is feasible to use the dynamics of HRV parameters for the early detection and, potentially, the prediction of epileptic seizures.

  15. Millimeter-scale MEMS enabled autonomous systems: system feasibility and mobility

    Science.gov (United States)

    Pulskamp, Jeffrey S.

    2012-06-01

    Millimeter-scale robotic systems based on highly integrated microelectronics and micro-electromechanical systems (MEMS) could offer unique benefits and attributes for small-scale autonomous systems. This extreme scale for robotics will naturally constrain the realizable system capabilities significantly. This paper assesses the feasibility of developing such systems by defining the fundamental design trade spaces between component design variables and system level performance parameters. This permits the development of mobility enabling component technologies within a system relevant context. Feasible ranges of system mass, required aerodynamic power, available battery power, load supported power, flight endurance, and required leg load bearing capability are presented for millimeter-scale platforms. The analysis illustrates the feasibility of developing both flight capable and ground mobile millimeter-scale autonomous systems while highlighting the significant challenges that must be overcome to realize their potential.

  16. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

    An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

    2017-10-01

    With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

  17. The organization of an autonomous learning system

    Science.gov (United States)

    Kanerva, Pentti

    1988-01-01

    The organization of systems that learn from experience is examined, human beings and animals being prime examples of such systems. How is their information processing organized. They build an internal model of the world and base their actions on the model. The model is dynamic and predictive, and it includes the systems' own actions and their effects. In modeling such systems, a large pattern of features represents a moment of the system's experience. Some of the features are provided by the system's senses, some control the system's motors, and the rest have no immediate external significance. A sequence of such patterns then represents the system's experience over time. By storing such sequences appropriately in memory, the system builds a world model based on experience. In addition to the essential function of memory, fundamental roles are played by a sensory system that makes raw information about the world suitable for memory storage and by a motor system that affects the world. The relation of sensory and motor systems to the memory is discussed, together with how favorable actions can be learned and unfavorable actions can be avoided. Results in classical learning theory are explained in terms of the model, more advanced forms of learning are discussed, and the relevance of the model to the frame problem of robotics is examined.

  18. Study on autonomous decentralized-cooperative function monitoring system

    International Nuclear Information System (INIS)

    Matsuoka, Takeshi; Numano, Masayoshi; Someya, Minoru; Fukuto, Junji; Mitomo, Nobuo; Miyazaki, Keiko; Matsukura, Hiroshi

    1998-01-01

    In this study, on a base of result of a nuclear substrate cross-over study on 'Artificial intelligence for nuclear plant' promoted by 5 years plan since 1989 fiscal year, further developed studies are conducted. The studies are promoted by next 5 years plan on following 6 items: (1) Study on stratified expression technique of autonomous function. (2) Study on expression technique of motion state in decentralized-cooperative function. (3) Study on expression technique of decision making process. (4) Integration to operation control system. (5) Integration to maintenance system. And, (6) Comprehensive evaluation experiment. In 1996 fiscal year, improvement and investigation on automatic classification function of plant state were executed. And, preparation of development environment for expression of robot group motion state was conducted. Furthermore, communication experiment using network to realize integration to operation control and maintenance systems and periodical meetings with other institutes were conducted. (G.K.)

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

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

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

  20. A strategy learning model for autonomous agents based on classification

    Directory of Open Access Journals (Sweden)

    Śnieżyński Bartłomiej

    2015-09-01

    Full Text Available In this paper we propose a strategy learning model for autonomous agents based on classification. In the literature, the most commonly used learning method in agent-based systems is reinforcement learning. In our opinion, classification can be considered a good alternative. This type of supervised learning can be used to generate a classifier that allows the agent to choose an appropriate action for execution. Experimental results show that this model can be successfully applied for strategy generation even if rewards are delayed. We compare the efficiency of the proposed model and reinforcement learning using the farmer-pest domain and configurations of various complexity. In complex environments, supervised learning can improve the performance of agents much faster that reinforcement learning. If an appropriate knowledge representation is used, the learned knowledge may be analyzed by humans, which allows tracking the learning process

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

    Science.gov (United States)

    Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

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

  2. Autonomous Rule Based Robot Navigation In Orchards

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Ravn, Ole; Andersen, Nils Axel

    2010-01-01

    Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization ...

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

    Directory of Open Access Journals (Sweden)

    Filippo Santoni de Sio

    2018-02-01

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

  4. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

    Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

  5. Neuronal degeneration in autonomic nervous system of Dystonia musculorum mice

    Directory of Open Access Journals (Sweden)

    Liu Kang-Jen

    2011-01-01

    Full Text Available Abstract Background Dystonia musculorum (dt is an autosomal recessive hereditary neuropathy with a characteristic uncoordinated movement and is caused by a defect in the bullous pemphigoid antigen 1 (BPAG1 gene. The neural isoform of BPAG1 is expressed in various neurons, including those in the central and peripheral nerve systems of mice. However, most previous studies on neuronal degeneration in BPAG1-deficient mice focused on peripheral sensory neurons and only limited investigation of the autonomic system has been conducted. Methods In this study, patterns of nerve innervation in cutaneous and iridial tissues were examined using general neuronal marker protein gene product 9.5 via immunohistochemistry. To perform quantitative analysis of the autonomic neuronal number, neurons within the lumbar sympathetic and parasympathetic ciliary ganglia were calculated. In addition, autonomic neurons were cultured from embryonic dt/dt mutants to elucidate degenerative patterns in vitro. Distribution patterns of neuronal intermediate filaments in cultured autonomic neurons were thoroughly studied under immunocytochemistry and conventional electron microscopy. Results Our immunohistochemistry results indicate that peripheral sensory nerves and autonomic innervation of sweat glands and irises dominated degeneration in dt/dt mice. Quantitative results confirmed that the number of neurons was significantly decreased in the lumbar sympathetic ganglia as well as in the parasympathetic ciliary ganglia of dt/dt mice compared with those of wild-type mice. We also observed that the neuronal intermediate filaments were aggregated abnormally in cultured autonomic neurons from dt/dt embryos. Conclusions These results suggest that a deficiency in the cytoskeletal linker BPAG1 is responsible for dominant sensory nerve degeneration and severe autonomic degeneration in dt/dt mice. Additionally, abnormally aggregated neuronal intermediate filaments may participate in

  6. Improving Human/Autonomous System Teaming Through Linguistic Analysis

    Science.gov (United States)

    Meszaros, Erica L.

    2016-01-01

    An area of increasing interest for the next generation of aircraft is autonomy and the integration of increasingly autonomous systems into the national airspace. Such integration requires humans to work closely with autonomous systems, forming human and autonomous agent teams. The intention behind such teaming is that a team composed of both humans and autonomous agents will operate better than homogenous teams. Procedures exist for licensing pilots to operate in the national airspace system and current work is being done to define methods for validating the function of autonomous systems, however there is no method in place for assessing the interaction of these two disparate systems. Moreover, currently these systems are operated primarily by subject matter experts, limiting their use and the benefits of such teams. Providing additional information about the ongoing mission to the operator can lead to increased usability and allow for operation by non-experts. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables the prediction of the operator's intent and allows the interface to supply the operator's desired information.

  7. Autonomic Cluster Management System (ACMS): A Demonstration of Autonomic Principles at Work

    Science.gov (United States)

    Baldassari, James D.; Kopec, Christopher L.; Leshay, Eric S.; Truszkowski, Walt; Finkel, David

    2005-01-01

    Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of achieving significant computational capabilities for high-performance computing applications, while simultaneously affording the ability to. increase that capability simply by adding more (inexpensive) processors. However, the task of manually managing and con.guring a cluster quickly becomes impossible as the cluster grows in size. Autonomic computing is a relatively new approach to managing complex systems that can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Automatic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management.

  8. Truly random dynamics generated by autonomous dynamical systems

    Science.gov (United States)

    González, J. A.; Reyes, L. I.

    2001-09-01

    We investigate explicit functions that can produce truly random numbers. We use the analytical properties of the explicit functions to show that a certain class of autonomous dynamical systems can generate random dynamics. This dynamics presents fundamental differences with the known chaotic systems. We present real physical systems that can produce this kind of random time-series. Some applications are discussed.

  9. Systems, methods and apparatus for modeling, specifying and deploying policies in autonomous and autonomic systems using agent-oriented software engineering

    Science.gov (United States)

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

    2011-01-01

    Systems, methods and apparatus are provided through which in some embodiments, an agent-oriented specification modeled with MaCMAS, is analyzed, flaws in the agent-oriented specification modeled with MaCMAS are corrected, and an implementation is derived from the corrected agent-oriented specification. Described herein are systems, method and apparatus that produce fully (mathematically) tractable development of agent-oriented specification(s) modeled with methodology fragment for analyzing complex multiagent systems (MaCMAS) and policies for autonomic systems from requirements through to code generation. The systems, method and apparatus described herein are illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming systems, method and apparatus described herein may provide faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.

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

    NARCIS (Netherlands)

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

    2018-01-01

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

  11. TERESA: a socially intelligent semi-autonomous telepresence system

    NARCIS (Netherlands)

    Shiarlis, Kyriacos; Messias, Joao; van Someren, Maarten; Whiteson, Shimon; Kim, Jaebok; Vroon, Jered Hendrik; Englebienne, Gwenn; Truong, Khiet Phuong; Pérez-Higueras, Noé; Pérez-Hurtado, Ignacio; Ramon-Vigo, Rafael; Caballero, Fernando; Merino, Luis; Shen, Jie; Petridis, Stavros; Pantic, Maja; Hedman, Lasse; Scherlund, Marten; Koster, Raphaël; Michel, Hervé

    2015-01-01

    TERESA is a socially intelligent semi-autonomous telepresence system that is currently being developed as part of an FP7-STREP project funded by the European Union. The ultimate goal of the project is to deploy this system in an elderly day centre to allow elderly people to participate in social

  12. The autonomous vision system on TeamSat

    DEFF Research Database (Denmark)

    Betto, Maurizio; Jørgensen, John Leif; Riis, Troels

    1999-01-01

    The second qualification flight of Ariane 5 blasted off-the European Space Port in French Guiana on October 30, 1997, carrying on board a small technology demonstration satellite called TeamSat. Several experiments were proposed by various universities and research institutions in Europe and five...... of them were finally selected and integrated into TeamSat, namely FIPEX, VTS, YES, ODD and the Autonomous Vision System, AVS, a fully autonomous star tracker and vision system. This paper gives short overview of the TeamSat satellite; design, implementation and mission objectives. AVS is described in more...

  13. R1 autonomic nervous system in acute kidney injury.

    Science.gov (United States)

    Hering, Dagmara; Winklewski, Pawel J

    2017-02-01

    Acute kidney injury (AKI) is a rapid loss of kidney function resulting in accumulation of end metabolic products and associated abnormalities in fluid, electrolyte and acid-base homeostasis. The pathophysiology of AKI is complex and multifactorial involving numerous vascular, tubular and inflammatory pathways. Neurohumoral activation with heightened activity of the sympathetic nervous system and renin-angiotensin-aldosterone system play a critical role in this scenario. Inflammation and/or local renal ischaemia are underlying mechanisms triggering renal tissue hypoxia and resultant renal microcirculation dysfunction; a common feature of AKI occurring in numerous clinical conditions leading to a high morbidity and mortality rate. The contribution of renal nerves to the pathogenesis of AKI has been extensively demonstrated in a series of experimental models over the past decades. While this has led to better knowledge of the pathogenesis of human AKI, therapeutic approaches to improve patient outcomes are scarce. Restoration of autonomic regulatory function with vagal nerve stimulation resulting in anti-inflammatory effects and modulation of centrally-mediated mechanisms could be of clinical relevance. Evidence from experimental studies suggests that a therapeutic splenic ultrasound approach may prevent AKI via activation of the cholinergic anti-inflammatory pathway. This review briefly summarizes renal nerve anatomy, basic insights into neural control of renal function in the physiological state and the involvement of the autonomic nervous system in the pathophysiology of AKI chiefly due to sepsis, cardiopulmonary bypass and ischaemia/reperfusion experimental model. Finally, potentially preventive experimental pre-clinical approaches for the treatment of AKI aimed at sympathetic inhibition and/or parasympathetic stimulation are presented. © 2016 John Wiley & Sons Australia, Ltd.

  14. Altered balance in the autonomic nervous system in schizophrenic patients

    DEFF Research Database (Denmark)

    Nielsen, B M; Mehlsen, J; Behnke, K

    1988-01-01

    .05). Heart-rate response to inspiration was greater in non-medicated schizophrenics compared to normal subjects (P less than 0.05), whereas no difference was found between medicated and non-medicated schizophrenics. The results show that the balance in the autonomic nervous system is altered in schizophrenic...... patients with a hyperexcitability in both the sympathetic and the parasympathetic division. Our study has thus indicated a dysfunction in the autonomic nervous system per se and the previous interpretations of attentional orienting responses in schizophrenia is questioned. Medication with neuroleptics......The aim of the present study was to evaluate the autonomic nervous function in schizophrenic patients. Twenty-eight patients (29 +/- 6 years) diagnosed as schizophrenics and in stable medication were included, together with ten schizophrenic patients (25 +/- 5 years) who were unmedicated. Eleven...

  15. Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

    Science.gov (United States)

    Srinivasan, Mandyam V.

    1999-01-01

    The aims of the project were to use a high-speed digital video camera to pursue two questions: (1) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; (2) To study the fine structure of insect flight trajectories in order to better understand the characteristics of flight control, orientation and navigation.

  16. Vision-based autonomous grasping of unknown piled objects

    International Nuclear Information System (INIS)

    Johnson, R.K.

    1994-01-01

    Computer vision techniques have been used to develop a vision-based grasping capability for autonomously picking and placing unknown piled objects. This work is currently being applied to the problem of hazardous waste sorting in support of the Department of Energy's Mixed Waste Operations Program

  17. Living with an autonomous spatiotemporal home heating system: Exploration of the user experiences (UX) through a longitudinal technology intervention-based mixed-methods approach.

    Science.gov (United States)

    Kruusimagi, Martin; Sharples, Sarah; Robinson, Darren

    2017-11-01

    Rising energy demands place pressure on domestic energy consumption, but savings can be delivered through home automation and engaging users with their heating and energy behaviours. The aim of this paper is to explore user experiences (UX) of living with an automated heating system regarding experiences of control, understanding of the system, emerging thermal behaviours, and interactions with the system as this area is not sufficiently researched in the existing homes setting through extended deployment. We present a longitudinal deployment of a quasi-autonomous spatiotemporal home heating system in three homes. Users were provided with a smartphone control application linked to a self-learning heating algorithm. Rich qualitative and quantitative data presented here enabled a holistic exploration of UX. The paper's contribution focuses on highlighting key aspects of UX living with an automated heating systems including (i) adoption of the control interface into the social context, (ii) how users' vigilance in maintaining preferred conditions prevailed as a better indicator of system over-ride than gross deviation from thermal comfort, (iii) limited but motivated proactivity in system-initiated communications as best strategy for soliciting user feedback when inference fails, and (iv) two main motivations for interacting with the interface - managing irregularities when absent from the house and maintaining immediate comfort, latter compromising of a checking behaviour that can transit to a system state alteration behaviour depending on mismatches. We conclude by highlighting the complex socio-technical context in which thermal decisions are made in a situated action manner, and by calling for a more holistic, UX-focused approach in the design of automated home systems involving user experiences. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

  18. Infrastructure-Based Sensors Augmenting Efficient Autonomous Vehicle Operations: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Jun, Myungsoo [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Markel, Anthony J [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-11-15

    Autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains. Since traffic in autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains.

  19. Autonomous Vision-Based Tethered-Assisted Rover Docking

    Science.gov (United States)

    Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

    2013-01-01

    Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

  20. Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

    Science.gov (United States)

    Neilan, James H.; Cross, Charles; Rothhaar, Paul; Tran, Loc; Motter, Mark; Qualls, Garry; Trujillo, Anna; Allen, B. Danette

    2016-01-01

    Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

  1. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    Science.gov (United States)

    Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

    2013-01-01

    CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode

  2. Expert system isssues in automated, autonomous space vehicle rendezvous

    Science.gov (United States)

    Goodwin, Mary Ann; Bochsler, Daniel C.

    1987-01-01

    The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

  3. TOWARD HIGHLY SECURE AND AUTONOMIC COMPUTING SYSTEMS: A HIERARCHICAL APPROACH

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Hsien-Hsin S

    2010-05-11

    The overall objective of this research project is to develop novel architectural techniques as well as system software to achieve a highly secure and intrusion-tolerant computing system. Such system will be autonomous, self-adapting, introspective, with self-healing capability under the circumstances of improper operations, abnormal workloads, and malicious attacks. The scope of this research includes: (1) System-wide, unified introspection techniques for autonomic systems, (2) Secure information-flow microarchitecture, (3) Memory-centric security architecture, (4) Authentication control and its implication to security, (5) Digital right management, (5) Microarchitectural denial-of-service attacks on shared resources. During the period of the project, we developed several architectural techniques and system software for achieving a robust, secure, and reliable computing system toward our goal.

  4. Autonomous Weapon Systems and Risk Management in Hybrid Networks

    DEFF Research Database (Denmark)

    Nørgaard, Katrine

    In recent years, the development of autonomous weapon systems and so-called ‘killer robots’, has caused a number of serious legal and ethical concerns in the international community, including questions of compliance with International Humanitarian Law and the Laws of Armed Conflict. On the other...

  5. Autonomous Weapon Systems and Risk Management in Hybrid Networks

    DEFF Research Database (Denmark)

    Nørgaard, Katrine

    hand, governments and military services hope to develop game-changing technologies, that are ‘better, faster and cheaper’. In this paper, I wish to show how different and competing regimes of justification shape the technopolitical controversy and risk management of autonomous weapon systems...... of justification and risk management in contemporary conflicts....

  6. Why the United States Must Adopt Lethal Autonomous Weapon Systems

    Science.gov (United States)

    2017-05-25

    intelligence , Lethal Autonomous Weapon Systems, energy production, energy storage, three-dimensional printing , bandwidth improvements, computer...views on the morality of artificial intelligence (AI) and robotics technology. Eastern culture sees artificial intelligence as an economic savior...capable of improving their society. In contrast, Western culture regards artificial intelligence with paranoia, anxiety, and skepticism. As Eastern

  7. Autonomous system for pathogen detection and identification

    International Nuclear Information System (INIS)

    Belgrader, P.; Benett, W.; Langlois, R.; Long, G.; Mariella, R.; Milanovich, F.; Miles, R.; Nelson, W.; Venkateswaran, K.

    1998-01-01

    This purpose of this project is to build a prototype instrument that will, running unattended, detect, identify, and quantify BW agents. In order to accomplish this, we have chosen to start with the world s leading, proven, assays for pathogens: surface-molecular recognition assays, such as antibody-based assays, implemented on a high-performance, identification (ID)-capable flow cytometer, and the polymerase chain reaction (PCR) for nucleic-acid based assays. With these assays, we must integrate the capability to: l collect samples from aerosols, water, or surfaces; l perform sample preparation prior to the assays; l incubate the prepared samples, if necessary, for a period of time; l transport the prepared, incubated samples to the assays; l perform the assays; l interpret and report the results of the assays. Issues such as reliability, sensitivity and accuracy, quantity of consumables, maintenance schedule, etc. must be addressed satisfactorily to the end user. The highest possible sensitivity and specificity of the assay must be combined with no false alarms. Today, we have assays that can, in under 30 minutes, detect and identify stimulants for BW agents at concentrations of a few hundred colony-forming units per ml of solution. If the bio-aerosol sampler of this system collects 1000 Ymin and concentrates the respirable particles into 1 ml of solution with 70% processing efficiency over a period of 5 minutes, then this translates to a detection/ID capability of under 0.1 agent-containing particle/liter of air

  8. Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

    Science.gov (United States)

    He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  9. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

    Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  10. Central- and autonomic nervous system coupling in schizophrenia

    Science.gov (United States)

    Schulz, Steffen; Bolz, Mathias; Bär, Karl-Jürgen

    2016-01-01

    The autonomic nervous system (ANS) dysfunction has been well described in schizophrenia (SZ), a severe mental disorder. Nevertheless, the coupling between the ANS and central brain activity has been not addressed until now in SZ. The interactions between the central nervous system (CNS) and ANS need to be considered as a feedback–feed-forward system that supports flexible and adaptive responses to specific demands. For the first time, to the best of our knowledge, this study investigates central–autonomic couplings (CAC) studying heart rate, blood pressure and electroencephalogram in paranoid schizophrenic patients, comparing them with age–gender-matched healthy subjects (CO). The emphasis is to determine how these couplings are composed by the different regulatory aspects of the CNS–ANS. We found that CAC were bidirectional, and that the causal influence of central activity towards systolic blood pressure was more strongly pronounced than such causal influence towards heart rate in paranoid schizophrenic patients when compared with CO. In paranoid schizophrenic patients, the central activity was a much stronger variable, being more random and having fewer rhythmic oscillatory components. This study provides a more in-depth understanding of the interplay of neuronal and autonomic regulatory processes in SZ and most likely greater insights into the complex relationship between psychotic stages and autonomic activity. PMID:27044986

  11. Cooperative Autonomous Resilient Defense Platform for Cyber-Physical Systems

    OpenAIRE

    Azab, Mohamed Mahmoud Mahmoud

    2013-01-01

    Cyber-Physical Systems (CPS) entail the tight integration of and coordination between computational and physical resources. These systems are increasingly becoming vital to modernizing the national critical infrastructure systems ranging from healthcare, to transportation and energy, to homeland security and national defense. Advances in CPS technology are needed to help improve their current capabilities as well as their adaptability, autonomicity, efficiency, reliability, safety and usabili...

  12. Distributed Autonomous Robotic Systems : the 12th International Symposium

    CERN Document Server

    Cho, Young-Jo

    2016-01-01

    This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. .

  13. Tuning permissiveness of active safety monitors for autonomous systems

    OpenAIRE

    Masson , Lola; Guiochet , Jérémie; Waeselynck , Hélène; Cabrera , Kalou; Cassel , Sofia; Törngren , Martin

    2018-01-01

    International audience; Robots and autonomous systems have become a part of our everyday life, therefore guaranteeing their safety is crucial.Among the possible ways to do so, monitoring is widely used, but few methods exist to systematically generate safety rules to implement such monitors. Particularly, building safety monitors that do not constrain excessively the system's ability to perform its tasks is necessary as those systems operate with few human interventions.We propose in this pap...

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

    OpenAIRE

    Kaminer, I.; Yakimenko, O.

    2003-01-01

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

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

    Science.gov (United States)

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

    2018-02-01

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

  16. Autonomous power expert fault diagnostic system for Space Station Freedom electrical power system testbed

    Science.gov (United States)

    Truong, Long V.; Walters, Jerry L.; Roth, Mary Ellen; Quinn, Todd M.; Krawczonek, Walter M.

    1990-01-01

    The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control to the Space Station Freedom Electrical Power System (SSF/EPS) testbed being developed and demonstrated at NASA Lewis Research Center. The objectives of the program are to establish artificial intelligence technology paths, to craft knowledge-based tools with advanced human-operator interfaces for power systems, and to interface and integrate knowledge-based systems with conventional controllers. The Autonomous Power EXpert (APEX) portion of the APS program will integrate a knowledge-based fault diagnostic system and a power resource planner-scheduler. Then APEX will interface on-line with the SSF/EPS testbed and its Power Management Controller (PMC). The key tasks include establishing knowledge bases for system diagnostics, fault detection and isolation analysis, on-line information accessing through PMC, enhanced data management, and multiple-level, object-oriented operator displays. The first prototype of the diagnostic expert system for fault detection and isolation has been developed. The knowledge bases and the rule-based model that were developed for the Power Distribution Control Unit subsystem of the SSF/EPS testbed are described. A corresponding troubleshooting technique is also described.

  17. An autonomous rendezvous and docking system using cruise missile technologies

    Science.gov (United States)

    Jones, Ruel Edwin

    1991-01-01

    In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

  18. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  19. On heart rate variability and autonomic activity in homeostasis and in systemic inflammation.

    Science.gov (United States)

    Scheff, Jeremy D; Griffel, Benjamin; Corbett, Siobhan A; Calvano, Steve E; Androulakis, Ioannis P

    2014-06-01

    Analysis of heart rate variability (HRV) is a promising diagnostic technique due to the noninvasive nature of the measurements involved and established correlations with disease severity, particularly in inflammation-linked disorders. However, the complexities underlying the interpretation of HRV complicate understanding the mechanisms that cause variability. Despite this, such interpretations are often found in literature. In this paper we explored mathematical modeling of the relationship between the autonomic nervous system and the heart, incorporating basic mechanisms such as perturbing mean values of oscillating autonomic activities and saturating signal transduction pathways to explore their impacts on HRV. We focused our analysis on human endotoxemia, a well-established, controlled experimental model of systemic inflammation that provokes changes in HRV representative of acute stress. By contrasting modeling results with published experimental data and analyses, we found that even a simple model linking the autonomic nervous system and the heart confound the interpretation of HRV changes in human endotoxemia. Multiple plausible alternative hypotheses, encoded in a model-based framework, equally reconciled experimental results. In total, our work illustrates how conventional assumptions about the relationships between autonomic activity and frequency-domain HRV metrics break down, even in a simple model. This underscores the need for further experimental work towards unraveling the underlying mechanisms of autonomic dysfunction and HRV changes in systemic inflammation. Understanding the extent of information encoded in HRV signals is critical in appropriately analyzing prior and future studies. Copyright © 2014 Elsevier Inc. All rights reserved.

  20. The mathematical model of dynamic stabilization system for autonomous car

    Science.gov (United States)

    Saikin, A. M.; Buznikov, S. E.; Shabanov, N. S.; Elkin, D. S.

    2018-02-01

    Leading foreign companies and domestic enterprises carry out extensive researches and developments in the field of control systems for autonomous cars and in the field of improving driver assistance systems. The search for technical solutions, as a rule, is based on heuristic methods and does not always lead to satisfactory results. The purpose of this research is to formalize the road safety problem in the terms of modern control theory, to construct the adequate mathematical model for solving it, including the choice of software and hardware environment. For automatic control of the object, it is necessary to solve the problem of dynamic stabilization in the most complete formulation. The solution quality of the problem on a finite time interval is estimated by the value of the quadratic functional. Car speed, turn angle and additional yaw rate (during car drift or skidding) measurements are performed programmatically by the original virtual sensors. The limit speeds at which drift, skidding or rollover begins are calculated programmatically taking into account the friction coefficient identified in motion. The analysis of the results confirms both the adequacy of the mathematical models and the algorithms and the possibility of implementing the system in the minimal technical configuration.

  1. Large autonomous spacecraft electrical power system (LASEPS)

    Science.gov (United States)

    Dugal-Whitehead, Norma R.; Johnson, Yvette B.

    1992-01-01

    NASA - Marshall Space Flight Center is creating a large high voltage electrical power system testbed called LASEPS. This testbed is being developed to simulate an end-to-end power system from power generation and source to loads. When the system is completed it will have several power configurations, which will include several battery configurations. These configurations are: two 120 V batteries, one or two 150 V batteries, and one 250 to 270 V battery. This breadboard encompasses varying levels of autonomy from remote power converters to conventional software control to expert system control of the power system elements. In this paper, the construction and provisions of this breadboard are discussed.

  2. Feasibility Analysis and Prototyping of a Fast Autonomous Recon system

    Science.gov (United States)

    2017-06-01

    these systems is a gasoline or jet propellant fueled engine. a. ScanEagle The ScanEagle UAS designed for ISR missions on land or at sea (Insitu...NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS Approved for public release. Distribution is unlimited. FEASIBILITY...ANALYSIS AND PROTOTYPING OF A FAST AUTONOMOUS RECON SYSTEM by Marcus A. Torres June 2017 Thesis Advisor: Oleg A. Yakimenko Second Reader

  3. Global structure of a polynomial autonomous system on the plane

    International Nuclear Information System (INIS)

    Nguyen Van Chau.

