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Sample records for tip position control

  1. Electrocardiography-controlled central venous catheter tip positioning in patients with atrial fibrillation.

    Science.gov (United States)

    Steinhagen, Folkert; Kanthak, Maximilian; Kukuk, Guido; Bode, Christian; Hoeft, Andreas; Weber, Stefan; Kim, Se-Chan

    2018-02-01

    A significant increase of the p-wave of a real-time intracavitary electrocardiography is a reliable and safe method to confirm the central venous catheter tip position close to the atrium. However, conflicting data about the feasibility of electrocardiography exist in patients with atrial fibrillation. An observational prospective case-control cohort study was set up to study the feasibility and accuracy of the electrocardiography-controlled central venous catheter tip placement in 13 patients with atrial fibrillation versus 10 patients with sinus rhythm scheduled for elective surgery. Each intervention was crosschecked with ultrasound-guided positioning via right supraclavicular fossa view and chest radiography. Ultrasound-guided supraclavicular venipuncture of the right subclavian vein and guidewire advancement were performed. A B-mode view of the superior vena cava and the right pulmonary artery was obtained to visualize the J-tip of the guidewire. The central venous catheter was advanced over the guidewire and the electrocardiography was derived from the J-tip of the guidewire protruding from the central venous catheter tip. Electrocardiography was read for increased p- and atrial fibrillation waves, respectively, and insertion depth was compared with the ultrasound method. Electrocardiography indicated significantly increasing fibrillation and p-waves, respectively, in all patients and ultrasound-guided central venous catheter positioning confirmed a tip position within the lower third of the superior vena cava. Electrocardiography-guided central venous catheter tip positioning is a feasible real-time method for patients with atrial fibrillation. Combined with ultrasound, the electrocardiography-controlled central venous catheter placement may eliminate the need for postinterventional radiation exposure.

  2. Tip position control of a two-link flexible robot manipulator based on nonlinear deflection feedback

    CERN Document Server

    Oke, G

    2003-01-01

    The control of flexible link manipulators has gained an increasing importance in robotics, in recent years. To control the tip of a flexible manipulator, the joint angles should converge to the desired positions fast and elastic deflections must be effectively suppressed. In this study, a two-link flexible manipulator is controlled by three methods and the results are compared. These methods are, Pd control, PD control augmented by a nonlinear correction term feedback, where the correction term is a function of the deflection of each link, and an adaptive fuzzy controller with the nonlinear correction term feedback. Simulations have been carried out to compare the performances of all three methods.

  3. Tip velocity tracking control for elastic manipulators

    Science.gov (United States)

    Sever, Manfred Dieter Martin

    A unique approach to tip velocity control of an elastic robotic manipulator is presented. This method has potential application in teleoperation control and in applications where the trajectory is generated in real-time. Control is effected by reducing the tip velocity tracking error between the desired tip velocity and the measured tip velocity. Thus, in teleoperation, the concept of dead reckoning is used, so that while the manipulator's desired tip velocity is specified, the goal is for the tip to follow a path, leading toward a desired terminal position. This is done by concentrating the controller's effort on the manipulator tip while allowing the manipulator's links to deform., The controller utilizes a gain scheduling scheme to arrive at an appropriate feedback law. The control algorithm is implemented using a parallel-processing scheme on a multiprocessor system which consists of INMOS TransputersRTM . Experimental results are obtained using Radius, the Space Robotics Laboratory Facility at the University of Toronto Institute for Aerospace Studies. Radius was designed to serve specifically as a test-bed for the development and evaluation of control methods for elastic manipulators. For the present work Radius is configured as a two-link manipulator with both links structurally flexible. One of the trajectories used for the simulations and experiment is a square, which is quite difficult for an elastic manipulator to execute. This box trajectory is more demanding than trajectories typically executed by Canadarm and so link elasticity becomes an important consideration. The effect of elasticity is demonstrated using an independent joint PD controller. In simulation, excellent tip velocity tracking was achieved using the proposed controller. In the experiment, reasonable accuracy in following the desired tip path was attained, however, disturbances, mainly a result of unmodeled joint dynamics, caused degraded performance. The controller may be improved by

  4. Dielectrophoretic positioning of single nanoparticles on atomic force microscope tips for tip-enhanced Raman spectroscopy.

    Science.gov (United States)

    Leiterer, Christian; Deckert-Gaudig, Tanja; Singh, Prabha; Wirth, Janina; Deckert, Volker; Fritzsche, Wolfgang

    2015-05-01

    Tip-enhanced Raman spectroscopy, a combination of Raman spectroscopy and scanning probe microscopy, is a powerful technique to detect the vibrational fingerprint of molecules at the nanometer scale. A metal nanoparticle at the apex of an atomic force microscope tip leads to a large enhancement of the electromagnetic field when illuminated with an appropriate wavelength, resulting in an increased Raman signal. A controlled positioning of individual nanoparticles at the tip would improve the reproducibility of the probes and is quite demanding due to usually serial and labor-intensive approaches. In contrast to commonly used submicron manipulation techniques, dielectrophoresis allows a parallel and scalable production, and provides a novel approach toward reproducible and at the same time affordable tip-enhanced Raman spectroscopy tips. We demonstrate the successful positioning of an individual plasmonic nanoparticle on a commercial atomic force microscope tip by dielectrophoresis followed by experimental proof of the Raman signal enhancing capabilities of such tips. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  5. Positive lidocaine toxicology screen after J-Tip for venipuncture.

    Science.gov (United States)

    Bhupali, Chetan; Cummings, Brian M; Parker, Lois; Young, Robert; Noviski, Natan

    2013-12-01

    Venipuncture is common in children, and topical anesthetics are often used to alleviate the pain of the procedure. The J-Tip (National Medical Products, Inc, Irvine, Calif) device has become popular as a rapid and effective means of delivering lidocaine noninvasively. We report a case of a positive lidocaine blood toxicology screen after the use of the J-Tip device in a child pre-venipuncture. A repeat toxicology screen obtained 1 hour later by venipuncture without J-Tip use was negative. This report serves to remind clinicians that topical anesthetics may interfere with toxicology assays, leading to unreliable toxicology results.

  6. A New Approach to Control Single-Link Flexible Arms. Part 2. Control of the Tip Position in the Presence of Joint Friction

    Science.gov (United States)

    1989-07-01

    Force Workshop on Space, Operation, Automation and Robotics. Dayton (USA), July, 1988. [13] Feliu, V. Disefio Automitico con Computador de Sistemas ...July 1989 Copyright @ 1989 Carnegie Mellon University ’Visiting Professor, Dpto Ingenieria Eldctrica, Electr6nica y Control, UNED, Ciudad Universitaria...Winter, 1987. [6] Ower, J. C. and Van de Vegte, J. Classical Control Design for a Flexible Manipulator: Modeling and Control System Design. IEEE Journal

  7. A New Approach to Control Single-Link Flexible Arms. Part 3. Adaptive Control of the Tip Position with Payload Changes

    Science.gov (United States)

    1989-07-01

    Universitaria Madrid -28040, Spain 2Visiting Professor, Department of Electrical Systems Engineering, Wright State University, Dayton, OH. 45435. ,-o -. -1 89...T.111989 iISBU Copyright @ 1989 Carnegie Mellon University ’Visiting Professor, Dpto Ingcniena Ehdctrica, Elec,r6nica y Control, UNED, Ciudad ...Robotics Research, 1985. [21 De Maria and Siciliano B. A Multilayer Approach to Control of a Flexible Arm. Proceedings 1987 IEEE International Conference on

  8. Multiple Iterations of Bundle Adjustment for the Position Measurement of Fiber Tips on LAMOST

    Directory of Open Access Journals (Sweden)

    Feng Mingchi

    2014-08-01

    Full Text Available In the astronomical observation process of multi-object fiber spectroscopic telescope, the position measurement of fiber tips on the focal plane is difficult and critical, and is directly related to subsequent observation and ultimate data quality. The fibers should precisely align with the celestial target. Hence, the precise coordinates of the fiber tips are obligatory for tracking the celestial target. The accurate movement trajectories of the fiber tips on the focal surface of the telescope are the critical problem for the control of the fiber positioning mechanism. According to the special structure of the LAMOST telescope and the composition of the initial position error, this paper aims at developing a high precision and robust measurement method based on multiple iterations of bundle adjustment with a few control points. The measurement theory of the proposed methodology has been analyzed, and the measurement accuracy has been evaluated. The experimental results indicate that the new method is more accurate and more reliable than the polynomial fitting method. The maximum position error of the novel measurement algorithm of fiber tips with simulated and real data is 65.3 μm, and most of the position errors conform to the accuracy requirement (40 μm.

  9. Temperature-controlled irrigated tip radiofrequency catheter ablation

    DEFF Research Database (Denmark)

    Petersen, H H; Chen, X; Pietersen, Adrian

    1998-01-01

    INTRODUCTION: In patients with ventricular tachycardias due to structural heart disease, catheter ablation cures radiofrequency ablation. Irrigated tip radiofrequency ablation using power control and high infusion rates enlarges lesion......: We conclude that temperature-controlled radiofrequency ablation with irrigated tip catheters using low target temperature and low infusion rate enlarges lesion size without increasing the incidence of cratering and reduces coagulum formation of the tip....

  10. Tip off the HAT- Epigenetic control of learning and memory by Drosophila Tip60.

    Science.gov (United States)

    Xu, Songjun; Elefant, Felice

    2015-01-01

    Disruption of epigenetic gene control mechanisms involving histone acetylation in the brain causes cognitive impairment, a debilitating hallmark of most neurodegenerative disorders. Histone acetylation regulates cognitive gene expression via chromatin packaging control in neurons. Unfortunately, the histone acetyltransferases (HATs) that generate such neural epigenetic signatures and their mechanisms of action remain unclear. Our recent findings provide insight into this question by demonstrating that Tip60 HAT action is critical for morphology and function of the mushroom body (MB), the learning and memory center in the Drosophila brain. We show that Tip60 is robustly produced in MB Kenyon cells and extending axonal lobes and that targeted MB Tip60 HAT loss results in axonal outgrowth disruption. Functional consequences of loss and gain of Tip60 HAT levels in the MB are evidenced by defects in memory. Tip60 ChIP-Seq analysis reveals enrichment for genes that function in cognitive processes and accordingly, key genes representing these pathways are misregulated in the Tip60 HAT mutant fly brain. Remarkably, increasing levels of Tip60 in the MB rescues learning and memory deficits resulting from Alzheimer's disease associated amyloid precursor protein (APP) induced neurodegeneration. Our studies highlight the potential of HAT activators as a therapeutic option for cognitive disorders.

  11. Central venous catheterization for acute trauma resuscitation: Tip position analysis using routine emergency computed tomography.

    Science.gov (United States)

    Struck, Manuel F; Ewens, Sebastian; Schummer, Wolfram; Busch, Thilo; Bernhard, Michael; Fakler, Johannes K M; Stumpp, Patrick; Stehr, Sebastian N; Josten, Christoph; Wrigge, Hermann

    2018-03-01

    Central venous catheter insertion for acute trauma resuscitation may be associated with mechanical complications, but studies on the exact central venous catheter tip positions are not available. The goal of the study was to analyze central venous catheter tip positions using routine emergency computed tomography. Consecutive acute multiple trauma patients requiring large-bore thoracocervical central venous catheters in the resuscitation room of a university hospital were enrolled retrospectively from 2010 to 2015. Patients who received a routine emergency chest computed tomography were analyzed regarding central venous catheter tip position. The central venous catheter tip position was defined as correct if the catheter tip was placed less than 1 cm inside the right atrium relative to the cavoatrial junction, and the simultaneous angle of the central venous catheter tip compared with the lateral border of the superior vena cava was below 40°. During the 6-year study period, 97 patients were analyzed for the central venous catheter tip position in computed tomography. Malpositions were observed in 29 patients (29.9%). Patients with malpositioned central venous catheters presented with a higher rate of shock (systolic blood pressure central venous catheter tips. Logistic regression revealed injury severity score as a significant predictor for central venous catheter malposition (odds ratio = 1.039, 95% confidence interval = 1.005-1.074, p = 0.024). Multiple trauma patients who underwent emergency central venous catheter placement by experienced anesthetists presented with considerable tip malposition in computed tomography, which was significantly associated with a higher injury severity.

  12. Alar setback technique: a controlled method of nasal tip deprojection.

    Science.gov (United States)

    Foda, H M

    2001-11-01

    To describe an alar cartilage-modifying technique aimed at decreasing nasal tip projection in cases with overdeveloped alar cartilages and to compare it with other deprojection techniques used to correct such deformity. Selected case series. University and private practice settings in Alexandria, Egypt. Twenty patients presenting for rhinoplasty who had overprojected nasal tips primarily due to overdeveloped alar cartilages. All cases were primary cases except for one patient, who had undergone 2 previous rhinoplasties. An external rhinoplasty approach was used to set back the alar cartilages by shortening their medial and lateral crura. The choice of performing a high or low setback depended on the preexisting lobule-to-columella ratio. Following the setback, the alar cartilages were reconstructed in a fashion that increased the strength and stability of the tip complex. Subjective evaluation included clinical examination, analysis of preoperative and postoperative photographs, and patient satisfaction. Objective evaluation of nasal tip projection, using the Goode ratio and the nasofacial angle, was performed preoperatively and repeated at least 6 months postoperatively. A low setback was performed in 16 cases (80%) and a high setback in 4 (20%). The mean follow-up period was 18 months (range, 6-36 months). The technique effectively deprojected the nasal tip as evidenced by the considerable postoperative decrease in values of the Goode ratio and the nasofacial angle. No complications were encountered and no revision surgical procedures were required. The alar setback technique has many advantages; it results in precise predictable amounts of deprojection, controls the degree of tip rotation, preserves the natural contour of the nasal tip, respects the tip support mechanisms, increases the strength and stability of nasal tip complex, preserves or restores the normal lobule-to-columella proportion, and does not lead to alar flaring. However, the technique requires

  13. A tip-attached tuning fork sensor for the control of DNA translocation through a nanopore.

    Science.gov (United States)

    Hyun, Changbae; Kaur, Harpreet; Huang, Tao; Li, Jiali

    2017-02-01

    In this work, we demonstrate that a tuning fork can be used as a force detecting sensor for manipulating DNA molecules and for controlling the DNA translocation rate through a nanopore. One prong of a tuning fork is glued with a probe tip which DNA molecules can be attached to. To control the motion and position of the tip, the tuning fork is fixed to a nanopositioning system which has sub-nanometer position control. A fluidic chamber is designed to fulfill many requirements for the experiment: for the access of a DNA-attached tip approaching to a nanopore, for housing a nanopore chip, and for measuring ionic current through a solid-state nanopore with a pair of electrodes. The location of a nanopore is first observed by transmission electron microscopy, and then is determined inside the liquid chambers with an optical microscope combined with local scanning the probe tip on the nanopore surface. When a DNA-immobilized tip approaches a membrane surface near a nanopore, free ends of the immobilized DNA strings can be pulled and trapped into the pore by an applied voltage across the nanopore chip, resulting in an ionic current reduction through the nanopore. The trapped DNA molecules can be lifted up from the nanopore at a user controlled speed. This integrated apparatus allows manipulation of biomolecules (DNA, RNA, and proteins) attached to a probe tip with sub-nanometer precision, and simultaneously allows measurement of the biomolecules by a nanopore device.

  14. Tip Clearance Control Using Plasma Actuators

    Science.gov (United States)

    2007-03-01

    control the spatial electric field. The body force represen- tation is also a convenient form to incorporate the effect of the actuators in Navier ...for close investigation of the flow physics. Shim stock spacers permitted gap sizes from 0.5 to 5.0% axial chord. For passive flow control measurements

  15. Tips for Hiring a Rodent Control Professional

    Science.gov (United States)

    Ask to see the pest control company's license, check for appropriate insurance, and make sure employees are bonded (company reimburses you for any damage). You may also want to call your state pesticide regulatory agency, or the NPIC or NPMA.

  16. Visualized Multiprobe Electrical Impedance Measurements with STM Tips Using Shear Force Feedback Control

    Directory of Open Access Journals (Sweden)

    Luis Botaya

    2016-05-01

    Full Text Available Here we devise a multiprobe electrical measurement system based on quartz tuning forks (QTFs and metallic tips capable of having full 3D control over the position of the probes. The system is based on the use of bent tungsten tips that are placed in mechanical contact (glue-free solution with a QTF sensor. Shear forces acting in the probe are measured to control the tip-sample distance in the Z direction. Moreover, the tilting of the tip allows the visualization of the experiment under the optical microscope, allowing the coordination of the probes in X and Y directions. Meanwhile, the metallic tips are connected to a current–voltage amplifier circuit to measure the currents and thus the impedance of the studied samples. We discuss here the different aspects that must be addressed when conducting these multiprobe experiments, such as the amplitude of oscillation, shear force distance control, and wire tilting. Different results obtained in the measurement of calibration samples and microparticles are presented. They demonstrate the feasibility of the system to measure the impedance of the samples with a full 3D control on the position of the nanotips.

  17. Plasma position control device

    International Nuclear Information System (INIS)

    Takase, Haruhiko.

    1987-01-01

    Purpose: To conduct position control stably to various plasmas and reduce the burden on the control coil power source. Constitution: Among the proportional, integration and differentiation controls, a proportional-differentiation control section and an integration control section are connected in parallel. Then, a signal switching circuit is disposed to the control signal input section for the proportional-differentiation control section such that either a present position of plasmas or deviation between the present plasma position and an aimed value can be selected as a control signal depending on the control procedures or the state of the plasmas. For instance, if a rapid response is required for the control, the deviation between the present plasma position and the aimed value is selected as the input signal to conduct proportional, integration and differentiation controls. While on the other hand, if it is intended to reduce the burden on the control coil power source, it is adapted such that the control signal inputted to the proportional-differentiation control section itself can select the present plasma position. (Yoshihara, H.)

  18. Studies Of Positive-Position-Feedback Control

    Science.gov (United States)

    Fanson, James L.; Caughey, Thomas K.

    1992-01-01

    Report discusses theoretical and experimental studies of positive-position-feedback control for suppressing vibrations in large flexible structures. Positive-position-feedback control involves placement of actuators and sensors on structure; control voltages applied to actuators in response to outputs of sensors processed via compensator algorithm. Experiments demonstrate feasibility of suppressing vibrations by positive position feedback, and spillover of vibrational energy into uncontrolled modes has stabilizing effect if control gain sufficiently small.

  19. Plasma position control method

    International Nuclear Information System (INIS)

    Shirahama, Hidefumi; Sakurai, Yoshimi.

    1988-01-01

    Purpose: To suppress the non-linear relationship between the horizontal position of plasmas and the intensity of the vertical magnetic fields, thereby control the horizontal position of the plasmas stably and at a high speed in a closed loop in a tokamak type thermonuclear device. Method: In a control method for approaching the plasma position to a target position in the tokamak type thermonuclear device, a function circuit having two inputs and one output is disposed in a loop constituting the plasma position control system. The characteristics of the function circuit are so designed as to provide a proportional relationship between the first input and the output, while an inverse proportional relationship between the second input and the output. A detected value for the plasma current is used as a signal for the first input, while the detected value for the plasma position or a operation amount based on the difference with the detected value is used as a signal for the second input. By using the function circuit, it is possible to suppress the non-linear characteristics in the dynamic properties of the plasmas, by which the remarkable change of gains in the plasma position control circuit due to the fluctuations of the plasma current and the position can be prevented. (Ikeda, J.)

  20. Turbine Blade Tip-Gap Flow Physics and Control

    Science.gov (United States)

    Douville, Travis

    2005-11-01

    A linear cascade that is designed to simulate the flow around blades in the low-pressure turbine stage of turbo-jet engines is used to study the physics of the tip-gap flow and vortex. The cascade consists of three Pratt & Whitney ``PakB'' blades. The experiment investigated gap sizes of 0.5 to 5.0 percent of the blade axial chord, and Reynolds numbers from 100K to 500K that correspond to tip relative Mach numbers of 0.04 to 0.21. Static pressure ports at mid and tip spanwise locations recorded blade pressure distributions. Static end wall taps recorded pressures in the gap region. A five-hole Pitot probe that was traversed in the blade wakes was used to determine total pressure loss coefficients and local velocity vectors. Baseline measurements were analyzed across the range of Reynolds numbers and gap sizes to categorize their effects. These were then compared to flow changes produced by a passive flow control device placed at the end of a blade to locally reduce the gap height. Its effect on the tip-gap flow is presented.

  1. Role of the coiled-coil tip of Escherichia coli DksA in promoter control

    Science.gov (United States)

    Lee, Jeong-Hyun; Lennon, Christopher W.; Ross, Wilma; Gourse, Richard L.

    2012-01-01

    E. coli DksA works in conjunction with the small molecule ppGpp to regulate transcription initiation negatively or positively, depending on the identity of the promoter. DksA is in a class of transcription factors that do not bind directly to DNA like classical repressors or activators but rather bind in the RNA polymerase (RNAP) secondary channel like the transcription elongation factors GreA and GreB in E. coli and TFIIS in eukaryotes. We found that substitution for either of two residues in its coiled-coil tip, D74 or A76, eliminates DksA function without affecting its apparent affinity for RNAP. The properties of DksA-Gre factor chimeras indicated that the coiled-coil tip is responsible for the DksA-specific effects on open complex formation. A conservative substitution at position 74, D74E, resulted in a loss of DksA function in both negative and positive control, and an E44D substitution at the analogous position in GreA resulted in a gain of function in both negative and positive control. That a single methylene group has such an extraordinary effect on these transcription factors highlights the critical nature of the identity of coiled-coil tip interactions with RNAP for open complex formation. PMID:22200485

  2. Effects of Boundary Layer Control Method on Hydrodynamic Characteristics and Tip Vortex Creation of a Hydrofoil

    Directory of Open Access Journals (Sweden)

    Ghadimi Parviz

    2017-06-01

    Full Text Available There is currently a significant focus on using boundary layer control (BLC approach for controlling the flow around bodies, especially the foil sections. In marine engineering this is done with the hope of increasing the lift - to - drag ratio and efficiency of the hydrofoils. In this paper, effects of the method on hydrodynamic characteristics and tip vortex formation of a hydrofoil are studied. Steady water injection at the tip of the hydrofoil is simulated in different conditions by using ANSYS-CFX commercial software. Validity of the proposed simulations is verified by comparing the obtained results against available experimental data. Effects of the injection on the lift, drag, and lift - to - drag ratio are studied and the ranges within which the injection has the most positive or negative effects, are determined. Furthermore, flow pattern and pressure variation are studied upon the water injection to determine the most positive and negative case and to ascertain the main reasons triggering these phenomena.

  3. Algorithm of fatigue crack detection and determination of its tip position in optical images

    Science.gov (United States)

    Panin, S. V.; Chemezov, V. O.; Lyubutin, P. S.; Titkov, V. V.

    2017-05-01

    An algorithm of fatigue crack detection in optical images taken in fatigue tests of materials is proposed and tested. The algorithm is designed for automation of measurements of the crack propagation parameter and tracing the crack tip position in the course of cyclic loading for the purpose of shifting the optical system with respect to the examined sample surface to the "region of interest." It is found that the coordinates of the image fragment containing the crack can be determined with a mean error of 1.93% of the total size of the raster. Testing of the algorithm on model images shows that the mean error of determining the crack tip position is smaller than 56 pixels.

  4. Tissue temperatures and lesion size during irrigated tip catheter radiofrequency ablation: an in vitro comparison of temperature-controlled irrigated tip ablation, power-controlled irrigated tip ablation, and standard temperature-controlled ablation

    DEFF Research Database (Denmark)

    Petersen, H H; Chen, X; Pietersen, A

    2000-01-01

    The limited success rate of radiofrequency catheter ablation in patients with ventricular tachycardias related to structural heart disease may be increased by enlarging the lesion size. Irrigated tip catheter ablation is a new method for enlarging the size of the lesion. It was introduced...... in the power-controlled mode with high power and high infusion rate, and is associated with an increased risk of crater formation, which is related to high tissue temperatures. The present study explored the tissue temperatures during temperature-controlled irrigated tip ablation, comparing it with standard...... temperature-controlled ablation and power-controlled irrigated tip ablation. In vitro strips of porcine left ventricular myocardium were ablated. Temperature-controlled irrigated tip ablation at target temperatures 60 degrees C, 70 degrees C, and 80 degrees C with infusion of 1 mL saline/min were compared...

  5. Enhancing Raman signals with an interferometrically controlled AFM tip

    International Nuclear Information System (INIS)

    Oron-Carl, Matti; Krupke, Ralph

    2013-01-01

    We demonstrate the upgrade of a commercial confocal Raman microscope into a tip-enhanced Raman microscope/spectroscopy system (TERS) by integrating an interferometrically controlled atomic force microscope into the base of an existing upright microscope to provide near-field detection and thus signal enhancement. The feasibility of the system is demonstrated by measuring the Raman near-field enhancement on thin PEDOT:PSS films and on carbon nanotubes within a device geometry. An enhancement factor of 2–3 and of 5–6 is observed, respectively. Moreover, on a nanotube device we show local conductivity measurement and its correlation to Raman and topography recordings. Upgrading an existing upright confocal Raman microscope in the demonstrated way is significantly cheaper than purchasing a complete commercial TERS system. (paper)

  6. CDK9-mediated phosphorylation controls the interaction of TIP60 with the transcriptional machinery.

    Science.gov (United States)

    Brauns-Schubert, Prisca; Schubert, Florian; Wissler, Manuela; Weiss, Martina; Schlicher, Lisa; Bessler, Simon; Safavi, Mariam; Miething, Cornelius; Borner, Christoph; Brummer, Tilman; Maurer, Ulrich

    2018-02-01

    The acetyltransferase TIP60 is regulated by phosphorylation, and we have previously shown that phosphorylation of TIP60 on S86 by GSK-3 promotes p53-mediated induction of the BCL-2 protein PUMA. TIP60 phosphorylation by GSK-3 requires a priming phosphorylation on S90, and here, we identify CDK9 as a TIP60S90 kinase. We demonstrate that a phosphorylation-deficient mutant, TIP60 S90A , exhibits reduced interaction with chromatin, histone 3 and RNA Pol II, while its association with the TIP60 complex subunit EPC1 is not affected. Consistently, we find a diminished association of TIP60 S90A with the MYC gene. We show that cells expressing TIP60 S90A , but also TIP60 S86A , which retains S90 phosphorylation, exhibit reduced histone 4 acetylation and proliferation. Thus, our data indicate that, during transcription, phosphorylation of TIP60 at two sites has different regulatory effects on TIP60, whereby S90 phosphorylation controls association with the transcription machinery, and S86 phosphorylation is regulating TIP60 HAT activity. © 2018 The Authors.

  7. An intelligent control scheme for precise tip-motion control in atomic force microscopy.

    Science.gov (United States)

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

    The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

  8. Totally implantable port management: impact of positive pressure during needle withdrawal on catheter tip occlusion (an experimental study).

    Science.gov (United States)

    Lapalu, Jordane; Losser, Marie-Reine; Albert, Odile; Levert, Albert; Villiers, Stéphane; Faure, Pierre; Douard, Marie-Cécile

    2010-01-01

    Totally implanted ports (TIP) have become a standard part of patient care, providing long-term central venous access for treatment administration and other procedures. Despite overall the safety and effectiveness of TIP, complications still occur. Negative pressure created during needle withdrawal induces blood reflux and subsequent catheter occlusion. Application of positive pressure during needle withdrawal is thought to largely prevent such reflux, but supporting data are limited. To quantify the role of positive pressure, using a test model designed to simulate physiological conditions. Reflux associated with needle withdrawal with and without applied positive pressure was tested using various TIP models from different manufacturers mounted on a specially designed test bench. In addition to the presence or absence of positive pressure during needle withdrawal, study variables comprised of needle type (safety and standard), needle gauge and port septum diameter. Application of positive pressure during needle withdrawal reduced the incidence of reflux during needle withdrawal by nearly 80% (22% vs. 99%, ppressure. In the absence of positive pressure, mean reflux increased with septum diameter and needle gauge to a statistically significant extent. None of these variables significantly affected reflux in the context of needle withdrawal under positive pressure. The results of this study support the use of positive pressure during needle withdrawal to prevent blood reflux potentially leading to catheter tip occlusion.

  9. Positive train control shared network.

    Science.gov (United States)

    2015-05-01

    The Interoperable Train Control (ITC) Positive : Train Control (PTC) Shared Network (IPSN) : project investigated anticipated industry benefits : and the level of support for the development of : a hosted technological platform for PTC : messaging ac...

  10. CPAP Tips

    Medline Plus

    Full Text Available ... a continuous positive airway pressure (CPAP) device when sleeping? Here are some tips from the U.S. Food ... 395,755 views 9:28 3 Tips for Sleeping With a CPAP - Duration: 2:02. WebMD 66, ...

  11. Temperature-controlled irrigated tip radiofrequency catheter ablation: comparison of in vivo and in vitro lesion dimensions for standard catheter and irrigated tip catheter with minimal infusion rate

    DEFF Research Database (Denmark)

    Petersen, H H; Chen, X; Pietersen, A

    1998-01-01

    In patients with ventricular tachycardias due to structural heart disease, catheter ablation cures radiofrequency ablation. Irrigated tip radiofrequency ablation using power control and high infusion rates enlarges lesion size, but has...

  12. Randomized controlled study of TIPS versus paracentesis plus albumin in cirrhosis with severe ascites.

    Science.gov (United States)

    Salerno, Francesco; Merli, Manuela; Riggio, Oliviero; Cazzaniga, Massimo; Valeriano, Valentina; Pozzi, Massimo; Nicolini, Antonio; Salvatori, Filippo

    2004-09-01

    The transjugular intrahepatic portosystemic shunt (TIPS) has been shown to be effective in the control of refractory or recidivant ascites. However, the effect of TIPS on survival as compared with that of large-volume paracentesis plus albumin is uncertain. A multicenter, prospective, clinical trial was performed in 66 patients with cirrhosis and refractory or recidivant ascites (16 Child-Turcotte-Pugh class B and 50 Child-Turcotte-Pugh class C) randomly assigned to treatment with TIPS (n = 33) or with large-volume paracentesis plus human albumin (n = 33). The primary endpoint was survival without liver transplantation. Secondary endpoints were treatment failure, rehospitalization, and occurrence of complications. Thirteen patients treated with TIPS and 20 patients treated with paracentesis died during the study period, 4 patients in each group underwent liver transplantation. The probability of survival without transplantation was 77% at 1 year and 59% at 2 years in the TIPS group as compared with 52% and 29% in the paracentesis group (P = .021). In a multivariate analysis, treatment with paracentesis and higher MELD score showed to independently predict death. Treatment failure was more frequent in patients assigned to paracentesis, whereas severe episodes of hepatic encephalopathy occurred more frequently in patients assigned to TIPS. The number and duration of rehospitalizations were similar in the two groups. In conclusion, compared to large-volume paracentesis plus albumin, TIPS improves survival without liver transplantation in patients with refractory or recidivant ascites. Copyright 2004 American Association for the Study of Liver Diseases

  13. Epigenetic control of learning and memory in Drosophila by Tip60 HAT action.

    Science.gov (United States)

    Xu, Songjun; Wilf, Rona; Menon, Trisha; Panikker, Priyalakshmi; Sarthi, Jessica; Elefant, Felice

    2014-12-01

    Disruption of epigenetic gene control mechanisms in the brain causes significant cognitive impairment that is a debilitating hallmark of most neurodegenerative disorders, including Alzheimer's disease (AD). Histone acetylation is one of the best characterized of these epigenetic mechanisms that is critical for regulating learning- and memory- associated gene expression profiles, yet the specific histone acetyltransferases (HATs) that mediate these effects have yet to be fully characterized. Here, we investigate an epigenetic role for the HAT Tip60 in learning and memory formation using the Drosophila CNS mushroom body (MB) as a well-characterized cognition model. We show that Tip60 is endogenously expressed in the Kenyon cells, the intrinsic neurons of the MB, and in the MB axonal lobes. Targeted loss of Tip60 HAT activity in the MB causes thinner and shorter axonal lobes while increasing Tip60 HAT levels cause no morphological defects. Functional consequences of both loss and gain of Tip60 HAT levels in the MB are evidenced by defects in immediate-recall memory. Our ChIP-Seq analysis reveals that Tip60 target genes are enriched for functions in cognitive processes, and, accordingly, key genes representing these pathways are misregulated in the Tip60 HAT mutant fly brain. Remarkably, we find that both learning and immediate-recall memory deficits that occur under AD-associated, amyloid precursor protein (APP)-induced neurodegenerative conditions can be effectively rescued by increasing Tip60 HAT levels specifically in the MB. Together, our findings uncover an epigenetic transcriptional regulatory role for Tip60 in cognitive function and highlight the potential of HAT activators as a therapeutic option for neurodegenerative disorders. Copyright © 2014 by the Genetics Society of America.

  14. Clinical evaluation of the use of an intracardiac electrocardiogram to guide the tip positioning of peripherally inserted central catheters.

    Science.gov (United States)

    Zhao, Ruiyi; Chen, Chunfang; Jin, Jingfen; Sharma, Komal; Jiang, Nan; Shentu, Yingqin; Wang, Xingang

    2016-06-01

    The use of peripherally inserted central catheters (PICCs) provides important central venous accesses for clinical treatments, tests and monitoring. Compared with the traditional methods, intracardiac electrocardiogram (ECG)-guided method has the potential to guide more accurate tip positioning of PICCs. This study aimed to clinically evaluate the effectiveness of an intracardiac ECG to guide the tip positioning by monitoring characteristic P-wave changes. In this study, eligible patients enrolled September 2011 to May 2012 according to the inclusion and exclusion criteria received the catheterization monitored by intracardiac ECG. Then chest radiography was performed to check the catheter position. The results revealed that, with 117 eligible patients, all bar one patient who died (n = 116) completed the study, including 60 males and 56 females aged 51.2 ± 15.1 years. Most (n = 113, > 97%) had characteristic P-wave changes. The intracardiac ECG-guided positioning procedure achieved correct placement for 112 patients (96.56%), demonstrating 99.12% sensitivity and 100% specificity. In conclusion, the intracardiac ECG can be a promising technique to guide tip positioning of PICCs. However, since the sample size in this study is limited, more experience and further study during clinical practice are needed to demonstrate achievement of optimal catheterization outcomes. © 2015 John Wiley & Sons Australia, Ltd.

  15. Control rod position detection device

    International Nuclear Information System (INIS)

    Akita, Haruo; Ogiwara, Sakae.

    1996-01-01

    The device of the present invention is used in a back-up shut down system of an LMFBR type reactor which is easy for maintenance, has high reliability and can recognize the position of control rods accurately. Namely, a permanent magnet is disposed to a control rod extension tube connected to the lower portion of the control rod. The detector guide tube is disposed in the vicinity of the control rod extension tube. A detector having a detection coil is inserted into a detector tube. With such constitution, the control rod can be detected at one position using the following method. (1) the movement of the magnetic field of the permanent magnet is detected by the detection coil. (2) a plurality of grooves are formed on the control rod extension tube, and the movement of the grooves is detected. In addition, the detection coil is inserted into the detector guide tube, and the signals from the detection coil are inputted to a signal processing circuit disposed at the outside of the reactor vessel using an MI cable to enable the maintenance of the detector. Further, if the detector comprises a detection coil and an excitation coil, the position of a dropped control rod can be recognized at a plurality of points. (I.S.)

  16. Confirming PICC tip position during insertion with real-time information.

    Science.gov (United States)

    Barton, Andrew

    2016-01-27

    Peripherally inserted central catheters (PICCs) play a fundamental role in patient care in a variety of clinical and healthcare settings. Tip location is important for both safety and efficacy. New technologies may offer the possibility of safer, more efficient and more effective insertion. A prospective evaluation was carried out of a system providing real-time information on the tip's location, direction, and depth during insertion in a total of 488 patients at a single centre (65 patients in the initial study, plus follow-on case series reports in 423 patients). No tip malpositions were reported and, as a result, the institution has been able to waive the requirement for confirmatory chest X-ray after PICC insertion, thus minimising the delay before the PICC can be used and increasing staff and patient confidence in the procedure.

  17. Design study of hole positions and hole shapes for crack tip stress releasing

    DEFF Research Database (Denmark)

    Pedersen, Pauli

    2004-01-01

    The method of hole drilling near or at the crack tip is often used in fatigue damage repair. From a design optimization point of view, two questions are posed: Where should the hole(s) be drilled? And is there a better shape of the hole than a circular one? For the first question, we extend earli...

  18. Two-step controllable electrochemical etching of tungsten scanning probe microscopy tips

    KAUST Repository

    Khan, Yasser

    2012-01-01

    Dynamic electrochemical etching technique is optimized to produce tungsten tips with controllable shape and radius of curvature of less than 10 nm. Nascent features such as dynamic electrochemical etching and reverse biasing after drop-off are utilized, and two-step dynamic electrochemical etching is introduced to produce extremely sharp tips with controllable aspect ratio. Electronic current shut-off time for conventional dc drop-off technique is reduced to ?36 ns using high speed analog electronics. Undesirable variability in tip shape, which is innate to static dc electrochemical etching, is mitigated with novel dynamic electrochemical etching. Overall, we present a facile and robust approach, whereby using a novel etchant level adjustment mechanism, 30° variability in cone angle and 1.5 mm controllability in cone length were achieved, while routinely producing ultra-sharp probes. © 2012 American Institute of Physics.

  19. Grasping microscopic objects by an optical trapping system controlled by five finger tips

    Science.gov (United States)

    Park, In-Yong; Hwang, Sun-Uk; Song, Je-Hoon; Lee, Yong-Gu

    2005-08-01

    There are increased needs for manipulating microscopic objects. One of enabling technologies is an instrument called optical tweezers (OT) that uses a focused laser beam to trap and move microscopic objects. OT has been shown effective for directly manipulating spherical, cylindrical or axis-symmetrical shapes. For other forms of shapes that do not show any symmetry, there have been works on using micrometer sized balls as a handle to indirectly manipulate the objects. Direct manipulation is difficult because complex trapping potential needs to be calculated to stably trap non-symmetrical shapes. User interfaces for these "indirect" systems use a computer mouse to design a layout of balls for surrounding (holding) an object and a trajectory that describes how these balls as a whole moves. The contained object pushed by these surrounding balls then moves accordingly. In this study, we introduce an intuitive user interface system for manipulating these balls. Using virtual reality gloves, each finger tip position of an operator is used to position control these balls. This user interface system enables the operator to intuitively grasp, move and release irregular formed shapes.

  20. Top Ten Tips to Prevent or Control Bed Bugs

    Science.gov (United States)

    Confirm you have bed bugs rather than other insects (if needed, show to your local extension agent trained in pest control), assess Integrated Pest Management (IPM) options before considering pesticide, try mattress encasements, and more.

  1. Field emission to control tip-sample distance in magnetic probe recording

    NARCIS (Netherlands)

    le Fèbre, A.J.; Lüttge, Regina; Abelmann, Leon; Lodder, J.C.

    2007-01-01

    An integrated method using field-emission to control the tip-sample distance for non-contact magnetic probe recording is presented, adopting the exponential relation between current and electric field as feedback. I/V characteristics that correspond well to field emission theory are measured using a

  2. Control of lethal browning by using ascorbic acid on shoot tip ...

    African Journals Online (AJOL)

    The use of ascorbic acid during explants preparation and the effect of different concentrations of ascorbic acid in controlling lethal browning and survival of the explants in local banana cv. Mzuzu banana were investigated. The explants were taken from young suckers. The shoot tips were cultured on Murashige and Skoog's ...

  3. Controlling molecular condensation/diffusion of copper phthalocyanine by local electric field induced with scanning tunneling microscope tip

    Science.gov (United States)

    Nagaoka, Katsumi; Yaginuma, Shin; Nakayama, Tomonobu

    2018-02-01

    We have discovered the condensation/diffusion phenomena of copper phthalocyanine (CuPc) molecules controlled with a pulsed electric field induced by the scanning tunneling microscope tip. This behavior is not explained by the conventional induced dipole model. In order to understand the mechanism, we have measured the electronic structure of the molecule by tunneling spectroscopy and also performed theoretical calculations on molecular orbitals. These data clearly indicate that the molecule is positively charged owing to charge transfer to the substrate, and that hydrogen bonding exists between CuPc molecules, which makes the molecular island stable.

  4. Receptor tyrosine kinases: the emerging tip of systems control.

    Science.gov (United States)

    Seger, R; Rodeck, U; Yarden, Y

    2008-01-01

    Receptor tyrosine kinases (RTKs) are transmembrane allosteric enzymes: binding of ligand growth factors to their ectodomains stimulates a cytoplasm-facing tyrosine kinase activity, which initiates a plethora of cellular processes. The enormous complexity of RTK signalling, along with rich involvement in pathologies (e.g. cancer and diabetes), motivated the establishment of the international, multi-disciplinary RTK consortium (http://www.rtkconsort.org/) in 2005. In collaboration with the British Society for Proteome Research and the European Bioinformatics Institute, the Consortium held on July 23rd and 24th a Workshop on Proteomics and Phosphoproteomics of RTK Signalling Networks (Hinxton Hall Conference Centre, Cambridge, UK). As highlighted below, systems control (a layered web of regulatory loops summarised in Fig.1) emerged throughout the workshop as a common theme of many presentations.

  5. Real-time Position Control of Concentric Tube Robots.

    Science.gov (United States)

    Dupont, Pierre E; Lock, Jesse; Itkowitz, Brandon

    2010-05-03

    A novel approach to constructing robots is based on concentrically combining pre-curved elastic tubes. By rotating and extending the tubes with respect to each other, their curvatures interact elastically to position and orient the robot's tip, as well as to control the robot's shape along its length. Since these robots form slender curves, they are well suited for minimally invasive medical procedures. A substantial challenge to their practical use is the real-time solution of their kinematics that are described by differential equations with split boundary equations. This paper proposes a numerically efficient approach to real-time position control. It is shown that the forward kinematics are smooth functions that can be pre-computed and accurately approximated using Fourier series. The inverse kinematics can be solved in real time using root finding applied to the functional approximation. Experimental demonstration of real-time position control using this approach is also described.

  6. Sensitivity to Speaker Control in the Online Comprehension of Conditional Tips and Promises: An Eye-Tracking Study

    Science.gov (United States)

    Stewart, Andrew J.; Haigh, Matthew; Ferguson, Heather J.

    2013-01-01

    Statements of the form if… then… can be used to communicate conditional speech acts such as tips and promises. Conditional promises require the speaker to have perceived control over the outcome event, whereas conditional tips do not. In an eye-tracking study, we examined whether readers are sensitive to information about perceived speaker control…

  7. Active control of the tip vortex: an experimental investigation on the performance characteristics of a model turbine

    International Nuclear Information System (INIS)

    Anik, E; Abdulrahim, A; Ostovan, Y; Mercan, B; Uzol, O

    2014-01-01

    This study is part of an on-going experimental research campaign that focuses on the active control of the tip leakage/vortex characteristics of a model horizontal axis wind turbine rotor using tip injection. This paper presents both baseline (no-injection) data as well as data with tip injection, concentrating on the effects of tip injection on power and thrust variations with the Tip Speed Ratio (TSR). The experiments are conducted by placing a specially designed 3-bladed model wind turbine rotor at the exit of a 1.7 m diameter open-jet wind tunnel. The rotor blades are non-linearly twisted and tapered with NREL S826 airfoil profile all along the span. The nacelle, hub and the blades are specifically designed to allow pressurized air to pass through and get injected from the blade tips while the rotor is rotating. Baseline results show that the general trends are as expected for a small wind turbine and the maximum power coefficient is reached at around TSR=4.5. Results with injection show that the tip injection has significant effect on the power and thrust coefficients in comparison to the baseline data, especially at TSR values higher than the max C P TSR value. Both coefficients seem to be significantly increased due to tip injection and the max C P TSR value also gets shifted to a slightly higher TSR value. Tip injection seems to have no significant effect for TSR values less than 3.5

  8. Plasma position control in SST1 tokamak

    Indian Academy of Sciences (India)

    vessel active feedback coils can adequately control ... is defined as the ratio of the stabilizing force provided by the stabilizers to the ... are the vertical position active feedback coil (VFC) and the radial position control coil. PF6. position control comes ...

  9. 75 FR 2597 - Positive Train Control Systems

    Science.gov (United States)

    2010-01-15

    ... al. Positive Train Control Systems; Final Rule #0;#0;Federal Register / Vol. 75 , No. 10 / Friday... Positive Train Control Systems AGENCY: Federal Railroad Administration (FRA), Department of Transportation... passenger and freight rail lines requiring the implementation of positive train control (PTC) systems. This...

  10. Neural adaptive control for vibration suppression in composite fin-tip of aircraft.

    Science.gov (United States)

    Suresh, S; Kannan, N; Sundararajan, N; Saratchandran, P

    2008-06-01

    In this paper, we present a neural adaptive control scheme for active vibration suppression of a composite aircraft fin tip. The mathematical model of a composite aircraft fin tip is derived using the finite element approach. The finite element model is updated experimentally to reflect the natural frequencies and mode shapes very accurately. Piezo-electric actuators and sensors are placed at optimal locations such that the vibration suppression is a maximum. Model-reference direct adaptive neural network control scheme is proposed to force the vibration level within the minimum acceptable limit. In this scheme, Gaussian neural network with linear filters is used to approximate the inverse dynamics of the system and the parameters of the neural controller are estimated using Lyapunov based update law. In order to reduce the computational burden, which is critical for real-time applications, the number of hidden neurons is also estimated in the proposed scheme. The global asymptotic stability of the overall system is ensured using the principles of Lyapunov approach. Simulation studies are carried-out using sinusoidal force functions of varying frequency. Experimental results show that the proposed neural adaptive control scheme is capable of providing significant vibration suppression in the multiple bending modes of interest. The performance of the proposed scheme is better than the H(infinity) control scheme.