    1991-10-01

    This note is to study the global behaviour of a polynomial autonomous system on the plane with divergence non-positive outside a bounded set. It is shown that in some certain conditions the global structure of such system can be simple. The main result here can be seen as an improvement of the result of Olech and Meister concerning with the global asymptotical stable conjecture of Markur and Yamable and the Jacobian Conjecture. (author). 13 refs

  4. 14th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng

    2017-01-01

    This book describes the latest research advances, innovations, and visions in the field of robotics as presented by leading researchers, engineers, and practitioners from around the world at the 14th International Conference on Intelligent Autonomous Systems (IAS-14), held in Shanghai, China in July 2016. The contributions amply demonstrate that robots, machines and systems are rapidly achieving intelligence and autonomy, attaining more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision-making. They cover a wide range of research results and applications, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions were selected by means of a rigorous peer-review process and highlight many exciting and visionary ideas that will further galvanize the research community and spur novel research directions. The series of biennial IAS ...

  5. Autonomic nervous system function in chronic exogenous subclinical thyrotoxicosis and the effect of restoring euthyroidism

    NARCIS (Netherlands)

    Eustatia-Rutten, Carmen F. A.; Corssmit, Eleonora P. M.; Heemstra, Karen A.; Smit, Johannes W. A.; Schoemaker, Rik C.; Romijn, Johannes A.; Burggraaf, Jacobus

    2008-01-01

    Knowledge on the relationship between the autonomic nervous system and subclinical hyperthyroidism is mainly based upon cross-sectional studies in heterogeneous patient populations, and the effect of restoration to euthyroidism in subclinical hyperthyroidism has not been studied. We investigated the

  6. Intelligent vision system for autonomous vehicle operations

    Science.gov (United States)

    Scholl, Marija S.

    1991-01-01

    A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.

  7. A design approach for small vision-based autonomous vehicles

    Science.gov (United States)

    Edwards, Barrett B.; Fife, Wade S.; Archibald, James K.; Lee, Dah-Jye; Wilde, Doran K.

    2006-10-01

    This paper describes the design of a small autonomous vehicle based on the Helios computing platform, a custom FPGA-based board capable of supporting on-board vision. Target applications for the Helios computing platform are those that require lightweight equipment and low power consumption. To demonstrate the capabilities of FPGAs in real-time control of autonomous vehicles, a 16 inch long R/C monster truck was outfitted with a Helios board. The platform provided by such a small vehicle is ideal for testing and development. The proof of concept application for this autonomous vehicle was a timed race through an environment with obstacles. Given the size restrictions of the vehicle and its operating environment, the only feasible on-board sensor is a small CMOS camera. The single video feed is therefore the only source of information from the surrounding environment. The image is then segmented and processed by custom logic in the FPGA that also controls direction and speed of the vehicle based on visual input.

  8. Integrating Autonomous Load Controllers in Power Systems

    DEFF Research Database (Denmark)

    Douglass, Philip James

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

  9. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

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

  10. Smart Systems Integration for Autonomous Wireless Communications

    NARCIS (Netherlands)

    Danesh, M.

    2012-01-01

    Integration of sensors and wireless transceivers for system networking aims at emerging applications that are highly integrated, self-powered, and low cost, relying on efficient power management schemes to prolong lifetime, thus eliminating the need for batteries as a limited primary source of

  11. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    user

    Danish Power System and a requirement analysis for the use of intelligent agents and ..... tries to make an optimal islanding plan at this state and tries to blackstart. ... 4 Foundation for Physical Intelligent Agents (FIPA): http://www.fipa.org ...

  12. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  13. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  14. Balancing the autonomic nervous system to reduce inflammation in rheumatoid arthritis

    NARCIS (Netherlands)

    Koopman, F. A.; van Maanen, M. A.; Vervoordeldonk, M. J.; Tak, P. P.

    2017-01-01

    Imbalance in the autonomic nervous system (ANS) has been observed in many established chronic autoimmune diseases, including rheumatoid arthritis (RA), which is a prototypic immune-mediated inflammatory disease (IMID). We recently discovered that autonomic dysfunction precedes and predicts arthritis

  15. Bio-Inspired Autonomous Communications Systems with Anomaly Detection Monitoring, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop and demonstrate BioComm, a bio-inspired autonomous communications system (ACS) aimed at dynamically reconfiguring and redeploying autonomous...

  16. Self-organizing energy-autonomous systems

    OpenAIRE

    Liu, Q.

    2016-01-01

    With the rapid development of mobile technology, more and more devices connect to the Internet of Things (IoT). The management of such large-scale networks becomes a challenge. Firstly, a large number of heterogeneous devices are distributed over a wide area, leading to a variation of the requirements of users, the performance of mobile devices, and the application scenarios. As the size of the IoT increases, the complexity of controlling such systems becomes a challenge. Most existing soluti...

  17. Simulation of Aircraft Sortie Generation Under an Autonomic Logistics System

    Science.gov (United States)

    2016-12-01

    Lockheed Martin and the Joint Program Office are developing a new autonomic logistics system for the multibillion F-35 Lightning Joint Strike Fighter...partners (United Kingdom, Italy, the Netherlands, Turkey, Canada, Australia, Denmark, and Norway). Lockheed Martin is the primary aircraft contractor...Accountability Office, 2014). Lockheed Martin , the prime contractor of the F-35 project, describes ALIS in its official website as: “ALIS serves as

  18. Energy harvesting autonomous sensor systems design, analysis, and practical implementation

    CERN Document Server

    Tan, Yen Kheng

    2013-01-01

    This book is the considered the first to describe sensor-oriented energy harvesting issues. Its content is derived from the author's research on the development of a truly self-autonomous and sustainable energy harvesting wireless sensor network (EH-WSN). This network harvests energy from a variety of ambient energy sources and converts it into electrical energy to power batteries. The book discusses various types of energy harvesting (EH) systems and their respective main components.

  19. Robotic reactions: Delay-induced patterns in autonomous vehicle systems

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  20. LHC train control system for autonomous inspections and measurements

    OpenAIRE

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

    2018-01-01

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

  1. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  2. On non-autonomous dynamical systems

    Energy Technology Data Exchange (ETDEWEB)

    Anzaldo-Meneses, A., E-mail: answald@ymail.com [Departamento de Ciencias Básicas, Universidad Autónoma Metropolitana, Distrito Federal 02200, México (Mexico)

    2015-04-15

    In usual realistic classical dynamical systems, the Hamiltonian depends explicitly on time. In this work, a class of classical systems with time dependent nonlinear Hamiltonians is analyzed. This type of problems allows to find invariants by a family of Veronese maps. The motivation to develop this method results from the observation that the Poisson-Lie algebra of monomials in the coordinates and momenta is clearly defined in terms of its brackets and leads naturally to an infinite linear set of differential equations, under certain circumstances. To perform explicit analytic and numerical calculations, two examples are presented to estimate the trajectories, the first given by a nonlinear problem and the second by a quadratic Hamiltonian with three time dependent parameters. In the nonlinear problem, the Veronese approach using jets is shown to be equivalent to a direct procedure using elliptic functions identities, and linear invariants are constructed. For the second example, linear and quadratic invariants as well as stability conditions are given. Explicit solutions are also obtained for stepwise constant forces. For the quadratic Hamiltonian, an appropriated set of coordinates relates the geometric setting to that of the three dimensional manifold of central conic sections. It is shown further that the quantum mechanical problem of scattering in a superlattice leads to mathematically equivalent equations for the wave function, if the classical time is replaced by the space coordinate along a superlattice. The mathematical method used to compute the trajectories for stepwise constant parameters can be applied to both problems. It is the standard method in quantum scattering calculations, as known for locally periodic systems including a space dependent effective mass.

  3. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  4. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  5. Modelling of a Hybrid Energy System for Autonomous Application

    Directory of Open Access Journals (Sweden)

    Yang He

    2013-10-01

    Full Text Available A hybrid energy system (HES is a trending power supply solution for autonomous devices. With the help of an accurate system model, the HES development will be efficient and oriented. In spite of various precise unit models, a HES system is hardly developed. This paper proposes a system modelling approach, which applies the power flux conservation as the governing equation and adapts and modifies unit models of solar cells, piezoelectric generators, a Li-ion battery and a super-capacitor. A generalized power harvest, storage and management strategy is also suggested to adapt to various application scenarios.

  6. Photovoltaic-wind hybrid autonomous generation systems in Mongolia

    Energy Technology Data Exchange (ETDEWEB)

    Dei, Tsutomu; Ushiyama, Izumi

    2005-01-01

    Two hybrid stand-alone (autonomous) power systems, each with wind and PV generation, were studied as installed at health clinics in semi-desert and mountainous region in Mongolia. Meteorological and system operation parameters, including power output and the consumption of the system, were generally monitored by sophisticated monitoring. However, where wind and solar site information was lacking, justifiable estimates were made. The results show that there is a seasonal complementary relationship between wind and solar irradiation in Tarot Sum. The users understood the necessity of Demand Side Management of isolated wind-PV generation system through technology transfer seminars and actually executed DSM at both sites. (author)

  7. Abnormally Malicious Autonomous Systems and their Internet Connectivity

    Energy Technology Data Exchange (ETDEWEB)

    Shue, Craig A [ORNL; Kalafut, Prof. Andrew [Grand Valley State University (GVSU), Michigan; Gupta, Prof. Minaxi [Indiana University

    2011-01-01

    While many attacks are distributed across botnets, investigators and network operators have recently targeted malicious networks through high profile autonomous system (AS) de-peerings and network shut-downs. In this paper, we explore whether some ASes indeed are safe havens for malicious activity. We look for ISPs and ASes that exhibit disproportionately high malicious behavior using ten popular blacklists, plus local spam data, and extensive DNS resolutions based on the contents of the blacklists. We find that some ASes have over 80% of their routable IP address space blacklisted. Yet others account for large fractions of blacklisted IP addresses. Several ASes regularly peer with ASes associated with significant malicious activity. We also find that malicious ASes as a whole differ from benign ones in other properties not obviously related to their malicious activities, such as more frequent connectivity changes with their BGP peers. Overall, we conclude that examining malicious activity at AS granularity can unearth networks with lax security or those that harbor cybercrime.

  8. Autonomous Control Capabilities for Space Reactor Power Systems

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  9. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Bartos, R.J.

    1994-01-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate trademark robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA copyright) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection

  10. Autonomous vision in space, based on Advanced Stellar Compass platform

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Eisenman, Allan R.; Liebe, Carl Christian

    1996-01-01

    The Ørsted Star Imager, comprises the functionality of an Advanced Stellar Compass (ASC). I.e. it is able to, autonomously solve "the lost in space" attitude problem, as well as determine the attitude with high precision in the matter of seconds. The autonomy makes for a high capability for error......) Complex Object surface tracking (e.g. space docking, planetary terrain tracking). All the above topics, has been realized in the past. Either by open loop, or by man-in-loop systems. By implementing these methods or function in the onboard autonomy, a superior system performance could be acheived by means...

  11. Micro Autonomous Systems Research: Systems Engineering Processes for Micro Autonomous Systems

    Science.gov (United States)

    2016-11-01

    technician with automated manufacturing tools (such as 3-D printing ) who starts the automated manufacturing, assembles components, and delivers the...of a small unmanned aerial system SUAS. This SUAS can be constructed in-situ from algorithmically generated parts which are printed on a 3D printer...of intelligence , surveillance, and reconnaissance (ISR) information. Ideally, troops in the field would employ UAS assets on-demand to acquire

  12. The role of the autonomic nervous system in Tourette Syndrome

    Directory of Open Access Journals (Sweden)

    Jack eHawksley

    2015-05-01

    Full Text Available Tourette Syndrome (TS is a neurodevelopmental disorder, consisting of multiple involuntary movements (motor tics and one or more vocal (phonic tics. It affects up to one percent of children worldwide, of whom about one third continue to experience symptoms into adulthood. The central neural mechanisms of tic generation are not clearly understood, however recent neuroimaging investigations suggest impaired cortico-striato-thalamo-cortical activity during motor control. In the current manuscript, we will tackle the relatively under-investigated role of the peripheral autonomic nervous system, and its central influences, on tic activity. There is emerging evidence that both sympathetic and parasympathetic nervous activity influences tic expression. Pharmacological treatments which act on sympathetic tone are often helpful: for example, Clonidine (an alpha-2 adrenoreceptor agonist is often used as first choice medication for treating TS in children due to its good tolerability profile and potential usefulness for co-morbid attention-deficit and hyperactivity disorder. Clonidine suppresses sympathetic activity, reducing the triggering of motor tics. A general elevation of sympathetic tone is reported in patients with TS compared to healthy people, however this observation may reflect transient responses coupled to tic activity. Thus the presence of autonomic impairments in patients with TS remains unclear. Effect of autonomic afferent input to cortico-striato-thalamo-cortical circuit will be discussed schematically. We additionally review how TS is affected by modulation of central autonomic control through biofeedback and Vagus Nerve Stimulation (VNS. Biofeedback training can enable a patient to gain voluntary control over covert physiological responses by making these responses explicit. Electrodermal biofeedback training to elicit a reduction in sympathetic tone has a demonstrated association with reduced tic frequency. VNS, achieved through an

  13. The role of the autonomic nervous system in Tourette Syndrome

    Science.gov (United States)

    Hawksley, Jack; Cavanna, Andrea E.; Nagai, Yoko

    2015-01-01

    Tourette Syndrome (TS) is a neurodevelopmental disorder, consisting of multiple involuntary movements (motor tics) and one or more vocal (phonic) tics. It affects up to one percent of children worldwide, of whom about one third continue to experience symptoms into adulthood. The central neural mechanisms of tic generation are not clearly understood, however recent neuroimaging investigations suggest impaired cortico-striato-thalamo-cortical activity during motor control. In the current manuscript, we will tackle the relatively under-investigated role of the peripheral autonomic nervous system, and its central influences, on tic activity. There is emerging evidence that both sympathetic and parasympathetic nervous activity influences tic expression. Pharmacological treatments which act on sympathetic tone are often helpful: for example, Clonidine (an alpha-2 adrenoreceptor agonist) is often used as first choice medication for treating TS in children due to its good tolerability profile and potential usefulness for co-morbid attention-deficit and hyperactivity disorder. Clonidine suppresses sympathetic activity, reducing the triggering of motor tics. A general elevation of sympathetic tone is reported in patients with TS compared to healthy people, however this observation may reflect transient responses coupled to tic activity. Thus, the presence of autonomic impairments in patients with TS remains unclear. Effect of autonomic afferent input to cortico-striato-thalamo-cortical circuit will be discussed schematically. We additionally review how TS is affected by modulation of central autonomic control through biofeedback and Vagus Nerve Stimulation (VNS). Biofeedback training can enable a patient to gain voluntary control over covert physiological responses by making these responses explicit. Electrodermal biofeedback training to elicit a reduction in sympathetic tone has a demonstrated association with reduced tic frequency. VNS, achieved through an implanted device

  14. An autonomous fuel-cell system. Optimisation approach; Ein autonomes Brennstoffzellensystem. Optimierungsansaetze

    Energy Technology Data Exchange (ETDEWEB)

    Heideck, Guenter

    2006-07-20

    The reduction of the consumption of fossil energy sources and CO2 Emissions has become a worldwide issue. One promising way to accomplish this is by using hydrogen, which is predominantly produced by renewable energy sources, as energy storage. Fuel cell technology will play a key role in the field of converting chemically stored energy into electrical energy. This work contributes ways to make this conversion more effective. Because autonomous fuel cell systems have the largest application potential, this work concentrates on their optimization. To clarify the interrelationship of the parameters and the influencing physical factors as well as the potentials of optimization, models in the form of mathematical equation systems are given in the main part of this work. The focus is on the energy balance of the subsystems. The theoretical analyses showed that with improved efficiency of single subsystems, the system efficiency does not necessarily improve too, because the subsystems are not free of interactions. Instead, the system efficiency is improved through adapting single subsystems to match the needs of a given application. (orig.)

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

  17. Rapid Onboard Trajectory Design for Autonomous Spacecraft in Multibody Systems

    Science.gov (United States)

    Trumbauer, Eric Michael

    This research develops automated, on-board trajectory planning algorithms in order to support current and new mission concepts. These include orbiter missions to Phobos or Deimos, Outer Planet Moon orbiters, and robotic and crewed missions to small bodies. The challenges stem from the limited on-board computing resources which restrict full trajectory optimization with guaranteed convergence in complex dynamical environments. The approach taken consists of leveraging pre-mission computations to create a large database of pre-computed orbits and arcs. Such a database is used to generate a discrete representation of the dynamics in the form of a directed graph, which acts to index these arcs. This allows the use of graph search algorithms on-board in order to provide good approximate solutions to the path planning problem. Coupled with robust differential correction and optimization techniques, this enables the determination of an efficient path between any boundary conditions with very little time and computing effort. Furthermore, the optimization methods developed here based on sequential convex programming are shown to have provable convergence properties, as well as generating feasible major iterates in case of a system interrupt -- a key requirement for on-board application. The outcome of this project is thus the development of an algorithmic framework which allows the deployment of this approach in a variety of specific mission contexts. Test cases related to missions of interest to NASA and JPL such as a Phobos orbiter and a Near Earth Asteroid interceptor are demonstrated, including the results of an implementation on the RAD750 flight processor. This method fills a gap in the toolbox being developed to create fully autonomous space exploration systems.

  18. Can We Study Autonomous Driving Comfort in Moving-Base Driving Simulators? A Validation Study.

    Science.gov (United States)

    Bellem, Hanna; Klüver, Malte; Schrauf, Michael; Schöner, Hans-Peter; Hecht, Heiko; Krems, Josef F

    2017-05-01

    To lay the basis of studying autonomous driving comfort using driving simulators, we assessed the behavioral validity of two moving-base simulator configurations by contrasting them with a test-track setting. With increasing level of automation, driving comfort becomes increasingly important. Simulators provide a safe environment to study perceived comfort in autonomous driving. To date, however, no studies were conducted in relation to comfort in autonomous driving to determine the extent to which results from simulator studies can be transferred to on-road driving conditions. Participants ( N = 72) experienced six differently parameterized lane-change and deceleration maneuvers and subsequently rated the comfort of each scenario. One group of participants experienced the maneuvers on a test-track setting, whereas two other groups experienced them in one of two moving-base simulator configurations. We could demonstrate relative and absolute validity for one of the two simulator configurations. Subsequent analyses revealed that the validity of the simulator highly depends on the parameterization of the motion system. Moving-base simulation can be a useful research tool to study driving comfort in autonomous vehicles. However, our results point at a preference for subunity scaling factors for both lateral and longitudinal motion cues, which might be explained by an underestimation of speed in virtual environments. In line with previous studies, we recommend lateral- and longitudinal-motion scaling factors of approximately 50% to 60% in order to obtain valid results for both active and passive driving tasks.

  19. Autonomic nervous system response patterns specificity to basic emotions.

    Science.gov (United States)

    Collet, C; Vernet-Maury, E; Delhomme, G; Dittmar, A

    1997-01-12

    The aim of this study was to test the assumption that the autonomic nervous system responses to emotional stimuli are specific. A series of six slides was randomly presented to the subjects while six autonomic nervous system (ANS) parameters were recorded: skin conductance, skin potential, skin resistance, skin blood flow, skin temperature and instantaneous respiratory frequency. Each slide induced a basic emotion: happiness, surprise, anger, fear, sadness and disgust. Results have been first considered with reference to electrodermal responses (EDR) and secondly through thermo-vascular and respiratory variations. Classical as well as original indices were used to quantify autonomic responses. The six basic emotions were distinguished by Friedman variance analysis. Thus, ANS values corresponding to each emotion were compared two-by-two. EDR distinguished 13 emotion-pairs out of 15. 10 emotion-pairs were separated by skin resistance as well as skin conductance ohmic perturbation duration indices whereas conductance amplitude was only capable of distinguishing 7 emotion-pairs. Skin potential responses distinguished surprise and fear from sadness, and fear from disgust, according to their elementary pattern analysis in form and sign. Two-by-two comparisons of skin temperature, skin blood flow (estimated by the new non-oscillary duration index) and instantaneous respiratory frequency, enabled the distinction of 14 emotion-pairs out of 15. 9 emotion-pairs were distinguished by the non-oscillatory duration index values. Skin temperature was demonstrated to be different i.e. positive versus negative in response to anger and fear. The instantaneous respiratory frequency perturbation duration index was the only one capable of separating sadness from disgust. From the six ANS parameters study, different autonomic patterns were identified, each characterizing one of the six basic emotion used as inducing signals. No index alone, nor group of parameters (EDR and thermovascular

  20. Role of the functional status of the autonomic nervous system in the clinical course of purulent meningitis

    Directory of Open Access Journals (Sweden)

    D. A. Zadiraka

    2014-04-01

    Full Text Available Purulent meningitis is defined by high indices of sickness and lethality rates, a great risk of cerebral and extracerebral complications development, steady residual consequences formation. During neuroinfections, the state of adaptation mechanisms, which is characterized by exhaustion of regulatory systems with the development of decompensation, plays a crucial part. Heart rate variability clearly reflects the degree of regulatory system tension caused by the influence of both physiological and pathological factors. Research aim: to increase the autonomic dysfunction diagnostics efficiency for patients suffering from purulent meningitis in the disease dynamics based on the complex of clinical evidence and functional status of autonomic nervous system. Materials and methods. There were 60 patients with purulent meningitis under medical observation. Wein’s questionnaire was used for the detection of clinical presentations of autonomic dysfunction. Functional status of autonomic nervous system was diagnosed using the method of computer-based cardiointervalometry. The screening group was formed of 20 healthy individuals. Research findings and theirs discussion. Cerebral meningeal symptom was dominant among the patients suffering from purulent meningitis at the peak of the disease. At hospitalization every fifth person (23,3% had the objective evidence of autonomic dysfunction in the form of a postural tremor of upper limbs and eyelids. The analysis of autonomic nervous system parameters functional status among the patients suffering from purulent meningitis at the peak of disease showed heart rate variability decrease in the main branches of autonomic regulation and the presence of autonomic imbalance towards vagotonia. Since the second week, clinical signs of autonomic dysfunction prevailed in the dynamics of patients suffering from purulent meningitis in the course of standard treatment, which was proved by Wein’s survey of the patients. The

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

    International Nuclear Information System (INIS)

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

    1988-01-01

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

  2. Application of autonomous mobile patrol system for nuclear power plants

    International Nuclear Information System (INIS)

    Kanemoto, S.; Hattori, Y.; Ochiai, M.; Tai, I.; Ozaki, O.; Shimada, H.; Okano, H.

    1995-01-01

    The integrity of the components of an operating nuclear power plant (NPP) is usually monitored daily by an operator patrol. Currently, there is a great need to replace such human patrol activities by automated remote monitoring in order to reduce radiation exposure and severe workload. From this perspective, we started an R and D project with the objective of developing an autonomous mobile patrol system for NPPs. The project started in 1991 and is scheduled to be completed in 1996. The main targets of this project are as follows. (1) Development of an autonomous and independent mobile robot, (2) Development of a transportable compact remote sensing system for plant component inspection, (3) Development of a patrol guidance and sensing data evaluation system. The remote sensing system has the capability of detecting video image, sound, temperature and vibration distribution of component surfaces. A laser Doppler vibrometer is newly developed to measure a wide range of vibration distribution remotely. Also, in order to integrate and recognize various kinds of remote sensing data, a 3-dimensional (3D) computer aided design database and 3D graphics technology is extensively used. Operators can interpret the measured image data by mapping their textures onto the 3-dimensional model surface. In this paper, we describe the concept of the entire patrol system and its three main component technologies, that is, mobile robot, remote sensing and inspected data evaluations. (author)

  3. Requirement analysis for autonomous systems and intelligent agents in future Danish electric power systems

    DEFF Research Database (Denmark)

    Saleem, Arshad; Lind, Morten

    2010-01-01

    we review innovative control architectures in electric power systems such as Microgrids, Virtual power plants and Cell based systems. We evaluate application of autonomous systems and intelligent agents in each of these control architectures particularly in the context of Denmark's strategic energy...... plans. The second part formulates a flexible control architecture for electric power systems with very high penetration of distributed generation. This control architecture is based upon the requirements identified in the first part. We also present development of a software framework to test......Denmark has already achieved a record of 20% penetration of wind power and now moving towards even higher targets with an increasing part of the electricity produced by distributed generators (DGs). In this paper we report work from a sub activity "subgrid design" of the EcoGrid.dk project. First...

  4. Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

    Science.gov (United States)

    Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

    2014-09-18

    The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

  5. A Conceptual Framework for Design of Embedded Systems and Data Communication for Autonomous Vehicles

    DEFF Research Database (Denmark)

    Nielsen, Jens Frederik Dalsgaard; Bendtsen, Jan Dimon; Nielsen, Kirsten Mølgaard

    2005-01-01

    systems in a set of time rings each demanding actions equal in time magnitude. The safety analysis can in an equal way structure the system in safety rings, each demanding fault and failure handling at the same level. The concept deals with the widely differing time demands at different control levels on......This paper describes a conceptual framework for the development of a hierarchal control architecture for an autonomous vehicle. The concept is based on time/frequency and safety analysis on board the vehicle. The time/frequency analysis is used to structure the guidance, navigation and control......-board the vehicle, the integration of sensors and actuators using different communication protocols, integration of wireless communication to a base and payload data handling as well as control, reliability and safety issues. The system is implemented on an autonomous platform mapping spatial density of weed...

  6. Autonomous wind/solar power systems with battery storage

    Energy Technology Data Exchange (ETDEWEB)

    Protogeropoulos, C I

    1993-12-31

    The performance of an autonomous hybrid renewable energy system consisting of combined photovoltaic/wind power generation with battery storage is under evaluation in this thesis. Detailed mathematical analysis of the renewable components and the battery was necessary in order to establish the theoretical background for accurate simulation results. Model validation was achieved through experimentation. The lack of a sizing method to combine both hybrid system total cost and long-term reliability level was the result of an extended literature survey. The new achievements which are described in this research work refer to: - simplified modelling for the performance of amorphous-silicon photovoltaic panels for all solar irradiance levels. -development of a new current-voltage expression with respect to wind speed for wind turbine performance simulation. -establishment of the battery storage state of voltage, SOV, simulation algorithm for long-term dynamic operational conditions. The proposed methodology takes into account 8 distinct cases covering steady state and transient effects and can be used for autonomous system reliability calculations. -techno-economic evaluation of the size of the hybrid system components by considering both reliability and economic criteria as design parameters. Two sizing scenarios for the renewable components are examined : the average year method and the ``worst renewable`` month method. (Author)

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

    Science.gov (United States)

    Ippolito, Corey; Plice, Laura; Pisanich, Greg

    2003-01-01

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

  8. Autonomous data acquisition system for Paks NPP process noise signals

    International Nuclear Information System (INIS)

    Lipcsei, S.; Kiss, S.; Czibok, T.; Dezso, Z.; Horvath, Cs.

    2005-01-01

    A prototype of a new concept noise diagnostics data acquisition system has been developed recently to renew the aged present system. This new system is capable of collecting the whole available noise signal set simultaneously. Signal plugging and data acquisition are performed by autonomous systems (installed at each reactor unit) that are controlled through the standard plant network from a central computer installed at a suitable location. Experts can use this central unit to process and archive data series downloaded from the reactor units. This central unit also provides selected noise diagnostics information for other departments. The paper describes the hardware and software architecture of the new system in detail, emphasising the potential benefits of the new approach. (author)

  9. Effects of insula resection on autonomic nervous system activity

    NARCIS (Netherlands)

    de Morree, Helma; Rutten, Geert-Jan; Szabo, B.M.; Sitskoorn, Margriet; Kop, Wijo

    2016-01-01

    Background: The insula is an essential component of the central autonomic network and plays a critical role in autonomic regulation in response to environmental stressors. The role of the insula in human autonomic regulation has been primarily investigated following cerebrovascular accidents, but

  10. System and method of self-properties for an autonomous and automatic computer environment

    Science.gov (United States)

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

    2010-01-01

    Systems, methods and apparatus are provided through which in some embodiments self health/urgency data and environment health/urgency data may be transmitted externally from an autonomic element. Other embodiments may include transmitting the self health/urgency data and environment health/urgency data together on a regular basis similar to the lub-dub of a heartbeat. Yet other embodiments may include a method for managing a system based on the functioning state and operating status of the system, wherein the method may include processing received signals from the system indicative of the functioning state and the operating status to obtain an analysis of the condition of the system, generating one or more stay alive signals based on the functioning status and the operating state of the system, transmitting the stay-alive signal, transmitting self health/urgency data, and transmitting environment health/urgency data. Still other embodiments may include an autonomic element that includes a self monitor, a self adjuster, an environment monitor, and an autonomic manager.

  11. Anxiety, depression and autonomic nervous system dysfunction in hypertension.

    Science.gov (United States)

    Bajkó, Zoltán; Szekeres, Csilla-Cecília; Kovács, Katalin Réka; Csapó, Krisztina; Molnár, Sándor; Soltész, Pál; Nyitrai, Erika; Magyar, Mária Tünde; Oláh, László; Bereczki, Dániel; Csiba, László

    2012-06-15

    This study examined the relationship between autonomic nervous system dysfunction, anxiety and depression in untreated hypertension. 86 newly diagnosed hypertensive patients and 98 healthy volunteers were included in the study. The psychological parameters were assessed with Spielberger State-Trait Anxiety Inventory and Beck Depression Inventory by a skilled psychologist. Autonomic parameters were examined during tilt table examination (10min lying position, 10min passive tilt). Heart rate variability (HRV) was calculated by autoregressive methods. Baroreflex sensitivity (BRS) was calculated by non-invasive sequence method from the recorded beat to beat blood pressure values and RR intervals. Significantly higher state (42.6±9.3 vs. 39.6±10.7 p=0.05) and trait (40.1±8.9 vs. 35.1±8.6, p<0.0001) anxiety scores were found in the hypertension group. There was no statistically significant difference in the depression level. LF-RRI (Low Frequency-RR interval) of HRV in passive tilt (377.3±430.6 vs. 494.1±547, p=0.049) and mean BRS slope (11.4±5.5 vs. 13.2±6.4, p=0.07) in lying position were lower in hypertensives. Trait anxiety score correlates significantly with sympatho/vagal balance (LF/HF-RRI) in passive tilt position (Spearman R=-0.286, p=0.01). Anxiety could play a more important role than depression in the development of hypertension. Altered autonomic control of the heart could be one of the pathophysiological links between hypertension and psychological factors. Copyright © 2012 Elsevier B.V. All rights reserved.

  12. Bifurcation theory for finitely smooth planar autonomous differential systems

    Science.gov (United States)

    Han, Maoan; Sheng, Lijuan; Zhang, Xiang

    2018-03-01

    In this paper we establish bifurcation theory of limit cycles for planar Ck smooth autonomous differential systems, with k ∈ N. The key point is to study the smoothness of bifurcation functions which are basic and important tool on the study of Hopf bifurcation at a fine focus or a center, and of Poincaré bifurcation in a period annulus. We especially study the smoothness of the first order Melnikov function in degenerate Hopf bifurcation at an elementary center. As we know, the smoothness problem was solved for analytic and C∞ differential systems, but it was not tackled for finitely smooth differential systems. Here, we present their optimal regularity of these bifurcation functions and their asymptotic expressions in the finite smooth case.

  13. Vision based speed breaker detection for autonomous vehicle

    Science.gov (United States)

    C. S., Arvind; Mishra, Ritesh; Vishal, Kumar; Gundimeda, Venugopal

    2018-04-01

    In this paper, we are presenting a robust and real-time, vision-based approach to detect speed breaker in urban environments for autonomous vehicle. Our method is designed to detect the speed breaker using visual inputs obtained from a camera mounted on top of a vehicle. The method performs inverse perspective mapping to generate top view of the road and segment out region of interest based on difference of Gaussian and median filter images. Furthermore, the algorithm performs RANSAC line fitting to identify the possible speed breaker candidate region. This initial guessed region via RANSAC, is validated using support vector machine. Our algorithm can detect different categories of speed breakers on cement, asphalt and interlock roads at various conditions and have achieved a recall of 0.98.

  14. vSLAM: vision-based SLAM for autonomous vehicle navigation

    Science.gov (United States)

    Goncalves, Luis; Karlsson, Niklas; Ostrowski, Jim; Di Bernardo, Enrico; Pirjanian, Paolo

    2004-09-01

    Among the numerous challenges of building autonomous/unmanned vehicles is that of reliable and autonomous localization in an unknown environment. In this paper we present a system that can efficiently and autonomously solve the robotics 'SLAM' problem, where a robot placed in an unknown environment, simultaneously must localize itself and make a map of the environment. The system is vision-based, and makes use of Evolution Robotic's powerful object recognition technology. As the robot explores the environment, it is continuously performing four tasks, using information from acquired images and the drive system odometry. The robot: (1) recognizes previously created 3-D visual landmarks; (2) builds new 3-D visual landmarks; (3) updates the current estimate of its location, using the map; (4) updates the landmark map. In indoor environments, the system can build a map of a 5m by 5m area in approximately 20 minutes, and can localize itself with an accuracy of approximately 15 cm in position and 3 degrees in orientation relative to the global reference frame of the landmark map. The same system can be adapted for outdoor, vehicular use.

  15. Research on support effectiveness modeling and simulating of aviation materiel autonomic logistics system

    Science.gov (United States)

    Zhou, Yan; Zhou, Yang; Yuan, Kai; Jia, Zhiyu; Li, Shuo

    2018-05-01

    Aiming at the demonstration of autonomic logistics system to be used at the new generation of aviation materiel in our country, the modeling and simulating method of aviation materiel support effectiveness considering autonomic logistics are studied. Firstly, this paper introduced the idea of JSF autonomic logistics and analyzed the influence of autonomic logistics on support effectiveness from aspects of reliability, false alarm rate, troubleshooting time, and support delay time and maintenance level. On this basis, the paper studies the modeling and simulating methods of support effectiveness considering autonomic logistics, and puts forward the maintenance support simulation process considering autonomic logistics. Finally, taking the typical aviation materiel as an example, this paper analyzes and verifies the above-mentioned support effectiveness modeling and simulating method of aviation materiel considering autonomic logistics.

  16. Quad-Rotor Helicopter Autonomous Navigation Based on Vanishing Point Algorithm

    Directory of Open Access Journals (Sweden)

    Jialiang Wang

    2014-01-01

    Full Text Available Quad-rotor helicopter is becoming popular increasingly as they can well implement many flight missions in more challenging environments, with lower risk of damaging itself and its surroundings. They are employed in many applications, from military operations to civilian tasks. Quad-rotor helicopter autonomous navigation based on the vanishing point fast estimation (VPFE algorithm using clustering principle is implemented in this paper. For images collected by the camera of quad-rotor helicopter, the system executes the process of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by randomized hough transformation (RHT method. Then system obtains the position of vanishing point and regards it as destination point and finally controls the autonomous navigation of the quad-rotor helicopter by continuous modification according to the calculated navigation error. The experimental results show that the quad-rotor helicopter can implement the destination navigation well in the indoor environment.

  17. Autonomic nervous system profile in fibromyalgia patients and its modulation by exercise: a mini review.

    Science.gov (United States)

    Kulshreshtha, Poorvi; Deepak, Kishore K

    2013-03-01

    This review imparts an impressionistic tone to our current understanding of autonomic nervous system abnormalities in fibromyalgia. In the wake of symptoms present in patients with fibromyalgia (FM), autonomic dysfunction seems plausible in fibromyalgia. A popular notion is that of a relentless sympathetic hyperactivity and hyporeactivity based on heart rate variability (HRV) analyses and responses to various physiological stimuli. However, some exactly opposite findings suggesting normal/hypersympathetic reactivity in patients with fibromyalgia do exist. This heterogeneous picture along with multiple comorbidities accounts for the quantitative and qualitative differences in the degree of dysautonomia present in patients with FM. We contend that HRV changes in fibromyalgia may not actually represent increased cardiac sympathetic tone. Normal muscle sympathetic nerve activity (MSNA) and normal autonomic reactivity tests in patients with fibromyalgia suggest defective vascular end organ in fibromyalgia. Previously, we proposed a model linking deconditioning with physical inactivity resulting from widespread pain in patients with fibromyalgia. Deconditioning also modulates the autonomic nervous system (high sympathetic tone and a low parasympathetic tone). A high peripheral sympathetic tone causes regional ischaemia, which in turn results in widespread pain. Thus, vascular dysregulation and hypoperfusion in patients with FM give rise to ischaemic pain leading to physical inactivity. Microvascular abnormalities are also found in patients with FM. Therapeutic interventions (e.g. exercise) that result in vasodilatation and favourable autonomic alterations have proven to be effective. In this review, we focus on the vascular end organ in patients with fibromyalgia in particular and its modulation by exercise in general. © 2012 The Authors Clinical Physiology and Functional Imaging © 2012 Scandinavian Society of Clinical Physiology and Nuclear Medicine.

  18. Bifurcation diagram of a cubic three-parameter autonomous system

    Directory of Open Access Journals (Sweden)

    Lenka Barakova

    2005-07-01

    Full Text Available In this paper, we study the cubic three-parameter autonomous planar system $$displaylines{ dot x_1 = k_1 + k_2x_1 - x_1^3 - x_2,cr dot x_2 = k_3 x_1 - x_2, }$$ where $k_2, k_3$ are greater than 0. Our goal is to obtain a bifurcation diagram; i.e., to divide the parameter space into regions within which the system has topologically equivalent phase portraits and to describe how these portraits are transformed at the bifurcation boundaries. Results may be applied to the macroeconomical model IS-LM with Kaldor's assumptions. In this model existence of a stable limit cycles has already been studied (Andronov-Hopf bifurcation. We present the whole bifurcation diagram and among others, we prove existence of more difficult bifurcations and existence of unstable cycles.

  19. High accuracy autonomous navigation using the global positioning system (GPS)

    Science.gov (United States)

    Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

    1997-01-01

    The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

  20. Functional envelope of a non-autonomous discrete system

    Directory of Open Access Journals (Sweden)

    Barzanouni Ali

    2017-11-01

    Full Text Available Let (X, F = {fn}n =0∞ be a non-autonomous discrete system by a compact metric space X and continuous maps fn : X → X, n = 0, 1, ....We introduce functional envelope (S(X, G = {Gn}n =0∞, of (X, F = {fn}n =0∞, where S(X is the space of all continuous self maps of X and the map Gn : S(X → S(X is defined by Gn(ϕ = Fn ∘ ϕ, Fn = fn ∘ fn-1 ∘ . . . ∘ f1 ∘ f0. The paper mainly deals with the connection between the properties of a system and the properties of its functional envelope.

  1. Autonomous identification of matrices in the APNea system

    International Nuclear Information System (INIS)

    Hensley, D.

    1995-01-01

    The APNea System is a passive and active neutron assay device which features imaging to correct for nonuniform distributions of source material. Since the imaging procedure requires a detailed knowledge of both the detection efficiency and the thermal neutron flux for (sub)volumes of the drum of interest, it is necessary to identify which mocked-up matrix, to be used for detailed characterization studies, best matches the matrix of interest. A methodology referred to as the external matrix probe (EMP) has been established which links external measures of a drum matrix to those of mocked-up matrices. These measures by themselves are sufficient to identify the appropriate mock matrix, from which the necessary characterization data are obtained. This independent matrix identification leads to an autonomous determination of the required system response parameters for the assay analysis

  2. An Autonomous Data Reduction Pipeline for Wide Angle EO Systems

    Science.gov (United States)

    Privett, G.; George, S.; Feline, W.; Ash, A.; Routledge, G.

    The UK’s National Space and Security Policy states that the identification of potential on-orbit collisions and re-entry warning over the UK is of high importance, and is driving requirements for indigenous Space Situational Awareness (SSA) systems. To meet these requirements options are being examined, including the creation of a distributed network of simple, low cost commercial–off-the-shelf electro-optical sensors to support survey work and catalogue maintenance. This paper outlines work at Dstl examining whether data obtained using readily-deployable equipment could significantly enhance UK SSA capability and support cross-cueing between multiple deployed systems. To effectively exploit data from this distributed sensor architecture, a data handling system is required to autonomously detect satellite trails in a manner that pragmatically handles highly variable target intensities, periodicity and rates of apparent motion. The processing and collection strategies must be tailored to specific mission sets to ensure effective detections of platforms as diverse as stable geostationary satellites and low altitude CubeSats. Data captured during the Automated Transfer Vehicle-5 (ATV-5) de-orbit trial and images captured of a rocket body break up and a deployed deorbit sail have been employed to inform the development of a prototype processing pipeline for autonomous on-site processing. The approach taken employs tools such as Astrometry.Net and DAOPHOT from the astronomical community, together with image processing and orbit determination software developed inhouse by Dstl. Interim results from the automated analysis of data collected from wide angle sensors are described, together with the current perceived limitations of the proposed system and our plans for future development.

  3. A Solar Energy Powered Autonomous Wireless Actuator Node for Irrigation Systems

    OpenAIRE

    Lajara, Rafael; Alberola, Jorge; Pelegr?-Sebasti?, Jos?

    2010-01-01

    The design of a fully autonomous and wireless actuator node ("wEcoValve mote") based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close) of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered...

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

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  5. Autonomous Landing and Ingress of Micro-Air-Vehicles in Urban Environments Based on Monocular Vision

    Science.gov (United States)

    Brockers, Roland; Bouffard, Patrick; Ma, Jeremy; Matthies, Larry; Tomlin, Claire

    2011-01-01

    Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions, landing and ingress maneuvers must be autonomous, using real-time, onboard sensor feedback. To address these key behaviors, we present a novel method for vision-based autonomous MAV landing and ingress using a single camera for two urban scenarios: landing on an elevated surface, representative of a rooftop, and ingress through a rectangular opening, representative of a door or window. Real-world scenarios will not include special navigation markers, so we rely on tracking arbitrary scene features; however, we do currently exploit planarity of the scene. Our vision system uses a planar homography decomposition to detect navigation targets and to produce approach waypoints as inputs to the vehicle control algorithm. Scene perception, planning, and control run onboard in real-time; at present we obtain aircraft position knowledge from an external motion capture system, but we expect to replace this in the near future with a fully self-contained, onboard, vision-aided state estimation algorithm. We demonstrate autonomous vision-based landing and ingress target detection with two different quadrotor MAV platforms. To our knowledge, this is the first demonstration of onboard, vision-based autonomous landing and ingress algorithms that do not use special purpose scene markers to identify the destination.

  6. SIMULASI INTERKONEKSI ANTARA AUTONOMOUS SYSTEM (AS MENGGUNAKAN BORDER GATEWAY PROTOCOL (BGP

    Directory of Open Access Journals (Sweden)

    Hari Antoni Musril

    2017-09-01

    Full Text Available An autonomous system (AS is the collection of networks having the same set of routing policies. Each AS has administrative control to its own inter-domain routing policy. Computer networks consisting of a bunch of AS's with different routing will not be able to interconnecttion one another. This is causes communication in the network to be inhibited. For that we need a protocol that can connect each different AS. Border Gateway Protocol (BGP is an inter-domain routing protocol i.e. between different AS  that is used to exchange routing information between them. In a typical inter-network (and in the Internet each autonomous system designates one or more routers that run BGP software. BGP routers in each AS are linked to those in one or more other AS. The ability to exchange table routing information between Autonomous System (AS is one of the advantages BGP. BGP implements routing policies based a set of attributes accompanying each route used to pick the “shortest” path across multiple ASs, along with one or more routing policies. BGP uses an algorithm which cannot be classified as a pure "Distance Vector", or pure "Link State". It is a path vector routing protocol as it defines a route as a collection of a number of AS that is passes through from source AS to destination AS. This paper discusses the implementation of the BGP routing protocol in the network that have different AS in order to interconnect. Its application using Packet Tracer 7.0 software for prototyping and simulating network. So that later can be applied to the actual network. Based on experiments that have been carried out, the BGP routing protocol can connect two routers that have different autonomous system.

  7. Throughput Evaluation of an Autonomous Sustainment Cargo Container System

    National Research Council Canada - National Science Library

    Yeh, Mingtze

    2007-01-01

    .... Autonomous containers will play an essential role in the ability to deliver logistical supplies to waterborne littoral vessels enabling them to maintain station and complete there military operations...

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

    Science.gov (United States)

    Jamshidi, Mohammad

    2001-11-01

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

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

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  10. The Montana ALE (Autonomous Lunar Excavator) Systems Engineering Report

    Science.gov (United States)

    Hull, Bethanne J.

    2012-01-01

    On May 2 1-26, 20 12, the third annual NASA Lunabotics Mining Competition will be held at the Kennedy Space Center in Florida. This event brings together student teams from universities around the world to compete in an engineering challenge. Each team must design, build and operate a robotic excavator that can collect artificial lunar soil and deposit it at a target location. Montana State University, Bozeman, is one of the institutions selected to field a team this year. This paper will summarize the goals of MSU's lunar excavator project, known as the Autonomous Lunar Explorer (ALE), along with the engineering process that the MSU team is using to fulfill these goals, according to NASA's systems engineering guidelines.

  11. Decision support tool to evaluate alternative policies regulating wind integration into autonomous energy systems

    International Nuclear Information System (INIS)

    Zouros, N.; Contaxis, G.C.; Kabouris, J.

    2005-01-01

    Integration of wind power into autonomous electricity systems strongly depends on the specific technical characteristics of these systems; the regulations applied should take into account physical system constraints. Introduction of market rules makes the issue even more complicated since the interests of the market participants often conflict each other. In this paper, an integrated tool for the comparative assessment of alternative regulatory policies is presented along with a methodology for decision-making, based on alternative scenarios analysis. The social welfare concept is followed instead of the traditional Least Cost Planning

  12. On how AI & Law can help autonomous systems obey the law: a position paper

    NARCIS (Netherlands)

    Prakken, Hendrik

    2016-01-01

    In this position paper I discuss to what extent current and past AI & law research is relevant for research on autonomous intelligent systems that exhibit legally relevant behaviour. After a brief review of the history of AI & law, I will compare the problems faced by autonomous intelligent systems

  13. Distributed Hardware-in-the-loop simulator for autonomous continuous dynamical systems with spatially constrained interactions

    NARCIS (Netherlands)

    Verburg, D.J.; Papp, Z.; Dorrepaal, M.

    2003-01-01

    The state-of-the-art intelligent vehicle, autonomous guided vehicle and mobile robotics application domains can be described as collection of interacting highly autonomous complex dynamical systems. Extensive formal analysis of these systems – except special cases – is not feasible, consequently the

  14. Of Scaredy Cats and Cold Fish: The autonomic nervous system and behaviour in young children

    NARCIS (Netherlands)

    B. Dierckx (Bram)

    2014-01-01

    markdownabstract__Abstract__ The autonomic nervous system regulates the body’s internal functions. The goal of this regulation is to maintain bodily homeostasis in a changing external environment. The autonomic nervous system acts largely independent of volition and controls heart rate,

  15. Extraction and Analysis of Autonomous System Level Internet Map of Turkey

    Directory of Open Access Journals (Sweden)

    Hakan Çetin

    2010-01-01

    Full Text Available At the high level, the Internet is a mesh that is composed of thousands of autonomous system (AS connected together. This mesh is represented as a graph where each autonomous system is considered as a node and the connections with Border Gateway Protocol neighbored autonomous systems considered as an edge. Analysis of this mesh and visual representation of the graph gives us the AS level topology of the Internet. In recent years there are increasing numbers of studies that are focused on the structure of the topology of the Internet. It is important to study the Internet infrastructure in Turkey and to provide a way to monitor the changes to it over time. In this study we present the AS level Internet map of Turkey with explanation of each step. In order to get the whole AS level map, we first determined the ASs that geographically reside in Turkey and afterwards determined the interconnections among this ASs, along with international interconnections. Then we extracted the relations between connected ASs and analyzed the structural properties of AS infrastructure. We explained the methods we used in each step. Using the extracted data we analyzed the AS level properties of Turkey and we provide the AS level Internet map of Turkey along with a web-based software that can monitor and provide information of ASs in Turkey.

  16. An Autonomous Distributed Fault-Tolerant Local Positioning System

    Science.gov (United States)

    Malekpour, Mahyar R.

    2017-01-01

    We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

  17. An Autonomous Connectivity Restoration Algorithm Based on Finite State Machine for Wireless Sensor-Actor Networks

    Directory of Open Access Journals (Sweden)

    Ying Zhang

    2018-01-01

    Full Text Available With the development of autonomous unmanned intelligent systems, such as the unmanned boats, unmanned planes and autonomous underwater vehicles, studies on Wireless Sensor-Actor Networks (WSANs have attracted more attention. Network connectivity algorithms play an important role in data exchange, collaborative detection and information fusion. Due to the harsh application environment, abnormal nodes often appear, and the network connectivity will be prone to be lost. Network self-healing mechanisms have become critical for these systems. In order to decrease the movement overhead of the sensor-actor nodes, an autonomous connectivity restoration algorithm based on finite state machine is proposed. The idea is to identify whether a node is a critical node by using a finite state machine, and update the connected dominating set in a timely way. If an abnormal node is a critical node, the nearest non-critical node will be relocated to replace the abnormal node. In the case of multiple node abnormality, a regional network restoration algorithm is introduced. It is designed to reduce the overhead of node movements while restoration happens. Simulation results indicate the proposed algorithm has better performance on the total moving distance and the number of total relocated nodes compared with some other representative restoration algorithms.

  18. An Autonomous Connectivity Restoration Algorithm Based on Finite State Machine for Wireless Sensor-Actor Networks.

    Science.gov (United States)

    Zhang, Ying; Wang, Jun; Hao, Guan

    2018-01-08

    With the development of autonomous unmanned intelligent systems, such as the unmanned boats, unmanned planes and autonomous underwater vehicles, studies on Wireless Sensor-Actor Networks (WSANs) have attracted more attention. Network connectivity algorithms play an important role in data exchange, collaborative detection and information fusion. Due to the harsh application environment, abnormal nodes often appear, and the network connectivity will be prone to be lost. Network self-healing mechanisms have become critical for these systems. In order to decrease the movement overhead of the sensor-actor nodes, an autonomous connectivity restoration algorithm based on finite state machine is proposed. The idea is to identify whether a node is a critical node by using a finite state machine, and update the connected dominating set in a timely way. If an abnormal node is a critical node, the nearest non-critical node will be relocated to replace the abnormal node. In the case of multiple node abnormality, a regional network restoration algorithm is introduced. It is designed to reduce the overhead of node movements while restoration happens. Simulation results indicate the proposed algorithm has better performance on the total moving distance and the number of total relocated nodes compared with some other representative restoration algorithms.

  19. An Autonomous Connectivity Restoration Algorithm Based on Finite State Machine for Wireless Sensor-Actor Networks

    Science.gov (United States)

    Zhang, Ying; Wang, Jun; Hao, Guan

    2018-01-01

    With the development of autonomous unmanned intelligent systems, such as the unmanned boats, unmanned planes and autonomous underwater vehicles, studies on Wireless Sensor-Actor Networks (WSANs) have attracted more attention. Network connectivity algorithms play an important role in data exchange, collaborative detection and information fusion. Due to the harsh application environment, abnormal nodes often appear, and the network connectivity will be prone to be lost. Network self-healing mechanisms have become critical for these systems. In order to decrease the movement overhead of the sensor-actor nodes, an autonomous connectivity restoration algorithm based on finite state machine is proposed. The idea is to identify whether a node is a critical node by using a finite state machine, and update the connected dominating set in a timely way. If an abnormal node is a critical node, the nearest non-critical node will be relocated to replace the abnormal node. In the case of multiple node abnormality, a regional network restoration algorithm is introduced. It is designed to reduce the overhead of node movements while restoration happens. Simulation results indicate the proposed algorithm has better performance on the total moving distance and the number of total relocated nodes compared with some other representative restoration algorithms. PMID:29316702

  20. Acute irradiation injury and autonomic nervous system. 2

    International Nuclear Information System (INIS)

    Matsuu, Mutsumi; Sekine, Ichiro; Shichijo, Kazuko; Ito, Masahiro; Ikeda, Yuzi; Matsuzaki, Sumihiro; Zea-Iriate, W.-L.; Kondo, Takahito

    1996-01-01

    In order to elucidate the mechanism of occurrence of radiation sickness, whole body irradiation of various doses of X-ray was done on male spontaneously hypertensive rats (SHR) whose sympathetic nervous system is functionally activated and on their original male Wistar Kyoto rats (WKY) and the change of their body weights was examined. Further, changes of blood pressure in rats irradiated at 7.5 Gy, of norepinephrine contents in their gut as a parameter of sympathetic nervous function and of acetylcholine contents as that of parasympathetic nervous function were measured. Histopathological examinations were also performed. SHR died at smaller dose than WKY. The blood pressure as a parameter of systemic sympathetic nervous system varied greatly in SHR. Norepinephrine contents elevated rapidly and greatly in SHR after irradiation and acetylcholine contents rapidly elevated in WKY. Apoptosis was more frequently observed in the intestinal crypt of SHR. Participation of autonomic nervous system was thus shown in the appearance of acute radiation injury and sickness in SHR, which was thought to be a useful model for the investigation. (K.H.)

  1. Laser rangefinders for autonomous intelligent cruise control systems

    Science.gov (United States)

    Journet, Bernard A.; Bazin, Gaelle

    1998-01-01

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

  2. The ESP Instruction: A Study Based on the Pattern of Autonomous Inquiry

    Science.gov (United States)

    Zhang, Jianfeng

    2013-01-01

    Autonomous inquiry learning is a kind of learning model, which relies mainly on learners and emphasizes that learners should inquire knowledge actively; moreover, ESP, which emphasizes the combination of language learning and specific purposes learning, is a goal-oriented and well targeted instruction system. Therefore, ESP and autonomous inquiry…

  3. Techno-economic analysis of an autonomous power system integrating hydrogen technology as energy storage medium

    Energy Technology Data Exchange (ETDEWEB)

    Tzamalis, G. [Center for Renewable Energy Sources (CRES), RES and Hydrogen Technologies, 19th km Marathon Avenue, GR 19009 Pikermi (Greece); Laboratory of Fuels and Lubricants Technology, School of Chemical Engineering, National Technical University of Athens, 9 Iroon Polytechniou Street, Zografou Campus, 157 80 Athens (Greece); Zoulias, E.I.; Stamatakis, E.; Varkaraki, E. [Center for Renewable Energy Sources (CRES), RES and Hydrogen Technologies, 19th km Marathon Avenue, GR 19009 Pikermi (Greece); Lois, E.; Zannikos, F. [Laboratory of Fuels and Lubricants Technology, School of Chemical Engineering, National Technical University of Athens, 9 Iroon Polytechniou Street, Zografou Campus, 157 80 Athens (Greece)

    2011-01-15

    Two different options for the autonomous power supply of rural or/and remote buildings are examined in this study. The first one involves a PV - diesel based power system, while the second one integrates RES and hydrogen technologies for the development of a self - sustained power system. The main objective is the replacement of the diesel generator and a comparison between these two options for autonomous power supply. Model simulations of the two power systems before and after the replacement, an optimization of the component sizes and a techno - economic analysis have been performed for the purpose of this study. A sensitivity analysis taking into account future cost scenarios for hydrogen technologies is also presented. The results clearly show that the Cost of Energy Produced (COE) from the PV - hydrogen technologies power system is extremely higher than the PV - diesel power system. However, the adopted PV - hydrogen technologies power system reduces to zero the Green - House Gas (GHG) emissions. Moreover, the sensitivity analysis indicates that COE for the latter system can be further reduced by approximately 50% compared to its initial value. This could be achieved by reducing critical COE's parameters, such as PEM electrolyser and fuel cell capital costs. Hence, a possible reduction on the capital costs of hydrogen energy equipment in combination with emissions reduction mentioned above could make hydrogen - based power systems more competitive. (author)

  4. An autonomous sensor module based on a legacy CCTV camera

    Science.gov (United States)

    Kent, P. J.; Faulkner, D. A. A.; Marshall, G. F.