  11. Independent modal space control with positive position feedback

    Science.gov (United States)

    Baz, A.; Poh, S.; Fedor, J.

    1989-01-01

    An independent modal space control (IMSC) algorithm is presented, whose modal control forces are generated from a positive position feedback (PPF) strategy. The proposed algorithm combines the attributes of both the IMSC and the PPF, and maintains the simplicity of the IMSC as it designs the controller of a complex structure at the uncoupled modal level. The effectiveness of the algorithm in damping out the vibration of flexible structures is validated experimentally. A simple cantilevered beam is employed as an example of a flexible structure whose multimodes of vibration are controlled by a single actuator. Performance of the active control system is determined in the frequency and the time domains. The experimental results indicate the potential of the proposed methodology as a viable method for controlling the vibration of large flexible structures.

  12. Spacecraft Pointing and Position Control,

    Science.gov (United States)

    1981-11-01

    in the rotor coordinate is evaluated as * = tan - 1 (SRy/ SR .) and [-]T denotes a matrix transpose. Rotor spin rate w can be measured by the gyros...Bierman, L. A. Campbell, W. A. Feess, Consultant to The Member of the Technial Staff Sr . Engineering Specialist Aerospace Corporation The Aerospace...Sciences, Vol. 27, No. 2, April-June, 1979, pp. 131-156. 14. Nadkarni , A. A. and Joshi, S. M.: Optimal Maneuvering and Fine-Pointing Control of Large

  13. Electrospray synthesis and properties of hierarchically structured PLGA TIPS microspheres for use as controlled release technologies.

    Science.gov (United States)

    Malik, Salman A; Ng, Wing H; Bowen, James; Tang, Justin; Gomez, Alessandro; Kenyon, Anthony J; Day, Richard M

    2016-04-01

    Microsphere-based controlled release technologies have been utilized for the long-term delivery of proteins, peptides and antibiotics, although their synthesis poses substantial challenges owing to formulation complexities, lack of scalability, and cost. To address these shortcomings, we used the electrospray process as a reproducible, synthesis technique to manufacture highly porous (>94%) microspheres while maintaining control over particle structure and size. Here we report a successful formulation recipe used to generate spherical poly(lactic-co-glycolic) acid (PLGA) microspheres using the electrospray (ES) coupled with a novel thermally induced phase separation (TIPS) process with a tailored Liquid Nitrogen (LN2) collection scheme. We show how size, shape and porosity of resulting microspheres can be controlled by judiciously varying electrospray processing parameters and we demonstrate examples in which the particle size (and porosity) affect release kinetics. The effect of electrospray treatment on the particles and their physicochemical properties are characterized by scanning electron microscopy, confocal Raman microscopy, thermogravimetric analysis and mercury intrusion porosimetry. The microspheres manufactured here have successfully demonstrated long-term delivery (i.e. 1week) of an active agent, enabling sustained release of a dye with minimal physical degradation and have verified the potential of scalable electrospray technologies for an innovative TIPS-based microsphere production protocol. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

  14. Optogenetic control of organelle transport and positioning

    NARCIS (Netherlands)

    van Bergeijk, Petra|info:eu-repo/dai/nl/338805508; Adrian, Max|info:eu-repo/dai/nl/369490959; Hoogenraad, Casper C|info:eu-repo/dai/nl/227263502; Kapitein, Lukas C|info:eu-repo/dai/nl/298806630

    2015-01-01

    Proper positioning of organelles by cytoskeleton-based motor proteins underlies cellular events such as signalling, polarization and growth. For many organelles, however, the precise connection between position and function has remained unclear, because strategies to control intracellular organelle

  15. 76 FR 63899 - Positive Train Control Systems

    Science.gov (United States)

    2011-10-14

    ...-0028, Notice No. 2] RIN 2130-AC27 Positive Train Control Systems AGENCY: Federal Railroad...-based criteria in order to avoid positive train control (PTC) system implementation on track segments... and Compliance, Staff Director, Signal & Train Control Division, Federal Railroad Administration, Mail...

  16. Morphing Wing-Tip Open Loop Controller and its Validation During Wind Tunnel Tests at the IAR-NRC

    Directory of Open Access Journals (Sweden)

    Mohamed Sadok GUEZGUEZ

    2016-09-01

    Full Text Available In this project, a wing tip of a real aircraft was designed and manufactured. This wing tip was composed of a wing and an aileron. The wing was equipped with a composite skin on its upper surface. This skin changed its shape (morphed by use of 4 electrical in-house developed actuators and 32 pressure sensors. These pressure sensors measure the pressures, and further the loads on the wing upper surface. Thus, the upper surface of the wing was morphed using these actuators with the aim to improve the aerodynamic performances of the wing-tip. Two types of ailerons were designed and manufactured: one aileron is rigid (non-morphed and one morphing aileron. This morphing aileron can change its shape also for the aerodynamic performances improvement. The morphing wing-tip internal structure is designed and manufactured, and is presented firstly in the paper. Then, the modern communication and control hardware are presented for the entire morphing wing tip equipped with actuators and sensors having the aim to morph the wing. The calibration procedure of the wing tip is further presented, followed by the open loop controller results obtained during wind tunnel tests. Various methodologies of open loop control are presented in this paper, and results obtained were obtained and validated experimentally through wind tunnel tests.

  17. Controlled positioning of nanoparticles on graphene by noninvasive AFM lithography.

    Science.gov (United States)

    Bellido, Elena; Ojea-Jiménez, Isaac; Ghirri, Alberto; Alvino, Christian; Candini, Andrea; Puntes, Victor; Affronte, Marco; Domingo, Neus; Ruiz-Molina, Daniel

    2012-08-21

    Atomic force microscopy is shown to be an excellent lithographic technique to directly deposit nanoparticles on graphene by capillary transport without any previous functionalization of neither the nanoparticles nor the graphene surface while preserving its integrity and conductivity properties. Moreover this technique allows for (sub)micrometric control on the positioning thanks to a new three-step protocol that has been designed with this aim. With this methodology the exact target coordinates are registered by scanning the tip over the predetermined area previous to its coating with the ink and deposition. As a proof-of-concept, this strategy has successfully allowed the controlled deposition of few nanoparticles on 1 μm(2) preselected sites of a graphene surface with high accuracy.

  18. Remembering tips

    Science.gov (United States)

    Memory aids; Alzheimer disease - remembering tips; Early memory loss - remembering tips; Dementia - remembering tips ... active: Read a lot if you have trouble remembering words. Keep a dictionary close by. Take part ...

  19. 75 FR 59108 - Positive Train Control Systems

    Science.gov (United States)

    2010-09-27

    ...-0132, Notice No. 4] RIN 2130-AC03 Positive Train Control Systems AGENCY: Federal Railroad... amendments to the final rule regarding the development, testing, implementation, and use of Positive Train... Compliance, Staff Director, Signal & Train Control Division, Federal Railroad Administration, Mail Stop 25...

  20. Attosecond-controlled photoemission from metal nanowire tips in the few-electron regime

    Directory of Open Access Journals (Sweden)

    B. Ahn

    2017-03-01

    Full Text Available Metal nanotip photoemitters have proven to be versatile in fundamental nanoplasmonics research and applications, including, e.g., the generation of ultrafast electron pulses, the adiabatic focusing of plasmons, and as light-triggered electron sources for microscopy. Here, we report the generation of high energy photoelectrons (up to 160 eV in photoemission from single-crystalline nanowire tips in few-cycle, 750-nm laser fields at peak intensities of (2-7.3 × 1012 W/cm2. Recording the carrier-envelope phase (CEP-dependent photoemission from the nanowire tips allows us to identify rescattering contributions and also permits us to determine the high-energy cutoff of the electron spectra as a function of laser intensity. So far these types of experiments from metal nanotips have been limited to an emission regime with less than one electron per pulse. We detect up to 13 e/shot and given the limited detection efficiency, we expect up to a few ten times more electrons being emitted from the nanowire. Within the investigated intensity range, we find linear scaling of cutoff energies. The nonlinear scaling of electron count rates is consistent with tunneling photoemission occurring in the absence of significant charge interaction. The high electron energy gain is attributed to field-induced rescattering in the enhanced nanolocalized fields at the wires apex, where a strong CEP-modulation is indicative of the attosecond control of photoemission.

  1. Attosecond-controlled photoemission from metal nanowire tips in the few-electron regime

    KAUST Repository

    Ahn, B.

    2017-02-07

    Metal nanotip photoemitters have proven to be versatile in fundamental nanoplasmonics research and applications, including, e.g., the generation of ultrafast electron pulses, the adiabatic focusing of plasmons, and as light-triggered electron sources for microscopy. Here, we report the generation of high energy photoelectrons (up to 160 eV) in photoemission from single-crystalline nanowire tips in few-cycle, 750-nm laser fields at peak intensities of (2-7.3) × 1012 W/cm2. Recording the carrier-envelope phase (CEP)-dependent photoemission from the nanowire tips allows us to identify rescattering contributions and also permits us to determine the high-energy cutoff of the electron spectra as a function of laser intensity. So far these types of experiments from metal nanotips have been limited to an emission regime with less than one electron per pulse. We detect up to 13 e/shot and given the limited detection efficiency, we expect up to a few ten times more electrons being emitted from the nanowire. Within the investigated intensity range, we find linear scaling of cutoff energies. The nonlinear scaling of electron count rates is consistent with tunneling photoemission occurring in the absence of significant charge interaction. The high electron energy gain is attributed to field-induced rescattering in the enhanced nanolocalized fields at the wires apex, where a strong CEP-modulation is indicative of the attosecond control of photoemission.

  2. Tips for TIPS

    NARCIS (Netherlands)

    Cuijpers, C.F.

    2015-01-01

    The transjugular intrahepatic portosystemic shunt (TIPS) procedure is one of the most technically challenging procedures in interventional radiology. During the procedure, interventional radiologists (IRs) insert very thin and long instruments through a little incision in the patient’s neck. They

  3. Needle Tip Position and Bevel Direction Have No Effect in the Fluoroscopic Epidural Spreading Pattern in Caudal Epidural Injections: A Randomized Trial

    Directory of Open Access Journals (Sweden)

    Won Kyoung Kwon

    2016-01-01

    Full Text Available Background. Caudal epidural steroid injections (CESIs are an effective treatment for pain. If the injection spreads in a specific pattern depending on the needle position or bevel direction, it would be possible to inject the agent into a specific and desired area. Objectives. We conducted a prospective randomized trial to determine if the needle position and bevel direction have any effect on the epidural spreading pattern in CESI. Methods. Demographic data of the patient were collected. During CESI, the needle position (middle or lateral and direction (ventral or dorsal were randomly allocated. Following fluoroscope-guided injection of 4 mL contrast media and 10 mL of injectates, the epidural spreading patterns (ventral or dorsal, bilateral or lateral were imaged. Results. In the 210 CESIs performed, the needle tip position and bevel direction did not influence the epidural spreading patterns at L4-5 and L5-S1 disc levels. A history of Lumbar spine surgery was associated with a significantly limited spread to each disc level. A midline needle tip position was more effective than the lateral position in spreading to the distant disc levels. Conclusions. Neither the needle tip position nor the bevel direction affected the epidural drug spreading pattern during CESI.

  4. Positive train control test bed interoperability upgrades.

    Science.gov (United States)

    2013-02-01

    Transportation Technology Center, Inc. (TTCI) upgraded the Positive Train Control (PTC) Test Bed to support additional PTC testing configurations under Federal Railroad Administration (FRA) Task Order 270. The scope of work provided additional PTC Co...

  5. Plasma position control in SST1 tokamak

    Indian Academy of Sciences (India)

    Radial position control is also necessary for maintaining a predefined gap between plasma and lower hybrid wave launcher antenna for efficient coupling of the RF waves. The radial position of the plasma can change because of change in plasma beta and internal inductance. (henceforth referred to as ¬Ф +Р 2), due to ...

  6. Tip Speed Ratio Based Maximum Power Tracking Control of Variable Speed Wind Turbines; A Comprehensive Design

    Directory of Open Access Journals (Sweden)

    Murat Karabacak

    2017-08-01

    Full Text Available The most primitive control method of wind turbines used to generate electric energy from wind is the fixed speed control method. With this method, it is not possible that turbine input power is transferred to grid at maximum rate. For this reason, Maximum Power Tracking (MPT schemes are proposed. In order to implement MPT, the propeller has to rotate at a different speed for every different wind speed. This situation has led MPT based systems to be called Variable Speed Wind Turbine (VSWT systems. In VSWT systems, turbine input power can be transferred to grid at rates close to maximum power. When MPT based control of VSWT systems is the case, two important processes come into prominence. These are instantaneously determination and tracking of MPT point. In this study, using a Maximum Power Point Tracking (MPPT method based on tip speed ratio, power available in wind is transferred into grid over a back to back converter at maximum rate via a VSWT system with permanent magnet synchronous generator (PMSG. Besides a physical wind turbine simulator is modelled and simulated. Results show that a time varying MPPT point is tracked with a high performance.

  7. Dwell times and risk of non-elective removal of 1-French peripherally inserted central catheters according to catheter tip position in very preterm infants.

    Science.gov (United States)

    Erhard, Daniela M; Nguyen, Sarah; Guy, Katelyn J; Casalaz, Dan M; König, Kai

    2017-03-01

    We investigated dwell times and risk of non-elective removal of 975 single-lumen 1-French peripherally inserted central catheters (1FR-PICC) according to tip position in a cohort of very preterm infants with a mean (SD) gestational age of 27 +6 (2 +1 ) weeks and a mean (SD) birth weight of 988 (294) g over an eight-year period. Infants with a 1FR-PICC inserted for continuous infusion of intravenous fluids within the first 30 days of life were eligible. Dwell times of PICC with elective versus non-elective removal, risk of non-elective removal of PICC according to tip position, and differences between upper versus lower limb catheter insertion were analysed. 33.8% PICC were removed non-electively. Median (IQR) dwell time was 193 (142-287) versus 154 (102-260) h for elective versus non-elective removal (p positioned in the axillary, cephalic, external iliac, and femoral veins had a higher risk of non-elective removal. What is Known: •Peripherally inserted central catheters (PICC) are widely used in neonatal intensive care. •Previous studies focused on 2-French PICC and newborns of all gestational ages. What is New: •Dwell times of 1-French PICC removed non-electively were similar to 2-French PICC. •1-French PICC tips positioned more peripherally had a higher risk of non-elective removal.

  8. Plasma position control in TCABR Tokamak

    International Nuclear Information System (INIS)

    Galvao, R.M.O.; Kuznetsov, Yu. K.; Nascimento, I.C.; Fonseca, A.M.M.; Silva, R.P. da; Ruchko, L.F.; Tuszel, A.G.; Reis, A.P. dos; Sanada, E.K.

    1998-01-01

    The plasma control position in the TCABR tokamak is described. The TCA tokamak was transferred from the Centre de Recherches en Physique des Plasmas, Lausanne, to the Institute of Physics of University of Sao Paulo, renamed TCABR (α=0.18 m, R = 0.62 m, B = 1 T,I p = 100 kA). The control system was reconstructed using mainly components obtained from the TCA tokamak. A new method of plasma position determination is used in TCABR to improve its accuracy. A more detailed theoretical analysis of the feed forward and feedback control is performed as compared with. (author)

  9. Position Control of Tendon-Driven Fingers

    Science.gov (United States)

    Abdallah, Muhammad E.; Platt, Robert, Jr.; Hargrave, B.; Pementer, Frank

    2011-01-01

    Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I

  10. Tipping Point

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    Full Text Available ... death electrical fall furniture head injury product safety television tipover tv Watch the video in Adobe Flash ... tv tip-overs. The force of a large television falling from tipping furniture can be staggering. A ...

  11. Tipping Point

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    Full Text Available ... en español Blog About OnSafety CPSC Stands for Safety The Tipping Point Home > 60 Seconds of Safety (Videos) > The Tipping Point The Tipping Point by ... danger death electrical fall furniture head injury product safety television tipover tv Watch the video in Adobe ...

  12. 76 FR 52918 - Positive Train Control Systems

    Science.gov (United States)

    2011-08-24

    ...-0028, may be submitted by any of the following methods: Web Site: Comments should be filed at the... nationwide proliferation and implementation of positive train control (PTC) systems, forecasting substantial.... --Non-Quantitative Risk 46 Railroads....... 23 assessments..... 3,200 hours........ 73,600 Assessments...

  13. Apical pressure and extent of irrigant flow beyond the needle tip during positive-pressure irrigation in an in vitro root canal model.

    Science.gov (United States)

    Park, Ellen; Shen, Ya; Khakpour, Mehrzad; Haapasalo, Markus

    2013-04-01

    This study aimed to measure the pressure generated during positive-pressure irrigation at the periapex of an in vitro tooth model using a novel method of measurement, investigating the effect of flow rate and needle design. Apical pressure was correlated with the extent of dye clearance from the end of a needle tip in a plastic root canal model with similar dimensions. The mesiobuccal canal of a mandibular molar was instrumented to #35/06 and placed into a chamber coupled to a pressure transducer. Irrigation was performed using a digital peristaltic pump using flow rates from 1-15 mL/min with irrigation needles of different sizes and designs. A plastic root canal model instrumented to the same size filled with dye was used to measure the extent of dye clearance beyond the needle tip using the same irrigation conditions. Positive-pressure irrigation revealed a flow rate-dependent increase in apical pressure (P irrigation flow rates was several times higher than at low flow rates. Needle designs with safety features yielded statistically significant lower apical pressures than needles without safety features (P model at flow rates higher than 4 mL/min. If apical clearance of dye beyond the needle tip is a measure of irrigation effectiveness, then maximum effectiveness with safe apical pressures can be gained at specific flow rates using specific needle tip designs. The use of an irrigation flow rate of 4 mL/min was able to achieve maximum effectiveness in this study. Copyright © 2013 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

  14. Variable pattern contamination control under positive pressure

    International Nuclear Information System (INIS)

    Philippi, H.M.

    1997-01-01

    Airborne contamination control in nuclear and biological laboratories is traditionally achieved by directing the space ventilation air at subatmospheric pressures in one fixed flow pattern. However, biological and nuclear contamination flow control in the new Biological Research Facility, to be commissioned at the Chalk River Laboratories in 1996, will have the flexibility to institute a number of contamination control patterns, all achieved at positive (above atmospheric) pressures. This flexibility feature, made possible by means of a digitally controlled ventilation system, changes the facility ventilation system from being a relatively rigid building service operated by plant personnel into a flexible building service which can be operated by the facility research personnel. This paper focuses on and describes the application of these unique contamination control features in the design of the new Biological Research Facility. 3 refs., 7 figs

  15. The active control devices of the size of products based on sapphire measuring tips with three degrees of freedom

    Science.gov (United States)

    Leun, E. V.; Leun, V. I.; Sysoev, V. K.; Zanin, K. A.; Shulepov, A. V.; Vyatlev, P. A.

    2018-01-01

    The article presents the results of the calculation of the load capacity of the active control devices (ACD) sapphire tip, which showed nearly 30-fold margin of safety to shock loads and experimental researches in mechanical contact with 5 cogs cutter 15 mm in diameter rotating with a frequency of 1000 rpm, which confirmed the calculations, determined the surface roughness Rz of the contact area of no more than 0.15 μm. Conditions have been created for recording without distortion of the image through a sapphire tip in contact with the processed article. A ACD design with new functionality is proposed: with one, two and three degrees of freedom of the sapphire tip and allows measuring the taper of the article and measurements on the chord. It is shown that with the implementation of their fixed head like the frame of the gyroscope with the rotations around the axes OY and OZ. It is shown that the rotation of the tip around the axis OX can be replaced more convenient for the implementation of the angular offset of the transferred image due to rotation of the output end of the flexible optical waveguide relative to the input. This makes it possible to reduce the "blurring of the image" during registration of the fast moving product profile when the slope of the recorder lines coincides with the slope of the edges of the image elements of the selected moving elements of the article.

  16. Designing Linear Feedback Controller for Elastic Inverted Pendulum with Tip Mass

    Directory of Open Access Journals (Sweden)

    Minh Hoang Nguyen

    2016-12-01

    Full Text Available This paper introduced a kind of cart and pole system. The pole in this system is not a solid beam but an elastic beam. The paper analyzed the dynamic equation of this complex system. Then, a linear feedback controller was designed to stabilize this model in order to keep the elastic beam balanced in the up-side position. The control results were proved to work well through simulation.

  17. Long-term benefits to the growth of ponderosa pines from controlling southwestern pine tip moth (Lepidoptera: Tortricidae) and weeds.

    Science.gov (United States)

    Wagner, Michael R; Chen, Zhong

    2004-12-01

    The southwestern pine tip moth, Rhyacionia neomexicana (Dyar) (Lepidoptera: Tortricidae), is a native forest pest that attacks seedlings and saplings of ponderosa pine, Pinus ponderosa Dougl. ex Laws, in the southwestern United States. Repeated attacks can cause severe deformation of host trees and significant long-term growth loss. Alternatively, effective control of R. neomexicana, vegetative competition, or both in young pine plantations may increase survival and growth of trees for many years after treatments are applied. We test the null hypothesis that 4 yr of R. neomexicana and weed control with insecticide, weeding, and insecticide plus weeding would not have any residual effect on survival and growth of trees in ponderosa pine plantation in northern Arizona 14 yr post-treatment, when the trees were 18 yr old. Both insecticide and weeding treatment increased tree growth and reduced the incidence of southwestern pine tip moth damage compared with the control. However, weeding alone also significantly increased tree survival, whereas insecticide alone did not. The insecticide plus weeding treatment had the greatest tree growth and survival, and the lowest rate of tip moth damage. Based on these results, we rejected our null hypothesis and concluded that there were detectable increases in the survival and growth of ponderosa pines 14 yr after treatments applied to control R. neomexicana and weeds.

  18. Electrocardiographic-guided tip positioning technique for peripherally inserted central catheters in a Dutch teaching hospital: Feasibility and cost-effectiveness analysis in a prospective cohort study.

    Science.gov (United States)

    Bloemen, Arthur; Daniels, Anne M; Samyn, Martine G; Janssen, Roel Jl; Elshof, Jan-Willem

    2018-03-01

    Peripherally inserted central catheters are venous devices intended for short to medium periods of intravenous treatment. Positioning of the catheter tip at the cavoatrial junction is necessary for optimum performance of a peripherally inserted central catheter. In this study, safety, effectiveness and cost-effectiveness of electrocardiographic-guided peripherally inserted central catheter positioning in a Dutch teaching hospital were evaluated. All patients who received a peripherally inserted central catheter in 2016 using electrocardiographic guidance were compared to those where fluoroscopy guidance was used in a prospective non-randomized cohort study. Relevant data were extracted from electronic health records. Cost-effectiveness analysis was performed. A total of 162 patients received a peripherally inserted central catheter using fluoroscopy guidance and 103 patients using electrocardiographic guidance in 2016. No significant difference was found in malposition, infection or other complications between these groups. Due to personnel reduction and omission of fluoroscopy costs, cost reduction for each catheter insertion was €120 in the first year and, as a result of discounted acquisition costs, €190 in subsequent years. The positioning results and complication rate are comparable to the previously reported literature. The cost reduction may vary in different hospitals. Other benefits of the electrocardiographic-guided technique are omission of X-ray exposure and improved patient service. Implementation of electrocardiographic-guided tip positioning for peripherally inserted central catheter was safe and effective in this study and led to an improved high value and cost-conscious care.

  19. The development of fabrication techniques for europia/iron cermet tips for coarse-control arms in DIDO and PLUTO

    International Nuclear Information System (INIS)

    Moore, D.A.; Tarrant, E.A.

    1980-11-01

    The applicability of cermet-fabrication techniques to the production of europia/iron cermets for use as coarse-control arm tips in the materials test reactors DIDO and PLUTO has been investigated. Spheroids of europia were prepared by a dry agglomeration process. These were sintered, dispersed in iron powder and pressed into plates; the plates were then sintered to densify the iron matrix. These stages were optimised to produce a strong cermet with a europia density of >= 2.75 g/cm 3 . The uniformity of distribution of the absorber particles was confirmed by radiography, and adequate neutron-absorption worth by measurements carried out in the GLEEP reactor. An outline flow sheet has been prepared for the manufacture of europia/iron cermet plates suitable for use in the tips of DIDO and PLUTO coarse-control arms. (author)

  20. Active control of a flexible structure using a modal positive position feedback controller

    Science.gov (United States)

    Poh, S.; Baz, A.

    1990-01-01

    The feasibility of a new Modal Positive Position Feedback (MPPF) strategy in controlling the vibration of a complex flexible structure using a single piezo-electric active structural member is demonstrated. The control strategy generates its control forces by manipulating only the modal position signals of the structure to provide a damping action to undamped modes. This is in contrast to conventional modal controllers that rely in their operation on negative feedback of both the modal position and velocity. The proposed strategy is very simple to design and implement as it designs the controller at the uncoupled modal level and utilizes simple first order filters to achieve the Positive Position Feedback effect. The performance of the new strategy is enhanced by augmenting it with a time sharing strategy to share a small number of actuators between larger number of modes. The effectiveness of the new strategy is validated experimentally on a flexible box-type structure that has four bays and its first two bending modes are 2.015 and 6.535 Hz, respectively. A single piezo-electric actuator is utilized as an active structural member to control several transverse bending modes of the structure. The performance of the active control system is determined in the time and the frequency domains. The results are compared with those obtained when using the Independent Modal Space Control (IMSC) of Meirovitch. The experimental results suggest the potential of the proposed strategy as a viable means for controlling the vibration of large flexible structures in real time.

  1. Taking Control of Purchasing a Wheelchair: Tips for Parents about Mobility Equipment.

    Science.gov (United States)

    Little, Jan

    1991-01-01

    Tips on purchasing wheelchairs are offered to parents. Selection considerations such as weight, transporting, folding, lift and school bus accessibility, maintenance, and power supply needs are considered, as are features impacting comfort and therapeutic appropriateness. Roles of dealers, therapists, other parents, and wheelchair manufacturers in…

  2. A Non-linear Model for Predicting Tip Position of a Pliable Robot Arm Segment Using Bending Sensor Data

    Directory of Open Access Journals (Sweden)

    Elizabeth I. SKLAR

    2016-04-01

    Full Text Available Using pliable materials for the construction of robot bodies presents new and interesting challenges for the robotics community. Within the EU project entitled STIFFness controllable Flexible & Learnable manipulator for surgical Operations (STIFF-FLOP, a bendable, segmented robot arm has been developed. The exterior of the arm is composed of a soft material (silicone, encasing an internal structure that contains air-chamber actuators and a variety of sensors for monitoring applied force, position and shape of the arm as it bends. Due to the physical characteristics of the arm, a proper model of robot kinematics and dynamics is difficult to infer from the sensor data. Here we propose a non-linear approach to predicting the robot arm posture, by training a feed-forward neural network with a structured series of pressures values applied to the arm's actuators. The model is developed across a set of seven different experiments. Because the STIFF-FLOP arm is intended for use in surgical procedures, traditional methods for position estimation (based on visual information or electromagnetic tracking will not be possible to implement. Thus the ability to estimate pose based on data from a custom fiber-optic bending sensor and accompanying model is a valuable contribution. Results are presented which demonstrate the utility of our non-linear modelling approach across a range of data collection procedures.

  3. Robust hydraulic position controller by a fuzzy state controller

    International Nuclear Information System (INIS)

    Zhao, T.; Van der Wal, A.J.

    1994-01-01

    In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters

  4. Steering the Self-Assembly of Octadecylamine Monolayers on Mica by Controlled Mechanical Energy Transfer from the AFM Tip

    Energy Technology Data Exchange (ETDEWEB)

    Benitez, J.J.; Heredia-Guerrero, J.A.; Salmeron, M.

    2010-06-24

    We have studied the effect of mechanical energy transfer from the tip of an Atomic Force Microscope on the dynamics of self-assembly of monolayer films of octadecylamine on mica. The formation of the self-assembled film proceeds in two successive stages, the first being a fast adsorption from solution that follows a Langmuir isotherm. The second is a slower process of island growth by aggregation of the molecules dispersed on the surface. We found that the dynamics of aggregation can be altered substantially by the addition of mechanical energy into the system through controlled tip-surface interactions. This leads to either the creation of pinholes in existing islands as a consequence of vacancy concentration, and to the assembly of residual molecules into more compact islands.

  5. Position control of an industrial robot using fractional order controller

    Science.gov (United States)

    Clitan, Iulia; Muresan, Vlad; Abrudean, Mihail; Clitan, Andrei; Miron, Radu

    2017-02-01

    This paper presents the design of a control structure that ensures no overshoot for the movement of an industrial robot, used for the evacuation of round steel blocks from inside a rotary hearth furnace. First, a mathematical model for the positioning system is derived from a set of experimental data, and further, the paper focuses on obtaining a PID type controller, using the relay method as tuning method in order to obtain a stable closed loop system. The controller parameters are further tuned in order to achieve the imposed set of performances for the positioning of the industrial robot through computer simulation, using trial and error method. Further, a fractional - order PID controller is obtained in order to improve the control signal variation, so as to fit within the range of unified current's variation, 4 to 20 mA.

  6. GLI3 repressor controls nephron number via regulation of Wnt11 and Ret in ureteric tip cells.

    Directory of Open Access Journals (Sweden)

    Jason E Cain

    Full Text Available Truncating GLI3 mutations in Pallister-Hall Syndrome with renal malformation suggests a requirement for Hedgehog signaling during renal development. HH-dependent signaling increases levels of GLI transcriptional activators and decreases processing of GLI3 to a shorter transcriptional repressor. Previously, we showed that Shh-deficiency interrupts early inductive events during renal development in a manner dependent on GLI3 repressor. Here we identify a novel function for GLI3 repressor in controlling nephron number. During renal morphogenesis, HH signaling activity, assayed by expression of Ptc1-lacZ, is localized to ureteric cells of the medulla, but is undetectable in the cortex. Targeted inactivation of Smo, the HH effector, in the ureteric cell lineage causes no detectable abnormality in renal morphogenesis. The functional significance of absent HH signaling activity in cortical ureteric cells was determined by targeted deletion of Ptc1, the SMO inhibitor, in the ureteric cell lineage. Ptc1(-/-UB mice demonstrate ectopic Ptc1-lacZ expression in ureteric branch tips and renal hypoplasia characterized by reduced kidney size and a paucity of mature and intermediate nephrogenic structures. Ureteric tip cells are remarkable for abnormal morphology and impaired expression of Ret and Wnt11, markers of tip cell differentiation. A finding of renal hypoplasia in Gli3(-/- mice suggests a pathogenic role for reduced GLI3 repressor in the Ptc1(-/-UB mice. Indeed, constitutive expression of GLI3 repressor via the Gli3(Delta699 allele in Ptc1(-/-UB mice restores the normal pattern of HH signaling, and expression of Ret and Wnt11 and rescued the renal phenotype. Thus, GLI3 repressor controls nephron number by regulating ureteric tip cell expression of Wnt11 and Ret.

  7. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... liver disease are at greater risk for worsening liver failure after TIPS. If your liver failure is severe, a TIPS may not be the best use and a different procedure may be needed to control your symptoms. ... ordinarily filtered out by the liver. The TIPS may cause too much of these ...

  8. Tipping Point

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    Full Text Available ... OnSafety CPSC Stands for Safety The Tipping Point Home > 60 Seconds of Safety (Videos) > The Tipping Point ... 24 hours a day. For young children whose home is a playground, it’s the best way to ...

  9. Angular Position Tracking Control of a Quadcopter

    Directory of Open Access Journals (Sweden)

    T. V. Glazkov

    2017-01-01

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

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

    International Nuclear Information System (INIS)

    Nguyen, Phuong-Bac; Choi, Seung-Bok

    2010-01-01

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

  11. Active vibration control of smart grid structure by multiinput and multioutput positive position feedback controller

    Science.gov (United States)

    Kwak, Moon K.; Heo, Seok

    2007-07-01

    This paper is concerned with the active vibration control of a grid structure equipped with piezoceramic sensors and actuators. The grid structure is a replica of the solar panel commonly mounted on satellites, which contains complex natural mode shapes. The multiinput and multioutput positive position feedback (PPF) controller is considered as an active vibration controller for the grid structure. A new concept, the block-inverse technique, is proposed to cope with more modes than the number of actuators and sensors. This study also deals with the stability and the spillover effect associated with the application of the multiinput multioutput PPF controller based on the block-inverse technique. It was found that the theories developed in this study are capable of predicting the control system characteristics and its performance. The new multiinput multioutput PPF controller was applied to the test structure using a digital signal processor and its efficacy was verified by experiments.

  12. Efficacy of tip cryotherapy in the treatment of idiopathic guttate hypomelanosis (IGH): a randomized, controlled, evaluator-blinded study.

    Science.gov (United States)

    Laosakul, Kulwadee; Juntongjin, Premjit

    2017-05-01

    Idiopathic guttate hypomelanosis (IGH) is a common hypopigmentation affecting a large amount of older population. However, there is no standard treatment. Cryotherapy has been reported as an alternative therapy for years; nevertheless, there is no randomized controlled study to determine its efficacy. To evaluate the efficacy and side effects of tip cryotherapy in IGH treatment. Total 101 lesions were included. Forty-three lesions were treated with cryotherapy and 58 lesions were assigned as control. A single session of tip cryotherapy was delivered and remained for 5 s. Colorimeter was used to measure lesional luminosity at baseline and then monthly until 4 months. Digital photographs were evaluated by two blinded dermatologists. In addition, patients' assessments and side effects were assessed. Mean luminosity scale gradually decreased from baseline. Also, the score of the treated lesions has been significantly lower than that of the control lesions since week 8 (p = .005). At the fourth month, dermatologists' assessment revealed that 82.3% of the treated lesions comparing to only 2% of the control showed more than 75% improvement (p cryotherapy appears to be an effective therapy with minimal adverse effect for IGH.

  13. Tipping Point

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    Full Text Available ... Point by CPSC Blogger September 22, 2009 appliance child Childproofing CPSC danger death electrical fall furniture head ... see news reports about horrible accidents involving young children and furniture, appliance and tv tip-overs. The ...

  14. CPAP Tips

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    Full Text Available ... make your opinion count. Sign in Loading... Loading... Transcript The interactive transcript could not be loaded. Loading... ... Dan Uses CPAP - Duration: 4:17. Harvard Medical School 7,950 views 4:17 Tips for building ...

  15. CPAP Tips

    Science.gov (United States)

    ... make your opinion count. Sign in Loading... Loading... Transcript The interactive transcript could not be loaded. Loading... ... Dan Uses CPAP - Duration: 4:17. Harvard Medical School 7,950 views 4:17 Tips for building ...

  16. Tipping Point

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    Full Text Available ... fall furniture head injury product safety television tipover tv Watch the video in Adobe Flash format. Almost ... accidents involving young children and furniture, appliance and tv tip-overs. The force of a large television ...

  17. Tipping Point

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    Full Text Available ... impact can kill a child or cause severe injuries. About 16,000 (mostly young children) were treated in emergency rooms for tip-over related injuries in 2006, that’s about four times more injuries ...

  18. Tipping Point

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    Full Text Available ... appliance child Childproofing CPSC danger death electrical fall furniture head injury product safety television tipover tv Watch ... reports about horrible accidents involving young children and furniture, appliance and tv tip-overs. The force of ...

  19. Tipping Point

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    Full Text Available ... third story of a building. That kind of impact can kill a child or cause severe injuries. ... to prevent a tip-over tragedy. Share Post Facebook Twitter Google Plus Reddit Connect with Me:  Visit ...

  20. Tip-tilt disturbance model identification for Kalman-based control scheme: application to XAO and ELT systems.

    Science.gov (United States)

    Meimon, Serge; Petit, Cyril; Fusco, Thierry; Kulcsar, Caroline

    2010-11-01

    Adaptive optics (AO) systems have to correct tip-tilt (TT) disturbances down to a fraction of the diffraction-limited spot. This becomes a key issue for very or extremely large telescopes affected by mechanical vibration peaks or wind shake effects. Linear quadratic Gaussian (LQG) control achieves optimal TT correction when provided with the temporal model of the disturbance. We propose a nonsupervised identification procedure that does not require any auxiliary system or loop opening and validate it on synthetic profile as well as on experimental data.

  1. Control of wing-tip vortex using winglets at low Reynolds number

    Science.gov (United States)

    Cho, Seunghyun; Choi, Haecheon

    2014-11-01

    Winglets are considered as one of the effective devices for reducing induced drag, and thus many studies have been conducted, but mainly at high Reynolds numbers (Re ~106 ~107) for commercial airplanes. However, small-size unmanned air vehicles (UAV), operating at low Reynolds numbers (Re PIV measurements are conducted at several cross-flow planes for a few different angles of attack (α) . At high angles of attack (7° ~13°) , the winglets with the cant angle of 70° increase the aerodynamic performance, whereas at low angles of attack (2° ~6°) , the wing-tip extension (cant angle of 0°) shows better performances. The velocity fields measured from PIV indicate that, with the winglet, the wing-tip vortex moves away from the wing surface at α =12° , and the downwash motion in the wake behind the trailing edge is decreased, reducing the magnitude of the induced drag. A concept of changing the cant angle during flight is also suggested at this talk. Supported by 2011-0028032.

  2. Surface tension-induced PDMS micro-pillars with controllable tips and tilt angles

    KAUST Repository

    Li, Huawei

    2013-12-21

    This paper reports a novel method to fabricate three-dimensional (3D) polydimethylsiloxane (PDMS) micro-pillars using a CO2 laser-machined poly(methyl methacrylate) (PMMA) mold with through-holes. This method eliminates the requirements of expensive and complicated facilities to fabricate a 3D mold. The micro-pillars were formed by the capillary force that draws PDMS into the through-holes of the PMMA mold. The tilt angles of the micro-pillars depend on the tilt angles of the through-holes in the mold, and the concave and convex micro-lens tip shapes of the PDMS micro-pillars can be modified by changing the surface wettability of the PMMA through-holes.

  3. The Orphan Receptor Tie1 Controls Angiogenesis and Vascular Remodeling by Differentially Regulating Tie2 in Tip and Stalk Cells

    Directory of Open Access Journals (Sweden)

    Soniya Savant

    2015-09-01

    Full Text Available Tie1 is a mechanistically poorly characterized endothelial cell (EC-specific orphan receptor. Yet, Tie1 deletion is embryonic lethal and Tie1 has been implicated in critical vascular pathologies, including atherosclerosis and tumor angiogenesis. Here, we show that Tie1 does not function independently but exerts context-dependent effects on the related receptor Tie2. Tie1 was identified as an EC activation marker that is expressed during angiogenesis by a subset of angiogenic tip and remodeling stalk cells and downregulated in the adult quiescent vasculature. Functionally, Tie1 expression by angiogenic EC contributes to shaping the tip cell phenotype by negatively regulating Tie2 surface presentation. In contrast, Tie1 acts in remodeling stalk cells cooperatively to sustain Tie2 signaling. Collectively, our data support an interactive model of Tie1 and Tie2 function, in which dynamically regulated Tie1 versus Tie2 expression determines the net positive or negative effect of Tie1 on Tie2 signaling.

  4. In situ, controlled and reproducible attachment of carbon nanotubes onto conductive AFM tips

    Energy Technology Data Exchange (ETDEWEB)

    Xu, Jianxun [International Center for Materials Nanoarchitectonics (MANA), National Institute for Materials Science, 1-1 Namiki, Tsukuba, Ibaraki 305-0044 (Japan); Chinese Academy of Science Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafty, National Center for Nanoscience and Technology of China, No. 11, Bei yi tiao, Zhong Guan Cun, Beijing 100190 (China); Shingaya, Yoshitaka [International Center for Materials Nanoarchitectonics (MANA), National Institute for Materials Science, 1-1 Namiki, Tsukuba, Ibaraki 305-0044 (Japan); Zhao, Yuliang [Chinese Academy of Science Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafty, National Center for Nanoscience and Technology of China, No. 11, Bei yi tiao, Zhong Guan Cun, Beijing 100190 (China); Nakayama, Tomonobu, E-mail: NAKAYAMA.Tomonobu@nims.go.jp [International Center for Materials Nanoarchitectonics (MANA), National Institute for Materials Science, 1-1 Namiki, Tsukuba, Ibaraki 305-0044 (Japan)

    2015-04-30

    Graphical abstract: - Highlights: • An effective and controllable method was developed to fabricate CNT AFM probes in-situ. • Individual carbon nanotube was assembled. • The alignment angle and protruding length of as-produced CNT probes are excellent. - Abstract: Owing to the small diameter, wear resistance, high aspect ratio of their cylindrical structure and outstanding young's modulus, carbon nanotubes are regarded as excellent probes for atomic force microscope (AFM) imaging and various applications. To take the best out of carbon nanotubes’ potentials as AFM probes, we present a facile and reliable method to attach a single carbon nanotube onto an AFM probe covered with conductive Au layer. The method involves the following steps: positioning the AFM probe exactly onto a designated multiple-walled carbon nanotube growing vertically on a conductive substrate, establishing physical contact of the probe apex to the carbon nanotube with an appropriate force, and finally flowing a DC current of typically 100 μA from the AFM probe to the substrate through the carbon nanotube. The current flow results in the fracture and attachment of the carbon nanotube onto the AFM probe. Our method is similar to that reported in previous studies to cut and assemble carbon nanotubes by flowing current under SEM, but by our method we succeed to achieve superior control of protruding length and reproducible attachment angle of the carbon nanotube in one step. Moreover, it is now possible to reliably prepare carbon nanotube probes in-situ during AFM experiments.

  5. Tips for a physician in getting the right job, part V: Some types of interviews for an executive position.

    Science.gov (United States)

    Harolds, Jay A

    2013-12-01

    Some physicians interviewing for an executive job will encounter the same types of interviews that a physician looking for a clinical job will experience. Typically, at least some elements of the same types of interviews will be given. However, those who desire an administrative position may in addition encounter 1 or more different types of interviews, which are known as the stress, behavioral, and situational interviews. This article describes some characteristics of these interviews, to prepare physicians to do well in these situations.

  6. Tips for a physician in getting the right job, part VI: some possible interview questions for an executive position.

    Science.gov (United States)

    Harolds, Jay A

    2014-01-01

    This article examines numerous general questions and possible responses that will be of special interest for those doctors interviewing for an administrative position. These queries will be presented under the topic headings of why do you want to change jobs, what are your strong and weak points, what are your credentials to do this job well, and what are your career objectives. However, some of these questions and answers will also be helpful to those physicians seeking a clinical job. Additional types of questions and answers, such as those found in behavioral, situational, and stress interviews, will be discussed in subsequent articles.

  7. Tipping Point

    Medline Plus

    Full Text Available ... 24 hours a day. For young children whose home is a playground, it’s the best way to prevent a tip-over tragedy. Share Post Facebook Twitter ... Security, and Legal Notice | Accessibility Policy | Open Government @ CPSC | ...

  8. CPAP Tips

    Medline Plus

    Full Text Available ... sleeping? Here are some tips from the U.S. Food and Drug Administration (FDA) on how to safely ... Copyright Creators Advertise Developers +YouTube Terms Privacy Policy & Safety Send feedback Test new features Loading... Working... Sign ...

  9. Analysis of plasma position control for DEMO reactor

    Energy Technology Data Exchange (ETDEWEB)

    Takase, Haruhiko, E-mail: takase.haruhiko@jaea.go.jp [International Fusion Energy Research Centre, 2-166, Obuchi, Rokkasho, Aomori 0393212 (Japan); Japan Atomic Energy Agency, 2-166, Obuchi, Rokkasho, Aomori 039-3212 (Japan); Utoh, Hiroyasu [International Fusion Energy Research Centre, 2-166, Obuchi, Rokkasho, Aomori 0393212 (Japan); Japan Atomic Energy Agency, 2-166, Obuchi, Rokkasho, Aomori 039-3212 (Japan); Sakamoto, Yoshiteru [Japan Atomic Energy Agency, 2-166, Obuchi, Rokkasho, Aomori 039-3212 (Japan); Mori, Kazuo; Kudo, Tatsuya [International Fusion Energy Research Centre, 2-166, Obuchi, Rokkasho, Aomori 0393212 (Japan); Japan Atomic Energy Agency, 2-166, Obuchi, Rokkasho, Aomori 039-3212 (Japan); Tobita, Kenji [Japan Atomic Energy Agency, 2-166, Obuchi, Rokkasho, Aomori 039-3212 (Japan)

    2016-11-01

    Highlights: • Plasma position control for DEMO reactor has been investigated using numerical code. • Stabilization effect of conductors and active feedback control are evaluated. • Influence on plasma position control by breeding blanket modules is shown. - Abstract: Plasma position control for DEMO reactor has been investigated using numerical simulation, which consists of plasma equilibrium, eddy current and active feedback control analyses. The stabilization effect of in-vessel components, the influence on the magnetic detector and the power of active feedback control coils are evaluated. Especially, the influence of breeding blanket modules on plasma position control is shown in this paper.

  10. Tokamak plasma position dynamics and feedback control

    International Nuclear Information System (INIS)

    Burenko, L.; Bailey, J.M.

    1983-01-01

    The perturbation equations of a tokamak plasma equilibrium position are developed. Solution of the approximated perturbation equations is carried out. A unique, simple, and useful plasma displacement dynamics transfer function of a tokamak is developed. The dominant time constants of the dynamics transfer function are determined in a symbolic form

  11. 10 Data Visualization Tips

    International Development Research Centre (IDRC) Digital Library (Canada)

    Office 2004 Test Drive User

    communicated through the use of design choices. (as indicated in tip 8). 8. Use colour, size, and position to help the reader see what is important. Colour adds emphasis, highlights particular data points, and draws connections between graphs. The hue, value, and intensity of the colour are significant and may have cultural ...