    2016-10-01

    A UK MoD funded programme into autonomous sensors arrays (SAPIENT) has been developing new, highly capable sensor modules together with a scalable modular architecture for control and communication. As part of this system there is a desire to also utilise existing legacy sensors. The paper reports upon the development of a SAPIENT-compliant sensor module using a legacy Close-Circuit Television (CCTV) pan-tilt-zoom (PTZ) camera. The PTZ camera sensor provides three modes of operation. In the first mode, the camera is automatically slewed to acquire imagery of a specified scene area, e.g. to provide "eyes-on" confirmation for a human operator or for forensic purposes. In the second mode, the camera is directed to monitor an area of interest, with zoom level automatically optimized for human detection at the appropriate range. Open source algorithms (using OpenCV) are used to automatically detect pedestrians; their real world positions are estimated and communicated back to the SAPIENT central fusion system. In the third mode of operation a "follow" mode is implemented where the camera maintains the detected person within the camera field-of-view without requiring an end-user to directly control the camera with a joystick.

  5. cFS-based Autonomous Requirements Testing Tool, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The S&K Team proposes design of a tool suite, Autonomy Requirements Tester (ART), to address the difficulty of stating autonomous requirements and the links to...

  6. Autonomic nervous system mediated effects of food intake. Interaction between gastrointestinal and cardiovascular systems.

    NARCIS (Netherlands)

    van Orshoven, N.P.

    2008-01-01

    The studies presented in this thesis focused on the autonomic nervous system mediated interactions between the gastrointestinal and cardiovascular systems in response to food intake and on potential consequences of failure of these interactions. The effects of food intake on cardiovascular

  7. Where neuroscience and dynamic system theory meet autonomous robotics: a contracting basal ganglia model for action selection.

    Science.gov (United States)

    Girard, B; Tabareau, N; Pham, Q C; Berthoz, A; Slotine, J-J

    2008-05-01

    Action selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multi-disciplinary approach at the convergence of neuroscience, dynamical system theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neural projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties, when compared with a simple if-then-else decision rule.

  8. Autonomous Monitoring Aerial Robot System for Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ji H.; Gu, Beom W; Thai, Van X.; Rim, C. T. [KAIST, Daejeon (Korea, Republic of)

    2016-05-15

    In this paper, autonomous monitoring aerial robot system (AMARS), which includes omnidirectional wireless charging platform, aerial robot, landing coils and a battery management board, is proposed to guarantee automatic monitoring of NPPs. The prototype of the system is fabricated, and omnidirectional charging of the system is experimentally validated with 1 C charging state. AR(Aerial Robots)s are essential for NPP accident management because human cannot access to the accident site due to the risks of unexpected explosions, collapses, and high level of radioactive contaminants. Moreover, ARs can support operators to manage normal operation of NPPs built in harsh environment of high temperature and humidity such as UAE Barakah NPP. Because these ARs usually have very low energy capacity, however, the operation time of ARs is less than 30 minutes and should be recharged regularly by human powers, which makes it impossible to monitor NPPs by ARs automatically. In this paper, the concept of AMARS has been proposed and its performance was successfully verified with a fabricated prototype. The charging state of the on board battery in AR was measured as 0.5 C with the induced voltage of 18.6 V, which is well matched to the designed induced voltage when the AR was placed on the edge of the wireless charging platform.

  9. Mechanical deployment system on aries an autonomous mobile robot

    International Nuclear Information System (INIS)

    Rocheleau, D.N.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail

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

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

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

  11. Design Comparison of Autonomous High Voltage Driving System for DEAP Actuator

    DEFF Research Database (Denmark)

    Huang, Lina; Pittini, Riccardo; Zhang, Zhe

    2014-01-01

    As a new type of smart material, the Dielectric Electro Active Polymer (DEAP) is introduced in terms of configuration, working principle and potential applications. The design of an autonomous high voltage driving system for DEAP actuator is investigated. The system configuration and the design...... methodology of a high voltage converter are discussed in detail. Based on the heating valve application, three different high voltage converter solutions have been proposed. The different proposals have been compared in terms of energy loss, volume and cost. Finally, the design selection suggestions...

  12. Lagrangian-Hamiltonian unified formalism for autonomous higher order dynamical systems

    International Nuclear Information System (INIS)

    Prieto-Martinez, Pedro Daniel; Roman-Roy, Narciso

    2011-01-01

    The Lagrangian-Hamiltonian unified formalism of Skinner and Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, as well as for first-order and higher order field theories. However, a complete generalization to higher order mechanical systems is yet to be described. In this work, after reviewing the natural geometrical setting and the Lagrangian and Hamiltonian formalisms for higher order autonomous mechanical systems, we develop a complete generalization of the Lagrangian-Hamiltonian unified formalism for these kinds of systems, and we use it to analyze some physical models from this new point of view. (paper)

  13. Autonomous vision-based navigation for proximity operations around binary asteroids

    Science.gov (United States)

    Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

    2018-06-01

    Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

  14. Analysis of Autonomic Nervous System Functional Age and Heart Rate Variability in Mine Workers

    Directory of Open Access Journals (Sweden)

    Vasicko T

    2016-04-01

    Full Text Available Introduction: Heavy working conditions and many unpropitious factors influencing workers health participate in development of various health disorders, among other autonomic cardiovascular regulation malfunction. The aim of this study is to draw a comparison of autonomic nervous system functional age and heart rate variability changes between workers with and without mining occupational exposure.

  15. Finite-time synchronization of a class of autonomous chaotic systems

    Indian Academy of Sciences (India)

    Some criteria for achieving the finite-time synchronization of a class of autonomous chaotic systems are derived by the finite-time stability theory and Gerschgorin disc theorem. Numerical simulations are shown to illustrate the effectiveness of the proposed method. Keywords. Finite-time synchronization; autonomous chaotic ...

  16. Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

    KAUST Repository

    Guler, Samet; Fidan, Baris; Dasgupta, Soura; Anderson, Brian D.O.; Shames, Iman

    2016-01-01

    We study the problem of driving a mobile sensory agent to a target whose location is specied only in terms of the distances to a set of sensor stations or beacons. The beacon positions are unknown, but the agent can continuously measure its distances to them as well as its own position. This problem has two particular applications: (1) capturing a target signal source whose distances to the beacons are measured by these beacons and broadcasted to a surveillance agent, (2) merging a single agent to an autonomous multi-agent system so that the new agent is positioned at desired distances from the existing agents. The problem is solved using an adaptive control framework integrating a parameter estimator producing beacon location estimates, and an adaptive motion control law fed by these estimates to steer the agent toward the target. For location estimation, a least-squares adaptive law is used. The motion control law aims to minimize a convex cost function with unique minimizer at the target location, and is further augmented for persistence of excitation. Stability and convergence analysis is provided, as well as simulation results demonstrating performance and transient behavior.

  17. Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

    KAUST Repository

    Guler, Samet

    2016-10-26

    We study the problem of driving a mobile sensory agent to a target whose location is specied only in terms of the distances to a set of sensor stations or beacons. The beacon positions are unknown, but the agent can continuously measure its distances to them as well as its own position. This problem has two particular applications: (1) capturing a target signal source whose distances to the beacons are measured by these beacons and broadcasted to a surveillance agent, (2) merging a single agent to an autonomous multi-agent system so that the new agent is positioned at desired distances from the existing agents. The problem is solved using an adaptive control framework integrating a parameter estimator producing beacon location estimates, and an adaptive motion control law fed by these estimates to steer the agent toward the target. For location estimation, a least-squares adaptive law is used. The motion control law aims to minimize a convex cost function with unique minimizer at the target location, and is further augmented for persistence of excitation. Stability and convergence analysis is provided, as well as simulation results demonstrating performance and transient behavior.

  18. Rapid hyperspectral image classification to enable autonomous search systems

    Directory of Open Access Journals (Sweden)

    Raj Bridgelal

    2016-11-01

    Full Text Available The emergence of lightweight full-frame hyperspectral cameras is destined to enable autonomous search vehicles in the air, on the ground and in water. Self-contained and long-endurance systems will yield important new applications, for example, in emergency response and the timely identification of environmental hazards. One missing capability is rapid classification of hyperspectral scenes so that search vehicles can immediately take actions to verify potential targets. Onsite verifications minimise false positives and preclude the expense of repeat missions. Verifications will require enhanced image quality, which is achievable by either moving closer to the potential target or by adjusting the optical system. Such a solution, however, is currently impractical for small mobile platforms with finite energy sources. Rapid classifications with current methods demand large computing capacity that will quickly deplete the on-board battery or fuel. To develop the missing capability, the authors propose a low-complexity hyperspectral image classifier that approaches the performance of prevalent classifiers. This research determines that the new method will require at least 19-fold less computing capacity than the prevalent classifier. To assess relative performances, the authors developed a benchmark that compares a statistic of library endmember separability in their respective feature spaces.

  19. Aromatherapy Improves Work Performance Through Balancing the Autonomic Nervous System.

    Science.gov (United States)

    Huang, Lin; Capdevila, Lluis

    2017-03-01

    This study analyzed the efficacy of aromatherapy in improving work performance and reducing workplace stress. The initial sample comprised 42 administrative university workers (M age  = 42.21 years, standard deviation = 7.12; 10 male). All sessions were performed in a university computer classroom. The participants were randomly assigned into an aromatherapy group (AG) and a control group (CG), and they were invited to participate in a specific session only once. They were seated in front of a computer. During the intervention period, some oil diffusers were switched on and were in operation throughout the session with petitgrain essential oil for AG sessions and a neutral oil (almond) for CG sessions. At the same time, participants completed a computer task on a specific Web site typing on their keyboard until they had finished it. The single times were different for all participants and were recorded on the Web site as "performance time." Before and after the intervention, participants completed anxiety and mood state questionnaires (the Stait-Trait Anxiety Inventory [STAI] and the Profile of Mood States [POMS]). Heart-rate variability (HRV) was measured before (PRE), during (20-25 min), and after (POS) the intervention to analyze autonomic nervous system regulation. The AG performed the Web site task 2.28 min faster than the CG (p = 0.05). The two groups showed differences in the following HRV parameters: low frequency (p = 0.05), high frequency (p = 0.02), standard deviation of all RR intervals (p = 0.05), and root mean square of differences (p = 0.02). All participants in all groups showed a decrease from PRE to POST for STAI (p Aromatherapy (inhaling petitgrain essential oil) can improve performance in the workplace. These results could be explained by an autonomic balance on the sympathetic/parasympathetic system through a combined action of the petitgrain main components (linalyl acetate, linalool, and myrcene). The final

  20. Autonomous, On-board Processing for Sensor Systems

    Data.gov (United States)

    National Aeronautics and Space Administration — Fuse high performance reconfigurable processors with emerging fault-tolerance & autonomous processing techniques for a 10-100x decrease in processing time. This...

  1. Intelligent, Autonomous Electrical Power System Management and Distribution, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — EPS-MAESTRO (EPS Management through intelligent, AdaptivE, autonomouS, faulT identification and diagnosis, Reconfiguration/replanning/rescheduling Optimization)...

  2. Thermal management and performance evaluation of a dual bi-directional, soft-switched IGBT-based inverter for the 1st autonomous microgrid power system in Taiwan under various operating conditions

    Science.gov (United States)

    Chang, Tien-Chan; Fuh, Yiin-Kuen; Lu, Hong-Yi; Tu, Sheng-Xun

    2016-06-01

    The thermal management of the inverter system is of great importance since very high voltage/current will be switched intermittently and/or continuously and high temperature is excruciably detrimental to the service life of electronics, especially for the switching devices such as insulated gate bipolar transistor (IGBT). In this study, a newly developed dual bi-directional IGBT-based inverter in conjunction with autonomous microgrid system is investigated with particular focus on the thermal management and performance evaluation under various operation conditions. Locally enhanced heat transfer approach such as oblique orientation and heat dissipating materials are experimentally investigated. The studied inverter system is initially packaged by a galvanized steel plate (size 62 × 48 × 18 cm) and the switching power is set in the range of 0.5-3 kW. The module is operated at the switching and pulse frequencies of 60 Hz and 20 kHz, respectively. The adoption of heat dissipating material in either paste or film form had experimentally shown to possess the flexibility tailoring heat transfer performance locally. Experimental studies of heat dissipating film with various hotspot scenarios showed that the temperature difference can be appreciably reduced as much as 13.1 and 15.4 °C, respectively with facilitation of one- and two-layers of heat dissipating film. From the measurement results, the measured peak temperature is highly dominated by the thickness of heat dissipating film, showing the dominance of thickness-dependent thermal resistance and resultant heat accumulation phenomena.

  3. Autonomous Vehicle Systems Laboratory Research Capability Expansion Program

    Science.gov (United States)

    2017-12-03

    those of the author(s) and should not contrued as an official Department of the Army position, policy or decision , unless so designated by other...autonomous control, collaboration, and decision -making in unstructured, dynamic, and uncertain nonlinear environments for autonomous ground and air...demonstrate these techniques’ effectiveness using the equipment purchased by HBCU/MI funding in the areas of collaborative control, obstacle sense/avoid

  4. Cardiac Autonomic Nervous System Activation and Metabolic Profile in Young Children : The ABCD Study

    NARCIS (Netherlands)

    Vrijkotte, Tanja G M; van den Born, Bert-Jan H; Hoekstra, Christine M C A; Gademan, Maaike G J; van Eijsden, Manon; de Rooij, Susanne R; Twickler, Marcel T B

    2015-01-01

    BACKGROUND: In adults, increased sympathetic and decreased parasympathetic nervous system activity are associated with a less favorable metabolic profile. Whether this is already determined at early age is unknown. Therefore, we aimed to assess the association between autonomic nervous system

  5. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  6. A solar energy powered autonomous wireless actuator node for irrigation systems.

    Science.gov (United States)

    Lajara, Rafael; Alberola, Jorge; Pelegrí-Sebastiá, José

    2011-01-01

    The design of a fully autonomous and wireless actuator node ("wEcoValve mote") based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close) of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered, thus eliminating the need of wires and facilitating its deployment. By using supercapacitors recharged from a specifically designed solar power module, the need to replace batteries is also eliminated and the system is completely autonomous and maintenance free. The "wEcoValve mote" firmware is based on a synchronous protocol that allows a bidirectional communication with a latency optimized for real-time work, with a synchronization time between nodes of 4 s, thus achieving a power consumption average of 2.9 mW.

  7. A Solar Energy Powered Autonomous Wireless Actuator Node for Irrigation Systems

    Directory of Open Access Journals (Sweden)

    Rafael Lajara

    2010-12-01

    Full Text Available The design of a fully autonomous and wireless actuator node (“wEcoValve mote” based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered, thus eliminating the need of wires and facilitating its deployment. By using supercapacitors recharged from a specifically designed solar power module, the need to replace batteries is also eliminated and the system is completely autonomous and maintenance free. The “wEcoValve mote” firmware is based on a synchronous protocol that allows a bidirectional communication with a latency optimized for real-time work, with a synchronization time between nodes of 4 s, thus achieving a power consumption average of 2.9 mW.

  8. Administration of an Amino Acid–Based Regimen for the Management of Autonomic Nervous System Dysfunction Related to Combat-Induced Illness

    Directory of Open Access Journals (Sweden)

    William E Shell

    2014-01-01

    Full Text Available The etiology and pathophysiology of posttraumatic stress disorder (PTSD remains poorly understood. The nutritional deficiencies associated with the altered metabolic processes of PTSD have not previously been studied in detail. This pilot study measured the reduction in symptoms in 21 military veterans reporting moderate to severe symptoms associated with PTSD. Two amino acid-based medical foods specifically formulated with biogenic amines and other nutrients were administered to study subjects targeting specific neurotransmitter deficiencies resulting from altered metabolic activity associated with PTSD. This study included the Physician Checklist – Military (PCL-M, Short Form General Health Survey (SF-36, and Epworth Sleepiness Scale to measure the change in each subject's score after 30 days of administration. An average decrease of 17 points was seen in the PCL-M, indicating a reduction in PTSD symptoms ( P < 0.001. The mental health component of the SF-36 showed an average 57% increase in the subjects’ mental health rating ( P < 0.001. The results of this initial study demonstrate that addressing the increased dietary requirements of PTSD can improve symptoms of the disease while eliminating significant side effects. A larger, double-blind, randomized, placebo-controlled trial is warranted.

  9. An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

    Science.gov (United States)

    Nelson, Kurt

    1991-01-01

    The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

  10. A System Architecture for Autonomous Demand Side Load Management in Smart Buildings

    DEFF Research Database (Denmark)

    Costanzo, Giuseppe Tommaso; Zhu, Guchuan; Anjos, Miguel F.

    2012-01-01

    This paper presents a system architecture for load management in smart buildings which enables autonomous demand side load management in the smart grid. Being of a layered structure composed of three main modules for admission control, load balancing, and demand response management...... in multiple time-scales and allows seamless integration of diverse techniques for online operation control, optimal scheduling, and dynamic pricing. The design of a home energy manager based on this architecture is illustrated and the simulation results with Matlab/Simulink confirm the viability...

  11. Fuzzy Decision-Making Fuser (FDMF for Integrating Human-Machine Autonomous (HMA Systems with Adaptive Evidence Sources

    Directory of Open Access Journals (Sweden)

    Yu-Ting Liu

    2017-06-01

    Full Text Available A brain-computer interface (BCI creates a direct communication pathway between the human brain and an external device or system. In contrast to patient-oriented BCIs, which are intended to restore inoperative or malfunctioning aspects of the nervous system, a growing number of BCI studies focus on designing auxiliary systems that are intended for everyday use. The goal of building these BCIs is to provide capabilities that augment existing intact physical and mental capabilities. However, a key challenge to BCI research is human variability; factors such as fatigue, inattention, and stress vary both across different individuals and for the same individual over time. If these issues are addressed, autonomous systems may provide additional benefits that enhance system performance and prevent problems introduced by individual human variability. This study proposes a human-machine autonomous (HMA system that simultaneously aggregates human and machine knowledge to recognize targets in a rapid serial visual presentation (RSVP task. The HMA focuses on integrating an RSVP BCI with computer vision techniques in an image-labeling domain. A fuzzy decision-making fuser (FDMF is then applied in the HMA system to provide a natural adaptive framework for evidence-based inference by incorporating an integrated summary of the available evidence (i.e., human and machine decisions and associated uncertainty. Consequently, the HMA system dynamically aggregates decisions involving uncertainties from both human and autonomous agents. The collaborative decisions made by an HMA system can achieve and maintain superior performance more efficiently than either the human or autonomous agents can achieve independently. The experimental results shown in this study suggest that the proposed HMA system with the FDMF can effectively fuse decisions from human brain activities and the computer vision techniques to improve overall performance on the RSVP recognition task. This

  12. Fuzzy Decision-Making Fuser (FDMF) for Integrating Human-Machine Autonomous (HMA) Systems with Adaptive Evidence Sources.

    Science.gov (United States)

    Liu, Yu-Ting; Pal, Nikhil R; Marathe, Amar R; Wang, Yu-Kai; Lin, Chin-Teng

    2017-01-01

    A brain-computer interface (BCI) creates a direct communication pathway between the human brain and an external device or system. In contrast to patient-oriented BCIs, which are intended to restore inoperative or malfunctioning aspects of the nervous system, a growing number of BCI studies focus on designing auxiliary systems that are intended for everyday use. The goal of building these BCIs is to provide capabilities that augment existing intact physical and mental capabilities. However, a key challenge to BCI research is human variability; factors such as fatigue, inattention, and stress vary both across different individuals and for the same individual over time. If these issues are addressed, autonomous systems may provide additional benefits that enhance system performance and prevent problems introduced by individual human variability. This study proposes a human-machine autonomous (HMA) system that simultaneously aggregates human and machine knowledge to recognize targets in a rapid serial visual presentation (RSVP) task. The HMA focuses on integrating an RSVP BCI with computer vision techniques in an image-labeling domain. A fuzzy decision-making fuser (FDMF) is then applied in the HMA system to provide a natural adaptive framework for evidence-based inference by incorporating an integrated summary of the available evidence (i.e., human and machine decisions) and associated uncertainty. Consequently, the HMA system dynamically aggregates decisions involving uncertainties from both human and autonomous agents. The collaborative decisions made by an HMA system can achieve and maintain superior performance more efficiently than either the human or autonomous agents can achieve independently. The experimental results shown in this study suggest that the proposed HMA system with the FDMF can effectively fuse decisions from human brain activities and the computer vision techniques to improve overall performance on the RSVP recognition task. This conclusion

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

    Directory of Open Access Journals (Sweden)

    Kenzo Kurotsuchi

    2017-07-01

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

  14. Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

    Directory of Open Access Journals (Sweden)

    Liang Zhang

    2012-09-01

    Full Text Available This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

  15. Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

    Science.gov (United States)

    Chen, Long; Li, Qingquan; Li, Ming; Zhang, Liang; Mao, Qingzhou

    2012-01-01

    This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

  16. Generic FMS Platform for Evaluation of Autonomous Trajectory-Based Operation Concepts, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this research is to create a generic advanced Flight Management System (FMS) platform that could be used for evaluation of autonomous...

  17. On the market of wind with hydro-pumped storage systems in autonomous Greek islands

    International Nuclear Information System (INIS)

    Caralis, G.; Zervos, A.; Rados, K.

    2010-01-01

    In autonomous islands, the wind penetration is restricted due to technical reasons related with the safe operation of the electrical systems. The combined use of wind energy with pumped storage (WPS) is considered as a mean to exploit the abundant wind potential, increase the wind installed capacity and substitute conventional peak supply. In this paper, the experience gained from the analysis of WPS in three specific islands is used towards the estimation of the WPS market in autonomous Greek islands. Parameterized diagrams and a methodology towards the pre-dimensioning and initial design of the WPS are proposed and used towards the estimation of the market in autonomous Greek islands. The objective is to make an initial general prefeasibility study of WPS prospects in the autonomous Greek islands. Results show that there is a significant market for WPS in Greece and the development cost of WPS is competitive to the fuel cost of local power stations in autonomous islands. (author)

  18. Lost among the trees? The autonomic nervous system and paediatrics.

    Science.gov (United States)

    Rees, Corinne A

    2014-06-01

    The autonomic nervous system (ANS) has been strikingly neglected in Western medicine. Despite its profound importance for regulation, adjustment and coordination of body systems, it lacks priority in training and practice and receives scant attention in numerous major textbooks. The ANS is integral to manifestations of illness, underlying familiar physical and psychological symptoms. When ANS activity is itself dysfunctional, usual indicators of acute illness may prove deceptive. Recognising the relevance of the ANS can involve seeing the familiar through fresh eyes, challenging assumptions in clinical assessment and in approaches to practice. Its importance extends from physical and psychological well-being to parenting and safeguarding, public services and the functioning of society. Exploration of its role in conditions ranging from neurological, gastrointestinal and connective tissue disorders, diabetes and chronic fatigue syndrome, to autism, behavioural and mental health difficulties may open therapeutic avenues. The ANS offers a mechanism for so-called functional illnesses and illustrates the importance of recognising that 'stress' takes many forms, physical, psychological and environmental, desirable and otherwise. Evidence of intrauterine and post-natal programming of ANS reactivity suggests that neonatal care and safeguarding practice may offer preventive opportunity, as may greater understanding of epigenetic change of ANS activity through, for example, accidental or psychological trauma or infection. The aim of this article is to accelerate recognition of the importance of the ANS throughout paediatrics, and of the potential physical and psychological cost of neglecting it. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

  19. Comparison of three filters in asteroid-based autonomous navigation

    International Nuclear Information System (INIS)

    Cui Wen; Zhu Kai-Jian

    2014-01-01

    At present, optical autonomous navigation has become a key technology in deep space exploration programs. Recent studies focus on the problem of orbit determination using autonomous navigation, and the choice of filter is one of the main issues. To prepare for a possible exploration mission to Mars, the primary emphasis of this paper is to evaluate the capability of three filters, the extended Kalman filter (EKF), unscented Kalman filter (UKF) and weighted least-squares (WLS) algorithm, which have different initial states during the cruise phase. One initial state is assumed to have high accuracy with the support of ground tracking when autonomous navigation is operating; for the other state, errors are set to be large without this support. In addition, the method of selecting asteroids that can be used for navigation from known lists of asteroids to form a sequence is also presented in this study. The simulation results show that WLS and UKF should be the first choice for optical autonomous navigation during the cruise phase to Mars

  20. Autonomous quantum Maxwell's demon based on two exchange-coupled quantum dots

    Science.gov (United States)

    Ptaszyński, Krzysztof

    2018-01-01

    I study an autonomous quantum Maxwell's demon based on two exchange-coupled quantum dots attached to the spin-polarized leads. The principle of operation of the demon is based on the coherent oscillations between the spin states of the system which act as a quantum iSWAP gate. Due to the operation of the iSWAP gate, one of the dots acts as a feedback controller which blocks the transport with the bias in the other dot, thus inducing the electron pumping against the bias; this leads to the locally negative entropy production. Operation of the demon is associated with the information transfer between the dots, which is studied quantitatively by mapping the analyzed setup onto the thermodynamically equivalent auxiliary system. The calculated entropy production in a single subsystem and information flow between the subsystems are shown to obey a local form of the second law of thermodynamics, similar to the one previously derived for classical bipartite systems.

  1. Methods of monitoring the technical condition of the braking system of an autonomous vehicle during operation

    Science.gov (United States)

    Revin, A.; Dygalo, V.; Boyko, G.; Lyaschenko, M.; Dygalo, L.

    2018-02-01

    Possibilities of diagnosing of a technical condition of braking system of the autonomous vehicles with automated modules while in service are considered. The concept of sharing of onboard means and stands for diagnosing is presented.

  2. Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

    Science.gov (United States)

    Raimalwala, K.; Faragalli, M.; Reid, E.

    2018-04-01

    The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

  3. Development of Mission Enabling Infrastructure — Cislunar Autonomous Positioning System (CAPS)

    Science.gov (United States)

    Cheetham, B. W.

    2017-10-01

    Advanced Space, LLC is developing the Cislunar Autonomous Positioning System (CAPS) which would provide a scalable and evolvable architecture for navigation to reduce ground congestion and improve operations for missions throughout cislunar space.

  4. Autonomous Ocean Sampling Networks II (AOSN-II): System Engineering and Project Coordination

    National Research Council Canada - National Science Library

    Bellingham, James

    2003-01-01

    .... Over 21 different autonomous robotic systems, three ships, an aircraft, CODAR, drifters, floats, and numerous moored observation assets were used in the field program to produce an unprecedented data...

  5. Autonomous Monitoring of Radiation Environment and Personal Systems for Crew Enhanced SPE Protection (AMORE and PSYCHE)

    Science.gov (United States)

    Narici, L.; Baiocco, G.; Berrilli, F.; Giraudo, M.; Ottolenghi, A.; Rizzo, A.; Salina, G.

    2018-02-01

    Understand the relationship between SPE precursors, the related SPE radiation inside the Deep Space Gateway, and the associated risk levels, validating existing models, proposing countermeasures actions via a real time, autonomous intelligent system.

  6. A Hybrid Systems Strategy to Support Autonomous Spacecraft Trajectory Design and Optimization in Multiple Dynamical Regimes

    Data.gov (United States)

    National Aeronautics and Space Administration — With ever increasing numbers of near-Earth satellites and deep space missions, autonomous spacecraft guidance, navigation, and control (GNC) systems are increasingly...

  7. Central nervous system involvement in the autonomic responses to psychological distress

    NARCIS (Netherlands)

    de Morree, H.M.; Szabó, B.M.; Rutten, G.J.; Kop, W.J.

    2013-01-01

    Psychological distress can trigger acute coronary syndromes and sudden cardiac death in vulnerable patients. The primary pathophysiological mechanism that plays a role in stress-induced cardiac events involves the autonomic nervous system, particularly disproportional sympathetic activation and

  8. Hyperchaos of four state autonomous system with three positive Lyapunov exponents

    International Nuclear Information System (INIS)

    Ge Zhengming; Yang, C-H.

    2009-01-01

    This Letter gives the results of numerical simulations of Quantum Cellular Neural Network (Quantum-CNN) autonomous system with four state variables. Three positive Lyapunov exponents confirm hyperchaotic nature of its dynamics

  9. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  10. A stochastic perturbation theory for non-autonomous systems

    Energy Technology Data Exchange (ETDEWEB)

    Moon, W., E-mail: wm275@damtp.cam.ac.uk [Yale University, New Haven, Connecticut 06520-8109 (United States); Wettlaufer, J. S., E-mail: wettlaufer@maths.ox.ac.uk [Yale University, New Haven, Connecticut 06520-8109 (United States); Mathematical Institute, University of Oxford, Oxford OX2 6GG (United Kingdom)

    2013-12-15

    We develop a perturbation theory for a class of first order nonlinear non-autonomous stochastic ordinary differential equations that arise in climate physics. The perturbative procedure produces moments in terms of integral delay equations, whose order by order decay is characterized in a Floquet-like sense. Both additive and multiplicative sources of noise are discussed and the question of how the nature of the noise influences the results is addressed theoretically and numerically. By invoking the Martingale property, we rationalize the transformation of the underlying Stratonovich form of the model to an Ito form, independent of whether the noise is additive or multiplicative. The generality of the analysis is demonstrated by developing it both for a Brownian particle moving in a periodically forced quartic potential, which acts as a simple model of stochastic resonance, as well as for our more complex climate physics model. The validity of the approach is shown by comparison with numerical solutions. The particular climate dynamics problem upon which we focus involves a low-order model for the evolution of Arctic sea ice under the influence of increasing greenhouse gas forcing ΔF{sub 0}. The deterministic model, developed by Eisenman and Wettlaufer [“Nonlinear threshold behavior during the loss of Arctic sea ice,” Proc. Natl. Acad. Sci. U.S.A. 106(1), 28–32 (2009)] exhibits several transitions as ΔF{sub 0} increases and the stochastic analysis is used to understand the manner in which noise influences these transitions and the stability of the system.

  11. Role of the autonomic nervous system in rat liver regeneration.

    Science.gov (United States)

    Xu, Cunshuan; Zhang, Xinsheng; Wang, Gaiping; Chang, Cuifang; Zhang, Lianxing; Cheng, Qiuyan; Lu, Ailing

    2011-05-01

    To study the regulatory role of autonomic nervous system in rat regenerating liver, surgical operations of rat partial hepatectomy (PH) and its operation control (OC), sympathectomy combining partial hepatectomy (SPH), vagotomy combining partial hepatectomy (VPH), and total liver denervation combining partial hepatectomy (TDPH) were performed, then expression profiles of regenerating livers at 2 h after operation were detected using Rat Genome 230 2.0 array. It was shown that the expressions of 97 genes in OC, 230 genes in PH, 253 genes in SPH, 187 genes in VPH, and 177 genes in TDPH were significantly changed in biology. The relevance analysis showed that in SPH, genes involved in stimulus response, immunity response, amino acids and K(+) transport, amino acid catabolism, cell adhesion, cell proliferation mediated by JAK-STAT, Ca(+), and platelet-derived growth factor receptor, cell growth and differentiation through JAK-STAT were up-regulated, while the genes involved in chromatin assembly and disassembly, and cell apoptosis mediated by MAPK were down-regulated. In VPH, the genes associated with chromosome modification-related transcription factor, oxygen transport, and cell apoptosis mediated by MAPK pathway were up-regulated, but the genes associated with amino acid catabolism, histone acetylation-related transcription factor, and cell differentiation mediated by Wnt pathway were down-regulated. In TDPH, the genes related to immunity response, growth and development of regenerating liver, cell growth by MAPK pathway were up-regulated. Our data suggested that splanchnic and vagal nerves could regulate the expressions of liver regeneration-related genes.

  12. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Microcosm proposes to design and develop a fully autonomous Lunar Navigator based on our MicroMak miniature star sensor and a gravity gradiometer similar to one on a...

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

    Directory of Open Access Journals (Sweden)

    Gimazov Ruslan

    2018-01-01

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

  14. Autonomic nervous system function in chronic exogenous subclinical thyrotoxicosis and the effect of restoring euthyroidism.

    Science.gov (United States)

    Eustatia-Rutten, Carmen F A; Corssmit, Eleonora P M; Heemstra, Karen A; Smit, Johannes W A; Schoemaker, Rik C; Romijn, Johannes A; Burggraaf, Jacobus

    2008-07-01

    Knowledge on the relationship between the autonomic nervous system and subclinical hyperthyroidism is mainly based upon cross-sectional studies in heterogeneous patient populations, and the effect of restoration to euthyroidism in subclinical hyperthyroidism has not been studied. We investigated the long-term effects of exogenous subclinical hyperthyroidism on the autonomic nervous system and the potential effects of restoration of euthyroidism. This was a prospective single-blinded, placebo-controlled, randomized trial. The study was performed at a university hospital. A total of 25 patients who were on more than 10-yr TSH suppressive therapy after thyroidectomy was examined. Patients were studied at baseline and subsequently randomized to a 6-month thyroid hormone substitution regimen to obtain either euthyroidism or maintenance of the subclinical hyperthyroid state. Urinary excretion of catecholamines and heart rate variability were measured. Baseline data of the subclinical hyperthyroidism patients were compared with data obtained in patients with hyperthyroidism and controls. Urinary excretion of norepinephrine and vanillylmandelic acid was higher in the subclinical hyperthyroidism patients compared with controls and lower compared with patients with overt hyperthyroidism. Heart rate variability was lower in patients with hyperthyroidism, intermediate in subclinical hyperthyroidism patients, and highest in the healthy controls. No differences were observed after restoration of euthyroidism. Long-term exogenous subclinical hyperthyroidism has effects on the autonomic nervous system measured by heart rate variability and urinary catecholamine excretion. No differences were observed after restoration to euthyroidism. This may indicate the occurrence of irreversible changes or adaptation during long-term exposure to excess thyroid hormone that is not remedied by 6-month euthyroidism.

  15. Autonomic nervous system status and responsiveness and the ...

    African Journals Online (AJOL)

    inflexibility or decreased responsiveness in the face of a challenge.1,2 In view of the ... and parasympathetic control were seen with time domain and Poincare ... autonomic shift that results in heart rate acceleration.7 The differences between ...

  16. Autonomic Nervous System Responses to Concussion: Arterial Pulse Contour Analysis

    Directory of Open Access Journals (Sweden)

    Michael F La Fountaine

    2016-02-01

    Full Text Available The arterial pulse wave (APW has a distinct morphology whose contours reflect dynamics in cardiac function and peripheral vascular tone as a result of sympathetic nervous system (SNS control. With a transition from rest to increased metabolic demand, the expected augmentation of SNS outflow will not only affect arterial blood pressure and heart rate, it will also induce changes to the contours of the APW. Following a sports concussion, a transient state cardiovascular autonomic dysfunction is present. How this state affects the APW, has yet to be described. A prospective, parallel-group study on cardiovascular autonomic control (i.e., digital electrocardiogram and continuous beat-to-beat blood pressure was performed in the seated upright position in ten athletes with concussion and 7 non-injured control athletes. Changes in APW were compared at rest and during the first 60 seconds (F60 of an isometric handgrip test (IHGT in concussed athletes and non-injured controls within 48 hours (48hr and 1 week (1wk of injury. The concussion group was further separated by the length of time until they were permitted to return to play (RTP>1wk; RTP≤1wk. SysSlope, an indirect measurement of stroke volume, was significantly lower in the concussion group at rest and during F60 at 48hr and 1wk; a paradoxical decline in SysSlope occurred at each visit during the transition from rest to IHGT F60. The RTP>1wk group had lower SysSlope (405±200; 420±88; 454±236 mmHg/s, respectively at rest 48hr compared to the RTP≤1wk and controls. Similarly at 48hr rest, several measurements of arterial stiffness were abnormal in RTP>1wk compared to RTP≤1wk and controls: Peak-to-Notch Latency (0.12±0.04; 0.16±0.02; 0.17±0.05, respectively, Notch Relative Amplitude (0.70±0.03; 0.71±0.04; 0.66±0.14, respectively and Stiffness Index (6.4±0.2; 5.7±0.4; 5.8±0.5, respectively. Use of APW revealed that concussed athletes have a transient increase in peripheral artery

  17. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  18. Human-Interaction Challenges in UAV-Based Autonomous Surveillance

    Science.gov (United States)

    Freed, Michael; Harris, Robert; Shafto, Michael G.

    2004-01-01

    Autonomous UAVs provide a platform for intelligent surveillance in application domains ranging from security and military operations to scientific information gathering and land management. Surveillance tasks are often long duration, requiring that any approach be adaptive to changes in the environment or user needs. We describe a decision- theoretic model of surveillance, appropriate for use on our autonomous helicopter, that provides a basis for optimizing the value of information returned by the UAV. From this approach arise a range of challenges in making this framework practical for use by human operators lacking specialized knowledge of autonomy and mathematics. This paper describes our platform and approach, then describes human-interaction challenges arising from this approach that we have identified and begun to address.

  19. Global chaos synchronization of three coupled nonlinear autonomous systems and a novel method of chaos encryption

    International Nuclear Information System (INIS)

    An Xinlei; Yu Jianning; Chu Yandong; Zhang Jiangang; Zhang Li

    2009-01-01

    In this paper, we discussed the fixed points and their linear stability of a new nonlinear autonomous system that introduced by J.C. Sprott. Based on Lyapunov stabilization theorem, a global chaos synchronization scheme of three coupled identical systems is investigated. By choosing proper coupling parameters, the states of all the three systems can be synchronized. Then this method was applied to secure communication through chaotic masking, used three coupled identical systems, propose a novel method of chaos encryption, after encrypting in the previous two transmitters, information signal can be recovered exactly at the receiver end. Simulation results show that the method can realize monotonous synchronization. Further more, the information signal can be recovered undistorted when applying this method to secure communication.

  20. Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

    Directory of Open Access Journals (Sweden)

    Yahya Zare Khafri

    2012-07-01

    Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

  1. A study on advanced man-machine interface system for autonomous nuclear power plants

    International Nuclear Information System (INIS)

    Matsuoka, Takeshi; Numano, Masayoshi; Fukuto, Junji; Sugasawa, Shinobu; Miyazaki, Keiko; Someya, Minoru; Haraki, Nobuo

    1994-01-01

    A man-machine interface(MMI) system of an autonomous nuclear power plant has an advanced function compared with that of the present nuclear power plants. The MMI has a function model of a plant state, and updates and revises this function model by itself. This paper describes the concept of autonomous nuclear power plants, a plant simulator of an autonomous power plant, a contracted function model of a plant state, three-dimensional color graphic display of a plant state, and an event-tree like expression for plant states. (author)

  2. GNSS-based receiver autonomous integrity monitoring for aircraft navigation

    NARCIS (Netherlands)

    Imparato, D.

    2016-01-01

    Nowadays, GNSS-based navigation is moving more and more to critical applications. Global Navigation Satellite Systems (GNSS), which in the past used to be represented by the American GPS and the Russian GLONASS are now growing in number and performance. The European systemGalileo and the Chinese

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

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

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

  4. A novel 3D autonomous system with different multilayer chaotic attractors

    International Nuclear Information System (INIS)

    Dong Gaogao; Du Ruijin; Tian Lixin; Jia Qiang

    2009-01-01

    This Letter proposes a novel three-dimensional autonomous system which has complex chaotic dynamics behaviors and gives analysis of novel system. More importantly, the novel system can generate three-layer chaotic attractor, four-layer chaotic attractor, five-layer chaotic attractor, multilayer chaotic attractor by choosing different parameters and initial condition. We analyze the new system by means of phase portraits, Lyapunov exponent spectrum, fractional dimension, bifurcation diagram and Poincare maps of the system. The three-dimensional autonomous system is totally different from the well-known systems in previous work. The new multilayer chaotic attractors are also worth causing attention.

  5. The Concept of Autonomous Power Supply System Fed with Renewable Energy Sources

    Directory of Open Access Journals (Sweden)

    Waldemar Fedak

    2017-12-01

    Full Text Available Sustainable economic development requires the use of renewable energy sources in a rational and thoughtful way. In Polish conditions the use of several types of renewable energy sources on a single setup is a new issue. In particular, hybrid devices in conjunction with intelligent energy systems, such as lighting systems are generally not used. Therefore, the Polish energy production still relies on the burning of coal. Despite their advantages, renewable energy sources are characterized by seasonality and considerable instability. Access to renewable energy varies daily and seasonally, hence activities promoting the use of autonomous, hybrid power systems must be intensified. The presented research aims at the development of the Autonomous Power Supply (APS system based on the so-called energy mix. Such a system works in an isolated arrangement and serves to reliably supply electricity from renewable sources for small residential or public utility devices in an urban area. Systems with up to 3 kW power consist of modules, whose modular design allows the combination of various power configurations and types of renewable energy used. The basic system consists of a primary power source, additional power source, emergency power source, energy storage device, weather station and controller. The energy mix depends on the geographical location of the system. The emergency source can be implemented as an on-grid connector or fuel power generator with the participation of 100% until the primary or accessory power source failure is removed. The energy storage system consists of batteries or supercapacitors. The proposed system can be combined to create a local network that automatically responds to energy shortages in various network nodes by adjusting the supply of electricity within the network depending on its needs. For Poland realistic solutions in this article are the new and modern answer to these requirements.

  6. Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

    Science.gov (United States)

    Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

    2012-06-01

    The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

  7. An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles.

    Science.gov (United States)

    Rodríguez-Molina, Jesús; Bilbao, Sonia; Martínez, Belén; Frasheri, Mirgita; Cürüklü, Baran

    2017-08-05

    Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance.

  8. An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Jesús Rodríguez-Molina

    2017-08-01

    Full Text Available Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity. This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer where other technologies are also interweaved with middleware (wireless communications, acoustic networks. Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance.

  9. An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis

    Directory of Open Access Journals (Sweden)

    I. Ahmed M. J. SADIIG

    2005-10-01

    Full Text Available An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis Dr. I. Ahmed M. J. SADIIG Department of Electrical & Computer EngineeringInternational Islamic University GombakKuala Lumpur-MALAYSIA ABSTRACT The traditional learning paradigm invoving face-to-face interaction with students is shifting to highly data-intensive electronic learning with the advances in Information and Communication Technology. An important component of the e-learning process is the delivery of the learning contents to their intended audience over a network. A distributed learning system is dependent on the network for the efficient delivery of its contents to the user. However, as the demand of information provision and utilization increases on the Internet, the current information service provision and utilization methods are becoming increasingly inefficient. Although new technologies have been employed for efficient learning methodologies within the context of an e-learning environment, the overall efficiency of the learning system is dependent on the mode of distribution and utilization of its learning contents. It is therefore imperative to employ new techniques to meet the service demands of current and future e-learning systems. In this paper, an architecture based on autonomous mobile agents creating a Faded Information Field is proposed. Unlike the centralized information distribution in a conventional e-learning system, the information is decentralized in the proposed architecture resulting in increased efficiency of the overall system for distribution and utilization of system learning contents efficiently and fairly. This architecture holds the potential to address the heterogeneous user requirements as well as the changing conditions of the underlying network.

  10. Towards the Verification of Safety-critical Autonomous Systems in Dynamic Environments

    Directory of Open Access Journals (Sweden)

    Adina Aniculaesei

    2016-12-01

    Full Text Available There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification results obtained with respect to the system and environment models at design-time might not be transferable to the system behavior at run time. For autonomous systems operating in dynamic environments, safety of motion and collision avoidance are critical requirements. With regard to these requirements, Macek et al. [6] define the passive safety property, which requires that no collision can occur while the autonomous system is moving. To verify this property, we adopt a two phase process which combines static verification methods, used at design time, with dynamic ones, used at run time. In the design phase, we exploit UPPAAL to formalize the autonomous system and its environment as timed automata and the safety property as TCTL formula and to verify the correctness of these models with respect to this property. For the runtime phase, we build a monitor to check whether the assumptions made at design time are also correct at run time. If the current system observations of the environment do not correspond to the initial system assumptions, the monitor sends feedback to the system and the system enters a passive safe state.

  11. Autonomous intelligent assembly systems LDRD 105746 final report.

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.

    2013-04-01

    This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control framework for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.

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

    Directory of Open Access Journals (Sweden)

    Laurie L. Baggio

    2017-11-01

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

  13. Modeling an autonomous wind turbine electric pump system

    Directory of Open Access Journals (Sweden)

    Andreea Forcos

    2009-10-01

    Full Text Available Being one of the variable renewable energy sources, wind energy integration can be made using storage methods. All of these have been developed during time, but one might be more accessible than others because is using a free natural resource, water. This is pump storage. The purpose of this paper is modeling an autonomous wind turbine connected to an electric pump, in the aim of storage, and finally the determination of the efficiency.

  14. Collaborative autonomous systems in models of urban logistics

    OpenAIRE

    Arango Serna, Martín Darío; Serna Uran, Conrado Augusto; Alvarez Uribe, Karla Cristina; Arango Serna, Martín Darío

    2012-01-01

    Cities growth and along with them the exchange and distribution of goods and services has led in recent years to a greater increasing interest for the optimization of logistic processes carried out in urban areas. In this article, the main approaches and solutions which have been proposed from academic research will be described, focusing mainly on collaborative autonomic logistics, which is offered as an attractive solution to the urban goods distribution problems in complex cities.

  15. Adaptive and Online Health Monitoring System for Autonomous Aircraft

    OpenAIRE

    Mokhtar, Maizura; Zapatel-Bayo, Sergio Z.; Hussein, Saed; Howe, Joe M.

    2012-01-01

    Good situation awareness is one of the key attributes required to maintain safe flight, especially for an Unmanned Aerial System (UAS). Good situation awareness can be achieved by incorporating an Adaptive Health Monitoring System (AHMS) to the aircraft. The AHMS monitors the flight outcome or flight behaviours of the aircraft based on its external environmental conditions and the behaviour of its internal systems. The AHMS does this by associating a health value to the aircraft's behaviour b...

  16. ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

    Science.gov (United States)

    Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

    2018-03-01

    Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

  17. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    Directory of Open Access Journals (Sweden)

    Zhenyu Yu

    2007-03-01

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

  18. A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

    Directory of Open Access Journals (Sweden)

    Tyrone Sherwin

    2018-02-01

    Full Text Available Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

  19. A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

    Science.gov (United States)

    Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

    2018-02-14

    Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

  20. Autonomous physics-based color learning under daylight

    Science.gov (United States)

    Berube Lauziere, Yves; Gingras, Denis J.; Ferrie, Frank P.

    1999-09-01

    An autonomous approach for learning the colors of specific objects assumed to have known body spectral reflectances is developed for daylight illumination conditions. The main issue is to be able to find these objects autonomously in a set of training images captured under a wide variety of daylight illumination conditions, and to extract their colors to determine color space regions that are representative of the objects' colors and their variations. The work begins by modeling color formation under daylight using the color formation equations and the semi-empirical model of Judd, MacAdam and Wyszecki (CIE daylight model) for representing the typical spectral distributions of daylight. This results in color space regions that serve as prior information in the initial phase of learning which consists in detecting small reliable clusters of pixels having the appropriate colors. These clusters are then expanded by a region growing technique using broader color space regions than those predicted by the model. This is to detect objects in a way that is able to account for color variations which the model cannot due to its limitations. Validation on the detected objects is performed to filter out those that are not of interest and to eliminate unreliable pixel color values extracted from the remaining ones. Detection results using the color space regions determined from color values obtained by this procedure are discussed.

  1. Advanced Modular "All in One" Battery System with Intelligent Autonomous Cell Balancing Management

    Science.gov (United States)

    Petitdidier, X.; Pasquier, E.; Defer, M.; Koch, M.; Knorr, W.

    2008-09-01

    A new generation of energy storage systems based on Li-ion technology emerged at the end of the last century.To perform the first tests in safe conditions, Saft designed a simple electronic.Today, all Li-ion batteries for autonomous applications such as drones, launchers, missiles, torpedoes and "human" applications such as cellular, laptop, hybrid vehicle and nearly sub-marines need a Battery Management System.The minimum in terms of functions is the overcharge and over-discharge protections.For a battery made of 2 cells connected in series or more, a balancing system is added to maintain the available energy during all the life of the battery. For stringent/demanding applications, the state of charge and state of health are calculated by one or more computers.It is now time to take benefit of the past 10 years of Saft's experience in the domain to re-evaluate the constraints of Li-ion batteries and provide customers with improved products by optimizing the battery management.Benefits of electronic for satellite applications:• Full control over battery.• Confidence whatever the possible change of conditions in environment.• The battery system can resist long exposure to gradient conditions with mitigated and stabilized impact on performances.• The balancing function allow to use all the energy of all the cells: optimize of installed energy (compact design, mass saving). It started out with the basic fact that electrochemists are not intended to be space rated electronic experts and vice versa, even if Saft has a good heritage in the electronic battery management system. Consequently, considering heritage and expertise in their respective core businesses, Saft and ASP teamed up.It became necessary to provide an "all in one" modular energy storage system with intelligent autonomous cell balancing management.

  2. A field robot for autonomous laser-based N2O flux measurements

    Science.gov (United States)

    Molstad, Lars; Reent Köster, Jan; Bakken, Lars; Dörsch, Peter; Lien, Torgrim; Overskeid, Øyvind; Utstumo, Trygve; Løvås, Daniel; Brevik, Anders

    2014-05-01

    N2O measurements in multi-plot field trials are usually carried out by chamber-based manual gas sampling and subsequent laboratory-based gas chromatographic N2O determination. Spatial and temporal resolution of these measurements are commonly limited by available manpower. However, high spatial and temporal variability of N2O fluxes within individual field plots can add large uncertainties to time- and area-integrated flux estimates. Detailed mapping of this variability would improve these estimates, as well as help our understanding of the factors causing N2O emissions. An autonomous field robot was developed to increase the sampling frequency and to operate outside normal working hours. The base of this system was designed as an open platform able to carry versatile instrumentation. It consists of an electrically motorized platform powered by a lithium-ion battery pack, which is capable of autonomous navigation by means of a combined high precision real-time kinematic (RTK) GPS and an inertial measurement unit (IMU) system. On this platform an elevator is mounted, carrying a lateral boom with a static chamber on each side of the robot. Each chamber is equipped with a frame of plastic foam to seal the chamber when lowered onto the ground by the elevator. N2O flux from the soil covered by the two chambers is sequentially determined by circulating air between each chamber and a laser spectrometer (DLT-100, Los Gatos Research, Mountain View, CA, USA), which monitors the increase in N2O concentration. The target enclosure time is 1 - 2 minutes, but may be longer when emissions are low. CO2 concentrations are determined by a CO2/H2O gas analyzer (LI-840A, LI-COR Inc., Lincoln, NE, USA). Air temperature and air pressure inside both chambers are continuously monitored and logged. Wind speed and direction are monitored by a 3D sonic anemometer on top of the elevator boom. This autonomous field robot can operate during day and night time, and its working hours are only

  3. A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

    Directory of Open Access Journals (Sweden)

    Xinyan Qin

    2018-02-01

    Full Text Available With the growth of the national economy, there is increasing demand for electricity, which forces transmission line corridors to become structurally complicated and extend to complex environments (e.g., mountains, forests. It is a great challenge to inspect transmission line in these regions. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot (CIR LiDAR data, which mainly includes two steps: preliminary inspection and autonomous inspection. In preliminary inspection, the position and orientation system (POS data is used for original point cloud dividing, ground point filtering, and structured partition. A hierarchical classification strategy is established to identify the classes and positions of the abnormal points. In autonomous inspection, CIR can autonomously reach the specified points through inspection planning. These inspection targets are imaged with PTZ (pan, tilt, zoom cameras by coordinate transformation. The feasibility and effectiveness of the proposed method are verified by test site experiments and actual line experiments, respectively. The proposed method greatly reduces manpower and improves inspection accuracy, providing a theoretical basis for intelligent inspection of transmission lines in the future.

  4. Defining the Symmetry of the Universal Semi-Regular Autonomous Asynchronous Systems

    Directory of Open Access Journals (Sweden)

    Serban E. Vlad

    2012-02-01

    Full Text Available The regular autonomous asynchronous systems are the non-deterministic Boolean dynamical systems and universality means the greatest in the sense of the inclusion. The paper gives four definitions of symmetry of these systems in a slightly more general framework, called semi-regularity, and also many examples.

  5. Materials learning from life: concepts for active, adaptive and autonomous molecular systems.

    Science.gov (United States)

    Merindol, Rémi; Walther, Andreas

    2017-09-18

    Bioinspired out-of-equilibrium systems will set the scene for the next generation of molecular materials with active, adaptive, autonomous, emergent and intelligent behavior. Indeed life provides the best demonstrations of complex and functional out-of-equilibrium systems: cells keep track of time, communicate, move, adapt, evolve and replicate continuously. Stirred by the understanding of biological principles, artificial out-of-equilibrium systems are emerging in many fields of soft matter science. Here we put in perspective the molecular mechanisms driving biological functions with the ones driving synthetic molecular systems. Focusing on principles that enable new levels of functionalities (temporal control, autonomous structures, motion and work generation, information processing) rather than on specific material classes, we outline key cross-disciplinary concepts that emerge in this challenging field. Ultimately, the goal is to inspire and support new generations of autonomous and adaptive molecular devices fueled by self-regulating chemistry.

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

    CERN Document Server

    Cittolin, S

    1981-01-01

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

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

    CERN Document Server

    Cittolin, Sergio

    1981-01-01

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

  8. Pedestrian Tracking Based on Camshift with Kalman Prediction for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Lie Guo

    2016-06-01

    Full Text Available Pedestrian detection and tracking is the key to autonomous vehicle navigation systems avoiding potentially dangerous situations. Firstly, the probability distribution of colour information is established after a pedestrian is located in an image. Then the detected results are utilized to initialize a Kalman filter to predict the possible position of the pedestrian centroid in the future frame. A Camshift tracking algorithm is used to track the pedestrian in the specific search window of the next frame based on the prediction results. The actual position of the pedestrian centroid is output from the Camshift tracking algorithm to update the gain and error covariance matrix of the Kalman filter. Experimental results in real traffic situations show the proposed pedestrian tracking algorithm can achieve good performance even when they are partly occluded in inconsistent illumination circumstances.

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

    International Nuclear Information System (INIS)

    Cittolin, S.; Loefstedt, B.

    1981-01-01

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

  10. Under Voltage Lock-Out Design Rules for Proper Start-Up of Energy Autonomous Systems Powered by Supercapacitors

    Science.gov (United States)

    Boitier, V.; Durand Estèbe, P.; Monthéard, R.; Bafleur, M.; Dilhac, J. M.

    2013-12-01

    This paper deals with the issue of the initial start-up of an autonomous and battery-free system powered by an energy harvester associated with a storage subsystem based on supercapacitors initially discharged. A review of different low power Under Voltage Lock-Out (UVLO) solutions used to delay the load start-up and to avoid a useless discharge of supercapacitors is presented and discussed.