  12. Positive deviance as a strategy to prevent and control bloodstream infections in intensive care

    Directory of Open Access Journals (Sweden)

    Francimar Tinoco de Oliveira

    Full Text Available Abstract OBJECTIVE To describe the application of positive deviance as a strategy to prevent and control bloodstream infections. METHOD An intervention study with nursing and medical team members working in an intensive care unit in a university hospital, between June and December 2014. The four steps of the positive defiance methodology were applied: to define, to determine, to discover and to design. RESULTS In 90 days, 188 actions were observed, of these, 36.70% (n=69 were related to catheter dressing. In 81.15% (n=56 of these dressings, the professionals most adhered to the use of flexible sterile cotton-tipped swabs to perform antisepsis at catheter entry sites and fixation dressing. CONCLUSION Positive deviance contributed to the implementation of proposals to improve work processes and team development related to problems identified in central venous catheter care.

  13. Heterostructure of Au nanocluster tipping on a ZnS quantum rod: controlled synthesis and novel luminescence.

    Science.gov (United States)

    Tian, Yang; Wang, Ligang; Yu, Shanshan; Zhou, Weiwei

    2015-08-14

    Heterostructures of metal nanoparticles and semiconductors are widely studied for their unique properties. However, few reports are available on the heterostructure of metal nanoclusters and semiconductors. In the present study, a heterostructure, in which gold nanoclusters selectively locate at ZnS quantum rod (QR) tips, was fabricated using a two-step solvothermal route. The composition, intrinsic crystallography, and junction of the prepared heterostructure were thoroughly investigated, and it was observed to exhibit novel luminescent behaviours. By comparison with the individual components of ZnS QRs and gold clusters, the resultant heterostructure shows an enhanced exciton emission and complete depression of defect emission for the ZnS component, and a pronounced red emission for the gold nanocluster component. The mechanism of these properties and the charge transfer between gold nanoclusters and ZnS QRs were also explored. The size and location of gold in the heterostructure were also controlled during synthesis to study their effects on the luminescence.

  14. OVERVIEW, PRACTICAL TIPS AND POTENTIAL PITFALLS OF USING AUTOMATIC EXPOSURE CONTROL IN CT: SIEMENS CARE DOSE 4D.

    Science.gov (United States)

    Söderberg, Marcus

    2016-06-01

    Today, computed tomography (CT) systems routinely use automatic exposure control (AEC), which modulates the tube current. However, for optimal use, there are several aspects of an AEC system that need to be considered. The purpose of this study was to provide an overview of the Siemens CARE Dose 4D AEC system, discuss practical tips and demonstrate potential pitfalls. Two adult anthropomorphic phantoms were examined using two different Siemens CT systems. When optimising the CT radiation dose and image quality, the projection angle of the localiser, patient centring, protocol selection, scanning direction and the use of protective devices requires special attention. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  15. Tip enhancement

    CERN Document Server

    Kawata, Satoshi

    2007-01-01

    This book discusses the recent advances in the area of near-field Raman scattering, mainly focusing on tip-enhanced and surface-enhanced Raman scattering. Some of the key features covered here are the optical structuring and manipulations, single molecule sensitivity, analysis of single-walled carbon nanotubes, and analytic applications in chemistry, biology and material sciences. This book also discusses the plasmonic materials for better enhancement, and optical antennas. Further, near-field microscopy based on second harmonic generation is also discussed. Chapters have been written by some of the leading scientists in this field, who present some of their recent work in this field.·Near-field Raman scattering·Tip-enhanced Raman spectroscopy·Surface-enhanced Raman spectroscopy·Nano-photonics·Nanoanalysis of Physical, chemical and biological materials beyond the diffraction limits·Single molecule detection

  16. Angular Position Tracking Control of a Quadcopter

    OpenAIRE

    T. V. Glazkov; A. E. Golubev

    2017-01-01

    The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles.Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the s...

  17. Standardization of positive controls in diagnostic immunohistochemistry

    DEFF Research Database (Denmark)

    Torlakovic, Emina E; Nielsen, Søren; Francis, Glenn

    2015-01-01

    advances in methodology. An Ad Hoc Expert Committee was formed to address the standardization of controls, which is a missing link in demonstrating and assuring standardization of the various components of dIHC. This committee has also developed a concept of immunohistochemistry critical assay performance...

  18. Fractional-Order Control of Pneumatic Position Servosystems

    Directory of Open Access Journals (Sweden)

    Cao Junyi

    2011-01-01

    Full Text Available A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo system is established. The fractional-order controller for pneumatic position servo and its implementation in industrial computer is designed. The experiments with fractional-order controller are carried out under various conditions, which include sine position signal with different frequency and amplitude, step position signal, and variety inertial load. The results show the effectiveness of the proposed scheme and verify their fine control performance for pneumatic position servo system.

  19. Filopodial retraction force is generated by cortical actin dynamics and controlled by reversible tethering at the tip

    DEFF Research Database (Denmark)

    Bornschlögl, Thomas; Romero, Stéphane; Vestergaard, Christian L.

    2013-01-01

    at the tip and the retrograde flow at the base of the filopodium. Adhesion of a bead to the filopodial tip locally reduces actin polymerization and leads to retraction via retrograde flow, reminiscent of a process used by pathogens to invade cells. Using optical tweezers, we show that filopodial retraction...

  20. Application of Adaptive Sliding Mode Position Controller with PI ...

    African Journals Online (AJOL)

    PISMC) techniques for controlling the rotor position of PMDC motor drive system. In particular, since SMC is robust in the presence of the matched uncertainties and external disturbances, the desired position is perfectly tracked. In addition, the ...

  1. The intracavitary ECG method for positioning the tip of central venous access devices in pediatric patients: results of an Italian multicenter study.

    Science.gov (United States)

    Rossetti, Francesca; Pittiruti, Mauro; Lamperti, Massimo; Graziano, Ugo; Celentano, Davide; Capozzoli, Giuseppe

    2015-01-01

    The Italian Group for Venous Access Devices (GAVeCeLT) has carried out a multicenter study investigating the safety and accuracy of intracavitary electrocardiography (IC-ECG) in pediatric patients. We enrolled 309 patients (age 1 month-18 years) candidate to different central venous access devices (VAD) - 56 peripherally inserted central catheters (PICC), 178 short term centrally inserted central catheters (CICC), 65 long term VADs, 10 VADs for dialysis - in five Italian Hospitals. Three age groups were considered: A (ECG was applicable in 307 cases. The increase of the P wave on IC-ECG was detected in all cases but two. The tip of the catheter was positioned at the cavo-atrial junction (CAJ) (i.e., at the maximal height of the P wave on IC-ECG) and the position was checked during the procedure by fluoroscopy or chest x-ray, considering the CAJ at 1-2 cm (group A), 1.5-3 cm (group B), or 2-4 cm (group C) below the carina. There were no complications related to IC-ECG. The overall match between IC-ECG and x-ray was 95.8% (96.2% in group A, 95% in group B, and 96.8% in group C). In 95 cases, the IC-ECG was performed with a dedicated ECG monitor, specifically designed for IC-ECG (Nautilus, Romedex): in this group, the match between IC-ECG and x-ray was 98.8%. We conclude that the IC-ECG method is safe and accurate in the pediatric patients. The applicability of the method is 99.4% and its feasibility is 99.4%. The accuracy is 95.8% and even higher (98.8%) when using a dedicated ECG monitor.

  2. Use of real-time ultrasound for locating tip position in neonates undergoing peripherally inserted central catheter insertion: A pilot study

    Directory of Open Access Journals (Sweden)

    Nagsen Telang

    2017-01-01

    Interpretation & conclusions: The result of this pilot study shows that RTUS may be a reliable and safe bedside tool for determining the tip of PICC lines. However, studies with large sample size need to be done to confirm these findings.

  3. Use of real-time ultrasound for locating tip position in neonates undergoing peripherally inserted central catheter insertion: A pilot study

    Science.gov (United States)

    Telang, Nagsen; Sharma, Deepak; Pratap, Oleti Tejo; Kandraju, Hemasree; Murki, Srinivas

    2017-01-01

    Background & objectives: Securing long-term venous access is an essential part of sick newborn care. The malposition of central line tip leads to several complications. There is a need for an easily available bedside investigating tool to diagnose these malpositions. This study was done to compare the effectiveness of real-time ultrasound (RTUS) with X-ray in identifying the peripherally inserted central catheter (PICC) line tip. Methods: This pilot observational study was conducted in a level III Neonatal Intensive Care Unit of a tertiary care hospital in India, from June 2012 to June 2013. A total of 33 PICC lines in 31 infants were included in the study. After insertion of PICC line, X-ray and RTUS were done to locate the tip of the PICC line. Results: In this study, PICC line tip could be identified by bedside RTUS in 94 per cent of line insertions. Standard X-ray identified the tip in all cases. RTUS has been shown to have good diagnostic utility in comparison with X-ray with sensitivity and specificity being 96.55 and 100 per cent, respectively. In our study, majority of malpositions were identified and manipulated by RTUS, thus second X-rays were avoided. Interpretation & conclusions: The result of this pilot study shows that RTUS may be a reliable and safe bedside tool for determining the tip of PICC lines. However, studies with large sample size need to be done to confirm these findings. PMID:28749401

  4. Anti-Windup Scheme for Practical Control of Positioning Systems

    Directory of Open Access Journals (Sweden)

    Wahyudi Tarig Faisal and Abdulgani Albagul

    2012-10-01

    Full Text Available Positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application.  For satisfying these requirements, nominal characteristic trajectory following controller (NCTF has been proposed as a practical point-to-point (PTP positioning control. However, the effect of actuator saturation can not be completely compensated for due to the integrator windup as the plant parameters vary. This paper presents a method to improve the NCTF controller for overcoming the problem of integrator windup using simple and classical tracking anti-windup scheme. The improved NCTF controller is evaluated through simulation using a rotary positioning system. The results show that the improved NCTF controller is adequate to compensate for the effect of integrator windup. Keywords: Positioning, point-to-point, integrator windup, compensation, controller, robustness.

  5. Lung epithelial tip progenitors integrate glucocorticoid- and STAT3-mediated signals to control progeny fate

    Science.gov (United States)

    Laresgoiti, Usua; Rao, Chandrika; Brady, Jane L.; Richardson, Rachel V.; Batchen, Emma J.; Chapman, Karen E.

    2016-01-01

    Insufficient alveolar gas exchange capacity is a major contributor to lung disease. During lung development, a population of distal epithelial progenitors first produce bronchiolar-fated and subsequently alveolar-fated progeny. The mechanisms controlling this bronchiolar-to-alveolar developmental transition remain largely unknown. We developed a novel grafting assay to test if lung epithelial progenitors are intrinsically programmed or if alveolar cell identity is determined by environmental factors. These experiments revealed that embryonic lung epithelial identity is extrinsically determined. We show that both glucocorticoid and STAT3 signalling can control the timing of alveolar initiation, but that neither pathway is absolutely required for alveolar fate specification; rather, glucocorticoid receptor and STAT3 work in parallel to promote alveolar differentiation. Thus, developmental acquisition of lung alveolar fate is a robust process controlled by at least two independent extrinsic signalling inputs. Further elucidation of these pathways might provide therapeutic opportunities for restoring alveolar capacity. PMID:27578791

  6. Sensorless SPMSM Position Estimation Using Position Estimation Error Suppression Control and EKF in Wide Speed Range

    Directory of Open Access Journals (Sweden)

    Zhanshan Wang

    2014-01-01

    Full Text Available The control of a high performance alternative current (AC motor drive under sensorless operation needs the accurate estimation of rotor position. In this paper, one method of accurately estimating rotor position by using both motor complex number model based position estimation and position estimation error suppression proportion integral (PI controller is proposed for the sensorless control of the surface permanent magnet synchronous motor (SPMSM. In order to guarantee the accuracy of rotor position estimation in the flux-weakening region, one scheme of identifying the permanent magnet flux of SPMSM by extended Kalman filter (EKF is also proposed, which formed the effective combination method to realize the sensorless control of SPMSM with high accuracy. The simulation results demonstrated the validity and feasibility of the proposed position/speed estimation system.

  7. Systematic control of edge length, tip sharpness, thickness, and localized surface plasmon resonance of triangular Au nanoprisms

    Energy Technology Data Exchange (ETDEWEB)

    Noda, Yuta; Hayakawa, Tomokatsu, E-mail: hayatomo@nitech.ac.jp [Nagoya Institute of Technology, Department of Frontier Materials, Field of Advanced Energy Conversion (Japan)

    2016-10-15

    Triangular gold (Au) nanoprisms of various sizes were synthesized in a controlled way using a modified three-step seed-mediated method with different volumes of starting seed solution and subsequent first step’s growth solution. The structures and optical properties of the triangular Au nanoprisms were investigated using transmission electron microscopy (TEM), atomic force microscopy, and UV–Vis–NIR spectrophotometry. The Au nanoprisms synthesized also varied in optical response frequency of localized surface plasmon resonance (LSPR) owing to electric dipole polarizations of the Au nanoprisms. This variation depended nonlinearly on the volume of the seed solution. From optical extinction spectra and careful TEM observations, the dipole LSPR peak frequency was found to be linearly proportional to the edge length of the Au nanoprisms. Consequently, it was experimentally shown that the LSPR optical response frequency of their colloidal solutions could be controlled in the near-infrared region (700–1200 nm), corresponding to an edge length of 40–180 nm of the Au nanoprisms. It was also demonstrated that the tip sharpness of triangular Au nanoprisms was improved by using fine Au seeds instead of coarse Au seeds, and the resulting Au nanoprisms were smaller and thinner. A formation mechanism of triangular Au nanoprisms shall also be discussed with a prospect of synthesizing very tiny Au nanoprisms.Graphical Abstract.

  8. Design and performance of a beetle-type double-tip scanning tunneling microscope

    International Nuclear Information System (INIS)

    Jaschinsky, Philipp; Coenen, Peter; Pirug, Gerhard; Voigtlaender, Bert

    2006-01-01

    A combination of a double-tip scanning tunneling microscope with a scanning electron microscope in ultrahigh vacuum environment is presented. The compact beetle-type design made it possible to integrate two independently driven scanning tunneling microscopes in a small space. Moreover, an additional level for coarse movement allows the decoupling of the translation and approach of the tunneling tip. The position of the two tips can be controlled from the millimeter scale down to 50 nm with the help of an add-on electron microscope. The instrument is capable of atomic resolution imaging with each tip

  9. Positive train control interoperability and networking research : final report.

    Science.gov (United States)

    2015-12-01

    This document describes the initial development of an ITC PTC Shared Network (IPSN), a hosted : environment to support the distribution, configuration management, and IT governance of Interoperable : Train Control (ITC) Positive Train Control (PTC) s...

  10. Control system design for nano-positioning using piezoelectric actuators

    International Nuclear Information System (INIS)

    Shan, Jinjun; Liu, Yanfang; Cui, Naigang; Gabbert, Ulrich

    2016-01-01

    This paper presents a systematic control system design for nano-positioning of a piezoelectric actuator (PEA). PEAs exhibit hysteresis nonlinearity, which can dramatically limit the application and performance of linear feedback control theory. Thus the hysteresis is compensated for based on the Maxwell resistive capacitor (MRC) model first. Then a proportional plus integral (PI) controller and a proportional double integral plus lead compensation (PII and L) controller are designed for the hysteresis-compensated PEA to account for model uncertainty, disturbance, and noise. The robust stability of both controllers is proved. The effectiveness of the proposed control scheme is demonstrated experimentally. Both controllers achieve fast precise positioning. The 2% settling times for the PI controller and the PII and L controller are 1.5 ms and 4.7 ms, respectively. The positioning resolution is upto 1 nm for both controllers. (paper)

  11. Modeling And Position Control Of Scara Type 3D Printer

    Directory of Open Access Journals (Sweden)

    Ahmet Saygamp305n Ogulmuamp351

    2015-08-01

    Full Text Available In this work a scara robot type 3D printer system is dynamically modeled and position control of the system is realized. For this aim computer aided design model of three degrees of freedom robotic system is created using SolidWorks program then obtained model is exported to MATLABSimMechanics software for position control. Also mathematical model of servo motors used in robotic 3D printer system is included in control methodology to design proportional controllers. Uncontrolled and controlled position results are simulated and given in the form of the graphics.

  12. Air Support Control Officer Individual Position Training Simulation

    Science.gov (United States)

    2017-06-01

    release. Distribution is unlimited. AIR SUPPORT CONTROL OFFICER INDIVIDUAL POSITION TRAINING SIMULATION by Kathleen M. Haggard June 2017...REPORT DATE June 2017 3. REPORT TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE AIR SUPPORT CONTROL OFFICER INDIVIDUAL POSITION TRAINING...of the Marine Corps’ primary air control agencies and is responsible for the procedural control of aircraft in support of combat operations. The

  13. Closed loop high precision position control system with optical scale

    Science.gov (United States)

    Ge, Cheng-liang; Liao, Yuan; He, Zhong-wu; Luo, Zhong-xiang; Huang, Zhi-wei; Wan, Min; Hu, Xiao-yang; Fan, Guo-bin; Liang, Zheng

    2008-03-01

    With the developments of science of art, there are more and more demands on the high resolution control of position of object to be controlled, such as lathe, product line, elements in the optical resonant cavity, telescope, and so on. As one device with high resolution, the optical scale has more and more utility within the industrial and civil applications. With one optical scale and small DC servo motor, one closed loop high resolution position control system is constructed. This apparatus is used to control the position of the elements of optical system. The optical scale is attached on the object or reference guide way. The object position is sampled by a readhead of non-contact optical encoder. Control system processes the position information and control the position of object through the motion control of servo DC motor. The DC motor is controlled by one controller which is connected to an industrial computer. And the micro frictionless slide table does support the smooth motion of object to be controlled. The control algorithm of system is PID (Proportional-Integral-Differential) methods. The PID control methods have well ROBUST. The needed data to control are position, velocity and acceleration of the object. These three parameters correspond to the PID characters respectively. After the accomplishments of hardware, GUI (Graphical user interface), that is, the software of control system is also programmed. The whole system is assembled by specialized worker. Through calibration experiments, the coefficients of PID are obtained respectively. And then the precision of position control of the system is about 0.1μm.

  14. 78 FR 5767 - Positive Train Control Systems (RRR)

    Science.gov (United States)

    2013-01-28

    ... [Docket No. FRA-2011-0061, Notice No. 2] RIN 2130-AC32 Positive Train Control Systems (RRR) AGENCY... positive train control (PTC) systems. The present document clarifies FRA's responses to several elements of... otherwise amend the rules concerning the ``limited operations'' exception, en route failures of trains...

  15. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  16. Control of plasma position in the CASTOR tokamak

    International Nuclear Information System (INIS)

    Valovic, M.

    1988-11-01

    A simple servo-system designed for plasma position control in the CASTOR tokamak is described. Both radial and vertical plasma displacements were minimized using two servo-loops consisting of detection coils, a conventional electric controller and an amplifier operated as an unipolar voltage-controlled current source. To ensure the optimum conditions in the start-up phase of the discharge, currents in the servo-systems were externally preprogrammed. The prescribed plasma position was maintained with the accuracy of 3 mm. The feedback control improves plasma parameters, e.g. it removes the positional disruption at the end of the tokamak discharge. (J.U.). 4 figs., 3 refs

  17. Prom Health and Safety Tips

    Science.gov (United States)

    ... Autumn Tips Camping Tips Family Reunions Gardening Tips Halloween Tips Healthy Halloween Prom Tips Spring Break Valentine Tips Winter Holiday ... Breast Cancer Assess Your Relationships Be Safe on Halloween Be Smoke-Free Check Alarm Batteries Know Your ...

  18. Advanced control of piezoelectric micro-nano-positioning systems

    CERN Document Server

    Xu, Qingsong

    2016-01-01

    This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text. Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers. Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining positi...

  19. Automation of Aditya tokamak plasma position control DC power supply

    Energy Technology Data Exchange (ETDEWEB)

    Arambhadiya, Bharat, E-mail: bharat@ipr.res.in; Raj, Harshita; Tanna, R.L.; Edappala, Praveenlal; Rajpal, Rachana; Ghosh, Joydeep; Chattopadhyay, P.K.; Kalal, M.B.

    2016-11-15

    Highlights: • Plasma position control is very essential for obtaining repeatable high temperature, high-density discharges of longer durations in tokomak. • The present capacitor bank has limitations of maximum current capacity and position control beyond 200 ms. • The installation of a separate set of coils and a DC power supply can control the plasma position beyond 200 ms. • A high power thyristor (T588N1200) triggers for DC current pulse of 300 A fires precisely at required positions to modify plasma position. • The commissioning is done for the automated in-house, quick and reliable solution. - Abstract: Plasma position control is essential for obtaining repeatable high temperature, high-density discharges of longer duration in tokamaks. Recently, a set of external coils is installed in the vertical field mode configuration to control the radial plasma position in ADITYA tokamak. The existing capacitor bank cannot provide the required current pulse beyond 200 ms for position control. This motivated to have a DC power supply of 500 A to provide current pulse beyond 200 ms for the position control. The automatization of the DC power supply mandated interfaces with the plasma control system, Aditya Pulse Power supply, and Data acquisition system for coordinated discharge operation. A high current thyristor circuit and a timer circuit have been developed for controlling the power supply automatically for charging vertical field coils of Aditya tokamak. Key protection interlocks implemented in the development ensure machine and occupational safety. Fiber-optic trans-receiver isolates the power supply with other subsystems, while analog channel is optically isolated. Commissioning and testing established proper synchronization of the power supply with tokamak operation. The paper discusses the automation of the DC power supply with main circuit components, timing control, and testing results.

  20. Development of the 'JFT-2' tokamak plasma position control system

    International Nuclear Information System (INIS)

    Fujisawa, Noboru; Matsuzaki, Yoshimi; Suzuki, Norio; Murai, Katsuji; Suzuki, Satoshi.

    1980-01-01

    Digital control technique was applied to control the plasma position in the JFT-2 tokamak experiment device. The detail of the JFT-2 is described elsewhere. The plasma position control system consists of a Hitachi control computer, HIDIC 80, and a Hitachi micro-computer, HIDIC 08E. The plasma position is detected by the position control computer, and compared with a preset value. Then, a reference signal is supplied to the micro-computer controlling power source, and the phase control of the thyristor controlling power source is performed. Since the behavior of plasma is very fast, the fast control is required. The control of the thyristor controlling power source is made by direct digital control (DDC). The main component of the hardware of the present system is the micro-computer HIDIC 08E. The software is the direct task system without the operating system (OS). The results of experiments showed that the feedback control of the system worked well. (Kato, T.)

  1. Computerized automatic tip scanning operation

    International Nuclear Information System (INIS)

    Nishikawa, K.; Fukushima, T.; Nakai, H.; Yanagisawa, A.

    1984-01-01

    In BWR nuclear power stations the Traversing Incore Probe (TIP) system is one of the most important components in reactor monitoring and control. In previous TIP systems, however, operators have suffered from the complexity of operation and long operation time required. The system presented in this paper realizes the automatic operation of the TIP system by monitoring and driving it with a process computer. This system significantly reduces the burden on customer operators and improves plant efficiency by simplifying the operating procedure, augmenting the accuracy of the measured data, and shortening operating time. The process computer is one of the PODIA (Plant Operation by Displayed Information Automation) systems. This computer transfers control signals to the TIP control panel, which in turn drives equipment by microprocessor control. The process computer contains such components as the CRT/KB unit, the printer plotter, the hard copier, and the message typers required for efficient man-machine communications. Its operation and interface properties are described

  2. Fractional-order positive position feedback compensator for active vibration control of a smart composite plate

    Science.gov (United States)

    Marinangeli, L.; Alijani, F.; HosseinNia, S. Hassan

    2018-01-01

    In this paper, Active Vibration Control (AVC) of a rectangular carbon fibre composite plate with free edges is presented. The plate is subjected to out-of-plane excitation by a modal vibration exciter and controlled by Macro Fibre Composite (MFC) transducers. Vibration measurements are performed by using a Laser Doppler Vibrometer (LDV) system. A fractional-order Positive Position Feedback (PPF) compensator is proposed, implemented and compared to the standard integer-order PPF. MFC actuator and sensor are positioned on the plate based on maximal modal strain criterion, so as to control the second natural mode of the plate. Both integer and fractional-order PPF allowed for the effective control of the second mode of vibration. However, the newly proposed fractional-order controller is found to be more efficient in achieving the same performance with less actuation voltage. Moreover, it shows promising performance in reducing spillover effect due to uncontrolled modes.

  3. Tips for Daily Living

    Science.gov (United States)

    ... Tips and Gadgets for Daily Activities Dressing Tips Shopping Tips Modifying the Bathroom Driving After Stroke Medication ... and resources. Find a group in your area . Online Support If there is not a support group ...

  4. Coordinated joint motion control system with position error correction

    Science.gov (United States)

    Danko, George [Reno, NV

    2011-11-22

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

  5. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  6. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

  7. Dynamic Positioning of Ships : A nonlinear control design study

    NARCIS (Netherlands)

    Muhammad, S.

    2012-01-01

    Dynamic positioning (DP) is relatively a new technique used to maintain the position and heading of ships in various offshore operations. Due to the features like better safety and operating efficiency, DP systems are becoming more and more popular. This thesis mainly focusses on the control system

  8. 78 FR 11236 - Positive Train Control Public Forum

    Science.gov (United States)

    2013-02-15

    ... NATIONAL TRANSPORTATION SAFETY BOARD Positive Train Control Public Forum On Wednesday, February 27, 2013, the National Transportation Safety Board (NTSB) will convene a Forum titled, ``Positive Train..., the NTSB has investigated many train collisions and over-speed derailments caused by operational...

  9. Torsional Phacoemulsification and Tip Selection

    Directory of Open Access Journals (Sweden)

    Fırat Helvacıoğlu

    2014-10-01

    Full Text Available One of the recent advances in cataract surgery is torsional phacoemulsification. It was developed to increase the efficacy of ultrasonic emulsification. In torsional phacoemulsification, the torsional movement of the tip is translated to side-to-side cutting action with the aid of bent phaco tips. Lens material is cut in both directions, rather than only during a forward stroke. The efficiency of this technique is further enhanced by an improvement in followability provided by the inherent non-repulsive nature of the side-to-side motion. Tip selection is very important for the efficiency of torsional phacoemulsification. Theoretically, there are 2 ways to enhance the cutting efficiency of the tip. First is the stroke length; the 22-degree bent 30-degree Kelman mini-flared tip cuts longer than the 12-degree bent 30-degree mini-flared Kelman tip. Second is the angulation or bevel; the higher the degree (45 degrees, the better cutting efficiency. Retrospective analyses of the previously published clinical studies clearly demonstrated that the efficacy of the torsional phacoemulsification has positive correlation with both the aperture angles and neck angles of the tips. (Turk J Ophthalmol 2014; 44: 392-5

  10. Precision positioning system based on intelligent Fuzzy-PID control

    Science.gov (United States)

    Liu, Zhen; Zhang, Liqiong; Li, Yan

    2010-08-01

    To break through the limitations of static and dynamic characteristics of conventional step motor driven open-loop positioning devices, a two-dimensional precision positioning system with a travel range of 100mm×100mm has been developed. This paper presents its structure, control principle and performance experiments. This system, equipped with cross roller guides working as linear guiding elements, is driven by step motors through ball screw transmission. A threeaxis dual-frequency laser interferometric measurement system is established for real-time measurement and feedback of system's movements in three degrees of freedom (DOF) and an intelligent Fuzzy-PID controller is implemented for this system's motion control. In the controller, the PID module calculates the output from motor drivers and its initial parameters are tuned through expansion of critical proportioning method; the Fuzzy module optimizes PID parameters to fulfill specific requirements of different movement stages. A dead zone control mechanism is developed in this controller to minimize the oscillations around target position. Experimental results indicate that system with Fuzzy-PID controller shows faster response than that with ordinary PID controller. Moreover, with this controller implemented, the developed precision positioning system achieves better repeatability (+/-2μm) and accuracy (+/-2.5μm) within the full range than open-loop system using step motor.

  11. Adaptive and Robust Sliding Mode Position Control of IPMSM Drives

    Directory of Open Access Journals (Sweden)

    ZAKY, M.

    2017-02-01

    Full Text Available This paper proposes an adaptive and robust sliding mode control (SMC for the position control of Interior Permanent Magnet Synchronous Motor (IPMSM drives. A switching surface of SMC is designed using a Linear Quadratic Regulator (LQR technique to simultaneously control the tracking trajectory and load torque changes. The quadratic optimal control method is used to select the state feedback control gain that constitutes the system dynamic performance under uncertainties and disturbances. Feedback and switching gains are selected to satisfy both stability and fast convergence of the IPMSM. Matlab/Simulink is used to build the drive system. Experimental implementation of the IPMSM drive is carried out using DSP-DS1102 control board. The efficacy of the proposed position control method is validated using theoretical analysis and simulation and experimental results.

  12. Position and Attitude Alternate of Path Tracking Heading Control

    Directory of Open Access Journals (Sweden)

    Baocheng Tan

    2014-03-01

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

  13. Position Control of Switched Reluctance Motor Using Super Twisting Algorithm

    Directory of Open Access Journals (Sweden)

    Muhammad Rafiq Mufti

    2016-01-01

    Full Text Available The inherent problem of chattering in traditional sliding mode control is harmful for practical application of control system. This paper pays a considerable attention to a chattering-free control method, that is, higher-order sliding mode (super twisting algorithm. The design of a position controller for switched reluctance motor is presented and its stability is assured using Lyapunov stability theorem. In order to highlight the advantages of higher-order sliding mode controller (HOSMC, a classical first-order sliding mode controller (FOSMC is also applied to the same system and compared. The simulation results reflect the effectiveness of the proposed technique.

  14. Experimental Study on Position Control System Using Encoderless Magnetic Motion

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hong Youn; Heo, Hoon [Korea Univ., Seoul (Korea, Republic of); Yun, Young Min; Shim, Ho Keun; Kwon, Young Mok [TPC Mechatronics, Daejeon (Korea, Republic of)

    2016-01-15

    A position control system composed of the PMLSM(Permanent Magnet Linear Synchronous Motor), unlike conventional linear permanent magnet synchronous motor is fixed to the permanent magnet moving coil rails (permanent magnet = stator, coil = mover), the coil is fixed, moving the permanent magnet, we propose a position control system (permanent magnet = mover, coil = stator) structure. Position is measured not using conventional encoder or resolver but by adopting vector control method using 2 hall sensors generating rectangular signal. This method estimate the velocity and position of mover by using the quadruple of two hall sensor signal instead of encoder signal. Vector control of PMLSM using 2 hall sensor generating rectangular wave is proved to control the system stable and efficiently through simulation. Also hardware experiment reveals that the position control performance is measured within the range of 30-50μ in the accuracy of 10-20μ, which is improved twice to the conventional method. The proposed method exhibits its economical efficiency and practical usefulness. The vector control technique using two hall sensors can be installed in narrow place, accordingly it can be implemented on the system where the conventional encoder or resolver cannot operate.

  15. Nanoaccuracy Position Control of a Pneumatic Cylinder Driven Table

    Science.gov (United States)

    Pai, Kei-Ren; Shih, Ming-Chang

    The development of ultraprecision positioning technology is urgently required with the incessant demand for higher accuracy in high technology manufacturing. In this study, therefore, a linear pneumatic-driven ultraprecision table is built; and, a velocity compensator is designed to overcome the stick-slip effect of the pneumatic table. The velocity compensation signal is directly added to the conventional PD and Fuzzy controller to control the table, respectively. This method is effective not only to overcome the stick-slip phenomenon of the cylinder but also to improve the positioning accuracy of the pneumatic servo system. The experimental results have shown that the table has the positioning accuracy of 20nm.

  16. CPAP Tips

    Medline Plus

    Full Text Available ... on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure (CPAP) ... Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 372,453 views 4: ...

  17. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 393,424 views ...

  18. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 415,550 views ...

  19. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 376,929 views ...

  20. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... views 3:08 The straight honest truth about Sleep Apnea and CPAP - Duration: 14:51. angelhelp777 624, ...

  1. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... A Beginner's Guide to Your CPAP Machine for Sleep Apnea Relief - Duration: 5:58. DANDLINC 45,815 ...

  2. CPAP Tips

    Medline Plus

    Full Text Available ... you have sleep apnea and use a continuous positive airway pressure (CPAP) device when sleeping? Here are ... Advertise Developers +YouTube Terms Privacy Policy & Safety Send feedback Test new features Loading... Working... Sign in to ...

  3. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... views 3:08 The straight honest truth about Sleep Apnea and CPAP - Duration: 14:51. angelhelp777 622, ...

  4. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 378,990 views ...

  5. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 377,992 views ...

  6. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 382,041 views ...

  7. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... next Airing: The world's first micro- CPAP for sleep apnea - Duration: 4:26. Airing 386,132 views ...

  8. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... views 2:02 The straight honest truth about Sleep Apnea and CPAP - Duration: 14:51. angelhelp777 623, ...

  9. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... A Beginner's Guide to Your CPAP Machine for Sleep Apnea Relief - Duration: 5:58. DANDLINC 44,377 ...

  10. Robust Position Control of a DC Motor by Sliding Mode

    Science.gov (United States)

    Mamani, Gabriela; Becedas, Jonathan; Batlle, Vicente Feliu

    The position of the DC motor is controlled by using a continuous sliding mode control (SMC), which is highly robust to the Coulomb friction torque and to high unknown payload variations, which involve changes in the rotational inertia of the motor shaft. The main contribution of the work is the experimentation of a SMC control which does not requires the knowledge of the payload variation range, i.e., the system is quite robust to any unknown change in the payload mass value.

  11. Systemic Control of Cell Division and Endoreduplication by NAA and BAP by Modulating CDKs in Root Tip Cells of Allium cepa

    Directory of Open Access Journals (Sweden)

    Jigna G. Tank

    2014-01-01

    Full Text Available Molecular mechanism regulated by auxin and cytokinin during endoreduplication, cell division, and elongation process is studied by using Allium cepa roots as a model system. The activity of CDK genes modulated by auxin and cytokinin during cell division, elongation, and endoreduplication process is explained in this research work. To study the significance of auxin and cytokinin in the management of cell division and endoreduplication process in plant meristematic cells at molecular level endoreduplication was developed in root tips of Allium cepa by giving colchicine treatment. There were inhibition of vegetative growth, formation of c-tumor at root tip, and development of endoreduplicated cells after colchicine treatment. This c-tumor was further treated with NAA and BAP to reinitiate vegetative growth in roots. BAP gave positive response in reinitiation of vegetative growth of roots from center of c-tumor. However, NAA gave negative response in reinitiation of vegetative growth of roots from c-tumor. Further, CDKs gene expression analysis from normal, endoreduplicated, and phytohormone (NAA or BAP treated root tip was done and remarkable changes in transcription level of CDK genes in normal, endoreduplicated, and phytohormones treated cells were observed.

  12. Systemic Control of Cell Division and Endoreduplication by NAA and BAP by Modulating CDKs in Root Tip Cells of Allium cepa

    Science.gov (United States)

    Tank, Jigna G.; Thaker, Vrinda S.

    2014-01-01

    Molecular mechanism regulated by auxin and cytokinin during endoreduplication, cell division, and elongation process is studied by using Allium cepa roots as a model system. The activity of CDK genes modulated by auxin and cytokinin during cell division, elongation, and endoreduplication process is explained in this research work. To study the significance of auxin and cytokinin in the management of cell division and endoreduplication process in plant meristematic cells at molecular level endoreduplication was developed in root tips of Allium cepa by giving colchicine treatment. There were inhibition of vegetative growth, formation of c-tumor at root tip, and development of endoreduplicated cells after colchicine treatment. This c-tumor was further treated with NAA and BAP to reinitiate vegetative growth in roots. BAP gave positive response in reinitiation of vegetative growth of roots from center of c-tumor. However, NAA gave negative response in reinitiation of vegetative growth of roots from c-tumor. Further, CDKs gene expression analysis from normal, endoreduplicated, and phytohormone (NAA or BAP) treated root tip was done and remarkable changes in transcription level of CDK genes in normal, endoreduplicated, and phytohormones treated cells were observed. PMID:24955358

  13. Selective control of attention supports the positivity effect in aging.

    Directory of Open Access Journals (Sweden)

    Laura K Sasse

    Full Text Available There is emerging evidence for a positivity effect in healthy aging, which describes an age-specific increased focus on positive compared to negative information. Life-span researchers have attributed this effect to the selective allocation of cognitive resources in the service of prioritized emotional goals. We explored the basic principles of this assumption by assessing selective attention and memory for visual stimuli, differing in emotional content and self-relevance, in young and old participants. To specifically address the impact of cognitive control, voluntary attentional selection during the presentation of multiple-item displays was analyzed and linked to participants' general ability of cognitive control. Results revealed a positivity effect in older adults' selective attention and memory, which was particularly pronounced for self-relevant stimuli. Focusing on positive and ignoring negative information was most evident in older participants with a generally higher ability to exert top-down control during visual search. Our findings highlight the role of controlled selectivity in the occurrence of a positivity effect in aging. Since the effect has been related to well-being in later life, we suggest that the ability to selectively allocate top-down control might represent a resilience factor for emotional health in aging.

  14. CPAP Tips

    Medline Plus

    Full Text Available ... Published on Dec 12, 2012 Do you have sleep apnea and use a continuous positive airway pressure ( ... Should Avoid CPAP and Getting Surgery for Snoring/Sleep Apnea - Duration: 15:13. TrueGritProductions 48,697 views ...

  15. Local labor unions' positions on worksite tobacco control.

    Science.gov (United States)

    Sorensen, G; Stoddard, A M; Youngstrom, R; Emmons, K; Barbeau, E; Khorasanizadeh, F; Levenstein, C

    2000-01-01

    OBJECTIVES: This report describes local unions' positions on tobacco control initiatives and factors related to these positions. METHODS: A national random sample of local union leaders was surveyed by telephone. RESULTS: Forty-eight percent of local unions supported worksite smoking bans or restrictions, and only 8% opposed both a ban and a restriction. CONCLUSIONS: Support for tobacco control initiatives among local unions was higher than might be expected on the basis of previous evidence. Engaging unions in smoking policy formation is likely to contribute to the larger public health goal of reducing smoking and exposure to second-hand smoke among workers. PMID:10754979

  16. Development of a metrological atomic force microscope with minimized Abbe error and differential interferometer-based real-time position control

    International Nuclear Information System (INIS)

    Ducourtieux, Sebastien; Poyet, Benoit

    2011-01-01

    A metrological atomic force microscope (mAFM) has been developed at LNE. It will be dedicated to traceable dimensional measurements and calibrations of transfer standards with a maximum size of 25 mm × 25 mm × 7 mm. The displacement range is 60 µm for the X and Y axes and 15 µm for the Z axis. The instrument uses four laser differential interferometers in an original Abbe-compliant arrangement to measure the position of the tip relative to the sample and to be directly traceable to the SI. The expected uncertainty for the measurement of the tip/sample relative position is 1 nm for the whole range without taking into account the tip contribution. To fulfill this specification, the design of the instrument has been optimized to minimize Abbe errors, to reduce the metrology loop length, to limit the drifts due to thermal dilatation and to improve the stability of interferometric position measurement in ambient air. To limit Abbe errors, a dedicated three-axis flexure stage has been developed to reduce parasitic rotational motion at the level of 1 µrad for the whole range. This stage is driven by piezo-actuators. The instrument controller is based on a FPGA combined with an embedded PXI controller to perform real-time control of the XYZ position. We present the design of the instrument and the very first results

  17. Vaginal Swab Test Compared With the Urethral Q-tip Test for Urethral Mobility Measurement: A Randomized Controlled Trial.

    Science.gov (United States)

    Meyer, Isuzu; Szychowski, Jeff M; Illston, Jana D; Parden, Alison M; Richter, Holly E

    2016-02-01

    To assess whether use of a vaginal cotton-tipped swab is equivalent to the standard Q-tip test regarding urethral mobility. Secondarily, to examine whether both tests agree in hypermobility diagnosis, discomfort level, and patients' preference. In this randomized crossover trial, women with stress urinary incontinence without prolapse beyond the hymen were randomized to undergo either a vaginal or urethral mobility test first followed by the alternate approach. The primary outcome was the difference in rotation angle, from resting to maximum strain, between tests. The equivalence margin was ±10°. The secondary outcome was agreement in hypermobility diagnosis using two definitions: 1) maximum straining angle of 30° or greater from the horizontal plane; and 2) rotation angle 30° or greater. Discomfort was assessed using a 0-10 visual analog scale. Using 90% power assuming a standard deviation of 20°, 36 and 139 patients were needed for 10° and 5° equivalence margins, respectively. From January 2014 to March 2015, 140 women were randomized. The mean difference between the two tests was 5.1° (95% confidence interval 3.2-6.9°), meeting the predefined equivalence criteria. In the hypermobility diagnosis, the urethral and vaginal tests had no disagreement using definition 1 (P=.23), whereas the two tests disagreed using definition 2 (P=.03). The urethral approach had a higher discomfort level (Pstandard Q-tip test in measuring urethral mobility with less discomfort and is preferred by patients.

  18. Position detection device for nuclear reactor control device

    International Nuclear Information System (INIS)

    Ara, Katsuyuki.

    1989-01-01

    The present invention concerns a position detection device for control rods in a PWR type nuclear reactor, and it is an object thereof to improve the reliability by remarkably decreasing the number of coils required for the position detection of the control rods. That is, there are provided rod members by the number of K each having a length substantially equal with the moving range of the control rod and moving interlocked with the control rod. The rod members by the number of K are each divided into M sections along the axial direction. Each of the divided sections is provided with different magnetic permeability an n-levels so as to correspond to the n-step number (0, 1, ----- n-1) and k-digits, n-step numbers are allocated to the divided M sections. K-digit and n-step number are detected by detection means base on the output of coils disposed to the rod-members by the number of K. As a result, the moving position of the control rod is detected. According to the present invention, it may be possible to dispose coils only by the number of the rod member in one section, not as in the usual case where each one coil is positioned to each of the sections. Accordingly, the constitution of the device can be simplified to facilitate the maintenance. (K.M.)

  19. Stability of position control system in JIPP T-II

    International Nuclear Information System (INIS)

    Sakurai, Keiichi; Tanahashi, Shygo

    1980-01-01

    Computations and experiments on the stability of a feedback control system for maintaining a plasma column in equilibrium are described. The time response of the displacement of the plasma to the desired position is examined by solving the equation of motion of the plasma column. We show that the stability of the feedback control system is improved by using an additional term which represents the shift velocity of the plasma column. (author)

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

    Science.gov (United States)

    Xiong, Jing-Jing; Zheng, En-Hui

    2014-05-01

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

  1. Evaluation of a novel luciferase reporter construct: a positive control ...

    African Journals Online (AJOL)

    In this work, we constructed and evaluated the pGL3-Basic plasmid containing the cytomegalovirus (CMV) enhancer/promoter aiming to establish a positive control of pGL3-Basic vector. Using a human melanoma cell line UACC-903 for transient transfection, the novel luciferase reporter construct, pGL3-CMV, showed an ...

  2. a positive control plasmid for reporter gene assay

    African Journals Online (AJOL)

    STORAGESEVER

    2008-07-04

    Jul 4, 2008 ... qualification as a positive control for luciferase reporter gene assays. Key words: Reporter gene plasmid, luciferase assay, cytomegalovirus promoter/enhancer, human melanoma cell line. INTRODUCTION. Reporter genes, often called reporters, have become a precious tool in studies of gene expression ...

  3. Position control system for use with micromechanical actuators

    Science.gov (United States)

    Guckel, Henry; Stiers, Eric W.

    2000-01-01

    A positioning system adapted for use with micromechanical actuators provides feedback control of the position of the movable element of the actuator utilizing a low Q sensing coil. The effective inductance of the sensing coil changes with position of the movable element to change the frequency of oscillation of a variable oscillator. The output of the variable oscillator is compared in a phase detector to a reference oscillator signal. The phase detector provides a pulsed output having a pulse duty cycle related to the phase or frequency difference between the oscillator signals. The output of the phase detector is provided to a drive coil which applies a magnetic force to the movable element which balances the force of a spring. The movable element can be displaced to a new position by changing the frequency of the reference oscillator.

  4. Signal differentiation in position tracking control of dc motors

    International Nuclear Information System (INIS)

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C

    2015-01-01

    An asymptotic differentiation approach with respect to time is used for on-line estimation of velocity and acceleration signals in controlled dc motors. The attractive feature of this differentiator of signals is that it does not require any system mathematical model, which allows its use in engineering systems that require the signal differentiation for its control, identification, fault detection, among other applications. Moreover, it is shown that the differentiation approach can be applied for output signals showing a chaotic behavior. In addition a differential flatness control scheme with additional integral compensation of the output error is proposed for tracking tasks of position reference trajectories for direct current electric motors using angular position measurements only

  5. A randomized, controlled trial of positional therapy versus oral appliance therapy for position-dependent sleep apnea

    NARCIS (Netherlands)

    Benoist, Linda; de Ruiter, Maurits; de Lange, Jan; de Vries, Nico

    2017-01-01

    Objective: To compare the effectiveness of positional therapy (PT) with the sleep position trainer (SPT) to oral appliance therapy (OAT) in patients with mild-to-moderate positional obstructive sleep apnea (POSA). Methods: Multicenter, prospective, randomized, controlled trial. Patients with

  6. Nonlinear control of ships minimizing the position tracking errors

    Directory of Open Access Journals (Sweden)

    Svein P. Berge

    1999-07-01

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

  7. [The Greek Orthodox Church and position regarding birth control].