  11. Complex Nonlinear Autonomic Nervous System Modulation Link Cardiac Autonomic Neuropathy and Peripheral Vascular Disease

    Directory of Open Access Journals (Sweden)

    Kinda eKhalaf

    2015-03-01

    Full Text Available Background: Physiological interactions are abundant within, and between, body systems. These interactions may evolve into discrete states during pathophysiological processes resulting from common mechanisms. An association between arterial stenosis, identified by low ankle-brachial pressure index (ABPI and cardiovascular disease (CVD as been reported. Whether an association between vascular calcification - characterized by high ABPI and a different pathophysiology - is similarly associated with CVD, has not been established. The current study aims to investigate the association between ABPI, and cardiac rhythm, as an indicator of cardiovascular health and functionality, utilising heart rate variability (HRV.Methods and Results: Two hundred and thirty six patients underwent ABPI assessment. Standard time and frequency domain, and non-linear HRV measures were determined from 5-minute electrocardiogram. ABPI data were divided into normal (n=101, low (n=67 and high (n=66 and compared to HRV measures.(DFAα1 and SampEn were significantly different between the low ABPI, high ABPI and control groups (p<0.05.Conclusion: A possible coupling between arterial stenosis and vascular calcification with decreased and increased HRV respectively was observed. Our results suggest a model for interpreting the relationship between vascular pathophysiology and cardiac rhythm. The cardiovascular system may be viewed as a complex system comprising a number of interacting subsystems. These cardiac and vascular subsystems/networks may be coupled and undergo transitions in response to internal or external perturbations. From a clinical perspective, the significantly increased sample entropy compared to the normal ABPI group and the decreased and increased complex correlation properties measured by DFA for the low and high ABPI groups respectively, may be useful indicators that a more holistic treatment approach in line with this more complex clinical picture is required.

  12. Hamiltonian dynamics on the symplectic extended phase space for autonomous and non-autonomous systems

    International Nuclear Information System (INIS)

    Struckmeier, Juergen

    2005-01-01

    We will present a consistent description of Hamiltonian dynamics on the 'symplectic extended phase space' that is analogous to that of a time-independent Hamiltonian system on the conventional symplectic phase space. The extended Hamiltonian H 1 and the pertaining extended symplectic structure that establish the proper canonical extension of a conventional Hamiltonian H will be derived from a generalized formulation of Hamilton's variational principle. The extended canonical transformation theory then naturally permits transformations that also map the time scales of the original and destination system, while preserving the extended Hamiltonian H 1 , and hence the form of the canonical equations derived from H 1 . The Lorentz transformation, as well as time scaling transformations in celestial mechanics, will be shown to represent particular canonical transformations in the symplectic extended phase space. Furthermore, the generalized canonical transformation approach allows us to directly map explicitly time-dependent Hamiltonians into time-independent ones. An 'extended' generating function that defines transformations of this kind will be presented for the time-dependent damped harmonic oscillator and for a general class of explicitly time-dependent potentials. In the appendix, we will re-establish the proper form of the extended Hamiltonian H 1 by means of a Legendre transformation of the extended Lagrangian L 1

  13. Hand-Eye LRF-Based Iterative Plane Detection Method for Autonomous Robotic Welding

    Directory of Open Access Journals (Sweden)

    Sungmin Lee

    2015-12-01

    Full Text Available This paper proposes a hand-eye LRF-based (laser range finder welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative plane-detection methods, based on RANSAC (RANdom SAmple Consensus and the 3D Hough transform in both accuracy and computation time's points of view.

  14. An autonomous unmanned aerial vehicle sensing system for structural health monitoring of bridges

    Science.gov (United States)

    Reagan, Daniel; Sabato, Alessandro; Niezrecki, Christopher; Yu, Tzuyang; Wilson, Richard

    2016-04-01

    As civil infrastructure (i.e. bridges, railways, and tunnels) continues to age; the frequency and need to perform inspection more quickly on a broader scale increases. Traditional inspection and monitoring techniques (e.g., visual inspection, mechanical sounding, rebound hammer, cover meter, electrical potential measurements, ultrasound, and ground penetrating radar) may produce inconsistent results, require lane closure, are labor intensive and time-consuming. Therefore, new structural health monitoring systems must be developed that are automated, highly accurate, minimally invasive, and cost effective. Three-dimensional (3D) digital image correlation (DIC) systems have the merits of extracting full-field strain, deformation, and geometry profiles. These profiles can then be stitched together to generate a complete integrity map of the area of interest. Concurrently, unmanned aerial vehicles (UAVs) have emerged as valuable resources for positioning sensing equipment where it is either difficult to measure or poses a risk to human safety. UAVs have the capability to expedite the optical-based measurement process, offer increased accessibility, and reduce interference with local traffic. Within this work, an autonomous unmanned aerial vehicle in conjunction with 3D DIC was developed for monitoring bridges. The capabilities of the proposed system are demonstrated in both laboratory measurements and data collected from bridges currently in service. Potential measurement influences from platform instability, rotor vibration and positioning inaccuracy are also studied in a controlled environment. The results of these experiments show that the combination of autonomous flight with 3D DIC and other non-contact measurement systems provides a valuable and effective civil inspection platform.

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

    Directory of Open Access Journals (Sweden)

    Ioannis A. Raptis

    2013-01-01

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

  16. Autonomous Power Management in LVDC Microgrids based on a Superimposed Frequency Droop

    DEFF Research Database (Denmark)

    Peyghami, Saeed; Mokhtari, Hossein; Blaabjerg, Frede

    2018-01-01

    In this paper a novel droop approach for autonomous power management in low voltage dc microgrids based on a master-slave concept is presented. Conventional voltage-based droop approaches suffer from poor power sharing due to line resistance effects on a virtual resistance, which is solved a by i...

  17. A multi-harmonic generalized energy balance method for studying autonomous oscillations of nonlinear conservative systems

    Science.gov (United States)

    Balaji, Nidish Narayanaa; Krishna, I. R. Praveen; Padmanabhan, C.

    2018-05-01

    The Harmonic Balance Method (HBM) is a frequency-domain based approximation approach used for obtaining the steady state periodic behavior of forced dynamical systems. Intrinsically these systems are non-autonomous and the method offers many computational advantages over time-domain methods when the fundamental period of oscillation is known (generally fixed as the forcing period itself or a corresponding sub-harmonic if such behavior is expected). In the current study, a modified approach, based on He's Energy Balance Method (EBM), is applied to obtain the periodic solutions of conservative systems. It is shown that by this approach, periodic solutions of conservative systems on iso-energy manifolds in the phase space can be obtained very efficiently. The energy level provides the additional constraint on the HBM formulation, which enables the determination of the period of the solutions. The method is applied to the linear harmonic oscillator, a couple of nonlinear oscillators, the elastic pendulum and the Henon-Heiles system. The approach is used to trace the bifurcations of the periodic solutions of the last two, being 2 degree-of-freedom systems demonstrating very rich dynamical behavior. In the process, the advantages offered by the current formulation of the energy balance is brought out. A harmonic perturbation approach is used to evaluate the stability of the solutions for the bifurcation diagram.

  18. Hierarchical system for autonomous sensing-healing of delamination in large-scale composite structures

    International Nuclear Information System (INIS)

    Minakuchi, Shu; Sun, Denghao; Takeda, Nobuo

    2014-01-01

    This study combines our hierarchical fiber-optic-based delamination detection system with a microvascular self-healing material to develop the first autonomous sensing-healing system applicable to large-scale composite structures. In this combined system, embedded vascular modules are connected through check valves to a surface-mounted supply tube of a pressurized healing agent while fiber-optic-based sensors monitor the internal pressure of these vascular modules. When delamination occurs, the healing agent flows into the vascular modules breached by the delamination and infiltrates the damage for healing. At the same time, the pressure sensors identify the damaged modules by detecting internal pressure changes. This paper begins by describing the basic concept of the combined system and by discussing the advantages that arise from its hierarchical nature. The feasibility of the system is then confirmed through delamination infiltration tests. Finally, the hierarchical system is validated in a plate specimen by focusing on the detection and infiltration of the damage. Its self-diagnostic function is also demonstrated. (paper)

  19. Autonomous manoeuvring systems for collision avoidance on single carriageway roads.

    Science.gov (United States)

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Oscar

    2012-11-29

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles' positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  20. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    Directory of Open Access Journals (Sweden)

    Óscar Gómez

    2012-11-01

    Full Text Available The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  1. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  2. Design of Embedded System and Data Communication for an Agricultural Autonomous Vehicle

    DEFF Research Database (Denmark)

    Nielsen, Jens F. Dalsgaard; Nielsen, Kirsten Mølgaard; Bendtsen, Jan Dimon

    2005-01-01

    This paper describes an implemented design of an autonomous vehicle used in precision agriculture for weed and crop map construction with special focus on the onboard controlsystem, the embedded system and the datacommunication system. The vehicle is four wheel driven and four wheel steered (eight...

  3. Organic solar cell modules for specific applications-From energy autonomous systems to large area photovoltaics

    International Nuclear Information System (INIS)

    Niggemann, M.; Zimmermann, B.; Haschke, J.; Glatthaar, M.; Gombert, A.

    2008-01-01

    We report on the development of two types of organic solar cell modules one for energy autonomous systems and one for large area energy harvesting. The first requires a specific tailoring of the solar cell geometry and cell interconnection in order to power an energy autonomous system under its specific operating conditions. We present an organic solar cell module with 22 interconnected solar cells. A power conversion efficiency of 2% under solar illumination has been reached on the active area of 46.2 cm 2 . A voltage of 4 V at the maximum power point has been obtained under indoor illumination conditions. Micro contact printing of a self assembling monolayer was employed for the patterning of the polymer anode. Large area photovoltaic modules have to meet the requirements on efficiency, lifetime and costs simultaneously. To minimize the production costs, a suitable concept for efficient reel-to-reel production of large area modules is needed. A major contribution to reduce the costs is the substitution of the commonly used indium tin oxide electrode by a cheap material. We present the state of the art of the anode wrap through concept as a reel-to-reel suited module concept and show comparative calculations of the module interconnection of the wrap through concept and the standard ITO-based cell architecture. As a result, the calculated overall module efficiency of the anode wrap through module exceeds the overall efficiency of modules based on ITO on glass (sheet resistance 15 Ω/square) and on foils (sheet resistance 60 Ω/square)

  4. New methodology for preventing pressure ulcers using actimetry and autonomous nervous system recording.

    Science.gov (United States)

    Meffre, R; Gehin, C; Schmitt, P M; De Oliveira, F; Dittmar, A

    2006-01-01

    Pressure ulcers constitute an important health problem. They affect lots of people with mobility disorder and they are difficult to detect and prevent because the damage begins on the muscle. This paper proposes a new approach to study pressure ulcers. We aim at developing a methodology to analyse the probability for a patient to develop a pressure ulcer, and that can detect risky situation. The idea is to relate the mobility disorder to autonomic nervous system (ANS) trouble. More precisely, the evaluation of the consequence of the discomfort on the ANS (stress induced by discomfort) can be relevant for the early detection of the pressure ulcer. Mobility is evaluated through movement measurement. This evaluation, at the interface between soft living tissues and any support has to consider the specificity of the human environment. Soft living tissues have non-linear mechanical properties making conventional rigid sensors non suitable for interface parameters measurement. A new actimeter system has been designed in order to study movements of the human body whatever its support while seating. The device is based on elementary active cells. The number of pressure cells can be easily adapted to the application. The spatial resolution is about 4 cm(2). In this paper, we compare activity measurement of a seated subject with his autonomic nervous system activity, recorded by E.motion device. It has been developed in order to record six parameters: skin potential, skin resistance, skin temperature, skin blood rate, instantaneous cardiac frequency and instantaneous respiratory frequency. The design, instrumentation, and first results are presented.

  5. Study on large scale knowledge base with real time operation for autonomous nuclear power plant. 1. Basic concept and expecting performance

    International Nuclear Information System (INIS)

    Ozaki, Yoshihiko; Suda, Kazunori; Yoshikawa, Shinji; Ozawa, Kenji

    1996-04-01

    Since it is desired to enhance availability and safety of nuclear power plants operation and maintenance by removing human factor, there are many researches and developments for intelligent operation or diagnosis using artificial intelligence (AI) technique. We have been developing an autonomous operation and maintenance system for nuclear power plants by substituting AI's and intelligent robots. It is indispensable to use various and large scale knowledge relative to plant design, operation, and maintenance, that is, whole life cycle data of the plant for the autonomous nuclear power plant. These knowledge must be given to AI system or intelligent robots adequately and opportunely. Moreover, it is necessary to insure real time operation using the large scale knowledge base for plant control and diagnosis performance. We have been studying on the large scale and real time knowledge base system for autonomous plant. In the report, we would like to present the basic concept and expecting performance of the knowledge base for autonomous plant, especially, autonomous control and diagnosis system. (author)

  6. Optimization of eyesafe avalanche photodiode lidar for automobile safety and autonomous navigation systems

    Science.gov (United States)

    Williams, George M.

    2017-03-01

    Newly emerging accident-reducing, driver-assistance, and autonomous-navigation technology for automobiles is based on real-time three-dimensional mapping and object detection, tracking, and classification using lidar sensors. Yet, the lack of lidar sensors suitable for meeting application requirements appreciably limits practical widespread use of lidar in trucking, public livery, consumer cars, and fleet automobiles. To address this need, a system-engineering perspective to eyesafe lidar-system design for high-level advanced driver-assistance sensor systems and a design trade study including 1.5-μm spot-scanned, line-scanned, and flash-lidar systems are presented. A cost-effective lidar instrument design is then proposed based on high-repetition-rate diode-pumped solid-state lasers and high-gain, low-excess-noise InGaAs avalanche photodiode receivers and focal plane arrays. Using probabilistic receiver-operating-characteristic analysis, derived from measured component performance, a compact lidar system is proposed that is capable of 220 m ranging with 5-cm accuracy, which can be readily scaled to a 360-deg field of regard.

  7. Autonomous Preference-Aware Information Services Integration for High Response in Integrated Faded Information Field Systems

    Science.gov (United States)

    Lu, Xiaodong; Mori, Kinji

    The market and users' requirements have been rapidly changing and diversified. Under these heterogeneous and dynamic situations, not only the system structure itself, but also the accessible information services would be changed constantly. To cope with the continuously changing conditions of service provision and utilization, Faded Information Field (FIF) has been proposed, which is a agent-based distributed information service system architecture. In the case of a mono-service request, the system is designed to improve users' access time and preserve load balancing through the information structure. However, with interdependent requests of multi-service increasing, adaptability and timeliness have to be assured by the system. In this paper, the relationship that exists among the correlated services and the users' preferences for separate and integrated services is clarified. Based on these factors, the autonomous preference-aware information services integration technology to provide one-stop service for users multi-service requests is proposed. As compared to the conventional system, we show that proposed technology is able to reduce the total access time.

  8. The characteristics of autonomic nervous system disorders in burning mouth syndrome and Parkinson disease.

    Science.gov (United States)

    Koszewicz, Magdalena; Mendak, Magdalena; Konopka, Tomasz; Koziorowska-Gawron, Ewa; Budrewicz, Sławomir

    2012-01-01

    To conduct a clinical electrophysiologic evaluation of autonomic nervous system functions in patients with burning mouth syndrome and Parkinson disease and estimate the type and intensity of the autonomic dysfunction. The study involved 83 subjects-33 with burning mouth syndrome, 20 with Parkinson disease, and 30 controls. The BMS group included 27 women and 6 men (median age, 60.0 years), and the Parkinson disease group included 15 women and 5 men (median age, 66.5 years). In the control group, there were 20 women and 10 men (median age, 59.0 years). All patients were subjected to autonomic nervous system testing. In addition to the Low autonomic disorder questionnaire, heart rate variability (HRV), deep breathing (exhalation/inspiration [E/I] ratio), and sympathetic skin response (SSR) tests were performed in all cases. Parametric and nonparametric tests (ANOVA, Kruskal-Wallis, and Scheffe tests) were used in the statistical analysis. The mean values for HRV and E/I ratios were significantly lower in the burning mouth syndrome and Parkinson disease groups. Significant prolongation of SSR latency in the foot was revealed in both burning mouth syndrome and Parkinson disease patients, and lowering of the SSR amplitude occurred in only the Parkinson disease group. The autonomic questionnaire score was significantly higher in burning mouth syndrome and Parkinson disease patients than in the control subjects, with the Parkinson disease group having the highest scores. In patients with burning mouth syndrome, a significant impairment of both the sympathetic and parasympathetic nervous systems was found but sympathetic/parasympathetic balance was preserved. The incidence and intensity of autonomic nervous system dysfunction was similar in patients with burning mouth syndrome and Parkinson disease, which may suggest some similarity in their pathogeneses.

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

    Directory of Open Access Journals (Sweden)

    Nikolai Botkin

    2014-04-01

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

  10. [Characteristics of communication systems of suspected occupational disease in the Autonomous Communities, Spain].

    Science.gov (United States)

    García Gómez, Montserrat; Urbaneja Arrúe, Félix; García López, Vega; Estaban Buedo, Valentín; Rodríguez Suárez, Valentín; Miralles Martínez-Portillo, Lourdes; González García, Isabel; Egea Garcia, Josefa; Corraliza Infanzon, Emma; Ramírez Salvador, Laura; Briz Blázquez, Santiago; Armengol Rosell, Ricard; Cisnal Gredilla, José María; Correa Rodríguez, Juan Francisco; Coto Fernández, Juan Carlos; Díaz Peral, Mª Rosario; Elvira Espinosa, Mercedes; Fernández Fernández, Iñigo; García-Ramos Alonso, Eduardo; Martínez Arguisuelas, Nieves; Rivas Pérez, Ana Isabel

    2017-03-17

    There are several initiatives to develop systems for the notification of suspected occupational disease (OD) in different autonomous communities. The objective was to describe the status of development and characteristics of these systems implemented by the health authorities. A cross-sectional descriptive study was carried out on the existence of systems for the information and surveillance of suspected OD, their legal framework, responsible institution and availability of information. A specific meeting was held and a survey was designed and sent to all autonomous communities and autonomous cities (AACC). Information was collected on the existence of a regulatory standard, assigned human resources, notifiers, coverage and number of suspected OD received, processed and recognized. 18 of 19 AACC responded. 10 have developed a suspected OD notification system, 3 of them supported by specific autonomic law. The notifiers were physicians of the public health services, physicians of the occupational health services and, in 2 cases, medical inspectors. 7 AACC had specific software to support the system. The OD recognition rate of suspected cases was 53% in the Basque Country; 41% in Castilla-La Mancha; 36% in Murcia; 32.6% in the Valencian Community and 31% in La Rioja. The study has revealed an heterogeneous development of suspected OD reporting systems in Spain. Although the trend is positive, only 55% of the AACC have some type of development and 39% have specific software supporting it. Therefore unequal OD recognition rates have been obtained depending on the territory.

  11. E language based on MCNP modeling software for autonomous

    International Nuclear Information System (INIS)

    Li Fei; Ge Liangquan; Zhang Qingxian

    2010-01-01

    MCNP (Monte Carlo N-Particle Code) is based on the Monte Carlo method for computing neutron, photon and other particles as the object of the movement simulation computer program. Because of its powerful computing simulation, flexible and universal features in many fields has been widely used, but due to a software professional in the operating area has been greatly restricted, so that in later development has been greatly hindered. E-language was used in order to develop the autonomy of MCNP modeling software, used to address users not familiar with MCNP and can not create object model, get rid of dull red tape 'notebook' type of program type and built a new MCNP modeling system. (authors)

  12. Distributed Energy Systems Integration and Demand Optimization for Autonomous Operations and Electric Grid Transactions

    Energy Technology Data Exchange (ETDEWEB)

    Ghatikar, Girish [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Greenlots, San Francisco, CA (United States); Mashayekh, Salman [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Stadler, Michael [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Center for Energy and Innovation Technologies (Austria); Yin, Rongxin [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Liu, Zhenhua [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2015-11-29

    Distributed power systems in the U.S. and globally are evolving to provide reliable and clean energy to consumers. In California, existing regulations require significant increases in renewable generation, as well as identification of customer-side distributed energy resources (DER) controls, communication technologies, and standards for interconnection with the electric grid systems. As DER deployment expands, customer-side DER control and optimization will be critical for system flexibility and demand response (DR) participation, which improves the economic viability of DER systems. Current DER systems integration and communication challenges include leveraging the existing DER and DR technology and systems infrastructure, and enabling optimized cost, energy and carbon choices for customers to deploy interoperable grid transactions and renewable energy systems at scale. Our paper presents a cost-effective solution to these challenges by exploring communication technologies and information models for DER system integration and interoperability. This system uses open standards and optimization models for resource planning based on dynamic-pricing notifications and autonomous operations within various domains of the smart grid energy system. It identifies architectures and customer engagement strategies in dynamic DR pricing transactions to generate feedback information models for load flexibility, load profiles, and participation schedules. The models are tested at a real site in California—Fort Hunter Liggett (FHL). Furthermore, our results for FHL show that the model fits within the existing and new DR business models and networked systems for transactive energy concepts. Integrated energy systems, communication networks, and modeling tools that coordinate supply-side networks and DER will enable electric grid system operators to use DER for grid transactions in an integrated system.

  13. Dynamic analysis and electronic circuit implementation of a novel 3D autonomous system without linear terms

    Science.gov (United States)

    Kengne, J.; Jafari, S.; Njitacke, Z. T.; Yousefi Azar Khanian, M.; Cheukem, A.

    2017-11-01

    Mathematical models (ODEs) describing the dynamics of almost all continuous time chaotic nonlinear systems (e.g. Lorenz, Rossler, Chua, or Chen system) involve at least a nonlinear term in addition to linear terms. In this contribution, a novel (and singular) 3D autonomous chaotic system without linear terms is introduced. This system has an especial feature of having two twin strange attractors: one ordinary and one symmetric strange attractor when the time is reversed. The complex behavior of the model is investigated in terms of equilibria and stability, bifurcation diagrams, Lyapunov exponent plots, time series and Poincaré sections. Some interesting phenomena are found including for instance, period-doubling bifurcation, antimonotonicity (i.e. the concurrent creation and annihilation of periodic orbits) and chaos while monitoring the system parameters. Compared to the (unique) case previously reported by Xu and Wang (2014) [31], the system considered in this work displays a more 'elegant' mathematical expression and experiences richer dynamical behaviors. A suitable electronic circuit (i.e. the analog simulator) is designed and used for the investigations. Pspice based simulation results show a very good agreement with the theoretical analysis.

  14. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

    Science.gov (United States)

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-09-14

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

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

    Science.gov (United States)

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

    1995-12-01

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

  16. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    Science.gov (United States)

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-01-01

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

  17. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    Directory of Open Access Journals (Sweden)

    Basam Musleh

    2016-09-01

    Full Text Available Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels and the vehicle environment (meters depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  18. Chinese Students' Goal Orientation in English Learning: A Study Based on Autonomous Inquiry Model

    Science.gov (United States)

    Zhang, Jianfeng

    2014-01-01

    Goal orientation is a kind of theory of learning motivation, which helps learners to develop their capability by emphasis on new techniques acquiring and environment adapting. In this study, based on the autonomous inquiry model, the construction of Chinese students' goal orientations in English learning are summarized according to the data…

  19. Autonomous Learning through Task-Based Instruction in Fully Online Language Courses

    Science.gov (United States)

    Lee, Lina

    2016-01-01

    This study investigated the affordances for autonomous learning in a fully online learning environment involving the implementation of task-based instruction in conjunction with Web 2.0 technologies. To that end, four-skill-integrated tasks and digital tools were incorporated into the coursework. Data were collected using midterm reflections,…

  20. Energy-autonomous wireless vibration sensor for condition-based maintenance of machinery

    NARCIS (Netherlands)

    Wang, Z.; Bouwens, F.; Vullers, R.; Petré, F.; Devos, S.

    2011-01-01

    This paper addresses the development of an energy-autonomous wireless vibration sensor for condition-based monitoring of machinery. Such technology plays an increasingly important role in modern manufacturing industry. In this work, energy harvesting is realized by resorting to a custom designed

  1. Age-Dependent Differences in Systemic and Cell-Autonomous Immunity to L. monocytogenes

    Directory of Open Access Journals (Sweden)

    Ashley M. Sherrid

    2013-01-01

    Full Text Available Host defense against infection can broadly be categorized into systemic immunity and cell-autonomous immunity. Systemic immunity is crucial for all multicellular organisms, increasing in importance with increasing cellular complexity of the host. The systemic immune response to Listeria monocytogenes has been studied extensively in murine models; however, the clinical applicability of these findings to the human newborn remains incompletely understood. Furthermore, the ability to control infection at the level of an individual cell, known as “cell-autonomous immunity,” appears most relevant following infection with L. monocytogenes; as the main target, the monocyte is centrally important to innate as well as adaptive systemic immunity to listeriosis. We thus suggest that the overall increased risk to suffer and die from L. monocytogenes infection in the newborn period is a direct consequence of age-dependent differences in cell-autonomous immunity of the monocyte to L. monocytogenes. We here review what is known about age-dependent differences in systemic innate and adaptive as well as cell-autonomous immunity to infection with Listeria monocytogenes.

  2. System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

    Science.gov (United States)

    Stone, William C. (Inventor); Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kapit, Jason (Inventor); Scully, Mark (Inventor); Kimball, Peter (Inventor)

    2018-01-01

    A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

  3. Automatic, ECG-based detection of autonomic arousals and their association with cortical arousals, leg movements, and respiratory events in sleep

    DEFF Research Database (Denmark)

    Olsen, Mads; Schneider, Logan Douglas; Cheung, Joseph

    2018-01-01

    The current definition of sleep arousals neglects to address the diversity of arousals and their systemic cohesion. Autonomic arousals (AA) are autonomic activations often associated with cortical arousals (CA), but they may also occur in isolation in relation to a respiratory event, a leg movement...... event or spontaneously, without any other physiological associations. AA should be acknowledged as essential events to understand and explore the systemic implications of arousals. We developed an automatic AA detection algorithm based on intelligent feature selection and advanced machine learning using...... or respiratory events. This indicates that most FP constitute autonomic activations that are indistinguishable from those with cortical cohesion. The proposed algorithm provides an automatic system trained in a clinical environment, which can be utilized to analyse the systemic and clinical impacts of arousals....

  4. Analysis of the minimum swerving distance for the development of a motorcycle autonomous braking system.

    Science.gov (United States)

    Giovannini, Federico; Savino, Giovanni; Pierini, Marco; Baldanzini, Niccolò

    2013-10-01

    In the recent years the autonomous emergency brake (AEB) was introduced in the automotive field to mitigate the injury severity in case of unavoidable collisions. A crucial element for the activation of the AEB is to establish when the obstacle is no longer avoidable by lateral evasive maneuvers (swerving). In the present paper a model to compute the minimum swerving distance needed by a powered two-wheeler (PTW) to avoid the collision against a fixed obstacle, named last-second swerving model (Lsw), is proposed. The effectiveness of the model was investigated by an experimental campaign involving 12 volunteers riding a scooter equipped with a prototype autonomous emergency braking, named motorcycle autonomous emergency braking system (MAEB). The tests showed the performance of the model in evasive trajectory computation for different riding styles and fixed obstacles. Copyright © 2013 Elsevier Ltd. All rights reserved.

  5. Thermoelectric energy harvesting system for demonstrating autonomous operation of a wireless sensor node enabled by a multipurpose interface

    International Nuclear Information System (INIS)

    Leicht, Joachim; Heilmann, Peter; Maurath, Dominic; Moranz, Christian; Manoli, Yiannos; Hehn, Thorsten; Li, Xiaoming; Thewes, Marcell; Scholl, Gerd

    2013-01-01

    This paper demonstrates the autonomous operation of a wireless sensor node exclusively powered by thermoelectric energy harvesting. Active operation of a wireless sensor system is demonstrated successfully by means of an on-line programmable emulation kit that enables various thermoelectric energy harvesting scenarios. Moreover, this emulation kit accomplishes autonomous wireless sensor node operation by interfacing a small-scaled thermogenerator via a CMOS integrated autonomous multipurpose energy harvesting interface circuit performing maximum power point tracking

  6. Cold-starting portable microenergy system. Autonomous fuel cell system using sodium borohydride as an energy source; Kaltstartfaehiges portables Mikroenergiesystem. Autarkes BZ-System mit Natriumborhydrid als Energietraeger

    Energy Technology Data Exchange (ETDEWEB)

    Groos, Ulf; Koch, Wolfgang [Fraunhofer-Institut fuer Solare Energiesysteme (ISE), Freiburg im Breisgau (Germany)

    2012-10-15

    A project consortium led by Fraunhofer-Institut fuer Solare Energiesysteme ISE developed an autonomous micro energy system (AMES) with an output of 100 W{sub el} as a charging station for applications in emergency medicine. The system is designed for a wide temperature range of -15 to +50 degC during startup, operation, and shutoff. The cold starting fuel cell system is in accordance with current standards and is suited for serial production. It can be operated with common hydrogen stores, e.g. gas flasks or metal hydrides, or else with a specially developed hydrogen generator based on sodium borohydride. (orig.)

  7. Magnetic Bead Based Immunoassay for Autonomous Detection of Toxins

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Y; Hara, C A; Knize, M G; Hwang, M H; Venkatesteswaran, K S; Wheeler, E K; Bell, P M; Renzi, R F; Fruetel, J A; Bailey, C G

    2008-05-01

    As a step towards toward the development of a rapid, reliable analyzer for bioagents in the environment, we are developing an automated system for the simultaneous detection of a group of select agents and toxins. To detect toxins, we modified and automated an antibody-based approach previously developed for manual medical diagnostics that uses fluorescent eTag{trademark} reporter molecules and is suitable for highly multiplexed assays. Detection is based on two antibodies binding simultaneously to a single antigen, one of which is labeled with biotin while the other is conjugated to a fluorescent eTag{trademark} through a cleavable linkage. Aqueous samples are incubated with the mixture of antibodies along with streptavidin-coated magnetic beads coupled to a photo-activatable porphyrin complex. In the presence of antigen, a molecular complex is formed where the cleavable linkage is held in proximity to the photoactivable group. Upon excitation at 680 nm, free radicals are generated, which diffuse and cleave the linkage, releasing the eTags{trademark}. Released eTags{trademark} are analyzed using capillary gel electrophoresis with laser-induced fluorescence detection. Limits of detection for ovalbumin and botulinum toxoid individually were 4 ng/mL (or 80 pg) and 16 ng/mL (or 320 pg), respectively, using the manual assay. In addition, we demonstrated the use of pairs of antibodies from different sources in a single assay to decrease the rate of false positives. Automation of the assay was demonstrated on a flow-through format with higher LODs of 125 ng/mL (or 2.5 ng) each of a mixture of ovalbumin and botulinum toxoid. This versatile assay can be easily modified with the appropriate antibodies to detect a wide range of toxins and other proteins.

  8. Predictive routing for autonomous mobility-on-demand systems with ride-sharing

    NARCIS (Netherlands)

    Alonso Mora, J.; Wallar, Alex; Rus, Daniela; Bicchi, A.; Maciejewski, T.

    2017-01-01

    Ride-sharing, or carpooling, systems with autonomous vehicles will provide efficient and reliable urban mobility on demand. In this work we present a method for dynamic vehicle routing that leverages historical data to improve the performance of a network of self-driving taxis. In particular, we

  9. A Role for the Autonomic Nervous System in Modulating the Immune Response during Mild Emotional Stimuli

    NARCIS (Netherlands)

    Croiset, Gerda; Heijnen, Cobi J.; Wal, Wim E. van der; Boer, Sietse F. de; Wied, David de

    1990-01-01

    The role of the autonomic nervous system in the modulation of the immune response to emotional stimuli, was established in rats subjected to the passive avoidance test. An increase in splenic primary antibody response directed against SRBC was found after exposure of rats to the passive avoidance

  10. Influences of lifestyle factors on cardiac autonomic nervous system activity over time

    NARCIS (Netherlands)

    Hu, Mandy Xian; Lamers, Femke; de Geus, Eco J C; Penninx, Brenda W J H

    Physical activity, alcohol use and smoking might affect cardiovascular disease through modifying autonomic nervous system (ANS) activity. We investigated: 1) whether there are consistent relationships between lifestyle factors and cardiac ANS activity over time, and 2) whether 2-year changes in

  11. Nocturnal airflow obstruction, histamine, and the autonomic central nervous system in children with allergic asthma

    NARCIS (Netherlands)

    van Aalderen, W. M.; Postma, D. S.; Koëter, G. H.; Knol, K.

    1991-01-01

    A study was carried out to investigate whether an imbalance in the autonomic nervous system or release of histamine, or both, is responsible for the nocturnal increase in airflow obstruction in asthmatic children. The study comprised 18 children with allergic asthma, nine with (group 1) and nine

  12. The science of autonomy: integrating autonomous systems with the ISR enterprise

    Science.gov (United States)

    Creech, Gregory S.

    2013-05-01

    Consider a future where joint, unmanned operations are the norm. A fleet of autonomous airborne systems conducts overwatch and surveillance for their land and sea brethren, accurately reporting adversary position and aptly guiding the group of autonomous land and sea warriors into position to conduct a successful takedown. Sounds a bit like science fiction, but reality is just around the corner. The DoD ISR Enterprise has evolved significantly over the past decade and has learned many a harsh lesson along the way. Autonomous system operations supporting the warfighter have also evolved, arguably to a point where integration into the ISR Enterprise is a must, in order to reap the benefits that these highly capable systems possess. Achieving meaningful integration, however, is not without its challenges. The ISR Enterprise, for example, is still plagued with "stovepipe" efforts - sufficiently filling a niche for an immediate customer need, but doing little to service the needs of the greater enterprise. This paper will examine the science of autonomy, the challenges and potential benefits that it brings to the ISR Enterprise and recommendations that will facilitate smooth integration of emerging autonomous systems with the mature suite of traditional manned and unmanned ISR platforms.

  13. Child Abuse and Autonomic Nervous System Hyporesponsivity among Psychiatrically Impaired Children

    Science.gov (United States)

    Ford, Julian D.; Fraleigh, Lisa A.; Albert, David B.; Connor, Daniel F.

    2010-01-01

    Objective: Sexually or physically abused children are at risk for neurobiological dysregulation as well as for internalizing and disruptive behavior disorders. Stress-related autonomic nervous system (ANS) down-regulation has been proposed as a sequela of abuse and was investigated in the present study. Methods: Child Protective Services…

  14. Case Studies in a Physiology Course on the Autonomic Nervous System: Design, Implementation, and Evaluation

    Science.gov (United States)

    Zimmermann, Martina

    2010-01-01

    The introduction of case studies on the autonomic nervous system in a fourth-semester physiology course unit for Pharmacy students is described in this article. This article considers how these case studies were developed and presents their content. Moreover, it reflects on their implementation and, finally, the reception of such a transformation…

  15. Asymptotic behaviour of unbounded trajectories for some non-autonomous systems in a Hilbert space

    International Nuclear Information System (INIS)

    Djafari Rouhani, B.

    1990-07-01

    The asymptotic behaviour of unbounded trajectories for non expansive mappings in a real Hilbert space and the extension to more general Banach spaces and to nonlinear contraction semi-group have been studied by many authors. In this paper we study the asymptotic behaviour of unbounded trajectories for a quasi non-autonomous dissipative systems. 26 refs

  16. An autonomous robot for de-leafing cucumber plants in a high-wire cultivation system

    NARCIS (Netherlands)

    Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

    2005-01-01

    The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity for

  17. Autonomic nervous system function in young children with functional abdominal pain or irritable bowel syndrome

    Science.gov (United States)

    Adults with irritable bowel syndrome (IBS) have been reported to have alterations in autonomic nervous system function as measured by vagal activity via heart rate variability. Whether the same is true for children is unknown. We compared young children 7 to 10 years of age with functional abdominal...

  18. When do the symptoms of autonomic nervous system malfunction appear in patients with Parkinson's disease?

    Science.gov (United States)

    De Luka, Silvio R; Svetel, Marina; Pekmezović, Tatjana; Milovanović, Branislav; Kostić, Vladimir S

    2014-04-01

    Dysautonomia appears in almost all patients with Parkinson's disease (PD) in a certain stage of their condition. The aim of our study was to detect the development and type of autonomic disorders, find out the factors affecting their manifestation by analyzing the potential association with demographic variables related to clinical presentation, as well as the symptoms of the disease in a PD patient cohort. The patients with PD treated at the Clinic of Neurology in Belgrade during a 2-year period, divided into 3 groups were studied: 25 de novo patients, 25 patients already treated and had no long-term levodopa therapy-related complications and 22 patients treated with levodopa who manifested levodopa-induced motor complications. Simultaneously, 35 healthy control subjects, matched by age and sex, were also analyzed. Autonomic nervous system malfunction was defined by Ewing diagnostic criteria. The tests, indicators of sympathetic and parasympathetic nervous systems, were significantly different in the PD patients as compared with the controls, suggesting the failure of both systems. However, it was shown, in the selected groups of patients, that the malfunction of both systems was present in two treated groups of PD patients, while de novo group manifested only sympathetic dysfunction. For this reason, the complete autonomic neuropathy was diagnosed only in the treated PD patients, while de novo patients were defined as those with the isolated sympathetic dysfunction. The patients with the complete autonomic neuropathy differed from the subjects without such neuropathy in higher cumulative and motor unified Parkinson's disease rating score (UPDRS) (p nervous system disturbances among PD patients from the near onset of disease, with a predominant sympathetic nervous system involvement. The patients who developed complete autonomic neuropathy (both sympathetic and parasympathetic) were individuals with considerable level of functional failure, more severe clinical

  19. Long-Term, Autonomous Measurement of Atmospheric Carbon Dioxide Using an Ormosil Nanocomposite-Based Optical Sensor

    Energy Technology Data Exchange (ETDEWEB)

    Kisholoy Goswami

    2005-10-11

    The goal of this project is to construct a prototype carbon dioxide sensor that can be commercialized to offer a low-cost, autonomous instrument for long-term, unattended measurements. Currently, a cost-effective CO2 sensor system is not available that can perform cross-platform measurements (ground-based or airborne platforms such as balloon and unmanned aerial vehicle (UAV)) for understanding the carbon sequestration phenomenon. The CO2 sensor would support the research objectives of DOE-sponsored programs such as AmeriFlux and the North American Carbon Program (NACP). Global energy consumption is projected to rise 60% over the next 20 years and use of oil is projected to increase by approximately 40%. The combustion of coal, oil, and natural gas has increased carbon emissions globally from 1.6 billion tons in 1950 to 6.3 billion tons in 2000. This figure is expected to reach 10 billon tons by 2020. It is important to understand the fate of this excess CO2 in the global carbon cycle. The overall goal of the project is to develop an accurate and reliable optical sensor for monitoring carbon dioxide autonomously at least for one year at a point remote from the actual CO2 release site. In Phase I of this project, InnoSense LLC (ISL) demonstrated the feasibility of an ormosil-monolith based Autonomous Sensor for Atmospheric CO2 (ASAC) device. All of the Phase I objectives were successfully met.

  20. Reliable and Efficient Procedure for Steady-State Analysis of Nonautonomous and Autonomous Systems

    Directory of Open Access Journals (Sweden)

    J. Dobes

    2012-04-01

    Full Text Available The majority of contemporary design tools do not still contain steady-state algorithms, especially for the autonomous systems. This is mainly caused by insufficient accuracy of the algorithm for numerical integration, but also by unreliable steady-state algorithms themselves. Therefore, in the paper, a very stable and efficient procedure for the numerical integration of nonlinear differential-algebraic systems is defined first. Afterwards, two improved methods are defined for finding the steady state, which use this integration algorithm in their iteration loops. The first is based on the idea of extrapolation, and the second utilizes nonstandard time-domain sensitivity analysis. The two steady-state algorithms are compared by analyses of a rectifier and a C-class amplifier, and the extrapolation algorithm is primarily selected as a more reliable alternative. Finally, the method based on the extrapolation naturally cooperating with the algorithm for solving the differential-algebraic systems is thoroughly tested on various electronic circuits: Van der Pol and Colpitts oscillators, fragment of a large bipolar logical circuit, feedback and distributed microwave oscillators, and power amplifier. The results confirm that the extrapolation method is faster than a classical plain numerical integration, especially for larger circuits with complicated transients.

  1. An Autonomous Distributed Control System for Naval Platforms

    NARCIS (Netherlands)

    Janssen, J.A.A.J.; Logtmeijer, R.A.; Bodegraven, K.S. van

    2009-01-01

    The success of the missions of naval ships depends highly on the availability of sensor, weapon, and command systems. These systems depend on support systems such as chilled water systems and electrical power systems. Disturbances caused by technical problems or battle damage may result in

  2. MECHANICAL DESIGN OF AN AUTONOMOUS MARINE ROBOTIC SYSTEM FOR INTERACTION WITH DIVERS

    Directory of Open Access Journals (Sweden)

    Nikola Stilinović

    2016-09-01

    Full Text Available SCUBA diving, professional or recreational, remains one of the most hazardous activities known by man, mostly due to the fact that the human survival in the underwater environment requires use of technical equipment such as breathing regulators. Loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis are just a few problems which can occur during an ordinary dive and result in injuries, long-term illnesses or even death. Most common way to reduce the risk of diving is to dive in pairs, thus allowing divers to cooperate with each other and react when uncommon situation occurs. Having the ability to react before an unwanted situation happens would improve diver safety. This paper describes an autonomous marine robotic system that replaces a human dive buddy. Such a robotic system, developed within an FP7 project “CADDY – Cognitive Autonomous Diving Buddy” provides a symbiotic link between robots and human divers in the underwater. The proposed concept consists of a diver, an autonomous underwater vehicle (AUV Buddy and an autonomous surface vehicle (ASV PlaDyPos, acting within a cooperative network linked via an acoustic communication channel. This is a first time that an underwater human-robot system of such a scale has ever been developed. In this paper, focus is put on mechanical characteristics of the robotic vehicles.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-07-01

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

  4. A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems.

    Science.gov (United States)

    Brunelli, Davide

    2016-03-04

    Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm³. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions.

  5. A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems

    Science.gov (United States)

    Brunelli, Davide

    2016-01-01

    Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm3. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions. PMID:26959018

  6. A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems

    Directory of Open Access Journals (Sweden)

    Davide Brunelli

    2016-03-01

    Full Text Available Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm3. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions.

  7. Modelling and properties of a nonlinear autonomous switching system in fed-batch culture of glycerol

    Science.gov (United States)

    Wang, Juan; Sun, Qingying; Feng, Enmin

    2012-11-01

    A nonlinear autonomous switching system is proposed to describe the coupled fed-batch fermentation with the pH as the feedback parameter. We prove the non-Zeno behaviors of the switching system and some basic properties of its solution, including the existence, uniqueness, boundedness and regularity. Numerical simulation is also carried out, which reveals that the proposed system can describe the factual fermentation process properly.

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

    OpenAIRE

    Ray, Pratish

    2015-01-01

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

  9. Autonomic nervous system balance in children and adolescents with craniopharyngioma and hypothalamic obesity.

    Science.gov (United States)

    Cohen, Michal; Syme, Catriona; McCrindle, Brian W; Hamilton, Jill

    2013-06-01

    Dysregulation of the autonomic nervous system is thought to be involved in craniopharyngioma-related hypothalamic obesity (CRHO). Increased parasympathetic activity and decreased sympathetic activity have been suggested. We aimed to study autonomic activity using heart rate variability (HRV) and biochemical measures in youth with CRHO compared with controls and to explore relationships between obesity and autonomic indices. A cross-sectional study of 16 youth with CRHO and 16 controls matched for sex, age, and BMI. Anthropometrics, fasting blood-work, resting energy expenditure (REE), 24-h HRV, and 24-h urine catecholamines were assessed. Quality of life, sleepiness, and autonomic symptoms were evaluated. Power spectral analysis of the HRV was performed. HRV power spectral analysis parameters of both parasympathetic activity (mean high frequency (HF (ms(2))) 611±504 vs 459±336, P=0.325) and sympathetic activity (median low frequency/HF 1.62 (1.37, 2.41) vs 1.89 (1.44, 2.99), P=0.650) did not differ between the groups. Parasympathetic activity negatively correlated with central adiposity in both groups (r=-0.53, P=0.034 and r=-0.54, P=0.029) and sympathetic activity positively correlated with central adiposity in CRHO (r=0.51, P=0.043). Youth with CRHO had significantly lower REE; lower health and activity scores in the quality of life questionnaires, and higher sleepiness scores. Autonomic activity was similar in CRHO and control subjects. The degree of central adiposity correlated negatively with parasympathetic activity and positively with sympathetic activity in children with CRHO. These results provide a new perspective regarding autonomic balance in this unique patient population.

  10. Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems

    Directory of Open Access Journals (Sweden)

    Thumeera R. Wanasinghe

    2016-01-01

    Full Text Available This study proposes the use of a split covariance intersection algorithm (Split-CI for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS. The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.

  11. Emergy analysis of cropping-grazing system in Inner Mongolia Autonomous Region, China

    International Nuclear Information System (INIS)

    Zhang, L.X.; Yang, Z.F.; Chen, G.Q.

    2007-01-01

    An ecological energetic evaluation is presented in this paper as a complement to economic account for the cropping-grazing system in the Inner Mongolia Autonomous Region in China in the year 2000. Based on Odum's well-known concept of emergy in terms of embodied solar energy as a unified measure for environmental resources, human or animal labors and industrial products, a systems diagram is developed for the crop and livestock productions with arms and sub-arms for free renewable natural resource input, purchased economic investment, yields of and interactive fluxes between the cropping and grazing sub-industries. In addition to conventional systems indices of the emergy yield ratio (EYR), emergy investment ratio (EIR), environmental load ratio (ELR) and environmental sustainability index (ESI) introduced for congregated systems ecological assessment with essential implication for sustainability, new indicators of soil emergy cost (SEC), self-support intensity (SSI) and self-support orientation (SSO) are defined to characterize the desertification and internal recycling associated with the special agricultural system. Extensive emergy accounting is made for the cropping-grazing system as a whole as well as for the cropping and grazing subsystems. The overall cropping-grazing system is shown with outstanding production competence compared with agricultural systems in some other provinces and the national average in China, though confronted with severe desertification associated with soil loss. The production of crops has higher emergy density and yield rate per unit area as well as higher rate of soil loss than grazing system. The soil emergy cost defined as the soil loss emergy divided by the yield emergy is estimated to be of the same value for both of the subsystems, but the grazing activity is with less extraction intensity, leaving rangeland to rest and rehabilitate. Suggestions with regard to the local sustainability and national ecological security in

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

    Science.gov (United States)

    Yudhi Irwanto, Herma

    2018-02-01

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

  13. Students' profile as autonomous learners in an Internet-based EAP course

    Directory of Open Access Journals (Sweden)

    Antonia Soler Cervera

    2005-04-01

    Full Text Available This study aims to find out to what extent university students are able to develop learner autonomy through an EAP course delivered through the Internet. The course, oriented to the use of Internet resources for language learning, was designed specifically to foster learner autonomy. Based on a previous exploratory study (Arnó et al. 2003, this research seeks to refine the profile of the autonomous learner initially developed and to discover which specific actions and attitudes related to learner autonomy are found in students’ behaviour. Thus, combining qualitative and quantitative methods, we carried out an analysis of the autonomous behaviour displayed by students when using different Internet resources through activities designed to foster learner autonomy. This study has allowed us to outline the profile of autonomous learners in a virtual classroom, with students who are able to take the initiative and make decisions on the organization and management of their learning process. Focusing on the connection between making the most of the Internet and developing students’ autonomy, our ultimate aim is to point to ways in which students may be encouraged to become more autonomous and explore the role that the Internet may play in helping us attain this objective.

  14. Autonomous celestial navigation based on Earth ultraviolet radiance and fast gradient statistic feature extraction

    Science.gov (United States)

    Lu, Shan; Zhang, Hanmo

    2016-01-01

    To meet the requirement of autonomous orbit determination, this paper proposes a fast curve fitting method based on earth ultraviolet features to obtain accurate earth vector direction, in order to achieve the high precision autonomous navigation. Firstly, combining the stable characters of earth ultraviolet radiance and the use of transmission model software of atmospheric radiation, the paper simulates earth ultraviolet radiation model on different time and chooses the proper observation band. Then the fast improved edge extracting method combined Sobel operator and local binary pattern (LBP) is utilized, which can both eliminate noises efficiently and extract earth ultraviolet limb features accurately. And earth's centroid locations on simulated images are estimated via the least square fitting method using part of the limb edges. Taken advantage of the estimated earth vector direction and earth distance, Extended Kalman Filter (EKF) is applied to realize the autonomous navigation finally. Experiment results indicate the proposed method can achieve a sub-pixel earth centroid location estimation and extremely enhance autonomous celestial navigation precision.

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

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  16. Energy Autonomous Wireless Sensing System Enabled by Energy Generated during Human Walking

    Science.gov (United States)

    Kuang, Yang; Ruan, Tingwen; Chew, Zheng Jun; Zhu, Meiling

    2016-11-01

    Recently, there has been a huge amount of work devoted to wearable energy harvesting (WEH) in a bid to establish energy autonomous wireless sensing systems for a range of health monitoring applications. However, limited work has been performed to implement and test such systems in real-world settings. This paper reports the development and real-world characterisation of a magnetically plucked wearable knee-joint energy harvester (Mag-WKEH) powered wireless sensing system, which integrates our latest research progresses in WEH, power conditioning and wireless sensing to achieve high energy efficiency. Experimental results demonstrate that with walking speeds of 3∼7 km/h, the Mag-WKEH generates average power of 1.9∼4.5 mW with unnoticeable impact on the wearer and is able to power the wireless sensor node (WSN) with three sensors to work at duty cycles of 6.6%∼13%. In each active period of 2 s, the WSN is able to measure and transmit 482 readings to the base station.

  17. Energy Autonomous Wireless Sensing System Enabled by Energy Generated during Human Walking

    International Nuclear Information System (INIS)

    Kuang, Yang; Ruan, Tingwen; Chew, Zheng Jun; Zhu, Meiling

    2016-01-01

    Recently, there has been a huge amount of work devoted to wearable energy harvesting (WEH) in a bid to establish energy autonomous wireless sensing systems for a range of health monitoring applications. However, limited work has been performed to implement and test such systems in real-world settings. This paper reports the development and real-world characterisation of a magnetically plucked wearable knee-joint energy harvester (Mag-WKEH) powered wireless sensing system, which integrates our latest research progresses in WEH, power conditioning and wireless sensing to achieve high energy efficiency. Experimental results demonstrate that with walking speeds of 3∼7 km/h, the Mag-WKEH generates average power of 1.9∼4.5 mW with unnoticeable impact on the wearer and is able to power the wireless sensor node (WSN) with three sensors to work at duty cycles of 6.6%∼13%. In each active period of 2 s, the WSN is able to measure and transmit 482 readings to the base station. (paper)

  18. Autonomous Information Fading and Provision to Achieve High Response Time in Distributed Information Systems

    Science.gov (United States)

    Lu, Xiaodong; Arfaoui, Helene; Mori, Kinji

    In highly dynamic electronic commerce environment, the need for adaptability and rapid response time to information service systems has become increasingly important. In order to cope with the continuously changing conditions of service provision and utilization, Faded Information Field (FIF) has been proposed. FIF is a distributed information service system architecture, sustained by push/pull mobile agents to bring high-assurance of services through a recursive demand-oriented provision of the most popular information closer to the users to make a tradeoff between the cost of information service allocation and access. In this paper, based on the analysis of the relationship that exists among the users distribution, information provision and access time, we propose the technology for FIF design to resolve the competing requirements of users and providers to improve users' access time. In addition, to achieve dynamic load balancing with changing users preference, the autonomous information reallocation technology is proposed. We proved the effectiveness of the proposed technology through the simulation and comparison with the conventional system.

  19. Order of exposure to pleasant and unpleasant odors affects autonomic nervous system response.

    Science.gov (United States)

    Horii, Yuko; Nagai, Katsuya; Nakashima, Toshihiro

    2013-04-15

    When mammals are exposed to an odor, that odor is expected to elicit a physiological response in the autonomic nervous system. An unpleasant aversive odor causes non-invasive stress, while a pleasant odor promotes healing and relaxation in mammals. We hypothesized that pleasant odors might reduce a stress response previously induced by an aversive predator odor. Rats were thus exposed to pleasant and unpleasant odors in different orders to determine whether the order of odor exposure had an effect on the physiological response in the autonomic nervous system. The first trial examined autonomic nerve activity via sympathetic and parasympathetic nerve response while the second trial examined body temperature response. Initial exposure to a pleasant odor elicited a positive response and secondary exposure to an unpleasant odor elicited a negative response, as expected. However, we found that while initial exposure to an unpleasant odor elicited a negative stress response, subsequent secondary exposure to a pleasant odor not only did not alleviate that negative response, but actually amplified it. These findings were consistent for both the autonomic nerve activity response trial and the body temperature response trial. The trial results suggest that exposure to specific odors does not necessarily result in the expected physiological response and that the specific order of exposure plays an important role. Our study should provide new insights into our understanding of the physiological response in the autonomic nervous system related to odor memory and discrimination and point to areas that require further research. Copyright © 2013 Elsevier B.V. All rights reserved.

  20. Dominant object detection for autonomous vision-based surveillance

    NARCIS (Netherlands)

    Celik, H.

    2010-01-01

    The deployment of visual surveillance and monitoring systems has reached massive proportions. Consequently, a need to automate the processes involved in retrieving useful information from surveillance videos, such as detecting and counting objects, and interpreting their individual and joint

  1. UNIVERSAL REGULAR AUTONOMOUS ASYNCHRONOUS SYSTEMS: ω-LIMIT SETS, INVARIANCE AND BASINS OF ATTRACTION

    Directory of Open Access Journals (Sweden)

    Serban Vlad

    2011-07-01

    Full Text Available The asynchronous systems are the non-deterministic real timebinarymodels of the asynchronous circuits from electrical engineering.Autonomy means that the circuits and their models have no input.Regularity means analogies with the dynamical systems, thus such systems may be considered to be real time dynamical systems with a’vector field’, Universality refers to the case when the state space of the system is the greatest possible in the sense of theinclusion. The purpose of this paper is that of defining, by analogy with the dynamical systems theory, the omega-limit sets, the invariance and the basins of attraction of the universal regular autonomous asynchronous systems.

  2. An autonomous dynamical system captures all LCSs in three-dimensional unsteady flows.

    Science.gov (United States)

    Oettinger, David; Haller, George

    2016-10-01

    Lagrangian coherent structures (LCSs) are material surfaces that shape the finite-time tracer patterns in flows with arbitrary time dependence. Depending on their deformation properties, elliptic and hyperbolic LCSs have been identified from different variational principles, solving different equations. Here we observe that, in three dimensions, initial positions of all variational LCSs are invariant manifolds of the same autonomous dynamical system, generated by the intermediate eigenvector field, ξ 2 (x 0 ), of the Cauchy-Green strain tensor. This ξ 2 -system allows for the detection of LCSs in any unsteady flow by classical methods, such as Poincaré maps, developed for autonomous dynamical systems. As examples, we consider both steady and time-aperiodic flows, and use their dual ξ 2 -system to uncover both hyperbolic and elliptic LCSs from a single computation.

  3. Autonomous learning by simple dynamical systems with a discrete-time formulation

    Science.gov (United States)

    Bilen, Agustín M.; Kaluza, Pablo

    2017-05-01

    We present a discrete-time formulation for the autonomous learning conjecture. The main feature of this formulation is the possibility to apply the autonomous learning scheme to systems in which the errors with respect to target functions are not well-defined for all times. This restriction for the evaluation of functionality is a typical feature in systems that need a finite time interval to process a unit piece of information. We illustrate its application on an artificial neural network with feed-forward architecture for classification and a phase oscillator system with synchronization properties. The main characteristics of the discrete-time formulation are shown by constructing these systems with predefined functions.