    Science.gov (United States)

    Kapor-stanulovic, N; Beric, B M

    1983-09-01

    The Christian Orthodox Church has 100-150 million baptized members worldwide. Its official position on fertility regulation is little known among nontheologians. The Christian Orthodox Church is resolutely opposed to all attempts to permit induced abortion, and has been since its earliest history. In the 4th century the aborting woman was considered in the same category as a murderer, and the position was reiterated through the centuries in the canons of the Church. However, the common practice of Church members differed greatly from the official position. During the Roman period and the 1st years of the Christian era, abortion and the exposure of newborns were very common. Many of the earlier arguments in favor of abortion that were countered by the Church are still offered. The liberalization of abortion legislation in the US was opposed by American Christian Orthodox Church members. The Church's position on contraception is less well known than its stand on abortion. Several official publications have condemned family planning, regarding it as a form of prostitution within the family and as a sin. The official position of the Greek Orthodox Church was set forth in an encyclical written in 1937, which recommended abstinence as the only legal method of avoiding conception. The position of the Christian Orthodox Church on abortion and contraception is fundamentally identical to that of the Roman Catholic Church. Because the position of the Christian Orthodox Church on birth control, which has been fixed for centuries, has not been officially debated and has not been communicated to the members, it has not fully guided daily life. One might suppose that members of the Christian Orthodox Church are freer of church control of their fertility behavior than are Catholics.

  8. Could positive affect help engineer robot control systems?

    Science.gov (United States)

    Quirin, Markus; Hertzberg, Joachim; Kuhl, Julius; Stephan, Achim

    2011-11-01

    Emotions have long been seen as counteracting rational thought, but over the last decades, they have been viewed as adaptive processes to optimize human (but also animal) behaviour. In particular, positive affect appears to be a functional aspect of emotions closely related to that. We argue that positive affect as understood in Kuhl's PSI model of the human cognitive architecture appears to have an interpretation in state-of-the-art hybrid robot control architectures, which might help tackle some open questions in the field.

  9. Shock Positioning Controls Designs for a Supersonic Inlet

    Science.gov (United States)

    Kopasakis, George; Connolly, Joseph W.

    2010-01-01

    Under the NASA Fundamental Aeronautics Program, the Supersonics Project is working to overcome the obstacles to supersonic commercial flight. The supersonic inlet design that is utilized to efficiently compress the incoming air and deliver it to the engine has many design challenges. Among those challenges is the shock positioning of internal compression inlets, which requires active control in order to maintain performance and to prevent inlet unstarts due to upstream (freestream) and downstream (engine) disturbances. In this paper a novel feedback control technique is presented, which emphasizes disturbance attenuation among other control performance criteria, while it ties the speed of the actuation system(s) to the design of the controller. In this design, the desired performance specifications for the overall control system are used to design the closed loop gain of the feedback controller and then, knowing the transfer function of the plant, the controller is calculated to achieve this performance. The innovation is that this design procedure is methodical and allows maximization of the performance of the designed control system with respect to actuator rates, while the stability of the calculated controller is guaranteed.

  10. Magnetic nondestructive testing of rotor blade tips

    Science.gov (United States)

    Cardelli, E.; Faba, A.; Marsili, R.; Rossi, G.; Tomassini, R.

    2015-05-01

    This paper deals with a particular magnetic nondestructive technique applied to the control of the position of the steel blades in rotating parts of turbines and engines. The working principle is based on a bridge of four identical magneto-resistive sensors. One sensor is placed near the blades, and the change in magnetic field produced by a permanent magnet and deviated by the change in position of the blade is detected by the sensor bridge. The position of the sensor is indicated, via dedicated FEM simulations, in order to have high sensitivity to the position change and high output signal. The accuracy and effectiveness of the proposed method are shown by experimental tests carried out in our laboratories. In particular, the tests indicate that the proposed magnetic nondestructive technique can be used in an almost large velocity range, and for quite different values of blade tip. The method seems also promising for the detection of blade vibrations.

  11. Healthy Vision Tips

    Science.gov (United States)

    ... for Kids >> Healthy Vision Tips Listen All About Vision About the Eye Ask a Scientist Video Series ... Links to More Information Optical Illusions Printables Healthy Vision Tips Healthy vision starts with you! Use these ...

  12. Controlling the optical fiber output beam profile by focused ion beam machining of a phase hologram on fiber tip.

    Science.gov (United States)

    Han, Jiho; Sparkes, Martin; O'Neill, William

    2015-02-01

    A phase hologram was machined on an optical fiber tip using a focused ion beam (FIB) system so that a ring-shaped beam emerges from the fiber tip. The fiber used for this work was a commercial single-mode optical fiber patch cable for a design wavelength of 633 nm with a germanosilicate core. The ring-shaped beam was chosen to ensure a simple geometry in the required phase hologram, though the Gerchberg-Saxton algorithm can be used to calculate a hologram for an arbitrary beam shape. The FIB machining took approximately 45 min at 30 kV and 200 pA. The radius of the resulting ring beam was 0.083 m at 1 m standoff, as compared to 0.1 m as was initially desired. Results suggest that this imaging technique may provide a basis for a beam-shaping method with several advantages over the current commercial solutions, having permanent alignment, compactness, and mechanical robustness. However, it would appear that minimizing the speckle pattern will remain a critical challenge for this technique to become widely implemented.

  13. Yoctoliter thermometry for single-molecule investigations: a generic bead-on-a-tip temperature-control module.

    Science.gov (United States)

    Koirala, Deepak; Punnoose, Jibin Abraham; Shrestha, Prakash; Mao, Hanbin

    2014-03-24

    A new temperature-jump (T-jump) strategy avoids photo-damage of individual molecules by focusing a low-intensity laser on a black microparticle at the tip of a capillary. The black particle produces an efficient photothermal effect that enables a wide selection of lasers with powers in the milliwatt range to achieve a T-jump of 65 °C within milliseconds. To measure the temperature in situ in single-molecule experiments, the temperature-dependent mechanical unfolding of a single DNA hairpin molecule was monitored by optical tweezers within a yoctoliter volume. Using this bead-on-a-tip module and the robust single-molecule thermometer, full thermodynamic landscapes for the unfolding of this DNA hairpin were retrieved. These approaches are likely to provide powerful tools for the microanalytical investigation of dynamic processes with a combination of T-jump and single-molecule techniques. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Continuous, saturation, and discontinuous tokamak plasma vertical position control systems

    Energy Technology Data Exchange (ETDEWEB)

    Mitrishkin, Yuri V., E-mail: y_mitrishkin@hotmail.com [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Pavlova, Evgeniia A., E-mail: janerigoler@mail.ru [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Kuznetsov, Evgenii A., E-mail: ea.kuznetsov@mail.ru [Troitsk Institute for Innovation and Fusion Research, Moscow 142190 (Russian Federation); Gaydamaka, Kirill I., E-mail: k.gaydamaka@gmail.com [V. A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow 117997 (Russian Federation)

    2016-10-15

    Highlights: • Robust new linear state feedback control system for tokamak plasma vertical position. • Plasma vertical position relay control system with voltage inverter in sliding mode. • Design of full models of multiphase rectifier and voltage inverter. • First-order unit approximation of full multiphase rectifier model with high accuracy. • Wider range of unstable plant parameters of stable control system with multiphase rectifier. - Abstract: This paper is devoted to the design and comparison of unstable plasma vertical position control systems in the T-15 tokamak with the application of two types of actuators: a multiphase thyristor rectifier and a transistor voltage inverter. An unstable dynamic element obtained by the identification of plasma-physical DINA code was used as the plasma model. The simplest static feedback state space control law was synthesized as a linear combination of signals accessible to physical measurements, namely the plasma vertical displacement, the current, and the voltage in a horizontal field coil, to solve the pole placement problem for a closed-loop system. Only one system distinctive parameter was used to optimize the performance of the feedback system, viz., a multiple real pole. A first-order inertial unit was used as the rectifier model in the feedback. A system with a complete rectifier model was investigated as well. A system with the voltage inverter model and static linear controller was brought into a sliding mode. As this takes place, real time delays were taken into account in the discontinuous voltage inverter model. The comparison of the linear and sliding mode systems showed that the linear system enjoyed an essentially wider range of the plant model parameters where the feedback system was stable.

  15. Solitonlike attractor for blood vessel tip density in angiogenesis

    Science.gov (United States)

    Bonilla, L. L.; Carretero, M.; Terragni, F.

    2016-12-01

    Recently, numerical simulations of a stochastic model have shown that the density of vessel tips in tumor-induced angiogenesis adopts a solitonlike profile [Sci. Rep. 6, 31296 (2016), 10.1038/srep31296]. In this work, we derive and solve the equations for the soliton collective coordinates that indicate how the soliton adapts its shape and velocity to varying chemotaxis and diffusion. The vessel tip density can be reconstructed from the soliton formulas. While the stochastic model exhibits large fluctuations, we show that the location of the maximum vessel tip density for different replicas follows closely the soliton peak position calculated either by ensemble averages or by solving an alternative deterministic description of the density. The simple soliton collective coordinate equations may also be used to ascertain the response of the vessel network to changes in the parameters and thus to control it.

  16. Fault Monitooring and Fault Recovery Control for Position Moored Tanker

    DEFF Research Database (Denmark)

    Fang, Shaoji; Blanke, Mogens

    2009-01-01

    This paper addresses fault tolerant control for position mooring of a shuttle tanker operating in the North Sea. A complete framework for fault diagnosis is presented but the loss of a sub-sea mooring line buoyancy element is given particular attention, since this fault could lead to line breakage...... and risky abortion of an oil-loading operation. With signicant drift forces from waves, non-Gaussian elements dominate in residuals and fault diagnosis need be designed using dedicated change detection for the type of distribution encountered. In addition to dedicated diagnosis, an optimal position...... algorithm is proposed to accommodate buoyancy element failure and keep the mooring system in a safe state. Detection properties and fault-tolerant control are demonstrated by high delity simulations...

  17. Improved Position Sensor for Feedback Control of Levitation

    Science.gov (United States)

    Hyers, Robert; Savage, Larry; Rogers, Jan

    2004-01-01

    An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

  18. Position Control of Linear Synchronous Motor Drives with Exploitation of Forced Dynamics Control Principles

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2004-01-01

    Full Text Available Closed-loop position control of mechanisms directly driven by linear synchronous motors with permanent magnets is presented. The control strategy is based on forced dynamic control, which is a form of feedback linearisation, yielding a non-liner multivariable control law to obtain a prescribed linear speed dynamics together with the vector control condition of mutal orthogonality between the stator current and magnetic flux vectors (assuming perfect estimates of the plant parameters. Outer position control loop is closed via simple feedback with proportional gain. Simulations of the design control sysstem, including the drive with power electronic switching, predict the intended drive performance.

  19. Use-Misuse Case Driven Analysis of Positive Train Control

    Science.gov (United States)

    Hartong, Mark; Goel, Rajni; Wijesekera, Duminda

    Forensic analysis helps identify the causes of crimes and accidents. Determination of cause, however, requires detailed knowledge of a system's design and operational characteristics. This paper advocates that "use cases," which specify operational interactions and requirements, and "misuse cases," which specify potential misuse or abuse scenarios, can be used to analyze and link forensic evidence and create postincident reconstructions. Use-misuse case analysis techniques involving non-probabilistic and probabilistic methods are described and applied to Positive Train Control (PTC) Systems — a network-based automated system that controls the movements of passenger and freight trains.

  20. Fault Monitoring and Fault Recovery Control for Position Moored Tanker

    DEFF Research Database (Denmark)

    Fang, Shaoji; Blanke, Mogens

    2011-01-01

    This paper addresses fault tolerant control for position mooring of a shuttle tanker operating in the North Sea. A complete framework for fault diagnosis is presented but the loss of a sub-sea mooring line buoyancy element is given particular attention, since this fault could lead to mooring line...... breakage and a high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing need be designed using dedicated change detection for the type of distribution encountered....... Properties of detection and fault-tolerant control are demonstrated by high fidelity simulations....

  1. Positive and negative dimensions of weight control motivation.

    Science.gov (United States)

    Stotland, S; Larocque, M; Sadikaj, G

    2012-01-01

    This study examined weight control motivation among patients (N=5460 females and 547 males) who sought weight loss treatment with family physicians. An eight-item measure assessed the frequency of thoughts and feelings related to weight control "outcome" (e.g. expected physical and psychological benefits) and "process" (e.g. resentment and doubt). Factor analysis supported the existence of two factors, labeled Positive and Negative motivation. Positive motivation was high (average frequency of thoughts about benefits was 'every day') and stable throughout treatment, while Negative motivation declined rapidly and then stabilized. The determinants of changes in the Positive and Negative dimensions during treatment were examined within 3 time frames: first month, months 2-6, and 6-12. Maintenance of high scores on Positive motivation was associated with higher BMI and more disturbed eating habits. Early reductions in Negative motivation were greater for those starting treatment with higher weight and more disturbed eating habits, but less depression and stress, while later reductions in Negative motivation were predicted by improvements in eating habits, weight, stress and perfectionism. Clinicians treating obesity should be sensitive to fluctuations in both motivational dimensions, as they are likely to play a central role in determining long-term behavior and weight change. Copyright © 2011 Elsevier Ltd. All rights reserved.

  2. A safe position control strategy for multirotor helicopters

    OpenAIRE

    Igor Afonso Acampora Prado

    2014-01-01

    The interest for multirotor unmanned aerial vehicles (UAVs) is currently growing due to their low cost, high maneuverability, simplified mechanics, capability to perform vertical take-off and landing as well as hovering flight. These characteristics make them a promising technology suitable for applications such as surveillance of indoor and urban environments and object transportation. The present work faces the problem of safely controlling the position trajectory of multirotor UAVs by taki...

  3. Accurate Control of Position by Induction Heating-Produced Thermoelasticity

    Czech Academy of Sciences Publication Activity Database

    Doležel, Ivo; Karban, P.; Kropík, P.; Pánek, D.

    2010-01-01

    Roč. 46, č. 8 (2010), s. 2888-2891 ISSN 0018-9464 R&D Projects: GA ČR GA102/09/1305 Institutional research plan: CEZ:AV0Z20570509 Keywords : control of position * coupled problem * field of thermoelastic displacements Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering Impact factor: 1.052, year: 2010 http://www.ieeemagnetics.org/newpages/toplevelpages/mag_transactions.htm

  4. Digestive Health Tips

    Science.gov (United States)

    ... Home / Digestive Health Topic / Digestive Health Tips Digestive Health Tips Basics 10 Tips on Belching, Bloating, and Flatulence Belching is caused by swallowed air from: Eating or drinking too fast Poorly fitting dentures; not chewing food completely Carbonated beverages Chewing gum or sucking on ...

  5. Position Control of an X4-Flyer Using a Tether

    Directory of Open Access Journals (Sweden)

    , Keigo Watanabe

    2014-10-01

    Full Text Available In Japan, aging of infrastructures, such as roads, bridges, and water and sewer services, etc. poses a problem, and it is required to extend the life-span of such infrastructures by maintenance. Among infrastructures, especially bridges are periodically inspected by short range visual observations, which check the damage and deterioration of the surface. However, since there are some cases where the short range visual observation is difficult, an alternative method is required so as to replace the short range visual observation with it. So, "X4-Flyer" is very attractive because of realizing a movement at high altitude easily. The objective of this study is to develop a tethered X4- Flyer, so that the conventional short range visual observation of bridges is replaced by it. In this paper, a method for the measurement and control of the position is described by using a tether for controlling the position of the X4-Flyer. In addition, it is checked whether the tethered X4-Flyer can control the position using the proposed method or not, letting it fly in a state in which a tether is being attached.

  6. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  7. Tipping point leadership.

    Science.gov (United States)

    Kim, W Chan; Mauborgne, Renée

    2003-04-01

    When William Bratton was appointed police commissioner of New York City in 1994, turf wars over jurisdiction and funding were rife and crime was out of control. Yet in less than two years, and without an increase in his budget, Bratton turned New York into the safest large city in the nation. And the NYPD was only the latest of five law-enforcement agencies Bratton had turned around. In each case, he succeeded in record time despite limited resources, a demotivated staff, opposition from powerful vested interests, and an organization wedded to the status quo. Bratton's turnarounds demonstrate what the authors call tipping point leadership. The theory of tipping points hinges on the insight that in any organization, fundamental changes can occur quickly when the beliefs and energies of a critical mass of people create an epidemic movement toward an idea. Bratton begins by overcoming the cognitive hurdles that block organizations from recognizing the need for change. He does this by putting managers face-to-face with operational problems. Next, he manages around limitations on funds, staff, or equipment by concentrating resources on the areas that are most in need of change and that have the biggest payoffs. He meanwhile solves the motivation problem by singling out key influencers--people with disproportionate power due to their connections or persuasive abilities. Finally, he closes off resistance from powerful opponents. Not every CEO has the personality to be a Bill Bratton, but his successes are due to much more than his personality. He relies on a remarkably consistent method that any manager looking to turn around an organization can use to overcome the forces of inertia and reach the tipping point.

  8. Tip studies using CFD and comparison with tip loss models

    DEFF Research Database (Denmark)

    Hansen, Martin Otto Laver; Johansen, J.

    2004-01-01

    The flow past a rotating LM8.2 blade equipped with two different tips are computed using CFD. The different tip flows are analysed and a comparison with two different tip loss models is made. Keywords: tip flow, aerodynamics, CFD......The flow past a rotating LM8.2 blade equipped with two different tips are computed using CFD. The different tip flows are analysed and a comparison with two different tip loss models is made. Keywords: tip flow, aerodynamics, CFD...

  9. Percutaneous treatment of liver tumors with an adapted probe for cooled-tip, impedance-controlled radio-frequency ablation under open-magnet MR guidance: initial results

    Energy Technology Data Exchange (ETDEWEB)

    Kelekis, Alexis D.; Terraz, Sylvain; Roggan, Andre; Terrier, Francois; Majno, Pietro; Mentha, Gilles; Roth, Arnaud; Becker, Christoph D. [Department of Diagnostic and Interventional Radiology, University Hospital, 24 rue Micheli-du-Crest, 1211, Geneva (Switzerland)

    2003-05-01

    Percutaneous radio-frequency (RF) ablation of liver tumors is usually performed under guidance of real-time US, but some tumor nodules in some patients cannot be adequately visualized with this technique. We report our preliminary results with an MR-compatible, internally perfused 17-G RF probe adapted to a standard RF generator for impedance-controlled RF ablation under MR guidance. Following initial testing of the probe for MR compatibility, artifacts and macroscopic effects on an ex vivo pig liver, four patients with eight neoplastic liver nodules (five metastatic and three primary), which could not be properly targeted by US, were treated with the cooled-tip technique under MRI guidance in an open 0.23-T magnet. Metallic artifacts produced by the probe were useful for accurate placement and did not interfere with MRI monitoring at the end of the procedure. Based on imaging findings, the immediate result of RF was considered adequate in all instances. Local recurrence occurred in one instance after 6 months, requiring repeat treatment. No adverse effects were noted. Initial experience suggests that the probe we used allows to perform impedance-controlled cooled-tip RF ablation of liver tumors under open-magnet MR guidance. (orig.)

  10. The TIPS Liquidity Premium

    DEFF Research Database (Denmark)

    Andreasen, Martin Møller; Christensen, Jens H.E.; Simon Riddell, Simon

    We introduce an arbitrage-free term structure model of nominal and real yields that accounts for liquidity risk in Treasury inflation-protected securities (TIPS). The novel feature of our model is to identify liquidity risk from individual TIPS prices by accounting for the tendency that TIPS, like...... most fixed-income securities, go into buy-and-hold investors' portfolios as time passes. We find a sizable and countercyclical TIPS liquidity premium, which greatly helps our model in matching TIPS prices. Accounting for liquidity risk also improves the model's ability to forecast inflation and match...

  11. Arctic climate tipping points.

    Science.gov (United States)

    Lenton, Timothy M

    2012-02-01

    There is widespread concern that anthropogenic global warming will trigger Arctic climate tipping points. The Arctic has a long history of natural, abrupt climate changes, which together with current observations and model projections, can help us to identify which parts of the Arctic climate system might pass future tipping points. Here the climate tipping points are defined, noting that not all of them involve bifurcations leading to irreversible change. Past abrupt climate changes in the Arctic are briefly reviewed. Then, the current behaviour of a range of Arctic systems is summarised. Looking ahead, a range of potential tipping phenomena are described. This leads to a revised and expanded list of potential Arctic climate tipping elements, whose likelihood is assessed, in terms of how much warming will be required to tip them. Finally, the available responses are considered, especially the prospects for avoiding Arctic climate tipping points.

  12. Positive deviance as a strategy to prevent and control bloodstream infections in intensive care.

    Science.gov (United States)

    Oliveira, Francimar Tinoco de; Ferreira, Maria Manuela Frederico; Araújo, Silvia Teresa Carvalho de; Bessa, Amanda Trindade Teixeira de; Moraes, Advi Catarina Barbachan; Stipp, Marluci Andrade Conceição

    2017-04-03

    To describe the application of positive deviance as a strategy to prevent and control bloodstream infections. An intervention study with nursing and medical team members working in an intensive care unit in a university hospital, between June and December 2014. The four steps of the positive defiance methodology were applied: to define, to determine, to discover and to design. In 90 days, 188 actions were observed, of these, 36.70% (n=69) were related to catheter dressing. In 81.15% (n=56) of these dressings, the professionals most adhered to the use of flexible sterile cotton-tipped swabs to perform antisepsis at catheter entry sites and fixation dressing. Positive deviance contributed to the implementation of proposals to improve work processes and team development related to problems identified in central venous catheter care. Descrever a aplicação do Positive Deviance como estratégia na prevenção e no controle da infecção de corrente sanguínea. Estudo de intervenção realizado na Unidade de Terapia Intensiva de um hospital universitário, com os membros das equipes de enfermagem e médica, de junho a dezembro de 2014. Foram aplicados os quatro passos da metodologia Positive Deviance: Definir, Determinar, Descobrir e Desenhar. Em 90 dias 188 ações foram observadas, destas, 36,70% (n=69) estavam relacionadas aos curativos dos cateteres. Em 81,15% (n=56) desses curativos, o uso da haste flexível estéril para realização da antissepsia do local de inserção do cateter e de sua placa de fixação foi a ação de maior adesão. O Positive Deviance auxiliou na implementação de propostas de melhorias de processo de trabalho e no desenvolvimento da equipe para os problemas identificados no cuidado com o cateter venoso central.

  13. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    Directory of Open Access Journals (Sweden)

    V. N. Pilgunov

    2016-01-01

    Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

  14. Applications of the PID control. Temperature and position servo-control; Applications de la commande PID. Asservissement temperature et position

    Energy Technology Data Exchange (ETDEWEB)

    Jacob, D. [Institut Universitaire de Technologie, 86 - Poitiers (France)

    2004-09-15

    The proportional integral derived function (PID) control is certainly not the most efficient but it is the most widely control used in regulation systems. The implementation of a PID regulator does not offer all adjustment possibilities of modern methods and it is in general impossible to make open-loop tests to identify the regulated system. This paper presents two concrete applications of PID control systems: one for a temperature regulation and the other for the servo-control of a mechanical system driven by a brush-less motor. The adjustment is performed using the classical momentum and frequency methods: 1 - PID control; 2 - efficiencies obtained in close loop configuration; 3 - principle of the experimental adjustment method of PID systems; 4 - experimental identification in close-loop configuration; 5 - calculation principle of a PID corrector; 6 - PID control for a class 0 system; 7 - calculation of a PID corrector for a class 1 system; 8 - PID position regulation of a brush-less motor; 9 - remarks about the numerical calculation of the control; 10 - summary of the models presented. (J.S.)

  15. Adaptive control of camera position for stereo vision

    Science.gov (United States)

    Crisman, Jill D.; Cleary, Michael E.

    1994-03-01

    A major problem in using two-camera stereo machine vision to perform real-world tasks, such as visual object tracking, is deciding where to position the cameras. Humans accomplish the analogous task by positioning their heads and eyes for optimal stereo effects. This paper describes recent work toward developing automated control strategies for camera motion in stereo machine vision systems for mobile robot navigation. Our goal is to achieve fast, reliable pursuit of a target while avoiding obstacles. Our strategy results in smooth, stable camera motion despite robot and target motion. Our algorithm has been shown to be successful at navigating a mobile robot, mediating visual target tracking and ultrasonic obstacle detection. The architecture, hardware, and simulation results are discussed.

  16. Position Control of an X4-Flyer Using a Tether

    Directory of Open Access Journals (Sweden)

    Yusuke Ouchi

    2016-05-01

    Full Text Available In Japan, aging of infrastructures, such as roads,bridges, and water and sewer services, etc. poses a problem, andit is required to extend the life-span of such infrastructures bymaintenance. Among infrastructures, especially bridges areperiodically inspected by short range visual observations, whichcheck the damage and deterioration of the surface. However,since there are some cases where the short range visualobservation is difficult, an alternative method is required so as toreplace the short range visual observation with it. So, "X4-Flyer"is very attractive because of realizing a movement at high altitudeeasily. The objective of this study is to develop a tethered X4-Flyer, so that the conventional short range visual observation ofbridges is replaced by it. In this paper, a method for themeasurement and control of the position is described by using atether for controlling the position of the X4-Flyer. In addition, itis checked whether the tethered X4-Flyer can control the positionusing the proposed method or not, letting it fly in a state in whicha tether is being attached

  17. MDEP Common Position No EPR-01 - Common positions on the EPR instrumentation and controls design

    International Nuclear Information System (INIS)

    2010-01-01

    The purpose of the EPR Working Group (EPRWG) of the Multinational Design Evaluation Program (MDEP) is to identify common positions among the regulators reviewing the EPR Instrumentation and Controls (I and C) Systems in order to: 1. Promote understanding of each country 's regulatory decisions and basis for the decisions, 2. Enhance communication among the members and with external stakeholders, 3. Identify areas where harmonization and convergence of regulations, standards, and guidance can be achieved or improved, and 4. Supports standardization of new reactor designs. Since January 2008, the EPR I and C Technical Expert Subgroup (TESG) members met five times to exchange information regarding their country 's review of the EPR I and C design. The EPR I and C TESG consists of regulators from China, Canada, Finland, France, the United Kingdom, and the United States. The information exchange includes presentation of each country 's review status and technical issues, sharing of guidance documents, and sharing of regulatory decision documents. The TESG focused on the following four core areas of the EPR I and C design: 1. I and C System Independence (particularly for data communications), 2. Level of Defense and Diversity (back-up systems), 3. Qualification/quality of digital platforms, 4. Categorization/classification of systems and functions. As meetings were conducted, some areas were emphasized more depending on the significance of the issues for each country. During the TESG interactions, it became apparent that there were aspects of the EPR design where the countries had common agreement. On November 2, 2009, three of the subgroup countries, France, Finland and the United Kingdom, issued a joint regulatory position on the EPR I and C design as result of the 'Groupe Permanent' meeting in France. This statement of common positions expands upon that joint regulatory position

  18. Robust control design for the plasma horizontal position control on J-TEXT Tokamak

    International Nuclear Information System (INIS)

    Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.

    2013-01-01

    It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine

  19. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... failure is severe, a TIPS may not be the best use and a different procedure may be needed to control your symptoms. They are also at risk for encephalopathy , which is an alteration of normal brain function that can lead to confusion. This is ...

  20. Super Twisting Second Order Sliding Mode Control for Position Tracking Control of Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper a control strategy based on second order sliding modes, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD), is proposed. The main target is to overcome problems with linear controllers deteriorating performance due to the strong...

  1. Quality control in diagnostic immunohistochemistry: integrated on-slide positive controls.

    Science.gov (United States)

    Bragoni, A; Gambella, A; Pigozzi, S; Grigolini, M; Fiocca, R; Mastracci, L; Grillo, F

    2017-11-01

    Standardization in immunohistochemistry is a priority in modern pathology and requires strict quality control. Cost containment has also become fundamental and auditing of all procedures must take into account both these principles. Positive controls must be routinely performed so that their positivity guarantees the appropriateness of the immunohistochemical procedure. The aim of this study is to develop a low cost (utilizing a punch biopsy-PB-tool) procedure to construct positive controls which can be integrated in the patient's tissue slide. Sixteen frequently used control blocks were selected and multiple cylindrical samples were obtained using a 5-mm diameter punch biopsy tool, separately re-embedding them in single blocks. For each diagnostic immunoreaction requiring a positive control, an integrated PB-control section (cut from the appropriate PB-control block) was added to the top right corner of the diagnostic slide before immunostaining. This integrated control technique permitted a saving of 4.75% in total direct lab costs and proved to be technically feasible and reliable. Our proposal is easy to perform and within the reach of all pathology labs, requires easily available tools, its application costs is less than using external paired controls and ensures that a specific control for each slide is always available.

  2. Classical cadherins control nucleus and centrosome position and cell polarity.

    Science.gov (United States)

    Dupin, Isabelle; Camand, Emeline; Etienne-Manneville, Sandrine

    2009-06-01

    Control of cell polarity is crucial during tissue morphogenesis and renewal, and depends on spatial cues provided by the extracellular environment. Using micropatterned substrates to impose reproducible cell-cell interactions, we show that in the absence of other polarizing cues, cell-cell contacts are the main regulator of nucleus and centrosome positioning, and intracellular polarized organization. In a variety of cell types, including astrocytes, epithelial cells, and endothelial cells, calcium-dependent cadherin-mediated cell-cell interactions induce nucleus and centrosome off-centering toward cell-cell contacts, and promote orientation of the nucleus-centrosome axis toward free cell edges. Nucleus and centrosome off-centering is controlled by N-cadherin through the regulation of cell interactions with the extracellular matrix, whereas the orientation of the nucleus-centrosome axis is determined by the geometry of N-cadherin-mediated contacts. Our results demonstrate that in addition to the specific function of E-cadherin in regulating baso-apical epithelial polarity, classical cadherins control cell polarization in otherwise nonpolarized cells.

  3. Review of design technology of control rod position indicators

    International Nuclear Information System (INIS)

    Yu, Je Yong; Huh, Hyung; Kim, Ji Ho; Kim, Jong In; Chang, Moon Hee

    1999-10-01

    An integral reactor SMART is under development at KAERI. The design characteristics of SMART are radically different from those employer in currently operating loop type water reactors in Korea. The objective of this report is to review the design technology of position indicator, and to study the various sensors which can be used in rod position indicator. Design criteria that rod position indicator should satisfy are also examined. Following position indicators are reviewed in this report. 1. Digital positioning indicator (DRPI), 2. Reed switch type position indicator (RSPT), 3. Choke sensor type position indicator, 4. Ultrasonic sensor type position indicator, 5. Comparison of each position indicator. (author)

  4. Position control of a floating nuclear power plant

    International Nuclear Information System (INIS)

    Motohashi, K.; Hamamoto, T.; Sasaki, R.; Kojima, M.

    1993-01-01

    In spite of the increasing demand of electricity in Japan, the sites of nuclear power plants suitable for conventional seismic regulations become severely limited. Under these circumstances, several types of advanced siting technology have been developed. Among them, floating power plants have a great advantage of seismic isolation that leads to the seismic design standardization and factory fabrication. The feasibility studies or preliminary designs of floating power plants enclosed by breakwaters in the shallow sea have been carried out last two decades in U.S. and Japan. On the other hand, there are few investigations on the dynamic behavior of floating power plants in the deep sea. The offshore floating nuclear power plants have an additional advantage in that large breakwaters are not required, although the safety checking is inevitable against wind-induced waves. The tension-leg platforms which have been constructed for oil drilling in the deep sea seem to be a promising offshore siting technology of nuclear power plants. The tension-leg mooring system can considerably restrain the heave and pitch of a floating power plant because of significant stiffness in the vertical direction. Different from seismic effects, wind-induced waves may be predicted in advance by making use of ocean weather forecasts using artificial satellites. According to the wave prediction, the position of the floating plant may be controlled by adjusting the water content in ballast tanks and the length of tension-legs before the expected load arrives. The position control system can reduce the wave force acting on the plant and to avoid the unfavorable response behavior of the plant. In this study a semi-submerged circular cylinder with tension-legs is considered as a mathematical model. The configuration of circular cylinder is effective because the dynamic behavior does not depend on incident wave directions. It is also unique in that it can obtain the closed-form solution of

  5. An ab initio study of the field-induced position change of a C60 molecule adsorbed on a gold tip

    DEFF Research Database (Denmark)

    Stadler, Robert; Kubatkin, S.; Bjørnholm, Thomas

    2007-01-01

    lightning rod effect which might explain the switching between configurations found in experiments. We also analyse our results for the adsorption energetics in terms of an electrostatic expression for the total energy, where the dependence of the polarizability of the junction on the position of the C60...

  6. Fault Tolerant Position-mooring Control for Offshore Vessels

    DEFF Research Database (Denmark)

    Blanke, Mogens; Nguyen, Trong Dong

    2018-01-01

    by a system to handle faults in mooring lines, sensors or thrusters. Simulations and model basin experiments are carried out to validate the concept for scenarios with single or multiple faults. The results demonstrate that enhanced availability and safety are obtainable with this design approach. While......Fault-tolerance is crucial to maintain safety in offshore operations. The objective of this paper is to show how systematic analysis and design of fault-tolerance is conducted for a complex automation system, exemplified by thruster assisted Position-mooring. Using redundancy as required....... Functional faults that are only detectable, are rendered isolable through an active isolation approach. Once functional faults are isolated, they are handled by fault accommodation techniques to meet overall control objectives specified by class requirements. The paper illustrates the generic methodology...

  7. Fault Tolerant Position-mooring Control for Offshore Vessels

    DEFF Research Database (Denmark)

    Blanke, Mogens; Nguyen, Trong Dong

    2018-01-01

    Fault-tolerance is crucial to maintain safety in offshore operations. The objective of this paper is to show how systematic analysis and design of fault-tolerance is conducted for a complex automation system, exemplified by thruster assisted Position-mooring. Using redundancy as required....... Functional faults that are only detectable, are rendered isolable through an active isolation approach. Once functional faults are isolated, they are handled by fault accommodation techniques to meet overall control objectives specified by class requirements. The paper illustrates the generic methodology...... by a system to handle faults in mooring lines, sensors or thrusters. Simulations and model basin experiments are carried out to validate the concept for scenarios with single or multiple faults. The results demonstrate that enhanced availability and safety are obtainable with this design approach. While...

  8. Position servo control of a control bar of the CABRI reactor

    International Nuclear Information System (INIS)

    Archambault, Christian

    1969-01-01

    This research thesis first describes the operation of the speed servo-control of control bars in a reactor (general description, servo-control principles, equivalent scheme used to the study of the position servo-control), and then presents the characteristics of the electronic assembly to be designed (position servo-control, safety, generator of ternary signals). The author describes the servo-control principles (calculation of the transfer function of the linear system, theoretical investigation of the linear system - step response and response to a sinusoidal voltage-, theoretical investigation of the non linear system), reports the design the electronic assembly (summation, amplification, voltage source, generation of ternary signals, safety thresholds) and the obtained results

  9. The Human Eye Position Control System in a Rehabilitation Setting

    Directory of Open Access Journals (Sweden)

    Yvonne Nolan

    2005-01-01

    Full Text Available Our work at Ireland’s National Rehabilitation Hospital involves designing communication systems for people suffering from profound physical disabilities. One such system uses the electro-oculogram, which is an (x,y system of voltages picked up by pairs of electrodes placed, respectively, above and below and on either side of the eyes. The eyeball has a dc polarisation between cornea and back, arising from the photoreceptor rods and cones in the retina. As the eye rotates, the varying voltages projected onto the electrodes drive a cursor over a mimic keyboard on a computer screen. Symbols are selected with a switching action derived, for example, from a blink. Experience in using this mode of communication has given us limited facilities to study the eye position control system. We present here a resulting new feedback model for rotation in either the vertical or the horizontal plane, which involves the eyeball controlled by an agonist-antagonist muscle pair, modelled by a single equivalent bidirectional muscle with torque falling off linearly with angular velocity. We have incorporated muscle spindles and have tuned them by pole assignment associated with an optimum stability criterion.

  10. Single axis control of ball position in magnetic levitation system using fuzzy logic control

    Science.gov (United States)

    Sahoo, Narayan; Tripathy, Ashis; Sharma, Priyaranjan

    2018-03-01

    This paper presents the design and real time implementation of Fuzzy logic control(FLC) for the control of the position of a ferromagnetic ball by manipulating the current flowing in an electromagnet that changes the magnetic field acting on the ball. This system is highly nonlinear and open loop unstable. Many un-measurable disturbances are also acting on the system, making the control of it highly complex but interesting for any researcher in control system domain. First the system is modelled using the fundamental laws, which gives a nonlinear equation. The nonlinear model is then linearized at an operating point. Fuzzy logic controller is designed after studying the system in closed loop under PID control action. The controller is then implemented in real time using Simulink real time environment. The controller is tuned manually to get a stable and robust performance. The set point tracking performance of FLC and PID controllers were compared and analyzed.

  11. Double speed loops control for high-precision position tracking of position-controlled actuators involving a harmonic drive reducer

    Directory of Open Access Journals (Sweden)

    Huaxiang Cai

    2016-03-01

    Full Text Available In this article, a kind of position control method based on double speed closed loops is proposed to reduce turning error and nonlinear dead zone, which are caused by the flexibility and nonlinear friction in harmonic drive system. The speed loop of motor side is the inner loop and the speed loop of load side is the outer loop. Besides, the robustness performances of double speed loops and single speed loop are analyzed in theory, respectively. And it is stated that the performance of double speed loops is better than the performance of single speed loop. Furthermore, to further reduce the turning error and enhance the precision of system, the article puts forward applying double proportional–integral controllers with double extended state observers in the two speed loops. Extended state observers can transform the nonlinear models into an approximate linear model and eliminate the nonlinear frictions in the system. Finally, a few comparative experimental results show that the proposed control method has better performance for restraining the nonlinear features and enhancing the precision of the harmonic drive system.

  12. Position control of ECRH launcher mirrors by laser speckle sensor

    International Nuclear Information System (INIS)

    Michelsen, Poul K.; Bindslev, Henrik; Hansen, Rene Skov; Hanson, Steen G.

    2003-01-01

    The planned ECRH system for JET included several fixed and steerable mirrors some of which should have been fixed to the building structure and some to the JET vessel structure. A similar system may be anticipated for ITER and for other fusion devices in the future. In order to have high reproducibility of the ECRH beam direction, it is necessary to know the exact positions of the mirrors. This is not a trivial problem because of thermal expansion of the vessel structures and of the launcher itself and of its support structure, the mechanical load on mirrors and support structures, and the accessibility to the various mirrors. We suggest to use a combination of infrared diagnostic of beam spot positions and a new technique published recently, which is based on a non-contact laser speckle sensor for measuring one- and two-dimensional angular displacement. The method is based on Fourier transforming the scattered field from a single laser beam that illuminates the target. The angular distribution of the light field at the target is linearly mapped onto an array image sensor placed in the Fourier plane. Measuring the displacement of this so-called speckle pattern facilitates the determination of the mirror orientation. Transverse target movement can be measured by observing the speckle movement in the image plane of the object. No special surface treatment is required for surfaces having irregularities of the order of or larger than the wavelength of the incident light. For the JET ECRH launcher it is mainly for the last mirror pointing towards the plasma where the technique may be useful. This mirror has to be steerable in order to reflect the microwave beam in the correct direction towards the plasma. Maximum performance of the microwave heating requires that the beam hits this mirror at its centre and that the mirror is turned in the correct angle. Inaccuracies in the positioning of the pull rods for controlling the mirror turning and thermal effects makes it

  13. Position Mooring Control Based on a Structural Reliability Criterion

    DEFF Research Database (Denmark)

    Fang, Shaoji; Leira, Bernt J.; Blanke, Mogens

    2013-01-01

    To prevent failure of mooring lines in modern position mooring (PM) systems, position moored vessels are kept within a small distance from a desired reference position. A safe position within such region is where stress in all mooring lines are kept well below tensile strength. To prevent several...

  14. An ab initio study of the field-induced position change of a C-60 molecule adsorbed on a gold tip

    DEFF Research Database (Denmark)

    Stadler, Robert; Kubatkin, Sergey; Bjørnholm, Thomas

    2007-01-01

    be based on such junctions if the mechanism of the process is understood. We present density functional theory based plane wave calculations, where we studied the energetics of the molecule's adsorption under the influence of an external field. Particular emphasis was placed on investigating a possible...... lightning rod effect which might explain the switching between configurations found in experiments. We also analyse our results for the adsorption energetics in terms of an electrostatic expression for the total energy, where the dependence of the polarizability of the junction on the position of the C60...

  15. Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

    Directory of Open Access Journals (Sweden)

    Jie Zhao

    2015-01-01

    Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

  16. Tips in Reading Instruction.

    Science.gov (United States)

    Ediger, Marlow

    Some tips can assist teachers in guiding each pupil to achieve more optimally, with respect to the ability to read well and reading comprehension. Among these 10 specific tips are: (1) teach individualized phonics in context; (2) assist the student to read in proper thought units by covering up words in sentences for clarification; (3) assist…

  17. ADHD: Tips to Try

    Science.gov (United States)

    ... Staying Safe Videos for Educators Search English Español ADHD: Tips to Try KidsHealth / For Teens / ADHD: Tips to Try Print en español TDAH: Consejos que puedes probar ADHD , short for attention deficit hyperactivity disorder , is a ...

  18. Total Telephone Tips.

    Science.gov (United States)

    Corder, Lloyd E.; And Others

    This manual of telephone behavior tips for business and sales professionals offers ways to handle the disgruntled caller and makes suggestions on topics relevant to the telephone. The manual is divided into the following sections and subsections: (1) Common Courtesy (staff tips, answering the telephone, screening calls, transferring calls, taking…

  19. Economics of tipping the climate dominoes

    Science.gov (United States)

    Lemoine, Derek; Traeger, Christian P.

    2016-05-01

    Greenhouse gas emissions can trigger irreversible regime shifts in the climate system, known as tipping points. Multiple tipping points affect each other’s probability of occurrence, potentially causing a `domino effect’. We analyse climate policy in the presence of a potential domino effect. We incorporate three different tipping points occurring at unknown thresholds into an integrated climate-economy model. The optimal emission policy considers all possible thresholds and the resulting interactions between tipping points, economic activity, and policy responses into the indefinite future. We quantify the cost of delaying optimal emission controls in the presence of uncertain tipping points and also the benefit of detecting when individual tipping points have been triggered. We show that the presence of these tipping points nearly doubles today’s optimal carbon tax and reduces peak warming along the optimal path by approximately 1 °C. The presence of these tipping points increases the cost of delaying optimal policy until mid-century by nearly 150%.

  20. TIPS Placement in Swine, Guided by Electromagnetic Real-Time Needle Tip Localization Displayed on Previously Acquired 3-D CT

    International Nuclear Information System (INIS)

    Solomon, Stephen B.; Magee, Carolyn; Acker, David E.; Venbrux, Anthony C.

    1999-01-01

    Purpose: To determine the feasibility of guiding a transjugular intrahepatic portosystemic shunt (TIPS) procedure with an electromagnetic real-time needle tip position sensor coupled to previously acquired 3-dimensional (3-D) computed tomography (CT) images. Methods: An electromagnetic position sensor was placed at the tip of a Colapinto needle. The real-time position and orientation of the needle tip was then displayed on previously acquired 3-D CT images which were registered with the five swine. Portal vein puncture was then attempted in all animals. Results: The computer calculated accuracy of the position sensor was on average 3 mm. Four of five portal vein punctures were successful. In the successes, only one or two attempts were necessary and success was achieved in minutes. Conclusion: A real-time position sensor attached to the tip of a Colapinto needle and coupled to previously acquired 3-D CT images may potentially aid in entering the portal vein during the TIPS procedure

  1. Predicting casualties implied by TIPs

    Science.gov (United States)

    Trendafiloski, G.; Wyss, M.; Wyss, B. M.

    2009-12-01

    When an earthquake is predicted, forecast, or expected with a higher than normal probability, losses are implied. We estimated the casualties (fatalities plus injured) that should be expected if earthquakes in TIPs (locations of Temporarily Increased Probability of earthquakes) defined by Kossobokov et al. (2009) should occur. We classified the predictions of losses into the categories red (more than 400 fatalities or more than 1,000 injured), yellow (between 100 and 400 fatalities), green (fewer than 100 fatalities), and gray (undetermined). TIPs in Central Chile, the Philippines, Papua, and Taiwan are in the red class, TIPs in Southern Sumatra, Nicaragua, Vanatu, and Honshu in the yellow class, and TIPs in Tonga, Loyalty Islands, Vanatu, S. Sandwich Islands, Banda Sea, and the Kuriles, are classified as green. TIPs where the losses depend moderately on the assumed point of major energy release were classified as yellow; TIPs such as in the Talaud Islands and in Tonga, where the losses depend very strongly on the location of the epicenter, were classified as gray. The accuracy of loss estimates after earthquakes with known hypocenter and magnitude are affected by uncertainties in transmission and soil properties, the composition of the building stock, the population present, and the method by which the numbers of casualties are calculated. In the case of TIPs, uncertainties in magnitude and location are added, thus we calculate losses for a range of these two parameters. Therefore, our calculations can only be considered order of magnitude estimates. Nevertheless, our predictions can come to within a factor of two of the observed numbers, as in the case of the M7.6 earthquake of October 2005 in Pakistan that resulted in 85,000 fatalities (Wyss, 2005). In subduction zones, the geometrical relationship between the earthquake source capable of a great earthquake and the population is clear because there is only one major fault plane available, thus the epicentral

  2. Tipping the balance: robustness of tip cell selection, migration and fusion in angiogenesis.

    Directory of Open Access Journals (Sweden)

    Katie Bentley

    2009-10-01

    Full Text Available Vascular abnormalities contribute to many diseases such as cancer and diabetic retinopathy. In angiogenesis new blood vessels, headed by a migrating tip cell, sprout from pre-existing vessels in response to signals, e.g., vascular endothelial growth factor (VEGF. Tip cells meet and fuse (anastomosis to form blood-flow supporting loops. Tip cell selection is achieved by Dll4-Notch mediated lateral inhibition resulting, under normal conditions, in an interleaved arrangement of tip and non-migrating stalk cells. Previously, we showed that the increased VEGF levels found in many diseases can cause the delayed negative feedback of lateral inhibition to produce abnormal oscillations of tip/stalk cell fates. Here we describe the development and implementation of a novel physics-based hierarchical agent model, tightly coupled to in vivo data, to explore the system dynamics as perpetual lateral inhibition combines with tip cell migration and fusion. We explore the tipping point between normal and abnormal sprouting as VEGF increases. A novel filopodia-adhesion driven migration mechanism is presented and validated against in vivo data. Due to the unique feature of ongoing lateral inhibition, 'stabilised' tip/stalk cell patterns show sensitivity to the formation of new cell-cell junctions during fusion: we predict cell fates can reverse. The fusing tip cells become inhibited and neighbouring stalk cells flip fate, recursively providing new tip cells. Junction size emerges as a key factor in establishing a stable tip/stalk pattern. Cell-cell junctions elongate as tip cells migrate, which is shown to provide positive feedback to lateral inhibition, causing it to be more susceptible to pathological oscillations. Importantly, down-regulation of the migratory pathway alone is shown to be sufficient to rescue the sprouting system from oscillation and restore stability. Thus we suggest the use of migration inhibitors as therapeutic agents for vascular

  3. Enhanced Communication Network Solution for Positive Train Control Implementation

    Science.gov (United States)

    Fatehi, M. T.; Simon, J.; Chang, W.; Chow, E. T.; Burleigh, S. C.

    2011-01-01

    The commuter and freight railroad industry is required to implement Positive Train Control (PTC) by 2015 (2012 for Metrolink), a challenging network communications problem. This paper will discuss present technologies developed by the National Aeronautics and Space Administration (NASA) to overcome comparable communication challenges encountered in deep space mission operations. PTC will be based on a new cellular wireless packet Internet Protocol (IP) network. However, ensuring reliability in such a network is difficult due to the "dead zones" and transient disruptions we commonly experience when we lose calls in commercial cellular networks. These disruptions make it difficult to meet PTC s stringent reliability (99.999%) and safety requirements, deployment deadlines, and budget. This paper proposes innovative solutions based on space-proven technologies that would help meet these challenges: (1) Delay Tolerant Networking (DTN) technology, designed for use in resource-constrained, embedded systems and currently in use on the International Space Station, enables reliable communication over networks in which timely data acknowledgments might not be possible due to transient link outages. (2) Policy-Based Management (PBM) provides dynamic management capabilities, allowing vital data to be exchanged selectively (with priority) by utilizing alternative communication resources. The resulting network may help railroads implement PTC faster, cheaper, and more reliably.

  4. Site controlled Red-Yellow-Green light emitting InGaN Quantum Discs on nano-tipped GaN rods

    KAUST Repository

    Conroy, Michele Ann

    2016-03-10

    We report a method of growing site controlled InGaN multiple quantum discs (QDs) at uniform wafer scale on coalescence free ultra-high density (>80%) nanorod templates by metal organic chemical vapour deposition (MOCVD). The dislocation and coalescence free nature of the GaN space filling nanorod arrays eliminates the well-known emission problems seen in InGaN based visible light sources that these types of crystallographic defects cause. Correlative scanning transmission electron microscopy (STEM), energy-dispersive x-ray (EDX) mapping and cathodoluminescence (CL) hyperspectral imaging illustrates the controlled site selection of the red, yellow and green (RYG) emission at these nano tips. This article reveals that the nanorod tips’ broad emission in the RYG visible range is in fact achieved by manipulating the InGaN QD’s confinement dimensions, rather than significantly increasing the In%. This article details the easily controlled method of manipulating the QDs dimensions producing high crystal quality InGaN without complicated growth conditions needed for strain relaxation and alloy compositional changes seen for bulk planar GaN templates.

  5. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... the liver). Portal hypertension can also occur in children, although children are much less likely to require a TIPS. ... intentionally to solve the problem. Although extremely rare, children may also require a TIPS procedure. TIPS in ...

  6. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... vs. risks? What are the limitations of TIPS? What is a Transjugular Intrahepatic Portosystemic Shunt (TIPS)? A ... likely to require a TIPS. top of page What are some common uses of the procedure? A ...

  7. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... pressure. top of page How does the procedure work? A TIPS reroutes blood flow in the liver ... TIPS is a minimally invasive procedure that typically has a shorter recovery time than surgery. Your TIPS ...

  8. FPGA based Fuzzy Logic Controller for plasma position control in ADITYA Tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Suratia, Pooja, E-mail: poojasuratia@yahoo.com [Electrical Engineering Department, Faculty of Technology and Engineering, The Maharaja Sayajirao University of Baroda, Kalabhavan, Vadodara 390001, Gujarat (India); Patel, Jigneshkumar, E-mail: jjp@ipr.res.in [Institute for Plasma Research, Bhat, Gandhinagar 382428, Gujarat (India); Rajpal, Rachana, E-mail: rachana@ipr.res.in [Institute for Plasma Research, Bhat, Gandhinagar 382428, Gujarat (India); Kotia, Sorum, E-mail: smkotia-eed@msubaroda.ac.in [Electrical Engineering Department, Faculty of Technology and Engineering, The Maharaja Sayajirao University of Baroda, Kalabhavan, Vadodara 390001, Gujarat (India); Govindarajan, J., E-mail: govindarajan@ipr.res.in [Institute for Plasma Research, Bhat, Gandhinagar 382428, Gujarat (India)

    2012-11-15

    Highlights: Black-Right-Pointing-Pointer Evaluation and comparison of the working performance of FLC is done with that of PID Controller. Black-Right-Pointing-Pointer FLC is designed using MATLAB Fuzzy Logic Toolbox, and validated on ADITYA RZIP model. Black-Right-Pointing-Pointer FLC was implemented on a FPGA. The close-loop testing is done by interfacing FPGA to MATLAB/Simulink. Black-Right-Pointing-Pointer Developed FLC controller is able to maintain the plasma column within required range of {+-}0.05 m and was found to give robust control against various disturbances and faster and smoother response compared to PID Controller. - Abstract: Tokamaks are the most promising devices for obtaining nuclear fusion energy from high-temperature, ionized gas termed as Plasma. The successful operation of tokamak depends on its ability to confine plasma at the geometric center of vacuum vessel with sufficient stability. The quality of plasma discharge in ADITYA Tokamak is strongly related to the radial position of the plasma column in the vacuum vessel. If the plasma column approaches too near to the wall of vacuum vessel, it leads to minor or complete disruption of plasma. Hence the control of plasma position throughout the entire plasma discharge duration is a fundamental requirement. This paper describes Fuzzy Logic Controller (FLC) which is designed for radial plasma position control. This controller is tested and evaluated on the ADITYA RZIP control model. The performance of this FLC was compared with that of Proportional-Integral-Derivative (PID) Controller and the response was found to be faster and smoother. FLC was implemented on a Field Programmable Gate Array (FPGA) chip with the use of a Very High-Speed Integrated-Circuits Hardware Description-Language (VHDL).

  9. Development of Vision Control Scheme of Extended Kalman filtering for Robot's Position Control

    International Nuclear Information System (INIS)

    Jang, W. S.; Kim, K. S.; Park, S. I.; Kim, K. Y.

    2003-01-01

    It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control

  10. Development of EPICS based beam-line experimental control employing motor controller for precision positioning

    International Nuclear Information System (INIS)

    Tuli, Anupriya; Jain, Rajiv; Vora, H.S.

    2015-01-01

    In a Synchrotron Radiation Source the beamline experiments are carried out in radiation prone environment, inside the hutch, which demands to conduct experiments remotely. These experiments involves instrument control and data acquisition from various devices. Another factor which attributes to system complexity is precise positioning of sample and placement of detectors. A large number of stepper motors are engaged for achieving the required precision positioning. This work is a result of development of Experimental Physics and Industrial Control System (EPICS) based control system to interface a stepper motor controller developed indigenously by Laser Electronics Support Division of RRCAT. EPICS is an internationally accepted open source software environment which follows toolkit approach and standard model paradigm. The operator interface for the control system software was implemented using CSS BOY. The system was successfully tested for Ethernet based remote access. The developed control software comprises of an OPI and alarm handler (EPICS ALH). Both OPI and ALH are linked with PV's defined in database files. The development process resulted into a set of EPICS based commands for controlling stepper motor. These commands are independent of operator interface, i.e. stepper motor can be controlled by using these set of commands directly on EPICS prompt. This command set is illustrated in the above table. EPICS Alarm Handler was also tested independently by running these commands on EPIC prompt. If not using ALH, operator can read the alarm status of a PV using 'SEVR' and 'STAT' attributes. (author)

  11. First Aid Tips

    Science.gov (United States)

    ... Program Diversity In Vision Research & Ophthalmology (DIVRO) Student Training Programs To search for current job openings visit HHS USAJobs Home » NEI for Kids » First Aid Tips Listen All About Vision About the Eye ...

  12. Tips for Daily Life

    Science.gov (United States)

    ... chapter Join our online community Tips for Daily Life Coping skills will help you handle day-to- ... challenges, maximize your independence and live a meaningful life with your diagnosis. Accepting changes Creating a coping ...

  13. Toilet training tips

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/patientinstructions/000944.htm Toilet training tips To use the sharing features on ... and 'pee'. Teaching Your Child to Use the Toilet Once your child is comfortable sitting on the ...

  14. Irradiation position-control equipment for the HIMAC

    Energy Technology Data Exchange (ETDEWEB)

    Higashi, Seiichi; Kuma, Shoichiro [Mitsubishi Electric Corp., Tokyo (Japan); Nomura, Kazuaki; Endo, Masahiro; Minohara, Shin-ichi

    1995-02-01

    Use of heavy-ion beams to mount a pinpoint attack on unhealthy tissue requires that the target tissue be placed in the precise location specified by the therapy planning equipment. The article reports on the detailed specifications, positioning mechanism, position verification method and the interface with the therapy planning equipment. (author).

  15. Verification of Positional Accuracy of ZVS3003 Geodetic Control ...

    African Journals Online (AJOL)

    The International GPS Service (IGS) has provided GPS orbit products to the scientific community with increased precision and timeliness. Many users interested in geodetic positioning have adopted the IGS precise orbits to achieve centimeter level accuracy and ensure long-term reference frame stability. Positioning with ...

  16. Full tip imaging in atom probe tomography

    Energy Technology Data Exchange (ETDEWEB)

    Du, Sichao [School of Physics, The University of Sydney, NSW 2006 (Australia); Burgess, Timothy [Department of Electronic Materials Engineering, Research School of Physics and Engineering, The Australian National University, Canberra, ACT 0200 (Australia); Tjing Loi, Shyeh [Australian Centre for Microscopy and Microanalysis, The University of Sydney, NSW 2006 (Australia); Gault, Baptiste [Australian Centre for Microscopy and Microanalysis, The University of Sydney, NSW 2006 (Australia); School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, NSW 2006 (Australia); Department of Materials Science and Engineering, McMaster University, 1280 Main St W, Hamilton, ON, Canada L8S 4L8 (Canada); Gao, Qiang [Department of Electronic Materials Engineering, Research School of Physics and Engineering, The Australian National University, Canberra, ACT 0200 (Australia); Bao, Peite; Li, Li [School of Physics, The University of Sydney, NSW 2006 (Australia); Cui, Xiangyuan; Kong Yeoh, Wai [Australian Centre for Microscopy and Microanalysis, The University of Sydney, NSW 2006 (Australia); Hoe Tan, Hark; Jagadish, Chennupati [Department of Electronic Materials Engineering, Research School of Physics and Engineering, The Australian National University, Canberra, ACT 0200 (Australia); Ringer, Simon P. [Australian Centre for Microscopy and Microanalysis, The University of Sydney, NSW 2006 (Australia); School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, NSW 2006 (Australia); Zheng, Rongkun, E-mail: rongkun.zheng@sydney.edu.au [School of Physics, The University of Sydney, NSW 2006 (Australia)

    2013-01-15

    Atom probe tomography (APT) is capable of simultaneously revealing the chemical identities and three dimensional positions of individual atoms within a needle-shaped specimen, but suffers from a limited field-of-view (FOV), i.e., only the core of the specimen is effectively detected. Therefore, the capacity to analyze the full tip is crucial and much desired in cases that the shell of the specimen is also the region of interest. In this paper, we demonstrate that, in the analysis of III-V nanowires epitaxially grown from a substrate, the presence of the flat substrate positioned only micrometers away from the analyzed tip apex alters the field distribution and ion trajectories, which provides extra image compression that allows for the analysis of the entire specimen. An array of experimental results, including field desorption maps, elemental distributions, and crystallographic features clearly demonstrate the fact that the whole tip has been imaged, which is confirmed by electrostatic simulations. -- Highlights: Black-Right-Pointing-Pointer The full tip has been imaged by atom probe tomography. Black-Right-Pointing-Pointer The conductive substrate close to specimen tip introduces extra image compression. Black-Right-Pointing-Pointer The apex of the tip is far from a hemispherical shape. Black-Right-Pointing-Pointer This work demonstrates a way to increase the FOV of APT.

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

    Indian Academy of Sciences (India)

    placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compensation (PDC) is also used to establish the whole controller for the overall system and the total linear system is ...

  18. Digital computer control of servomotor angular position | Mullisa ...

    African Journals Online (AJOL)

    The paper discussess the design and simulation methodology of digital control systems for the benefit of the interested practicing engineer. A lead-type digital controller for a 2nd order system and a leadlag type digital controller for a 3rd order system are designed. The simulations show that the design methods are ...

  19. [Value of positive auto controls in the gel centrifugation method].

    Science.gov (United States)

    Eichler, H; Kretschmer, V

    1994-01-01

    We studied 97 samples of patients being positive in the autocontrol of the indirect antiglobulin test (IAT) in the gel system (DiaMed). In 83.2%, retesting with monospecific anti-IgG serum gave also positive results, due to a specific phenomenon caused, for example, by drug-specific antibodies (AB), warm auto-AB or allo-AB. In contrast, only 52.9% of the samples retested by the standard tube technique with polyspecific antiglobulin serum reacted positive. Only in 6 patients slightly increased cold agglutinins could be detected. None of the investigated patients showed any clinical or laboratory signs of hemolysis except one with pernicious anemia. We conclude that positive results of the autocontrol in the gel IAT should be confirmed by an additional DAT in the tube technique. If this second test shows a negative result, transfusions can take place without any restrictions.

  20. Wing Tip Drag Reduction at Nominal Take-Off Mach Number: An Approach to Local Active Flow Control with a Highly Robust Actuator System

    Directory of Open Access Journals (Sweden)

    Matthias Bauer

    2016-10-01

    Full Text Available This paper discusses wind tunnel test results aimed at advancing active flow control technology to increase the aerodynamic efficiency of an aircraft during take-off. A model of the outer section of a representative civil airliner wing was equipped with two-stage fluidic actuators between the slat edge and wing tip, where mechanical high-lift devices fail to integrate. The experiments were conducted at a nominal take-off Mach number of M = 0.2. At this incidence velocity, separation on the wing section, accompanied by increased drag, is triggered by the strong slat edge vortex at high angles of attack. On the basis of global force measurements and local static pressure data, the effect of pulsed blowing on the complex flow is evaluated, considering various momentum coefficients and spanwise distributions of the actuation effort. It is shown that through local intensification of forcing, a momentum coefficient of less than c μ = 0.6 % suffices to offset the stall by 2.4°, increase the maximum lift by more than 10% and reduce the drag by 37% compared to the uncontrolled flow.

  1. Post-Transcriptional Control of Gene Expression in Mouse Early Embryo Development: A View from the Tip of the Iceberg

    Directory of Open Access Journals (Sweden)

    Claudio Sette

    2011-04-01

    Full Text Available Fertilization is a very complex biological process that requires the perfect cooperation between two highly specialized cells: the male and female gametes. The oocyte provides the physical space where this process takes place, most of the energetic need, and half of the genetic contribution. The spermatozoon mostly contributes the other half of the chromosomes and it is specialized to reach and to penetrate the oocyte. Notably, the mouse oocyte and early embryo are transcriptionally inactive. Hence, they fully depend on the maternal mRNAs and proteins stored during oocyte maturation to drive the onset of development. The new embryo develops autonomously around the four-cell stage, when maternal supplies are exhausted and the zygotic genome is activated in mice. This oocyte-to-embryo transition needs an efficient and tightly regulated translation of the maternally-inherited mRNAs, which likely contributes to embryonic genome activation. Full understanding of post-transcriptional regulation of gene expression in early embryos is crucial to understand the reprogramming of the embryonic genome, it might help driving reprogramming of stem cells in vitro and will likely improve in vitro culturing of mammalian embryos for assisted reproduction. Nevertheless, the knowledge of the mechanism(s underlying this fundamental step in embryogenesis is still scarce, especially if compared to other model organisms. We will review here the current knowledge on the post-transcriptional control of gene expression in mouse early embryos and discuss some of the unanswered questions concerning this fascinating field of biology.

  2. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  3. Efficacy of positive reinforcement and self control in the ...

    African Journals Online (AJOL)

    The treatment is a quasi-experimental type that adopted a pretest, post test treatment control group using a 3 x 2 factorial matrix, with the treatment conditions in the rows and gender in the columns. There were three experimental groups comprising of two treatment groups and a no treatment control group. The participants ...

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

    Indian Academy of Sciences (India)

    mented state, a regional pole-placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compen- sation (PDC) is also used to establish the whole controller for the overall system and the total linear system is obtained by using the weighted sum of the ...

  5. Digital feed back control for radial beam position

    International Nuclear Information System (INIS)

    Mestha, L.K.

    1989-09-01

    In the development of wide spread large scale distributed digital control systems, there is a requirement to automate small processes like radial beam control which will not only improve the beam quality but will also add local intelligence. Hence use is made here of digital control principles for such applications. The work concerned with the radial beam control discussed in this report has been developed for ISIS at RAL. The structure of the report is hence inclined more towards the local hardware system. The general feed back loop techniques can also be implemented for other control purpose. For instance, the author has successfully tested similar techniques to minimise the RF cavity tuning error, where the improvement in performance could not be matched by the analogue loop. A description of the RF cavity tuning programme and the associated experimental results will be published as a local paper for ISIS division. (author)

  6. Is a Drain Tip Culture Required After Spinal Surgery?

    Science.gov (United States)

    Kobayashi, Kazuyoshi; Imagama, Shiro; Ito, Zenya; Ando, Kei; Yagi, Hideki; Hida, Tetsuro; Ito, Kenyu; Ishikawa, Yoshimoto; Tsushima, Mikito; Ishiguro, Naoki

    2017-10-01

    The efficacy of use of a drain tip culture for early detection of surgical-site infection (SSI) was investigated in 329 patients after spinal surgery. To examine the efficacy of a wound drain tip culture for detection of SSI in spinal surgery. A complication of SSI after spinal surgery has high associated morbidity and mortality, and is often difficult to treat. The subjects were patients who underwent spinal surgery at our institution between January 2010 and March 2013. All subjects were treated with antimicrobial prophylaxis based on evidence-based guidelines and were followed for at least 6 months after surgery. Data from culture studies using the distal tip of the wound drain were used for analysis. Drain tip cultures were positive in 34 cases and there were 19 SSIs. Ten of the 34-tip culture-positive wounds developed SSI. Drain tip cultures had a sensitivity of 52%, specificity of 92%, positive predictive value (PPV) of 29%, and negative predictive value of 97% for predicting a wound infection. The association between a positive suction tip culture and wound infection was significant (P<0.05). The PPV for SSI was 60% in cases in which methicillin-resistant bacteria were detected in a drain tip, and the SSI rate in these cases differed significantly compared with those with non-methicillin-resistant bacteria (P=0.01). A drain tip culture is useful for early detection of SSI caused by methicillin-resistant bacteria.

  7. Cost-effectiveness of online positive psychology: Randomized controlled trial

    NARCIS (Netherlands)

    Bolier, Linda; Majo, Cristina; Smit, Filip; Westerhof, Gerben Johan; Haverman, Merel; Walburg, J.A.; Riper, Heleen; Bohlmeijer, Ernst Thomas

    2014-01-01

    As yet, no evidence is available about the cost-effectiveness of positive psychological interventions. When offered via the Internet, these interventions may be particularly cost-effective, because they are highly scalable and do not rely on scant resources such as therapists’ time. Alongside a

  8. Development of control rod position indicator using reed switch for SMART CEDM

    International Nuclear Information System (INIS)

    Yoo, Jae Yong; Kim, Jong In; Kim, Ji Ho; Huh, Hyoung; Jang, Moon Hee

    2001-01-01

    The reliability and accuracy of the information on control rod position are very important to the reactor safety and the design of the core protection system. In this study, a thorough investigation on the RSPT(Reed Switch Position Transmitter) type control rod position indication system and its actual implementation in the exiting nuclear power plants in Korea was performed first. A design of the control rod position indication system using reed switch for the CEDM on the integral reactor SMART was developed based on the position indicator technology identified through the investigation. The feasibility of the design was evaluated by test of manufactured control rod position indicator using reed switch for SMART

  9. Adaptive Positive Position Feedback Control of Flexible Aircraft Structures Using Piezoelectric Actuators

    Science.gov (United States)

    2014-03-27

    Aeronautics and Space Administration. “F/A-18 High Alpha Research Vehicle”. http://www.nasa.gov/centers/ dryden /multimedia/imagegallery/F-18HARV/ index.html...lowerAccordion-set1-slide10, April 1989. 18 February 2014. [2] John D. Anderson. Fundamentals of Aerodynamics. McGraw-Hill, New York, 5th edition, 2011...Krishnakumar, John Kaneshige, and Pascal Nespeca. “Dynamics and Adaptive Control for Stability Recovery of Damaged Asymmetric Aircraft”. Technical report

  10. Position Sensorless Vector Control for Permanent Magnet Synchronous Motors Based on Maximum Torque Control Frame

    Science.gov (United States)

    Hida, Hajime; Tomigashi, Yoshio; Kishimoto, Keiji

    High efficiency drive can be achieved by the maximum torque-per-ampere (MTPA) control which used reluctance torque effectively. However, the calculations for estimating rotor position and for controlling the d-axis current are required. The motor parameters of inductance etc. that are easily affected by magnetic saturation are included in those calculations. This paper proposes a new MTPA control method, which is robust against changes of motor parameters caused by magnetic saturation. In addition, complex calculation for d-axis current or reference to the table is not necessary. In this method, we define a novel coordinate frame, which has one axis aligned with the current vector of the MTPA control, and estimate the frame directly. Because the parameter Lqm for estimating the frame is less affected by the magnetic saturation than the conventional Lq, the effect of magnetic saturation on the position estimation can be greatly suppressed. First, an extended electromotive force model based on the proposed frame and a parameter Lqm for an estimation of the frame are derived. Next, the effectiveness of this proposed method is confirmed by simulations and experiments.

  11. Matching of energetic, mechanic and control characteristics of positioning actuator

    Science.gov (United States)

    Y Nosova, N.; Misyurin, S. Yu; Kreinin, G. V.

    2017-12-01

    The problem of preliminary choice of parameters of the automated drive power channel is discussed. The drive of the mechatronic complex divides into two main units – power and control. The first determines the energy capabilities and, as a rule, the overall dimensions of the complex. The sufficient capacity of the power unit is a necessary condition for successful solution of control tasks without excessive complication of the control system structure. Preliminary selection of parameters is carried out based on the condition of providing the necessary drive power. The proposed approach is based on: a research of a sufficiently developed but not excessive dynamic model of the power block with the help of a conditional test control system; a transition to a normalized model with the formation of similarity criteria; constructing the synthesis procedure.

  12. Lateral position detection and control for friction stir systems

    Science.gov (United States)

    Fleming, Paul; Lammlein, David H.; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David R.; Hartman, Daniel A.

    2012-06-05

    An apparatus and computer program are disclosed for processing at least one workpiece using a rotary tool with rotating member for contacting and processing the workpiece. The methods include oscillating the rotary tool laterally with respect to a selected propagation path for the rotating member with respect to the workpiece to define an oscillation path for the rotating member. The methods further include obtaining force signals or parameters related to the force experienced by the rotary tool at least while the rotating member is disposed at the extremes of the oscillation. The force signals or parameters associated with the extremes can then be analyzed to determine a lateral position of the selected path with respect to a target path and a lateral offset value can be determined based on the lateral position. The lateral distance between the selected path and the target path can be decreased based on the lateral offset value.

  13. Magnet pole tips

    Science.gov (United States)

    Thorn, Craig E.; Chasman, Chellis; Baltz, Anthony J.

    1984-04-24

    An improved magnet which more easily provides a radially increasing magnetic field, as well as reduced fringe field and requires less power for a given field intensity. The subject invention comprises a pair of spaced, opposed magnetic poles which further comprise a pair of pole roots, each having a pole tip attached to its center. The pole tips define the gap between the magnetic poles and at least a portion of each pole tip is separated from its associated pole root. The separation begins at a predetermined distance from the center of the pole root and increases with increasing radial distance while being constant with azimuth within that portion. Magnets in accordance with the subject invention have been found to be particularly advantageous for use in large isochronous cyclotrons.

  14. Positive valence music restores executive control over sustained attention.

    Science.gov (United States)

    Baldwin, Carryl L; Lewis, Bridget A

    2017-01-01

    Music sometimes improves performance in sustained attention tasks. But the type of music employed in previous investigations has varied considerably, which can account for equivocal results. Progress has been hampered by lack of a systematic database of music varying in key characteristics like tempo and valence. The aims of this study were to establish a database of popular music varying along the dimensions of tempo and valence and to examine the impact of music varying along these dimensions on restoring attentional resources following performance of a sustained attention to response task (SART) vigil. Sixty-nine participants rated popular musical selections that varied in valence and tempo to establish a database of four musical types: fast tempo positive valence, fast tempo negative valence, slow tempo positive valence, and slow tempo negative valence. A second group of 89 participants performed two blocks of the SART task interspersed with either no break or a rest break consisting of 1 of the 4 types of music or silence. Presenting positive valence music (particularly of slow tempo) during an intermission between two successive blocks of the SART significantly decreased miss rates relative to negative valence music or silence. Results support an attentional restoration theory of the impact of music on sustained attention, rather than arousal theory and demonstrate a means of restoring sustained attention. Further, the results establish the validity of a music database that will facilitate further investigations of the impact of music on performance.

  15. Positive emotion, reward, and cognitive control: emotional versus motivational influences

    Directory of Open Access Journals (Sweden)

    Kimberly Sarah Chiew

    2011-10-01

    Full Text Available It is becoming increasingly appreciated that affective influences can contribute strongly to goal-oriented cognition and behaviour. However, much work is still needed to properly characterize these influences and the mechanisms by which they contribute to cognitive processing. An important question concerns the nature of emotional manipulations (i.e., direct induction of affectively-valenced subjective experience versus motivational manipulations (e.g., delivery of performance-contingent rewards and punishments and their impact on cognitive control. Empirical evidence suggests that both kinds of manipulations can influence cognitive control in a systematic fashion, but investigations of both have largely been conducted independently of one another. Likewise, some theoretical accounts suggest that emotion and motivation may modulate cognitive control via common neural mechanisms, while others suggest the possibility of dissociable influences. Here, we provide an analysis and synthesis of these various accounts, suggesting potentially fruitful new research directions to test competing hypotheses.

  16. Control of plasma column horizontal position in TBR-1

    International Nuclear Information System (INIS)

    Tuszel, A.G.; Rincoski, C.R.M.

    1990-01-01

    The TBR-1 is a small tokamak built at the Physics Institute of the University of Sao Paulo. It was originally designed with a simple vertical field power supply made of one fast capacitor bank for vertical current build-up and one slow capacitor bank for flat-top phase, without any control but the adjustable initial voltages of the capacitors. With such an elementary system, the plasma cannot be held in the center of the vacuum vessel for the whole duration of the plasma. This led to a suboptimal performance with easy disruptions. A control system was designed to hold the plasma centered in the radial coordinate. (Author)

  17. Digit forces bias sensorimotor transformations underlying control of fingertip position

    Science.gov (United States)

    Shibata, Daisuke; Kappers, Astrid M. L.; Santello, Marco

    2014-01-01

    Humans are able to modulate digit forces as a function of position despite changes in digit placement that might occur from trial to trial or when changing grip type for object manipulation. Although this phenomenon is likely to rely on sensing the position of the digits relative to each other and the object, the underlying mechanisms remain unclear. To address this question, we asked subjects (n = 30) to match perceived vertical distance between the center of pressure (CoP) of the thumb and index finger pads (dy) of the right hand (“reference” hand) using the same hand (“test” hand). The digits of reference hand were passively placed collinearly (dy = 0 mm). Subjects were then asked to exert different combinations of normal and tangential digit forces (Fn and Ftan, respectively) using the reference hand and then match the memorized dy using the test hand. The reference hand exerted Ftan of thumb and index finger in either same or opposite direction. We hypothesized that, when the tangential forces of the digits are produced in opposite directions, matching error (1) would be biased toward the directions of the tangential forces; and (2) would be greater when the remembered relative contact points are matched with negligible digit force production. For the test hand, digit forces were either negligible (0.5–1 N, 0 ± 0.25 N; Experiment 1) or the same as those exerted by the reference hand (Experiment 2).Matching error was biased towards the direction of digit tangential forces: thumb CoP was placed higher than the index finger CoP when thumb and index finger Ftan were directed upward and downward, respectively, and vice versa (p forces. We propose that the expected sensory consequence of motor commands for tangential forces in opposite directions overrides estimation of fingertip position through haptic sensory feedback. PMID:25136304

  18. Position-controlled epitaxial III-V nanowires on silicon

    Energy Technology Data Exchange (ETDEWEB)

    Roest, Aarnoud L; Verheijen, Marcel A; Wunnicke, Olaf; Serafin, Stacey; Wondergem, Harry; Bakkers, Erik P A M [Philips Research Laboratories, Professor Holstlaan 4, 5656 AA Eindhoven (Netherlands); Kavli Institute of NanoScience, Delft University of Technology, PO Box 5046, 2600 GA Delft (Netherlands)

    2006-06-14

    We show the epitaxial integration of III-V semiconductor nanowires with silicon technology. The wires are grown by the VLS mechanism with laser ablation as well as metal-organic vapour phase epitaxy. The hetero-epitaxial growth of the III-V nanowires on silicon was confirmed with x-ray diffraction pole figures and cross-sectional transmission electron microscopy. We show preliminary results of two-terminal electrical measurements of III-V nanowires grown on silicon. E-beam lithography was used to predefine the position of the nanowires.

  19. Position-controlled epitaxial III-V nanowires on silicon

    International Nuclear Information System (INIS)

    Roest, Aarnoud L; Verheijen, Marcel A; Wunnicke, Olaf; Serafin, Stacey; Wondergem, Harry; Bakkers, Erik P A M

    2006-01-01

    We show the epitaxial integration of III-V semiconductor nanowires with silicon technology. The wires are grown by the VLS mechanism with laser ablation as well as metal-organic vapour phase epitaxy. The hetero-epitaxial growth of the III-V nanowires on silicon was confirmed with x-ray diffraction pole figures and cross-sectional transmission electron microscopy. We show preliminary results of two-terminal electrical measurements of III-V nanowires grown on silicon. E-beam lithography was used to predefine the position of the nanowires

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

    Indian Academy of Sciences (India)

    update fuzzy weights in real time for different operating points of the system. Simula- tion results are presented to validate the effectiveness of the proposed controller like robustness and good load disturbance attenuation and accurate tracking, even in the presence of parameter variations and also load disturbances on the ...

  1. DNA Replication Control Is Linked to Genomic Positioning of Control Regions in Escherichia coli

    Science.gov (United States)

    Frimodt-Møller, Jakob; Charbon, Godefroid; Krogfelt, Karen A.; Løbner-Olesen, Anders

    2016-01-01

    Chromosome replication in Escherichia coli is in part controlled by three non-coding genomic sequences, DARS1, DARS2, and datA that modulate the activity of the initiator protein DnaA. The relative distance from oriC to the non-coding regions are conserved among E. coli species, despite large variations in genome size. Here we use a combination of i) site directed translocation of each region to new positions on the bacterial chromosome and ii) random transposon mediated translocation followed by culture evolution, to show genetic evidence for the importance of position. Here we provide evidence that the genomic locations of these regulatory sequences are important for cell cycle control and bacterial fitness. In addition, our work shows that the functionally redundant DARS1 and DARS2 regions play different roles in replication control. DARS1 is mainly involved in maintaining the origin concentration, whether DARS2 is also involved in maintaining single cell synchrony. PMID:27589233

  2. DNA Replication Control Is Linked to Genomic Positioning of Control Regions in Escherichia coli.

    Directory of Open Access Journals (Sweden)

    Jakob Frimodt-Møller

    2016-09-01

    Full Text Available Chromosome replication in Escherichia coli is in part controlled by three non-coding genomic sequences, DARS1, DARS2, and datA that modulate the activity of the initiator protein DnaA. The relative distance from oriC to the non-coding regions are conserved among E. coli species, despite large variations in genome size. Here we use a combination of i site directed translocation of each region to new positions on the bacterial chromosome and ii random transposon mediated translocation followed by culture evolution, to show genetic evidence for the importance of position. Here we provide evidence that the genomic locations of these regulatory sequences are important for cell cycle control and bacterial fitness. In addition, our work shows that the functionally redundant DARS1 and DARS2 regions play different roles in replication control. DARS1 is mainly involved in maintaining the origin concentration, whether DARS2 is also involved in maintaining single cell synchrony.

  3. Lateral position detection and control for friction stir systems

    Science.gov (United States)

    Fleming, Paul; Lammlein, David; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David; Hartman, Daniel A.

    2010-12-14

    A friction stir system for processing at least a first workpiece includes a spindle actuator coupled to a rotary tool comprising a rotating member for contacting and processing the first workpiece. A detection system is provided for obtaining information related to a lateral alignment of the rotating member. The detection system comprises at least one sensor for measuring a force experienced by the rotary tool or a parameter related to the force experienced by the rotary tool during processing, wherein the sensor provides sensor signals. A signal processing system is coupled to receive and analyze the sensor signals and determine a lateral alignment of the rotating member relative to a selected lateral position, a selected path, or a direction to decrease a lateral distance relative to the selected lateral position or selected path. In one embodiment, the friction stir system can be embodied as a closed loop tracking system, such as a robot-based tracked friction stir welding (FSW) or friction stir processing (FSP) system.

  4. [Ligament-controlled positioning of the knee prosthesis components].

    Science.gov (United States)

    Widmer, K-H; Zich, A

    2015-04-01

    There are at least two predominant goals in total knee replacement: first, the surgeon aims to achieve an optimal postoperative kinematic motion close to the patient's physiological range, and second, he aims for concurrent high ligament stability to establish pain-free movement for the entire range of motion. A number of prosthetic designs and surgical techniques have been developed in recent years to achieve both of these targets. This study presents another modified surgical procedure for total knee implantation. As in common practice the osteotomies are planned preoperatively, referencing well-defined bony landmarks, but their placement and orientation are also controlled intraoperatively in a stepwise sequence via ligamentous linkages. This method is open to all surgical approaches and can be applied for PCL-conserving or -sacrificing techniques. The anterior femoral osteotomy is carried out first, followed by the distal femoral osteotomy. Then, the extension gap is finalized by tensioning the ligaments and "top-down" referencing at the level of the tibial osteotomy, followed by finishing the flexion gap in the same way, except that the osteotomy of the posterior condyles is referenced in a "bottom-up" fashion. Hence, this technique relies on both bony and ligament-controlled procedures. Thus, it respects the modified ligamentous framework and drives the prosthetic components into the new ligamentous envelope. Further improvement may be achieved by additional control of the kinematics during surgery by applying modern computer navigation technology.

  5. Tips from the Classroom.

    Science.gov (United States)

    Wilhelm, Kim Hughes; Leverett, Thomas; Barrett, Rob J.; Chur-Hansen, Anna; Dantas-Whitney, Maria; Zapata, Gabriela; Garcia, Juan Felix

    1998-01-01

    Five articles present tips for rallying English-as-a-Second-Language students to the enterprise of creating context, tools, and language itself. The articles focus on using original dramas created by students, teaching nonnative English-speaking medical students to comprehend their patients' colloquial language, conducting research with native…

  6. Air Travel Health Tips

    Science.gov (United States)

    ... Conditions Prevention and Wellness Staying Healthy Healthy Living Travel Occupational Health First Aid and Injury Prevention Crisis ... MoreDepression in Children and TeensRead MoreBMI Calculator International Travel: Tips for Staying HealthyTexting and DrivingTravel Needs for ...

  7. Sports Dehydration Safety Tips

    Science.gov (United States)

    Sports Dehydration Safety Tips Everything you need to know to keep your kids safe from dehydration when playing sports. To keep kids in top ... to stay hydrated by drinking plenty of fluids. Dehydration occurs when a body loses more water than ...

  8. Planar cell polarity breaks bilateral symmetry by controlling ciliary positioning.

    Science.gov (United States)

    Song, Hai; Hu, Jianxin; Chen, Wen; Elliott, Gene; Andre, Philipp; Gao, Bo; Yang, Yingzi

    2010-07-15

    Defining the three body axes is a central event of vertebrate morphogenesis. Establishment of left-right (L-R) asymmetry in development follows the determination of dorsal-ventral and anterior-posterior (A-P) body axes, although the molecular mechanism underlying precise L-R symmetry breaking in reference to the other two axes is still poorly understood. Here, by removing both Vangl1 and Vangl2, the two mouse homologues of a Drosophila core planar cell polarity (PCP) gene Van Gogh (Vang), we reveal a previously unrecognized function of PCP in the initial breaking of lateral symmetry. The leftward nodal flow across the posterior notochord (PNC) has been identified as the earliest event in the de novo formation of L-R asymmetry. We show that PCP is essential in interpreting the A-P patterning information and linking it to L-R asymmetry. In the absence of Vangl1 and Vangl2, cilia are positioned randomly around the centre of the PNC cells and nodal flow is turbulent, which results in disrupted L-R asymmetry. PCP in mouse, unlike what has been implicated in other vertebrate species, is not required for ciliogenesis, cilium motility, Sonic hedgehog (Shh) signalling or apical docking of basal bodies in ciliated tracheal epithelial cells. Our data suggest that PCP acts earlier than the unidirectional nodal flow during bilateral symmetry breaking in vertebrates and provide insight into the functional mechanism of PCP in organizing the vertebrate tissues in development.

  9. 76 FR 8353 - Positioning Systems Directorate Will Be Hosting an Interface Control Working Group (ICWG) Meeting...

    Science.gov (United States)

    2011-02-14

    ... DEPARTMENT OF DEFENSE Department of the Air Force Positioning Systems Directorate Will Be Hosting an Interface Control Working Group (ICWG) Meeting for Document ICD-GPS-870 AGENCY: Interface Control... informs the public that the Global Positioning Systems Directorate will be hosting an Interface Control...

  10. Mayer control problem with probabilistic uncertainty on initial positions

    Science.gov (United States)

    Marigonda, Antonio; Quincampoix, Marc

    2018-03-01

    In this paper we introduce and study an optimal control problem in the Mayer's form in the space of probability measures on Rn endowed with the Wasserstein distance. Our aim is to study optimality conditions when the knowledge of the initial state and velocity is subject to some uncertainty, which are modeled by a probability measure on Rd and by a vector-valued measure on Rd, respectively. We provide a characterization of the value function of such a problem as unique solution of an Hamilton-Jacobi-Bellman equation in the space of measures in a suitable viscosity sense. Some applications to a pursuit-evasion game with uncertainty in the state space is also discussed, proving the existence of a value for the game.

  11. Ten Timeless Tips for Keeping on Top of Teaching Technology

    Science.gov (United States)

    Poling, Devereaux A.; LoSchiavo, Frank M.

    2014-01-01

    We provide tips for helping psychology faculty effectively seek, select, and place new technology into pedagogical practice. We also provide tips to help psychology departments position themselves for a future that includes teaching technologies that have not yet been created. Instead of discussing today's top innovations in teaching (which…

  12. Identification and Position Control of Marine Helm using Artificial Neural Network Neural Network

    Directory of Open Access Journals (Sweden)

    Hui ZHU

    2008-02-01

    Full Text Available If nonlinearities such as saturation of the amplifier gain and motor torque, gear backlash, and shaft compliances- just to name a few - are considered in the position control system of marine helm, traditional control methods are no longer sufficient to be used to improve the performance of the system. In this paper an alternative approach to traditional control methods - a neural network reference controller - is proposed to establish an adaptive control of the position of the marine helm to achieve the controlled variable at the command position. This neural network controller comprises of two neural networks. One is the plant model network used to identify the nonlinear system and the other the controller network used to control the output to follow the reference model. The experimental results demonstrate that this adaptive neural network reference controller has much better control performance than is obtained with traditional controllers.

  13. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... TIPS. top of page What are some common uses of the procedure? A TIPS is used to ... the scanner by a cord. Some exams may use different transducers (with different capabilities) during a single ...

  14. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... or bypass, without the risks that accompany open surgery. TIPS is a minimally invasive procedure that typically has a shorter recovery time than surgery. Your TIPS should have less of an effect ...

  15. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... then placed in this tunnel to keep the pathway open. Patients who typically need a TIPS have ... and stomach. A TIPS procedure involves creating a pathway through the liver that connects the portal vein ( ...

  16. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... and/or hydrothorax (in the chest). Budd-Chiari syndrome , a blockage in one or more veins that ... intentionally to solve the problem. Although extremely rare, children may also require a TIPS procedure. TIPS in ...

  17. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... heart while avoiding the liver. TIPS may successfully reduce internal bleeding in the stomach and esophagus in ... TIPS reroutes blood flow in the liver and reduces abnormally high blood pressure in the veins of ...

  18. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... What are the limitations of TIPS? What is a Transjugular Intrahepatic Portosystemic Shunt (TIPS)? A transjugular intrahepatic ... taking our brief survey: Survey Do you have a personal story about radiology? Share your patient story ...

  19. Explicit Generalized Predictive Control of Speed and Position of PMSM Drives

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Vošmik, D.

    2016-01-01

    Roč. 63, č. 6 (2016), s. 3889-3896 ISSN 0278-0046 Institutional support: RVO:67985556 Keywords : current limitation * field weakening * motion control * permanent magnet synchronous motors * position control * predictive control * speed control Subject RIV: BC - Control Systems Theory Impact factor: 7.168, year: 2016 http://library.utia.cas.cz/separaty/2016/AS/belda-0457259.pdf

  20. A Rotating-Tip-Based Mechanical Nano-Manufacturing Process: Nanomilling

    Directory of Open Access Journals (Sweden)

    Gozen B

    2010-01-01

    Full Text Available Abstract We present a rotating-tip-based mechanical nanomanufacturing technique, referred to here as nanomilling. An atomic force microscopy (AFM probe tip that is rotated at high speeds by out-of-phase motions of the axes of a three-axis piezoelectric actuator is used as the nanotool. By circumventing the high-compliance AFM beam and directly attaching the tip onto the piezoelectric actuator, a high-stiffness arrangement is realized. The feeding motions and depth prescription are provided by a nano-positioning stage. It is shown that nanomilling is capable of removing the material in the form of long curled chips, indicating shearing as the dominant material removal mechanism. Feature-size and shape control capabilities of the method are demonstrated.

  1. The acetyltransferase Tip60 is a critical regulator of the differentiation-dependent amplification of human papillomaviruses.

    Science.gov (United States)

    Hong, Shiyuan; Dutta, Anindya; Laimins, Laimonis A

    2015-04-01

    The life cycle of human papillomaviruses (HPVs) is dependent upon differentiation of the infected host epithelial cell as well as activation of the ataxia telangiectasia mutated (ATM) DNA repair pathway that in normal cells acts to repair double-strand DNA breaks. In normal cells, following DNA damage the acetyltransferase Tip60 must acetylate ATM proteins prior to their full activation by autophosphorylation. E6 proteins have been shown to induce the degradation of Tip60, suggesting that Tip60 action may not be required for activation of the ATM pathway in HPV-positive cells. We investigated what role, if any, Tip60 plays in regulating the differentiation-dependent HPV life cycle. Our study indicates that Tip60 levels and activity are increased in cells that stably maintain complete HPV genomes as episomes, while low levels are seen in cells that express only HPV E6 and E7 proteins. Knockdown of Tip60 with short hairpin RNAs in cells that maintain HPV episomes blocked ATM induction and differentiation-dependent genome amplification, demonstrating the critical role of Tip60 in the viral life cycle. The JAK/STAT transcription factor STAT-5 has previously been shown to regulate the phosphorylation of ATM. Our studies demonstrate that STAT-5 regulates Tip60 activation and this occurs in part by targeting glycogen synthase kinase 3β (GSK3β). Inhibition of either STAT-5, Tip60, or GSK3β blocked differentiation-dependent genome amplification. Taken together, our findings identify Tip60 to be an important regulator of HPV genome amplification whose activity during the viral life cycle is controlled by STAT-5 and the kinase GSK3β. Human papillomaviruses (HPVs) are the etiological agents of cervical and other anogenital cancers. HPVs regulate their differentiation-dependent life cycle by activation of DNA damage pathways. This study demonstrates that HPVs regulate the ATM DNA damage pathway through the action of the acetyltransferase Tip60. Furthermore, the innate

  2. Stiffness Control of Surgical Continuum Manipulators.

    Science.gov (United States)

    Mahvash, Mohsen; Dupont, Pierre E

    2011-04-01

    This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot's coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.

  3. Tip-modified Propellers

    DEFF Research Database (Denmark)

    Andersen, Poul

    1999-01-01

    The paper deals with tip-modified propellers and the methods which, over a period of two decades, have been applied to develop such propellers. The development is driven by the urge to increase the efficiency of propellers and can be seen as analogous to fitting end plates and winglets to aircraft...... propeller, have efficiency increases of a reasonable magnitude in both open-water and behind-ship conditions....

  4. Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

    Science.gov (United States)

    Abdallah, Muhammad E (Inventor); Platt, Jr., Robert J. (Inventor); Reiland, Matthew J (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A (Inventor); Strawser, Philip A (Inventor); Ihrke, Chris A. (Inventor)

    2013-01-01

    A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

  5. Dynamic of cold-atom tips in anharmonic potentials

    Science.gov (United States)

    Menold, Tobias; Federsel, Peter; Rogulj, Carola; Hölscher, Hendrik; Fortágh, József

    2016-01-01

    Background: Understanding the dynamics of ultracold quantum gases in an anharmonic potential is essential for applications in the new field of cold-atom scanning probe microscopy. Therein, cold atomic ensembles are used as sensitive probe tips to investigate nanostructured surfaces and surface-near potentials, which typically cause anharmonic tip motion. Results: Besides a theoretical description of this anharmonic tip motion, we introduce a novel method for detecting the cold-atom tip dynamics in situ and real time. In agreement with theory, the first measurements show that particle interactions and anharmonic motion have a significant impact on the tip dynamics. Conclusion: Our findings will be crucial for the realization of high-sensitivity force spectroscopy with cold-atom tips and could possibly allow for the development of advanced spectroscopic techniques such as Q-control. PMID:28144505

  6. Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

    Directory of Open Access Journals (Sweden)

    Yongling FU

    2018-03-01

    Full Text Available Electrohydrostatic actuator (EHA is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test. Keywords: Actuation system, Aerospace, Electrohydrostatic actuator, Force control, Nonlinear dynamics, Particle swarm optimization, Position control

  7. Dip TIPS as a facile and versatile method for fabrication of polymer foams with controlled shape, size and pore architecture for bioengineering applications

    Czech Academy of Sciences Publication Activity Database

    Kasoju, Naresh; Kubies, Dana; Kumorek, Marta M.; Kříž, J.; Fabryová, E.; Machová, Luďka; Kovářová, Jana; Rypáček, František

    2014-01-01

    Roč. 9, č. 10 (2014), e108792_1-e108792_16 E-ISSN 1932-6203 R&D Projects: GA MŠk(CZ) EE2.3.30.0029; GA MŠk(CZ) ED1.1.00/02.0109 Institutional support: RVO:61389013 Keywords : polymer foams * anisotropy * Dip TIPS Subject RIV: CE - Biochemistry Impact factor: 3.234, year: 2014

  8. A novel tracking tool for the analysis of plant-root tip movements

    International Nuclear Information System (INIS)

    Russino, A; Ascrizzi, A; Popova, L; Tonazzini, A; Mancuso, S; Mazzolai, B

    2013-01-01

    The growth process of roots consists of many activities, such as exploring the soil volume, mining minerals, avoiding obstacles and taking up water to fulfil the plant's primary functions, that are performed differently, depending on environmental conditions. Root movements are strictly related to a root decision strategy, which helps plants to survive under stressful conditions by optimizing energy consumption. In this work, we present a novel image-analysis tool to study the kinematics of the root tip (apex), named analyser for root tip tracks (ARTT). The software implementation combines a segmentation algorithm with additional software imaging filters in order to realize a 2D tip detection. The resulting paths, or tracks, arise from the sampled tip positions through the acquired images during the growth. ARTT allows work with no markers and deals autonomously with new emerging root tips, as well as handling a massive number of data relying on minimum user interaction. Consequently, ARTT can be used for a wide range of applications and for the study of kinematics in different plant species. In particular, the study of the root growth and behaviour could lead to the definition of novel principles for the penetration and/or control paradigms for soil exploration and monitoring tasks. The software capabilities were demonstrated by experimental trials performed with Zea mays and Oryza sativa. (paper)

  9. Comparing the outcomes of incisions made by colorado microdissection needle, electrosurgery tip, and surgical blade during periodontal surgery: A randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Rampalli Viswa Chandra

    2016-01-01

    Full Text Available Context: Electrosurgery offers many unique advantages such as hemostasis and precise tissue cutting; however, there are a number of disadvantages including thermal injury and delayed wound healing. Aims: The aim of the present study was to compare the outcomes of incisions made by Colorado® microdissection needle, electrosurgery tip, and surgical blade during periodontal surgery. Settings and Design: Twenty-two individuals participated in this study. Three quadrants in each individual were randomly assigned into each of the following experimental groups: Colorado® microdissection needle (CMD, electrosurgery tip (EC and surgical blade (BP, in which, incisions were given with Colorado® microdissection needle, straight electrocautery tip, and a scalpel blade, respectively. Materials and Methods: Blood loss (BL was measured immediately after surgery, and changes in interdental papilla dimensions were recorded at baseline, 7, 30, 120, and 180 days after surgery. Measures of periodontal disease were recorded at baseline, 120, and 180 days after surgery. Postoperative pain and wound healing were recorded at 1, 7, and 15 days after surgery. Results: The use of CMD for periodontal surgery showed better results over EC in all parameters. CMD resulted in lesser bleeding and less postoperative pain and attained similar results to that of BP in clinical parameters of periodontal disease. Conclusions: Colorado® microdissection needle may be a better choice for incisions as it seems to show less tissue damage than cautery and offers tissue healing comparable to scalpel blade.

  10. Wettability of AFM tip influences the profile of interfacial nanobubbles

    Science.gov (United States)

    Teshima, Hideaki; Takahashi, Koji; Takata, Yasuyuki; Nishiyama, Takashi

    2018-02-01

    To accurately characterize the shape of interfacial nanobubbles using atomic force microscopy (AFM), we investigated the effect of wettability of the AFM tip while operating in the peak force tapping (PFT) mode. The AFM tips were made hydrophobic and hydrophilic by Teflon AF coating and oxygen plasma treatment, respectively. It was found that the measured base radius of nanobubbles differed between AFM height images and adhesion images, and that this difference depended on the tip wettability. The force curves obtained during the measurements were also different depending on the wettability, especially in the range of the tip/nanobubble interaction and in the magnitude of the maximum attractive force in the retraction period. The difference suggests that hydrophobic tips penetrate the gas/liquid interface of the nanobubbles, with the three phase contact line being pinned on the tip surface; hydrophilic tips on the other hand do not penetrate the interface. We then quantitatively estimated the pinning position and recalculated the true profiles of the nanobubbles by comparing the height images and adhesion images. As the AFM tip was made more hydrophilic, the penetration depth decreased and eventually approached zero. This result suggests that the PFT measurement using a hydrophilic tip is vital for the acquisition of reliable nanobubble profiles.

  11. 78 FR 979 - Petition for Positive Train Control Safety Plan Approval and System Certification of the...

    Science.gov (United States)

    2013-01-07

    ...] Petition for Positive Train Control Safety Plan Approval and System Certification of the Electronic Train... the Federal Railroad Administration (FRA) for Positive Train Control (PTC) Safety Plan (PTCSP) approval and system certification of the Electronic Train Management System (ETMS) as required by 49 U.S.C...

  12. Automatic beam position control at Los Alamos Spallation Radiation Effects Facility (LASREF)

    International Nuclear Information System (INIS)

    Oothoudt, M.; Pillai, C.; Zumbro, M.

    1997-01-01

    Historically the Los Alamos Spallation Radiation Effects Facility (LASREF) has used manual methods to control the position of the 800 kW, 800 MeV proton beam on targets. New experiments, however, require more stringent position control more frequently than can be done manually for long periods of time. Data from an existing harp is used to automatically adjust steering magnets to maintain beam position to required tolerances

  13. Windows 7 Annoyances Tips, Secrets, and Solutions

    CERN Document Server

    Karp, David

    2010-01-01

    Windows 7 may be faster and more stable than Vista, but it's a far cry from problem-free. David A. Karp comes to the rescue with the latest in his popular Windows Annoyances series. This thorough guide gives you the tools you need to fix the troublesome parts of this operating system, plus the solutions, hacks, and timesaving tips to make the most of your PC. Streamline Windows Explorer, improve the Search tool, eliminate the Green Ribbon of Death, and tame User Account Control promptsExplore powerful Registry tips and tools, and use them to customize every aspect of Windows and solve its sho

  14. Feedback control of horizontal position and plasma surface shape in a non-circular tokamak

    International Nuclear Information System (INIS)

    Moriyama, Shin-ichi; Nakamura, Kazuo; Nakamura, Yukio; Itoh, Satoshi

    1986-01-01

    The linear model for the coupled horizontal position and plasma surface shape control in the non-circular tokamak device was described. It enables us to estimate easily the displacement and the distortion due to the changes in plasma pressure and current density distribution. The PI-controller and the optimal regulator were designed with the linear model. Transient-response analysis of the control system in the TRIAM-1M tokamak showed that the optimal regulator is superior to the PI-controller with regard to the mutual-interference between the position control system and the elongation control system. (author)

  15. POSITION CONTROL OF BRUSHLESS DC MOTOR BASED ON DIGITAL SIGNAL PROCESSING

    Directory of Open Access Journals (Sweden)

    Çetin GENÇER

    2006-01-01

    Full Text Available Brushless DC Motors (BLDC have been used widely high performance control systems which are depended on to development of power electronic and control technology. In these motors to fed commutated supply, the control of position without oscilation has been required. In this study, position control of BLDC with digital signal processing has been implemented by a proportional-derivative (PD controller because of its simple structure. It has been seen that the controller which is proposed from simulation and experimental studies, has a quick dynamic responce with nonoscillation.

  16. Quasi-static crack tip fields in rate-sensitive FCC single crystals

    Indian Academy of Sciences (India)

    Further, it is found that while positive -stress enhances the opening and hydrostatic stress levels ahead of crack tip, they are considerably reduced with imposition of negative -stress. Also, negative -stress promotes formation of shear bands in the forward sector ahead of the crack tip and suppresses them behind the tip.

  17. The Influence of Positive Mood on Different Aspects of Cognitive Control

    Science.gov (United States)

    Martin, Elizabeth A.; Kerns, John G.

    2010-01-01

    Some evidence suggests that positive mood influences cognitive control. The current research investigated whether positive mood has differential effects on two aspects of cognitive control, working memory and prepotent response inhibition. In Study 1, following either a positive or neutral mood induction, participants completed the Running Memory Span (RMS), a measure primarily of working memory storage capacity, and the Stroop task, a measure of prepotent response inhibition. Results were that the positive mood group performed worse on the RMS task but not on the Stroop task. In Study 2, participants completed the RMS and another measure of prepotent response inhibition, the Flanker task. Results were that when in a positive mood state participants performed worse on the RMS but not on the Flanker task. Overall, this research suggests that positive mood has differential effects on cognitive control, impairing working memory but having no effect on prepotent response inhibition. PMID:21399720

  18. Immunohistochemical Labelling for Cyclo-oxygenase-2: Does the Positive Control Guarantee Standardized Results?

    Science.gov (United States)

    Belluco, S; Carnier, P; Castagnaro, M; Chiers, K; Millanta, F; Peña, L; Pires, I; Queiroga, F; Riffard, S; Scase, T; Polton, G

    2016-01-01

    Since the identification of cyclo-oxygenase-2 as a potentially important therapeutic target in veterinary oncology, numerous studies on its expression have been conducted. Unfortunately, results have been heterogeneous and conclusions are difficult to draw. We tested the ability of a defined positive control to guarantee reproducibility of results among different laboratories. Valid positive controls were defined by positivity of the renal macula densa without background labelling. Fifteen colorectal tumours and 15 oral squamous cell carcinomas were labelled immunohistochemically by six European laboratories. Slides were evaluated in blinded fashion for percentage of positive cells and labelling intensity by three pathologists, and results were analyzed statistically for reproducibility and inter-reader variability. Macula densa positivity was an insufficiently sensitive control to guarantee reproducible results for percentage of positive cells and labelling intensity. Inter-reader variability was proven statistically, making the case for image analysis or other automated quantitative evaluation techniques. Copyright © 2016 Elsevier Ltd. All rights reserved.

  19. Online monitoring of dynamic tip clearance of turbine blades in high temperature environments

    Science.gov (United States)

    Han, Yu; Zhong, Chong; Zhu, Xiaoliang; Zhe, Jiang

    2018-04-01

    Minimized tip clearance reduces the gas leakage over turbine blade tips and improves the thrust and efficiency of turbomachinery. An accurate tip clearance sensor, measuring the dynamic clearances between blade tips and the turbine case, is a critical component for tip clearance control. This paper presents a robust inductive tip clearance sensor capable of monitoring dynamic tip clearances of turbine machines in high-temperature environments and at high rotational speeds. The sensor can also self-sense the temperature at a blade tip in situ such that temperature effect on tip clearance measurement can be estimated and compensated. To evaluate the sensor’s performance, the sensor was tested for measuring the tip clearances of turbine blades under various working temperatures ranging from 700 K to 1300 K and at turbine rotational speeds ranging from 3000 to 10 000 rpm. The blade tip clearance was varied from 50 to 2000 µm. The experiment results proved that the sensor can accurately measure the blade tip clearances with a temporal resolution of 10 µm. The capability of accurately measuring the tip clearances at high temperatures (~1300 K) and high turbine rotation speeds (~30 000 rpm), along with its compact size, makes it promising for online monitoring and active control of blade tip clearances of high-temperature turbomachinery.

  20. Microneedles array with biodegradable tips for transdermal drug delivery

    Science.gov (United States)

    Iliescu, Ciprian; Chen, Bangtao; Wei, Jiashen; Tay, Francis E. H.

    2008-12-01

    The paper presented an enhancement solution for transdermal drug delivery using microneedles array with biodegradable tips. The microneedles array was fabricated by using deep reactive ion etching (DRIE) and the biodegradable tips were made to be porous by electrochemical etching process. The porous silicon microneedle tips can greatly enhance the transdermal drug delivery in a minimum invasion, painless, and convenient manner, at the same time; they are breakable and biodegradable. Basically, the main problem of the silicon microneedles consists of broken microneedles tips during the insertion. The solution proposed is to fabricate the microneedle tip from a biodegradable material - porous silicon. The silicon microneedles are fabricated using DRIE notching effect of reflected charges on mask. The process overcomes the difficulty in the undercut control of the tips during the classical isotropic silicon etching process. When the silicon tips were formed, the porous tips were then generated using a classical electrochemical anodization process in MeCN/HF/H2O solution. The paper presents the experimental results of in vitro release of calcein and BSA with animal skins using a microneedle array with biodegradable tips. Compared to the transdermal drug delivery without any enhancer, the microneedle array had presented significant enhancement of drug release.

  1. Terahertz Nanofocusing with Cantilevered Terahertz-Resonant Antenna Tips.

    Science.gov (United States)

    Mastel, Stefan; Lundeberg, Mark B; Alonso-González, Pablo; Gao, Yuanda; Watanabe, Kenji; Taniguchi, Takashi; Hone, James; Koppens, Frank H L; Nikitin, Alexey Y; Hillenbrand, Rainer

    2017-11-08

    We developed THz-resonant scanning probe tips, yielding strongly enhanced and nanoscale confined THz near fields at their tip apex. The tips with length in the order of the THz wavelength (λ = 96.5 μm) were fabricated by focused ion beam (FIB) machining and attached to standard atomic force microscopy (AFM) cantilevers. Measurements of the near-field intensity at the very tip apex (25 nm radius) as a function of tip length, via graphene-based (thermoelectric) near-field detection, indicate their first and second order geometrical antenna resonances for tip length of 33 and 78 μm, respectively. On resonance, we find that the near-field intensity is enhanced by one order of magnitude compared to tips of 17 μm length (standard AFM tip length), which is corroborated by numerical simulations that further predict remarkable intensity enhancements of about 10 7 relative to the incident field. Because of the strong field enhancement and standard AFM operation of our tips, we envision manifold and straightforward future application in scattering-type THz near-field nanoscopy and THz photocurrent nanoimaging, nanoscale nonlinear THz imaging, or nanoscale control and manipulation of matter employing ultrastrong and ultrashort THz pulses.

  2. Attentional control mediates the effect of social anxiety on positive affect☆

    Science.gov (United States)

    Morrison, Amanda S.; Heimberg, Richard G.

    2015-01-01

    The goal of the present studies was to examine whether attentional control, a self-regulatory attentional mechanism, mediates the effect of social anxiety on positive affect. We tested this mediation in two studies using undergraduate students selected to represent a broad range of severity of social anxiety. Self-report assessments of social anxiety, attentional control, and positive affect were collected in a cross-sectional design (Study 1) and in a longitudinal design with three assessment points (Study 2). Results of both studies supported the hypothesized mediational model. Specifically, social anxiety was inversely related to attentional control, which itself positively predicted positive affect. This mediation remained significant even when statistically controlling for the effects of depression. Additionally, the hypothesized model provided superior model fit to theoretically-grounded equivalent models in both studies. Implications of these findings for understanding diminished positive affect in social anxiety are discussed. PMID:23254261

  3. Cortical activity differs between position- and force-control knee extension tasks.

    Science.gov (United States)

    Poortvliet, Peter C; Tucker, Kylie J; Finnigan, Simon; Scott, Dion; Sowman, Paul; Hodges, Paul W

    2015-12-01

    Neural control differs between position- and force-control tasks as evident from divergent effects of fatigue and pain. Unlike force-control tasks, position-control tasks focus on a postural goal to maintain a joint angle. Cortical involvement is suggested to be less during postural control, but whether this differs between position- and force-control paradigms remains unclear. Coherence estimates the functional communication between spatially distinct active regions within the cortex (cortico-cortical coherence; CCC) and between the cortex and muscles (corticomuscular coherence; CMC). We investigated whether cortical involvement differed between force-control and more posturally focused, position-control tasks. Seventeen adults performed position- and force-control knee extensor efforts at a submaximal load (10 % maximum voluntary contraction). Surface electromyography was recorded from the right knee extensor and flexor muscles and brain activity using electroencephalography (EEG). CCC and CMC in the beta (13-30 Hz) and gamma (30-45 Hz) frequency bands were calculated between combinations of intra- and inter-hemispheric pairs of electrodes, and between four EEG electrodes that approximated the left motor cortical area, and right knee extensor EMG, respectively. Differences in EEG power and muscle activity were also calculated. CCC was greater across distributed regions in the force-control task. Beta EEG power in the left hemisphere was higher for the position-control task. Although averaged CMC data differed between tasks, there was no task difference for individual CMC data. Muscle activity and force did not differ between tasks. The results demonstrate differential cortical contributions to control force- versus position-control tasks. This might contribute to differences in performance outcomes of these tasks that have been shown previously.

  4. Sensorless control for switched reluctance motor based on special position detection.

    Science.gov (United States)

    Shao, Jie; Deng, Zhiquan; Gu, Yu

    2017-09-01

    This paper proposes a new sensorless control approach for switched reluctance motor (SRM) in the single pulse control mode in high speed operation. The sensorless method uses the cross point position of transformer electromotive force (EMF) and motional back electromotive force (BEMF) to estimate the rotor position. The cross point position can be derived from the inductance model of SRM, and it is regarded as reference position. The rotor position can be calculated by detecting the special position for each electrical cycle. The proposed position estimation method is not affected by the magnetic saturation of SRM. Importantly, no additional hardware and no complicated computation or memory storage are required with the proposed method. Finally, the simulation and experimental results on a three-phase 12/8-pole SRM demonstrate the validity of the proposed sensorless scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  5. System two-position control of liquid level in industrial tanks

    Directory of Open Access Journals (Sweden)

    Zakamaldin Andrey A.

    2014-01-01

    Full Text Available Design of the automatic liquid level control was performed for the tank rectangular type with the presence of self-regulation. Were found settings of two-position automatic controller with a zone of ambiguity with symmetric static characteristic. Settings meet the specified requirements for the automatic control system. Opportunities and stability of self-oscillations of the controlled variable were assessed by the method of harmonic balance. Was created a virtual model of single-circuit system two-position control of liquid level and estimates the quality of regulation.

  6. Determination of the plasma position for its real-time control in the COMPASS tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Janky, F., E-mail: jankyf@ipp.cas.cz [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Charles University in Prague, Faculty of Mathematics and Physics, V Holesovickach 2, CZ-18000 Prague (Czech Republic); Havlicek, J. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Charles University in Prague, Faculty of Mathematics and Physics, V Holesovickach 2, CZ-18000 Prague (Czech Republic); Valcarcel, D. [Associacao EURATOM/IST, Instituto de Plasmas e Fusao Nuclear - Laboratorio Associado, Instituto Superior Tecnico, P1049-001 Lisboa (Portugal); Hron, M.; Horacek, J. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Kudlacek, O. [Czech Technical University, Faculty of Nuclear Sciences and Physical Engineering, Technicka 2, 166 27 Prague (Czech Republic); Panek, R. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Carvalho, B.B. [Associacao EURATOM/IST, Instituto de Plasmas e Fusao Nuclear - Laboratorio Associado, Instituto Superior Tecnico, P1049-001 Lisboa (Portugal)

    2011-10-15

    An efficient horizontal and vertical stabilization of the plasma column position are essential for a reliable tokamak operation. Plasma position is generally determined by plasma current, plasma pressure and external vertical and horizontal magnetic fields. Such fields are generated by poloidal field coils and proper algorithm for the current control have to by applied, namely, in case of fast feedback loops. This paper presents a real-time plasma position reconstruction algorithms developed for the COMPASS tokamak. Further, its implementation in the MARTe (Multithreaded Application Real-Time executor) is described and the first results from test of the algorithm for real-time control of horizontal plasma positions are presented.

  7. THE ROLE OF TIPPING IN REDUCING LABOUR COSTS: CASE OF SECTOR RETAIL PETROLEUM PRODUCTS

    Directory of Open Access Journals (Sweden)

    Andrej Raspor

    2014-05-01

    Full Text Available The purpose of this paper was to determine whether tipping could reduce labour costs in the petroleum products retail sector. The research we present was designed on the basis of survey results gathered from Slovenian petrol stations in 2009 and 2010. We have identified the following factors in the tipping process: job satisfaction, flexibility, service quality, satisfaction, motivation and the factor of receiving tips. The analysis showed correlation between methods used to increase the value of tips and better service quality, increased financial and numerical flexibility, motivation, satisfaction upon receipt of tips and the method used to increase the value of tips. In order to decrease labour costs we propose that the management take control of tipping and integrates tips into the reward system. Also, the employees should be made aware about how tipping improves service and increases their income.

  8. Real-time horizontal position control for Aditya-upgrade tokamak

    International Nuclear Information System (INIS)

    Kumar, Rohit; Ghosh, Joydeep; Tanna, Rakesh L.

    2015-01-01

    Position of plasma column is required to be controlled in real time for improved operation of any tokamak. A PID based system for real-time horizontal plasma position control has been designed for Aditya Upgrade tokamak. Modelling of transfer functions of actuators, plasma and diagnostic system are carried out for ADITYA-U tokamak. The PID controller is optimized using MATLAB-SIMULINK for horizontal position control. Further feed-forward loop is implemented where disturbance due to density variation is suppressed, which results in improved performance as compared to conventional PID operation. In this paper the detailed design of the whole system for real time control of plasma horizontal position in Aditya Upgrade tokamak is presented. (author)

  9. 49 CFR 236.1005 - Requirements for Positive Train Control systems.

    Science.gov (United States)

    2010-10-01

    ... operative. (c) Hazard detectors. (1) All hazard detectors integrated into a signal or train control system... 49 Transportation 4 2010-10-01 2010-10-01 false Requirements for Positive Train Control systems... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES...

  10. Musical Applications and Design Techniques for the Gametrak Tethered Spatial Position Controller

    DEFF Research Database (Denmark)

    Freed, Adrian; Overholt, Daniel; Hansen, Anne-Marie

    2009-01-01

    The Gametrak spatial position controller has been saved from the fate of so many discontinued gaming controllers to become an attractive and increasingly popular platform for experimental musical controllers, math and science manipulatives, large scale interactive installations and as a playful...

  11. AERODYNAMICS OF WING TIP SAILS

    Directory of Open Access Journals (Sweden)

    MUSHTAK AL-ATABI

    2006-06-01

    Full Text Available Observers have always been fascinated by soaring birds. An interesting feature of these birds is the existence of few feathers extending from the tip of the wing. In this paper, small lifting surfaces were fitted to the tip of a NACA0012 wing in a fashion similar to that of wing tip feathers. Experimental measurements of induced drag, longitudinal static stability and trailing vortex structure were obtained.The tests showed that adding wing tip surfaces (sails decreased the induced drag factor and increased the longitudinal static stability. Results identified two discrete appositely rotated tip vortices and showed the ability of wing tip surfaces to break them down and to diffuse them.

  12. Design and reliability analysis of DP-3 dynamic positioning control architecture

    Science.gov (United States)

    Wang, Fang; Wan, Lei; Jiang, Da-Peng; Xu, Yu-Ru

    2011-12-01

    As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture.

  13. Hybrid-Mode Impedance Control for Position/Force Tracking in Motor-System Rehabilitation

    Directory of Open Access Journals (Sweden)

    Youngwoo Kim

    2015-06-01

    Full Text Available This paper proposes a new robot controller for motor-system rehabilitation. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation, as predefined through a musculoskeletal model-based optimization process. We introduce control parameters of weighted control action priorities for the motion-tracking and force-generation tasks, based on the position-tracking error. With the weighted control action priorities, the robot accords higher priority to motion tracking at the robot end point when the position-tracking error is larger than a threshold value, and to force generation when the position-tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through simulations and experimental results, we show the usefulness of the proposed control method.

  14. Novel electro-hydraulic position control system for primary mirror supporting system

    Directory of Open Access Journals (Sweden)

    Xiongbin Peng

    2016-05-01

    Full Text Available In the field of modern large-scale telescope, primary mirror supporting system technology faces the difficulties of theoretically uniform output force request and bias compensation. Therefore, a novel position control system combining hydraulic system with servo motor system is introduced. The novel system ensures uniform output force on supporting points without complicating the mechanical structure. The structures of both primary mirror supporting system and novel position system are described. Then, the mathematical model of novel position control system is derived for controller selection. A proportional–derivative controller is adopted for simulations and experiments of step response and triangle path tracking. The results show that proportional–derivative controller guarantees the system with micrometer-level positioning ability. A modified proportional–derivative controller is utilized to promote system behavior with faster response overshoot. The novel position control system is then applied on primary mirror supporting system. Coupling effect is observed among actuator partitions, and relocation of virtual pivot supporting point is chosen as the decoupling measurement. The position keeping ability of the primary mirror supporting system is verified by rotating the mirror cell at a considerably high rate. The experiment results show that the decoupled system performs better with smaller bias and shorter recovery time.

  15. General analysis of magnetic loop positioning for plasma control in ignition tokamaks

    International Nuclear Information System (INIS)

    Khayrutdinov, R.R.; Azizov, E.A.; Carrera, R.; Montalvo, E.; Dong, J.Q.

    1991-01-01

    The control of the plasma vertical position in tokamak configurations and the positioning of magnetic, pick-up loops are considered. A 1 1/2 D transport and free-boundary equilibrium (DINA) is utilized. The equilibrium problem for a plasma with free-boundary is solved using the inverse-variable technique. Circuit equations for eddy currents in the vacuum vessel, eddy currents in structures, and currents in active coils coupled with the plasma equilibrium and transport equations are solved. The numerical algorithms employed in the solution permit a reduction in computer time of about two orders of magnitude over conventional calculations of coupled equilibrium and transport. The influence of the location of pick-up coils on control of the plasma vertical position is examined. It is shown that there are geometrical arrangements of the magnetic loops such that the plasma vertical position can not be controlled using a conventional control law (this is regardless of the resistivity of the passive conductors and the gain value in the control system). An explanation of this phenomenon is given. A new and simple control law is proposed such that plasma control is possible with general positioning of the magnetic loops. The conclusions should be important for the operation of ignition tokamaks, where elongated, high-current plasmas have to be stabilized with magnetic loop positioning subject to severe constraints. 1 ref

  16. Relative position coordinated control for spacecraft formation flying with communication delays

    Science.gov (United States)

    Ran, Dechao; Chen, Xiaoqian; Misra, Arun K.; Xiao, Bing

    2017-08-01

    This study addresses a relative position coordinated control problem for spacecraft formation flying subject to directed communication topology. Two different kinds of communication delay cases, including time-varying delays and arbitrarily bounded delays are investigated. Using the backstepping control technique, two virtual velocity control inputs are firstly designed to achieve coordinated position tracking for the kinematic subsystem. Furthermore, a hyperbolic tangent function is introduced to guarantee the boundedness of the virtual controller. Then, a finite-time control algorithm is designed for the dynamic subsystem. It can guarantee that the virtual velocity can be followed by the real velocity after finite time. It is theoretically proved that the proposed control scheme can asymptotically stabilize the closed-loop system. Numerical simulations are further presented that not only highlight closed-loop performance benefiting from the proposed control scheme, but also illustrate its superiority in comparison with conventional formation control schemes.

  17. Railway cognitive radio to enhance safety, security, and performance of positive train control.

    Science.gov (United States)

    2013-02-01

    Robust and interoperable wireless communications are vital to Positive Train Control (PTC). The railway industry has started adopting software-defined radios (SDRs) for packet-data transmission. SDR systems realize previously fixed components as reco...

  18. Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

    2009-01-01

    To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

  19. Spatial Position Control of CdS Nanoclusters using a Self-Assembled Diblock Copolymer Template

    National Research Council Canada - National Science Library

    Yeh, Siao-Wei; Wu, Tsung-Lun; Wei, Kung-Hwa

    2004-01-01

    ...s. For controlling the spatial position of nanoparticles with block copolymers, it was found that the mercapto-ethanol modified CdS nanoparticles have a preferential binding to the poly(ethylene oxide...

  20. Integrated shell approach to vertical position control on PBX-M

    International Nuclear Information System (INIS)

    Hatcher, R.E.; Okabayashi, M.

    1995-03-01

    The PBX-M device produces highly shaped discharges that, because of the negative external magnetic field decay index required, are vertically unstable. Vertical positional stability in PBX-M has been achieved by directly controlling the n = 0 component of the eddy current in the passive shell instead of the commonly used function of magnetic flux signals. Because the active coil is controlled via currents in the passive shell we call this an ''integrated shell'' approach to vertical position control. We present results of these experiments and make comparisons between the two methods of control

  1. Control rod position fault diagnosis and its software realization of pressurized water reactor

    International Nuclear Information System (INIS)

    Chang Zhengke; Shao Dinghong

    2004-11-01

    PLC software is adopted in the Rod Position Monitoring System of QS2NPS. By this software, the position of control rods can be monitored in real time, the abnormal phenomena can be identified immediately, the correctness and timeliness of fault diagnosis are improved remarkably. the identification and recordance of rod position fault, the performance validation of measure channel are realized also. The function and effect of this software are introduced. (authors)

  2. Artificial Bee Colony-based Adaptive Position Control of Electrohydraulic Servo Systems with Parameter Uncertainty

    OpenAIRE

    Ayinde, Babajide O.; El-Ferik, Sami

    2017-01-01

    In this paper, a robust adaptive backstepping-based controller is developed for positioning the spool valve of Electro-Hydraulic Servo System (EHSS) with parameter fluctuations. Artificial Bee Colony (ABC) algorithm is utilized to drive the parameters of the proposed controller to a good neighbourhood of the solution space. The optimization problem is formulated such that both the tracking error and control signal are minimized concurrently. The results show that the proposed controller guara...

  3. Dissociable influences of reward motivation and positive emotion on cognitive control.

    Science.gov (United States)

    Chiew, Kimberly S; Braver, Todd S

    2014-06-01

    It is becoming increasingly appreciated that affective and/or motivational influences contribute strongly to goal-oriented cognition and behavior. An unresolved question is whether emotional manipulations (i.e., direct induction of affectively valenced subjective experience) and motivational manipulations (e.g., delivery of performance-contingent rewards and punishments) have similar or distinct effects on cognitive control. Prior work has suggested that reward motivation can reliably enhance a proactive mode of cognitive control, whereas other evidence is suggestive that positive emotion improves cognitive flexibility, but reduces proactive control. However, a limitation of the prior research is that reward motivation and positive emotion have largely been studied independently. Here, we directly compared the effects of positive emotion and reward motivation on cognitive control with a tightly matched, within-subjects design, using the AX-continuous performance task paradigm, which allows for relative measurement of proactive versus reactive cognitive control. High-resolution pupillometry was employed as a secondary measure of cognitive dynamics during task performance. Robust increases in behavioral and pupillometric indices of proactive control were observed with reward motivation. The effects of positive emotion were much weaker, but if anything, also reflected enhancement of proactive control, a pattern that diverges from some prior findings. These results indicate that reward motivation has robust influences on cognitive control, while also highlighting the complexity and heterogeneity of positive-emotion effects. The findings are discussed in terms of potential neurobiological mechanisms.

  4. Influence on birthing positions affects women's sense of control in second stage of labour

    NARCIS (Netherlands)

    Nieuwenhuijze, M.J.; Jonge, A. de; Korstjens, I.; Bude, L.; Lagro-Janssen, T.

    2013-01-01

    OBJECTIVE: to explore whether choices in birthing positions contributes to women's sense of control during birth. DESIGN: survey using a self-report questionnaire. Multiple regression analyses were used to investigate which factors associated with choices in birthing positions affected women's sense

  5. Influence on birthing positions affects women's sense of control in second stage of labour

    NARCIS (Netherlands)

    Nieuwenhuijze, M.J.; de Jonge, J.; Korstjens, I.; Bude, L.; Lagro-Janssen, T.L.M.

    2013-01-01

    Objective: to explore whether choices in birthing positions contributes to women's sense of control during birth. Design: survey using a self-report questionnaire. Multiple regression analyses were used to investigate which factors associated with choices in birthing positions affected women's sense

  6. Positive experience, self-efficacy, and action control predict physical activity changes: a moderated mediation analysis.

    Science.gov (United States)

    Parschau, Linda; Fleig, Lena; Koring, Milena; Lange, Daniela; Knoll, Nina; Schwarzer, Ralf; Lippke, Sonia

    2013-05-01

    Experiencing positive consequences of one's physical activity is supposed to facilitate further activity. This motivational outcome might be generated by an increase in perceived self-efficacy. In addition to such a mediator effect, we examine whether this applies generally or only under conditions of volitional control. For this purpose, perceived action control was considered as a putative moderator. N = 193 students participated in a study with three measurement points in time. At baseline, positive experience with previous physical activity was measured as a predictor of physical activity. Two weeks later, self-efficacy and action control variables were assessed as putative mediator and moderator, respectively. After another 2 weeks, physical activity was measured as the outcome. A moderated mediation model was specified with baseline physical activity and sex as covariates. Self-efficacy was found to mediate between initial positive experience and later physical activity, and this mediation was moderated by action control. Participants' perceptions of positive experience were associated with their subsequent self-efficacy fostering physical activity. However, persons with low levels of action control did not translate positive experience into physical activity via self-efficacy. What is already known on this subject? Numerous studies have shown that exercise-specific self-efficacy predicts subsequent physical activity. Prior positive experience with physical activity is suggested to be associated with exercise-specific self-efficacy. Furthermore, action control was found to be beneficial for the maintenance of physical activity. What does this study add? This study unveils the mechanisms between these social-cognitive determinants: our longitudinal results suggest that the mediation of positive experience and subsequent physical activity via self-efficacy is moderated by action control. Persons with low levels of action control did not translate positive

  7. Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

    Science.gov (United States)

    Tang, T. F.; Chong, S. H.

    2017-06-01

    This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

  8. Sensory systems for a control rod position using reed switches for the integral reactor

    International Nuclear Information System (INIS)

    Yu, J. Y.; Choi, S.; Kim, J. H.; Lee, D. J.

    2007-01-01

    The system-integrated modular advanced reactor (SMART) currently under development at the Korea Atomic Energy Research Institute is being designed with a soluble boron free operation and the use of nuclear heating for the reactor start-up. These design features require a Control Element Drive Mechanism (CEDM) for the SMART to have a fine-step movement capability as well as a high reliability for a fine reactivity control. Also the reliability and accuracy of the information for the control rod position is very important to the reactor safety as well as the design of the core protection system. The position indicator is classified as a Class 1E component because the rod position signal of the position indicator is used in the safety related systems. Therefore it will be separated from the control systems to the extent that a failure of any single control system component of a channel and shall have sufficient independence, redundancy, and testability to perform its safety functions assuming a single failure. The position indicator is composed of a permanent magnet, reed switches and a voltage divider. Four independent position indicators around the upper pressure housing provide an indication of the position of a control rod comprising of a permanent magnet with a magnetic field concentrator which moves with the extension shaft connected to the control rod. The zigzag arranged reed switches are positioned along a line parallel to the path of the movement of the permanent magnet and it is activated selectively when the permanent magnet passes by. A voltage divider electrically connected to the reed switches provides a signal commensurate with the position of the control rod. The signal may then be transmitted to a position indicating device. In order to monitor the operating condition of the rotary step motor of CEDM, the angular position detector was installed at the top of the rotary step motor by means of connecting between the planetary gear and the rotating

  9. Performance estimation of control rod position indicator due to aging of magnet

    International Nuclear Information System (INIS)

    Yu, Je Yong; Kim, Ji Ho; Huh, Hyung; Choi, Myoung Hwan; Sohn, Dong Seong

    2009-01-01

    The Control Element Drive Mechanism (CEDM) for the integral reactor is designed to raise and lower the control rod in steps of 2mm in order to satisfy the design features of the integral reactor which are the soluble boron free operation and the use of a nuclear heating for the reactor start-up. The actual position of the control rod could be achieved to sense the magnet connected to the control rod by the position indicator around the upper pressure housing of CEDM. It is sufficient that the actual position information of control rod at 20mm interval from the position indicator is used for the core safety analysis. As the magnet moves upward along the position indicator assembly from the bottom to the top in the upper pressure housing, the output voltage increases linearly step-wise at 0.2VDC increments. Between every step there are transient areas which occur by a contact closing of three reed switches which is the 2-3-2 contact closing sequence. In this paper the output voltage signal corresponding to the position of control rod was estimated on the 2-1-2 contact closing sequence due to the aging of the magnet.

  10. Research of Control Strategy in the Large Electric Cylinder Position Servo System

    Directory of Open Access Journals (Sweden)

    Yongguang Liu

    2015-01-01

    Full Text Available An ideal positioning response is very difficult to realize in the large electric cylinder system that is applied in missile launcher because of the presence of many nonlinear factors such as load disturbance, parameter variations, lost motion, and friction. This paper presents a piecewise control strategy based on the optimized positioning principle. The combined application of position interpolation method and modified incremental PID with dead band is proposed and applied into control system. The experimental result confirms that this combined control strategy is not only simple to be applied into high accuracy real-time control system but also significantly improves dynamic response, steady accuracy, and anti-interference performance, which has very important significance to improve the smooth control of the large electric cylinder.

  11. Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice

    Directory of Open Access Journals (Sweden)

    Øyvind Kåre Kjerstad

    2014-10-01

    Full Text Available This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical model simulating the vessel, the ice floes, the water, and the boundaries is applied. The numerical model is validated using experimental data and coupled with a control application incorporating sensor models, control systems, actuator models, and other external dynamics to form a closed loop development platform. The ice drift reversal is simulated by moving the positioning reference frame in an elliptic trajectory, rather than moving each individual ice floe. A control plant model is argued, and a control system for managed ice is proposed based on conventional open water design methods. A case study shows that dynamic positioning in managed ice is feasible for some moderate ice conditions.

  12. An ultrasonic levitation journal bearing able to control spindle center position

    Science.gov (United States)

    Zhao, Su; Mojrzisch, Sebastian; Wallaschek, Joerg

    2013-03-01

    A novel active non-contact journal bearing based on squeeze film levitation is presented. Two qualities distinguish the proposed design from the previous ones: significantly improved load capacity and the ability of precision spindle position control. Theoretical models to calculate load carrying forces induced by squeeze film ultrasonic levitation are studied and validated by experimental results. Dynamic behavior of the ultrasonic transducer is investigated using electro-mechanical equivalent circuit model. Levitation forces generated by each transducer are individually controlled by a state feedback controller with auto-resonant (self-excited) frequency control. Active control of the spindle center position is achieved with positioning accuracy of the spindle center in the range of 100 nm. The load capacity achieved by the proposed bearing is dramatically improved compared to previously reported approaches.

  13. A single position loop control strategy for high-speed voice coil motor based on active disturbance rejection control

    DEFF Research Database (Denmark)

    Wang, Zhongxu; Wang, Huai; Li, Yong

    2017-01-01

    To improve the dynamic performance of voice coil motor, a single position loop control method based on active disturbance rejection control is proposed in this paper. The feedback law is sufficiently analyzed and well designed considering both sinusoidal input and step reference input. Moreover...

  14. A discrete adaptive near-time optimum control for the plasma vertical position in a Tokamak

    CERN Document Server

    Scibile, L

    2001-01-01

    A nonlinear controller for the plasma vertical position in a Tokamak, based on a discrete-time adaptive near time optimum control algorithm (DANTOC) is designed to stabilize the system and to maximize the state-space region over which stability can be guaranteed. The controller is also robust to the edge localized modes (ELMs) and the 600 Hz noise from the thyristor power supplies that are the primary source of disturbances and measurement noise. The controller is tested in simulation for the JET Tokamak and the results confirm its efficacy in controlling the vertical position for different plasma configurations. The controller is also tested experimentally on a real Tokamak, COMPASS-D, and the results demonstrate the improvement with respect to a simple linear PD controller in the presence of disturbances and measurement noise. The emphasis of the is on the development of the design methodology. (38 refs).

  15. Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

    Science.gov (United States)

    Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

    2015-03-01

    In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

  16. Methicillin-Resistant Staphylococcus aureus Nasal Swab and Suction Drain Tip Cultures in 4573 Spinal Surgeries: Efficacy in Management of Surgical Site Infections.

    Science.gov (United States)

    Kawabata, Atsuyuki; Sakai, Kenichiro; Sato, Hirokazu; Sasaki, Shinichi; Torigoe, Ichiro; Tomori, Masaki; Yuasa, Masato; Matsukura, Yu; Arai, Yoshiyasu

    2018-04-01

    A retrospective single-center study. To assess the diagnostic value of methicillin-resistant Staphylococcus aureus (MRSA) nasal swab and suction drain tip cultures. The prognostic value of MRSA nasal swab and suction drain tip cultures has not been firmly established in spinal surgery. This study retrospectively included 4573 consecutive patients who underwent spinal surgery between January 2008 and December 2014. Patients diagnosed with infectious disease were excluded. Prophylactic antibiotics were administered intraoperatively and postoperatively for 48 hours. MRSA nasal swab cultures were taken from all patients before surgery. Drains were removed when the volume of postoperative fluid drainage was less than 50 mL in the preceding 24 hours and cultures were made. Surgical site infection (SSI) was defined according to Centers for Disease Control and Prevention criteria. SSI was identified in 94 cases (2.1%) and bacteria were isolated in 87 cases (92.6%). Positive MRSA nasal swab cultures were identified in 49 cases (1.1%). There was no significant difference in the SSI positivity rate between the MRSA nasal swab culture (+) and (-) groups. Positive drain tip cultures were found in 382 cases (8.4%), 28 of which developed SSI. There was a significant difference in the SSI positivity rate between the drain tip culture (+) and (-) groups. The sensitivity of drain tip culture was 29.8% and the specificity was 92.1%. In 16 of the 28 patients in the SSI (+) group with positive drain cultures, the same bacteria were isolated from the surgical site, giving a bacteria matching rate of 57.1%. MRSA nasal swab and drain tip cultures were not useful for predicting SSI. However, drain tip culture had a high positivity rate in the SSI group and the coincidence rate for the causative pathogen was relatively high. 4.

  17. Magnetic sensorless control of plasma position and shape in a tokamak

    International Nuclear Information System (INIS)

    Nakamura, K.; Luo, J.R.; Wang, H.Z.

    2005-01-01

    Magnetic sensorless sensing and control experiments of the plasma horizontal position have been carried out in the superconducting tokamak HT-7. The sensing is made focusing on the ripple frequency component of the power supply with thyristor and directly from them without time integration. There is no drift problem of integrator of magnetic sensors. Two kinds of control experiments were carried out, to keep the position constant and swing the position in a triangular waveform. And magnetic sensorless sensing of plasma shape is discussed. (author)

  18. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... liver disease are at greater risk for worsening liver failure after TIPS. If your liver failure is severe, a TIPS may not be the ... children are more likely to be performed before liver transplant in those with ascites or variceal ... 08, 2017 Send us your feedback Did you find the ...

  19. A Position Sensorless Control Method for SRM Based on Variation of Phase Inductance

    Science.gov (United States)

    Komatsuzaki, Akitomo; Miki, Ichiro

    Switched reluctance motor (SRM) drives are suitable for variable speed industrial applications because of the simple structure and high-speed capability. However, it is necessary to detect the rotor position with a position sensor attached to the motor shaft. The use of the sensor increases the cost of the drive system and machine size, and furthermore the reliability of the system is reduced. Therefore, several approaches to eliminate the position sensor have already been reported. In this paper, a position sensorless control method based on the variation of the phase inductance is described. The phase inductance regularly varies with the rotor position. The SRM is controlled without the position sensor using the de-fluxing period and the phase inductance. The turn-off timing is determined by computing the difference of angle between the sampling point and the aligned point and the variation of angle during the de-fluxing period. In the magnetic saturation region, the phase inductance at the current when the effect of the saturation starts is computed and the sensorless control can be carried out using this inductance. Experimental results show that the SRM is well controlled without the position sensor using the proposed method.

  20. Factors associated with positive direct antiglobulin tests in pretransfusion patients: a case-control study.

    Science.gov (United States)

    Toy, P T; Chin, C A; Reid, M E; Burns, M A

    1985-01-01

    During routine pretransfusion testing, the presence of IgG on patient red cells is suggested by a positive autocontrol and confirmed by a positive direct antiglobulin test (DAT) using monospecific anti-IgG sera. Most IgG on patient red cells detected in this manner are of unknown etiology. We recently showed an association between elevated serum globulin levels and positive DAT with unreactive eluate in patients with acquired immunodeficiency syndrome (AIDS). In the present study, we wished to determine whether elevated serum globulin levels contribute to some of the positive DAT encountered in pretransfusion testing of patients without AIDS. 76 patients with positive DAT were compared with 90 controls without IgG detected on their red cells during pretransfusion testing. The rate of elevated serum globulin levels was 75% in positive DAT cases versus 29% in controls (p less than 0.001); the odds ratio was 7.6. Elevated blood urea nitrogen levels occurred in 42% of cases versus 19% of controls (p less than 0.025); the odds ratio was 3.1. Cases and controls were not significantly different with regard to age, sex, race, quinidine usage, or hyperalimentation. Elevated serum globulin and blood urea nitrogen levels are significantly associated with a positive DAT with unreactive eluate in pretransfusion patients.

  1. A vehicular positioning with GPS/IMU using adaptive control of filter noise covariance

    Directory of Open Access Journals (Sweden)

    Juwon Kim

    2016-03-01

    Full Text Available Vehicular positioning with GPS/IMU has been studied a lot to increase positioning accuracy. The positioning algorithms mainly use DR (Dead Reckoning which uses EKF (Extended Kalman Filter. It is basic and very important core technology in positioning section. However, EKF has a major drawback in that it is impossible to make very accurate system and measurement models for a real environment. In this work, we propose an algorithm to estimate vehicle’s position as distribution form, and to control the system and measurement noise covariance to compensate for this major disadvantage. The proposed method to control noise covariance is independently processed, using fading factor and sensor error while considering the driving condition.

  2. Non-Contact Linear Actuator Position Sensor Having a PID-Compensating Controller

    Science.gov (United States)

    Alhorn, Dean C. (Inventor); Howard, David E. (Inventor)

    2001-01-01

    A position sensor or controller generates a response signal in existing armature windings of an actuator and detects the response signal to determine the position of the armature. To generate the response signal, the actuator includes a sensor excitation winding near the armature. Two sensor excitation windings can be provided, above and below the armature, to cancel out z components and thus allow for a variable gap. The sensor excitation winding or windings are supplied with an excitation signal to induce the response signal in the armature windings. The response signal is derived by differentially amplifying and frequency filtering a raw output of the armature windings. The response signal is demodulated to determine position. If a position controller rather than a mere sensor is desired, the position signal can be buffered, PID compensated, amplified, and fed back to the armature windings.

  3. Novel approach to control false positive rate in fuzzy cluster analysis of fMRI

    Science.gov (United States)

    Jahanian, Hesamoddin; Soltanian-Zadeh, Hamid; Hossein-Zadeh, Gholam-Ali

    2004-04-01

    Fuzzy c-means (FCM) suffers from some limitations such as the need for a priori knowledge of the number of clusters, and unknown statistical significance and instability of the results, when it is applied to the raw fMRI time series. Based on randomization, we developed a method to control the false positive detection rate in FCM and estimate the statistical significance of the results. Using this novel approach, we proposed an fMRI activation detection method which uses FCM with controlled false positive rate. The ability of the method in controlling the false positive rate is shown by an analysis of false positives in activation maps of resting-state fMRI data. Controlling the false positive rate allows comparison of different feature spaces and fuzzy clustering methods. A new feature space, in multi and scalar wavelet domain, is proposed for activation detection in fMRI to address the stability problem. Finally, using the proposed method for controlling the false positive rate, the proposed feature space is compared to the cross-correlation feature space.

  4. Maternal sensitivity and latency to positive emotion following challenge: pathways through effortful control.

    Science.gov (United States)

    Conway, Anne; McDonough, Susan C; Mackenzie, Michael; Miller, Alison; Dayton, Carolyn; Rosenblum, Katherine; Muzik, Maria; Sameroff, Arnold

    2014-01-01

    The ability to self-generate positive emotions is an important component of emotion regulation. In this study, we focus on children's latency to express positive emotions following challenging situations and assess whether this ability operates through early maternal sensitivity and children's effortful control. Longitudinal relations between maternal sensitivity, infant negative affect, effortful control, and latency to positive emotion following challenge were examined in 156 children who were 33 months of age. Structural equation models supported the hypothesis that maternal sensitivity during infancy predicted better effortful control and, in turn, shorter latencies to positive emotions following challenge at 33 months. Directions for future research are discussed. © 2014 Michigan Association for Infant Mental Health.

  5. Evaluation of WWER-1000 operation with Control Bank positioned close to the top of the core

    International Nuclear Information System (INIS)

    Abdullaev, A.

    2006-01-01

    This paper presents a comparative assessment of the WWER-1000 core parameters for some transients. The following analysis of the possibility for operation of WWER-1000 with control bank positioned near the core top at the hot full power condition during cycle depletion were performed and discussed: 1) Calculation of expected value of the maximum nuclear heat flux peaking factor (K 0 ) during transient at normal operation conditions. Comparison of calculated K 0 for two cycle depletion, with control bank position 98% and the currently in use position 85% from the bottom of the core. 2) Evaluation of impact on the existing safety analysis of control bank position in the hot full power, namely, of the initial event with loss of 1 from 4 Main Coolant Pumps (MCPs) at nominal power

  6. Rheumatoid Arthritis Pain: Tips for Protecting Your Joints

    Science.gov (United States)

    Rheumatoid arthritis pain: Tips for protecting your joints Use these joint protection techniques to help you stay in control of your rheumatoid arthritis pain. By Mayo Clinic Staff Joint protection is ...

  7. A satellite digital controller or 'play that PID tune again, Sam'. [Position, Integral, Derivative feedback control algorithm for design strategy

    Science.gov (United States)

    Seltzer, S. M.

    1976-01-01

    The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.

  8. Imagined Positive Emotions and Inhibitory Control: The Differentiated Effect of Pride versus Happiness

    Science.gov (United States)

    Katzir, Maayan; Eyal, Tal; Meiran, Nachshon; Kessler, Yoav

    2010-01-01

    "Inhibitory control" is a cognitive mechanism that contributes to successful self-control (i.e., adherence to a long-term goal in the face of an interfering short-term goal). This research explored the effect of imagined positive emotional events on inhibition. The authors proposed that the influence of imagined emotions on inhibition…

  9. Real-time digital control of plasma position and shape on the TEXTOR tokamak

    International Nuclear Information System (INIS)

    Mitri, Mikhael

    2009-01-01

    Beside the objective of contributing to the controlled thermonuclear fusion research and ultimately the development of a fusion based power plant, the main objectives of the thesis are a substantial improvement of plasma vertical position control and plasma shape control as well as a better understanding of formerly unexplained effects, e.g. disturbance fields. As for the vertical position control, a deep analysis has to be undertaken to identify the problem sources. Accurate control of the plasma position is very difficult to achieve. This is mainly due to the complexity of the tokamak and the difficulty in measuring or modelling all relevant discharge variables. Any models would be highly nonlinear and time varying. Thus, for simulation and controller design, a simplified, but nevertheless accurate model has to be developed, based on physics and measured data of the process. Furthermore, the quality of the measured position has to be improved by using new inductive sensors, integrators, and hardware. The integration drift problem has to be analysed and resolved by developing a drift-free integration method. Concerning the shape control, a better understanding of the relation between the stray fields and the iron core saturation is required. Furthermore, the influence on the plasma elongation has to be determined. Upon this, a shape compensation algorithm has to be developed accordingly. The accuracy of the shape control has to be better than 1%. (orig.)

  10. Positive Emotion, Negative Emotion, and Emotion Control in the Externalizing Problems of School-Aged Children

    Science.gov (United States)

    Kim, Geunyoung; Walden, Tedra; Harris, Vicki; Karrass, Jan; Catron, Thomas

    2007-01-01

    The present study examined the role of emotion and emotion control in children's externalizing problems. Third- to sixth-grade children were administered a self-report measure of positive emotion, negative emotion, and emotion control. Peer- and teacher-reported adjustment problems were assessed. Structural equations modeling revealed that…

  11. Diagnosis and Fault-Tolerant Control for Thruster-Assisted Position Mooring System

    DEFF Research Database (Denmark)

    Nguyen, Trong Dong; Blanke, Mogens; Sørensen, Asgeir

    2007-01-01

    's pretension or line breaks will degrade the performance of the positioning of the vessel. Faults will be detected and isolated through a fault diagnosis procedure. When faults are detected, they can be accommodated through the control action in which only parameter of the controlled plant has to be updated...

  12. Final Technical Report: Electrohydrodynamic Tip Streaming

    Energy Technology Data Exchange (ETDEWEB)

    Basaran, Osman [Purdue Univ., West Lafayette, IN (United States)

    2016-01-06

    When subjected to strong electric fields, liquid drops and films form conical tips and emit thin jets from their tips. Such electrodydrodynamic (EDH) tip streaming or cone-jetting phenomena, which are sometimes referred to as electrospraying, occur widely in nature, e.g., in ejection of streams of small charged drops from pointed tips of raindrops in thunderclouds, and technology, e.g., in electrospray mass spectrometry or electric field-driven solvent extraction. More recently, EHD cone-jetting has emerged as a powerful technique for direct printing of solar cells, micro- and nano- particle production, and microencapsulation for controlled release. In many of the aforementioned situations, of equal importance to the processes by which one drop disintegrates to form several drops are those by which (a) two drops come together and coalesce and (b) two drops are coupled to form a double droplet system (DDS) or a capillary switch (CS). the main objective of this research program is to advance through simulation, theory, and experiment the breakup, coalescence, and oscillatory dynamics of single and pairs of charged as well as uncharged drops.

  13. A test of positive affect induction for countering self-control depletion in cigarette smokers.

    Science.gov (United States)

    Shmueli, Dikla; Prochaska, Judith J

    2012-03-01

    The self-control strength model posits that exerting self-control on one task, such as resisting temptations, will deplete self-control and impair subsequent self-regulatory performance, such as controlling smoking. The current study examined interventions designed to replenish depleted self-control strength to prevent tobacco use by inducing positive affect. In a 2 × 2 design, 200 participants were randomized to either (1) resist eating from a plate of desserts (high temptation) or from a plate of raw vegetables (low temptation) and then (2) undergo a positive or neutral affect induction. Two inductions were compared (video vs. writing technique). Participants were then given a 10-min recess. Whether or not participants smoked during the recess, assessed by self-report and biochemical verification, served as the primary dependent variable. The interaction between depletion and exposure group was significant, Wald's χ² = 9.66, df = 3, p desserts, 65.5% to 85% smoked if they were in the neutral video or writing conditions versus 10.5% in the positive affect video group. Positive affect elicited with a video was able to counteract the detrimental effects of self-control depletion on smoking behavior, while writing exercises were associated with smoking. Implications for tobacco cessation intervention are discussed. PsycINFO Database Record (c) 2012 APA, all rights reserved.

  14. Maglev six degree-of-freedom fine position stage control system

    Energy Technology Data Exchange (ETDEWEB)

    Wronosky, J.B.; Smith, T.G.; Darnold, J.R.; Jordan, J.D.

    1995-12-31

    A wafer positioning system was recently developed by Sandia National Laboratories for an Extreme Ultraviolet Lithography (EUVL). The system, which utilizes a magnetically levitated fine stage to provide ultra-precise positioning in all six degrees of freedom, incorporates technological improvements resulting from four years of prototype development experience. System enhancements, implemented on a second generation design for a National Center for Advanced Information Component Manufacturing (NCAICM) Structural Control Testbed, define the present level of research. This paper describes the design, implementation, and functional capability of the systems. Specifics regarding control system electronics, including software and control algorithm structure, as well as performance design goals and test results are presented.

  15. Design of L1 -Adaptive Controller for Single Axis Positioning Table

    Directory of Open Access Journals (Sweden)

    Amjad Jalil Humaidi

    2017-11-01

    Full Text Available L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC. The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance

  16. Position calibration of a 3-DOF hand-controller with hybrid structure

    Science.gov (United States)

    Zhu, Chengcheng; Song, Aiguo

    2017-09-01

    A hand-controller is a human-robot interactive device, which measures the 3-DOF (Degree of Freedom) position of the human hand and sends it as a command to control robot movement. The device also receives 3-DOF force feedback from the robot and applies it to the human hand. Thus, the precision of 3-DOF position measurements is a key performance factor for hand-controllers. However, when using a hybrid type 3-DOF hand controller, various errors occur and are considered originating from machining and assembly variations within the device. This paper presents a calibration method to improve the position tracking accuracy of hybrid type hand-controllers by determining the actual size of the hand-controller parts. By re-measuring and re-calibrating this kind of hand-controller, the actual size of the key parts that cause errors is determined. Modifying the formula parameters with the actual sizes, which are obtained in the calibrating process, improves the end position tracking accuracy of the device.

  17. High-Accuracy Positioning of an Industrial Robot Using Image/PSD-Based Hybrid Servo Control

    Science.gov (United States)

    Liu, Yong; Xi, Ning; Shen, Yantao

    2011-04-01

    This article presents a new and effective multi-sensor-based control strategy for high-accuracy/precision and high-efficiency automatic robot positioning in the field of industrial robot calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is employed to roughly guide the laser spot, which is from a single laser pointer attached to the end-effector of a robot to project to the segmented PSDs with a resolution of better than 0.1 µm. Once the laser spot is projected onto the active area of the PSD surface, the control will automatically be switched to the PSD feedback and servoing for fine positioning. An image/PSD-based servoing system has been presented. Based on the system, the controller design and switch logic of the hybrid servoing are given. The experimental results conducted on an ABB industrial robot IRB1600 verified the effectiveness of the developed visual/PSD hybrid servo controllers, as well as demonstrated that the high accuracy of 30 µm of robot positioning can be approached. The development of the hybrid control method and system has played a major role in achieving high-performance automatic robot calibration.

  18. Position calibration of a 3-DOF hand-controller with hybrid structure.

    Science.gov (United States)

    Zhu, Chengcheng; Song, Aiguo

    2017-09-01

    A hand-controller is a human-robot interactive device, which measures the 3-DOF (Degree of Freedom) position of the human hand and sends it as a command to control robot movement. The device also receives 3-DOF force feedback from the robot and applies it to the human hand. Thus, the precision of 3-DOF position measurements is a key performance factor for hand-controllers. However, when using a hybrid type 3-DOF hand controller, various errors occur and are considered originating from machining and assembly variations within the device. This paper presents a calibration method to improve the position tracking accuracy of hybrid type hand-controllers by determining the actual size of the hand-controller parts. By re-measuring and re-calibrating this kind of hand-controller, the actual size of the key parts that cause errors is determined. Modifying the formula parameters with the actual sizes, which are obtained in the calibrating process, improves the end position tracking accuracy of the device.

  19. Positioning and Microvibration Control by Electromagnets of an Air Spring Vibration Isolation System

    Science.gov (United States)

    Watanabe, Katsuhide; Cui, Weimin; Haga, Takahide; Kanemitsu, Yoichi; Yano, Kenichi

    1996-01-01

    Active positioning and microvibration control has been attempted by electromagnets equipped in a bellows-type, air-spring vibration isolation system. Performance tests have been carried out to study the effects. The main components of the system's isolation table were four electromagnetic actuators and controllers. The vibration isolation table was also equipped with six acceleration sensors for detecting microvibration of the table. The electromagnetic actuators were equipped with bellows-type air springs for passive support of the weight of the item placed on the table, with electromagnets for active positioning, as well as for microvibration control, and relative displacement sensors. The controller constituted a relative feedback system for positioning control and an absolute feedback system for vibration isolation control. In the performance test, a 1,490 kg load (net weight of 1,820 kg) was placed on the vibration isolation table, and both the positioning and microvibration control were carried out electromagnetically. Test results revealed that the vibration transmission was reduced by 95%.

  20. TIPS para o controle das complicações da hipertensão portal: eficácia, fatores prognósticos associados e variações técnicas TIPS for controlling portal hypertension complications: efficacy, predictors of outcome and technical variations

    Directory of Open Access Journals (Sweden)

    Néstor Hugo Kisilevzky

    2006-12-01

    Full Text Available OBJETIVO: Avaliar a eficácia do TIPS (transjugular intrahepatic portosystemic shunt para tratar as complicações clínicas em pacientes com hipertensão portal. MATERIAIS E MÉTODOS: Quarenta e quatro pacientes, sendo 30 do sexo masculino e 14 do feminino e com idade média de 52 anos foram analisados. A indicação para realização de TIPS foi hemorragia gastrintestinal em 28 e ascite refratária em 16. Houve 7 pacientes Child-Pugh A, 24 Child-Pugh B e 11 Child-Pugh C. RESULTADOS: O TIPS foi realizado com sucesso em todos os pacientes (100%, verificando-se queda do gradiente pressórico porto-sistêmico médio de 49,69% (de 18,98 mmHg para 9,55 mmHg. Comprovou-se melhora clínica em 35 pacientes (79,55%. A mortalidade pós-operatóriaia foi de 13,64%, sendo mais incidente nos pacientes Child-Pugh C (45,45%. Os fatores mais relevantes de mau prognóstico foram o aumento da bilirrubina e do nível de creatinina. A sobrevida média de pacientes Child-Pugh A foi de 11,5 meses, nos Child-Pugh B foi de 10,97 meses e nos Child-Pugh C foi de apenas 5,9 meses. Foram observadas complicações em nove casos (20,44%. CONCLUSÃO: O TIPS é eficiente para reduzir a pressão portal. As complicações e a morbi-mortalidade relacionadas com o procedimento podem ser consideradas aceitáveis. A mortalidade foi influenciada por alguns fatores clínicos, tais como classe Child-Pugh C e elevação dos níveis séricos de bilirrubina e creatinina.OBJECTIVE: To evaluate the efficacy of TIPS (transjugular intrahepatic portosystemic shunt for resolving clinical complications in patients with portal hypertension. MATERIALS AND METHODS: Forty-four caucasian patients, 30 men and 14 women, with a mean age of 52 years have been evaluated. Indication for TIPS has been gastrointestinal hemorrhage in 28 patients, and refractory ascites in 16. There has been 7 Child-Pugh A patients, 24 Child-Pugh B, and 11 Child-Pugh C. RESULTS: TIPS was successfully performed in all the

  1. Tipping the scales.

    Science.gov (United States)

    1998-12-01

    In the US, the October 1998 murder of a physician who performed abortions was an outward manifestation of the insidious battle against legal abortion being waged by radical Christian social conservatives seeking to transform the US democracy into a theocracy. This movement has been documented in a publication entitled, "Tipping the Scales: The Christian Right's Legal Crusade Against Choice" produced as a result of a 4-year investigation conducted by The Center for Reproductive Law and Policy. This publication describes how these fundamentalists have used sophisticated legal, lobbying, and communication strategies to further their goals of challenging the separation of church and state, opposing family planning and sexuality education that is not based solely on abstinence, promoting school prayer, and restricting homosexual rights. The movement has resulted in the introduction of more than 300 anti-abortion bills in states, 50 of which have passed in 23 states. Most Christian fundamentalist groups provide free legal representation to abortion clinic terrorists, and some groups solicit women to bring specious malpractice claims against providers. Sophisticated legal tactics are used by these groups to remove the taint of extremism and mask the danger posed to US constitutional principles being posed by "a well-financed and zealous brand of radical lawyers and their supporters."

  2. Safety and position control system for a nuclear reactor control rod

    International Nuclear Information System (INIS)

    Jacquelin, Roland; Michot, Gilbert.

    1982-01-01

    This device comprises a vertically mobile tube, terminating at its bottom end with an electromagnet maintaining the control rod, and of which the upper end is maintained by a second electromagnet, so that when the current to the two electromagnets is cut simultaneously the tube drops under the effect of gravity, thereby helping with its weight to push the control rod into its sleeve, even if the latter has accidental distortions. Application is for nuclear reactors [fr

  3. The control system position to the electric probe in the Tokamak Novillo

    International Nuclear Information System (INIS)

    Sanchez Garcia, A.M.

    1993-01-01

    The electric probe are used to determine the parameters of electronic temperatures, the electron density and the plasma potential in Tokamak machines. On this machines the electric probes are used only in the plasma edge due to the intensive flow of high energy particles. This is the region in which the plasma density and temperature are relatively low. It is showed, in this work, the design and construction of an electro mechanic system which is used to control the position of the probe into the discharge chamber. This system is called T he control system position to the electric probe in the tokamak Novillo . This controller is a minimum system that is in charge , by a programming, to rule a step motor by a logic sequence commutation. This is done with the purpose of slide the probe in a radial way with a milli metric precision into the discharge chamber. To this purpose it is used a step motor, due it is principal characteristic is the control of the end element position without a feedback needing of the wrong signal. The system function consist on reading, through a board, the corresponding data to the position where it is wanted to place the probe, it also displays by a numeric indicator the position in which the probe is located (in an interval from 0 to 100 mm), and provide the logic sequence commutation for the step motor. The minimum system is constituted by the micro controller 8748-8 that gives with all precision the control of the electric probe position in the Tokamak Novillo, by programming, associated circuits, amplification unit bi phase unipolar and switching power (they supply the power to the control circuit and to the step motor too), avoiding the destruction of the electric probe. (Author). 17 refs, 29 figs

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

    Science.gov (United States)

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

    2015-01-01

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

  5. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  7. Hysteresis Analysis and Positioning Control for a Magnetic Shape Memory Actuator

    Directory of Open Access Journals (Sweden)

    Jhih-Hong Lin

    2015-04-01

    Full Text Available Magnetic shape memory alloys (MSM alloys, a new kind of smart materials, have become a potential candidate in many engineering fields. MSMs have the advantage of bearing a huge strain, much larger than other materials. In addition, they also have fast response. These characteristics make MSM a good choice in micro engineering. However, MSMs display the obvious hysteresis phenomenon of nonlinear behavior. Thus the difficulty in using the MSM element as a positioning actuator is increased due to the hysteresis. In this paper, the hysteresis phenomenon of the MSM actuator is analyzed, and the closed-loop positioning control is also implemented experimentally. For that, a modified fuzzy sliding mode control (MFSMC is proposed. The MFSMC and the PID control are used to design the controllers for realizing the positioning control. The experimental results are compared under different experimental conditions, such as different frequency, amplitude, and loading. The experimental results show that the precise positioning control of MFSMC can be achieved satisfactorily.

  8. Design of a Single-Cell Positioning Controller Using Electroosmotic Flow and Image Processing

    Directory of Open Access Journals (Sweden)

    Jhong-Yin Chen

    2013-05-01

    Full Text Available The objective of the current research was not only to provide a fast and automatic positioning platform for single cells, but also improved biomolecular manipulation techniques. In this study, an automatic platform for cell positioning using electroosmotic flow and image processing technology was designed. The platform was developed using a PCI image acquisition interface card for capturing images from a microscope and then transferring them to a computer using human-machine interface software. This software was designed by the Laboratory Virtual Instrument Engineering Workbench, a graphical language for finding cell positions and viewing the driving trace, and the fuzzy logic method for controlling the voltage or time of an electric field. After experiments on real human leukemic cells (U-937, the success of the cell positioning rate achieved by controlling the voltage factor reaches 100% within 5 s. A greater precision is obtained when controlling the time factor, whereby the success rate reaches 100% within 28 s. Advantages in both high speed and high precision are attained if these two voltage and time control methods are combined. The control speed with the combined method is about 5.18 times greater than that achieved by the time method, and the control precision with the combined method is more than five times greater than that achieved by the voltage method.

  9. Robust Position Control of End-Effector Considering Gear Stiffness and Arm Stiffness for Industrial Robot

    Science.gov (United States)

    Tungpataratanawong, Somsawas; Chitbanchong, Satit; Miyazaki, Toshimasa; Katsura, Seiichiro; Ohishi, Kiyoshi

    Industrial robot with two-inertia model and resonant vibration suppression by using parameters from resonant identification method are addressed in this paper. By using only D-PD control with vibration suppression scheme for two-inertia model of flexible joint robot, the end-effector position does not perfectly reach the desired position owing to the effect of external force to the elastic arm. However, only gear stiffness parameter of two-inertia model is not enough, the new equivalent spring constant parameter including the stiffness of link and gear of the robot is introduced as the total arm spring constant. The novel load-side disturbance compensation considering total arm elasticity is proposed in this paper. The proposed control system is based on inner-loop vibration suppression feedback control and load-side disturbance suppression which motivates the simple consideration of the elastic joint under external torque. Moreover, the experimental results show the effectiveness of the proposed robust position control of end-effector with disturbance compensation considering total arm stiffness. The experimentation on workspace impedance control with inner-loop disturbance suppression implementing on the three degree-of-freedom (3-DOF) robot manipulator is also presented and discussed. The performance and feasibility of the proposed position control of end-effector is confirmed to apply to industrial robot manipulator without additional device.

  10. Modeling shoot-tip temperature in the greenhouse environment

    International Nuclear Information System (INIS)

    Faust, J.E.; Heins, R.D.

    1998-01-01

    An energy-balance model is described that predicts vinca (Catharanthus roseus L.) shoot-tip temperature using four environmental measurements: solar radiation and dry bulb, wet bulb, and glazing material temperature. The time and magnitude of the differences between shoot-tip and air temperature were determined in greenhouses maintained at air temperatures of 15, 20, 25, 30, or 35 °C. At night, shoot-tip temperature was always below air temperature. Shoot-tip temperature decreased from 0.5 to 5 °C below air temperature as greenhouse glass temperature decreased from 2 to 15 °C below air temperature. During the photoperiod under low vapor-pressure deficit (VPD) and low air temperature, shoot-tip temperature increased ≈4 °C as solar radiation increased from 0 to 600 W·m -2 . Under high VPD and high air temperature, shoot-tip temperature initially decreased 1 to 2 °C at sunrise, then increased later in the morning as solar radiation increased. The model predicted shoot-tip temperatures within ±1 °C of 81% of the observed 1-hour average shoot-tip temperatures. The model was used to simulate shoot-tip temperatures under different VPD, solar radiation, and air temperatures. Since the rate of leaf and flower development are influenced by the temperature of the meristematic tissues, a model of shoot-tip temperature will be a valuable tool to predict plant development in greenhouses and to control the greenhouse environment based on a plant temperature setpoint. (author)

  11. Efficacy of Er,Cr:YSGG laser with endodontical radial firing tips on the outcome of endodontic treatment: blind randomized controlled clinical trial with six-month evaluation.

    Science.gov (United States)

    Martins, M R; Carvalho, M F; Vaz, I P; Capelas, J A; Martins, M A; Gutknecht, N

    2013-07-01

    Clinical reports stating the efficacy of novel root canal disinfection protocols are an important focus in endodontic research. This blind randomized clinical trial assessed the clinical efficacy of the erbium, chromium:yttrium-scandium-gallium-garnet (Er,Cr:YSGG) laser radial firing tips (RFT) versus the concomitant use of 3 % sodium hypochlorite and interim calcium hydroxide paste in necrotic teeth with chronic apical periodontitis. We hypothesized to find similar or improved bone healing in the laser-assisted endodontic treatment. Thirty-six anterior and premolar teeth were randomly assigned. In group 1, teeth were prepared with 3 % sodium hypochlorite for irrigation and calcium hydroxide as inter-appointment dressing; in group 2, teeth were prepared with saline solution and irradiated with Er,Cr:YSGG laser using RFT2 (140 μs, 37.5 mJ, 20 Hz) and RFT3 (140 μs, 62.5 mJ, 20 Hz) in the first and second appointment, respectively, four times each, moving at 2 mm s(-1) from apical to coronal. The primary outcome measure was changed in apical bone density at 6 months, using the periapical index (PAI) for blind radiographic evaluation. Twenty-nine patients were examined and subjected to statistical analysis, 12 in group 1 and 17 in group 2. There was one treatment failure in group 1. Both groups gave similar outcomes exhibiting statistically significant decreases in PAI scores.

  12. On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

    Science.gov (United States)

    Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

    2017-09-01

    In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Method of improving heterogeneous oil reservoir polymer flooding effect by positively-charged gel profile control

    Science.gov (United States)

    Zhao, Ling; Xia, Huifen

    2018-01-01

    The project of polymer flooding has achieved great success in Daqing oilfield, and the main oil reservoir recovery can be improved by more than 15%. But, for some strong oil reservoir heterogeneity carrying out polymer flooding, polymer solution will be inefficient and invalid loop problem in the high permeability layer, then cause the larger polymer volume, and a significant reduction in the polymer flooding efficiency. Aiming at this problem, it is studied the method that improves heterogeneous oil reservoir polymer flooding effect by positively-charged gel profile control. The research results show that the polymer physical and chemical reaction of positively-charged gel with the residual polymer in high permeability layer can generate three-dimensional network of polymer, plugging high permeable layer, and increase injection pressure gradient, then improve the effect of polymer flooding development. Under the condition of the same dosage, positively-charged gel profile control can improve the polymer flooding recovery factor by 2.3∼3.8 percentage points. Under the condition of the same polymer flooding recovery factor increase value, after positively-charged gel profile control, it can reduce the polymer volume by 50 %. Applying mechanism of positively-charged gel profile control technology is feasible, cost savings, simple construction, and no environmental pollution, therefore has good application prospect.

  14. Integrated and Consistent Active Control Formulation and Piezotransducer Position Optimization of Plate Structures considering Spillover Effects

    Directory of Open Access Journals (Sweden)

    Mojtaba Biglar

    2014-01-01

    Full Text Available This study addresses new formulation for active vibration control of plates by optimal locations of attached piezotransducers. Free vibrations are solved by Rayleigh-Ritz and transient by assumed modes methods. Optimal orientations of patches are determined by spatial controllability/observability, as well as residual modes to reduce spillover. These criteria are used to achieve optimal fitness function defined for genetic algorithm to find optimal locations. To control vibrations, negative velocity feedback control is designed. Results indicate that, by locating piezopatches at optimal positions, depreciation rate increases and amplitudes of vibrations reduce effectively. The effect of number of piezodevices is analyzed.

  15. Mooring System Diagnosis and Structural Reliability Control for Position Moored Vessels

    DEFF Research Database (Denmark)

    Fang, Shaoji; Blanke, Mogens; Leira, Bernt J.

    2015-01-01

    Early diagnosis and fault-tolerant control are essential for safe operation of oating platforms where mooring systems maintain vessel position and must withstand environmental loads. This paper considers two critical faults, line breakage and loss of a buoyancy element and employs vector statisti......Early diagnosis and fault-tolerant control are essential for safe operation of oating platforms where mooring systems maintain vessel position and must withstand environmental loads. This paper considers two critical faults, line breakage and loss of a buoyancy element and employs vector...

  16. Determination of curve 1/M profile as a function of control rod bank position

    International Nuclear Information System (INIS)

    Pereira, Valmir; Martinez, Aquilino Senra; Silva, Fernando Carvalho da

    2002-01-01

    Determination of the subcritical multiplication curve profile (1/M) as a function of control rod bank position is of paramount importance to the development of a system which allows to foresee and also anticipate determination of criticality of a PWR reactor core. This work aims at determining this profile. For that, the 3D- two group-diffusion equations for a subcritical PWR reactor core with external neutron source is solved for different control rod bank positions. Results obtained are compared with the results from the corresponding eigenvalue problem, in order to verify how the external neutron source interferes with the reactor criticality search. (author)

  17. Precision Position Control of Pneumatic Servo Table Embedded with Aerostatic Bearing

    Science.gov (United States)

    Tsai, Ming-Hung; Hsu, Tzu-Yung; Pai, Kei-Ren; Shih, Ming-Chang

    This paper treats the control of a pneumatic servo table combining the air cylinders and sliding guides embedded with aerostatic bearing. Since compressed air flows into the small gap between the bearing and the sliding guide, the cylinder floats around the air film and on the guide surface of the table. The friction forces of the pneumatic servo table are measured, and the relation of frictional force and speed is plotted. The hybrid self-tuning fuzzy controller with the velocity compensators and dead-zone are proposed in this paper. From the experimental results, in case of different position, the positioning accuracy can reach the 0.04μm.

  18. Position controller for the arm of a neutron diffractometer using fuzzy logic

    International Nuclear Information System (INIS)

    Ayala P, G.F.

    1994-01-01

    The neutron diffractometer is an important instrument coupled to one of the radial outlets of the TRIGA-3-Salazar Reactor and is used mainly to analyze textures and crystal lattices. One of its main components is the velocity analysis goniometer which controls in a tangential way the movements of the sensor requiring for this a resolution of a hundredth of degree, but at the same time wide displacements are required. It is necessary to design and construct a system on the basis of a micro controller which control the long movements in a rapid way and with the needed accuracy. In this work, a proposition is presented: to replace the A.C. motor with a D.C. motor with a wide range of velocity and supplied with a card (DAC) to control the velocity by means of digital data. Moreover, a programmed micro controller with an algorithm based on fuzzy logic receiving data in BCD will be use. The use of micro controller will allow to set free the personal computer of the position of the goniometer; nevertheless, the system will report to the P C and its control program about the present position of the goniometer and the time when the desired position is reached. It is also consider that the user will be away from the system (a minimum of 15 meters) in order to avoid the zone with a high intensity of background radiation. (Author)

  19. Temporal shift from velocity to position proprioceptive feedback control during reaching movements.

    Science.gov (United States)

    Niu, C Minos; Corcos, Daniel M; Shapiro, Mark B

    2010-11-01

    Reaching movements to a target usually have stereotypical kinematics. Although this suggests that the desired kinematics of a movement might be planned, does it also mean that deviations from the planned kinematics are corrected by proprioceptive feedback control? To answer this question, we designed a task in which the subjects made center-forward movements to a target while holding the handle of a robot. Subjects were instructed to make movements at a peak velocity of 1 m/s. No further instructions were given with respect to the movement trajectory or the velocity time profile. In randomly chosen trials the robot imposed servo-controlled deviations from the previously computed unperturbed velocity and position time profiles. The duration of the velocity deviations and the magnitude of accumulated position deviations were manipulated. The subjects were instructed to either "Attempt to correct" or "Do not correct" the movement. The responses to the imposed deviations in the surface electromyograms in the elbow and shoulder agonist muscles consisted of an initial burst followed by a sharp decrease in the "Do not correct" condition or by sustained activity in the "Attempt to correct" condition. The timing and magnitude of the initial response burst reflected those of the velocity deviations and were not affected by the instruction. The timing and magnitude of the late response activity reflected position feedback control and were strongly affected by the instruction. We suggest that proprioceptive feedback control is suppressed in the beginning of the movement, then velocity feedback control is activated in the middle of the movement to control a desired velocity, whereas position feedback control is facilitated late in the movement to acquire the final position.

  20. Identification and control of plasma vertical position using neural network in Damavand tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Rasouli, H. [School of Plasma Physics and Nuclear Fusion, Institute of Nuclear Science and Technology, AEOI, P.O. Box 14155-1339, Tehran (Iran, Islamic Republic of); Advanced Process Automation and Control (APAC) Research Group, Faculty of Electrical Engineering, K.N. Toosi University of Technology, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of); Rasouli, C.; Koohi, A. [School of Plasma Physics and Nuclear Fusion, Institute of Nuclear Science and Technology, AEOI, P.O. Box 14155-1339, Tehran (Iran, Islamic Republic of)

    2013-02-15

    In this work, a nonlinear model is introduced to determine the vertical position of the plasma column in Damavand tokamak. Using this model as a simulator, a nonlinear neural network controller has been designed. In the first stage, the electronic drive and sensory circuits of Damavand tokamak are modified. These circuits can control the vertical position of the plasma column inside the vacuum vessel. Since the vertical position of plasma is an unstable parameter, a direct closed loop system identification algorithm is performed. In the second stage, a nonlinear model is identified for plasma vertical position, based on the multilayer perceptron (MLP) neural network (NN) structure. Estimation of simulator parameters has been performed by back-propagation error algorithm using Levenberg-Marquardt gradient descent optimization technique. The model is verified through simulation of the whole closed loop system using both simulator and actual plant in similar conditions. As the final stage, a MLP neural network controller is designed for simulator model. In the last step, online training is performed to tune the controller parameters. Simulation results justify using of the NN controller for the actual plant.

  1. Identification and control of plasma vertical position using neural network in Damavand tokamak

    Science.gov (United States)

    Rasouli, H.; Rasouli, C.; Koohi, A.

    2013-02-01

    In this work, a nonlinear model is introduced to determine the vertical position of the plasma column in Damavand tokamak. Using this model as a simulator, a nonlinear neural network controller has been designed. In the first stage, the electronic drive and sensory circuits of Damavand tokamak are modified. These circuits can control the vertical position of the plasma column inside the vacuum vessel. Since the vertical position of plasma is an unstable parameter, a direct closed loop system identification algorithm is performed. In the second stage, a nonlinear model is identified for plasma vertical position, based on the multilayer perceptron (MLP) neural network (NN) structure. Estimation of simulator parameters has been performed by back-propagation error algorithm using Levenberg-Marquardt gradient descent optimization technique. The model is verified through simulation of the whole closed loop system using both simulator and actual plant in similar conditions. As the final stage, a MLP neural network controller is designed for simulator model. In the last step, online training is performed to tune the controller parameters. Simulation results justify using of the NN controller for the actual plant.

  2. Position Control Method For Pick And Place Robot Arm For Object Sorting System

    Directory of Open Access Journals (Sweden)

    Khin Moe Myint

    2015-08-01

    Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

  3. Force/position control of a robot manipulator for human-robot interaction

    Directory of Open Access Journals (Sweden)

    Neranon Paramin

    2016-01-01

    Full Text Available With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

  4. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Science.gov (United States)

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  5. Design of a dynamic positioning system using model-based control

    Directory of Open Access Journals (Sweden)

    Asgeir J. Sørensen

    1996-04-01

    Full Text Available A dynamic positioning (DP system includes different control functions for automatic positioning and guidance of marine vessels by means of thruster and propeller actions. This paper describes the control functions which provide station-keeping and tracking. The DP controller is designed using model-based control, where a new modified LQG feedback controller and a model reference feedforward controller are applied. A reference model calculates appropriate reference trajectories. Since it is not desirable nor even possible to counteract the wave-frequency movement caused by first-order wave loads, the control action of the propulsion system should be produced by the low frequency part of the vessel movement caused by current, wind and second-order mean and slowly varying wave loads. A Kalman filter based state estimator and a Luenberger observer are used to compute the low-frequency feedback and feedforward control signals. Full-scale experiments with a supply vessel demonstrate the performance of the proposed controller.

  6. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

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  7. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

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  14. Tips to Prevent Tick Bites

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    Full Text Available ... deeply you are sedated. When the needle is advanced through the liver and the pathway is expanded ... are the limitations of TIPS? Patients with more advanced liver disease are at greater risk for worsening ...

  18. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... in creating the TIPS. top of page Additional Information and Resources Society of Interventional Radiology (SIR) - Patient ... Send us your feedback Did you find the information you were looking for? Yes No Please type ...

  19. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... of page What are some common uses of the procedure? A TIPS is used to treat the ... during the procedure. top of page What does the equipment look like? In this procedure, x-ray ...

  20. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... is completed. top of page What are the benefits vs. risks? Benefits A TIPS is designed to produce the same ... urgent intervention heart arrhythmias or congestive heart failure radiation injury to the skin is a rare complication ( ...

  1. Transjugular Intrahepatic Portosystemic Shunt (TIPS)

    Medline Plus

    Full Text Available ... local anesthetic medications, general anesthesia or to contrast materials containing iodine (sometimes referred to as "dye" or " ... the placement of the TIPS stent, a contrast material will be injected in the hepatic vein to ...

  2. Research of fuel temperature control in fuel pipeline of diesel engine using positive temperature coefficient material

    Directory of Open Access Journals (Sweden)

    Xiaolu Li

    2016-01-01

    Full Text Available As fuel temperature increases, both its viscosity and surface tension decrease, and this is helpful to improve fuel atomization and then better combustion and emission performances of engine. Based on the self-regulated temperature property of positive temperature coefficient material, this article used a positive temperature coefficient material as electric heating element to heat diesel fuel in fuel pipeline of diesel engine. A kind of BaTiO3-based positive temperature coefficient material, with the Curie temperature of 230°C and rated voltage of 24 V, was developed, and its micrograph and element compositions were also analyzed. By the fuel pipeline wrapped in six positive temperature coefficient ceramics, its resistivity–temperature and heating characteristics were tested on a fuel pump bench. The experiments showed that in this installation, the surface temperature of six positive temperature coefficient ceramics rose to the equilibrium temperature only for 100 s at rated voltage. In rated power supply for six positive temperature coefficient ceramics, the temperature of injection fuel improved for 21°C–27°C within 100 s, and then could keep constant. Using positive temperature coefficient material to heat diesel in fuel pipeline of diesel engine, the injection mass per cycle had little change, approximately 0.3%/°C. This study provides a beneficial reference for improving atomization of high-viscosity liquids by employing positive temperature coefficient material without any control methods.

  3. Positive Analysis of Invasive Species Control as a Dynamic Spatial Process

    OpenAIRE

    Buyuktahtakin, Esra; Feng, Zhuo; Olsson, Aaryn; Frisvold, George B.; Szidarovszky, Ferenc

    2010-01-01

    This paper models control of invasive buffelgrass (Pennisetum ciliare), a fire-prone African bunchgrass spreading rapidly across the southern Arizona desert as a spatial dynamic process. Buffelgrass spreads over a gridded landscape. Weed carrying capacity, treatment costs, and damages vary over grid cells. Damage from buffelgrass depends on its spatial distribution in relation to valued resources. We conduct positive analysis of recommended heuristic strategies for buffelgrass control, evalua...

  4. Tip model of cold fission

    International Nuclear Information System (INIS)

    Goennenwein, F.; Boersig, B.

    1991-01-01

    Cold fission is defined to be the limiting case of nuclear fission where virtually all of the available energy is converted into the total kinetic energy of the fragments. The fragments have, therefore, to be born in or at least close to their respective ground states. Starting from the viewpoint that cold fission corresponds to most compact scission configurations, energy constraints have been exploited to calculate minimum tip distances between the two nascent fragments in binary fission. Crucial input parameters to this tip model of cold fission are the ground-state deformations of fragment nuclei. It is shown that the minimum tip distances being compatible with energy conservation vary strongly with both the mass and charge fragmentation of the fission prone nucleus. The tip distances refer to nuclei with equivalent sharp surfaces. In keeping with the size of the surface width of leptodermous nuclei, only configurations where the tip distances are smaller than a few fm may be considered as valid scission configurations. From a comparison with experimental data on cold fission this critical tip distance appears to be 3.0 fm for the model parameters chosen. Whenever the model calculation yields tip distances being smaller than the critical value, a necessary condition for attaining cold fission is considered to be fulfilled. It is shown that this criterion allows to understand in fair agreement with experiment which mass fragmentations are susceptible to lead to cold fission and which fragment-charge divisions are the most favored in each isobaric mass chain. Being based merely on energy arguments, the model cannot aim at predicting fragment yields in cold fission. However, the tip model proposed appears well suited to delineate the phase space where cold fission phenomena may come into sight. (orig.)

  5. [Evaluation of tip location reliability of intraprocedural ECG vs. chest Xrays in PICC placement].

    Science.gov (United States)

    Elli, Stefano; Cannizzo, Luigi; Marini, Alessia; Porcarelli, Silvia; Azzarone, Filippo; Fumagalli, Roberto; Foti, Giuseppe; Lucchini, Alberto

    2016-01-01

    . Evaluation of tip location reliability of intraprocedural ECG vs. chest Xrays in PICC placement. Among the methods to assess the correct positioning of the tip of central venous catheters, the ECG method is safe and reliable. To compare the reliability of tip location by intraprocedural ECG and post-procedural radiological examination as implemented in routine care in a tertiary hospital PICC Team. 119 PICCs positioned by the Monza hospital PICC Team were examined positioned by either ECG technique or post procedural x-rays technique. The tip location was assessed in retrospect, through occasional chest ray reports. We assessed the reliability of the ECG and X rays techniques. In the ECG group (75 catheters), 71 (95.7%) were correctly located vs 33/44 (75%) in the x-rays group. Tip location by ECG technique implemented by the PICC team is feasible and safe. The cost/benefit ratio suggests its adoption as main tip location technique.

  6. A Blade Tip Timing Method Based on a Microwave Sensor

    Directory of Open Access Journals (Sweden)

    Jilong Zhang

    2017-05-01

    Full Text Available Blade tip timing is an effective method for blade vibration measurements in turbomachinery. This method is increasing in popularity because it is non-intrusive and has several advantages over the conventional strain gauge method. Different kinds of sensors have been developed for blade tip timing, including optical, eddy current and capacitance sensors. However, these sensors are unsuitable in environments with contaminants or high temperatures. Microwave sensors offer a promising potential solution to overcome these limitations. In this article, a microwave sensor-based blade tip timing measurement system is proposed. A patch antenna probe is used to transmit and receive the microwave signals. The signal model and process method is analyzed. Zero intermediate frequency structure is employed to maintain timing accuracy and dynamic performance, and the received signal can also be used to measure tip clearance. The timing method uses the rising and falling edges of the signal and an auto-gain control circuit to reduce the effect of tip clearance change. To validate the accuracy of the system, it is compared experimentally with a fiber optic tip timing system. The results show that the microwave tip timing system achieves good accuracy.

  7. The Relationships between Positive Thinking Skills, Academic Locus of Control and Grit in Adolescents

    Science.gov (United States)

    Çelik, Ismail; Sariçam, Hakan

    2018-01-01

    The main purpose of this study is to examine the possible relationships between academic locus of control, positive thinking skills and grit in high school students. The participants of the research are composed of 288 adolescents continuing their high school education from 4 different schools in Agri, Turkey, which were selected with convenient…

  8. Testing links between childhood positive peer relations and externalizing outcomes through a randomized controlled intervention study

    NARCIS (Netherlands)

    Witvliet, M.; van Lier, P.A.C.; Cuijpers, P.; Koot, H.M.

    2009-01-01

    In this study, the authors used a randomized controlled trial to explore the link between having positive peer relations and externalizing outcomes in 758 children followed from kindergarten to the end of 2nd grade. Children were randomly assigned to the Good Behavior Game (GBG), a universal

  9. 76 FR 8699 - Reporting Requirements for Positive Train Control Expenses and Investments

    Science.gov (United States)

    2011-02-15

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF TRANSPORTATION Surface Transportation Board 49 CFR Part 1201 Reporting Requirements for Positive Train Control Expenses and Investments AGENCY: Surface Transportation Board, DOT. ACTION: Notice of intent to institute a...

  10. Reporting of positive results in randomized controlled trials of mindfulness-based mental health interventions

    NARCIS (Netherlands)

    Coronado-Montoya, S.; Levis, A.W.; Kwakkenbos, C.M.C.; Steele, R.J.; Turner, E.H.; Thombs, B.D.

    2016-01-01

    Background A large proportion of mindfulness-based therapy trials report statistically significant results, even in the context of very low statistical power. The objective of the present study was to characterize the reporting of "positive" results in randomized controlled trials of

  11. Radiometric control of the position of blind holes axes in graphite blocks of high temperature reactors

    International Nuclear Information System (INIS)

    Boutaine, J.L.; Bujas, R.; Lemonnier, A.; Tortel, J.

    1976-01-01

    The principles of a radiometric method intended for controlling the positions of blind hole axes are given. A comparison is made between radiometry and radiography and the performances obtained using a thulium 170 source are described. The automation capabilities are discussed [fr

  12. On Tracking Control of Rigid-Joint Robots With Only Position Measurements

    NARCIS (Netherlands)

    Dirksz, Daniel A.; Scherpen, Jacquelien M. A.

    In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical

  13. Global stabilisation of large-scale hydraulic networks with quantised and positive proportional controls

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard; Wisniewski, Rafal

    2013-01-01

    is extended by showing that an attractor set with a global basin of attraction exists for arbitrary values of positive control gains, given that the upper level of the quantiser is properly designed. Furthermore, the proof is given for general monotone quantisation maps. Since the basin of attraction...

  14. 78 FR 51078 - Reporting Requirements for Positive Train Control Expenses and Investments

    Science.gov (United States)

    2013-08-20

    ...] Reporting Requirements for Positive Train Control Expenses and Investments AGENCY: Surface Transportation... investments and expenses. PTC is an automated system designed to prevent train-to-train collisions and other... Register on October 13, 2011, we are adopting supplemental schedules to the R-1 to require financial...

  15. A Positive Control for Detection of Functional CD4 T Cells in PBMC: The CPI Pool.

    Science.gov (United States)

    Schiller, Annemarie; Zhang, Ting; Li, Ruliang; Duechting, Andrea; Sundararaman, Srividya; Przybyla, Anna; Kuerten, Stefanie; Lehmann, Paul V

    2017-12-07

    Testing of peripheral blood mononuclear cells (PBMC) for immune monitoring purposes requires verification of their functionality. This is of particular concern when the PBMC have been shipped or stored for prolonged periods of time. While the CEF (Cytomegalo-, Epstein-Barr and Flu-virus) peptide pool has become the gold standard for testing CD8 cell functionality, a positive control for CD4 cells is so far lacking. The latter ideally consists of proteins so as to control for the functionality of the antigen processing and presentation compartments, as well. Aiming to generate a positive control for CD4 cells, we first selected 12 protein antigens from infectious/environmental organisms that are ubiquitous: Varicella, Influenza, Parainfluenza, Mumps, Cytomegalovirus, Streptococcus , Mycoplasma , Lactobacillus , Neisseria , Candida , Rubella, and Measles. Of these antigens, three were found to elicited interferon (IFN)-γ-producing CD4 cells in the majority of human test subjects: inactivated cytomegalo-, parainfluenza-, and influenza virions (CPI). While individually none of these three antigens triggered a recall response in all donors, the pool of the three (the 'CPI pool'), did. One hundred percent of 245 human donors tested were found to be CPI positive, including Caucasians, Asians, and African-Americans. Therefore, the CPI pool appears to be suitable to serve as universal positive control for verifying the functionality of CD4 and of antigen presenting cells.

  16. Position Control and Novel Application of SCARA Robot with Vision System

    Directory of Open Access Journals (Sweden)

    Hsiang-Chen Hsu

    2017-06-01

    Full Text Available In this paper, a SCARA robot arm with vision system has been developed to improve the accuracy of pick-and-place the surface mount device (SMD on PCB during surface mount process. Position of the SCARA robot can be controlled by using coordinate auto-compensation technique. Robotic movement and position control are auto-calculated based on forward and inverse kinematics with enhanced the intelligent image vision system. The determined x-y position and rotation angle can then be applied to the desired pick & place location for the SCARA robot. A series of experiments has been conducted to improve the accuracy of pick-and-place SMDs on PCB.

  17. [Relationship between the prone position and achieving head control at 3 months].

    Science.gov (United States)

    Pérez-Machado, J L; Rodríguez-Fuentes, G

    2013-10-01

    Owing to the significant increase of mild motor delays and the strong intolerance of infants to be placed on prone position observed in the Physiotherapy Unit of the Maternal and Children's University Hospital of the Canaries (HUMIC), a study was conducted to determine whether positioning infants in the prone position while awake affected the achievement and quality of head control at three months. A prospective comparative practice-based study of a representative sample of 67 healthy infants born in the HUMIC, and divided into an experimental group (n = 35) and control group (n = 32). The Alberta Infant Motor Scale (AIMS) and a parent questionnaire were used as measurement tools. The intervention consisted of regular home visits to the experimental group (from the first to the third month). The two groups were evaluated in their homes at the end of 3 months. The differences in mean raw score of the AIMS at 3 months were, 16.26 in the experimental group and 10.38 in control group (P<.001). The percentile mean was 94 in the experimental group, and less than 50 (42) in the control group. All of the experimental group babies achieved the head control, with only 8 in the control group (25%). The significant findings suggest a direct relationship between the time spent in the prone position when the baby is awake and the achievement of head control at three months. Copyright © 2012 Asociación Española de Pediatría. Published by Elsevier Espana. All rights reserved.

  18. Positioning of sensors for control of ventilation systems in broiler houses: a case study

    Directory of Open Access Journals (Sweden)

    Thayla Morandi Ridolfi de Carvalho Curi

    Full Text Available ABSTRACT Ventilation systems are incorporated at intensive poultry farms to control environment conditions and thermal comfort of broilers. The ventilation system operates based on environmental data, particularly measured by sensors of temperature and relative humidity. Sensors are placed at different positions of the facility. Quality, number and positioning of the sensors are critical factors to achieve an efficient performance of the system. For this reason, a strategic positioning of the sensors associated to controllers could support the maintenance and management of the microclimate inside the facility. This research aims to identify the three most representative points for the positioning of sensors in order to support the ventilation system during the critical period from 12h00 to 15h00 on summer days. Temperature, relative humidity and wind speed were measured in four different tunnel ventilated barns at the final stage of the production cycle. The descriptive analysis was performed on these data. The Temperature and Humidity Index (THI was also calculated. Then, the geostatistical analysis of THI was performed by GS+ and the position of sensors was determined by ordinary kriging. The methodology was able to detect the most representative points for the positioning of sensors in a case study (southeastern Brazil. The results suggested that this strategic positioning would help controllers to obtain a better inference of the microclimate during the studied period (the hottest microclimate, considered critical in Brazil. In addition, these results allow developing a future road map for a decision support system based on 24 h monitoring of the ventilation systems in broiler houses.

  19. Identification of a cation-specific channel (TipA) in the cell wall of the gram-positive mycolata Tsukamurella inchonensis: the gene of the channel-forming protein is identical to mspA of Mycobacterium smegmatis and mppA of Mycobacterium phlei.

    Science.gov (United States)

    Dörner, Ursula; Maier, Elke; Benz, Roland

    2004-11-17

    Detergent extracts of whole cells of the Gram-positive bacterium Tsukamurella inchonensis ATCC 700082, which belongs to the mycolata, were studied for the presence of ion-permeable channels using lipid bilayer experiments. One channel with a conductance of about 4.5 nS in 1 M KCl was identified in the extracts. The channel-forming protein was purified to homogeneity by preparative SDS-PAGE. The protein responsible for channel-forming activity had an apparent molecular mass of about 33 kDa as judged by SDS-PAGE. Interestingly, the protein showed cross-reactivity with polyclonal antibodies raised against a polypeptide derived from MspA of Mycobacterium smegmatis similarly as the cell wall channel of Mycobacterium phlei. Primers derived from mspA were used to clone and sequence the gene of the cell wall channels of T. inchonensis (named tipA for T. inchonensis porin A) and M. phlei (named mppA for M. phlei porin A). Surprisingly, both genes, tipA and mppA, were found to be identical to mspA of M. smegmatis, indicating that the genomes of T. inchonensis, M. phlei and M. smegmatis contain the same genes for the major cell wall channel. RT-PCR revealed that tipA is transcribed in T. inchonensis and mppA in M. phlei. The results suggest that despite a certain distance between the three organisms, their genomes contain the same gene coding for the major cell wall channel, with a molecular mass of 22 kDa for the monomer.

  20. Membrane tension controls adhesion positioning at the leading edge of cells

    Science.gov (United States)

    Pontes, Bruno; Gole, Laurent; Kosmalska, Anita Joanna; Tam, Zhi Yang; Luo, Weiwei; Kan, Sophie; Viasnoff, Virgile; Roca-Cusachs, Pere; Tucker-Kellogg, Lisa

    2017-01-01

    Cell migration is dependent on adhesion dynamics and actin cytoskeleton remodeling at the leading edge. These events may be physically constrained by the plasma membrane. Here, we show that the mechanical signal produced by an increase in plasma membrane tension triggers the positioning of new rows of adhesions at the leading edge. During protrusion, as membrane tension increases, velocity slows, and the lamellipodium buckles upward in a myosin II–independent manner. The buckling occurs between the front of the lamellipodium, where nascent adhesions are positioned in rows, and the base of the lamellipodium, where a vinculin-dependent clutch couples actin to previously positioned adhesions. As membrane tension decreases, protrusion resumes and buckling disappears, until the next cycle. We propose that the mechanical signal of membrane tension exerts upstream control in mechanotransduction by periodically compressing and relaxing the lamellipodium, leading to the positioning of adhesions at the leading edge of cells. PMID:28687667

  1. High accuracy motor controller for positioning optical filters in the CLAES Spectrometer

    Science.gov (United States)

    Thatcher, John B.

    The Etalon Drive Motor (EDM), a precision etalon control system designed for accurate positioning of etalon filters in the IR spectrometer of the Cryogenic Limb Array Etalon Spectrometer (CLAES) experiment is described. The EDM includes a brushless dc torque motor, which has an infinite resolution for setting an etalon filter to any desired angle, a four-filter etalon wheel, and an electromechanical resolver for angle information. An 18-bit control loop provides high accuracy, resolution, and stability. Dynamic computer interaction allows the user to optimize the step response. A block diagram of the motor controller is presented along with a schematic of the digital/analog converter circuit.

  2. Guaranteed Cost Finite-Time Control of Fractional-Order Positive Switched Systems

    Directory of Open Access Journals (Sweden)

    Leipo Liu

    2017-01-01

    Full Text Available The problem of guaranteed cost finite-time control of fractional-order positive switched systems (FOPSS is considered in this paper. Firstly, a new cost function is defined. Then, by constructing linear copositive Lyapunov functions and using the average dwell time (ADT approach, a state feedback controller and a static output feedback controller are constructed, respectively, and sufficient conditions are derived to guarantee that the corresponding closed-loop systems are guaranteed cost finite-time stable (GCFTS. Such conditions can be easily solved by linear programming. Finally, two examples are given to illustrate the effectiveness of the proposed method.

  3. Robust position and force tracking control for a robot in contract

    Science.gov (United States)

    Lee, Sang-Moo

    1993-01-01

    This thesis presents a robust position and force tracking control approach for a robot in contact. When a robot involves in a task of changing between free and contact motion, tracking contact position or force is a difficult problem in control. The approach uses the computed torque linearization to cancel the nonlinear dynamics of the robot. A target dynamics is then applied to the linearized system. The target dynamics relates position errors and force errors through force error compensators. Using the high-order compensators, the target dynamics guarantees smooth transition between free and contact maneuvers, position or force tracking, and robust performance to environmental uncertainty. In case of single degree-of-freedom robots, tracking in steady states can be achieved by designing compensators, placing zeros or poles at the origin for position or force tracking control, respectively. To improve tracking performance in transient states, the H(sub infinity) control synthesis is adopted to design a compensator that minimizes H(sub infinity) optimality. The optimality is augmented to trade off between mixed sensitivities and joint loads. The designed compensator for the multi-input and multioutput system shows that the tracking performance meets the design specifications. When the environmental uncertainty is structured as a simple inertia-damper-stiffness system with unbounded coefficients, robustly stable compensators exist for all variations of the coefficients. When the uncertainty is unstructured and bounded, the H(sub infinity) robust performance condition is employed to design a compensator robust to the uncertainty. A reduced-order compensator is obtained by iteratively applying optimization to a fixed-order compensator with unknown coefficients. The computed torque linearization is subject to modeling errors in sensing, measurements, and estimations, which degrade the stability of the controlled system. A sufficient condition for stability robust to

  4. Positive and Negative Perfectionism in Migrainus Patients Compaired with Control Group

    Directory of Open Access Journals (Sweden)

    H Afshar

    2008-01-01

    Full Text Available ABSTRACT: Introduction & Objective: The positive and negative effects of perfectionism on human cognition, affection and behavior have been emphasized. Perfectionism has been conceptualized as a multidimensional construct, with both adaptive and maladaptive aspects, which is one of the common personality traits that cause lifelong stress in human and results in anxiety, depression and physical and mental distress.The aim of this study was to assess the positive and negative perfectionism in migrainus patients in comparison with control group. Materials & Methods: This is an analytical (Case-control study which was performed on 91 migraine patients and 88 healthy individuals. The pqtients and controls completed a standard 40 item questionnaire for perfectionism – PANPS (20 for positive and 20 for negative perfectionism . The patients in both groups were matched for gender and age. Mean of positive and negative perfectionism scores for two groups was statistically analysed using SPSS software. Results: Mean positive perfectionism score was 83.47±8.5 for migraine group and 65.47±7.54 for control group (p=0.0001. The difference between two groups was significant. Mean of negative perfectionism score was 74.12±10.6 for migraine group and 51.79±7.8 for control group(p=0.0001. Conclusion: The results show that migraine patients have higher mean of perfectionism scores than healthy individuals. Based on this study and other clinical experiences more attention to psychotherapy is necessary for better management of migraine and recognition of personality profile in migraine patient helps to reduce patient’s complaints.

  5. Control Design Of Robot Manipulator Position Based On Pd-Fuzzy Mamdani Controlled With Computed Torque Control (Pd-Fuzzy-Ctc

    Directory of Open Access Journals (Sweden)

    Duli Ridlo Istriantono

    2015-03-01

    Full Text Available Robotics science has evolved significantly, driven by rapid advances in computer and sensor technology; and theoretical advances in control and computer vision. These development make widespread use of robot manipulators in industrial environments. Major problem in controlling a robot manipulator is to control the robot in order to achieve the desired position. Therefore the design issue of the robot control is to choose the right type controller. Computed Torque Controller (CTC is a powerful nonlinear controllers are widely used in the control of robot manipulators. CTC controller is designed based on feedback linearization and the required torque of the robot arm by using a nonlinear feedback control law. Simulation is done by providing joint trajectory from point to point. The simulation results show that the PD-Fuzzy-CTC controller is able to follow the joint trajectory with The RMSE value of the joint angle position of PD-Fuzzy-CTC controller is 10 times smaller than that of the PD-CTC controller with the end-effector position accuracy is 0.1 mm.  

  6. The Influence of PZT Actuators Positioning in Active Structural Acoustic Control

    Directory of Open Access Journals (Sweden)

    P. Švec

    2007-01-01

    Full Text Available This paper deals with the effect of secondary actuator positioning in an active structural acoustics control (ASAC experiment. The ASAC approach is based on minimizing the sound radiation from structures to the far field by controlling the structural vibrations. In this article a rectangular steel plate structure was assumed with one secondary actuator attached to it. As a secondary actuator, a specially designed piezoelectric stripe actuator was used. We studied the effect of the position of the actuator on the pattern and on the radiated sound field of the structural vibration, with and without active control. The total radiated power was also measured. The experimental data was confronted with the results obtained by a numerical solution of the mathematical model used. For the solution, the finite element method in the ANSYS software package was used. 

  7. Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

    Directory of Open Access Journals (Sweden)

    Syed Najib Syed Salim

    2014-01-01

    Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.

  8. An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

    Science.gov (United States)

    Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

    2015-11-01

    The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Comparison of different types of phacoemulsification tips. I. Quantitative analysis of elemental composition and tip surface microroughness.

    Science.gov (United States)

    Tsaousis, Konstantinos T; Werner, Liliana; Perez, Jesus Paulo; Li, He J; Reiter, Nicholas; Guan, Jia J; Mamalis, Nick

    2016-09-01

    To evaluate the elemental composition of phacoemulsification tips and their surface roughness in the microscale. John A. Moran Eye Center and Utah Nanofab, College of Engineering, University of Utah, Salt Lake City, Utah, USA. Experimental study. Seven types of phacoemulsification tips were studied. The phaco tips were examined through energy-dispersive x-ray spectroscopy (EDS) and x-ray photoelectron spectroscopy (XPS) for elemental composition. In addition, the roughness of the opening in all tips was assessed through 3-dimensional white-light interferometry. Elemental analysis showed considerable differences in the surface layers between manufacturers. Alcon tips had a thinner oxidized titanium (Ti) layer in their surface. Through XPS, vanadium was not detected in the superficial layers of any tip, but only in deeper levels. The microroughness surface analysis showed comparable results regarding their root-mean-square (RMS) metric. Maximum peak valley distance values varied and appeared to be dependent on the quality of material process rather than the material itself. Phacoemulsification tips are made of Ti alloys and showed differences between models, especially regarding their composition in the superficial layers. Their opening end roughness showed an overall appropriate RMS value of less than 1.0 μm in all cases. The existence of small defected areas highlights the importance of adequate quality control of these critical surgical instruments. None of the authors has a financial or proprietary interest in any material or method mentioned. Copyright © 2016 ASCRS and ESCRS. Published by Elsevier Inc. All rights reserved.

  10. tDCS over the left prefrontal cortex enhances cognitive control for positive affective stimuli.

    Directory of Open Access Journals (Sweden)

    Marie-Anne Vanderhasselt

    Full Text Available Transcranial Direct Current Stimulation (tDCS is a neuromodulation technique with promising results for enhancing cognitive information processes. So far, however, research has mainly focused on the effects of tDCS on cognitive control operations for non-emotional material. Therefore, our aim was to investigate the effects on cognitive control considering negative versus positive material. For this sham-controlled, within-subjects study, we selected a homogeneous sample of twenty-five healthy participants. By using behavioral measures and event related potentials (ERP as indexes, we aimed to investigate whether a single session of anodal tDCS of the left dorsolateral prefrontal cortex (DLPFC would have specific effects in enhancing cognitive control for positive and negative valenced stimuli. After tDCS over the left DLPFC (and not sham control stimulation, we observed more negative N450 amplitudes along with faster reaction times when inhibiting a habitual response to happy compared to sad facial expressions. Gender did not influence the effects of tDCS on cognitive control for emotional information. In line with the Valence Theory of side-lateralized activity, this stimulation protocol might have led to a left dominant (relative to right prefrontal cortical activity, resulting in augmented cognitive control specifically for positive relative to negative stimuli. To verify that tDCS induces effects that are in line with all aspects of the well known Valence Theory, future research should investigate the effects of tDCS over the left vs. right DLPFC on cognitive control for emotional information.

  11. Beam position monitor multiplexer controller upgrade at the LAMPF proton storage ring

    International Nuclear Information System (INIS)

    Scarborough, W.K.; Cohen, S.

    1992-01-01

    The beam position monitor (BPM) is one of the primary diagnostic tools used for the tuning of the proton storage ring (PSR) at the Clinton P. Anderson Meson Physics Facility (LAMPF). A replacement for the existing, monolithic, wire-wrapped microprocessor-based BPM multiplexer controller has been built. The controller has been redesigned as a modular system retaining the same functionality of the original system built in 1981. Individual printed circuit cards are used for each controller function to insure greater maintainability and ease of keeping a spare parts inventory. Programmable logic device technology has substantially reduced the component count of the new controller. Diagnostic software was written to support the development of the upgraded controller. The new software actually uncovered some flaws in the original CAMAC interface. (author)

  12. Relative position control design of receiver UAV in flying-boom aerial refueling phase.

    Science.gov (United States)

    An, Shuai; Yuan, Suozhong

    2018-02-01

    This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Improving tokamak vertical position control in the presence of power supply voltage saturation

    International Nuclear Information System (INIS)

    Favez, J-Y; Lister, J B; Muellhaupt, Ph; Srinivasan, B

    2005-01-01

    The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable to this vertical instability of the plasma equilibrium movement, and a large number of stable or marginally stable eigenmodes, attributable to zero or positive resistance in all other model circuit equations. Due to the size and therefore cost of the ITER tokamak, there will naturally be smaller margins in the poloidal field coil power supplies, implying that the feedback control will experience actuator saturation during large transients due to a variety of plasma disturbances. Current saturation is relatively benign, due to the integrating nature of the tokamak, resulting in a reasonable time horizon for strategically handling the approach to saturation which leads to the loss of one degree of freedom in the feedback control for each saturated coil. On the other hand, voltage saturation is produced by the feedback controller itself, with no intrinsic delay. This paper presents a feedback controller design approach which explicitly takes saturation of the power supply voltage into account when producing the power supply demand signals. We consider the vertically stabilizing part of the ITER controller (fast controller) with one power supply and therefore a single saturated input. We consider an existing ITER controller and enlarge its region of attraction to the full null controllable region by adding a continuous nonlinearity into the control. In a system with a single unstable eigenmode and a single stable eigenmode we have already provided a proof of the asymptotical stability of the closed loop system, and we have examined the performance of this new continuous nonlinear controller. We have subsequently extended this analysis to a system with a single eigenmode and multiple stable eigenmodes. The method

  14. Meconium aspiration syndrome in infants of HIV-positive women: a case-control study.

    Science.gov (United States)

    Gupta, Sachin K; Haerr, Pam; David, Richard; Rastogi, Alok; Pyati, Suma

    2016-05-01

    Our aim was to determine whether maternal HIV infection in the current era is associated with an increased incidence of meconium aspiration syndrome (MAS) in their infants. Infants born to 149 HIV-positive women at our hospital over a 5-year period were compared with infants born to HIV-negative women in a retrospective case-control study. Charts of all 298 patients included in the study were reviewed for maternal and infant demographics, HIV treatment, vertical transmission and untoward events at delivery or during the hospital course. When compared with HIV-negative women, a greater proportion of HIV-positive women had meconium-stained amniotic fluid (MSAF), 33% vs. 13%, Pmeconium staining of the amniotic fluid and such drug exposure was more common among our HIV-positive sample, controlling for this and other possible covariates did not greatly reduce the association of HIV status with meconium-related complications of delivery. Infants born to HIV-positive women had significantly more MSAF and MAS than infants born to non-infected women. It is unclear whether this association results from maternal HIV infection itself or from anti-retroviral therapy. Maternal and infant care providers should be prepared for this complication when attending to the deliveries of HIV-positive women.

  15. On Position Sensorless Control for Permanent Magnet Synchronous Motor Based on a New Sliding Mode Observer

    Directory of Open Access Journals (Sweden)

    Qixin Zhu

    2014-10-01

    Full Text Available For the problems of buffeting and phase delay in traditional rotor detection in sensorless vector control of permanent magnet synchronous motor (PMSM, the Sigmoid function is proposed to replace sign function and the approach of piecewise linearization is proposed to compensate phase delay. To the problem that the output of traditional low pass filter contains high- order harmonic, two-stage filter including traditional low-pass filter and Kalman filter is proposed in this paper. Based on the output of traditional first-order low-pass filter, the Kalman filter is used to get modified back-EMF. The phase-locked loop control of rotor position is adopted to estimate motor position and speed. A Matlab/Simulink simulation model of PMSM position servo control system is established. The simulation analysis of the new sliding mode observer’s back-EMF detection, position and speed estimation, load disturbance and dynamic process are carried out respectively. Simulation results verify feasibility of the new sliding mode observer algorithm.

  16. A PID Positioning Controller with a Curve Fitting Model Based on RFID Technology

    Directory of Open Access Journals (Sweden)

    Young-Long Chen

    2013-04-01

    Full Text Available The global positioning system (GPS is an important research topic to solve outdoor positioning problems, but GPS is unable to locate objects accurately and precisely indoors. Some available systems apply ultrasound or optical tracking. This paper presents an efficient proportional-integral-derivative (PID controller with curve fitting model for mobile robot localization and position estimation which adopts passive radio frequency identification (RFID tags in a space. This scheme is based on a mobile robot carries an RFID reader module which reads the installed low-cost passive tags under the floor in a grid-like pattern. The PID controllers increase the efficiency of captured RFID tags and the curve fitting model is used to systematically identify the revolutions per minute (RPM of the motor. We control and monitor the position of the robot from a remote location through a mobile phone via Wi-Fi and Bluetooth network. Experiment results present that the number of captured RFID tags of our proposed scheme outperforms that of the previous scheme.

  17. Positioning In Macular hole Surgery (PIMS): statistical analysis plan for a randomised controlled trial.

    Science.gov (United States)

    Bell, Lauren; Hooper, Richard; Bunce, Catey; Pasu, Saruban; Bainbridge, James

    2017-06-13

    using Snellen charts at a standard distance of 6 m; patient-reported health and quality of life assessed using the National Eye Institute Visual Function Questionnaire (VFQ-25). The PIMS trial is the first multicentre randomised control trial to investigate the value of face-down positioning following macular hole standardised surgery. International Standard Randomised Controlled Trials Number registry, ID: ISRCTN12410596. Registered on 11 February 2015. United Kingdom Clinical Research Network, ID: UKCRN17966 . Registered on 26 November 2014.

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

    Directory of Open Access Journals (Sweden)

    Yao Huang

    2017-05-01

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

  19. Review of the patient positioning reproducibility in head-and-neck radiotherapy using Statistical Process Control.

    Science.gov (United States)

    Moore, Sarah J; Herst, Patries M; Louwe, Robert J W

    2018-01-27

    A remarkable improvement in patient positioning was observed after the implementation of various process changes aiming to increase the consistency of patient positioning throughout the radiotherapy treatment chain. However, no tool was available to describe these changes over time in a standardised way. This study reports on the feasibility of Statistical Process Control (SPC) to highlight changes in patient positioning accuracy and facilitate correlation of these changes with the underlying process changes. Metrics were designed to quantify the systematic and random patient deformation as input for the SPC charts. These metrics were based on data obtained from multiple local ROI matches for 191 patients who were treated for head-and-neck cancer during the period 2011-2016. SPC highlighted a significant improvement in patient positioning that coincided with multiple intentional process changes. The observed improvements could be described as a combination of a reduction in outliers and a systematic improvement in the patient positioning accuracy of all patients. SPC is able to track changes in the reproducibility of patient positioning in head-and-neck radiation oncology, and distinguish between systematic and random process changes. Identification of process changes underlying these trends requires additional statistical analysis and seems only possible when the changes do not overlap in time. Copyright © 2018 Elsevier B.V. All rights reserved.

  20. Crack Tip Flipping Under Mode I/III Tearing

    DEFF Research Database (Denmark)

    Felter, Christian Lotz; Specht Jensen, Lasse; Nielsen, Kim Lau

    Crack tip flipping, where the fracture surface alternates from side to side in 45° shear bands, seems to be an overlooked propagation mode in Mode I sheet tearing often disregarded as  “transitional” or tied to randomness in the material. In fact, such observations rarely make it to the literature....... However, crack tip flipping is a true propagation mode, but unlike those already established: i) it never settles in a steady-state as the near tip stress/strain field continuously change, and ii) the mechanism governing failure evolves behind the leading crack tip. Recent research has revealed new...... insight into this intriguing behavior of a crack propagating by the void nucleation and growth mechanism, and the work presented compiles both published and unpublished experimental and numerical findings. E.g. in a recent attempt to gain control of the flipping crack a slight Mode III was imposed...

  1. Study of intelligent system for control of the tokamak-ETE plasma positioning

    International Nuclear Information System (INIS)

    Barbosa, Luis Filipe de Faria Pereira Wiltgen

    2003-01-01

    The development of an intelligent neural control system of the neural type, capable to perform real time control of the plasma displacement in the experiment tokamak spheric - ETE (spherical tokamak experiment ) is presented. The ETE machine is in operation since Nov 2000, in the LAP - Plasma Associated Laboratory of the Brazilian Institute on Spatial Research (INPE) in Sao Jose dos Campos, S P, Brazil. The experiment is dedicated to study the magnetic confinement of a fusion plasma in a configuration favorable for the construction of future reactors. Nuclear fusion constitutes a renewable energy source with low environmental impact, which uses atomic energy in pacific applications for the sustainable development of humanity. One of the important questions for the attainment of fusion relates to the stability of the plasma and control of its position during the reactor operation. Therefore, the development of systems to control the plasma in tokamaks constitutes a necessary technological advance for the feasibility of nuclear fusion. In particular, the research carried out in this thesis concerns the proposal of a system to control the vertical displacement of the plasma in the ETE tokamak, aiming to obtain steady pulses in this machine. A Magnetic Levitation system (Mag Lev) was developed as part of this work, allowing to study the nonlinear behavior of a device that, from the aspect of position control, is similar (analogous) to the plasma in the ETE tokamak, This magnetic levitation system was designed, mathematically modeled and built in order to test both classical and intelligent type controllers. The results of this comparison are very promising for the use of intelligent controllers in the ETE tokamak as well as other control applications. (author)

  2. Turbine blade tip clearance measurement using a skewed dual-beam fiber optic sensor

    Science.gov (United States)

    Ye, De-chao; Duan, Fa-jie; Guo, Hao-tian; Li, Yangzong; Wang, Kai

    2012-08-01

    Optimization and active control of the tip clearance of turbine blades has been identified as a key to improve fuel efficiency, reduce emission, and increase service life of the engine. However, reliable and real-time tip clearance measurement is difficult due to the adverse environmental conditions that are typically found in a turbine. We describe a dual-beam fiber optic measurement system that can measure the tip timing and tip clearance simultaneously. Because the tip timing information is used to calculate the tip clearance, the method is insensitive to the signal intensity variation caused by fluctuations in environmental conditions such as light source instability, contamination, and blade tip imperfection. The system was calibrated and tested using experimental rotors. The test results indicated a high resolution of 4.5 μm and measurement accuracy of ±20 μm over the rotation speed range of 2000 to 10,000 rpm.

  3. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Science.gov (United States)

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Robust H∞ Control of Neutral System with Time-Delay for Dynamic Positioning Ships

    Directory of Open Access Journals (Sweden)

    Dawei Zhao

    2015-01-01

    Full Text Available Due to the input time-delay existing in most thrust systems of the ships, the robust H∞ controller is designed for the ship dynamic positioning (DP system with time-delay. The input delay system is turned to a neutral time-delay system by a state-derivative control law. The less conservative result is derived for the neutral system with state-derivative feedback by the delay-decomposition approach and linear matrix inequality (LMI. Finally, the numerical simulations demonstrate the asymptotic stability and robustness of the controller and verify that the designed DP controller is effective in the varying environment disturbances of wind, waves, and ocean currents.

  5. An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1992-01-01

    It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

  6. An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1993-01-01

    It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

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

    International Nuclear Information System (INIS)

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

    2017-01-01

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

  8. Expressive writing and positive writing for participants with mood disorders: an online randomized controlled trial.

    Science.gov (United States)

    Baikie, Karen A; Geerligs, Liesbeth; Wilhelm, Kay

    2012-02-01

    Expressive writing--writing about traumatic, stressful or emotional events--often leads to improvements in physical and psychological health in non-clinical and clinical populations. Recent studies have shown that positive writing may also be beneficial. Research has not yet investigated whether either expressive writing or positive writing offers benefits for people with mood disorders. Participants were recruited online and were randomly allocated to expressive writing, positive writing or control writing. The following questionnaires were completed online: Centre for Epidemiological Studies-Depression Scale (CES-D), Depression Anxiety Stress Scales (DASS), Pennebaker Inventory of Limbic Languidness (PILL), overall health questions, Temperament and Personality Questionnaire (TPQ) and COPE Inventory (COPE). Participants then wrote for 20 min on 4 occasions, and then completed follow-up questionnaires. Linear mixed models with custom contrasts were conducted to assess differences between groups and over time. All 3 groups showed significant improvements over time on mental health and some physical health outcomes. There were no significant differences between groups and no significant group by time interactions. These results were not moderated by demographic factors, personality subtypes or coping styles. The expressive writing, positive writing and time management control writing groups all reported significantly fewer mental and physical symptoms for at least 4 months post-writing. When expressive and positive writing groups were combined, the resulting `emotional writing group' showed significantly lower scores on the DASS stress subscale than the control writing group at all time-points. Potential reasons are discussed and areas of further study identified. Copyright © 2011 Elsevier B.V. All rights reserved.

  9. A Web-Based Adolescent Positive Psychology Program in Schools: Randomized Controlled Trial.

    Science.gov (United States)

    Burckhardt, Rowan; Manicavasagar, Vijaya; Batterham, Philip J; Miller, Leonie M; Talbot, Elizabeth; Lum, Alistair

    2015-07-28

    Adolescent mental health is characterized by relatively high rates of psychiatric disorders and low levels of help-seeking behaviors. Existing mental health programs aimed at addressing these issues in adolescents have repeated inconsistent results. Such programs have generally been based on techniques derived from cognitive behavioral therapy, which may not be ideally suited to early intervention among adolescent samples. Positive psychology, which seeks to improve well-being rather than alleviate psychological symptoms, offers an alternative approach. A previous community study of adolescents found that informal engagement in an online positive psychology program for up to 6 weeks yielded significant improvements in both well-being and depression symptoms. However, this approach had not been trialed among adolescents in a structured format and within a school setting. This study examines the feasibility of an online school-based positive psychology program delivered in a structured format over a 6-week period utilizing a workbook to guide students through website content and interactive exercises. Students from four high schools were randomly allocated by classroom to either the positive psychology condition, "Bite Back", or the control condition. The Bite Back condition consisted of positive psychology exercises and information, while the control condition used a series of non-psychology entertainment websites. Both interventions were delivered online for 6 hours over a period of 4-6 weeks during class time. Symptom measures and measures of well-being/flourishing and life satisfaction were administered at baseline and post intervention. Data were analyzed using multilevel linear modeling. Both conditions demonstrated reductions in depression, stress, and total symptom scores without any significant differences between the two conditions. Both the Bite Back and control conditions also demonstrated significant improvements in life satisfaction scores post

  10. A Web-Based Adolescent Positive Psychology Program in Schools: Randomized Controlled Trial

    Science.gov (United States)

    Manicavasagar, Vijaya; Batterham, Philip J; Miller, Leonie M; Talbot, Elizabeth; Lum, Alistair

    2015-01-01

    Background Adolescent mental health is characterized by relatively high rates of psychiatric disorders and low levels of help-seeking behaviors. Existing mental health programs aimed at addressing these issues in adolescents have repeated inconsistent results. Such programs have generally been based on techniques derived from cognitive behavioral therapy, which may not be ideally suited to early intervention among adolescent samples. Positive psychology, which seeks to improve well-being rather than alleviate psychological symptoms, offers an alternative approach. A previous community study of adolescents found that informal engagement in an online positive psychology program for up to 6 weeks yielded significant improvements in both well-being and depression symptoms. However, this approach had not been trialed among adolescents in a structured format and within a school setting. Objective This study examines the feasibility of an online school-based positive psychology program delivered in a structured format over a 6-week period utilizing a workbook to guide students through website content and interactive exercises. Methods Students from four high schools were randomly allocated by classroom to either the positive psychology condition, "Bite Back", or the control condition. The Bite Back condition consisted of positive psychology exercises and information, while the control condition used a series of non-psychology entertainment websites. Both interventions were delivered online for 6 hours over a period of 4-6 weeks during class time. Symptom measures and measures of well-being/flourishing and life satisfaction were administered at baseline and post intervention. Results Data were analyzed using multilevel linear modeling. Both conditions demonstrated reductions in depression, stress, and total symptom scores without any significant differences between the two conditions. Both the Bite Back and control conditions also demonstrated significant improvements in

  11. Adjustable ECR Ion Source Control System: Ion Source Hydrogen Positive Project

    Science.gov (United States)

    Arredondo, I.; Eguiraun, M.; Jugo, J.; Piso, D.; del Campo, M.; Poggi, T.; Varnasseri, S.; Feuchtwanger, J.; Bilbao, J.; Gonzalez, X.; Harper, G.; Muguira, L.; Miracoli, R.; Corres, J.; Belver, D.; Echevarria, P.; Garmendia, N.; Gonzalez, P.; Etxebarria, V.

    2015-06-01

    ISHP (Ion Source Hydrogen Positive) project consists of a highly versatile ECR type ion source. It has been built for several purposes, on the one hand, to serve as a workbench to test accelerator related technologies and validate in-house made developments, at the first stages. On the other hand, to design an ion source valid as the first step in an actual LINAC. Since this paper is focused on the control system of ISHP, besides the ion source, all the hardware and its control architecture is presented. Nowadays the ion source is able to generate a pulse of positive ions of Hydrogen from 2 μs to a few ms range with a repetition rate ranging from 1 Hz to 50 Hz with a maximum of 45 mA of current. Furthermore, the first experiments with White Rabbit (WR) synchronization system are presented.

  12. Position-force control of mobile manipulator – nonadaptive and adaptive case

    Directory of Open Access Journals (Sweden)

    Kaczmarek Mirela

    2017-12-01

    Full Text Available This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

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

    Science.gov (United States)

    Liu, Dalong; Xu, Lijuan

    2018-01-01

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

  14. Nanobits: customizable scanning probe tips

    DEFF Research Database (Denmark)

    Kumar, Rajendra; Shaik, Hassan Uddin; Sardan Sukas, Özlem

    2009-01-01

    We present here a proof-of-principle study of scanning probe tips defined by planar nanolithography and integrated with AFM probes using nanomanipulation. The so-called 'nanobits' are 2-4 mu m long and 120-150 nm thin flakes of Si3N4 or SiO2, fabricated by electron beam lithography and standard...... or dislocation of the tips of the nanobit after several scans. This approach allows an unprecedented freedom in adapting the shape and size of scanning probe tips to the surface topology or to the specific application....... silicon processing. Using a microgripper they were detached from an array and fixed to a standard pyramidal AFM probe or alternatively inserted into a tipless cantilever equipped with a narrow slit. The nanobit-enhanced probes were used for imaging of deep trenches, without visible deformation, wear...

  15. Neural correlates of preparatory and regulatory control over positive and negative emotion.

    Science.gov (United States)

    Seo, Dongju; Olman, Cheryl A; Haut, Kristen M; Sinha, Rajita; MacDonald, Angus W; Patrick, Christopher J

    2014-04-01

    This study used functional magnetic resonance imaging to investigate brain activation during preparatory and regulatory control while participants (N = 24) were instructed either to simply view or decrease their emotional response to, pleasant, neutral or unpleasant pictures. A main effect of emotional valence on brain activity was found in the right precentral gyrus, with greater activation during positive than negative emotion regulation. A main effect of regulation phase was evident in the bilateral anterior prefrontal cortex (PFC), precuneus, posterior cingulate cortex, right putamen and temporal and occipital lobes, with greater activity in these regions during preparatory than regulatory control. A valence X regulation interaction was evident in regions of ventromedial PFC and anterior cingulate cortex, reflecting greater activation while regulating negative than positive emotion, but only during active emotion regulation (not preparation). Conjunction analyses revealed common brain regions involved in differing types of emotion regulation including selected areas of left lateral PFC, inferior parietal lobe, temporal lobe, right cerebellum and bilateral dorsomedial PFC. The right lateral PFC was additionally activated during the modulation of both positive and negative valence. Findings demonstrate significant modulation of brain activity during both preparation for, and active regulation of positive and negative emotional states.

  16. Zigbee networking technology and its application in Lamost optical fiber positioning and control system

    Science.gov (United States)

    Jin, Yi; Zhai, Chao; Gu, Yonggang; Zhou, Zengxiang; Gai, Xiaofeng

    2010-07-01

    4,000 fiber positioning units need to be positioned precisely in LAMOST(Large Sky Area Multi-object Optical Spectroscopic Telescope) optical fiber positioning & control system, and every fiber positioning unit needs two stepper motors for its driven, so 8,000 stepper motors need to be controlled in the entire system. Wireless communication mode is adopted to save the installing space on the back of the focal panel, and can save more than 95% external wires compared to the traditional cable control mode. This paper studies how to use the ZigBee technology to group these 8000 nodes, explores the pros and cons of star network and tree network in order to search the stars quickly and efficiently. ZigBee technology is a short distance, low-complexity, low power, low data rate, low-cost two-way wireless communication technology based on the IEEE 802.15.4 protocol. It based on standard Open Systems Interconnection (OSI): The 802.15.4 standard specifies the lower protocol layers-the physical layer (PHY), and the media access control (MAC). ZigBee Alliance defined on this basis, the rest layers such as the network layer and application layer, and is responsible for high-level applications, testing and marketing. The network layer used here, based on ad hoc network protocols, includes the following functions: construction and maintenance of the topological structure, nomenclature and associated businesses which involves addressing, routing and security and a self-organizing-self-maintenance functions which will minimize consumer spending and maintenance costs. In this paper, freescale's 802.15.4 protocol was used to configure the network layer. A star network and a tree network topology is realized, which can build network, maintenance network and create a routing function automatically. A concise tree network address allocate algorithm is present to assign the network ID automatically.

  17. Control Information and Data Processing of Vehicle based on Global Position System

    OpenAIRE

    Shupeng Zhao; Miao Tian; Shifang Zhang; Jiuxi Li

    2013-01-01

    A testing system based on Data Stream function of vehicle electronic control system was developed to test the city bus driving cycle. A mufti-function Vehicle Traveling Data Recorder based on GPS which can realize the vehicles positioning and navigating was investigated. The system included data acquisition module, display module, print module, GPS module, communication module and so on. This system adopts the FRAM memory as the storing equipment in which the automobile realized the real-time...

  18. An Angular Method with Position Control for Block Mesh Squareness Improvement

    Energy Technology Data Exchange (ETDEWEB)

    Yao, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Stillman, D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2017-09-19

    We optimize a target function de ned by angular properties with a position control term for a basic stencil with a block-structured mesh, to improve element squareness in 2D and 3D. Comparison with the condition number method shows that besides a similar mesh quality regarding orthogonality can be achieved as the former does, the new method converges faster and provides a more uniform global mesh spacing in our numerical tests.

  19. Tungsten carbide-cobalt as a nanoparticulate reference positive control in in vitro genotoxicity assays.

    Science.gov (United States)

    Moche, Hélène; Chevalier, Dany; Barois, Nicolas; Lorge, Elisabeth; Claude, Nancy; Nesslany, Fabrice

    2014-01-01

    With the increasing human exposure to nanoparticles (NP), the evaluation of their genotoxic potential is of significant importance. However, relevance for NP of the routinely used in vitro genotoxicity assays is often questioned, and a nanoparticulate reference positive control would therefore constitute an important step to a better testing of NP, ensuring that test systems are really appropriate. In this study, we investigated the possibility of using tungsten carbide-cobalt (WC-Co) NP as reference positive control in in vitro genotoxicity assays, including 2 regulatory assays, the mouse lymphoma assay and the micronucleus assay, and in the Comet assay, recommended for the toxicological evaluation of nanomedicines by the French Agency of Human Health Products (Afssaps). Through these assays, we were able to study different genetic endpoints in 2 cell types commonly used in regulatory genotoxicity assays: the L5178Y mouse lymphoma cell line and primary cultures of human lymphocytes. Our results showed that the use of WC-Co NP as positive control in in vitro genotoxicity assays was conceivable, but that different parameters have to be considered, such as cell type and treatment schedule. L5178Y mouse lymphoma cells did not provide satisfactory results in the 3 performed tests. However, human lymphocytes were more sensitive to genotoxic effects induced by WC-Co NP, particularly after a 24-h treatment in the in vitro micronucleus assay and after a 4-h treatment in the in vitro Comet assay. Under such conditions, WC-Co could be used as a nanoparticulate reference positive control in these assays.

  20. Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter

    Science.gov (United States)

    Kumar, Rumit

    The aim of this thesis is to present algorithms for autonomous control of tilt-rotor quadcopter UAV. In particular, this research work describes position, attitude and fault tolerant control in tilt-rotor quadcopter. Quadcopters are one of the most popular and reliable unmanned aerial systems because of the design simplicity, hovering capabilities and minimal operational cost. Numerous applications for quadcopters have been explored all over the world but very little work has been done to explore design enhancements and address the fault-tolerant capabilities of the quadcopters. The tilting rotor quadcopter is a structural advancement of traditional quadcopter and it provides additional actuated controls as the propeller motors are actuated for tilt which can be utilized to improve efficiency of the aerial vehicle during flight. The tilting rotor quadcopter design is accomplished by using an additional servo motor for each rotor that enables the rotor to tilt about the axis of the quadcopter arm. Tilting rotor quadcopter is a more agile version of conventional quadcopter and it is a fully actuated system. The tilt-rotor quadcopter is capable of following complex trajectories with ease. The control strategy in this work is to use the propeller tilts for position and orientation control during autonomous flight of the quadcopter. In conventional quadcopters, two propellers rotate in clockwise direction and other two propellers rotate in counter clockwise direction to cancel out the effective yawing moment of the system. The variation in rotational speeds of these four propellers is utilized for maneuvering. On the other hand, this work incorporates use of varying propeller rotational speeds along with tilting of the propellers for maneuvering during flight. The rotational motion of propellers work in sync with propeller tilts to control the position and orientation of the UAV during the flight. A PD flight controller is developed to achieve various modes of the