  4. Chemokines and Heart Disease: A Network Connecting Cardiovascular Biology to Immune and Autonomic Nervous Systems

    Science.gov (United States)

    Dusi, Veronica; Ghidoni, Alice; Ravera, Alice; De Ferrari, Gaetano M.; Calvillo, Laura

    2016-01-01

    Among the chemokines discovered to date, nineteen are presently considered to be relevant in heart disease and are involved in all stages of cardiovascular response to injury. Chemokines are interesting as biomarkers to predict risk of cardiovascular events in apparently healthy people and as possible therapeutic targets. Moreover, they could have a role as mediators of crosstalk between immune and cardiovascular system, since they seem to act as a “working-network” in deep linkage with the autonomic nervous system. In this paper we will describe the single chemokines more involved in heart diseases; then we will present a comprehensive perspective of them as a complex network connecting the cardiovascular system to both the immune and the autonomic nervous systems. Finally, some recent evidences indicating chemokines as a possible new tool to predict cardiovascular risk will be described. PMID:27242392

  5. A Security Monitoring Method Based on Autonomic Computing for the Cloud Platform

    Directory of Open Access Journals (Sweden)

    Jingjie Zhang

    2018-01-01

    Full Text Available With the continuous development of cloud computing, cloud security has become one of the most important issues in cloud computing. For example, data stored in the cloud platform may be attacked, and its security is difficult to be guaranteed. Therefore, we must attach weight to the issue of how to protect the data stored in the cloud. To protect data, data monitoring is a necessary process. Based on autonomic computing, we develop a cloud data monitoring system on the cloud platform, monitoring whether the data is abnormal in the cycle and analyzing the security of the data according to the monitored results. In this paper, the feasibility of the scheme can be verified through simulation. The results show that the proposed method can adapt to the dynamic change of cloud platform load, and it can also accurately evaluate the degree of abnormal data. Meanwhile, by adjusting monitoring frequency automatically, it improves the accuracy and timeliness of monitoring. Furthermore, it can reduce the monitoring cost of the system in normal operation process.

  6. A learning-based autonomous driver: emulate human driver's intelligence in low-speed car following

    Science.gov (United States)

    Wei, Junqing; Dolan, John M.; Litkouhi, Bakhtiar

    2010-04-01

    In this paper, an offline learning mechanism based on the genetic algorithm is proposed for autonomous vehicles to emulate human driver behaviors. The autonomous driving ability is implemented based on a Prediction- and Cost function-Based algorithm (PCB). PCB is designed to emulate a human driver's decision process, which is modeled as traffic scenario prediction and evaluation. This paper focuses on using a learning algorithm to optimize PCB with very limited training data, so that PCB can have the ability to predict and evaluate traffic scenarios similarly to human drivers. 80 seconds of human driving data was collected in low-speed (car-following scenarios. In the low-speed car-following tests, PCB was able to perform more human-like carfollowing after learning. A more general 120 kilometer-long simulation showed that PCB performs robustly even in scenarios that are not part of the training set.

  7. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    Energy Technology Data Exchange (ETDEWEB)

    Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

    2015-06-15

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

  8. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    International Nuclear Information System (INIS)

    Tuvshinjargal, Doopalam; Lee, Deok Jin

    2015-01-01

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments

  9. Market-based autonomous resource and application management in private clouds

    KAUST Repository

    Costache, Stefania; Kortas, Samuel; Morin, Christine; Parlavantzas, Nikos

    2016-01-01

    High Performance Computing (HPC) clouds need to be efficiently shared between selfish tenants having applications with different resource requirements and Service Level Objectives (SLOs). The main difficulty relies on providing concurrent resource access to such tenants while maximizing the resource utilization. To overcome this challenge, we propose Merkat, a market-based SLO-driven cloud platform. Merkat relies on a market-based model specifically designed for on-demand fine-grain resource allocation to maximize resource utilization and it uses a combination of currency distribution and dynamic resource pricing to ensure proper resource distribution among tenants. To meet the tenant’s SLO, Merkat uses autonomous controllers, which apply adaptation policies that: (i) dynamically tune the application’s provisioned CPU and memory per virtual machine in contention periods, or (ii) dynamically change the number of virtual machines. Our evaluation with simulation and on the Grid’5000 testbed shows that Merkat provides flexible support for different application types and SLOs and good tenant satisfaction compared to existing centralized systems, while the infrastructure resource utilization is improved.

  10. Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

    International Nuclear Information System (INIS)

    Kadouf, Hani Hunud A; Mustafah, Yasir Mohd

    2013-01-01

    With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects

  11. Market-based autonomous resource and application management in private clouds

    KAUST Repository

    Costache, Stefania

    2016-10-12

    High Performance Computing (HPC) clouds need to be efficiently shared between selfish tenants having applications with different resource requirements and Service Level Objectives (SLOs). The main difficulty relies on providing concurrent resource access to such tenants while maximizing the resource utilization. To overcome this challenge, we propose Merkat, a market-based SLO-driven cloud platform. Merkat relies on a market-based model specifically designed for on-demand fine-grain resource allocation to maximize resource utilization and it uses a combination of currency distribution and dynamic resource pricing to ensure proper resource distribution among tenants. To meet the tenant’s SLO, Merkat uses autonomous controllers, which apply adaptation policies that: (i) dynamically tune the application’s provisioned CPU and memory per virtual machine in contention periods, or (ii) dynamically change the number of virtual machines. Our evaluation with simulation and on the Grid’5000 testbed shows that Merkat provides flexible support for different application types and SLOs and good tenant satisfaction compared to existing centralized systems, while the infrastructure resource utilization is improved.

  12. Towards an Autonomous System Monitor for Mitigating Correlation Attacks in the Tor Network

    OpenAIRE

    Hoang, Nguyen Phong

    2016-01-01

    After carefully considering the scalability problem in Tor and exhaustively evaluating related works on AS-level adversaries, the author proposes ASmoniTor, which is an autonomous system monitor for mitigating correlation attacks in the Tor network. In contrast to prior works, which often released offline packets, including the source code of a modified Tor client and a snapshot of the Internet topology, ASmoniTor is an online system that assists end users with mitigating the threat of AS-lev...

  13. Feasibility Study for an Autonomous UAV -Magnetometer System -- Final Report on SERDP SEED 1509:2206

    Energy Technology Data Exchange (ETDEWEB)

    Roelof Versteeg; Mark McKay; Matt Anderson; Ross Johnson; Bob Selfridge; Jay Bennett

    2007-09-01

    Large areas across the United States are potentially contaminated with UXO, with some ranges encompassing tens to hundreds of thousands of acres. Technologies are needed which will allow for cost effective wide area scanning with 1) near 100 % coverage and 2) near 100 % detection of subsurface ordnance or features indicative of subsurface ordnance. The current approach to wide area scanning is a multi-level one, in which medium altitude fixed wing optical imaging is used for an initial site assessment. This assessment is followed with low altitude manned helicopter based magnetometry followed by surface investigations using either towed geophysical sensor arrays or man portable sensors. In order to be effective for small UXO detection, the sensing altitude for magnetic site investigations needs to be on the order of 1 – 3 meters. These altitude requirements means that manned helicopter surveys will generally only be feasible in large, open and relatively flat terrains. While such surveys are effective in mapping large areas relatively fast there are substantial mobilization/demobilization, staffing and equipment costs associated with these surveys (resulting in costs of approximately $100-$150/acre). Surface towed arrays provide high resolution maps but have other limitations, e.g. in their ability to navigate rough terrain effectively. Thus, other systems are needed allowing for effective data collection. An UAV (Unmanned Aerial Vehicle) magnetometer platform is an obvious alternative. The motivation behind such a system is that it would be safer for the operators, cheaper in initial and O&M costs, and more effective in terms of site characterization. However, while UAV data acquisition from fixed wing platforms for large (> 200 feet) stand off distances is relatively straight forward, a host of challenges exist for low stand-off distance (~ 6 feet) UAV geophysical data acquisition. The objective of SERDP SEED 1509:2006 was to identify the primary challenges

  14. Basic emotions induced by odorants: a new approach based on autonomic pattern results.

    Science.gov (United States)

    Vernet-Maury, E; Alaoui-Ismaïli, O; Dittmar, A; Delhomme, G; Chanel, J

    1999-02-15

    The aim of this study was to link the effects of odorants with the emotional process, through autonomic nervous system (ANS) responses. Taking Ekman's data and our previous results into account, we tried to verify a possible evocation by odorants of some basic emotions, i.e. anger, fear, sadness, surprise, disgust and happiness. The question investigated was: would it be possible to associate any of these emotions with a pattern of autonomic responses? A total of 15 subjects inhaled five odorants: lavender, ethyl aceto acetate, camphor, acetic acid and butyric acid acting as olfactory stimuli. After inhaling the odorant, subjects were requested to fill out an 11-point hedonic scale to rate its 'pleasantness' vs. 'unpleasantness'. ANS parameters monitored were skin potential and resistance, skin blood flow and temperature, instantaneous respiratory frequency and instantaneous heart rate. Simultaneous recording of these six autonomic parameters permitted the analysis of phasic responses through specific ANS patterns. An analysis of variance made it possible to differentiate among the five odorants. Two-by-two odorant comparisons for autonomic responses using Tukey's HSD multiple comparison test only permitted differentiation between 'pleasant' and 'unpleasant' odors. Camphor was differentiated from both types. For instance, long duration responses were associated with 'unpleasant' odors whereas camphor elicited intermediate responses. Taking into account each subject's preferential channel, it was possible to associate each ANS pattern with a basic emotion by means of a decision tree. The computation of subjects' responses made it possible to associate an odorant with a basic emotion, over the whole group: lavender elicited mostly 'happiness', as did, to a lesser degree ethyl aceto acetate; camphor induced either 'happiness', 'surprise' or 'sadness' according to subjects' past histories; butyric and acetic acids mainly induced negative emotions: 'anger' and 'disgust

  15. A functional approach to emotion in autonomous systems.

    Science.gov (United States)

    Sanz, Ricardo; Hernández, Carlos; Gómez, Jaime; Hernando, Adolfo

    2010-01-01

    The construction of fully effective systems seems to pass through the proper exploitation of goal-centric self-evaluative capabilities that let the system teleologically self-manage. Emotions seem to provide this kind of functionality to biological systems and hence the interest in emotion for function sustainment in artificial systems performing in changing and uncertain environments; far beyond the media hullabaloo of displaying human-like emotion-laden faces in robots. This chapter provides a brief analysis of the scientific theories of emotion and presents an engineering approach for developing technology for robust autonomy by implementing functionality inspired in that of biological emotions.

  16. Global Positioning System (GPS) Receiver Autonomous Integrity Monitoring (RAIM) web service to support Area Navigation (RNAV) flight planning

    Science.gov (United States)

    2008-01-28

    The Volpe Center designed, implemented, and deployed a Global Positioning System (GPS) Receiver Autonomous Integrity Monitoring (RAIM) prediction system in the mid 1990s to support both Air Force and Federal Aviation Administration (FAA) use of TSO C...

  17. Autonomic Resource Provisioning for Cloud-Based Software

    DEFF Research Database (Denmark)

    Jamshidi, Pooyan; Ahmad, Aakash; Pahl, Claus

    2014-01-01

    Elasticity endows a software system with the ability to maintain optimal user experience by automatically acquiring and releasing resources, while paying only for what they require. The mechanism for automatically adding or removing resources on the fly is referred to as auto-scaling. The state-o...

  18. Autonomic, locomotor and cardiac abnormalities in a mouse model of muscular dystrophy: targeting the renin-angiotensin system.

    Science.gov (United States)

    Sabharwal, Rasna; Chapleau, Mark W

    2014-04-01

    New Findings What is the topic of this review? This symposium report summarizes autonomic, cardiac and skeletal muscle abnormalities in sarcoglycan-δ-deficient mice (Sgcd-/-), a mouse model of limb girdle muscular dystrophy, with emphasis on the roles of autonomic dysregulation and activation of the renin-angiotensin system at a young age. What advances does it highlight? The contributions of the autonomic nervous system and the renin-angiotensin system to the pathogenesis of muscular dystrophy are highlighted. Results demonstrate that autonomic dysregulation precedes and predicts later development of cardiac dysfunction in Sgcd-/- mice and that treatment of young Sgcd-/- mice with the angiotensin type 1 receptor antagonist losartan or with angiotensin-(1-7) abrogates the autonomic dysregulation, attenuates skeletal muscle pathology and increases spontaneous locomotor activity. Muscular dystrophies are a heterogeneous group of genetic muscle diseases characterized by muscle weakness and atrophy. Mutations in sarcoglycans and other subunits of the dystrophin-glycoprotein complex cause muscular dystrophy and dilated cardiomyopathy in animals and humans. Aberrant autonomic signalling is recognized in a variety of neuromuscular disorders. We hypothesized that activation of the renin-angiotensin system contributes to skeletal muscle and autonomic dysfunction in mice deficient in the sarcoglycan-δ (Sgcd) gene at a young age and that this early autonomic dysfunction contributes to the later development of left ventricular (LV) dysfunction and increased mortality. We demonstrated that young Sgcd-/- mice exhibit histopathological features of skeletal muscle dystrophy, decreased locomotor activity and severe autonomic dysregulation, but normal LV function. Autonomic regulation continued to deteriorate in Sgcd-/- mice with age and was accompanied by LV dysfunction and dilated cardiomyopathy at older ages. Autonomic dysregulation at a young age predicted later development of

  19. Modulation of Cardiac Autonomic Dysfunction in Ischemic Stroke following Ayurveda (Indian System of Medicine Treatment

    Directory of Open Access Journals (Sweden)

    Sriranjini Sitaram Jaideep

    2014-01-01

    Full Text Available Objectives. Cardiac autonomic dysfunction in stroke has implications on morbidity and mortality. Ayurveda (Indian system of medicine describes stroke as pakshaghata. We intended to study the effect of Ayurveda therapies on the cardiac autonomic dysfunction. Methods. Fifty patients of ischemic stroke (middle cerebral artery territory (mean age 39.26 ± 9.88 years; male 43, female 7 were recruited within one month of ictus. All patients received standard allopathic medications as advised by neurologist. In addition, patients were randomized to receive physiotherapy (Group I or Ayurveda treatment (Group II for 14 days. Continuous electrocardiogram and finger arterial pressure were recorded for 15 min before and after treatments and analyzed offline to obtain heart rate and blood pressure variability and baroreflex sensitivity (BRS. Results were analysed by RMANOVA. Results. Patients in Group II showed statistically significant improvement in cardiac autonomic parameters. The standard deviation of normal to normal intervals,and total and low frequency powers were significantly enhanced (F=8.16, P=0.007, F=9.73, P=0.004, F=13.51, and P=0.001, resp.. The BRS too increased following the treatment period (F=10.129, P=0.004. Conclusions. The current study is the first to report a positive modulation of cardiac autonomic activity after adjuvant Ayurveda treatment in ischemic stroke. Further long term studies are warranted.

  20. Autonomous mobile platform with simultaneous localisation and mapping system for patrolling purposes

    Science.gov (United States)

    Mitka, Łukasz; Buratowski, Tomasz

    2017-10-01

    This work describes an autonomous mobile platform for supervision and surveillance purposes. The system can be adapted for mounting on different types of vehicles. The platform is based on a SLAM navigation system which performs a localization task. Sensor fusion including laser scanners, inertial measurement unit (IMU), odometry and GPS lets the system determine its position in a certain and precise way. The platform is able to create a 3D model of a supervised area and export it as a point cloud. The system can operate both inside and outside as the navigation algorithm is resistant to typical localization errors caused by wheel slippage or temporal GPS signal loss. The system is equipped with a path-planning module which allows operating in two modes. The first mode is for periodical observation of points in a selected area. The second mode is turned on in case of an alarm. When it is called, the platform moves with the fastest route to the place of the alert. The path planning is always performed online with use of the most current scans, therefore the platform is able to adjust its trajectory to the environment changes or obstacles that are in the motion. The control algorithms are developed under the Robot Operating System (ROS) since it comes with drivers for many devices used in robotics. Such a solution allows for extending the system with any type of sensor in order to incorporate its data into a created area model. Proposed appliance can be ported to other existing robotic platforms or used to develop a new platform dedicated to a specific kind of surveillance. The platform use cases are to patrol an area, such as airport or metro station, in search for dangerous substances or suspicious objects and in case of detection instantly inform security forces. Second use case is a tele-operation in hazardous area for an inspection purposes.

  1. Designing, modeling and controlling a novel autonomous laser weeding system

    DEFF Research Database (Denmark)

    Shahrak Nadimi, Esmaeil; Andersson, Kim Johan; Jørgensen, Rasmus Nyholm

    2009-01-01

      Abstract: in this paper, the process of designing and developing a novel laser weeding test setup is explained. The main purpose of designing this system was to simulate the dynamic field conditions of a mobile vehicle capable of targeting weeds. This system consists of a rig containing three...

  2. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  3. Passive perception system for day/night autonomous off-road navigation

    Science.gov (United States)

    Rankin, Arturo L.; Bergh, Charles F.; Goldberg, Steven B.; Bellutta, Paolo; Huertas, Andres; Matthies, Larry H.

    2005-05-01

    Passive perception of terrain features is a vital requirement for military related unmanned autonomous vehicle operations, especially under electromagnetic signature management conditions. As a member of Team Raptor, the Jet Propulsion Laboratory developed a self-contained passive perception system under the DARPA funded PerceptOR program. An environmentally protected forward-looking sensor head was designed and fabricated in-house to straddle an off-the-shelf pan-tilt unit. The sensor head contained three color cameras for multi-baseline daytime stereo ranging, a pair of cooled mid-wave infrared cameras for nighttime stereo ranging, and supporting electronics to synchronize captured imagery. Narrow-baseline stereo provided improved range data density in cluttered terrain, while wide-baseline stereo provided more accurate ranging for operation at higher speeds in relatively open areas. The passive perception system processed stereo images and outputted over a local area network terrain maps containing elevation, terrain type, and detected hazards. A novel software architecture was designed and implemented to distribute the data processing on a 533MHz quad 7410 PowerPC single board computer under the VxWorks real-time operating system. This architecture, which is general enough to operate on N processors, has been subsequently tested on Pentium-based processors under Windows and Linux, and a Sparc based-processor under Unix. The passive perception system was operated during FY04 PerceptOR program evaluations at Fort A. P. Hill, Virginia, and Yuma Proving Ground, Arizona. This paper discusses the Team Raptor passive perception system hardware and software design, implementation, and performance, and describes a road map to faster and improved passive perception.

  4. Autonomous low-noise system for broadband measurements of the cosmic microwave background radiation

    Science.gov (United States)

    Dekoulis, George

    2009-05-01

    This paper describes the digital side implementation of a new suborbital experiment for the measurement of broadband radiation emissions of the Cosmic Microwave Background (CMB) anisotropy. The system has been used in campaign mode for initial mapping of the galactic radiation power received at a single frequency. The recorded galactic sky map images are subsequently being used to forecast the emitted radiation at neighboring frequencies. A planned second campaign will verify the prediction algorithms efficiency in an autonomous manner. The system has reached an advanced stage in terms of hardware and software combined operation and intelligence, where other Space Physics measurements are performed autonomously depending on the burst event under investigation. The system has been built in a modular manner to expedite hardware and software upgrades. Such an upgrade has recently occurred mainly to expand the frequency range of space observations.

  5. Optimal Sensor-Based Motion Planning for Autonomous Vehicle Teams

    Science.gov (United States)

    2017-03-01

    FLS system designed for use on the NPS REMUS 100 AUV, for example, was designed with multiple blazed arrays mounted at a permanent tilt angle of VDE ... VDE . 116 Figure 5.6 Fraction of single-vehicle VDE simulations with feasible trajectories. 116 Figure 5.7 Average single-vehicle search performance...103 Table 5.1 Simulation parameters for Nt analysis (free parameters in bold). . 110 Table 5.2 Simulation parameters for VDE analysis (free parameters

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

    Directory of Open Access Journals (Sweden)

    Chang Luo

    2016-01-01

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

  7. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

    Science.gov (United States)

    Meng, Xiaoli; Wang, Heng; Liu, Bingbing

    2017-09-18

    Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

  8. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Xiaoli Meng

    2017-09-01

    Full Text Available Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System/IMU (Inertial Measurement Unit/DMI (Distance-Measuring Instruments, a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

  9. Evaluation of Autonomic Nervous System, Saliva Cortisol Levels, and Cognitive Function in Major Depressive Disorder Patients

    Directory of Open Access Journals (Sweden)

    Sukonthar Ngampramuan

    2018-01-01

    Full Text Available Major depressive disorder (MDD is associated with changes in autonomic nervous system (ANS and cognitive impairment. Heart rate variability (HRV and Pulse pressure (PP parameters reflect influences of the sympathetic and parasympathetic nervous system. Cortisol exerts its greatest effect on the hippocampus, a brain area closely related to cognitive function. This study aims to examine the effect of HRV, PPG, salivary cortisol levels, and cognitive function in MDD patients by using noninvasive techniques. We have recruited MDD patients, diagnosed based on DSM-V-TR criteria compared with healthy control subjects. Their HRV and PP were measured by electrocardiogram (ECG and photoplethysmography (PPG. Salivary cortisol levels were collected and measured on the same day. MDD patients exhibited elevated values of mean HR, standard deviation of HR (SDHR, low frequency (LF power, low frequency/high frequency (LF/HF ratio, mean PP, standard deviation of pulse pressure (SDPP, and salivary cortisol levels. Simultaneously, they displayed lower values of mean of R-R intervals (mean NN, standard deviation of R-R intervals (SDNN, high frequency (HF power, and WCST scores. Results have shown that the ANS of MDD patients were dominated by the sympathetic activity and that they have cognitive deficits especially in the domain of executive functioning.

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

    Science.gov (United States)

    Baluja, S

    1996-01-01

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

  11. Autonomous learning by simple dynamical systems with delayed feedback.

    Science.gov (United States)

    Kaluza, Pablo; Mikhailov, Alexander S

    2014-09-01

    A general scheme for the construction of dynamical systems able to learn generation of the desired kinds of dynamics through adjustment of their internal structure is proposed. The scheme involves intrinsic time-delayed feedback to steer the dynamics towards the target performance. As an example, a system of coupled phase oscillators, which can, by changing the weights of connections between its elements, evolve to a dynamical state with the prescribed (low or high) synchronization level, is considered and investigated.

  12. An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

    Science.gov (United States)

    2013-02-01

    at the New Mexico Institute of Technology [32] and is now owned by Wind River systems. It runs a thin Linux microkernel that separates and...at hard real-time systems. It has been developed since 1986 and is aimed to be a modular OS with a small microkernel of core functionality, with extra...modules that can be added for additional functionality, including networking tools and graphical interfaces [38]. The microkernel handles largely

  13. Fault detection and isolation in GPS receiver autonomous integrity monitoring based on chaos particle swarm optimization-particle filter algorithm

    Science.gov (United States)

    Wang, Ershen; Jia, Chaoying; Tong, Gang; Qu, Pingping; Lan, Xiaoyu; Pang, Tao

    2018-03-01

    The receiver autonomous integrity monitoring (RAIM) is one of the most important parts in an avionic navigation system. Two problems need to be addressed to improve this system, namely, the degeneracy phenomenon and lack of samples for the standard particle filter (PF). However, the number of samples cannot adequately express the real distribution of the probability density function (i.e., sample impoverishment). This study presents a GPS receiver autonomous integrity monitoring (RAIM) method based on a chaos particle swarm optimization particle filter (CPSO-PF) algorithm with a log likelihood ratio. The chaos sequence generates a set of chaotic variables, which are mapped to the interval of optimization variables to improve particle quality. This chaos perturbation overcomes the potential for the search to become trapped in a local optimum in the particle swarm optimization (PSO) algorithm. Test statistics are configured based on a likelihood ratio, and satellite fault detection is then conducted by checking the consistency between the state estimate of the main PF and those of the auxiliary PFs. Based on GPS data, the experimental results demonstrate that the proposed algorithm can effectively detect and isolate satellite faults under conditions of non-Gaussian measurement noise. Moreover, the performance of the proposed novel method is better than that of RAIM based on the PF or PSO-PF algorithm.

  14. Studying the Safety Impact of Autonomous Vehicles Using Simulation-Based Surrogate Safety Measures

    OpenAIRE

    Morando, Mark Mario; Tian, Qingyun; Truong, Long T.; Vu, Hai L.

    2018-01-01

    Autonomous vehicle (AV) technology has advanced rapidly in recent years with some automated features already available in vehicles on the market. AVs are expected to reduce traffic crashes as the majority of crashes are related to driver errors, fatigue, alcohol, or drugs. However, very little research has been conducted to estimate the safety impact of AVs. This paper aims to investigate the safety impacts of AVs using a simulation-based surrogate safety measure approach. To this end, safety...

  15. A brief review of chronic exercise intervention to prevent autonomic nervous system changes during the aging process

    Directory of Open Access Journals (Sweden)

    Rogério Brandão Wichi

    2009-03-01

    Full Text Available The aging process is associated with alterations in the cardiovascular and autonomic nervous systems. Autonomic changes related to aging involve parasympathetic and sympathetic alterations leading to a higher incidence of cardiovascular disease morbidity and mortality. Several studies have suggested that physical exercise is effective in preventing deleterious changes. Chronic exercise in geriatrics seems to be associated with improvement in the cardiovascular system and seems to promote a healthy lifestyle. In this review, we address the major effects of aging on the autonomic nervous system in the context of cardiovascular control. We examine the use of chronic exercise to prevent cardiovascular changes during the aging process.

  16. A Brief Review of Chronic Exercise Intervention to Prevent Autonomic Nervous System Changes During the Aging Process

    Science.gov (United States)

    Wichi, Rogério Brandão; De Angelis, Kátia; Jones, Lia; Irigoyen, Maria Claudia

    2009-01-01

    The aging process is associated with alterations in the cardiovascular and autonomic nervous systems. Autonomic changes related to aging involve parasympathetic and sympathetic alterations leading to a higher incidence of cardiovascular disease morbidity and mortality. Several studies have suggested that physical exercise is effective in preventing deleterious changes. Chronic exercise in geriatrics seems to be associated with improvement in the cardiovascular system and seems to promote a healthy lifestyle. In this review, we address the major effects of aging on the autonomic nervous system in the context of cardiovascular control. We examine the use of chronic exercise to prevent cardiovascular changes during the aging process. PMID:19330253

  17. Learning in tele-autonomous systems using Soar

    Science.gov (United States)

    Laird, John E.; Yager, Eric S.; Tuck, Christopher M.; Hucka, Michael

    1989-01-01

    Robo-Soar is a high-level robot arm control system implemented in Soar. Robo-Soar learns to perform simple block manipulation tasks using advice from a human. Following learning, the system is able to perform similar tasks without external guidance. It can also learn to correct its knowledge, using its own problem solving in addition to outside guidance. Robo-Soar corrects its knowledge by accepting advice about relevance of features in its domain, using a unique integration of analytic and empirical learning techniques.

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

    Science.gov (United States)

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

    2015-11-01

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

  19. A feature matching and fusion-based positive obstacle detection algorithm for field autonomous land vehicles

    Directory of Open Access Journals (Sweden)

    Tao Wu

    2017-03-01

    Full Text Available Positive obstacles will cause damage to field robotics during traveling in field. Field autonomous land vehicle is a typical field robotic. This article presents a feature matching and fusion-based algorithm to detect obstacles using LiDARs for field autonomous land vehicles. There are three main contributions: (1 A novel setup method of compact LiDAR is introduced. This method improved the LiDAR data density and reduced the blind region of the LiDAR sensor. (2 A mathematical model is deduced under this new setup method. The ideal scan line is generated by using the deduced mathematical model. (3 Based on the proposed mathematical model, a feature matching and fusion (FMAF-based algorithm is presented in this article, which is employed to detect obstacles. Experimental results show that the performance of the proposed algorithm is robust and stable, and the computing time is reduced by an order of two magnitudes by comparing with other exited algorithms. This algorithm has been perfectly applied to our autonomous land vehicle, which has won the champion in the challenge of Chinese “Overcome Danger 2014” ground unmanned vehicle.

  20. Cancellation of the Army’s Autonomous Navigation System

    Science.gov (United States)

    2012-08-02

    Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile