WorldWideScience

Sample records for tracking control system

  1. Evolution of the SOFIA tracking control system

    Science.gov (United States)

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

    2014-07-01

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

  2. Fuzzy logic control for camera tracking system

    Science.gov (United States)

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

    1992-01-01

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

  3. Tracking Control of Nonlinear Mechanical Systems

    NARCIS (Netherlands)

    Lefeber, A.A.J.

    2000-01-01

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

  4. Control system design for UAV trajectory tracking

    Science.gov (United States)

    Wang, Haitao; Gao, Jinyuan

    2006-11-01

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

  5. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

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

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

    International Nuclear Information System (INIS)

    Sun, Y.-J.

    2009-01-01

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

  7. Tracking Control for Switched Cascade Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Xiaoxiao Dong

    2015-01-01

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

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

    KAUST Repository

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

    2012-01-01

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

  9. An Approach of Tracking Control for Chaotic Systems

    Directory of Open Access Journals (Sweden)

    Jin Xing

    2016-01-01

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

  10. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    International Nuclear Information System (INIS)

    Gering, Stefan; Adamy, Jürgen

    2014-01-01

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

  11. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    Science.gov (United States)

    Gering, Stefan; Adamy, Jürgen

    2014-12-01

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

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

    KAUST Repository

    Huang, Bin-Juine

    2012-11-01

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

  13. Developing a multipurpose sun tracking system using fuzzy control

    Energy Technology Data Exchange (ETDEWEB)

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

    2005-05-01

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

  14. Two axes sun tracking system with PLC control

    International Nuclear Information System (INIS)

    Abdallah, Salah; Nijmeh, Salem

    2004-01-01

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

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

    African Journals Online (AJOL)

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

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

    Directory of Open Access Journals (Sweden)

    Mustafa Engin

    2013-01-01

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

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

    International Nuclear Information System (INIS)

    Zhang Hao; Ma Xikui; Li Ming; Zou Jianlong

    2005-01-01

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

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

    National Research Council Canada - National Science Library

    Tannenbaum, Allen

    2000-01-01

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

  19. Adaptive tracking control of nonholonomic systems: an example

    NARCIS (Netherlands)

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

    1999-01-01

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

  20. Optimal Vibration Control for Tracked Vehicle Suspension Systems

    Directory of Open Access Journals (Sweden)

    Yan-Jun Liang

    2013-01-01

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

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

    International Nuclear Information System (INIS)

    Fathabadi, Hassan

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    Li Chun-Lai; Zhao Yi-Bo

    2015-01-01

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

  3. Computer controlled scanning systems for quantitative track measurements

    International Nuclear Information System (INIS)

    Gold, R.; Roberts, J.H.; Preston, C.C.; Ruddy, F.H.

    1982-01-01

    The status of three computer cntrolled systems for quantitative track measurements is described. Two systems, an automated optical track scanner (AOTS) and an automated scanning electron microscope (ASEM) are used for scanning solid state track recorders (SSTR). The third system, the emulsion scanning processor (ESP), is an interactive system used to measure the length of proton tracks in nuclear research emulsions (NRE). Recent advances achieved with these systems are presented, with emphasis placed upon the current limitation of these systems for reactor neutron dosimetry

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

    DEFF Research Database (Denmark)

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

    2017-01-01

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

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

    Science.gov (United States)

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

    2005-05-01

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

  6. The Control System for the CMS Strip Tracking Detector

    CERN Document Server

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

    2008-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

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

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

    International Nuclear Information System (INIS)

    Peng, Y.-F.

    2009-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2016-10-01

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

  11. A development of radioactive material tracking and location control system

    International Nuclear Information System (INIS)

    Joo, Gwang Tae; Jung Seung Yong; Song, Jung Ho

    2005-01-01

    As the whole industry fields such as construction, chemistry, machine, medicine including nuclear-related field have extended the range of radioactive material uses, it is tendency that domestic uses of radioactive material have been increased in quantity and number. In addition, as the transportation, transfer and use of radioactive material have been frequent, its loss, robbery, and carelessness of handling may cause not only employees in charge but the public to worry about damage of explosion and put an obstacle to increase trust in nuclear-related industry. At present, though the transportation, use and storage of radioactive material conform to the institution and standard of the atomic energy law, if we tracking radioactive material in real time, we can take immediate actions to prevent its loss, robbery. As our research institute developed a terminal that control location and tracking real time location for gamma-ray projector used in transporting, transferring, and using nondestructive test, we take a good look at utilities by using GPS-Cell ID bases location control

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

    Directory of Open Access Journals (Sweden)

    Wei Sun

    2013-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-12-31

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-12-31

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

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

    Science.gov (United States)

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

    1982-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Chuanjing Hou

    2015-01-01

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

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

    OpenAIRE

    Hou, Chuanjing; Hu, Lisheng; Zhang, Yingwei

    2015-01-01

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2017-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Yao Zong Chen

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    Zaheer-uddin, M.; Tudoroiu, N.

    2004-01-01

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

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

    Science.gov (United States)

    Han, Seong-Ik; Lee, Jang-Myung

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Aryuanto Soetedjo

    2012-09-01

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

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

    Science.gov (United States)

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

    2017-10-17

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

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

    Science.gov (United States)

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

    2017-03-01

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

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Chen-Han Wu

    2011-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Ming-Tzu Ho

    2013-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Shinji Hara

    2007-01-01

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

  10. Robust tracking control for linear vibrating mechanical systems

    Directory of Open Access Journals (Sweden)

    Francisco Beltrán-Carbajal

    2015-01-01

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

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

    Science.gov (United States)

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

    2005-08-01

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

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

    Science.gov (United States)

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

    2010-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Sabah Miqoi

    2017-03-01

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

  14. Laser system for identification, tracking, and control of flying insects

    Science.gov (United States)

    Flying insects are common vectors for transmission of pathogens and inflict significant harm on humans in large parts of the developing world. Besides the direct impact to humans, these pathogens also cause harm to crops and result in agricultural losses. Here, we present a laser-based system that c...

  15. Solar tracking system

    Science.gov (United States)

    Okandan, Murat; Nielson, Gregory N.

    2016-07-12

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

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

    Science.gov (United States)

    Chak, Yew-Chung; Varatharajoo, Renuganth

    2016-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Ssennoga Twaha

    2017-12-01

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

  18. 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.

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

    Directory of Open Access Journals (Sweden)

    Cong-Hui Huang

    2016-05-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-02-01

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

  1. Reference-tracking feedforward control design for linear dynamical systems through signal decomposition

    NARCIS (Netherlands)

    Kasemsinsup, Y.; Romagnoli, R.; Heertjes, M.F.; Weiland, S.; Butler, H.

    2017-01-01

    In this work, we study a novel approach towards the reference-tracking feedforward control design for linear dynamical systems. By utilizing the superposition property and exploiting signal decomposition together with a quadratic optimization process, we obtain a feedforward design procedure for

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

    OpenAIRE

    Hongchuan Xu; Jianxing Ren; Rui Zhu; Zhiwei Chen

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    ZeFang He

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yeou-Jiunn Chen

    2016-09-01

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

  5. Controlled ion track etching

    Science.gov (United States)

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

    2006-03-01

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

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

    Science.gov (United States)

    Dong, Lijing; Li, Jing; Liu, Qin

    2017-11-01

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

  7. Renewable Energy Tracking Systems

    Science.gov (United States)

    Renewable energy generation ownership can be accounted through tracking systems. Tracking systems are highly automated, contain specific information about each MWh, and are accessible over the internet to market participants.

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

    Science.gov (United States)

    Chen, Wentao; Zhang, Weidong

    2009-10-01

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

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

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  10. Adaptive Backstepping-Based Neural Tracking Control for MIMO Nonlinear Switched Systems Subject to Input Delays.

    Science.gov (United States)

    Niu, Ben; Li, Lu

    2018-06-01

    This brief proposes a new neural-network (NN)-based adaptive output tracking control scheme for a class of disturbed multiple-input multiple-output uncertain nonlinear switched systems with input delays. By combining the universal approximation ability of radial basis function NNs and adaptive backstepping recursive design with an improved multiple Lyapunov function (MLF) scheme, a novel adaptive neural output tracking controller design method is presented for the switched system. The feature of the developed design is that different coordinate transformations are adopted to overcome the conservativeness caused by adopting a common coordinate transformation for all subsystems. It is shown that all the variables of the resulting closed-loop system are semiglobally uniformly ultimately bounded under a class of switching signals in the presence of MLF and that the system output can follow the desired reference signal. To demonstrate the practicability of the obtained result, an adaptive neural output tracking controller is designed for a mass-spring-damper system.

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

    Directory of Open Access Journals (Sweden)

    A. S. Abufanas

    2017-01-01

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

  12. Second sound tracking system

    Science.gov (United States)

    Yang, Jihee; Ihas, Gary G.; Ekdahl, Dan

    2017-10-01

    It is common that a physical system resonates at a particular frequency, whose frequency depends on physical parameters which may change in time. Often, one would like to automatically track this signal as the frequency changes, measuring, for example, its amplitude. In scientific research, one would also like to utilize the standard methods, such as lock-in amplifiers, to improve the signal to noise ratio. We present a complete He ii second sound system that uses positive feedback to generate a sinusoidal signal of constant amplitude via automatic gain control. This signal is used to produce temperature/entropy waves (second sound) in superfluid helium-4 (He ii). A lock-in amplifier limits the oscillation to a desirable frequency and demodulates the received sound signal. Using this tracking system, a second sound signal probed turbulent decay in He ii. We present results showing that the tracking system is more reliable than those of a conventional fixed frequency method; there is less correlation with temperature (frequency) fluctuation when the tracking system is used.

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

    Science.gov (United States)

    Pan, Huihui; Jing, Xingjian; Sun, Weichao

    2017-05-01

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

  14. Learning-Based Adaptive Optimal Tracking Control of Strict-Feedback Nonlinear Systems.

    Science.gov (United States)

    Gao, Weinan; Jiang, Zhong-Ping; Weinan Gao; Zhong-Ping Jiang; Gao, Weinan; Jiang, Zhong-Ping

    2018-06-01

    This paper proposes a novel data-driven control approach to address the problem of adaptive optimal tracking for a class of nonlinear systems taking the strict-feedback form. Adaptive dynamic programming (ADP) and nonlinear output regulation theories are integrated for the first time to compute an adaptive near-optimal tracker without any a priori knowledge of the system dynamics. Fundamentally different from adaptive optimal stabilization problems, the solution to a Hamilton-Jacobi-Bellman (HJB) equation, not necessarily a positive definite function, cannot be approximated through the existing iterative methods. This paper proposes a novel policy iteration technique for solving positive semidefinite HJB equations with rigorous convergence analysis. A two-phase data-driven learning method is developed and implemented online by ADP. The efficacy of the proposed adaptive optimal tracking control methodology is demonstrated via a Van der Pol oscillator with time-varying exogenous signals.

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

    Directory of Open Access Journals (Sweden)

    Fernando Gómez-Salas

    2015-01-01

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

  16. Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

    Science.gov (United States)

    Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

    2017-12-01

    In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-10-15

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

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-09-15

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

  20. Sliding-Mode Controller for Maximum Power Point Tracking in Grid-Connected Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Paula Andrea Ortiz Valencia

    2015-11-01

    Full Text Available The maximum power point tracking (MPPT of photovoltaic systems must be as fast and accurate as possible to increase the power production, which eventually increases the PV system profitability. This paper proposes and mathematically analyses a sliding-mode controller to provide a fast and accurate maximum power point tracking in grid-connected photovoltaic systems using a single control stage. This approach avoids the circular dependency in the design of classical cascade controllers used to optimize the photovoltaic system operation, and at the same time, it reduces the number of controllers and avoids the use of linearized models to provide global stability in all the operation range. Such a compact solution also reduces the system cost and implementation complexity. To ensure the stability of the proposed solution, detailed mathematical analyses are performed to demonstrate the fulfillment of the transversality, reachability and equivalent control conditions. Finally, the performance of the proposed solution is validated using detailed simulations, executed in the power electronics simulator PSIM, accounting for both environmental and load perturbations.

  1. Output Tracking Control of Switched Hybrid Systems: A Fliess Functional Expansion Approach

    Directory of Open Access Journals (Sweden)

    Fenghua He

    2013-01-01

    Full Text Available The output tracking problem is investigated for a nonlinear affine system with multiple modes of continuous control inputs. We convert the family of nonlinear affine systems under consideration into a switched hybrid system by introducing a multiple-valued logic variable. The Fliess functional expansion is adopted to express the input and output relationship of the switched hybrid system. The optimal switching control is determined for a multiple-step output tracking performance index. The proposed approach is applied to a multitarget tracking problem for a flight vehicle aiming for one real target with several decoys flying around it in the terminal guidance course. These decoys appear as apparent targets and have to be distinguished with the approaching of the flight vehicle. The guidance problem of one flight vehicle versus multiple apparent targets should be considered if no large miss distance might be caused due to the limitation of the flight vehicle maneuverability. The target orientation at each time interval is determined. Simulation results show the effectiveness of the proposed method.

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

    International Nuclear Information System (INIS)

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

    2010-01-01

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

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

    International Nuclear Information System (INIS)

    Shi Xiaoping; Xu Tianshu

    2001-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jurkiewicz Andrzej

    2017-09-01

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

  5. Moscow University race-track microtron control system: ideas and development

    International Nuclear Information System (INIS)

    Chepurnov, A.S.; Gribov, I.V.; Morozov, S.Yu.; Shumakov, A.V.; Zinoviev, S.V.

    1992-01-01

    Moscow University race-track microtron (RTM) control system is a star-shape network of LSI-11 compatible microcomputers. Each of them is connected with RTM systems via CAMAC; optical fiber coupling is also used. Control system software is designed on Pascal-1, supplemented with real time modules and Macro. A unified real time technique and reenterable data acquisition drivers allow to simplify development of control drivers and algorithms. Among the latter three main types are used: DDC methods, those, based on optimization technique and algorithms, applying models of microtron's systems. Man-machine interface is based on concept of the 'world of accelerator'. It supports means to design, within hardware possibilities, various computer images of the RTM. (author)

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

    Science.gov (United States)

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

    2014-06-01

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

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

    Science.gov (United States)

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

    2012-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Ahmed M. Othman

    2012-12-01

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

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

    Directory of Open Access Journals (Sweden)

    R. Ramaprabha

    2015-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2012-05-01

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

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

    Science.gov (United States)

    Zhou, Danfeng; Li, Jie; Zhang, Kun

    2014-09-01

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

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

    Science.gov (United States)

    Wang, Rui

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

  13. DCS Budget Tracking System

    Data.gov (United States)

    Social Security Administration — DCS Budget Tracking System database contains budget information for the Information Technology budget and the 'Other Objects' budget. This data allows for monitoring...

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

    Directory of Open Access Journals (Sweden)

    Zhao Yan

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Subiyanto

    2013-01-01

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

  16. Globally Stable Adaptive Backstepping Neural Network Control for Uncertain Strict-Feedback Systems With Tracking Accuracy Known a Priori.

    Science.gov (United States)

    Chen, Weisheng; Ge, Shuzhi Sam; Wu, Jian; Gong, Maoguo

    2015-09-01

    This paper addresses the problem of globally stable direct adaptive backstepping neural network (NN) tracking control design for a class of uncertain strict-feedback systems under the assumption that the accuracy of the ultimate tracking error is given a priori. In contrast to the classical adaptive backstepping NN control schemes, this paper analyzes the convergence of the tracking error using Barbalat's Lemma via some nonnegative functions rather than the positive-definite Lyapunov functions. Thus, the accuracy of the ultimate tracking error can be determined and adjusted accurately a priori, and the closed-loop system is guaranteed to be globally uniformly ultimately bounded. The main technical novelty is to construct three new n th-order continuously differentiable functions, which are used to design the control law, the virtual control variables, and the adaptive laws. Finally, two simulation examples are given to illustrate the effectiveness and advantages of the proposed control method.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-11-15

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

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

    Science.gov (United States)

    Korayem, M H; Nekoo, S R

    2015-07-01

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

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

    Science.gov (United States)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Jian Hu

    2016-05-01

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

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

    Science.gov (United States)

    Madyastha, Venkatesh Kattigari

    2005-08-01

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

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

    Directory of Open Access Journals (Sweden)

    J. Humberto Pérez-Cruz

    2012-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2005-07-01

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

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

    Science.gov (United States)

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

    2017-07-01

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

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

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

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  7. Function integrated track system

    OpenAIRE

    Hohnecker, Eberhard

    2010-01-01

    The paper discusses a function integrated track system that focuses on the reduction of acoustic emissions from railway lines. It is shown that the combination of an embedded rail system (ERS), a sound absorbing track surface, and an integrated mini sound barrier has significant acoustic advantages compared to a standard ballast superstructure. The acoustic advantages of an embedded rail system are particularly pronounced in the case of railway bridges. Finally, it is shown that a...

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

    Directory of Open Access Journals (Sweden)

    Xuebai Zhang

    2017-01-01

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

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

    Science.gov (United States)

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

    2017-01-01

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

  10. Evaluation of a proper controller performance for maximum-power point tracking of a stand-alone PV system

    Energy Technology Data Exchange (ETDEWEB)

    Nafeh, A.E.-S.A.; Fahmy, F.H. [Electronics Research Institute, Cairo (Egypt); El-Zahab, E.M.A. [Cairo University, Giza (Egypt). Faculty of Engineering

    2003-02-01

    In this paper the implementation of a suggested stand-alone PV system, for maximum-power point tracking (MPPT), is carried out. Also, this paper presents a comparative study, through experimental work, between the conventional PI controller and the fuzzy logic controller (FLC) under different atmospheric conditions. The implemented system with both the PI controller and the FLC gives a good maximum-power operation of the PV array, but the tracking capability for different optimum operating points is better and faster for the case of using the FLC compared to the case of using the PI controller. (author)

  11. Implementation of FPGA-Based Charge Control for a Self-Sufficient Solar Tracking Power Supply System

    Directory of Open Access Journals (Sweden)

    Jui-Ho Chen

    2016-02-01

    Full Text Available This study used a field-programmable gate array (FPGA with a Xilinx Spartan-3 FPGA to implement Reflex charge control in a dual-axis solar tracking system with maximum power point tracking (MPPT. The chaos embedded particle swarm optimization method was used to search for the optimum gain constants of the PI controller and the Reflex charging frequency. This scheme not only increases the output power of solar panels but also has a significant effect on switching loss and oscillation of solar charging. The experiment results showed that the proposed method can also significantly improve temperature rise, and that charging efficiency is also better than it is in a traditional charge mode. The results also showed that charging power was enough for solar tracking and the requirements of the charging system. The most significant contribution of this paper is that the scheme can be applied to any active solar tracking and charging system.

  12. Procurement Tracking System (PTS)

    Data.gov (United States)

    Office of Personnel Management — The Procurement Tracking System (PTS) is used solely by the procurement staff of the Office of the Inspector General (OIG) at the U.S. Office of Personnel Management...

  13. Matter Tracking Information System -

    Data.gov (United States)

    Department of Transportation — The Matter Tracking Information System (MTIS) principle function is to streamline and integrate the workload and work activity generated or addressed by our 300 plus...

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

    Directory of Open Access Journals (Sweden)

    Carlos Robles Algarín

    2018-01-01

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

  15. Augmented Nonlinear Controller for Maximum Power-Point Tracking with Artificial Neural Network in Grid-Connected Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Suliang Ma

    2016-11-01

    Full Text Available Photovoltaic (PV systems have non-linear characteristics that generate maximum power at one particular operating point. Environmental factors such as irradiance and temperature variations greatly affect the maximum power point (MPP. Diverse offline and online techniques have been introduced for tracking the MPP. Here, to track the MPP, an augmented-state feedback linearized (AFL non-linear controller combined with an artificial neural network (ANN is proposed. This approach linearizes the non-linear characteristics in PV systems and DC/DC converters, for tracking and optimizing the PV system operation. It also reduces the dependency of the designed controller on linearized models, to provide global stability. A complete model of the PV system is simulated. The existing maximum power-point tracking (MPPT and DC/DC boost-converter controller techniques are compared with the proposed ANN method. Two case studies, which simulate realistic circumstances, are presented to demonstrate the effectiveness and superiority of the proposed method. The AFL with ANN controller can provide good dynamic operation, faster convergence speed, and fewer operating-point oscillations around the MPP. It also tracks the global maxima under different conditions, especially irradiance-mutating situations, more effectively than the conventional methods. Detailed mathematical models and a control approach for a three-phase grid-connected intelligent hybrid system are proposed using MATLAB/Simulink.

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

    Science.gov (United States)

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

    2016-10-01

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

  17. Development of intelligent MPPT (maximum power point tracking) control for a grid-connected hybrid power generation system

    International Nuclear Information System (INIS)

    Hong, Chih-Ming; Ou, Ting-Chia; Lu, Kai-Hung

    2013-01-01

    A hybrid power control system is proposed in the paper, consisting of solar power, wind power, and a diesel-engine. To achieve a fast and stable response for the real power control, an intelligent controller was proposed, which consists of the Wilcoxon (radial basis function network) RBFN and the improved (Elman neural network) ENN for (maximum power point tracking) MPPT. The pitch angle control of wind power uses improved ENN controller, and the output is fed to the wind turbine to achieve the MPPT. The solar array is integrated with an RBFN control algorithm to track the maximum power. MATLAB (MATrix LABoratory)/Simulink was used to build the dynamic model and simulate the solar and diesel-wind hybrid power system. - Highlights: ► To achieve a fast and stable response for the real power control. ► The pitch control of wind power uses improved ENN (Elman neural network) controller to achieve the MPPT (maximum power point tracking). ► The RBFN (radial basis function network) can quickly and accurately track the maximum power output for PV (photovoltaic) array. ► MATLAB was used to build the dynamic model and simulate the hybrid power system. ► This method can reach the desired performance even under different load conditions

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

    Science.gov (United States)

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

    2017-11-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-07-09

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

  20. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    Science.gov (United States)

    Kim, Gi-Woo; Wang, K. W.

    2009-08-01

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

  1. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    International Nuclear Information System (INIS)

    Kim, Gi-Woo; Wang, K W

    2009-01-01

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

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

    Directory of Open Access Journals (Sweden)

    Huanqing Wang

    2014-01-01

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

  3. Scheduled power tracking control of the wind-storage hybrid system based on the reinforcement learning theory

    Science.gov (United States)

    Li, Ze

    2017-09-01

    In allusion to the intermittency and uncertainty of the wind electricity, energy storage and wind generator are combined into a hybrid system to improve the controllability of the output power. A scheduled power tracking control method is proposed based on the reinforcement learning theory and Q-learning algorithm. In this method, the state space of the environment is formed with two key factors, i.e. the state of charge of the energy storage and the difference value between the actual wind power and scheduled power, the feasible action is the output power of the energy storage, and the corresponding immediate rewarding function is designed to reflect the rationality of the control action. By interacting with the environment and learning from the immediate reward, the optimal control strategy is gradually formed. After that, it could be applied to the scheduled power tracking control of the hybrid system. Finally, the rationality and validity of the method are verified through simulation examples.

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

    DEFF Research Database (Denmark)

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

    2018-01-01

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

  5. Trajectory tracking control for underactuated stratospheric airship

    Science.gov (United States)

    Zheng, Zewei; Huo, Wei; Wu, Zhe

    2012-10-01

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

  6. Patient tracking system

    International Nuclear Information System (INIS)

    Chapman, L.J.; Hakimi, R.; Salehi, D.; McCord, T.; Zionczkowski, B.; Churchill, R.

    1987-01-01

    This exhibit describes computer applications in monitoring patient tracking in radiology and the collection of management information (technologist productivity, patient waiting times, repeat rate, room utilization) and quality assurance information. An analysis of the reports that assist in determining staffing levels, training needs, and patient scheduling is presented. The system is designed to require minimal information input and maximal information output to assist radiologists, quality assurance coordinators, and management personnel in departmental operations

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

    Directory of Open Access Journals (Sweden)

    Paula Andrea Ortiz-Valencia

    2015-01-01

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

  8. Singularity-Free Neural Control for the Exponential Trajectory Tracking in Multiple-Input Uncertain Systems with Unknown Deadzone Nonlinearities

    Directory of Open Access Journals (Sweden)

    J. Humberto Pérez-Cruz

    2014-01-01

    Full Text Available The trajectory tracking for a class of uncertain nonlinear systems in which the number of possible states is equal to the number of inputs and each input is preceded by an unknown symmetric deadzone is considered. The unknown dynamics is identified by means of a continuous time recurrent neural network in which the control singularity is conveniently avoided by guaranteeing the invertibility of the coupling matrix. Given this neural network-based mathematical model of the uncertain system, a singularity-free feedback linearization control law is developed in order to compel the system state to follow a reference trajectory. By means of Lyapunov-like analysis, the exponential convergence of the tracking error to a bounded zone can be proven. Likewise, the boundedness of all closed-loop signals can be guaranteed.

  9. Output Tracking for Systems with Non-Hyperbolic and Near Non-Hyperbolic Internal Dynamics: Helicopter Hover Control

    Science.gov (United States)

    Devasia, Santosh

    1996-01-01

    A technique to achieve output tracking for nonminimum phase linear systems with non-hyperbolic and near non-hyperbolic internal dynamics is presented. This approach integrates stable inversion techniques, that achieve exact-tracking, with approximation techniques, that modify the internal dynamics to achieve desirable performance. Such modification of the internal dynamics is used (1) to remove non-hyperbolicity which an obstruction to applying stable inversion techniques and (2) to reduce large pre-actuation time needed to apply stable inversion for near non-hyperbolic cases. The method is applied to an example helicopter hover control problem with near non-hyperbolic internal dynamic for illustrating the trade-off between exact tracking and reduction of pre-actuation time.

  10. A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

    Directory of Open Access Journals (Sweden)

    Shousong Han

    2017-01-01

    Full Text Available The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid and self-adaptive control gain (cv under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive, and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.

  11. Pennsylvania Source Term Tracking System

    International Nuclear Information System (INIS)

    1992-08-01

    The Pennsylvania Source Term Tracking System tabulates surveys received from radioactive waste generators in the Commonwealth of radioactive waste is collected each quarter from generators using the Low-Level Radioactive Waste Management Quarterly Report Form (hereafter called the survey) and then entered into the tracking system data base. This personal computer-based tracking system can generate 12 types of tracking reports. The first four sections of this reference manual supply complete instructions for installing and setting up the tracking system on a PC. Section 5 presents instructions for entering quarterly survey data, and Section 6 discusses generating reports. The appendix includes samples of each report

  12. Adaptive NN tracking control of uncertain nonlinear discrete-time systems with nonaffine dead-zone input.

    Science.gov (United States)

    Liu, Yan-Jun; Tong, Shaocheng

    2015-03-01

    In the paper, an adaptive tracking control design is studied for a class of nonlinear discrete-time systems with dead-zone input. The considered systems are of the nonaffine pure-feedback form and the dead-zone input appears nonlinearly in the systems. The contributions of the paper are that: 1) it is for the first time to investigate the control problem for this class of discrete-time systems with dead-zone; 2) there are major difficulties for stabilizing such systems and in order to overcome the difficulties, the systems are transformed into an n-step-ahead predictor but nonaffine function is still existent; and 3) an adaptive compensative term is constructed to compensate for the parameters of the dead-zone. The neural networks are used to approximate the unknown functions in the transformed systems. Based on the Lyapunov theory, it is proven that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero. Two simulation examples are provided to verify the effectiveness of the control approach in the paper.

  13. Tracking the maximum efficiency point for the FC system based on extremum seeking scheme to control the air flow

    International Nuclear Information System (INIS)

    Bizon, Nicu

    2014-01-01

    Highlights: • The Maximum Efficiency Point (MEP) is tracked based on air flow rate. • The proposed Extremum Seeking (ES) control assures high performances. • About 10 kW/s search speed and 99.99% stationary accuracy can be obtained. • The energy efficiency increases with 3–12%, according to the power losses. • The control strategy is robust based on self-optimizing ES scheme proposed. - Abstract: An advanced control of the air compressor for the Proton Exchange Membrane Fuel Cell (PEMFC) system is proposed in this paper based on Extremum Seeking (ES) control scheme. The FC net power is mainly depended on the air and hydrogen flow rate and pressure, and heat and water management. This paper proposes to compute the optimal value for the air flow rate based on the advanced ES control scheme in order to maximize the FC net power. In this way, the Maximum Efficiency Point (MEP) will be tracked in real time, with about 10 kW/s search speed and a stationary accuracy of 0.99. Thus, energy efficiency will be close to the maximum value that can be obtained for a given PEMFC stack and compressor group under dynamic load. It is shown that the MEP tracking allows an increasing of the FC net power with 3–12%, depending on the percentage of the FC power supplied to the compressor and the level of the load power. Simulations shows that the performances mentioned above are effective

  14. Reasonable Accommodation Information Tracking System

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Reasonable Accommodation Information Tracking System (RAITS) is a case management system that allows the National Reasonable Accommodation Coordinator (NRAC) and...

  15. A Study of a Two Stage Maximum Power Point Tracking Control of a Photovoltaic System under Partially Shaded Insolation Conditions

    Science.gov (United States)

    Kobayashi, Kenji; Takano, Ichiro; Sawada, Yoshio

    A photovoltaic array shows relatively low output power density, and has a greatly drooping Current-Voltage (I-V) characteristic. Therefore, Maximum Power Point Tracking (MPPT) control is used to maximize the output power of the array. Many papers have been reported in relation to MPPT. However, the Current-Power (I-P) curve sometimes shows multi-local maximum points mode under non-uniform insolation conditions. The operating point of the PV system tends to converge to a local maximum output point which is not the real maximal output point on the I-P curve. Some papers have been also reported, trying to avoid this difficulty. However most of those control systems become rather complicated. Then, the two stage MPPT control method is proposed in this paper to realize a relatively simple control system which can track the real maximum power point even under non-uniform insolation conditions. The feasibility of this control concept is confirmed for steady insolation as well as for rapidly changing insolation by simulation study using software PSIM and LabVIEW. In addition, simulated experiment confirms fundament al operation of the two stage MPPT control.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-02-15

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

  17. Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures.

    Science.gov (United States)

    Bounemeur, Abdelhamid; Chemachema, Mohamed; Essounbouli, Najib

    2018-05-10

    In this paper, an active fuzzy fault tolerant tracking control (AFFTTC) scheme is developed for a class of multi-input multi-output (MIMO) unknown nonlinear systems in the presence of unknown actuator faults, sensor failures and external disturbance. The developed control scheme deals with four kinds of faults for both sensors and actuators. The bias, drift, and loss of accuracy additive faults are considered along with the loss of effectiveness multiplicative fault. A fuzzy adaptive controller based on back-stepping design is developed to deal with actuator failures and unknown system dynamics. However, an additional robust control term is added to deal with sensor faults, approximation errors, and external disturbances. Lyapunov theory is used to prove the stability of the closed loop system. Numerical simulations on a quadrotor are presented to show the effectiveness of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Solar tracking system

    Science.gov (United States)

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

    1981-01-01

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

  19. Discrete Model Predictive Control-Based Maximum Power Point Tracking for PV Systems: Overview and Evaluation

    DEFF Research Database (Denmark)

    Lashab, Abderezak; Sera, Dezso; Guerrero, Josep M.

    2018-01-01

    The main objective of this work is to provide an overview and evaluation of discrete model predictive controlbased maximum power point tracking (MPPT) for PV systems. A large number of MPC based MPPT methods have been recently introduced in the literature with very promising performance, however......, an in-depth investigation and comparison of these methods have not been carried out yet. Therefore, this paper has set out to provide an in-depth analysis and evaluation of MPC based MPPT methods applied to various common power converter topologies. The performance of MPC based MPPT is directly linked...... with the converter topology, and it is also affected by the accurate determination of the converter parameters, sensitivity to converter parameter variations is also investigated. The static and dynamic performance of the trackers are assessed according to the EN 50530 standard, using detailed simulation models...

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

    Science.gov (United States)

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

    2018-06-01

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

  1. A study of a two stage maximum power point tracking control of a photovoltaic system under partially shaded insolation conditions

    Energy Technology Data Exchange (ETDEWEB)

    Kobayashi, Kenji; Takano, Ichiro; Sawada, Yoshio [Kogakuin University, Tokyo 163-8677 (Japan)

    2006-11-23

    A photovoltaic (PV) array shows relatively low output power density, and has a greatly drooping current-voltage (I-V) characteristic. Therefore, maximum power point tracking (MPPT) control is used to maximize the output power of the PV array. Many papers have been reported in relation to MPPT. However, the current-power (I-P) curve sometimes shows multi-local maximum point mode under non-uniform insolation conditions. The operating point of the PV system tends to converge to a local maximum output point which is not the real maximal output point on the I-P curve. Some papers have been also reported, trying to avoid this difficulty. However, most of those control systems become rather complicated. Then, the two stage MPPT control method is proposed in this paper to realize a relatively simple control system which can track the real maximum power point even under non-uniform insolation conditions. The feasibility of this control concept is confirmed for steady insolation as well as for rapidly changing insolation by simulation study using software PSIM and LabVIEW. (author)

  2. Minimal-Approximation-Based Distributed Consensus Tracking of a Class of Uncertain Nonlinear Multiagent Systems With Unknown Control Directions.

    Science.gov (United States)

    Choi, Yun Ho; Yoo, Sung Jin

    2017-03-28

    A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.

  3. A Droop Line Tracking Control for Multi-terminal VSC-HVDC Transmission System

    DEFF Research Database (Denmark)

    Irnawan, Roni; Silva, Filipe Miguel Faria da; Bak, Claus Leth

    2018-01-01

    Generally, a voltage-sourced converter (VSC) within a multi-terminal HVDC (MTDC) system can be operated either in constant DC voltage, constant flow (AC active power or DC current) or DC voltage droop control. These control modes can be easily represented as the droop characteristic line with dif......Generally, a voltage-sourced converter (VSC) within a multi-terminal HVDC (MTDC) system can be operated either in constant DC voltage, constant flow (AC active power or DC current) or DC voltage droop control. These control modes can be easily represented as the droop characteristic line...

  4. Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs.

    Science.gov (United States)

    Zhong, Zhixiong; Zhu, Yanzheng; Ahn, Choon Ki

    2018-03-20

    In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik

    1997-01-01

    The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

  6. Underactuated ship tracking control : theory and experiments

    NARCIS (Netherlands)

    Pettersen, K.Y.; Nijmeijer, H.

    2001-01-01

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

  7. Dynamic optimization approach for integrated supplier selection and tracking control of single product inventory system with product discount

    Science.gov (United States)

    Sutrisno; Widowati; Heru Tjahjana, R.

    2017-01-01

    In this paper, we propose a mathematical model in the form of dynamic/multi-stage optimization to solve an integrated supplier selection problem and tracking control problem of single product inventory system with product discount. The product discount will be stated as a piece-wise linear function. We use dynamic programming to solve this proposed optimization to determine the optimal supplier and the optimal product volume that will be purchased from the optimal supplier for each time period so that the inventory level tracks a reference trajectory given by decision maker with minimal total cost. We give a numerical experiment to evaluate the proposed model. From the result, the optimal supplier was determined for each time period and the inventory level follows the given reference well.

  8. Tracking Controller for Intrinsic Output Saturated Systems in Presence of Amplitude and Rate Input Saturations

    DEFF Research Database (Denmark)

    Chater, E.; Giri, F.; Guerrero, Josep M.

    2014-01-01

    We consider the problem of controlling plants that are subject to multiple saturation constraints. Especially, we are interested in linear systems whose input is subject to amplitude and rate constraints of saturation type. Furthermore, the considered systems output is also subject to an intrinsi...

  9. Official Union Time Tracking System

    Data.gov (United States)

    Social Security Administration — Official Union Time Tracking System captures the reporting and accounting of the representational activity for all American Federation of Government Employees (AFGE)...

  10. MODEL PREDICTIVE CONTROL FOR PHOTOVOLTAIC STATION MAXIMUM POWER POINT TRACKING SYSTEM

    Directory of Open Access Journals (Sweden)

    I. Elzein

    2015-01-01

    Full Text Available The purpose of this paper is to present an alternative maximum power point tracking, MPPT, algorithm for a photovoltaic module, PVM, to produce the maximum power, Pmax, using the optimal duty ratio, D, for different types of converters and load matching.We present a state-based approach to the design of the maximum power point tracker for a stand-alone photovoltaic power generation system. The system under consideration consists of a solar array with nonlinear time-varying characteristics, a step-up converter with appropriate filter.The proposed algorithm has the advantages of maximizing the efficiency of the power utilization, can be integrated to other MPPT algorithms without affecting the PVM performance, is excellent for Real-Time applications and is a robust analytical method, different from the traditional MPPT algorithms which are more based on trial and error, or comparisons between present and past states. The procedure to calculate the optimal duty ratio for a buck, boost and buck-boost converters, to transfer the maximum power from a PVM to a load, is presented in the paper. Additionally, the existence and uniqueness of optimal internal impedance, to transfer the maximum power from a photovoltaic module using load matching, is proved.

  11. GA-optimized feedforward-PID tracking control for a rugged electrohydraulic system design.

    Science.gov (United States)

    Sarkar, B K; Mandal, P; Saha, R; Mookherjee, S; Sanyal, D

    2013-11-01

    Rugged electrohydraulic systems are preferred for remote and harsh applications. Despite the low bandwidth, large deadband and flow nonlinearities in proportional valves valve and highly nonlinear friction in industry-grade cylinders that comprise rugged systems, their maintenance are much easier than very sophisticated and delicate servocontrol and servocylinder systems. With the target of making the easily maintainable system to perform comparably to a servosystem, a feedforward control has been designed here for compensating the nonlinearities. A PID feedback of the piston displacement has been employed in tandem for absorbing the unmodeled effects. All the controller parameters have been optimized by a real-coded genetic algorithm. The agreement between the achieved real-time responses for step and sinusoidal demands with those achieved by modern servosystems clearly establishes the acceptability of the controller design. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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

    National Research Council Canada - National Science Library

    Noble, Louis A

    2006-01-01

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

  13. Sliding Mode Extremum Seeking Control Scheme Based on PSO for Maximum Power Point Tracking in Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Her-Terng Yau

    2013-01-01

    Full Text Available An extremum seeking control (ESC scheme is proposed for maximum power point tracking (MPPT in photovoltaic power generation systems. The robustness of the proposed scheme toward irradiance changes is enhanced by implementing the ESC scheme using a sliding mode control (SMC law. In the proposed approach, the chattering phenomenon caused by high frequency switching is suppressed by means of a sliding layer concept. Moreover, in implementing the proposed controller, the optimal value of the gain constant is determined using a particle swarm optimization (PSO algorithm. The experimental and simulation results show that the proposed PSO-based sliding mode ESC (SMESC control scheme yields a better transient response, steady-state stability, and robustness than traditional MPPT schemes based on gradient detection methods.

  14. Adaptive Fault-Tolerant Tracking Control of Nonaffine Nonlinear Systems with Actuator Failure

    Directory of Open Access Journals (Sweden)

    Hongcheng Zhou

    2014-01-01

    Full Text Available This paper proposes an adaptive fault-tolerant control scheme for nonaffine nonlinear systems. A model approximation method which is a solution that bridges the gap between affine and nonaffine control systems is developed firstly. A joint estimation approach is based on unscented Kalman filter, in which both failure parameters and states are simultaneously estimated by means of the argument state vector composed of the unknown faults and states. Then, stability analysis is given for the closed-loop system. Finally, the proposed approach is verified using a three-degree-of-freedom simulation of a typical fighter aircraft and the significantly improved system response demonstrates the practical potential of the theoretic results obtained.

  15. Adaptive Neural Tracking Control for Discrete-Time Switched Nonlinear Systems with Dead Zone Inputs

    Directory of Open Access Journals (Sweden)

    Jidong Wang

    2017-01-01

    Full Text Available In this paper, the adaptive neural controllers of subsystems are proposed for a class of discrete-time switched nonlinear systems with dead zone inputs under arbitrary switching signals. Due to the complicated framework of the discrete-time switched nonlinear systems and the existence of the dead zone, it brings about difficulties for controlling such a class of systems. In addition, the radial basis function neural networks are employed to approximate the unknown terms of each subsystem. Switched update laws are designed while the parameter estimation is invariable until its corresponding subsystem is active. Then, the closed-loop system is stable and all the signals are bounded. Finally, to illustrate the effectiveness of the proposed method, an example is employed.

  16. Grants Reporting and Tracking System (GRTS)

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Grants Reporting and Tracking System (GRTS) is the primary tool for management and oversight of EPA's Nonpoint Source (NPS) Pollution Control Program. GRTS pulls...

  17. Financial Disclosure Tracking System

    Data.gov (United States)

    US Agency for International Development — USAID's FDTS identifies personal service contractors and local employees who should file disclosure reports. It tracks late filers and identifies those who must take...

  18. Case Analysis Tracking System

    Data.gov (United States)

    National Archives and Records Administration — CATS tracks Public and Federal Agency Reference Requests for OPF (Official Personnel Folder) , EMF (Employee Medical Folder), and eOPF (electronic Official Personnel...

  19. CONTRACT ADMINISTRATIVE TRACKING SYSTEM (CATS)

    Science.gov (United States)

    The Contract Administrative Tracking System (CATS) was developed in response to an ORD NHEERL, Mid-Continent Ecology Division (MED)-recognized need for an automated tracking and retrieval system for Cost Reimbursable Level of Effort (CR/LOE) Contracts. CATS is an Oracle-based app...

  20. Viability Analysis of Waste Tires as Material for Rail Vibration and Noise Control in Modern Tram Track Systems

    Directory of Open Access Journals (Sweden)

    Caiyou Zhao

    2015-01-01

    Full Text Available This research study focused on the effect of using damping chamber elements made from waste tires on railway noise reduction. First, the energy absorption characteristics of damping chamber elements with various gradation combinations and compaction indices were measured in the laboratory using compression testing. The laboratory compression results demonstrated that the optimal gradation combination of damping chamber elements is as follows: the content of fine rubber particles is 10%, the content of coarse granules is 90%, and the optimal compaction index is 0.98. Next, the findings from the laboratory compression-test studies were used to produce damping chamber elements that were applied to a full-scale modern track model in the laboratory. The measurements of the dynamic properties indicated that the damping chamber elements could significantly reduce the vibration levels of the rail head. Finally, the damping chamber elements, which had been proven effective through laboratory dynamic tests, were widely applied to test rail sections in the field. The field tests demonstrated that damping chamber elements can significantly increase the track vibration decay rate in the frequency range of 200–10000 Hz. Therefore, damping chamber elements made from waste tires are able to control rail vibration and noise in modern tram track systems.

  1. Neural Network Based Maximum Power Point Tracking Control with Quadratic Boost Converter for PMSG—Wind Energy Conversion System

    Directory of Open Access Journals (Sweden)

    Ramji Tiwari

    2018-02-01

    Full Text Available This paper proposes an artificial neural network (ANN based maximum power point tracking (MPPT control strategy for wind energy conversion system (WECS implemented with a DC/DC converter. The proposed topology utilizes a radial basis function network (RBFN based neural network control strategy to extract the maximum available power from the wind velocity. The results are compared with a classical Perturb and Observe (P&O method and Back propagation network (BPN method. In order to achieve a high voltage rating, the system is implemented with a quadratic boost converter and the performance of the converter is validated with a boost and single ended primary inductance converter (SEPIC. The performance of the MPPT technique along with a DC/DC converter is demonstrated using MATLAB/Simulink.

  2. Investigation on a Power Coupling Steering System for Dual-Motor Drive Tracked Vehicles Based on Speed Control

    Directory of Open Access Journals (Sweden)

    Li Zhai

    2017-08-01

    Full Text Available Double-motor drive tracked vehicles (2MDTV are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.

  3. Causal Tracking Control of a Non-Minimum Phase HIL Transmission Test System

    OpenAIRE

    Wang, Pengfei

    2009-01-01

    The automotive industry has long relied on testing powertrain components in real vehicles, which causes the development process to be slow and expensive. Therefore, hardware in the loop (HIL) testing techniques are increasingly being adopted to develop electronic control units (ECU) for engine and other components of a vehicle. In this thesis, HIL testing system is developed to provide a laboratory testing environment for continuously variable transmissions (CVTs). Two induction motors were u...

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

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

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

  5. Intelligent approach to maximum power point tracking control strategy for variable-speed wind turbine generation system

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Whei-Min; Hong, Chih-Ming [Department of Electrical Engineering, National Sun Yat-Sen University, Kaohsiung 80424 (China)

    2010-06-15

    To achieve maximum power point tracking (MPPT) for wind power generation systems, the rotational speed of wind turbines should be adjusted in real time according to wind speed. In this paper, a Wilcoxon radial basis function network (WRBFN) with hill-climb searching (HCS) MPPT strategy is proposed for a permanent magnet synchronous generator (PMSG) with a variable-speed wind turbine. A high-performance online training WRBFN using a back-propagation learning algorithm with modified particle swarm optimization (MPSO) regulating controller is designed for a PMSG. The MPSO is adopted in this study to adapt to the learning rates in the back-propagation process of the WRBFN to improve the learning capability. The MPPT strategy locates the system operation points along the maximum power curves based on the dc-link voltage of the inverter, thus avoiding the generator speed detection. (author)

  6. Position and orientation tracking system

    International Nuclear Information System (INIS)

    Burks, B.L.; DePiero, F.W.; Armstrong, G.A.; Jansen, J.F.; Muller, R.C.; Gee, T.F.

    1998-01-01

    A position and orientation tracking system presents a laser scanning apparatus having two measurement pods, a control station, and a detector array. The measurement pods can be mounted in the dome of a radioactive waste storage silo. Each measurement pod includes dual orthogonal laser scanner subsystems. The first laser scanner subsystem is oriented to emit a first line laser in the pan direction. The second laser scanner is oriented to emit a second line laser in the tilt direction. Both emitted line lasers scan planes across the radioactive waste surface to encounter the detector array mounted on a target robotic vehicle. The angles of incidence of the planes with the detector array are recorded by the control station. Combining measurements describing each of the four planes provides data for a closed form solution of the algebraic transform describing the position and orientation of the target robotic vehicle. 14 figs

  7. Dynamic Ocean Track System Plus -

    Data.gov (United States)

    Department of Transportation — Dynamic Ocean Track System Plus (DOTS Plus) is a planning tool implemented at the ZOA, ZAN, and ZNY ARTCCs. It is utilized by Traffic Management Unit (TMU) personnel...

  8. Control-Oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter

    Science.gov (United States)

    Pourrezaei Khaligh, Sepehr

    Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation are identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled

  9. A digital video tracking system

    Science.gov (United States)

    Giles, M. K.

    1980-01-01

    The Real-Time Videotheodolite (RTV) was developed in connection with the requirement to replace film as a recording medium to obtain the real-time location of an object in the field-of-view (FOV) of a long focal length theodolite. Design philosophy called for a system capable of discriminatory judgment in identifying the object to be tracked with 60 independent observations per second, capable of locating the center of mass of the object projection on the image plane within about 2% of the FOV in rapidly changing background/foreground situations, and able to generate a predicted observation angle for the next observation. A description is given of a number of subsystems of the RTV, taking into account the processor configuration, the video processor, the projection processor, the tracker processor, the control processor, and the optics interface and imaging subsystem.

  10. Reinforcement learning design-based adaptive tracking control with less learning parameters for nonlinear discrete-time MIMO systems.

    Science.gov (United States)

    Liu, Yan-Jun; Tang, Li; Tong, Shaocheng; Chen, C L Philip; Li, Dong-Juan

    2015-01-01

    Based on the neural network (NN) approximator, an online reinforcement learning algorithm is proposed for a class of affine multiple input and multiple output (MIMO) nonlinear discrete-time systems with unknown functions and disturbances. In the design procedure, two networks are provided where one is an action network to generate an optimal control signal and the other is a critic network to approximate the cost function. An optimal control signal and adaptation laws can be generated based on two NNs. In the previous approaches, the weights of critic and action networks are updated based on the gradient descent rule and the estimations of optimal weight vectors are directly adjusted in the design. Consequently, compared with the existing results, the main contributions of this paper are: 1) only two parameters are needed to be adjusted, and thus the number of the adaptation laws is smaller than the previous results and 2) the updating parameters do not depend on the number of the subsystems for MIMO systems and the tuning rules are replaced by adjusting the norms on optimal weight vectors in both action and critic networks. It is proven that the tracking errors, the adaptation laws, and the control inputs are uniformly bounded using Lyapunov analysis method. The simulation examples are employed to illustrate the effectiveness of the proposed algorithm.

  11. Distributed formation tracking using local coordinate systems

    DEFF Research Database (Denmark)

    Yang, Qingkai; Cao, Ming; Garcia de Marina, Hector

    2018-01-01

    This paper studies the formation tracking problem for multi-agent systems, for which a distributed estimator–controller scheme is designed relying only on the agents’ local coordinate systems such that the centroid of the controlled formation tracks a given trajectory. By introducing a gradient...... descent term into the estimator, the explicit knowledge of the bound of the agents’ speed is not necessary in contrast to existing works, and each agent is able to compute the centroid of the whole formation in finite time. Then, based on the centroid estimation, a distributed control algorithm...

  12. 49 CFR 214.505 - Required environmental control and protection systems for new on-track roadway maintenance...

    Science.gov (United States)

    2010-10-01

    ... operative positive pressurized ventilation systems: (1) Ballast regulators; (2) Tampers; (3) Mechanical... or sold. (e) If the ventilation system on a new on-track roadway maintenance machine or a designated... respiratory protective equipment shall be provided for each such employee until the machine is repaired in...

  13. Fault diagnosis for the heat exchanger of the aircraft environmental control system based on the strong tracking filter.

    Science.gov (United States)

    Ma, Jian; Lu, Chen; Liu, Hongmei

    2015-01-01

    The aircraft environmental control system (ECS) is a critical aircraft system, which provides the appropriate environmental conditions to ensure the safe transport of air passengers and equipment. The functionality and reliability of ECS have received increasing attention in recent years. The heat exchanger is a particularly significant component of the ECS, because its failure decreases the system's efficiency, which can lead to catastrophic consequences. Fault diagnosis of the heat exchanger is necessary to prevent risks. However, two problems hinder the implementation of the heat exchanger fault diagnosis in practice. First, the actual measured parameter of the heat exchanger cannot effectively reflect the fault occurrence, whereas the heat exchanger faults are usually depicted by utilizing the corresponding fault-related state parameters that cannot be measured directly. Second, both the traditional Extended Kalman Filter (EKF) and the EKF-based Double Model Filter have certain disadvantages, such as sensitivity to modeling errors and difficulties in selection of initialization values. To solve the aforementioned problems, this paper presents a fault-related parameter adaptive estimation method based on strong tracking filter (STF) and Modified Bayes classification algorithm for fault detection and failure mode classification of the heat exchanger, respectively. Heat exchanger fault simulation is conducted to generate fault data, through which the proposed methods are validated. The results demonstrate that the proposed methods are capable of providing accurate, stable, and rapid fault diagnosis of the heat exchanger.

  14. Fault diagnosis for the heat exchanger of the aircraft environmental control system based on the strong tracking filter.

    Directory of Open Access Journals (Sweden)

    Jian Ma

    Full Text Available The aircraft environmental control system (ECS is a critical aircraft system, which provides the appropriate environmental conditions to ensure the safe transport of air passengers and equipment. The functionality and reliability of ECS have received increasing attention in recent years. The heat exchanger is a particularly significant component of the ECS, because its failure decreases the system's efficiency, which can lead to catastrophic consequences. Fault diagnosis of the heat exchanger is necessary to prevent risks. However, two problems hinder the implementation of the heat exchanger fault diagnosis in practice. First, the actual measured parameter of the heat exchanger cannot effectively reflect the fault occurrence, whereas the heat exchanger faults are usually depicted by utilizing the corresponding fault-related state parameters that cannot be measured directly. Second, both the traditional Extended Kalman Filter (EKF and the EKF-based Double Model Filter have certain disadvantages, such as sensitivity to modeling errors and difficulties in selection of initialization values. To solve the aforementioned problems, this paper presents a fault-related parameter adaptive estimation method based on strong tracking filter (STF and Modified Bayes classification algorithm for fault detection and failure mode classification of the heat exchanger, respectively. Heat exchanger fault simulation is conducted to generate fault data, through which the proposed methods are validated. The results demonstrate that the proposed methods are capable of providing accurate, stable, and rapid fault diagnosis of the heat exchanger.

  15. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias

    2016-12-19

    In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  16. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias; Sharma, Gopal; Smith, Neil; Ghanem, Bernard

    2016-01-01

    In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  17. First investigation on the applicability of an active noise control system on a tracked tractor without cab

    Directory of Open Access Journals (Sweden)

    Daniele Pochi

    2013-09-01

    Full Text Available In last years, several research teams pointed their attention on the application of active noise control systems (ANC inside the cabs of agricultural tractor, with the purpose of reducing the driver exposition to noise, that is only partially controlled by the frame of the cab. This paper reports the results of a first experience that aimed at verifying the applicability of an ANC on a medium-high power, tracked tractor without cab. The tested tractor was a Fiat Allis 150 A, equipped with rear power take off, used in the execution of deep primary tillage in compact soils. It is a tracked tractor without cab, with maximum power of 108.8 kW at 1840 min–1 of the engine. The ANC consists of a control unit box based on a digital signal processor (DPS, two microphones, two speakers and a power amplifier. The instrumentation used in noise data collecting and processing consisted of a multichannel signal analyzer (Sinus - Soundbook, a ½” microphone capsule and an acoustic calibrator, both Bruel & Kjaer. The study aimed at evaluating the behaviour of the ANC by means of tests carried out under repeatable conditions, characterized by pre-defined engine speed values. Three replications have been made for each engine speed. The sampling time was 30 s. Two series of tests were performed in order to compare the results observed with the ANC on and off. The engine speed adopted in the study ranged from 600 min– 1, up to 2000 min–1 (maximum speed with steps of 100 min–1. The ANC proved to be effective in the interval of speed between 1400 and 1700 min–1, where the samplings have been intensified, adopting steps of 50 min–1. In such an interval, the attenuation observed with the ANC system on appeared evident both as weighed A sound pressure level (from 1.29 up to 2.46 dB(A and linear (from 4.54 up to 8.53 dB. The best performance has been observed at the engine speed of 1550 min–1, with attenuations, respectively of 2.46 dB(A and 7.67 d

  18. Tracking System : Suaineadh satellite experiment

    OpenAIRE

    Brengesjö, Carl; Selin, Martine

    2011-01-01

    The purpose of this bachelor thesis is to present a tracking system for the Suaineadh satellite experiment. The experiment is a part of the REXUS (Rocket EXperiments for University Students) program and the objective is to deploy a foldable web in space. The assignment of this thesis is to develop a tracking system to find the parts from the Suaineadh experiment that will land on Earth. It is important to find the parts and recover all the data that the experiment performed during the travel ...

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

    OpenAIRE

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

    2016-01-01

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

  20. Tracking Audit Consolidated System

    Data.gov (United States)

    US Agency for International Development — The TRACS System will be used by Chief Financial Operations (CFO) and Office of Acquisition and Assistance (OAA) (in Washington) and Foreign Missions (FM) (at the...

  1. A MATLAB-based eye tracking control system using non-invasive helmet head restraint in the macaque.

    Science.gov (United States)

    De Luna, Paolo; Mohamed Mustafar, Mohamed Faiz Bin; Rainer, Gregor

    2014-09-30

    Tracking eye position is vital for behavioral and neurophysiological investigations in systems and cognitive neuroscience. Infrared camera systems which are now available can be used for eye tracking without the need to surgically implant magnetic search coils. These systems are generally employed using rigid head fixation in monkeys, which maintains the eye in a constant position and facilitates eye tracking. We investigate the use of non-rigid head fixation using a helmet that constrains only general head orientation and allows some freedom of movement. We present a MATLAB software solution to gather and process eye position data, present visual stimuli, interact with various devices, provide experimenter feedback and store data for offline analysis. Our software solution achieves excellent timing performance due to the use of data streaming, instead of the traditionally employed data storage mode for processing analog eye position data. We present behavioral data from two monkeys, demonstrating that adequate performance levels can be achieved on a simple fixation paradigm and show how performance depends on parameters such as fixation window size. Our findings suggest that non-rigid head restraint can be employed for behavioral training and testing on a variety of gaze-dependent visual paradigms, reducing the need for rigid head restraint systems for some applications. While developed for macaque monkey, our system of course can work equally well for applications in human eye tracking where head constraint is undesirable. Copyright © 2014. Published by Elsevier B.V.

  2. PAMTRAK: A personnel and material tracking system

    International Nuclear Information System (INIS)

    Anspach, D.A.; Anspach, J.P.; Crain, B. Jr.

    1996-01-01

    There is a need for an automated system for protecting and monitoring sensitive or classified parts and material. Sandia has developed a real-time personnel and material tracking system (PAMTRAK) that has been installed at selected DOE facilities. It safeguards sensitive parts and material by tracking tags worn by personnel and by monitoring sensors attached to the parts or material. It includes remote control and alarm display capabilities and a complementary program in Keyhole to display measured material attributes remotely. This paper describes the design goals, the system components, current installations, and the benefits a site can expect when using PAMTRAK

  3. Students paperwork tracking system (SPATRASE)

    Science.gov (United States)

    Ishak, I. Y.; Othman, M. B.; Talib, Rahmat; Ilyas, M. A.

    2017-09-01

    This paper focused on a system for tracking the status of the paperwork using the Near Field Communication (NFC) technology and mobile apps. Student paperwork tracking system or known as SPATRASE was developed to ease the user to track the location status of the paperwork. The current problem faced by the user is the process of approval paperwork takes around a month or more. The process took around a month to get full approval from the department because of many procedures that need to be done. Nevertheless, the user cannot know the location status of the paperwork immediately because of the inefficient manual system. The submitter needs to call the student affairs department to get the information about the location status of the paperwork. Thus, this project was purposed as an alternative to solve the waiting time of the paperwork location status. The prototype of this system involved the hardware and software. The project consists of NFC tags, RFID Reader, and mobile apps. At each checkpoint, the RFID Reader was placed on the secretary desk. While the system involved the development of database using Google Docs that linked to the web server. After that, the submitter received the URL link and be directed to the web server and mobile apps. This system is capable of checking their location status tracking using mobile apps and Google Docs. With this system, it makes the tracking process become efficient and reliable to know the paperwork at the exact location. Thus, it is preventing the submitter to call the department all the time. Generally, this project is fully functional and we hope it can help Universiti Tun Hussein Onn Malaysia (UTHM) to overcome the problem of paperwork missing and location of the paperwork.

  4. Tools and techniques for schedule's controlling: tracking system and control of Urucu-Manaus gas-pipeline construction, stretch B1

    Energy Technology Data Exchange (ETDEWEB)

    Zuany, Valdenise Marques; Dias, Jose Luiz Gomes [CONCREMAT Engenharia e Tecnologia S/A, Rio de Janeiro, RJ (Brazil)

    2009-07-01

    The goal is to show the monitoring systems and deadline control, using the PMBOK{sup R} project management tools, in the Construction and Assembly of the Coari-Manaus Gas-pipeline, stretch B1, which includes the cities of Coari, Codajas, Anori and Anama, in the state of Amazon, in the Northern Undertaking Implementation (IENOR), an Engineering division of the PETROBRAS System. This report presents the practical effects of the usage of three schedule control tools of the project: Performance Measurement, using the technique of the Earned Value Management (EVM), which integrates cost, schedule and physical progress of the enterprise to determine the variations of schedule and performance; Project Management Software, MSProject, which allows schedule's elaboration and makes the tracking of the planned dates possible (baseline) in relation to real dates and forecasts the trend level, the effects of changes in the project's schedule, demonstrating its utility as a schedule control tool; and Schedule Variance Analysis, which adopts practical data to reach the pessimistic, most likely and optimistic expectations. The implantation of these tools was based in the Work Breakdown Structure of the enterprise. The application of these three tools in the tracking and control of the enterprise demonstrates that, the use of information and techniques deriving from the planning and control can be an important support for project management and decision taking, comparing the results gotten in the implantation of the plan with its actual realization, defining, thus, the necessary corrective actions, generating learned lessons to use in future projects. (author)

  5. Robust Solar Position Sensor for Tracking Systems

    DEFF Research Database (Denmark)

    Ritchie, Ewen; Argeseanu, Alin; Leban, Krisztina Monika

    2009-01-01

    The paper proposes a new solar position sensor used in tracking system control. The main advantages of the new solution are the robustness and the economical aspect. Positioning accuracy of the tracking system that uses the new sensor is better than 1°. The new sensor uses the ancient principle...... of the solar clock. The sensitive elements are eight ordinary photo-resistors. It is important to note that all the sensors are not selected simultaneously. It is not necessary for sensor operating characteristics to be quasi-identical because the sensor principle is based on extreme operating duty measurement...... (bright or dark). In addition, the proposed solar sensor significantly simplifies the operation of the tracking control device....

  6. The BWR [Boiling Water Reactor] Emergency Operating Procedures Tracking System (EOPTS): Evaluation by control-room operating crews

    International Nuclear Information System (INIS)

    Spurgin, A.J.; Orvis, D.D.; Spurgin, J.P.; Luna, C.J.

    1990-05-01

    This report presents the results of a project sponsored by the Electric Power Research Institute (EPRI) and Taiwan Power Company (TPC) and conducted by APG and TPC to perform evaluation of the Emergency Operating Procedures Tracking System (EOPTS). The EOPTS is an expert system employing artificial intelligence techniques developed by EPRI for Boiling Water Reactor (BWR) plants based on emergency operating procedures (EOPs). EOPTS is a computerized decision aid used to assist plant operators in efficient and reliable use of EOPs. The main objective of this project was to evaluate the EOPTS and determine how an operator aid of this type could noticeably improve the response time and the reliability of control room crews to multi-failure scenarios. A secondary objective was to collect data on how crew performance was affected. Experiments results indicate that the EOPTS measurably improves crew performance over crews using the EOP flow charts. Time-comparison measurements indicate that crews using the EOPTS perform required actions more quickly than do those using the flowcharts. The results indicate that crews using the EOPTS are not only faster and more consistent in their actions but make fewer errors. In addition, they have a higher likelihood of recovering from the errors that they do make. Use of the EOPTS in the control room should result in faster termination and mitigation of accidents and reduced risk of power plant operations. Recommendations are made towards possible applications of the EOPTS to operator training and evaluation, and for the applicability of the evaluation methodology developed for this project to the evaluation of similar operator aides. 17 refs., 14 figs., 14 tabs

  7. Tobacco industry's elaborate attempts to control a global track and trace system and fundamentally undermine the Illicit Trade Protocol.

    Science.gov (United States)

    Gilmore, Anna B; Gallagher, Allen W A; Rowell, Andy

    2018-06-13

    The Illicit Trade Protocol (ITP) requires a global track and trace (T&T) system to reduce tobacco smuggling. Given the tobacco industry's (TI) historical involvement in tobacco smuggling, it stipulates that T&T 'shall not be performed by or delegated to the tobacco industry'. This paper explores the rationale for & nature of the TI's effors to influence the ITP & its T&T system. Analysis of leaked TI documents and publicly available data; ,investigation of front groups, trademark and patent ownership. Growing & diverse sources of evidence indicate that the TI remains involved in tobacco smuggling and that TI cigarettes account for around two-thirds of the illicit cigarette market. The TI therefore has a vested interest in controlling the global T&T system aimed to curtail this behaviour. To this end, Philip Morris International (PMI) adapted its pack marker system, Codentify, to meet T&T requirements, licensed it for free to its three major competitors who then collectively promoted it to governments using front groups and third parties including companies claiming to be independent despite clear TI links. PMI also sought to suggest Codentify was independent by selling some parts of its intellectual property on Codentify while retaining others, leaving a complex web of shared interests. In Africa, British American Tobacco used payments to obtain data suggesting its smaller competitor companies were evading taxes and secure influence with tax authorities. Regulatory capture has been enhanced by a public relations effort involving TI funding for conferences, training, research, and international police and anti-corruption organisations. Collectively this has created public messaging and a powerful network of organisations supportive of the TI's misleading postion on illicit. Governments should assume the TI seeks to control T&T systems in order to avoid scrutiny and minimise excise tax payments and that any T&T system based on Codentify, on intellectual property

  8. Implementation of a new maximum power point tracking control strategy for small wind energy conversion systems without mechanical sensors

    International Nuclear Information System (INIS)

    Daili, Yacine; Gaubert, Jean-Paul; Rahmani, Lazhar

    2015-01-01

    Highlights: • A new maximum power point tracking algorithm for small wind turbines is proposed. • This algorithm resolves the problems of the classical perturb and observe method. • The proposed method has been tested under several wind speed profiles. • The validity of the new algorithm has been confirmed by the experimental results. - Abstract: This paper proposes a modified perturbation and observation maximum power point tracking algorithm for small wind energy conversion systems to overcome the problems of the conventional perturbation and observation technique, namely rapidity/efficiency trade-off and the divergence from peak power under a fast variation of the wind speed. Two modes of operation are used by this algorithm, the normal perturbation and observation mode and the predictive mode. The normal perturbation and observation mode with small step-size is switched under a slow wind speed variation to track the true maximum power point with fewer fluctuations in steady state. When a rapid change of wind speed is detected, the algorithm tracks the new maximum power point in two phases: in the first stage, the algorithm switches to the predictive mode in which the step-size is auto-adjusted according to the distance between the operating point and the estimated optimum point to move the operating point near to the maximum power point rapidly, and then the normal perturbation and observation mode is used to track the true peak power in the second stage. The dc-link voltage variation is used to detect rapid wind changes. The proposed algorithm does not require either knowledge of system parameters or of mechanical sensors. The experimental results confirm that the proposed algorithm has a better performance in terms of dynamic response and efficiency compared with the conventional perturbation and observation algorithm

  9. Energy Efficient Hybrid Dual Axis Solar Tracking System

    Directory of Open Access Journals (Sweden)

    Rashid Ahammed Ferdaus

    2014-01-01

    Full Text Available This paper describes the design and implementation of an energy efficient solar tracking system from a normal mechanical single axis to a hybrid dual axis. For optimizing the solar tracking mechanism electromechanical systems were evolved through implementation of different evolutional algorithms and methodologies. To present the tracker, a hybrid dual-axis solar tracking system is designed, built, and tested based on both the solar map and light sensor based continuous tracking mechanism. These light sensors also compare the darkness and cloudy and sunny conditions assisting daily tracking. The designed tracker can track sun’s apparent position at different months and seasons; thereby the electrical controlling device requires a real time clock device for guiding the tracking system in seeking solar position for the seasonal motion. So the combination of both of these tracking mechanisms made the designed tracker a hybrid one. The power gain and system power consumption are compared with a static and continuous dual axis solar tracking system. It is found that power gain of hybrid dual axis solar tracking system is almost equal to continuous dual axis solar tracking system, whereas the power saved in system operation by the hybrid tracker is 44.44% compared to the continuous tracking system.

  10. Launch vehicle tracking enhancement through Global Positioning System Metric Tracking

    Science.gov (United States)

    Moore, T. C.; Li, Hanchu; Gray, T.; Doran, A.

    United Launch Alliance (ULA) initiated operational flights of both the Atlas V and Delta IV launch vehicle families in 2002. The Atlas V and Delta IV launch vehicles were developed jointly with the US Air Force (USAF) as part of the Evolved Expendable Launch Vehicle (EELV) program. Both Launch Vehicle (LV) families have provided 100% mission success since their respective inaugural launches and demonstrated launch capability from both Vandenberg Air Force Base (VAFB) on the Western Test Range and Cape Canaveral Air Force Station (CCAFS) on the Eastern Test Range. However, the current EELV fleet communications, tracking, & control architecture & technology, which date back to the origins of the space launch business, require support by a large and high cost ground footprint. The USAF has embarked on an initiative known as Future Flight Safety System (FFSS) that will significantly reduce Test Range Operations and Maintenance (O& M) cost by closing facilities and decommissioning ground assets. In support of the FFSS, a Global Positioning System Metric Tracking (GPS MT) System based on the Global Positioning System (GPS) satellite constellation has been developed for EELV which will allow both Ranges to divest some of their radar assets. The Air Force, ULA and Space Vector have flown the first 2 Atlas Certification vehicles demonstrating the successful operation of the GPS MT System. The first Atlas V certification flight was completed in February 2012 from CCAFS, the second Atlas V certification flight from VAFB was completed in September 2012 and the third certification flight on a Delta IV was completed October 2012 from CCAFS. The GPS MT System will provide precise LV position, velocity and timing information that can replace ground radar tracking resource functionality. The GPS MT system will provide an independent position/velocity S-Band telemetry downlink to support the current man-in-the-loop ground-based commanded destruct of an anomalous flight- The system

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

    Science.gov (United States)

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

    2018-04-01

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

  12. Model Predictive Control for Offset-Free Reference Tracking

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav

    2016-01-01

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

  13. Combining Charge Couple Devices and Rate Sensors for the Feedforward Control System of a Charge Coupled Device Tracking Loop.

    Science.gov (United States)

    Tang, Tao; Tian, Jing; Zhong, Daijun; Fu, Chengyu

    2016-06-25

    A rate feed forward control-based sensor fusion is proposed to improve the closed-loop performance for a charge couple device (CCD) tracking loop. The target trajectory is recovered by combining line of sight (LOS) errors from the CCD and the angular rate from a fiber-optic gyroscope (FOG). A Kalman filter based on the Singer acceleration model utilizes the reconstructive target trajectory to estimate the target velocity. Different from classical feed forward control, additive feedback loops are inevitably added to the original control loops due to the fact some closed-loop information is used. The transfer function of the Kalman filter in the frequency domain is built for analyzing the closed loop stability. The bandwidth of the Kalman filter is the major factor affecting the control stability and close-loop performance. Both simulations and experiments are provided to demonstrate the benefits of the proposed algorithm.

  14. Pamela tracking system status report

    CERN Document Server

    Taccetti, F; Bonechi, L; Bongi, M; Boscherini, M; Castellini, G; D'Alessandro, R; Gabbanini, A; Grandi, M; Papini, P; Piccardi, S; Ricciarini, S; Spillantini, P; Straulino, S; Tesi, M; Vannuccini, E

    2002-01-01

    The Pamela apparatus will be launched at the end of 2002 on board of the Resurs DK Russian satellite. The tracking system, composed of six planes of silicon sensors inserted inside a permanent magnetic field was intensively tested during these last years. Results of tests have shown a good signal-to-noise ratio and an excellent spatial resolution, which should allow to measure the antiproton flux in an energy range from 80 MeV up to 190 GeV. The production of the final detector modules is about to start and mechanical and thermal tests on the tracking tower are being performed according to the specifications of the Russian launcher and satellite.

  15. The Type-2 Fuzzy Logic Controller-Based Maximum Power Point Tracking Algorithm and the Quadratic Boost Converter for Pv System

    Science.gov (United States)

    Altin, Necmi

    2018-05-01

    An interval type-2 fuzzy logic controller-based maximum power point tracking algorithm and direct current-direct current (DC-DC) converter topology are proposed for photovoltaic (PV) systems. The proposed maximum power point tracking algorithm is designed based on an interval type-2 fuzzy logic controller that has an ability to handle uncertainties. The change in PV power and the change in PV voltage are determined as inputs of the proposed controller, while the change in duty cycle is determined as the output of the controller. Seven interval type-2 fuzzy sets are determined and used as membership functions for input and output variables. The quadratic boost converter provides high voltage step-up ability without any reduction in performance and stability of the system. The performance of the proposed system is validated through MATLAB/Simulink simulations. It is seen that the proposed system provides high maximum power point tracking speed and accuracy even for fast changing atmospheric conditions and high voltage step-up requirements.

  16. Distributed cooperative H∞ optimal tracking control of MIMO nonlinear multi-agent systems in strict-feedback form via adaptive dynamic programming

    Science.gov (United States)

    Luy, N. T.

    2018-04-01

    The design of distributed cooperative H∞ optimal controllers for multi-agent systems is a major challenge when the agents' models are uncertain multi-input and multi-output nonlinear systems in strict-feedback form in the presence of external disturbances. In this paper, first, the distributed cooperative H∞ optimal tracking problem is transformed into controlling the cooperative tracking error dynamics in affine form. Second, control schemes and online algorithms are proposed via adaptive dynamic programming (ADP) and the theory of zero-sum differential graphical games. The schemes use only one neural network (NN) for each agent instead of three from ADP to reduce computational complexity as well as avoid choosing initial NN weights for stabilising controllers. It is shown that despite not using knowledge of cooperative internal dynamics, the proposed algorithms not only approximate values to Nash equilibrium but also guarantee all signals, such as the NN weight approximation errors and the cooperative tracking errors in the closed-loop system, to be uniformly ultimately bounded. Finally, the effectiveness of the proposed method is shown by simulation results of an application to wheeled mobile multi-robot systems.

  17. Tracking system for solar collectors

    Science.gov (United States)

    Butler, B.

    1980-10-01

    A tracking system is provided for pivotally mounted spaced-apart solar collectors. A pair of cables is connected to spaced-apart portions of each collector, and a driver displaces the cables, thereby causing the collectors to pivot about their mounting, so as to assume the desired orientation. The collectors may be of the cylindrical type as well as the flat-plate type. Rigid spar-like linkages may be substituted for the cables. Releasable attachments of the cables to the collectors is also described, as is a fine tuning mechanism for precisely aligning each individual collector.

  18. Development of the Open Items Tracking System

    International Nuclear Information System (INIS)

    Riggi, V.

    1994-01-01

    The West Valley Demonstration Project, located on the site of the only commercial nuclear fuel reprocessing facility to have operated in USA, has the directed objectives of solidifying the high-level radioactive waste into a durable, solid form for shipment; decontaminating and decommissioning the tanks and facilities; and disposing of the resulting low-level and transuranic wastes. Since an escalating trend of open work items was noticed in the Fall of 1988, and there was no control mechanism for tracking and closing the open items, a Work Control System was developed for this purpose. It is self-contained system on a mainframe ARTEMIS 9000, which tracks, monitors, and closes out external commitments in a timely manner. Audits, surveillances, site appraisals, preventive maintenance, instrument calibration recall, and scheduling are covered

  19. Subaru FATS (fault tracking system)

    Science.gov (United States)

    Winegar, Tom W.; Noumaru, Junichi

    2000-07-01

    The Subaru Telescope requires a fault tracking system to record the problems and questions that staff experience during their work, and the solutions provided by technical experts to these problems and questions. The system records each fault and routes it to a pre-selected 'solution-provider' for each type of fault. The solution provider analyzes the fault and writes a solution that is routed back to the fault reporter and recorded in a 'knowledge-base' for future reference. The specifications of our fault tracking system were unique. (1) Dual language capacity -- Our staff speak both English and Japanese. Our contractors speak Japanese. (2) Heterogeneous computers -- Our computer workstations are a mixture of SPARCstations, Macintosh and Windows computers. (3) Integration with prime contractors -- Mitsubishi and Fujitsu are primary contractors in the construction of the telescope. In many cases, our 'experts' are our contractors. (4) Operator scheduling -- Our operators spend 50% of their work-month operating the telescope, the other 50% is spent working day shift at the base facility in Hilo, or day shift at the summit. We plan for 8 operators, with a frequent rotation. We need to keep all operators informed on the current status of all faults, no matter the operator's location.

  20. Real Property Project Tracking System (RPPTS)

    Data.gov (United States)

    Department of Veterans Affairs — The Real Property Project Tracking System (RPPTS), formerly known as the Lease/Project Tracking (LEASE) database, contains information about lease and land projects...

  1. Audit Follow-up Tracking System (AFTS)

    Data.gov (United States)

    Office of Personnel Management — The Audit Follow-up Tracking System (AFTS) is used to track, monitor, and report on audits and open recommendations of the U.S. Office of Personnel Management (OPM)...

  2. Flight Activity and Crew Tracking System -

    Data.gov (United States)

    Department of Transportation — The Flight Activity and Crew Tracking System (FACTS) is a Web-based application that provides an overall management and tracking tool of FAA Airmen performing Flight...

  3. 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.

  4. Hacker tracking Security system for HMI

    Science.gov (United States)

    Chauhan, Rajeev Kumar

    2011-12-01

    Conventional Supervisory control and data Acquisition (SCADA) systems use PC, notebook, thin client, and PDA as a Client. Nowadays the Process Industries are following multi shift system that's why multi- client of different category have to work at a single human Machine Interface (HMI). They may hack the HMI Display and change setting of the other client. This paper introduces a Hacker tracking security (HTS) System for HMI. This is developed by using the conventional and Biometric authentication. HTS system is developed by using Numeric passwords, Smart card, biometric, blood flow and Finger temperature. This work is also able to identify the hackers.

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

    International Nuclear Information System (INIS)

    Harb, Ahmad M.; Smadi, Issam A.

    2009-01-01

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

  6. Robot trajectory tracking with self-tuning predicted control

    Science.gov (United States)

    Cui, Xianzhong; Shin, Kang G.

    1988-01-01

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

  7. 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.

  8. Initial validations for pursuing irradiation using a gimbals tracking system

    International Nuclear Information System (INIS)

    Takayama, Kenji; Mizowaki, Takashi; Kokubo, Masaki; Kawada, Noriyuki; Nakayama, Hiroshi; Narita, Yuichiro; Nagano, Kazuo; Kamino, Yuichiro; Hiraoka, Masahiro

    2009-01-01

    Our newly designed image-guided radiotherapy (IGRT) system enables the dynamic tracking irradiation with a gimbaled X-ray head and a dual on-board kilovolt imaging subsystem for real-time target localization. Examinations using a computer-controlled three-dimensionally movable phantom demonstrated that our gimbals tracking system significantly reduced motion blurring effects in the dose distribution compared to the non-tracking state.

  9. Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle.

    Science.gov (United States)

    Xu, Bin; Yang, Chenguang; Pan, Yongping

    2015-10-01

    This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.

  10. Quadrotor trajectory tracking using PID cascade control

    Science.gov (United States)

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

    2017-12-01

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

  11. Vehicle Tracking System, Vehicle Infrastructure Provided with Vehicle Tracking System and Method for Tracking

    NARCIS (Netherlands)

    Papp, Z.; Doodeman, G.J.N.; Nelisse, M.W.; Sijs, J.; Theeuwes, J.A.C.; Driessen, B.J.F.

    2010-01-01

    A vehicle tracking system is described comprising - a plurality of sensor nodes (10) that each provide a message (D) indicative for an occupancy status of a detection area of an vehicle infrastructure monitored by said sensor node, said sensor nodes (10) being arranged in the vehicle infrastructure

  12. Distributed ESO based cooperative tracking control for high-order nonlinear multiagent systems with lumped disturbance and application in multi flight simulators systems.

    Science.gov (United States)

    Cong, Zhang

    2018-03-01

    Based on extended state observer, a novel and practical design method is developed to solve the distributed cooperative tracking problem of higher-order nonlinear multiagent systems with lumped disturbance in a fixed communication topology directed graph. The proposed method is designed to guarantee all the follower nodes ultimately and uniformly converge to the leader node with bounded residual errors. The leader node, modeled as a higher-order non-autonomous nonlinear system, acts as a command generator giving commands only to a small portion of the networked follower nodes. Extended state observer is used to estimate the local states and lumped disturbance of each follower node. Moreover, each distributed controller can work independently only requiring the relative states and/or the estimated relative states information between itself and its neighbors. Finally an engineering application of multi flight simulators systems is demonstrated to test and verify the effectiveness of the proposed algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Long range position and Orientation Tracking System

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Jansen, J.F.; Burks, B.L.

    1996-01-01

    The long range Position and Orientation Tracking System is an active triangulation-based system that is being developed to track a target to a resolution of 6.35 mm (0.25 in.) and 0.009 degrees(32.4 arcseconds) over a range of 13.72 m (45 ft.). The system update rate is currently set at 20 Hz but can be increased to 100 Hz or more. The tracking is accomplished by sweeping two pairs of orthogonal line lasers over infrared (IR) sensors spaced with known geometry with respect to one another on the target (the target being a rigid body attached to either a remote vehicle or a remote manipulator arm). The synchronization and data acquisition electronics correlates the time that an IR sensor has been hit by one of the four lasers and the angle of the respective mirror at the time of the hit. This information is combined with the known geometry of the IR sensors on the target to determine position and orientation of the target. This method has the advantage of allowing the target to be momentarily lost due to occlusions and then reacquired without having to return the target to a known reference point. The system also contains a camera with operator controlled lighting in each pod that allows the target to be continuously viewed from either pod, assuming their are no occlusions

  14. Upgrade of the ALICE Inner Tracking System

    OpenAIRE

    Reidt, Felix; Collaboration, for the ALICE

    2014-01-01

    During the Long Shutdown 2 of the LHC in 2018/2019, the ALICE experiment plans the installation of a novel Inner Tracking System. It will replace the current six layer detector system with a seven layer detector using Monolithic Active Pixel Sensors. The upgraded Inner Tracking System will have significantly improved tracking and vertexing capabilities, as well as readout rate to cope with the expected increased Pb-Pb luminosity of the LHC. The choice of Monolithic Active Pixel Sensors has be...

  15. Neural-Network-Based Robust Optimal Tracking Control for MIMO Discrete-Time Systems With Unknown Uncertainty Using Adaptive Critic Design.

    Science.gov (United States)

    Liu, Lei; Wang, Zhanshan; Zhang, Huaguang

    2018-04-01

    This paper is concerned with the robust optimal tracking control strategy for a class of nonlinear multi-input multi-output discrete-time systems with unknown uncertainty via adaptive critic design (ACD) scheme. The main purpose is to establish an adaptive actor-critic control method, so that the cost function in the procedure of dealing with uncertainty is minimum and the closed-loop system is stable. Based on the neural network approximator, an action network is applied to generate the optimal control signal and a critic network is used to approximate the cost function, respectively. In contrast to the previous methods, the main features of this paper are: 1) the ACD scheme is integrated into the controllers to cope with the uncertainty and 2) a novel cost function, which is not in quadric form, is proposed so that the total cost in the design procedure is reduced. It is proved that the optimal control signals and the tracking errors are uniformly ultimately bounded even when the uncertainty exists. Finally, a numerical simulation is developed to show the effectiveness of the present approach.

  16. Hazardous waste minimization tracking system

    International Nuclear Information System (INIS)

    Railan, R.

    1994-01-01

    Under RCRA section 3002 9(b) and 3005f(h), hazardous waste generators and owners/operators of treatment, storage, and disposal facilities (TSDFs) are required to certify that they have a program in place to reduce the volume or quantity and toxicity of hazardous waste to the degree determined to be economically practicable. In many cases, there are environmental, as well as, economic benefits, for agencies that pursue pollution prevention options. Several state governments have already enacted waste minimization legislation (e.g., Massachusetts Toxic Use Reduction Act of 1989, and Oregon Toxic Use Reduction Act and Hazardous Waste Reduction Act, July 2, 1989). About twenty six other states have established legislation that will mandate some type of waste minimization program and/or facility planning. The need to address the HAZMIN (Hazardous Waste Minimization) Program at government agencies and private industries has prompted us to identify the importance of managing The HAZMIN Program, and tracking various aspects of the program, as well as the progress made in this area. The open-quotes WASTEclose quotes is a tracking system, which can be used and modified in maintaining the information related to Hazardous Waste Minimization Program, in a manageable fashion. This program maintains, modifies, and retrieves information related to hazardous waste minimization and recycling, and provides automated report generating capabilities. It has a built-in menu, which can be printed either in part or in full. There are instructions on preparing The Annual Waste Report, and The Annual Recycling Report. The program is very user friendly. This program is available in 3.5 inch or 5 1/4 inch floppy disks. A computer with 640K memory is required

  17. Information Technology Procurement Authorization (ITPA) Tracking System

    Data.gov (United States)

    Office of Personnel Management — Information Technology Procurement Authorization (ITPA) Tracking System is used for gathering consistent data from U.S. Office of Personnel Management (OPM) program...

  18. MICROCONTROLLER BASED SOLAR-TRACKING SYSTEM AND ITS IMPLEMENTATION

    Directory of Open Access Journals (Sweden)

    Okan BİNGÖL

    2006-02-01

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

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

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

    Science.gov (United States)

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

    2018-04-01

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

  1. Thinking Tracks for Integrated Systems Design

    NARCIS (Netherlands)

    Bonnema, Gerrit Maarten; Denkena, B.; Gausemeijer, J.; Scholz-Reiter, B.

    2012-01-01

    The paper investigates systems thinking and systems engineering. After a short literature review, the paper presents, as a means for systems thinking, twelve thinking tracks. The tracks can be used as creativity starter, checklist, and as means to investigate effects of design decisions taken early

  2. Quality assurance tracking and trending system (QATTS)

    International Nuclear Information System (INIS)

    Anderson, W.J.

    1987-01-01

    In 1984, The Philadelphia Electric Company (PECo) Quality Assurance (QA) Division recognized a need to modify the existing quality finding tracking program to generate a nuclear trending program that could detect trends of PECo-initiated findings that were not detectable to a day-to-day observer. Before 1984, each quality organization in PECo had a separate tracking system. An adequate quality trending program demanded that all findings be tracked in a common data base. The Quality Assurance Tracking and Trending System (QATTS) is divided into two parts, an on-line subsystem that provides access to QATTS data via corporate computer data screens and a reports and graphics subsystem that connects commercially available reports and graphic software computer packages to the QATTS data base. The QATTS can be accessed from any terminal connected to the main frame computer at PECo headquarters. The paper discusses the tracking system, report generation, responsible organization commitment tracking system (ROCT), and trending program

  3. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  4. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

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

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

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Chaoyang Dong

    2016-01-01

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

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

    DEFF Research Database (Denmark)

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

    2007-01-01

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

  8. Drone Control System

    Science.gov (United States)

    1983-01-01

    Drones, subscale vehicles like the Firebees, and full scale retired military aircraft are used to test air defense missile systems. The DFCS (Drone Formation Control System) computer, developed by IBM (International Business Machines) Federal Systems Division, can track ten drones at once. A program called ORACLS is used to generate software to track and control Drones. It was originally developed by Langley and supplied by COSMIC (Computer Software Management and Information Center). The program saved the company both time and money.

  9. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Shijie Zhang

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Wang Jinping

    2016-01-01

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

  11. Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

    Directory of Open Access Journals (Sweden)

    M. Navabi

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

  12. Mobile Tracking Systems Using Meter Class Reflective Telescopes

    Science.gov (United States)

    Sturzenbecher, K.; Ehrhorn, B.

    This paper is a discussion on the use of large reflective telescopes on mobile tracking systems with modern instrument control systems. Large optics can be defined as reflective telescopes with an aperture of at least 20 inches in diameter. New carbon composite construction techniques allow for larger, stronger, and lighter telescopes ranging from 240 pounds for a 20 inch, to 800 pounds for a 32 inch, making them ideal for mobile tracking systems. These telescopes have better light gathering capability and produce larger images with greater detail at a longer range than conventional refractive lenses. In a mobile configuration these systems provide the ability to move the observation platform to the optimal location anywhere in the world. Mounting and systems integration - We will discuss how large telescopes can be physically fit to the mobile tracking system and the integration with the tracking systems' digital control system. We will highlight the remote control capabilities. We will discuss special calibration techniques available in a modern instrument control system such as star calibration, calibration of sensors. Tracking Performance - We will discuss the impact of using large telescopes on the performance of the mobile tracking system. We will highlight the capabilities for auto-tracking and sidereal rate tracking in a mobile mount. Large optics performance - We will discuss the advantages of two-mirror Ritchey-Chrétien reflective optics which offer in-focus imaging across the spectrum, from visible to Long Wave Infrared. These zero expansion optics won't lose figure or focus during temperature changes. And the carbon composite telescope tube is thermally inert. The primary mirror is a modern lightweight "dish" mirror for low thermal mass and is center supported/self balancing. Applications - We will discuss Visible - IR Imaging requirements, Optical Rangefinders, and capabilities for special filters to increase resolution in difficult conditions such as

  13. Active Multimodal Sensor System for Target Recognition and Tracking.

    Science.gov (United States)

    Qu, Yufu; Zhang, Guirong; Zou, Zhaofan; Liu, Ziyue; Mao, Jiansen

    2017-06-28

    High accuracy target recognition and tracking systems using a single sensor or a passive multisensor set are susceptible to external interferences and exhibit environmental dependencies. These difficulties stem mainly from limitations to the available imaging frequency bands, and a general lack of coherent diversity of the available target-related data. This paper proposes an active multimodal sensor system for target recognition and tracking, consisting of a visible, an infrared, and a hyperspectral sensor. The system makes full use of its multisensor information collection abilities; furthermore, it can actively control different sensors to collect additional data, according to the needs of the real-time target recognition and tracking processes. This level of integration between hardware collection control and data processing is experimentally shown to effectively improve the accuracy and robustness of the target recognition and tracking system.

  14. Bayesian Tracking within a Feedback Sensing Environment: Estimating Interacting, Spatially Constrained Complex Dynamical Systems from Multiple Sources of Controllable Devices

    Science.gov (United States)

    2014-07-25

    composition of simple temporal structures to a speaker diarization task with the goal of segmenting conference audio in the presence of an unknown number of...application domains including neuroimaging, diverse document selection, speaker diarization , stock modeling, and target tracking. We detail each of...recall performance than competing methods in a task of discovering articles preferred by the user • a gold-standard speaker diarization method, as

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

    Directory of Open Access Journals (Sweden)

    Glenn-Ole Kaasa

    2003-10-01

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

  16. Transient stability improvement by nonlinear controllers based on tracking

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez, Juan M. [Centro de Investigacion y Estudios Avanzados, Guadalajara, Mexico. Av. Cientifica 1145. Col. El Bajio. Zapopan, Jal. 45015 (Mexico); Arroyave, Felipe Valencia; Correa Gutierrez, Rosa Elvira [Universidad Nacional de Colombia, Sede Medellin. Facultad de Minas, Escuela de Mecatronica (Colombia)

    2011-02-15

    This paper deals with the control problem in multi-machine electric power systems, which represent complex great scale nonlinear systems. Thus, the controller design is a challenging problem. These systems are subjected to different perturbations, such as short circuits, connection and/or disconnection of loads, lines, or generators. Then, the utilization of controllers which guarantee good performance under those perturbations is required in order to provide electrical energy to the loads with admissible stability margins. The proposed controllers are based on a systematic strategy, which calculate nonlinear controllers for generating units in a power plant, both for voltage and velocity regulation. The formulation allows designing controllers in a multi-machine power system without intricate calculations. Results on a power system of the open research indicate the proposition's suitability. The problem is formulated as a tracking problem. The designed controllers may be implemented in any electric power system. (author)

  17. Former Prisoner of War Statistical Tracking System

    Data.gov (United States)

    Department of Veterans Affairs — The Former Prisoner of War (POW) Statistical Tracking System database is a registry designed to comply with Public Law 97-37, the Former Prisoner of War Benefits Act...

  18. Freedom of Information Act (FOIA) Tracking System

    Data.gov (United States)

    Office of Personnel Management — Tracking system which allows for the input of the Freedom of Information Act (FOIA) request date, compiles the due date, information pertaining to the request, name...

  19. Amtrak performance tracking (APT) system : methodology summary

    Science.gov (United States)

    2017-09-15

    The Volpe Center collaborated with Amtrak and the Federal Railroad Administration (FRA) to develop a cost accounting system named Amtrak Performance Tracking (APT) used by Amtrak to manage, allocate, and report its costs. APTs initial development ...

  20. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Butti, P; The ATLAS collaboration

    2014-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, planar silicon modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments and deformations of the active detector elements deteriorate the track reconstruction resolution and lead to systematic biases on the measured track parameters. The alignment procedures exploits various advanced tools and techniques in order to determine for module positions and correct for deformations. For the LHC Run II, the system is being upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

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

    Directory of Open Access Journals (Sweden)

    Jin Xin

    2017-10-01

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

  2. Thinking Tracks for Multidisciplinary System Design

    Directory of Open Access Journals (Sweden)

    Gerrit Maarten Bonnema

    2016-11-01

    Full Text Available Systems engineering is, for a large part, a process description of how to bring new systems to existence. It is valuable as it directs the development effort. Tools exist that can be used in this process. System analysis investigates existing and/or desired situations. However, how to create a system that instantiates the desired situation depends significantly on human creativity and insight; the required human trait here is commonly called systems thinking. In literature, this trait is regularly used, but information on how to do systems thinking is scarce. Therefore, we have introduced earlier twelve thinking tracks that are concrete and help system designers to make an optimal fit between the system under design, the identified issue, the user, the environment and the rest of the world. The paper provides the scientific rationale for the thinking tracks based on literature. Secondly, the paper presents three cases of application, leading to the conclusion that the tracks are usable and effective.

  3. Application of new control strategy for sun tracking

    International Nuclear Information System (INIS)

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

    2007-01-01

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

  4. Photovoltaic System with Smart Tracking of the Optimal Working Point

    Directory of Open Access Journals (Sweden)

    PATARAU, T.

    2010-08-01

    Full Text Available A photovoltaic (PV system, based on a Maximum Power Point Tracking (MPPT controller that extracts the maximum possible output power from the solar panel is described. Output efficiency of a PV energy system can be achieved only if the system working point is brought near the maximum power point (MPP. The proposed system, making use of several MPPT control algorithms (Perturb and Observe, Incremental conductance, Fuzzy Logic, demonstrates in simulations as well as in real experiments good tracking of the optimal working point.

  5. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Pedraza Lopez, S; The ATLAS collaboration

    2012-01-01

    In order to reconstruct trajectories of charged particles, ATLAS is equipped with a tracking system built using different technologies embedded in a 2T solenoidal magnetic field. ATLAS physics goals require high resolution, unbiased measurement of all charged particle kinematic parameters in order to assure accurate invariant mass reconstruction and interaction and decay vertex finding. These critically depend on the systematic effects related to the alignment of the tracking system. In order to eliminate malicious systematic deformations, various advanced tools and techniques have been put in place. These include information from known mass resonances, energy of electrons and positrons measured by the electromagnetic calorimeters, etc. Despite being stable under normal running conditions, ATLAS tracking system responses to sudden environ-mental changes (temperature, magnetic field) by small collective deformations. These have to be identified and corrected in order to assure uniform, highest quality tracking...

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

    Science.gov (United States)

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

    2017-07-01

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

  7. Track star : Merrick's RFID system tracks oilpatch equipment

    International Nuclear Information System (INIS)

    Louie, J.

    2006-01-01

    Designed by Merrick Systems, the new Rig-Hand system uses radio frequency identification (RFID) in conjunction with downhole components to manage both surface and downhole equipment. The Rig-Hand system consists of RFID tags which can either be installed to new pipe or retrofitted to existing components; handheld or fixed RFID tag readers; and, software modules. The tags can be mounted to a wide range of surface and downhole components. The system can be used by rig personnel to scan tags with handheld computers, or can be used by a designated reader for greater automation and efficiency. The software modules have been designed for typical rig, pipeyard and service company users. The system provides essential drillstring information that helps to reduce pipe failures, fishing costs and downtime. Component tracking may also impact on both personnel safety and operational risks, as a recent survey has suggested that 14 per cent of catastrophic drillstring failures are due to pipe fatigue. When drilling deviated wells, operators typically have difficulty tracking which pipe may have become fatigued. It is anticipated that the system will also allow for improved logistics management, as it is currently estimated that 70 per cent of casing returned from the wellsite to a pipe yard goes to rust. The tagged components will also demand a higher resale or salvage value than untagged components with limited traceability. The system has gone through extensive testing, and to date has provided extensive savings in both onshore and offshore rigs. Commercialization is expected by the end of 2006. 1 fig

  8. Track star : Merrick's RFID system tracks oilpatch equipment

    Energy Technology Data Exchange (ETDEWEB)

    Louie, J

    2006-10-15

    Designed by Merrick Systems, the new Rig-Hand system uses radio frequency identification (RFID) in conjunction with downhole components to manage both surface and downhole equipment. The Rig-Hand system consists of RFID tags which can either be installed to new pipe or retrofitted to existing components; handheld or fixed RFID tag readers; and, software modules. The tags can be mounted to a wide range of surface and downhole components. The system can be used by rig personnel to scan tags with handheld computers, or can be used by a designated reader for greater automation and efficiency. The software modules have been designed for typical rig, pipeyard and service company users. The system provides essential drillstring information that helps to reduce pipe failures, fishing costs and downtime. Component tracking may also impact on both personnel safety and operational risks, as a recent survey has suggested that 14 per cent of catastrophic drillstring failures are due to pipe fatigue. When drilling deviated wells, operators typically have difficulty tracking which pipe may have become fatigued. It is anticipated that the system will also allow for improved logistics management, as it is currently estimated that 70 per cent of casing returned from the wellsite to a pipe yard goes to rust. The tagged components will also demand a higher resale or salvage value than untagged components with limited traceability. The system has gone through extensive testing, and to date has provided extensive savings in both onshore and offshore rigs. Commercialization is expected by the end of 2006. 1 fig.

  9. Robust Model Predictive Control Schemes for Tracking Setpoints

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2010-01-01

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

  10. Decontamination and Decommissioning Equipment Tracking System (DDETS)

    International Nuclear Information System (INIS)

    Cook, S.

    1994-07-01

    At the request of the Department of Energy (DOE)(EM-50), the Scientific Computing Unit developed a prototype system to track information and data relevant to equipment and tooling removed during decontamination and decommissioning activities. The DDETS proof-of-concept tracking system utilizes a one-dimensional (1D) and two-dimensional (2D) bar coding technology to retain and track information such as identification number, manufacturer, requisition information, and various contaminant information, etc. The information is encoded in a bar code, printed on a label and can be attached to corresponding equipment. The DDETS was developed using a proven relational database management system which allows the addition, modification, printing, and deletion of data. In addition, communication interfaces with bar code printers and bar code readers were developed. Additional features of the system include: (a) Four different reports available for the user (REAPS, transaction, and two inventory), (b) Remote automated inventory tracking capabilities, (c) Remote automated inventory tracking capability (2D bar codes allow equipment to be scanned/tracked without being linked to the DDETS database), (d) Edit, update, delete, and query capabilities, (e) On-line bar code label printing utility (data from 2D bar codes can be scanned directly into the data base simplifying data entry), and (f) Automated data backup utility. Compatibility with the Reportable Excess Automated Property System (REAPS) to upload data from DDETS is planned

  11. Systems for tracking minimally invasive surgical instruments.

    Science.gov (United States)

    Chmarra, M K; Grimbergen, C A; Dankelman, J

    2007-01-01

    Minimally invasive surgery (e.g. laparoscopy) requires special surgical skills, which should be objectively assessed. Several studies have shown that motion analysis is a valuable assessment tool of basic surgical skills in laparoscopy. However, to use motion analysis as the assessment tool, it is necessary to track and record the motions of laparoscopic instruments. This article describes the state of the art in research on tracking systems for laparoscopy. It gives an overview on existing systems, on how these systems work, their advantages, and their shortcomings. Although various approaches have been used, none of the tracking systems to date comes out as clearly superior. A great number of systems can be used in training environment only, most systems do not allow the use of real laparoscopic instruments, and only a small number of systems provide force feedback.

  12. The sophisticated control of the tram bogie on track

    Directory of Open Access Journals (Sweden)

    Radovan DOLECEK

    2015-09-01

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

  13. Systems and methods of eye tracking calibration

    DEFF Research Database (Denmark)

    2014-01-01

    Methods and systems to facilitate eye tracking control calibration are provided. One or more objects are displayed on a display of a device, where the one or more objects are associated with a function unrelated to a calculation of one or more calibration parameters. The one or more calibration...... parameters relate to a calibration of a calculation of gaze information of a user of the device, where the gaze information indicates where the user is looking. While the one or more objects are displayed, eye movement information associated with the user is determined, which indicates eye movement of one...... or more eye features associated with at least one eye of the user. The eye movement information is associated with a first object location of the one or more objects. The one or more calibration parameters are calculated based on the first object location being associated with the eye movement information....

  14. Supercavitating Projectile Tracking System and Method

    Science.gov (United States)

    2009-12-30

    Distribution is unlimited 20100104106 Attorney Docket No. 96681 SUPERCAVITATING PROJECTILE TRACKING SYSTEM AND METHOD STATEMENT OF GOVERNMENT...underwater track or path 14 of a supercavitating vehicle under surface 16 of a body of water. In this embodiment, passive acoustic or pressure...transducers 12 are utilized to measure a pressure field produced by a moving supercavitating vehicle. The present invention provides a low-cost, reusable

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

    Directory of Open Access Journals (Sweden)

    Hong-Yih Yeh

    2012-02-01

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

  16. The UP3-UP2 800 reprocessing plants control systems. Use of tools for the diagnosis, the track of control softwares and the management of technical data

    International Nuclear Information System (INIS)

    Chabert, J.; Michon, J.C.

    1995-01-01

    After a rapid presentation of control systems architectures of the La Hague COGEMA reprocessing plants, details are given about the tools used to master the control and instrumentation softwares and technical data. The paper focusses more particularly on the CML (Software Maintenance Center) tool which manages the software versions installed on the driving system, on the SYDDEX tool devoted to the management of the control and instrumentation associated data and documents, and on the SAD tool used for diagnosis assistance. (J.S.). 5 figs

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

    Science.gov (United States)

    Deng, Mingle; Yue, Baozeng

    2017-12-01

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

  18. Advanced alignment of the ATLAS tracking system

    CERN Document Server

    AUTHOR|(CDS)2085334; The ATLAS collaboration

    2016-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, silicon planar modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments of the active detector elements and deformations of the structures (which can lead to \\textit{Weak Modes}) deteriorate resolution of the track reconstruction and lead to systematic biases on the measured track parameters. The applied alignment procedures exploit various advanced techniques in order to minimise track-hit residuals and remove detector deformations. For the LHC Run II, the Pixel Detector has been refurbished and upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

  19. Perspective : component tracking on the Nova system

    International Nuclear Information System (INIS)

    MacDonald, S.

    1999-01-01

    The issue of introducing Component Tracking as a service to natural gas producers, shippers and straddle plant operators was discussed. Approximately 39 companies in the industry were contacted by consultants at Nova Gas Transmission in an effort to assess if introducing this service would add value to individual producers. The numerous implications that may have to be dealt with if Component Tracking is introduced were also described. Component Tracking would provide an equitable approach to the allocation of molecules in the gas stream, and could provide producers with the ability to avoid capital outlay in field plants by alternatively contracting for recovery of the liquids at the straddle plants. Component Tracking is to be voluntary and each shipper would be able to decide whether to utilize the service at each of their receipt points onto the Nova system

  20. Hires and Losses Tracking System

    Data.gov (United States)

    Social Security Administration — This database contains data about the hires and losses of employees for the Office of Systems-those who join or leave the Office of Systems and those who transfer...

  1. Mass casualty tracking with air traffic control methodologies.

    Science.gov (United States)

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

    2009-06-01

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

  2. Precision digital control systems

    Science.gov (United States)

    Vyskub, V. G.; Rozov, B. S.; Savelev, V. I.

    This book is concerned with the characteristics of digital control systems of great accuracy. A classification of such systems is considered along with aspects of stabilization, programmable control applications, digital tracking systems and servomechanisms, and precision systems for the control of a scanning laser beam. Other topics explored are related to systems of proportional control, linear devices and methods for increasing precision, approaches for further decreasing the response time in the case of high-speed operation, possibilities for the implementation of a logical control law, and methods for the study of precision digital control systems. A description is presented of precision automatic control systems which make use of electronic computers, taking into account the existing possibilities for an employment of computers in automatic control systems, approaches and studies required for including a computer in such control systems, and an analysis of the structure of automatic control systems with computers. Attention is also given to functional blocks in the considered systems.

  3. Developing an Undergraduate Information Systems Security Track

    Science.gov (United States)

    Sharma, Aditya; Murphy, Marianne C.; Rosso, Mark A.; Grant, Donna

    2013-01-01

    Information Systems Security as a specialized area of study has mostly been taught at the graduate level. This paper highlights the efforts of establishing an Information Systems (IS) Security track at the undergraduate level. As there were many unanswered questions and concerns regarding the Security curriculum, focus areas, the benefit of…

  4. Electro-Optical Data Acquisition and Tracking System

    Data.gov (United States)

    Federal Laboratory Consortium — The Electro-Optical Data Acquisition and Tracking System (EDATS) dynamically tracks and measures target signatures. It consists of an instrumentation van integrated...

  5. Assignment and Correspondence Tracking System - Tactical / Operational Reporting

    Data.gov (United States)

    Social Security Administration — Reporting data store for the Assignment and Correspondence Tracking System (ACT). ACT automates the assignment and tracking of correspondence processing within the...

  6. A novel open-loop tracking strategy for photovoltaic systems.

    Science.gov (United States)

    Alexandru, Cătălin

    2013-01-01

    This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system.

  7. A Novel Open-Loop Tracking Strategy for Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Cătălin Alexandru

    2013-01-01

    Full Text Available This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system.

  8. Hacking cyber-risks back in their tracks: to identify the right supply chain controls, look at the system

    OpenAIRE

    Sepúlveda, Daniel; Khan, Omera

    2015-01-01

    A more comprehensive way of looking at cyber-risks in supply chains is required, when considering the increasing complexity of the supply networks and the exposure to unexpected disruptions, caused by cyber-attacks. This article describes some of the reasons why current risk assessment methods are insufficient. The article provides an analogy for understanding the dynamic effects in a company. It describes in general terms what it means to understand cyber-risks from the control perspective, ...

  9. Stabilization and trajectory tracking control for underactuated

    Indian Academy of Sciences (India)

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

  10. Genetic Algorithm with Maximum-Minimum Crossover (GA-MMC) Applied in Optimization of Radiation Pattern Control of Phased-Array Radars for Rocket Tracking Systems

    Science.gov (United States)

    Silva, Leonardo W. T.; Barros, Vitor F.; Silva, Sandro G.

    2014-01-01

    In launching operations, Rocket Tracking Systems (RTS) process the trajectory data obtained by radar sensors. In order to improve functionality and maintenance, radars can be upgraded by replacing antennas with parabolic reflectors (PRs) with phased arrays (PAs). These arrays enable the electronic control of the radiation pattern by adjusting the signal supplied to each radiating element. However, in projects of phased array radars (PARs), the modeling of the problem is subject to various combinations of excitation signals producing a complex optimization problem. In this case, it is possible to calculate the problem solutions with optimization methods such as genetic algorithms (GAs). For this, the Genetic Algorithm with Maximum-Minimum Crossover (GA-MMC) method was developed to control the radiation pattern of PAs. The GA-MMC uses a reconfigurable algorithm with multiple objectives, differentiated coding and a new crossover genetic operator. This operator has a different approach from the conventional one, because it performs the crossover of the fittest individuals with the least fit individuals in order to enhance the genetic diversity. Thus, GA-MMC was successful in more than 90% of the tests for each application, increased the fitness of the final population by more than 20% and reduced the premature convergence. PMID:25196013

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

    NARCIS (Netherlands)

    Jiang, Zhong-Ping; Nijmeijer, Henk

    1997-01-01

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

  12. Design and Implementation of Photovoltaic Maximum Power Point Tracking Controller

    Directory of Open Access Journals (Sweden)

    Fawaz S. Abdullah

    2018-03-01

    Full Text Available  The power supplied by any solar array depends upon the environmental conditions as weather conditions (temperature and radiation intensity and the incident angle of the radiant source. The work aims to study the maximum power tracking schemes that used to compare the system performance without and with different types of controllers. The maximum power points of the solar panel under test studied and compared with two controller's types.  The first controller is the proportional- integral - derivative controller type and the second is the perturbation and observation algorithm controller. The associated converter system is a microcontroller based type, whereas the results studied and compared of greatest power point of the Photovoltaic panels under the different two controllers. The experimental tests results compared with simulation results to verify accurate performance.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-02-01

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

  14. Communications and Tracking Distributed Systems Evolution Study

    Science.gov (United States)

    Culpepper, William

    1990-01-01

    The Communications and Tracking (C & T) techniques and equipment to support evolutionary space station concepts are being analyzed. Evolutionary space station configurations and operational concepts are used to derive the results to date. A description of the C & T system based on future capability needs is presented. Included are the hooks and scars currently identified to support future growth.

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

    Science.gov (United States)

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

    2018-04-01

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

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

    National Research Council Canada - National Science Library

    Pham, Khanh D

    2007-01-01

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

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

    Science.gov (United States)

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

    2016-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Mohsen Taherbaneh

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

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

  20. [Haptic tracking control for minimally invasive robotic surgery].

    Science.gov (United States)

    Xu, Zhaohong; Song, Chengli; Wu, Wenwu

    2012-06-01

    Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

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

    Directory of Open Access Journals (Sweden)

    Yiding Hua

    2017-01-01

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

  2. Simulation of an advanced small aperture track system

    Science.gov (United States)

    Williams, Tommy J.; Crockett, Gregg A.; Brunson, Richard L.; Beatty, Brad; Zahirniak, Daniel R.; Deuto, Bernard G.

    2001-08-01

    Simulation development for EO Systems has progressed to new levels with the advent of COTS software tools such as Matlab/Simulink. These tools allow rapid reuse of simulation library routines. We have applied these tools to newly emerging Acquisition Tracking and Pointing (ATP) systems using many routines developed through a legacy to High Energy Laser programs such as AirBorne Laser, Space Based Laser, Tactical High Energy Laser, and The Air Force Research Laboratory projects associated with the Starfire Optical Range. The simulation architecture allows ease in testing various track algorithms under simulated scenes with the ability to rapidly vary system hardware parameters such as track sensor and track loop control systems. The atmospheric turbulence environment and associated optical distortion is simulated to high fidelity levels through the application of an atmospheric phase screen model to produce scintillation of the laser illuminator uplink. The particular ATP system simulated is a small transportable system for tracking satellites in a daytime environment and projects a low power laser and receives laser return from retro-reflector equipped satellites. The primary application of the ATP system (and therefore the simulation) is the determination of the illuminator beam profile, jitter, and scintillation of the low power laser at the satellite. The ATP system will serve as a test bed for satellite tracking in a high background during daytime. Of particular interest in this simulation is the ability to emulate the hardware modelogic within the simulation to test and refine system states and mode change decisions. Additionally, the simulation allows data from the hardware system tests to be imported into Matlab and to thereby drive the simulation or to be easily compared to simulation results.

  3. Deficiency tracking system, conceptual business process requirements

    Energy Technology Data Exchange (ETDEWEB)

    Hermanson, M.L.

    1997-04-18

    The purpose of this document is to describe the conceptual business process requirements of a single, site-wide, consolidated, automated, deficiency management tracking, trending, and reporting system. This description will be used as the basis for the determination of the automated system acquisition strategy including the further definition of specific requirements, a ''make or buy'' determination and the development of specific software design details.

  4. Deficiency tracking system, conceptual business process requirements

    International Nuclear Information System (INIS)

    Hermanson, M.L.

    1997-01-01

    The purpose of this document is to describe the conceptual business process requirements of a single, site-wide, consolidated, automated, deficiency management tracking, trending, and reporting system. This description will be used as the basis for the determination of the automated system acquisition strategy including the further definition of specific requirements, a ''make or buy'' determination and the development of specific software design details

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

    Directory of Open Access Journals (Sweden)

    S. V. Aranovskiy

    2015-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Jose P. Perez

    2014-01-01

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

  7. Multiple Drosophila Tracking System with Heading Direction

    Directory of Open Access Journals (Sweden)

    Pudith Sirigrivatanawong

    2017-01-01

    Full Text Available Machine vision systems have been widely used for image analysis, especially that which is beyond human ability. In biology, studies of behavior help scientists to understand the relationship between sensory stimuli and animal responses. This typically requires the analysis and quantification of animal locomotion. In our work, we focus on the analysis of the locomotion of the fruit fly D r o s o p h i l a m e l a n o g a s t e r , a widely used model organism in biological research. Our system consists of two components: fly detection and tracking. Our system provides the ability to extract a group of flies as the objects of concern and furthermore determines the heading direction of each fly. As each fly moves, the system states are refined with a Kalman filter to obtain the optimal estimation. For the tracking step, combining information such as position and heading direction with assignment algorithms gives a successful tracking result. The use of heading direction increases the system efficiency when dealing with identity loss and flies swapping situations. The system can also operate with a variety of videos with different light intensities.

  8. Hazardous chemical tracking system (HAZ-TRAC)

    International Nuclear Information System (INIS)

    Bramlette, J.D.; Ewart, S.M.; Jones, C.E.

    1990-07-01

    Westinghouse Idaho Nuclear Company, Inc. (WINCO) developed and implemented a computerized hazardous chemical tracking system, referred to as Haz-Trac, for use at the Idaho Chemical Processing Plant (ICPP). Haz-Trac is designed to provide a means to improve the accuracy and reliability of chemical information, which enhances the overall quality and safety of ICPP operations. The system tracks all chemicals and chemical components from the time they enter the ICPP until the chemical changes form, is used, or becomes a waste. The system runs on a Hewlett-Packard (HP) 3000 Series 70 computer. The system is written in COBOL and uses VIEW/3000, TurboIMAGE/DBMS 3000, OMNIDEX, and SPEEDWARE. The HP 3000 may be accessed throughout the ICPP, and from remote locations, using data communication lines. Haz-Trac went into production in October, 1989. Currently, over 1910 chemicals and chemical components are tracked on the system. More than 2500 personnel hours were saved during the first six months of operation. Cost savings have been realized by reducing the time needed to collect and compile reporting information, identifying and disposing of unneeded chemicals, and eliminating duplicate inventories. Haz-Trac maintains information required by the Superfund Amendment Reauthorization Act (SARA), the Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) and the Occupational Safety and Health Administration (OSHA)

  9. Hazardous chemical tracking system (HAZ-TRAC)

    Energy Technology Data Exchange (ETDEWEB)

    Bramlette, J D; Ewart, S M; Jones, C E

    1990-07-01

    Westinghouse Idaho Nuclear Company, Inc. (WINCO) developed and implemented a computerized hazardous chemical tracking system, referred to as Haz-Trac, for use at the Idaho Chemical Processing Plant (ICPP). Haz-Trac is designed to provide a means to improve the accuracy and reliability of chemical information, which enhances the overall quality and safety of ICPP operations. The system tracks all chemicals and chemical components from the time they enter the ICPP until the chemical changes form, is used, or becomes a waste. The system runs on a Hewlett-Packard (HP) 3000 Series 70 computer. The system is written in COBOL and uses VIEW/3000, TurboIMAGE/DBMS 3000, OMNIDEX, and SPEEDWARE. The HP 3000 may be accessed throughout the ICPP, and from remote locations, using data communication lines. Haz-Trac went into production in October, 1989. Currently, over 1910 chemicals and chemical components are tracked on the system. More than 2500 personnel hours were saved during the first six months of operation. Cost savings have been realized by reducing the time needed to collect and compile reporting information, identifying and disposing of unneeded chemicals, and eliminating duplicate inventories. Haz-Trac maintains information required by the Superfund Amendment Reauthorization Act (SARA), the Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) and the Occupational Safety and Health Administration (OSHA).

  10. Assessment on tracking error performance of Cascade P/PI, NPID and N-Cascade controller for precise positioning of xy table ballscrew drive system

    International Nuclear Information System (INIS)

    Abdullah, L; Jamaludin, Z; Rafan, N A; Jamaludin, J; Chiew, T H

    2013-01-01

    At present, positioning plants in machine tools are looking for high degree of accuracy and robustness attributes for the purpose of compensating various disturbance forces. The objective of this paper is to assess the tracking performance of Cascade P/PI, Nonlinear PID (NPID) and Nonlinear cascade (N-Cascade) controller with the existence of disturbance forces in the form of cutting forces. Cutting force characteristics at different cutting parameters; such as spindle speed rotations is analysed using Fast Fourier Transform. The tracking performance of a Nonlinear cascade controller in presence of these cutting forces is compared with NPID controller and Cascade P/PI controller. Robustness of these controllers in compensating different cutting characteristics is compared based on reduction in the amplitudes of cutting force harmonics using Fast Fourier Transform. It is found that the N-cascade controller performs better than both NPID controller and Cascade P/PI controller. The average percentage error reduction between N-cascade controller and Cascade P/PI controller is about 65% whereas the average percentage error reduction between cascade controller and NPID controller is about 82% at spindle speed of 3000 rpm spindle speed rotation. The finalized design of N-cascade controller could be utilized further for machining application such as milling process. The implementation of N-cascade in machine tools applications will increase the quality of the end product and the productivity in industry by saving the machining time. It is suggested that the range of the spindle speed could be made wider to accommodate the needs for high speed machining

  11. Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

    Directory of Open Access Journals (Sweden)

    Wenjie Lou

    2016-02-01

    Full Text Available Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered non-linear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER and Return Weighted Regression (RWR are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.

  12. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Nimrod Vázquez

    2015-01-01

    Full Text Available Solar panels, which have become a good choice, are used to generate and supply electricity in commercial and residential applications. This generated power starts with the solar cells, which have a complex relationship between solar irradiation, temperature, and output power. For this reason a tracking of the maximum power point is required. Traditionally, this has been made by considering just current and voltage conditions at the photovoltaic panel; however, temperature also influences the process. In this paper the voltage, current, and temperature in the PV system are considered to be a part of a sliding surface for the proposed maximum power point tracking; this means a sliding mode controller is applied. Obtained results gave a good dynamic response, as a difference from traditional schemes, which are only based on computational algorithms. A traditional algorithm based on MPPT was added in order to assure a low steady state error.

  13. Tracking errors in a prototype real-time tumour tracking system

    International Nuclear Information System (INIS)

    Sharp, Gregory C; Jiang, Steve B; Shimizu, Shinichi; Shirato, Hiroki

    2004-01-01

    In motion-compensated radiation therapy, radio-opaque markers can be implanted in or near a tumour and tracked in real-time using fluoroscopic imaging. Tracking these implanted markers gives highly accurate position information, except when tracking fails due to poor or ambiguous imaging conditions. This study investigates methods for automatic detection of tracking errors, and assesses the frequency and impact of tracking errors on treatments using the prototype real-time tumour tracking system. We investigated four indicators for automatic detection of tracking errors, and found that the distance between corresponding rays was most effective. We also found that tracking errors cause a loss of gating efficiency of between 7.6 and 10.2%. The incidence of treatment beam delivery during tracking errors was estimated at between 0.8% and 1.25%

  14. Pneumatic motor speed control by trajectory tracking fuzzy logic

    Indian Academy of Sciences (India)

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

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

    Science.gov (United States)

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

    2017-08-01

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

  16. ENERGY EFFICIENT TRACKING SYSTEM USING WIRELESS SENSORS

    OpenAIRE

    Thankaselvi Kumaresan; Sheryl Mathias; Digja Khanvilkar; Prof. Smita Dange

    2014-01-01

    One of the most important applications of wireless sensor networks (WSNs) is surveillance system, which is used to track moving targets. WSN is composed of a large number of low cost sensors which operate on the power derived from batteries. Energy efficiency is an important issue in WSN, which determines the network lifetime. Due to the need for continuous monitoring with 100% efficiency, keeping all the sensor nodes active permanently leads to fast draining of batteries. Hen...

  17. 40 CFR 73.30 - Allowance tracking system accounts.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 16 2010-07-01 2010-07-01 false Allowance tracking system accounts. 73.30 Section 73.30 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) SULFUR DIOXIDE ALLOWANCE SYSTEM Allowance Tracking System § 73.30 Allowance tracking system...

  18. Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing

    International Nuclear Information System (INIS)

    Wilbert, Juergen; Meyer, Juergen; Baier, Kurt; Guckenberger, Matthias; Herrmann, Christian; Hess, Robin; Janka, Christian; Ma Lei; Mersebach, Torben; Richter, Anne; Roth, Michael; Schilling, Klaus; Flentje, Michael

    2008-01-01

    A novel system for real-time tumor tracking and motion compensation with a robotic HexaPOD treatment couch is described. The approach is based on continuous tracking of the tumor motion in portal images without implanted fiducial markers, using the therapeutic megavoltage beam, and tracking of abdominal breathing motion with optical markers. Based on the two independently acquired data sets the table movements for motion compensation are calculated. The principle of operation of the entire prototype system is detailed first. In the second part the performance of the HexaPOD couch was investigated with a robotic four-dimensional-phantom capable of simulating real patient tumor trajectories in three-dimensional space. The performance and limitations of the HexaPOD table and the control system were characterized in terms of its dynamic behavior. The maximum speed and acceleration of the HexaPOD were 8 mm/s and 34.5 mm/s 2 in the lateral direction, and 9.5 mm/s and 29.5 mm/s 2 in longitudinal and anterior-posterior direction, respectively. Base line drifts of the mean tumor position of realistic lung tumor trajectories could be fully compensated. For continuous tumor tracking and motion compensation a reduction of tumor motion up to 68% of the original amplitude was achieved. In conclusion, this study demonstrated that it is technically feasible to compensate breathing induced tumor motion in the lung with the adaptive tumor tracking system

  19. Optimum Design Of On Grid Pv System Using Tracking System

    Directory of Open Access Journals (Sweden)

    Saeed Mansour

    2015-05-01

    Full Text Available Abstract The fossil fuel is a main issue in the world due to the increase of fossil fuel cost and the depletion of the fossil fuel with continuous increasing demand on electricity. With continuous decrease of PV panels cost it is interesting to consider generation of electricity from PV system. To provide electric energy to a load in a remote area where electric grid utility is not available or connection with grid utility is available there are two approaches of photovoltaic system PV without tracking system Fixed System and PV with tracking systems. The result shows that the energy production by using PV with tracking system generates more energy in comparison with fixed panels system. However the cost per produced KWH is less in case of using fixed panels. This is the backbone in choice between two approaches of photovoltaic system. In this work a system design and cost analysis for two approaches of photovoltaic system are considered.

  20. Sistema de informações para acompanhamento, controle e auditoria em saúde pública Information system for tracking, control and audit in public health

    Directory of Open Access Journals (Sweden)

    Giovanna S. F. Cerchiari

    2008-10-01

    Full Text Available Este artigo apresenta alternativas para a gestão dos recursos destinados à saúde pública, por meio de um sistema de informações para os programas de diabetes e hipertensão e resulta do interesse em analisar a efetividade dos programas destinados aos portadores de doenças crônico-degenerativas. As questões analisadas foram focadas em fatores que traduzem a efetividade das ações desenvolvidas, isto é, a capacidade de gerar resultados a partir dos investimentos feitos. Isso ocorreu por meio de um modelo proposto para análise do resultado, mediante o estabelecimento de um indicador que consolidou três frentes de resultado, o número de óbitos, internações e atendimentos ambulatoriais. O índice estabelecido para análise da efetividade derivou em um indicador de custos. Como percurso metodológico foi aplicado o modelo teórico de planejamento e controle de produção (PCP elaborado por Erdmann (1998, que considera sete etapas para a consolidação de informações fragmentadas em um sistema.This article presents alternatives to the management of resources destined for public health through an information system for diabetes and hypertension programs. It intends to analyze the effectiveness of the programs focused on chronic and degenerative disease porters. The questions analyzed were centered on factors that translated the developed actions effectiveness, that is, the capacity to get results through investments you have made. We used a model to investigate the results, intervening in the establishment of an indicator that consolidated three fronts of results, the number of deaths, hospitalizations and ambulatory appointments. The established index for effectiveness analysis resulted in a cost indicator. As a methodology we used a theoretical model of Production Control and Plan (PCP, elaborated by Erdmann (1998, which considered seven stages for a consolidation of a fragmented information system.

  1. MTB-USDH Compensation Tracking System (MTB-CTS)

    Data.gov (United States)

    US Agency for International Development — MTB-USDH Compensation Tracking System: is the USDH Compensation Tracking System (MTB-CTS) to assist managers in monitoring their payroll costs for U.S. direct hires....

  2. Evaluation of environmental commitment tracking systems for use at CDOT.

    Science.gov (United States)

    2011-10-01

    "The purpose of this study is to review existing Environmental Tracking Systems (ETSs) used by other, : select state Departments of Transportation (DOTs), as well as the existing Environmental Commitment : Tracking System (ECTS) currently in use by C...

  3. 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

  4. LHCb : Tracking system of the LHCb upgrade

    CERN Multimedia

    Szumlak, Tomasz

    2015-01-01

    The upgrade of the LHCb experiment will run at an instantaneous luminosity of 2x10^33 cm^-2 s^-1 with a fully software based trigger, allowing to read out the detector at a rate of 40MHz. For this purpose, the full tracking system will be newly developed: the vertex locator (VELO) will be replaced by a pixel-based detector, withstanding the high radiation dose and providing an excellent track reconstruction with an efficiency of above 99% for all charged particles of interest. Upstream of the magnet, a silicon mico-strip detector with a high granularity and an improved acceptance coverage, called the Upstream Tracker (UT), will replace the current silicon strip tracker, and provide a rough momentum estimate. The tracking system downstream of the magnet will be replaced by the Scintillating Fibre tracker (SciFi), which will consist of 12 layers using 2.5m long scintillating fibres read out by silicon photo-multipliers, providing a spatial resolution better than 100 micron and resulting in a total momentum reso...

  5. The Cosmic Ray Tracking (CRT) detector system

    International Nuclear Information System (INIS)

    Bernloehr, K.; Gamp, S.; Hermann, G.; Hofmann, W.; Kihm, T.; Knoeppler, J.; Leffers, G.; Matheis, V.; Panter, M.; Trunk, U.; Ulrich, M.; Wolf, T.; Zink, R.; Heintze, J.

    1996-01-01

    The Cosmic Ray Tracking (CRT) project represents a study on the use of tracking detectors of the time projection chamber type to detect secondary cosmic ray particles in extensive air showers. In reconstructing the arrival direction of the primary cosmic ray particles, the CRT detectors take advantage of the angular correlation of secondary particles with the cosmic rays leading to these air showers. In this paper, the detector hardware including the custom-designed electronics system is described in detail. A CRT detector module provides an active area of 2.5 m 2 and allows to measure track directions with a precision of 0.4 circle . It consists of two circular drift chambers of 1.8 m diameter with six sense wires each, and a 10 cm thick iron plate between the two chambers. Each detector has a local electronics box with a readout, trigger, and monitoring system. The detectors can distinguish penetrating muons from other types of charged secondaries. A large detector array could be used to search for γ-ray point sources at energies above several TeV and for studies of the cosmic-ray composition. Ten detectors are in operation at the site of the HEGRA air shower array. (orig.)

  6. Enterprise Mobile Tracking and Reminder System: MAE

    Directory of Open Access Journals (Sweden)

    Cheah Huei Yoong

    2012-07-01

    Full Text Available Mobile phones have made significant improvements from providing voice communications to advanced features such as camera, GPS, Wi-Fi, SMS, voice recognition, Internet surfing, and touch screen. This paper presents an enterprise mobile tracking and reminder system (MAE that enables the elderly to have a better elder-care experience. The high-level architecture and major software algorithms especially the tracking in Android phones and SMS functions in server are described. The analysis of data captured and performance study of the server are discussed. In order to show the effectiveness of MAE, a pilot test was carried out with a retirement village in Singapore and the feedback from the elderly was evaluated. Generally, most comments received from the elderly were positive.

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

    Science.gov (United States)

    Michnovicz, Michael R.

    1997-06-01

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

  8. 47 CFR 64.1320 - Payphone call tracking system audits.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 3 2010-10-01 2010-10-01 false Payphone call tracking system audits. 64.1320... call tracking system audits. (a) Unless it has entered into an alternative compensation arrangement... Completing Carrier must undergo an audit of its § 64.1310(a)(1) tracking system by an independent third party...

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

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

    Science.gov (United States)

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

    2008-01-01

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

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

    National Research Council Canada - National Science Library

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

    2004-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

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

  13. Tracking Behavioral Progress within a Children's Mental Health System: The Vermont Community Adjustment Tracking System.

    Science.gov (United States)

    Bruns, Eric J.; Burchard, John D.; Froelich, Peter; Yoe, James T.; Tighe, Theodore

    1998-01-01

    Describes the Vermont Community Adjustment Tracking System (VT-CATS), which utilizes four behavioral instruments to allow intensive, ongoing, and interpretable behavioral assessment of a service system's most challenging children and adolescents. Also explains the adjustment indicator checklists and the ability of VT-CATS to address agencies'…

  14. Modeling of Target Tracking System for Homing Missiles and Air Defense Systems

    Directory of Open Access Journals (Sweden)

    Yunes Sh. ALQUDSI

    2018-06-01

    Full Text Available One reason of why the guidance and control systems are imperfect is due to the dynamics of both the tracker and the missile, which appears as an error in the alignment with the LOS and delay in the response of the missile to change its orientation. Other reasons are the bias and disturbances as well as the noise about and within the system such as the thermal noise. This paper deals with the tracking system used in the homing guidance and air defense systems. A realistic model for the tracking system model is developed including the receiver servo dynamics and the possible disturbance and noise that may affect the accuracy of the tracking signals measured by the seeker sensor. Modeling the parameters variability and uncertainty is also examined to determine the robustness margin of the tracking system.

  15. Cabling for an SSC silicon tracking system

    International Nuclear Information System (INIS)

    Ziock, H.; Boissevain, J.; Cooke, B.; Miller, W.

    1990-01-01

    As part of the Superconducting Super Collider Laboratory (SSCL) funded silicon tracking subsystem R ampersand D program, we examine the problems associated with cabling such a system. Different options for the cabling plant are discussed. A silicon microstrip tracking detector for an SSC experiment is an extremely complex system. The system consists of approximately 10 7 detector channels, each of which requires a communication link with the outside world and connections to the detector bias voltage supply, to a DC power supply for the onboard electronics, and to an adjustable discrimination level. The large number of channels and the short time between beam interactions (16 nanoseconds) dictates the need for high speed and large bandwidth communication channels, and a power distribution system that can handle the high current draw of the electronics including the large AC component due to their switching. At the same time the constraints imposed by the physics measurements require that the cable plant have absolutely minimal mass and radiation length. 4 refs., 2 figs

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

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  18. Bar-code automated waste tracking system

    International Nuclear Information System (INIS)

    Hull, T.E.

    1994-10-01

    The Bar-Code Automated Waste Tracking System was designed to be a site-Specific program with a general purpose application for transportability to other facilities. The system is user-friendly, totally automated, and incorporates the use of a drive-up window that is close to the areas dealing in container preparation, delivery, pickup, and disposal. The system features ''stop-and-go'' operation rather than a long, tedious, error-prone manual entry. The system is designed for automation but allows operators to concentrate on proper handling of waste while maintaining manual entry of data as a backup. A large wall plaque filled with bar-code labels is used to input specific details about any movement of waste

  19. Automated Mulitple Object Optical Tracking and Recognition System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — OPTRA proposes to develop an optical tracking system that is capable of recognizing and tracking up to 50 different objects within an approximately 2 degree x 3...

  20. Quality Assurance Tracking System - R7 (QATS-R7)

    Data.gov (United States)

    U.S. Environmental Protection Agency — This is metadata documentation for the Quality Assurance Tracking System - R7, an EPA Region 7 resource that tracks information on quality assurance reviews. Also...

  1. VA National Bed Control System

    Data.gov (United States)

    Department of Veterans Affairs — The VA National Bed Control System records the levels of operating, unavailable and authorized beds at each VAMC, and it tracks requests for changes in these levels....

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

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Yiqing Huang

    2016-11-01

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

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

    Indian Academy of Sciences (India)

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

  5. Design and control of the precise tracking bed based on complex electromechanical design theory

    Science.gov (United States)

    Ren, Changzhi; Liu, Zhao; Wu, Liao; Chen, Ken

    2010-05-01

    The precise tracking technology is wide used in astronomical instruments, satellite tracking and aeronautic test bed. However, the precise ultra low speed tracking drive system is one high integrated electromechanical system, which one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The precise Tracking Bed is one ultra-exact, ultra-low speed, high precision and huge inertial instrument, which some kind of mechanism and environment of the ultra low speed is different from general technology. This paper explores the design process based on complex electromechanical optimizing design theory, one non-PID with a CMAC forward feedback control method is used in the servo system of the precise tracking bed and some simulation results are discussed.

  6. Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

    Science.gov (United States)

    Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

    2018-03-01

    Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

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

    Directory of Open Access Journals (Sweden)

    Ameer L. Saleh

    2018-02-01

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

  8. Stability of miniature electromagnetic tracking systems

    International Nuclear Information System (INIS)

    Schicho, Kurt; Figl, Michael; Donat, Markus; Birkfellner, Wolfgang; Seemann, Rudolf; Wagner, Arne; Bergmann, Helmar; Ewers, Rolf

    2005-01-01

    This study aims at a comparative evaluation of two recently introduced electromagnetic tracking systems under reproducible simulated operating-room (OR) conditions: the recently launched Medtronic StealthStation TM Treon-EM TM and the NDI Aurora TM . We investigate if and to what extent these systems provide improved performance and stability in the presence of surgical instruments as possible sources of distortions compared with earlier reports on electromagnetic tracking technology. To investigate possible distortions under pseudo-realistic OR conditions, a large Langenbeck hook, a dental drill with its handle and an ultrasonic (US) scanhead are fixed on a special measurement rack at variable distances from the navigation sensor. The position measurements made by the Treon-EM TM were least affected by the presence of the instruments. The lengths of the mean deviation vectors were 0.21 mm for the Langenbeck hook, 0.23 mm for the drill with handle and 0.56 mm for the US scanhead. The Aurora TM was influenced by the three sources of distortion to a higher degree. A mean deviation vector of 1.44 mm length was observed in the vicinity of the Langenbeck hook, 0.53 mm length with the drill and 2.37 mm due to the US scanhead. The maximum of the root mean squared error (RMSE) for all coordinates in the presence of the Langenbeck hook was 0.3 mm for the Treon TM and 2.1 mm for the Aurora TM ; the drill caused a maximum RMSE of 0.2 mm with the Treon TM and 1.2 mm with the Aurora TM . In the presence of the US scanhead, the maximum RMSE was 1.4 mm for the Treon TM and 5.1 mm for the Aurora TM . The new generation of electromagnetic tracking systems has significantly improved compared to common systems that were available in the middle of the 1990s and has reached a high level of technical development. We conclude that, in general, both systems are suitable for routine clinical application

  9. 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...

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

    OpenAIRE

    Basil M Hamed; Mohammed S. El-Moghany

    2012-01-01

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

  11. Intermittently-visual Tracking Experiments Reveal the Roles of Error-correction and Predictive Mechanisms in the Human Visual-motor Control System

    Science.gov (United States)

    Hayashi, Yoshikatsu; Tamura, Yurie; Sase, Kazuya; Sugawara, Ken; Sawada, Yasuji

    Prediction mechanism is necessary for human visual motion to compensate a delay of sensory-motor system. In a previous study, “proactive control” was discussed as one example of predictive function of human beings, in which motion of hands preceded the virtual moving target in visual tracking experiments. To study the roles of the positional-error correction mechanism and the prediction mechanism, we carried out an intermittently-visual tracking experiment where a circular orbit is segmented into the target-visible regions and the target-invisible regions. Main results found in this research were following. A rhythmic component appeared in the tracer velocity when the target velocity was relatively high. The period of the rhythm in the brain obtained from environmental stimuli is shortened more than 10%. The shortening of the period of rhythm in the brain accelerates the hand motion as soon as the visual information is cut-off, and causes the precedence of hand motion to the target motion. Although the precedence of the hand in the blind region is reset by the environmental information when the target enters the visible region, the hand motion precedes the target in average when the predictive mechanism dominates the error-corrective mechanism.

  12. A distributed database view of network tracking systems

    Science.gov (United States)

    Yosinski, Jason; Paffenroth, Randy

    2008-04-01

    In distributed tracking systems, multiple non-collocated trackers cooperate to fuse local sensor data into a global track picture. Generating this global track picture at a central location is fairly straightforward, but the single point of failure and excessive bandwidth requirements introduced by centralized processing motivate the development of decentralized methods. In many decentralized tracking systems, trackers communicate with their peers via a lossy, bandwidth-limited network in which dropped, delayed, and out of order packets are typical. Oftentimes the decentralized tracking problem is viewed as a local tracking problem with a networking twist; we believe this view can underestimate the network complexities to be overcome. Indeed, a subsequent 'oversight' layer is often introduced to detect and handle track inconsistencies arising from a lack of robustness to network conditions. We instead pose the decentralized tracking problem as a distributed database problem, enabling us to draw inspiration from the vast extant literature on distributed databases. Using the two-phase commit algorithm, a well known technique for resolving transactions across a lossy network, we describe several ways in which one may build a distributed multiple hypothesis tracking system from the ground up to be robust to typical network intricacies. We pay particular attention to the dissimilar challenges presented by network track initiation vs. maintenance and suggest a hybrid system that balances speed and robustness by utilizing two-phase commit for only track initiation transactions. Finally, we present simulation results contrasting the performance of such a system with that of more traditional decentralized tracking implementations.

  13. Robust Tracking Control for a Piezoelectric Actuator

    Science.gov (United States)

    2006-01-01

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

  14. Muon tracking system with Silicon Photomultipliers

    International Nuclear Information System (INIS)

    Arneodo, F.; Benabderrahmane, M.L.; Dahal, S.; Di Giovanni, A.; Pazos Clemens, L.; Candela, A.; D'Incecco, M.; Sablone, D.; Franchi, G.

    2015-01-01

    We report the characterisation and performance of a low cost muon tracking system consisting of plastic scintillator bars and Silicon Photomultipliers equipped with a customised front-end electronics based on a fast preamplifier network. This system can be used as a detector test bench for astroparticle physics and for educational and outreach purposes. We investigated the device behaviour in self-trigger and coincidence mode, without using LED and pulse generators, showing that with a relatively simple set up a complete characterisation work can be carried out. A high definition oscilloscope, which can easily be found in many university physics or engineering departments, has been used for triggering and data acquisition. Its capabilities have been exploited to discriminate real particles from the background

  15. Muon tracking system with Silicon Photomultipliers

    Energy Technology Data Exchange (ETDEWEB)

    Arneodo, F.; Benabderrahmane, M.L.; Dahal, S. [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Di Giovanni, A., E-mail: adriano.digiovanni@nyu.edu [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Pazos Clemens, L. [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Candela, A.; D' Incecco, M.; Sablone, D. [Gran Sasso National Laboratory of INFN, Assergi (Italy); Franchi, G. [AGE Scientific Srl, Capezzano Pianore (Italy)

    2015-11-01

    We report the characterisation and performance of a low cost muon tracking system consisting of plastic scintillator bars and Silicon Photomultipliers equipped with a customised front-end electronics based on a fast preamplifier network. This system can be used as a detector test bench for astroparticle physics and for educational and outreach purposes. We investigated the device behaviour in self-trigger and coincidence mode, without using LED and pulse generators, showing that with a relatively simple set up a complete characterisation work can be carried out. A high definition oscilloscope, which can easily be found in many university physics or engineering departments, has been used for triggering and data acquisition. Its capabilities have been exploited to discriminate real particles from the background.

  16. Analysis of Dead Time and Implementation of Smith Predictor Compensation in Tracking Servo Systems for Small Unmanned Aerial Vehicles

    National Research Council Canada - National Science Library

    Brashear , Jr, Thomas J

    2005-01-01

    .... Gimbaled video camera systems, designed at NPS, use two servo actuators to command line of sight orientation via serial controller while tracking a target and is termed Visual Based Target Tracking (VBTT...

  17. Ultra-Wideband Tracking System Design for Relative Navigation

    Science.gov (United States)

    Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

    2011-01-01

    This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

  18. The GLAST silicon-strip tracking system

    International Nuclear Information System (INIS)

    Johnson, Robert P.

    2000-01-01

    The GLAST instrument concept is a gamma-ray pair conversion telescope that uses silicon microstrip detector technology to track the electron-positron pairs resulting from gamma-ray conversions in thin lead foils. A cesium iodide calorimeter following the tracker is used to measure the gamma-ray energy. Silicon strip technology is mature and robust, with an excellent heritage in space science and particle physics. It has many characteristics important for optimal performance of a pair conversion telescope, including high efficiency in thin detector planes, low noise, and excellent resolution and two-track separation. The large size of GLAST and high channel count in the tracker puts demands on the readout technology to operate at very low power, yet with sufficiently low noise occupancy to allow self triggering. A prototype system employing custom-designed ASIC's has been built and tested that meets the design goal of approximately 200 W per channel power consumption with a noise occupancy of less than one hit per trigger per 10,000 channels. Detailed design of the full-scale tracker is well advanced, with non-flight prototypes built for all components, and a complete 50,000 channel engineering demonstration tower module is currently under construction and will be tested in particle beams in late 1999. The flight-instrument conceptual design is for a 4x4 array of tower modules with an aperture of 2.9 m2 and an effective area of greater than 8000 cm2

  19. The GLAST Silicon-Strip Tracking System

    International Nuclear Information System (INIS)

    Johnson, R

    2004-01-01

    The GLAST instrument concept is a gamma-ray pair conversion telescope that uses silicon microstrip detector technology to track the electron-positron pairs resulting from gamma ray conversions in thin lead foils. A cesium iodide calorimeter following the tracker is used to measure the gamma-ray energy. Silicon strip technology is mature and robust, with an excellent heritage in space science and particle physics. It has many characteristics important for optimal performance of a pair conversion telescope, including high efficiency in thin detector planes, low noise, and excellent resolution and two-track separation. The large size of GLAST and high channel count in the tracker puts demands on the readout technology to operate at very low power, yet with sufficiently low noise occupancy to allow self triggering. A prototype system employing custom-designed ASIC's has been built and tested that meets the design goal of approximately 200 (micro)W per channel power consumption with a noise occupancy of less than one hit per trigger per 10,000 channels. Detailed design of the full-scale tracker is well advanced, with non-flight prototypes built for all components, and a complete 50,000 channel engineering demonstration tower module is currently under construction and will be tested in particle beams in late 1999. The flight-instrument conceptual design is for a 4 x 4 array of tower modules with an aperture of 2.9 m 2 and an effective area of greater than 8000 cm 2

  20. Upgrade of the ALICE Inner Tracking System

    CERN Document Server

    INSPIRE-00246160

    2015-05-20

    {During the Long Shutdown 2 (LS2) of the LHC in 2018/2019, the ALICE experiment plans the installation of a novel Inner Tracking System (ITS). The upgraded detector will fully replace the current ITS having six layers by seven layers of Monolithic Active Pixel Sensors (MAPS). The upgraded ITS will have significantly improved tracking and vertexing capabilities, as well as readout rate to cope with the expected increased Pb-Pb luminosity in LHC. The choice of MAPS has been driven by the specific requirements of ALICE as a heavy ion experiment dealing with rare probes at low $p_\\mathrm{T}$. This leads to stringent requirements on the material budget of 0.3$\\%~X/X_{0}$ per layer for the three innermost layers. Furthermore, the detector will see large hit densities of $\\sim 19~\\mathrm{cm}^{-2}/\\mathrm{event}$ on average for minimum-bias events in the inner most layer and has to stand moderate radiation loads of 700 kRad TID and $1\\times 10^{13}$ 1 MeV n$_\\mathrm{eq}/\\mathrm{cm}^{2}$ NIEL at maximum. The MAPS dete...

  1. The tracking of high level waste shipments-TRANSCOM system

    International Nuclear Information System (INIS)

    Johnson, P.E.; Joy, D.S.; Pope, R.B.

    1995-01-01

    The TRANSCOM (transportation tracking and communication) system is the U.S. Department of Energy's (DOE's) real-time system for tracking shipments of spent fuel, high-level wastes, and other high-visibility shipments of radioactive material. The TRANSCOM system has been operational since 1988. The system was used during FY1993 to track almost 100 shipments within the US.DOE complex, and it is accessed weekly by 10 to 20 users

  2. The tracking of high level waste shipments - TRANSCOM system

    International Nuclear Information System (INIS)

    Johnson, P.E.; Joy, D.S.; Pope, R.B.; Thomas, T.M.; Lester, P.B.

    1994-01-01

    The TRANSCOM (transportation tracking and communication) system is the US Department of Energy's (DOE's) real-time system for tracking shipments of spent fuel, high-level wastes, and other high-visibility shipments of radioactive material. The TRANSCOM system has been operational since 1988. The system was used during FY 1993 to track almost 100 shipments within the US DOE complex, and it is accessed weekly by 10 to 20 users

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

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2017-01-01

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

  4. Long range position and orientation tracking system

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Jansen, J.F.; Burks, B.L.; Bernacki, B.E.; Nypaver, D.J.

    1995-01-01

    The long range position and orientation tracking system (LRPOTS) will consist of two measurement pods, a VME-based computer system, and a detector array. The system is used to measure the position and orientation of a target that may be attached to a robotic arm, teleoperated manipulator, or autonomous vehicle. The pods have been designed to be mounted in the man-ways of the domes of the Fernald K-65 waste silos. Each pod has two laser scanner subsystems as well as lights and camera systems. One of the laser scanners will be oriented to scan in the pan direction, the other in the tilt direction. As the lasers scan across the detector array, the angles of incidence with each detector are recorded. Combining measurements from each of the four lasers yields sufficient data for a closed-form solution of the transform describing the location and orientation of the Content Mobilization System (CMS). Redundant detectors will be placed on the CMS to accommodate occlusions, to provide improved measurement accuracy, and to determine the CMS orientation

  5. Explosives Classifications Tracking System User Manual

    Energy Technology Data Exchange (ETDEWEB)

    Genoni, R.P.

    1993-10-01

    The Explosives Classification Tracking System (ECTS) presents information and data for U.S. Department of Energy (DOE) explosives classifications of interest to EM-561, Transportation Management Division, other DOE facilities, and contractors. It is intended to be useful to the scientist, engineer, and transportation professional, who needs to classify or transport explosives. This release of the ECTS reflects upgrading of the software which provides the user with an environment that makes comprehensive retrieval of explosives related information quick and easy. Quarterly updates will be provided to the ECTS throughout its development in FY 1993 and thereafter. The ECTS is a stand alone, single user system that contains unclassified, publicly available information, and administrative information (contractor names, product descriptions, transmittal dates, EX-Numbers, etc.) information from many sources for non-decisional engineering and shipping activities. The data is the most up-to-date and accurate available to the knowledge of the system developer. The system is designed to permit easy revision and updating as new information and data become available. These, additions and corrections are welcomed by the developer. This user manual is intended to help the user install, understand, and operate the system so that the desired information may be readily obtained, reviewed, and reported.

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

    Science.gov (United States)

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

    1979-01-01

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

  7. The CDF-II silicon tracking system

    Energy Technology Data Exchange (ETDEWEB)

    F. Palmonari et al.

    2002-01-18

    The CDFII silicon tracking system, SVX, for Run II of the Fermilab Tevatron has up to 8 cylindrical layers with average radii spanning from {approx} (1.5 to 28.7) cm, and lengths ranging from {approx} (90 to 200) cm for a total active-area of {approx} 6 m{sup 2} and {approx} 7.2 x 10{sup 5} readout channels. SVX will improve the CDFII acceptance and efficiency for both B and high-Pt physics dependent upon b-tagging. Along with the description of the SVX we report some alignment survey data from the SVX assembly phase and the actual status of the alignment as it results from the offline data analysis. The problems encountered are also reviewed.

  8. 太阳能抽水泵的自动追光控制系统研究%The Automatic Tracking Control System about Pumps by Solar Energy

    Institute of Scientific and Technical Information of China (English)

    蔺金元; 剡文杰

    2012-01-01

    在西部偏远的农村,阳光充足,太阳能要比电能更容易获得,农业用水可以采用太阳能抽水泵。介绍了一种自动追光控制系统,可以用它来辅助抽水泵的太阳能供电系统,控制步进电机去带动太阳能电池板自动旋转,使电池板能够保持在太阳能转换效率最高的位置,能够使太阳能抽水泵更加充分利用太阳能资源。%In the western countryside,solar energy is sufficient,solar energy is obtained more easily than power.Agricultural water can use solar water pumps.An automatic tracking system which can automatically tracksolar is introduced in this paper.The system is used for pumps that have solar power supply systems,then the battery plate which is driven by the stepper motor can rotate according to the value of absorption power.Thus,the battery plate can be always in the position which is available to absorb maximum power.The solar energy water pump can use solar energy more fully by this system.

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

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

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

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

    Science.gov (United States)

    Rubaai, Ahmed

    1996-01-01

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

  11. Automation system for optical counting of nuclear tracks

    Energy Technology Data Exchange (ETDEWEB)

    Boulyga, S.F.; Boulyga, E.G.; Lomonosova, E.M.; Zhuk, I.V

    1999-06-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2{center_dot}10{sup 5} tracks/cm{sup 2}. The automatic system was applied in the experimental investigation of uranium and transuranium elements.

  12. Automation system for optical counting of nuclear tracks

    International Nuclear Information System (INIS)

    Boulyga, S.F.; Boulyga, E.G.; Lomonosova, E.M.; Zhuk, I.V.

    1999-01-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2·10 5 tracks/cm 2 . The automatic system was applied in the experimental investigation of uranium and transuranium elements

  13. Automation system for optical counting of nuclear tracks

    CERN Document Server

    Boulyga, S F; Lomonosova, E M; Zhuk, I V

    1999-01-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2 centre dot 10 sup 5 tracks/cm sup 2. The automatic system was applied in the experimental investigation of uranium and transuranium elements.

  14. Green electricity: Tracking systems for environmental disclosure

    Energy Technology Data Exchange (ETDEWEB)

    Biewald, B.E.; Ramey, J.A. [Synapse Energy Economics, Inc., Cambridge, MA (United States)

    1997-12-31

    For the first time, electricity consumers in the US are beginning to choose their generation providers. One of the opportunities created by the introduction of retail choice in electricity is the chance for customers to influence the mix of generating resources through their purchasing decisions. Some environmentally aware consumers will want {open_quotes}clean,{close_quotes} {open_quotes}green,{close_quotes} or renewable power. While some suppliers will attempt to differentiate themselves according to their environmental performance, such claims for green electricity can be particularly difficult to verify given the complexity of the interconnected electric system. Because electricity is delivered over an integrated transmission grid and kilowatt-hours at the point of retail sale are indistinguishable from each other; disclosure requires tracking protocols to attribute generation at power plants to sales at the customers` meters. Fortunately, it is possible to implement a workable disclosure system. Some states have already included disclosure requirements in their electric industry restructuring orders and legislation. In this paper, a set of design criteria for an environmental disclosure system are presented along with two methods for disclosure: the company approach and the product approach. In addition, the authors discuss of power pools, data availability issues, and propose a company-based disclosure system using a {open_quotes}wholesale sales first{close_quotes} approach to transaction accounting.

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

    Science.gov (United States)

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

    2017-05-30

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

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

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

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

  17. Electronic Conference Tracking and Approval System

    Data.gov (United States)

    US Agency for International Development — eCTAS tracks information relevant to attendance and hosting conferences of USAID's Washington offices and Missions worldwide including cost, numbers attending,...

  18. A microprocessor based picture analysis system for automatic track measurements

    International Nuclear Information System (INIS)

    Heinrich, W.; Trakowski, W.; Beer, J.; Schucht, R.

    1982-01-01

    In the last few years picture analysis became a powerful technique for measurements of nuclear tracks in plastic detectors. For this purpose rather expensive commercial systems are available. Two inexpensive microprocessor based systems with different resolution were developed. The video pictures of particles seen through a microscope are digitized in real time and the picture analysis is done by software. The microscopes are equipped with stages driven by stepping motors, which are controlled by separate microprocessors. A PDP 11/03 supervises the operation of all microprocessors and stores the measured data on its mass storage devices. (author)

  19. Automated Root Tracking with "Root System Analyzer"

    Science.gov (United States)

    Schnepf, Andrea; Jin, Meina; Ockert, Charlotte; Bol, Roland; Leitner, Daniel

    2015-04-01

    identification number, the distance between branching point to the parent root base, the root length, the root radius and the nodes that belong to each individual root path. This information is relevant for the analysis of dynamic root system development as well as the parameterisation of root architecture models. Here, we show results of Root System Analyzer applied to analyse the root systems of wheat plants grown in rhizotrons. Different treatments with respect to soil moisture and apatite concentrations were used to test the effects of those conditions on root system development. Photographs of the root systems were taken at high spatial and temporal resolution and root systems are automatically tracked.

  20. COMBINING INDEPENDENT VISUALIZATION AND TRACKING SYSTEMS FOR AUGMENTED REALITY

    Directory of Open Access Journals (Sweden)

    P. Hübner

    2018-05-01

    Full Text Available The basic requirement for the successful deployment of a mobile augmented reality application is a reliable tracking system with high accuracy. Recently, a helmet-based inside-out tracking system which meets this demand has been proposed for self-localization in buildings. To realize an augmented reality application based on this tracking system, a display has to be added for visualization purposes. Therefore, the relative pose of this visualization platform with respect to the helmet has to be tracked. In the case of hand-held visualization platforms like smartphones or tablets, this can be achieved by means of image-based tracking methods like marker-based or model-based tracking. In this paper, we present two marker-based methods for tracking the relative pose between the helmet-based tracking system and a tablet-based visualization system. Both methods were implemented and comparatively evaluated in terms of tracking accuracy. Our results show that mobile inside-out tracking systems without integrated displays can easily be supplemented with a hand-held tablet as visualization device for augmented reality purposes.

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

    Directory of Open Access Journals (Sweden)

    Neng Wan

    2013-01-01

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

  2. Automated Safety Incident Surveillance and Tracking System (ASISTS)

    Data.gov (United States)

    Department of Veterans Affairs — The Automated Safety Incident Surveillance and Tracking System (ASISTS) is a repository of Veterans Health Administration (VHA) employee accident data. Many types of...

  3. Official Union Time Tracking System Operational Data Store

    Data.gov (United States)

    Social Security Administration — Official Union Time Tracking System captures the reporting and accounting of the representational activity for all American Federation of Government Employees (AFGE)...

  4. Wire chamber requirements and tracking simulation studies for tracking systems at the superconducting super collider

    International Nuclear Information System (INIS)

    Hanson, G.G.; Niczyporuk, B.B.; Palounek, A.P.T.

    1989-02-01

    Limitations placed on wire chambers by radiation damage and rate requirements in the SSC environment are reviewed. Possible conceptual designs for wire chamber tracking systems which meet these requirements are discussed. Computer simulation studies of tracking in such systems are presented. Simulations of events from interesting physics at the SSC, including hits from minimum bias background events, are examined. Results of some preliminary pattern recognition studies are given. Such computer simulation studies are necessary to determine the feasibility of wire chamber tracking systems for complex events in a high-rate environment such as the SSC. 11 refs., 9 figs., 1 tab

  5. Alignment of the ATLAS Inner Detector Tracking System

    CERN Document Server

    Lacuesta, V; The ATLAS collaboration

    2010-01-01

    ATLAS is a multipurpose experiment that records the LHC collisions. To reconstruct trajectories of charged particles produced in these collisions, ATLAS tracking system is equipped with silicon planar sensors and drift‐tube based detectors. They constitute the ATLAS Inner Detector. In order to achieve its scientific goals, the alignment of the ATLAS tracking system requires the determine accurately its almost 36000 degrees of freedom. Thus the demanded precision for the alignment of the silicon sensors is below 10 micrometers. This implies to use a large sample of high momentum and isolated charge particle tracks. The high level trigger selects those tracks online. Then the raw data with the hits information of the triggered tracks is stored in a calibration stream. Tracks from cosmic trigger during empty LHC bunches are also used as input for the alignment. The implementation of the track based alignment within the ATLAS software framework unifies different alignment approaches and allows the alignment of ...

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

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2016-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Muxuan Pan

    2017-04-01

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

  8. Tracking and data relay satellite system (TDRSS) capabilities

    Science.gov (United States)

    Spearing, R. E.

    1985-10-01

    The Tracking and Data Relay Satellite System (TDRSS) is the latest implementation to tracking and data acquisition network for near-earth orbiting satellite support designed to meet the requirements of the current and projected (to the year 2000) satellite user community. The TDRSS consists of a space segment (SS) and a ground segment (GS) that fit within NASA's Space Network (SN) complex controlled at the Goddard Space Flight Center. The SS currently employs a single satellite, TDRS-1, with two additional satellites to be deployed in January 1986 and July 1986. The GS contains the communications and equipment required to manage the three TDR satellites and to transmit and receive information to and from TDRSS user satellites. Diagrams and tables illustrating the TDRSS signal characteristics, the situation of TDRSS within the SN, the SN operations and element interrelationships, as well as future plans for new missions are included.

  9. Phase tracking system for ultra narrow bandwidth applications

    NARCIS (Netherlands)

    Hill, M.T.; Cantoni, A.

    2002-01-01

    Recent advances make it possible to mitigate a number of drawbacks of conventional phase locked loops. These advances permit the design of phase tracking systems with much improved characteristics that are sought after in modern communication system applications. A new phase tracking system is

  10. Solar tracking control tower; Steuerungstechnik folgt der Sonne

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-11-15

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

  11. Application of one-axis sun tracking system

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-11-15

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

  12. Application of one-axis sun tracking system

    International Nuclear Information System (INIS)

    Sefa, Ibrahim; Demirtas, Mehmet; Colak, Ilhami

    2009-01-01

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

  13. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

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

    2006-01-01

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

  14. Reset Control Systems

    CERN Document Server

    Baños, Alfonso

    2012-01-01

    Reset Control Systems addresses the analysis for reset control treating both its basic form which requires only that the state of the controller be reinitialized to zero (the reset action) each time the tracking error crosses zero (the reset condition), and some useful variations of the reset action (partial reset with fixed or variable reset percentage) and of the reset condition (fixed or variable reset band and anticipative reset). The issues regarding reset control – concepts and motivation; analysis tools; and the application of design methodologies to real-world examples – are given comprehensive coverage. The text opens with an historical perspective which moves from the seminal work of the Clegg integrator and Horowitz FORE to more recent approaches based on impulsive/hybrid control systems and explains the motivation for reset compensation. Preliminary material dealing with notation, basic definitions and results, and with the definition of the control problem under study is also included. The fo...

  15. Demonstrating EnTracked a System for Energy-Efficient Position Tracking for Mobile Devices

    DEFF Research Database (Denmark)

    Kjærgaard, Mikkel Baun; Jensen, Jakob Langdal; Godsk, Torben

    An important feature of a modern mobile device is that it can position itself. Not only for use on the device but also for remote applications that require tracking of the device. To be useful, such position tracking has to be energy-efficient to avoid having a major impact on the battery life...... of the mobile device. To address this challenge we have build a system named EnTracked that, based on the estimation and prediction of system conditions and mobility, schedules position updates to both minimize energy consumption and optimize robustness. In this demonstration we would like to show how...

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

    Directory of Open Access Journals (Sweden)

    Yao Wenlong

    2015-09-01

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

  17. Real-Time Tumor Tracking in the Lung Using an Electromagnetic Tracking System

    Energy Technology Data Exchange (ETDEWEB)

    Shah, Amish P., E-mail: Amish.Shah@orlandohealth.com [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States); Kupelian, Patrick A.; Waghorn, Benjamin J.; Willoughby, Twyla R.; Rineer, Justin M.; Mañon, Rafael R.; Vollenweider, Mark A.; Meeks, Sanford L. [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States)

    2013-07-01

    Purpose: To describe the first use of the commercially available Calypso 4D Localization System in the lung. Methods and Materials: Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R{sup 2}) were tabulated for all 42 tracks. Results: For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Conclusions: Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still

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

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

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

  19. Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

    Science.gov (United States)

    Looney, Alan

    1991-01-01

    Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

  20. Activity-Tracking Service for Building Operating Systems

    DEFF Research Database (Denmark)

    Hviid, Jakob; Kjærgaard, Mikkel Baun

    2018-01-01

    of Things sensors and devices promise to deliver rich data about human activities and control of loads. However, existing proposals for building operating systems that should combine such data and control opportunities does not provide concepts and support for activity data. In this paper we propose...... an activity-tracking service for building operating systems. The service is designed to consider the security, privacy, integration, extendability and scalability challenges in the building setting. We provide initial findings for testing the system in a proof of concept evaluation using a set of common......Several high consuming electricity loads in retail stores are currently highly intertwined in human activities. Without knowledge of such activities it is difficult to improve the energy efficiency of the loads operation for sustainability and cost reasons. The increasing availability of Internet...

  1. The ALICE Inner Tracking System Upgrade

    CERN Document Server

    Siddhanta, Sabyasachi

    2015-01-01

    The long term plan of ALICE (A Large Ion Collider Experiment) at the CERN Large Hadron Collider (LHC) is a detailed investigation and characterisation of the Quark-Gluon Plasma (QGP). ALICE has devised a comprehensive upgrade strategy to enhance its physics capabilities and to exploit the LHC running conditions after the second long shutdown of the LHC scheduled in 2019-20. The upgraded ALICE will focus on high precision measurements of rare probes over a wide range of momenta, which will significantly improve the performance with respect to the present experimental set up. The upgrade strategy is based on the fact that after LS2 LHC will progressively increase its luminosity with Pb beams eventually reaching an interaction rate of about 50 kHz. To exploit the new LHC capabilities, several existing detectors will undergo a substantial upgrade and new detectors will be added. Within this upgrade strategy, the Inner Tracking System (ITS) upgrade forms an important cornerstone, providing precise measurements for...

  2. Office of Civilian Response Deployment Tracking System

    Data.gov (United States)

    US Agency for International Development — The purpose of OCR DTS is to establish, manage and track relevant Civilian Response Corps teams for deployment by sector experience, training, education etc.

  3. Laminated track design for inductrack maglev systems

    Science.gov (United States)

    Post, Richard F.

    2004-07-06

    A magnet configuration comprising a pair of Halbach arrays magnetically and structurally connected together are positioned with respect to each other so that a first component of their fields substantially cancels at a first plane between them, and a second component of their fields substantially adds at this first plane. A track is located between the pair of Halbach arrays and a propulsion mechanism is provided for moving the pair of Halbach arrays along the track. When the pair of Halbach arrays move along the track and the track is not located at the first plane, a current is induced in the windings and a restoring force is exerted on the pair of Halbach arrays.

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

    Science.gov (United States)

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

    2017-11-01

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

  5. Automatic weld torch guidance control system

    Science.gov (United States)

    Smaith, H. E.; Wall, W. A.; Burns, M. R., Jr.

    1982-01-01

    A highly reliable, fully digital, closed circuit television optical, type automatic weld seam tracking control system was developed. This automatic tracking equipment is used to reduce weld tooling costs and increase overall automatic welding reliability. The system utilizes a charge injection device digital camera which as 60,512 inidividual pixels as the light sensing elements. Through conventional scanning means, each pixel in the focal plane is sequentially scanned, the light level signal digitized, and an 8-bit word transmitted to scratch pad memory. From memory, the microprocessor performs an analysis of the digital signal and computes the tracking error. Lastly, the corrective signal is transmitted to a cross seam actuator digital drive motor controller to complete the closed loop, feedback, tracking system. This weld seam tracking control system is capable of a tracking accuracy of + or - 0.2 mm, or better. As configured, the system is applicable to square butt, V-groove, and lap joint weldments.

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

    Science.gov (United States)

    Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

    2018-03-01

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

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

    Science.gov (United States)

    Wang, Minlin; Ren, Xuemei; Chen, Qiang

    2018-01-01

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

  8. Attentional System for Face Detection and Tracking

    Directory of Open Access Journals (Sweden)

    Leonardo Pinto da Silva Panta Leão

    2011-04-01

    Full Text Available The human visual system quickly performs complex decisions due, in part, to attentional system, which positions the most relevant targets in the center of the visual field, region with greatest concentration of photoreceptor cells. The attentional system involves sensory, cognitive and also mechanical elements, because the eye and head muscles must be activated to produce movement. In this paper we present the proposal of a face detector system that, as well as the biological system, produces a coordinated movement with the purpose of positioning the target image in the center of camera's visual field. The developed system has distinct parts, one responsible for video pattern recognition and other for controlling the mechanical part, implemented as processes that communicate with each other by sockets.

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

    Science.gov (United States)

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

    2012-08-01

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

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

    Science.gov (United States)

    Lu, Xiaojun; Liu, Changli; Chen, Lei

    2018-04-01

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

  11. Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

    Science.gov (United States)

    Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

    2012-01-01

    A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

  12. Chaotic system optimal tracking using data-based synchronous method with unknown dynamics and disturbances

    International Nuclear Information System (INIS)

    Song Ruizhuo; Wei Qinglai

    2017-01-01

    We develop an optimal tracking control method for chaotic system with unknown dynamics and disturbances. The method allows the optimal cost function and the corresponding tracking control to update synchronously. According to the tracking error and the reference dynamics, the augmented system is constructed. Then the optimal tracking control problem is defined. The policy iteration (PI) is introduced to solve the min-max optimization problem. The off-policy adaptive dynamic programming (ADP) algorithm is then proposed to find the solution of the tracking Hamilton–Jacobi–Isaacs (HJI) equation online only using measured data and without any knowledge about the system dynamics. Critic neural network (CNN), action neural network (ANN), and disturbance neural network (DNN) are used to approximate the cost function, control, and disturbance. The weights of these networks compose the augmented weight matrix, and the uniformly ultimately bounded (UUB) of which is proven. The convergence of the tracking error system is also proven. Two examples are given to show the effectiveness of the proposed synchronous solution method for the chaotic system tracking problem. (paper)

  13. A compact muon tracking system for didactic and outreach activities

    Energy Technology Data Exchange (ETDEWEB)

    Antolini, R.; Candela, A.; Conicella, V.; De Deo, M.; D' Incecco, M.; Sablone, D. [INFN Gran Sasso National Laboratory – Assergi (AQ) (Italy); Arneodo, F.; Benabderrahmane, M.L.; Di Giovanni, A. [New York University Abu Dhabi - Abu Dhabi (United Arab Emirates); Pazos Clemens, L., E-mail: luis.pazclem@nyu.edu [New York University Abu Dhabi - Abu Dhabi (United Arab Emirates); Franchi, G.; D' Inzeo, M. [Age Scientific srl – Capezzano Pianore (Italy)

    2016-07-11

    We present a cosmic ray telescope based on the use of plastic scintillator bars coupled to ASD-RGB1S-M Advansid Silicon Photomultipliers (SiPM) through wavelength shifter fibers. The system is comprised of 200 electronic channels organized into 10 couples of orthogonal planes allowing the 3D reconstruction of crossing muons. Two monolithic PCB boards have been designed to bias, readout all the SiPMs enclosed in the system, to monitor the working parameters and to remotely connect the detector. To make easier the display of muon tracks to non-expert users, two LED matrices, triggered by particle interactions, have been implemented. To improve the usability of the muon telescope, a controller board unit permits to select different levels of trigger and allows data acquisition for refined analyses for the more proficient user. A first prototype, funded by INFN and deployed in collaboration with NYUAD, is operating at the Toledo Metro station of Naples, while two further detectors will be developed and installed in Abu Dhabi in the next few months. - Highlights: • A compact system for real time displaying of muon tracks is presented. • The system is based on scintillating plates composed of doped polystyrene bars. • By using SiPMs and corresponding LEDs the muon paths can be visualized. • The purpose of this system is to introduce the public to sub-nuclear particles.

  14. A compact muon tracking system for didactic and outreach activities

    International Nuclear Information System (INIS)

    Antolini, R.; Candela, A.; Conicella, V.; De Deo, M.; D' Incecco, M.; Sablone, D.; Arneodo, F.; Benabderrahmane, M.L.; Di Giovanni, A.; Pazos Clemens, L.; Franchi, G.; D'Inzeo, M.

    2016-01-01

    We present a cosmic ray telescope based on the use of plastic scintillator bars coupled to ASD-RGB1S-M Advansid Silicon Photomultipliers (SiPM) through wavelength shifter fibers. The system is comprised of 200 electronic channels organized into 10 couples of orthogonal planes allowing the 3D reconstruction of crossing muons. Two monolithic PCB boards have been designed to bias, readout all the SiPMs enclosed in the system, to monitor the working parameters and to remotely connect the detector. To make easier the display of muon tracks to non-expert users, two LED matrices, triggered by particle interactions, have been implemented. To improve the usability of the muon telescope, a controller board unit permits to select different levels of trigger and allows data acquisition for refined analyses for the more proficient user. A first prototype, funded by INFN and deployed in collaboration with NYUAD, is operating at the Toledo Metro station of Naples, while two further detectors will be developed and installed in Abu Dhabi in the next few months. - Highlights: • A compact system for real time displaying of muon tracks is presented. • The system is based on scintillating plates composed of doped polystyrene bars. • By using SiPMs and corresponding LEDs the muon paths can be visualized. • The purpose of this system is to introduce the public to sub-nuclear particles.

  15. An Indoor Tracking System Based on Bluetooth Technology

    OpenAIRE

    Opoku, Samuel King

    2012-01-01

    Implementations of tracking systems have become prevalent issues in modern technology due to its advantage of location detection of objects. Objects are usually tracked using trackers based on GPS, GSM, RFID and Bluetooth signal strength implementation. These mechanisms usually require line of sight operations, limited coverage and low level programming language for accessing Bluetooth signal strength. This paper presents an alternative technique for tracking the movement of indoor objects ba...

  16. WIPP Transparency Project - container tracking and monitoring demonstration using the Authenticated Tracking and Monitoring System (ATMS)

    International Nuclear Information System (INIS)

    SCHOENEMAN, J. LEE; SMARTT, HEIDI ANNE; HOFER, DENNIS

    2000-01-01

    The Authenticated Tracking and Monitoring System (ATMS) is designed to answer the need for global monitoring of the status and location of proliferation-sensitive items on a worldwide basis, 24 hours a day. ATMS uses wireless sensor packs to monitor the status of the items within the shipment and surrounding environmental conditions. Receiver and processing units collect a variety of sensor event data that is integrated with GPS tracking data. The collected data are transmitted to the International Maritime Satellite (INMARSAT) communication system, which then sends the data to mobile ground stations. Authentication and encryption algorithms secure the data during communication activities. A typical ATMS application would be to track and monitor the stiety and security of a number of items in transit along a scheduled shipping route. The resulting tracking, timing, and status information could then be processed to ensure compliance with various agreements

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

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2008-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2006-09-01

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

  19. Renewable Energy Certificate (REC) Tracking Systems: Costs & Verification Issues (Presentation)

    Energy Technology Data Exchange (ETDEWEB)

    Heeter, J.

    2013-10-01

    This document provides information on REC tracking systems: how they are used in the voluntary REC market, a comparison of REC systems fees and information regarding how they treat environmental attributes.

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

    Directory of Open Access Journals (Sweden)

    R. Silva-Ortigoza

    2013-01-01

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

  1. Yarr: A PCIe based readout system for semiconductor tracking systems

    Energy Technology Data Exchange (ETDEWEB)

    Heim, Timon [Bergische Universitaet Wuppertal, Wuppertal (Germany); CERN, Geneva (Switzerland); Maettig, Peter [Bergische Universitaet Wuppertal, Wuppertal (Germany); Pernegger, Heinz [CERN, Geneva (Switzerland)

    2015-07-01

    The Yarr readout system is a novel DAQ concept, using an FPGA board connected via PCIe to a computer, to read out semiconductor tracking systems. The system uses the FPGA as a reconfigurable IO interface which, in conjunction with the very high speed of the PCIe bus, enables a focus of processing the data stream coming from the pixel detector in software. Modern computer system could potentially make the need of custom signal processing hardware in readout systems obsolete and the Yarr readout system showcases this for FE-I4 chips, which are state-of-the-art readout chips used in the ATLAS Pixel Insertable B-Layer and developed for tracking in high multiplicity environments. The underlying concept of the Yarr readout system tries to move intelligence from hardware into the software without the loss of performance, which is made possible by modern multi-core processors. The FPGA board firmware acts like a buffer and does no further processing of the data stream, enabling rapid integration of new hardware due to minimal firmware minimisation.

  2. Evaluation of maximum power point tracking in hydrokinetic energy conversion systems

    Directory of Open Access Journals (Sweden)

    Jahangir Khan

    2015-11-01

    Full Text Available Maximum power point tracking is a mature control issue for wind, solar and other systems. On the other hand, being a relatively new technology, detailed discussion on power tracking of hydrokinetic energy conversion systems are generally not available. Prior to developing sophisticated control schemes for use in hydrokinetic systems, existing know-how in wind or solar technologies can be explored. In this study, a comparative evaluation of three generic classes of maximum power point scheme is carried out. These schemes are (a tip speed ratio control, (b power signal feedback control, and (c hill climbing search control. In addition, a novel concept for maximum power point tracking: namely, extremum seeking control is introduced. Detailed and validated system models are used in a simulation environment. Potential advantages and drawbacks of each of these schemes are summarised.

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

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

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

  4. Silicon-based tracking system: Mechanical engineering and design

    International Nuclear Information System (INIS)

    Miller, W.O.; Gamble, M.T.; Thompson, T.C.; Woloshun, K.A.; Reid, R.S.; Hanlon, J.A.; Michaud, F.D.; Dransfield, G.D.; Ziock, H.J.; Palounek, A.P.

    1992-01-01

    The Silicon Tracking System (STS) is composed of silicon strip detectors arranged by both in a cylindrical array and an array of flat panels about the interaction region. The cylindrical array is denoted the central region and the flat panel arrays, which are normal to the beam axis, we denoted the forward regions. The overall length of the silicon array is 5.16 m and the maximum diameter is 0.93 m. The Silicon Tracking System Conceptual Design Report, should be consulted for the body of analysis performed to quantify the present design concept. For the STS to achieve its physics goals, the mechanical structures and services must support 17 m 2 of silicon detectors and stabilize their positions to within 5 μm, uniformly cool the detector the system to O degrees C and at the same time potentially remove up to 13 kW of waste heat generated by the detector electronics, provide up to 3400 A of current to supply the 6.5 million electronics channels, and supply of control and data transmission lines for those channels. These objectives must be achieved in a high ionizing radiation environment, using virtually no structural mass and only low-Z materials. The system must be maintainable during its 10 year operating life

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

    Science.gov (United States)

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

    2009-03-16

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

  6. A variable structure tracking controller for robot manipulators

    International Nuclear Information System (INIS)

    Lee, Jung Hoon; Shin, Hwi Beom

    1997-01-01

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

  7. Real-time resource allocation for tracking systems

    NARCIS (Netherlands)

    Satsangi, Y.; Whiteson, S.; Oliehoek, F.A.; Bouma, H.

    2017-01-01

    Automated tracking is key to many computer vision applications. However, many tracking systems struggle to perform in real-time due to the high computational cost of detecting people, especially in ultra high resolution images. We propose a new algorithm called PartiMax that greatly reduces this

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

    Science.gov (United States)

    Yang, Qing; Su, Hao; Tang, Gongyou

    2016-10-01

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

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

    Science.gov (United States)

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

    2015-07-01

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

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

    Science.gov (United States)

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

    2017-03-01

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

  11. Visual tracking strategies for intelligent vehicle highway systems

    Science.gov (United States)

    Smith, Christopher E.; Papanikolopoulos, Nikolaos P.; Brandt, Scott A.; Richards, Charles

    1995-01-01

    The complexity and congestion of current transportation systems often produce traffic situations that jeopardize the safety of the people involved. These situations vary from maintaining a safe distance behind a leading vehicle to safely allowing a pedestrian to cross a busy street. Environmental sensing plays a critical role in virtually all of these situations. Of the sensors available, vision sensors provide information that is richer and more complete than other sensors, making them a logical choice for a multisensor transportation system. In this paper we present robust techniques for intelligent vehicle-highway applications where computer vision plays a crucial role. In particular, we demonstrate that the controlled active vision framework can be utilized to provide a visual sensing modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations. We have selected two application examples, vehicle tracking and pedestrian tracking, to demonstrate that the framework can provide precisely the type of information required to effectively manage the given situation.

  12. Kinect-Based Moving Human Tracking System with Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Abdel Mehsen Ahmad

    2017-04-01

    Full Text Available This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET. This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

  13. Particle Tracking Model (PTM) with Coastal Modeling System (CMS)

    Science.gov (United States)

    2015-11-04

    Coastal Inlets Research Program Particle Tracking Model (PTM) with Coastal Modeling System ( CMS ) The Particle Tracking Model (PTM) is a Lagrangian...currents and waves. The Coastal Inlets Research Program (CIRP) supports the PTM with the Coastal Modeling System ( CMS ), which provides coupled wave...and current forcing for PTM simulations. CMS -PTM is implemented in the Surface-water Modeling System, a GUI environment for input development

  14. Symmetry breaking of adjacent tracks in perpendicular recording system

    International Nuclear Information System (INIS)

    Xie Huang; Wei Dan

    2007-01-01

    The track density increase in a perpendicular magnetic recording system is limited by the adjacent-track interference (ATI). In this work, a composite micromagnetic simulation model of the read/write process is developed to analyse ATI by the symmetry of signal and noise in two adjacent W = 60 nm tracks with the track pitch of the order of 100 nm. Based on the two-dimensional medium noise distribution of dibit recording, it is found that the noise in the first and later recorded tracks start to be asymmetric when the track pitch is lower than 2 W; if the read width is limited within 2/3 of the write width, the asymmetry of noise appears when the track pitch is less than 1.5 W. At higher recording densities, the signal-to-noise ratio degradation is mainly due to the noise caused by the interference from the signal of the adjacent track. Side writing can be effectively eliminated by the use of a guard band whose width is at least half the track width

  15. Tracker: Image-Processing and Object-Tracking System Developed

    Science.gov (United States)

    Klimek, Robert B.; Wright, Theodore W.

    1999-01-01

    Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in

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

    Science.gov (United States)

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

    2016-01-01

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

  17. AN AUTOMATED RAILWAY STATION TRAFFIC CONTROL SYSTEM

    African Journals Online (AJOL)

    user

    2017-01-01

    Jan 1, 2017 ... Software simulation was carried out using the Proteus virtual system modeling ... system which helps in track switching and level crossing gate traffic control is capable of improving reliability, speed, .... Lane Switching Network.

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

    Science.gov (United States)

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

    2014-02-01

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

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

    Science.gov (United States)

    Park, Kwan-Soon; Ok, Seung-Yong

    2015-01-01

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

  20. Demonstration personnel and material tracking system at ANL-W

    International Nuclear Information System (INIS)

    Roybal, J.A.; Ortiz, S.; Henslee, S.P.

    1988-01-01

    A Personnel and Material Tracking System (PMTS) was demonstrated in the Fuel Manufacturing Facility (FMF) at Argonne National Laboratories-West (ANL-W) in July, 1987. The PMTS is intended to aid in the transfer of inventory materials from area to area within a facility such as FMF. It is also intended to assure that only those personnel who are authorized to do so may conduct these transfer operations. The PMTS Personnel Movement (PM) subsystem uses portals installed between areas to alert the system to the movement of personnel between areas. The portals are composed to two sensors, one on either side of a proximity badge reader, to detect the presence of personnel entering the portal area. However, a restricted area can be assigned to any badge holder which will cause the system to issue an alert if the badge holder passes into his/her restricted area. The PM subsystem is intended to be transparent when in use. The PMTS Inventory Material Access (IMA) subsystem provides two functions: material control and material access. The material control is provided by the Wireless Alarm Transmission of Container Handling (WATCH) system which is a sensor rf transmitter system that detects item movements. Material access is provided by the Mobile Accountability Verification Inventory Station (MAVIS) system which is a self-powered smart barcode reader

  1. Wireless GPS fleet tracking system at the University of Albany.

    Science.gov (United States)

    2014-07-01

    This report provides an overview of the project undertaken at the University at Albany to make alternative transportation a more : viable option by implementing a GPS Tracking System on the University bus fleet and broadcasting the bus locations to c...

  2. Strategic Mobility 21: Integrated Tracking System Analysis and Concept Design

    National Research Council Canada - National Science Library

    Mallon, Lawrence G; Savacool, Edwin

    2007-01-01

    .... This design document supports the SM21 efforts in developing a dual-use multi-modal node at the Southern California Logistics Airport in Victorville, CA that will be supported by an Integrated Tracking System...

  3. Agency Secure Image And Storage Tracking System (ASIST)

    Data.gov (United States)

    US Agency for International Development — Agency Secure Image and Storage Tracking System (Missions): is a Documentum-based user interface developed and maintained by the USAID OCIO (formerly IRM) to improve...

  4. Privacy Impact Assessment for the Enforcement Superfund Tracking System

    Science.gov (United States)

    This Enforcement Superfund Tracking System (ESTS) collects publicly available information from the California Secretary of State on businesses. Learn how this data is collected, how it will be used, access to the data, and the purpose of data collection.

  5. 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.

  6. Controlled neural network application in track-match problem

    International Nuclear Information System (INIS)

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

    1993-01-01

    Track-match problem of high energy physics (HEP) data handling is formulated in terms of incidence matrices. The corresponding Hopfield neural network is developed to solve this type of constraint satisfaction problems (CSP). A special concept of the controlled neural network is proposed as a basis of an algorithm for the effective CSP solution. Results of comparable calculations show the very high performance of this algorithm against conventional search procedures. 8 refs.; 1 fig.; 1 tab

  7. Mobile Robot Positioning by using Low-Cost Visual Tracking System

    Directory of Open Access Journals (Sweden)

    Ruangpayoongsak Niramon

    2017-01-01

    Full Text Available This paper presents an application of visual tracking system on mobile robot positioning. The proposed method is verified on a constructed low-cost tracking system consisting of 2 DOF pan-tilt unit, web camera and distance sensor. The motion of pan-tilt joints is realized and controlled by using LQR controller running on microcontroller. Without needs of camera calibration, robot trajectory is tracked by Kalman filter integrating distance information and joint positions. The experimental results demonstrate validity of the proposed positioning technique and the obtained mobile robot trajectory is benchmarked against laser rangefinder positioning. The implemented system can successfully track a mobile robot driving at 14 cm/s.

  8. A real time tracking vision system and its application to robotics

    International Nuclear Information System (INIS)

    Inoue, Hirochika

    1994-01-01

    Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

  9. Developments for the outer tracking system of the LHCb experiment

    CERN Document Server

    Bachmann, S; Haas, T; Uwer, U; Walter, M; Wiedner, D

    2004-01-01

    The outer tracking system of the LHCb experiment is discussed. The outer tracking system (OT) is made of three stations and every station is made up of four detecting planes with a double layer of straw tubes. The straw tubes are mounted in detector module boxes made up of sandwich panels. The use of a counting gas with a high drift velocity is suggested to cope with high bunch crossing rate at the LHCb experiment. (Edited abstract) 3 Refs.

  10. Cluster-based localization and tracking in ubiquitous computing systems

    CERN Document Server

    Martínez-de Dios, José Ramiro; Torres-González, Arturo; Ollero, Anibal

    2017-01-01

    Localization and tracking are key functionalities in ubiquitous computing systems and techniques. In recent years a very high variety of approaches, sensors and techniques for indoor and GPS-denied environments have been developed. This book briefly summarizes the current state of the art in localization and tracking in ubiquitous computing systems focusing on cluster-based schemes. Additionally, existing techniques for measurement integration, node inclusion/exclusion and cluster head selection are also described in this book.

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

    Directory of Open Access Journals (Sweden)

    Wei-Na ZHAI

    2013-04-01

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

  12. Actor-critic-based optimal tracking for partially unknown nonlinear discrete-time systems.

    Science.gov (United States)

    Kiumarsi, Bahare; Lewis, Frank L

    2015-01-01

    This paper presents a partially model-free adaptive optimal control solution to the deterministic nonlinear discrete-time (DT) tracking control problem in the presence of input constraints. The tracking error dynamics and reference trajectory dynamics are first combined to form an augmented system. Then, a new discounted performance function based on the augmented system is presented for the optimal nonlinear tracking problem. In contrast to the standard solution, which finds the feedforward and feedback terms of the control input separately, the minimization of the proposed discounted performance function gives both feedback and feedforward parts of the control input simultaneously. This enables us to encode the input constraints into the optimization problem using a nonquadratic performance function. The DT tracking Bellman equation and tracking Hamilton-Jacobi-Bellman (HJB) are derived. An actor-critic-based reinforcement learning algorithm is used to learn the solution to the tracking HJB equation online without requiring knowledge of the system drift dynamics. That is, two neural networks (NNs), namely, actor NN and critic NN, are tuned online and simultaneously to generate the optimal bounded control policy. A simulation example is given to show the effectiveness of the proposed method.

  13. Authenticated tracking and monitoring system (ATMS) tracking shipments from an Australian uranium mine

    International Nuclear Information System (INIS)

    Schoeneman, J.L.

    1998-01-01

    The Authenticated Tracking and Monitoring System (ATMS) answers the need for global monitoring of the status and location of sensitive items on a worldwide basis, 24 hours a day. ATMS uses wireless sensor packs to monitor the status of the items and environmental conditions. A receiver and processing unit collect a variety of sensor event data. The collected data are transmitted to the INMARSAT satellite communication system, which then sends the data to appropriate ground stations. Authentication and encryption algorithms secure the data during communication activities. A typical ATMS application would be to track and monitor the safety and security of a number of items in transit along a scheduled shipping route. The resulting tracking, timing, and status information could then be processed to ensure compliance with various agreements. Following discussions between the Australian Safeguards Office (ASO), the US Department of Energy (DOE), and Sandia National Laboratories (SNL) in early 1995, the parties mutually agreed to conduct and evaluate a field trial prototype ATMS to track and monitor shipments of uranium ore concentrate (UOC) from an operating uranium mine in Australia to a final destination in Rotterdam, the Netherlands, with numerous stops along the way. During the months of February and March 1998, the trial was conducted on a worldwide basis, with tracking and monitoring stations located at sites in both Australia and the US. This paper describes ATMS and the trial

  14. 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.

  15. A satellite-tracking millimeter-wave reflector antenna system for mobile satellite-tracking

    Science.gov (United States)

    Densmore, Arthur C.; Jamnejad, Vahraz; Woo, Kenneth E.

    1995-03-01

    A miniature dual-band two-way mobile satellite tracking antenna system mounted on a movable ground vehicle includes a miniature parabolic reflector dish having an elliptical aperture with major and minor elliptical axes aligned horizontally and vertically, respectively, to maximize azimuthal directionality and minimize elevational directionality to an extent corresponding to expected pitch excursions of the movable ground vehicle. A feed-horn has a back end and an open front end facing the reflector dish and has vertical side walls opening out from the back end to the front end at a lesser horn angle and horizontal top and bottom walls opening out from the back end to the front end at a greater horn angle. An RF circuit couples two different signal bands between the feed-horn and the user. An antenna attitude controller maintains an antenna azimuth direction relative to the satellite by rotating it in azimuth in response to sensed yaw motions of the movable ground vehicle so as to compensate for the yaw motions to within a pointing error angle. The controller sinusoidally dithers the antenna through a small azimuth dither angle greater than the pointing error angle while sensing a signal from the satellite received at the reflector dish, and deduces the pointing angle error from dither-induced fluctuations in the received signal.

  16. A novel track imaging system as a range counter

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Z. [National Institute of Radiological Sciences (Japan); Matsufuji, N. [National Institute of Radiological Sciences (Japan); Tokyo Institute of Technology (Japan); Kanayama, S. [Chiba University (Japan); Ishida, A. [National Institute of Radiological Sciences (Japan); Tokyo Institute of Technology (Japan); Kohno, T. [Tokyo Institute of Technology (Japan); Koba, Y.; Sekiguchi, M.; Kitagawa, A.; Murakami, T. [National Institute of Radiological Sciences (Japan)

    2016-05-01

    An image-intensified, camera-based track imaging system has been developed to measure the tracks of ions in a scintillator block. To study the performance of the detector unit in the system, two types of scintillators, a dosimetrically tissue-equivalent plastic scintillator EJ-240 and a CsI(Tl) scintillator, were separately irradiated with carbon ion ({sup 12}C) beams of therapeutic energy from HIMAC at NIRS. The images of individual ion tracks in the scintillators were acquired by the newly developed track imaging system. The ranges reconstructed from the images are reported here. The range resolution of the measurements is 1.8 mm for 290 MeV/u carbon ions, which is considered a significant improvement on the energy resolution of the conventional ΔE/E method. The detector is compact and easy to handle, and it can fit inside treatment rooms for in-situ studies, as well as satisfy clinical quality assurance purposes.

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

    Directory of Open Access Journals (Sweden)

    Murat Karabacak

    2017-08-01

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

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

    Science.gov (United States)

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

    2018-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xing Fang

    2015-01-01

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

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

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

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

  1. Automated tracking for advanced satellite laser ranging systems

    Science.gov (United States)

    McGarry, Jan F.; Degnan, John J.; Titterton, Paul J., Sr.; Sweeney, Harold E.; Conklin, Brion P.; Dunn, Peter J.

    1996-06-01

    NASA's Satellite Laser Ranging Network was originally developed during the 1970's to track satellites carrying corner cube reflectors. Today eight NASA systems, achieving millimeter ranging precision, are part of a global network of more than 40 stations that track 17 international satellites. To meet the tracking demands of a steadily growing satellite constellation within existing resources, NASA is embarking on a major automation program. While manpower on the current systems will be reduced to a single operator, the fully automated SLR2000 system is being designed to operate for months without human intervention. Because SLR2000 must be eyesafe and operate in daylight, tracking is often performed in a low probability of detection and high noise environment. The goal is to automatically select the satellite, setup the tracking and ranging hardware, verify acquisition, and close the tracking loop to optimize data yield. TO accomplish the autotracking tasks, we are investigating (1) improved satellite force models, (2) more frequent updates of orbital ephemerides, (3) lunar laser ranging data processing techniques to distinguish satellite returns from noise, and (4) angular detection and search techniques to acquire the satellite. A Monte Carlo simulator has been developed to allow optimization of the autotracking algorithms by modeling the relevant system errors and then checking performance against system truth. A combination of simulator and preliminary field results will be presented.

  2. A production system for computerized emergency procedures tracking

    International Nuclear Information System (INIS)

    Petrick, W.; Ng, K.; Stuart, C.; Cain, D.

    1988-01-01

    This paper describes a methodology used to implement a computerized Emergency Operating Procedures (EOP) tracking system based on artificial intelligence (AI) technologies. In AI parlance, the system is a production system in which the knowledge representation is a set of productions (IF-THEN rules) which are interpreted by an inference engine or rule interpreter. The inference engine looks for pattern matches in the rule premises which lead to a conclusion. This inferred conclusion is subsequently used in further pattern matches. By separating the knowledge representation from the inference engine, the system can readily accommodate changes to the written procedures. The system is written in the C language and is co-resident on the same computer as the Safety Parameter Display System (SPDS). The plant EOPs have been written in about 250 rules which are evaluated in less than one second using about 10-20% of the CPU. The conclusions are available to multiple users within seconds after a parameter value changes. The benefits achieved with this production rule system include compatibility with the written procedures used as the knowledge source, compatibility with control room instrumentation, compatibility with the SPDS, realtime performance, and efficient computer usage

  3. Alignment of the ALICE Inner Tracking System with cosmic-ray tracks

    NARCIS (Netherlands)

    Aamodt, K.; Chojnacki, M.; Christakoglou, P.; de Haas, A.P.; de Rooij, R. S.; Grelli, A.|info:eu-repo/dai/nl/326052577; Ivan, C.G.|info:eu-repo/dai/nl/304847747; Kamermans, R.|info:eu-repo/dai/nl/073698733; Mischke, A.|info:eu-repo/dai/nl/325781435; Nooren, G.J.L.|info:eu-repo/dai/nl/07051349X; Oskamp, C.J.; Peitzmann, T.|info:eu-repo/dai/nl/304833959; Simili, E.; van den Brink, A.; van Leeuwen, M.|info:eu-repo/dai/nl/250599171; Verweij, M.|info:eu-repo/dai/nl/330542133

    2010-01-01

    ALICE (A Large Ion Collider Experiment) is the LHC (Large Hadron Collider) experiment devoted to investigating the strongly interacting matter created in nucleus-nucleus collisions at the LHC energies. The ALICE ITS, Inner Tracking System, consists of six cylindrical layers of silicon detectors with

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

    Science.gov (United States)

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

    2017-11-01

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

  5. neural control system

    International Nuclear Information System (INIS)

    Elshazly, A.A.E.

    2002-01-01

    Automatic power stabilization control is the desired objective for any reactor operation , especially, nuclear power plants. A major problem in this area is inevitable gap between a real plant ant the theory of conventional analysis and the synthesis of linear time invariant systems. in particular, the trajectory tracking control of a nonlinear plant is a class of problems in which the classical linear transfer function methods break down because no transfer function can represent the system over the entire operating region . there is a considerable amount of research on the model-inverse approach using feedback linearization technique. however, this method requires a prices plant model to implement the exact linearizing feedback, for nuclear reactor systems, this approach is not an easy task because of the uncertainty in the plant parameters and un-measurable state variables . therefore, artificial neural network (ANN) is used either in self-tuning control or in improving the conventional rule-based exper system.the main objective of this thesis is to suggest an ANN, based self-learning controller structure . this method is capable of on-line reinforcement learning and control for a nuclear reactor with a totally unknown dynamics model. previously, researches are based on back- propagation algorithm . back -propagation (BP), fast back -propagation (FBP), and levenberg-marquardt (LM), algorithms are discussed and compared for reinforcement learning. it is found that, LM algorithm is quite superior

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

    Science.gov (United States)

    Russell, D M; Sternad, D

    2001-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Youssif Mohamed Toum Elobaid

    2014-01-01

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

  8. Maximum power tracking in WECS (Wind energy conversion systems) via numerical and stochastic approaches

    International Nuclear Information System (INIS)

    Elnaggar, M.; Abdel Fattah, H.A.; Elshafei, A.L.

    2014-01-01

    This paper presents a complete design of a two-level control system to capture maximum power in wind energy conversion systems. The upper level of the proposed control system adopts a modified line search optimization algorithm to determine a setpoint for the wind turbine speed. The calculated speed setpoint corresponds to the maximum power point at given operating conditions. The speed setpoint is fed to a generalized predictive controller at the lower level of the control system. A different formulation, that treats the aerodynamic torque as a disturbance, is postulated to derive the control law. The objective is to accurately track the setpoint while keeping the control action free from unacceptably fast or frequent variations. Simulation results based on a realistic model of a 1.5 MW wind turbine confirm the superiority of the proposed control scheme to the conventional ones. - Highlights: • The structure of a MPPT (maximum power point tracking) scheme is presented. • The scheme is divided into the optimization algorithm and the tracking controller. • The optimization algorithm is based on an online line search numerical algorithm. • The tracking controller is treating the aerodynamics torque as a loop disturbance. • The control technique is simulated with stochastic wind speed by Simulink and FAST

  9. Index Tracking with Control on the Number of Assets

    Directory of Open Access Journals (Sweden)

    Leonardo Riegel Sant'Anna

    2014-06-01

    Full Text Available Index tracking is a passive investment strategy, which aims at generating portfolios to reproduce a specific market index’s performance. This article proposes a model for a index tracking problem with control on the number of assets in the portfolio, which corresponds to a restriction in transaction costs. The model is applied to Ibovespa (sample: 67 stocks from January/2009 to July/2012. Portfolios were formed without limiting the amount of stocks and limiting this amount to 40, 30 and 20 stocks, with rebalancing periods of 20, 40 and 60 trading days. The results were satisfactory especially for the 60 days rebalancing period, in which transaction costs become lower due to the longer rebalancing period. We also verified that changes in Cplex parameters didn’t influence the results especially in relation to the computational times. Therefore, we also conclude about the need of using heuristic approaches to form portfolios with smaller amounts of assets.

  10. Intelligent Materials Tracking System for Construction Projects Management

    Directory of Open Access Journals (Sweden)

    Narimah Kasim

    2015-05-01

    Full Text Available An essential factor adversely affecting the performance of construction projects is the improper handling of materials during site activities. In addition, paper-based reports are mostly used to record and exchange information related to the material components within the supply chain, which is problematic and inefficient. Generally, technologies (such as wireless systems and RFID are not being adequately used to overcome human errors and are not well integrated with project management systems to make tracking and management of materials easier and faster. Findings from a literature review and surveys showed that there is a lack of positive examples of such tools having been used effectively. Therefore, this research focused on the development of a materials tracking system that integrates RFID-based materials management with resources modelling to improve on-site materials tracking. Rapid prototyping was used to develop the system and testing of the system was carried out to examine the functionality and working appropriately. The proposed system is intended to promote the employment of RFID for automatic materials tracking with integration of resource modelling (Microsoft (R Office Project in the project management system in order to establish which of the tagged components are required resources for certain project tasks. In conclusion, the system provides an automatic and easy tracking method for managing materials during materials delivery and inventory management processes in construction projects.

  11. Transcom's next move: Improvements to DOE's transportation satellite tracking systems

    International Nuclear Information System (INIS)

    Harmon, L.H.; Harris, A.D. III; Driscoll, K.L.; Ellis, L.G.

    1990-01-01

    In today's society, the use of satellites is becoming the state-of-the-art method of tracking shipments. The United States Department of Energy (US DOE) has advanced technology in this area with its transportation tracking and communications system, TRANSCOM, which has been in operation for over one year. TRANSCOM was developed by DOE to monitor selected, unclassified shipments of radioactive materials across the country. With the latest technology in satellite communications, Long Range Navigation (Loran), and computer networks, TRANSCOM tracks shipments in near-real time, disseminates information on each shipment to authorized users of the system, and offers two-way communications between vehicle operators and TRANSCOM users anywhere in the country. TRANSCOM's successful tracking record, during fiscal year 1989, includes shipments of spent fuel, cesium, uranium hexafluoride, and demonstration shipments for the Waste Isolation Pilot Plant (WIPP). Plans for fiscal year 1990 include tracking additional shipments, implementing system enhancements designed to meet the users' needs, and continuing to research the technology of tracking systems so that TRANSCOM can provide its users with the newest technology available in satellite communications. 3 refs., 1 fig

  12. Video-based Chinese Input System via Fingertip Tracking

    Directory of Open Access Journals (Sweden)

    Chih-Chang Yu

    2012-10-01

    Full Text Available In this paper, we propose a system to detect and track fingertips online and recognize Mandarin Phonetic Symbol (MPS for user-friendly Chinese input purposes. Using fingertips and cameras to replace pens and touch panels as input devices could reduce the cost and improve the ease-of-use and comfort of computer-human interface. In the proposed framework, particle filters with enhanced appearance models are applied for robust fingertip tracking. Afterwards, MPS combination recognition is performed on the tracked fingertip trajectories using Hidden Markov Models. In the proposed system, the fingertips of the users could be robustly tracked. Also, the challenges of entering, leaving and virtual strokes caused by video-based fingertip input can be overcome. Experimental results have shown the feasibility and effectiveness of the proposed work.

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

    Science.gov (United States)

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

    2015-07-01

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

  14. Maximum Safety Regenerative Power Tracking for DC Traction Power Systems

    Directory of Open Access Journals (Sweden)

    Guifu Du

    2017-02-01

    Full Text Available Direct current (DC traction power systems are widely used in metro transport systems, with running rails usually being used as return conductors. When traction current flows through the running rails, a potential voltage known as “rail potential” is generated between the rails and ground. Currently, abnormal rises of rail potential exist in many railway lines during the operation of railway systems. Excessively high rail potentials pose a threat to human life and to devices connected to the rails. In this paper, the effect of regenerative power distribution on rail potential is analyzed. Maximum safety regenerative power tracking is proposed for the control of maximum absolute rail potential and energy consumption during the operation of DC traction power systems. The dwell time of multiple trains at each station and the trigger voltage of the regenerative energy absorbing device (READ are optimized based on an improved particle swarm optimization (PSO algorithm to manage the distribution of regenerative power. In this way, the maximum absolute rail potential and energy consumption of DC traction power systems can be reduced. The operation data of Guangzhou Metro Line 2 are used in the simulations, and the results show that the scheme can reduce the maximum absolute rail potential and energy consumption effectively and guarantee the safety in energy saving of DC traction power systems.

  15. Remote gaze tracking system for 3D environments.

    Science.gov (United States)

    Congcong Liu; Herrup, Karl; Shi, Bertram E

    2017-07-01

    Eye tracking systems are typically divided into two categories: remote and mobile. Remote systems, where the eye tracker is located near the object being viewed by the subject, have the advantage of being less intrusive, but are typically used for tracking gaze points on fixed two dimensional (2D) computer screens. Mobile systems such as eye tracking glasses, where the eye tracker are attached to the subject, are more intrusive, but are better suited for cases where subjects are viewing objects in the three dimensional (3D) environment. In this paper, we describe how remote gaze tracking systems developed for 2D computer screens can be used to track gaze points in a 3D environment. The system is non-intrusive. It compensates for small head movements by the user, so that the head need not be stabilized by a chin rest or bite bar. The system maps the 3D gaze points of the user onto 2D images from a scene camera and is also located remotely from the subject. Measurement results from this system indicate that it is able to estimate gaze points in the scene camera to within one degree over a wide range of head positions.

  16. Study on turning performance of four-track steering vehicles. Effect of traction force and track speed distribution control; Sodashiki sokisha no senkai seino ni kansuru kenkyu. Kudoryoku haibun to sokudo haibun no eikyo

    Energy Technology Data Exchange (ETDEWEB)

    Imamura, M; Watanabe, K; Kitano, M [National Defense Academy, Kanagawa (Japan)

    1997-10-01

    The four-track steering vehicles (4TS) is a new type of off-road vehicle which can replace four wheels with track units to improve the mobility on soft terrains. In this paper, the numerical simulations, under the various types of differential and track velocity control systems, are conducted to predict the turning performance and steer ability of the 4TS vehicles. The results of the numerical analysis demonstrate that the differential systems with realistic combined distribution control systems of the track speed is efficient at a small turning radius. 4 refs., 13 figs.

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

    Science.gov (United States)

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

    2012-01-01

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

  18. Reconfigurable materials handling system incorporating part tracking, routing and scheduling

    CSIR Research Space (South Africa)

    Naidu, P

    2006-07-01

    Full Text Available . Transmission range of 10m-30m indoors is common. RFID is a commonly available system which uses either low-cost passive Radio tags, or higher cost active tags, that an RF receiver can then read. An RFID system comprises of a reader, its associated antenna...]. 3. Proposed Tracking System The proposed tracking system consists of a two phases. In the first phase a passive radio frequency (RF) tag is read by a RF reader. In the second phase the information obtained from the reader is wirelessly...

  19. Tracking strategy for photovoltaic solar systems in high latitudes

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  20. GPS-based tracking system for TOPEX orbit determination

    Science.gov (United States)

    Melbourne, W. G.

    1984-01-01

    A tracking system concept is discussed that is based on the utilization of the constellation of Navstar satellites in the Global Positioning System (GPS). The concept involves simultaneous and continuous metric tracking of the signals from all visible Navstar satellites by approximately six globally distributed ground terminals and by the TOPEX spacecraft at 1300-km altitude. Error studies indicate that this system could be capable of obtaining decimeter position accuracies and, most importantly, around 5 cm in the radial component which is key to exploiting the full accuracy potential of the altimetric measurements for ocean topography. Topics covered include: background of the GPS, the precision mode for utilization of the system, past JPL research for using the GPS in precision applications, the present tracking system concept for high accuracy satellite positioning, and results from a proof-of-concept demonstration.

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

    Institute of Scientific and Technical Information of China (English)

    Jinhuan WANG; Pengxiao ZHANG; Zhixin LIU; Xiaoming HU

    2016-01-01

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

  2. NGSI: Function Requirements for a Cylinder Tracking System

    International Nuclear Information System (INIS)

    Branney, S.

    2012-01-01

    While nuclear suppliers currently track uranium hexafluoride (UF 6 ) cylinders in various ways, for their own purposes, industry practices vary significantly. The NNSA Office of Nonproliferation and International Security's Next Generation Safeguards Initiative (NGSI) has begun a 5-year program to investigate the concept of a global monitoring scheme that uniquely identifies and tracks UF 6 cylinders. As part of this effort, NGSI's multi-laboratory team has documented the 'life of a UF 6 cylinder' and reviewed IAEA practices related to UF 6 cylinders. Based on this foundation, this paper examines the functional requirements of a system that would uniquely identify and track UF 6 cylinders. There are many considerations for establishing a potential tracking system. Some of these factors include the environmental conditions a cylinder may be expected to be exposed to, where cylinders may be particularly vulnerable to diversion, how such a system may be integrated into the existing flow of commerce, how proprietary data generated in the process may be protected, what a system may require in terms of the existing standard for UF 6 cylinder manufacture or modifications to it and what the limiting technology factors may be. It is desirable that a tracking system should provide benefit to industry while imposing as few additional constraints as possible and still meeting IAEA safeguards objectives. This paper includes recommendations for this system and the analysis that generated them.

  3. SU-G-JeP3-08: Robotic System for Ultrasound Tracking in Radiation Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Kuhlemann, I [University of Luebeck, Luebeck (Germany); Graduate School for Computing in Medicine and Life Sciences, University of Luebeck (Germany); Jauer, P; Schweikard, A; Ernst, F [University of Luebeck, Luebeck (Germany)

    2016-06-15

    Purpose: For safe and accurate real-time tracking of tumors for IGRT using 4D ultrasound, it is necessary to make use of novel, high-end force-sensitive lightweight robots designed for human-machine interaction. Such a robot will be integrated into an existing robotized ultrasound system for non-invasive 4D live tracking, using a newly developed real-time control and communication framework. Methods: The new KUKA LWR iiwa robot is used for robotized ultrasound real-time tumor tracking. Besides more precise probe contact pressure detection, this robot provides an additional 7th link, enhancing the dexterity of the kinematic and the mounted transducer. Several integrated, certified safety features create a safe environment for the patients during treatment. However, to remotely control the robot for the ultrasound application, a real-time control and communication framework has to be developed. Based on a client/server concept, client-side control commands are received and processed by a central server unit and are implemented by a client module running directly on the robot’s controller. Several special functionalities for robotized ultrasound applications are integrated and the robot can now be used for real-time control of the image quality by adjusting the transducer position, and contact pressure. The framework was evaluated looking at overall real-time capability for communication and processing of three different standard commands. Results: Due to inherent, certified safety modules, the new robot ensures a safe environment for patients during tumor tracking. Furthermore, the developed framework shows overall real-time capability with a maximum average latency of 3.6 ms (Minimum 2.5 ms; 5000 trials). Conclusion: The novel KUKA LBR iiwa robot will advance the current robotized ultrasound tracking system with important features. With the developed framework, it is now possible to remotely control this robot and use it for robotized ultrasound tracking

  4. SU-G-JeP3-08: Robotic System for Ultrasound Tracking in Radiation Therapy

    International Nuclear Information System (INIS)

    Kuhlemann, I; Jauer, P; Schweikard, A; Ernst, F

    2016-01-01

    Purpose: For safe and accurate real-time tracking of tumors for IGRT using 4D ultrasound, it is necessary to make use of novel, high-end force-sensitive lightweight robots designed for human-machine interaction. Such a robot will be integrated into an existing robotized ultrasound system for non-invasive 4D live tracking, using a newly developed real-time control and communication framework. Methods: The new KUKA LWR iiwa robot is used for robotized ultrasound real-time tumor tracking. Besides more precise probe contact pressure detection, this robot provides an additional 7th link, enhancing the dexterity of the kinematic and the mounted transducer. Several integrated, certified safety features create a safe environment for the patients during treatment. However, to remotely control the robot for the ultrasound application, a real-time control and communication framework has to be developed. Based on a client/server concept, client-side control commands are received and processed by a central server unit and are implemented by a client module running directly on the robot’s controller. Several special functionalities for robotized ultrasound applications are integrated and the robot can now be used for real-time control of the image quality by adjusting the transducer position, and contact pressure. The framework was evaluated looking at overall real-time capability for communication and processing of three different standard commands. Results: Due to inherent, certified safety modules, the new robot ensures a safe environment for patients during tumor tracking. Furthermore, the developed framework shows overall real-time capability with a maximum average latency of 3.6 ms (Minimum 2.5 ms; 5000 trials). Conclusion: The novel KUKA LBR iiwa robot will advance the current robotized ultrasound tracking system with important features. With the developed framework, it is now possible to remotely control this robot and use it for robotized ultrasound tracking

  5. Gravity Probe-B (GP-B) Mission and Tracking, Telemetry and Control Subsystem Overview

    Science.gov (United States)

    Kennedy, Paul; Bell, Joseph L. (Technical Monitor)

    2001-01-01

    The National Aeronautics and Space Administration's (NASA) Marshall Space Flight Center (MSFC) in Huntsville, Alabama will launch the Gravity Probe B (GP-B) space experiment in the Fall of 2002. The GP-B spacecraft was developed to prove Einstein's theory of General Relativity. This paper will provide an overview of the GPB mission and will discuss the design, and test of the spacecraft Tracking, Telemetry and Control (TT&C) subsystem which incorporates NASA's latest generation standard transponder for use with the NASA Tracking and Data Relay Satellite System (TDRSS).

  6. A real-time sub-μrad laser beam tracking system

    Science.gov (United States)

    Buske, Ivo; Schragner, Ralph; Riede, Wolfgang

    2007-10-01

    We present a rugged and reliable real-time laser beam tracking system operating with a high speed, high resolution piezo-electric tip/tilt mirror. Characteristics of the piezo mirror and position sensor are investigated. An industrial programmable automation controller is used to develop a real-time digital PID controller. The controller provides a one million field programmable gate array (FPGA) to realize a high closed-loop frequency of 50 kHz. Beam tracking with a root-mean-squared accuracy better than 0.15 μrad has been laboratory confirmed. The system is intended as an add-on module for established mechanical mrad tracking systems.

  7. The Siegen automatic measuring system for track detectors: new developments

    International Nuclear Information System (INIS)

    Rusch, G.; Winkel, E.; Noll, A.; Heinrich, W.

    1991-01-01

    Starting twelve years ago we have developed completely automatic scanning and measuring systems for nuclear track detectors. The hardware and software of these systems have continuously been improved. They were used in different heavy ion and cosmic ray experiments. In this paper we describe methods for high resolution REL measurements in plastic nuclear track detectors and methods to scan and measure nuclear disintegration stars in AgCl detectors using an automatic measuring technique. The system uses a stepping motor driven microscope stage, a video camera and an image analysis computer based on a MC68020 microprocessor. (author)

  8. Developing an electronic system to manage and track emergency medications.

    Science.gov (United States)

    Hamm, Mark W; Calabrese, Samuel V; Knoer, Scott J; Duty, Ashley M

    2018-03-01

    The development of a Web-based program to track and manage emergency medications with radio frequency identification (RFID) is described. At the Cleveland Clinic, medication kit restocking records and dispense locations were historically documented using a paper record-keeping system. The Cleveland Clinic investigated options to replace the paper-based tracking logs with a Web-based program that could track the real-time location and inventory of emergency medication kits. Vendor collaboration with a board of pharmacy (BOP) compliance inspector and pharmacy personnel resulted in the creation of a dual barcoding system using medication and pocket labels. The Web-based program was integrated with a Cleveland Clinic-developed asset tracking system using active RFID tags to give the real-time location of the medication kit. The Web-based program and the asset tracking system allowed identification of kits nearing expiration or containing recalled medications. Conversion from a paper-based system to a Web-based program began in October 2013. After 119 days, data were evaluated to assess the success of the conversion. Pharmacists spent an average of 27 minutes per day approving medication kits during the postimplementation period versus 102 minutes daily using the paper-based system, representing a 74% decrease in pharmacist time spent on this task. Prospective reports are generated monthly to allow the manager to assess the expected workload and adjust staffing for the next month. Implementation of a BOP-approved Web-based system for managing and tracking emergency medications with RFID integration decreased pharmacist review time, minimized compliance risk, and increased access to real-time data. Copyright © 2018 by the American Society of Health-System Pharmacists, Inc. All rights reserved.

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

    OpenAIRE

    Shiuh-Jer Huang; Yu-Sheng Hsu

    2017-01-01

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

  10. Thinking tracks for multidisciplinary system design

    NARCIS (Netherlands)

    Bonnema, Gerrit Maarten; Broenink, Johannes F.

    2016-01-01

    Systems engineering is, for a large part, a process description of how to bring new systems to existence. It is valuable as it directs the development effort. Tools exist that can be used in this process. System analysis investigates existing and/or desired situations. However, how to create a

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

    Science.gov (United States)

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

    2017-05-01

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

  12. Traction Control System for Motorcycles

    Directory of Open Access Journals (Sweden)

    Cardinale Pascal

    2009-01-01

    Full Text Available Traction control is a widely used control system to increase stability and safety of four wheel vehicles. Automatic stability control is used in the BMW K1200R motorcycle and in motoGP competition, but not in other motorcycles. This paper presents an algorithm and a low-cost real-time hardware implementation for motorcycles. A prototype has been developed, applied on a commercial motorcycle, and tested in a real track. The control system that can be tuned by the driver during the race has been appreciated by the test driver.

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

    Directory of Open Access Journals (Sweden)

    Chuanfeng Li

    2017-01-01

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

  14. Fault Detection Based on Tracking Differentiator Applied on the Suspension System of Maglev Train

    Directory of Open Access Journals (Sweden)

    Hehong Zhang

    2015-01-01

    Full Text Available A fault detection method based on the optimized tracking differentiator is introduced. It is applied on the acceleration sensor of the suspension system of maglev train. It detects the fault of the acceleration sensor by comparing the acceleration integral signal with the speed signal obtained by the optimized tracking differentiator. This paper optimizes the control variable when the states locate within or beyond the two-step reachable region to improve the performance of the approximate linear discrete tracking differentiator. Fault-tolerant control has been conducted by feedback based on the speed signal acquired from the optimized tracking differentiator when the acceleration sensor fails. The simulation and experiment results show the practical usefulness of the presented method.

  15. Jerk derivative feedforward control for motion systems

    NARCIS (Netherlands)

    Boerlage, M.L.G.; Tousain, R.L.; Steinbuch, M.

    2004-01-01

    This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance

  16. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  17. Alignment of the ALICE Inner Tracking System with cosmic-ray tracks

    CERN Document Server

    Aamodt, K; Abeysekara, U; Abrahantes Quintana, A; Adamová, D; Aggarwal, M M; Aglieri Rinella, G; Agocs, A G; Aguilar Salazar, S; Ahammed, Z; Ahmad, A; Ahmad, N; Ahn, S U; Akimoto, R; Akindinov, A; Aleksandrov, D; Alessandro, B; Alfaro Molina, R; Alici, A; Almaráz Aviña, E; Alme, J; Altini, V; Altinpinar, S; Alt, T; Andrei, C; Andronic, A; Anelli, G; Angelov, V; Anson, C; Anticic, T; Antinori, F; Antinori, S; Antipin, K; Antonczyk, D; Antonioli, P; Anzo, A; Aphecetche, L; Appelshäuser, H; Arcelli, S; Arceo, R; Arend, A; Armesto, N; Arnaldi, R; Aronsson, T; Arsene, I C; Asryan, A; Augustinus, A; Averbeck, R; Awes, T C; Äystö, J; Azmi, M D; Bablok, S; Bach, M; Badalà, A; Baek, Y W; Bagnasco, S; Bailhache, R; Bala, R; Baldisseri, A; Baldit, A; Bán, J; Barbera, R; Barile, F; Barnaföldi, G G; Barnby, L; Barret, V; Bartke, J; Basile, M; Basmanov, V; Bastid, N; Bathen, B; Batigne, G; Batyunya, B; Baumann, C; Bearden, I G; Becker, B; Belikov, I; Bellwied, R; Belmont-Moreno, E; Belogianni, A; Benhabib, L; Beolé, S; Berceanu, I; Bercuci, A; Berdermann, E; Berdnikov, Y; Betev, L; Bhasin, A; Bhati, A K; Bianchi, L; Bianchin, C; Bianchi, N; Bielcík, J; Bielcíková, J; Bilandzic, A; Bimbot, L; Biolcati, E; Blanc, A; Blanco, F; Blanco, F; Blau, D; Blume, C; Boccioli, M; Bock, N; Bogdanov, A; Bøggild, H; Bogolyubsky, M; Bohm, J; Boldizsár, L; Bombara, M; Bombonati, C; Bondila, M; Borel, H; Borshchov, V; Bortolin, C; Bose, S; Bosisio, L; Bossú, F; Botje, M; Böttger, S; Bourdaud, G; Boyer, B; Braun, M; Braun-Munzinger, P; Bravina, L; Bregant, M; Breitner, T; Bruckner, G; Bruna, E; Bruno, G E; Brun, R; Budnikov, D; Buesching, H; Bugaev, K; Buncic, P; Busch, O; Buthelezi, Z; Caffarri, D; Caines, H; Cai, X; Camacho, E; Camerini, P; Campbell, M; Canoa Roman, V; Capitani, G P; Cara Romeo, G; Carena, F; Carena, W; Carminati, F; Casanova Díaz, A; Caselle, M; Castillo Castellanos, J; Castillo Hernandez, J F; Catanescu, V; Cattaruzza, E; Cavicchioli, C; Cerello, P; Chambert, V; Chang, B; Chapeland, S; Charpy, A; Charvet, J L; Chattopadhyay, S; Chattopadhyay, S; Cherney, M; Cheshkov, C; Cheynis, B; Chiavassa, E; Chibante Barroso, V; Chinellato, D D; Chochula, P; Choi, K; Chojnacki, M; Christakoglou, P; Christensen, C H; Christiansen, P; Chujo, T; Chuman, F; Cicalo, C; Cifarelli, L; Cindolo, F; Cleymans, J; Cobanoglu, O; Coffin, J P; Coli, S; Colla, A; Conesa Balbastre, G; Conesa del Valle, Z; Conner, E S; Constantin, P; Contin, G; Contreras, J G; Cormier, T M; Corrales Morales, Y; Cortese, P; Cortés Maldonado, I; Cosentino, M R; Costa, F; Cotallo, M E; Crescio, E; Crochet, P; Cuautle, E; Cunqueiro, L; Cussonneau, J; Dainese, A; Dalsgaard, H H; Danu, A; Dash, A; Dash, S; Das, I; Das, S; de Barros, G O V; De Caro, A; de Cataldo, G; de Cuveland, J; De Falco, A; De Gaspari, M; de Groot, J; De Gruttola, D; de Haas, A P; De Marco, N; De Pasquale, S; De Remigis, R; de Rooij, R; de Vaux, G; Delagrange, H; Dellacasa, G; Deloff, A; Demanov, V; Dénes, E; Deppman, A; D'Erasmo, G; Derkach, D; Devaux, A; Di Bari, D; Di Giglio, C; Di Liberto, S; Di Mauro, A; Di Nezza, P; Dialinas, M; Díaz, L; Díaz, R; Dietel, T; Ding, H; Divià, R; Djuvsland, Ø; do Amaral Valdiviesso, G; Dobretsov, V; Dobrin, A; Dobrowolski, T; Dönigus, B; Domínguez, I; Dordic, O; Dubey, A K; Dubuisson, J; Ducroux, L; Dupieux, P; Dutta Majumdar, A K; Dutta Majumdar, M R; Elia, D; Emschermann, D; Enokizono, A; Espagnon, B; Estienne, M; Evans, D; Evrard, S; Eyyubova, G; Fabjan, C W; Fabris, D; Faivre, J; Falchieri, D; Fantoni, A; Fasel, M; Fearick, R; Fedunov, A; Fehlker, D; Fekete, V; Felea, D; Fenton-Olsen, B; Feofilov, G; Fernández Téllez, A; Ferreiro, E G; Ferretti, A; Ferretti, R; Figueredo, M A S; Filchagin, S; Fini, R; Fionda, F M; Fiore, E M; Floris, M; Fodor, Z; Foertsch, S; Foka, P; Fokin, S; Formenti, F; Fragiacomo, E; Fragkiadakis, M; Frankenfeld, U; Frolov, A; Fuchs, U; Furano, F; Furget, C; Fusco Girard, M; Gaardhøje, J J; Gadrat, S; Gagliardi, M; Gago, A; Gallio, M; Ganoti, P; Ganti, M S; Garabatos, C; García Trapaga, C; Gebelein, J; Gemme, R; Germain, M; Gheata, A; Gheata, M; Ghidini, B; Ghosh, P; Giraudo, G; Giubellino, P; Gladysz-Dziadus, E; Glasow, R; Glässel, P; Glenn, A; Gomez, R; González Santos, H; González-Trueba, L H; González-Zamora, P; Gorbunov, S; Gorbunov, Y; Gotovac, S; Gottschlag, H; Grabski, V; Grajcarek, R; Grelli, A; Grigoras, A; Grigoras, C; Grigoriev, V; Grigoryan, A; Grinyov, B; Grion, N; Gros, P; Grosse-Oetringhaus, J F; Grossiord, J Y; Grosso, R; Guarnaccia, C; Guber, F; Guernane, R; Guerzoni, B; Gulbrandsen, K; Gulkanyan, H; Gunji, T; Gupta, A; Gupta, R; Gustafsson, H A; Gutbrod, H; Haaland, Ø; Hadjidakis, C; Haiduc, M; Hamagaki, H; Hamar, G; Hamblen, J; Han, B H; Harris, J W; Hartig, M; Harutyunyan, A; Hasch, D; Hasegan, D; Hatzifotiadou, D; Hayrapetyan, A; Heide, M; Heinz, M; Helstrup, H; Herghelegiu, A; Hernández, C; Herrera Corral, G; Herrmann, N; Hetland, K F; Hicks, B; Hiei, A; Hille, P T; Hippolyte, B; Horaguchi, T; Hori, Y; Hristov, P; Hrivnácová, I; Huber, S; Humanic, T J; Hu, S; Hutter, D; Hwang, D S; Ichou, R; Ilkaev, R; Ilkiv, I; Innocenti, P G; Ippolitov, M; Irfan, M; Ivan, C; Ivanov, A; Ivanov, M; Ivanov, V; Iwasaki, T; Jachokowski, A; Jacobs, P; Jancurová, L; Jangal, S; Janik, R; Jayananda, K; Jena, C; Jena, S; Jirden, L; Jones, G T; Jones, P G; Jovanovic, P; Jung, H; Jung, W; Jusko, A; Kaidalov, A B; Kalcher, S; Kalinák, P; Kalliokoski, T; Kalweit, A; Kamal, A; Kamermans, R; Kanaki, K; Kang, E; Kang, J H; Kapitan, J; Kaplin, V; Kapusta, S; Karavicheva, T; Karpechev, E; Kazantsev, A; Kebschull, U; Keidel, R; Khan, M M; Khan, S A; Khanzadeev, A; Kharlov, Y; Kikola, D; Kileng, B; Kim, D J; Kim, D S; Kim, D W; Kim, H N; Kim, J H; Kim, J; Kim, J S; Kim, M; Kim, M; Kim, S H; Kim, S; Kim, Y; Kirsch, S; Kiselev, S; Kisel, I; Kisiel, A; Klay, J L; Klein-Bösing, C; Klein, J; Kliemant, M; Klovning, A; Kluge, A; Kniege, S; Koch, K; Kolevatov, R; Kolojvari, A; Kondratiev, V; Kondratyeva, N; Konevskih, A; Kornas, E; Kour, R; Kowalski, M; Kox, S; Kozlov, K; Králik, I; Kral, J; Kramer, F; Kraus, I; Kravcáková, A; Krawutschke, T; Krivda, M; Krumbhorn, D; Krus, M; Kryshen, E; Krzewicki, M; Kucheriaev, Y; Kuhn, C; Kuijer, P G; Kumar, L; Kumar, N; Kupczak, R; Kurashvili, P; Kurepin, A; Kurepin, A N; Kuryakin, A; Kushpil, S; Kushpil, V; Kutouski, M; Kvaerno, H; Kweon, M J; Kwon, Y; Lackner, F; Ladrón de Guevara, P; Lafage, V; Lal, C; Lara, C; La Rocca, P; Larsen, D T; Laurenti, G; Lazzeroni, C; Le Bornec, Y; Le Bris, N; Lee, H; Lee, K S; Lee, S C; Lefèvre, F; Lehnert, J; Leistam, L; Lenhardt, M; Lenti, V; León, H; León Monzón, I; León Vargas, H; Lévai, P; Lietava, R; Lindal, S; Lindenstruth, V; Lippmann, C; Lisa, M A; Listratenko, O; Liu, L; Li, Y; Loginov, V; Lohn, S; López Noriega, M; López-Ramírez, R; López Torres, E; Lopez, X; Løvhøiden, G; Lozea Feijo Soares, A; Lunardon, M; Luparello, G; Luquin, L; Lu, S; Lutz, J R; Luvisetto, M; Madagodahettige-Don, D M; Maevskaya, A; Mager, M; Mahajan, A; Mahapatra, D P; Maire, A; Makhlyueva, I; Ma, K; Malaev, M; Maldonado Cervantes, I; Malek, M; Mal'Kevich, D; Malkiewicz, T; Malzacher, P; Mamonov, A; Manceau, L; Mangotra, L; Manko, V; Manso, F; Manzari, V; Mao, Y; Mares, J; Margagliotti, G V; Margotti, A; Marín, A; Martashvili, I; Martinengo, P; Martínez Davalos, A; Martínez García, G; Martínez, M I; Maruyama, Y; Ma, R; Marzari Chiesa, A; Masciocchi, S; Masera, M; Masetti, M; Masoni, A; Massacrier, L; Mastromarco, M; Mastroserio, A; Matthews, Z L; Mattos Tavares, B; Matyja, A; Mayani, D; Mazza, G; Mazzoni, M A; Meddi, F; Menchaca-Rocha, A; Mendez Lorenzo, P; Meoni, M; Mercado Pérez, J; Mereu, P; Miake, Y; Michalon, A; Miftakhov, N; Milosevic, J; Minafra, F; Mischke, A; Miskowiec, D; Mitu, C; Mizoguchi, K; Mlynarz, J; Mohanty, B; Molnar, L; Mondal, M M; Montaño Zetina, L; Monteno, M; Montes, E; Morando, M; Moretto, S; Morsch, A; Moukhanova, T; Muccifora, V; Mudnic, E; Muhuri, S; Müller, H; Munhoz, M G; Munoz, J; Musa, L; Musso, A; Nandi, B K; Nania, R; Nappi, E; Navach, F; Navin, S; Nayak, T K; Nazarenko, S; Nazarov, G; Nedosekin, A; Nendaz, F; Newby, J; Nianine, A; Nicassio, M; Nielsen, B S; Nikolaev, S; Nikolic, V; Nikulin, S; Nikulin, V; Nilsen, B S; Nilsson, M S; Noferini, F; Nomokonov, P; Nooren, G; Novitzky, N; Nyatha, A; Nygaard, C; Nyiri, A; Nystrand, J; Ochirov, A; Odyniec, G; Oeschler, H; Oinonen, M; Okada, K; Okada, Y; Oldenburg, M; Oleniacz, J; Oppedisano, C; Orsini, F; Ortíz Velázquez, A; Ortona, G; Oskamp, C; Oskarsson, A; Osmic, F; Österman, L; Ostrowski, P; Otterlund, I; Otwinowski, J; Øvrebekk, G; Oyama, K; Ozawa, K; Pachmayer, Y; Pachr, M; Padilla, F; Pagano, P; Paic, G; Painke, F; Pajares, C; Palaha, A; Palmeri, A; Pal, S K; Pal, S; Panse, R; Pappalardo, G S; Park, W J; Pastircák, B; Pastore, C; Paticchio, V; Pavlinov, A; Pawlak, T; Peitzmann, T; Pepato, A; Pereira, H; Peressounko, D; Pérez, C; Perini, D; Perrino, D; Peryt, W; Peschek, J; Pesci, A; Peskov, V; Pestov, Y; Peters, A J; Petrácek, V; Petridis, A; Petris, M; Petrovici, M; Petrov, P; Petta, C; Peyré, J; Piano, S; Piccotti, A; Pikna, M; Pillot, P; Pinsky, L; Pitz, N; Piuz, F; Platt, R; Pluta, J; Pocheptsov, T; Pochybova, S; Podesta Lerma, P L M; Poggio, F; Poghosyan, M G; Poghosyan, T; Polák, K; Polichtchouk, B; Polozov, P; Polyakov, V; Pommeresch, B; Pop, A; Posa, F; Poskon, M; Pospisil, V; Potukuchi, B; Pouthas, J; Prasad, S K; Preghenella, R; Prino, F; Pruneau, C A; Pshenichnov, I; Puddu, G; Pujahari, P; Pulvirenti, A; Punin, A; Punin, V; Putis, M; Putschke, J; Quercigh, E; Rachevski, A; Rademakers, A; Radomski, S; Räihä, T S; Rak, J; Rakotozafindrabe, A; Ramello, L; Ramírez Reyes, A; Rammler, M; Raniwala, R; Raniwala, S; Räsänen, S; Rashevskaya, I; Rath, S; Read, K F; Real, J; Redlich, K; Renfordt, R; Reolon, A R; Reshetin, A; Rettig, F; Revol, J P; Reygers, K; Ricaud, H; Riccati, L; Ricci, R A; Richter, M; Riedler, P; Riegler, W; Riggi, F; Rivetti, A; Rodriguez Cahuantzi, M; Røed, K; Röhrich, D; Román López, S; Romita, R; Ronchetti, F; Rosinský, P; Rosnet, P; Rossegger, S; Rossi, A; Roukoutakis, F; Rousseau, S; Roy, C; Roy, P; Rubio-Montero, A J; Rui, R; Rusanov, I; Russo, G; Ryabinkin, E; Rybicki, A; Sadovsky, S; Safarík, K; Sahoo, R; Saini, J; Saiz, P; Sakata, D; Salgado, C A; Salgueiro Dominques da Silva, R; Salur, S; Samanta, T; Sambyal, S; Samsonov, V; Sándor, L; Sandoval, A; Sano, M; Sano, S; Santo, R; Santoro, R; Sarkamo, J; Saturnini, P; Scapparone, E; Scarlassara, F; Scharenberg, R P; Schiaua, C; Schicker, R; Schindler, H; Schmidt, C; Schmidt, H R; Schossmaier, K; Schreiner, S; Schuchmann, S; Schukraft, J; Schutz, Y; Schwarz, K; Schweda, K; Scioli, G; Scomparin, E; Segato, G; Semenov, D; Senyukov, S; Seo, J; Serci, S; Serkin, L; Serradilla, E; Sevcenco, A; Sgura, I; Shabratova, G; Shahoyan, R; Sharkov, G; Sharma, N; Sharma, S; Shigaki, K; Shimomura, M; Shtejer, K; Sibiriak, Y; Siciliano, M; Sicking, E; Siddi, E; Siemiarczuk, T; Silenzi, A; Silvermyr, D; Simili, E; Simonetti, G; Singaraju, R; Singhal, V; Singh, R; Sinha, B C; Sinha, T; Sitar, B; Sitta, M; Skaali, T B; Skjerdal, K; Smakal, R; Smirnov, N; Snellings, R; Snow, H; Søgaard, C; Sokolov, O; Soloviev, A; Soltveit, H K; Soltz, R; Sommer, W; Son, C W; Song, M; Son, H S; Soos, C; Soramel, F; Soyk, D; Spyropoulou-Stassinaki, M; Srivastava, B K; Stachel, J; Staley, F; Stan, I; Stefanek, G; Stefanini, G; Steinbeck, T; Stenlund, E; Steyn, G; Stocco, D; Stock, R; Stolpovsky, P; Strmen, P; Suaide, A A P; Subieta Vásquez, M A; Sugitate, T; Suire, C; Sumbera, M; Susa, T; Swoboda, D; Symons, J; Szanto de Toledo, A; Szarka, I; Szostak, A; Szuba, M; Tadel, M; Tagridis, C; Takahara, A; Takahashi, J; Tanabe, R; Tapia Takaki, J D; Taureg, H; Tauro, A; Tavlet, M; Tejeda Muñoz, G; Telesca, A; Terrevoli, C; Thäder, J; Tieulent, R; Tlusty, D; Toia, A; Tolyhy, T; Torcato de Matos, C; Torii, H; Torralba, G; Toscano, L; Tosello, F; Tournaire, A; Traczyk, T; Tribedy, P; Tröger, G; Truesdale, D; Trzaska, W H; Tsiledakis, G; Tsilis, E; Tsuji, T; Tumkin, A; Turrisi, R; Turvey, A; Tveter, T S; Tydesjö, H; Tywoniuk, K; Ulery, J; Ullaland, K; Uras, A; Urbán, J; Urciuoli, G M; Usai, G L; Vacchi, A; Vala, M; Valencia Palomo, L; Vallero, S; van den Brink, A; van der Kolk, N; Vande Vyvre, P; van Leeuwen, M; Vannucci, L; Vargas, A; Varma, R; Vasiliev, A; Vassiliev, I; Vassiliou, M; Vechernin, V; Venaruzzo, M; Vercellin, E; Vergara, S; Vernet, R; Verweij, M; Vetlitskiy, I; Vickovic, L; Viesti, G; Vikhlyantsev, O; Vilakazi, Z; Villalobos Baillie, O; Vinogradov, A; Vinogradov, L; Vinogradov, Y; Virgili, T; Viyogi, Y P; Vodopianov, A; Voloshin, K; Voloshin, S; Volpe, G; von Haller, B; Vranic, D; Vrláková, J; Vulpescu, B; Wagner, B; Wagner, V; Wallet, L; Wan, R; Wang, D; Wang, Y; Watanabe, K; Wen, Q; Wessels, J; Wiechula, J; Wikne, J; Wilk, A; Wilk, G; Williams, M C S; Willis, N; Windelband, B; Xu, C; Yang, C; Yang, H; Yasnopolsky, A; Yermia, F; Yi, J; Yin, Z; Yokoyama, H; Yoo, I-K; Yuan, X; Yushmanov, I; Zabrodin, E; Zagreev, B; Zalite, A; Zampolli, C; Zanevsky, Yu; Zaporozhets, Y; Zarochentsev, A; Závada, P; Zbroszczyk, H; Zelnicek, P; Zenin, A; Zepeda, A; Zgura, I; Zhalov, M; Zhang, X; Zhou, D; Zhou, S; Zhu, J; Zichichi, A; Zinchenko, A; Zinovjev, G; Zinovjev, M; Zoccarato, Y; Zychácek, V

    2010-01-01

    ALICE (A Large Ion Collider Experiment) is the LHC (Large Hadron Collider) experiment devoted to investigating the strongly interacting matter created in nucleus-nucleus collisions at the LHC energies. The ALICE ITS, Inner Tracking System, consists of six cylindrical layers of silicon detectors with three different technologies; in the outward direction: two layers of pixel detectors, two layers each of drift, and strip detectors. The number of parameters to be determined in the spatial alignment of the 2198 sensor modules of the ITS is about 13,000. The target alignment precision is well below 10 micron in some cases (pixels). The sources of alignment information include survey measurements, and the reconstructed tracks from cosmic rays and from proton-proton collisions. The main track-based alignment method uses the Millepede global approach. An iterative local method was developed and used as well. We present the results obtained for the ITS alignment using about 10^5 charged tracks from cosmic rays that h...

  18. Chemical and Metallurgy Research (CMR) Sample Tracking System Design Document

    International Nuclear Information System (INIS)

    Bargelski, C. J.; Berrett, D. E.

    1998-01-01

    The purpose of this document is to describe the system architecture of the Chemical and Metallurgy Research (CMR) Sample Tracking System at Los Alamos National Laboratory. During the course of the document observations are made concerning the objectives, constraints and limitations, technical approaches, and the technical deliverables

  19. Evaluation of a real-time personnel and material tracking system

    International Nuclear Information System (INIS)

    Trujillo, A.A.; Hoover, C.E.; Garcia, B.A.

    1988-01-01

    Past experience in addressing the insider threat has led to the development of general principles for mitigating the insider threat while minimizing adverse impacts on site operations. Among the general principles developed was the requirement of a real-time personnel and material tracking system. A real-time system for personnel and material tracking will aid in mitigating the insider threat by providing critical information regarding the movement and location of personnel and material. In addition, this system can provide an early detection mechanism for potential insider actions. A system integrating Radio Frequency (RF) transmitters for real-time personnel and material tracking has been developed. This system was installed and tested in an operational environment. This test was intended to demonstrate the system's ability to successfully control access to material and areas by personnel, as well as providing information regarding the status of materials in transit and storage

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

    Directory of Open Access Journals (Sweden)

    Andrej Zdešar

    2013-09-01

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

  1. Improvements to the Hunter Dose tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Whiteside, T. S. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL); Aucott, T. J. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL); Brand, A. D. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL); Diprete, D. P. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

    2017-07-01

    Since 1965, the Savannah River Site (SRS) has conducted deer hunts which are open to the general public. SRS performs field monitoring for cesium-137 (Cs-137) of each harvested animal to determine whether the animal may be released to the hunter. A new field system for measuring Cs-137 in the harvested animals has been developed. The system incorporates numerous enhancements compared to the original system. The original system was composed of two Ludlum Measurements scalar-driven 2 inch x 2 inch sodium iodide counters, while the new system is based on a single Ametek Ortec Digibase-driven 2 inch x 4 inch x 16 inch sodium iodide gamma spectrometer. The new system includes a series of easy-to-assemble stainless steel encapsulated lead shields. The combination of the larger detector size and lead shielding improved the detection limit of the new system by a factor of approximately three compared to the original system. This lower detection limit allows for a larger number of measurements to be directly compared to the laboratory results, in cases where animal portions have been sampled. The results from developing and using this system are presented as well as recommendations on improvements to the overall field monitoring of the SRS hunts.

  2. Integrated tracking of components by engineering and logistics utilizing logistics asset tracking system

    Science.gov (United States)

    Renfroe, Michael B.; Mcdonald, Edward J.; Bradshaw, Kimberly

    1988-01-01

    The Logistics Asset Tracking System (LATS) devised by NASA contains data on Space Shuttle LRUs that are daily updated to reflect such LRU status changes as repair due to failure or modification due to changing engineering requirements. The implementation of LATS has substantially increased personnel responsiveness, preventing costly delays in Space Shuttle processing and obviating hardware cannibalization. An evaluation is presented of LATS achievements in the direction of an integrated logistical support posture.

  3. Blind beamforming techniques for global tracking systems

    NARCIS (Netherlands)

    Zhou, M.

    2015-01-01

    After the development in the past 120 years since the invention of the first radio transmission, worldwide wireless communication systems are nowadays part of daily life. Behind the shining and astonishing achievement of modern communication systems, the exhaustion of existing frequency spectrum

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

    Science.gov (United States)

    Ren, Wei

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

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

    Science.gov (United States)

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

    2017-05-26

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

  6. Persistent Aerial Tracking

    KAUST Repository

    Mueller, Matthias

    2016-01-01

    persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc

  7. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

    Directory of Open Access Journals (Sweden)

    Dewei Zhang

    2014-01-01

    Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

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

    Directory of Open Access Journals (Sweden)

    Hong Wang

    2015-01-01

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

  9. Intelligent Maximum Power Point Tracking Using Fuzzy Logic for Solar Photovoltaic Systems Under Non-Uniform Irradiation Conditions

    OpenAIRE

    P. Selvam; S. Senthil Kumar

    2016-01-01

    Maximum Power Point Tracking (MPPT) has played a vital role to enhance the efficiency of solar photovoltaic (PV) power generation under varying atmospheric temperature and solar irradiation. However, it is hard to track the maximum power point using conventional linear controllers due to the natural inheritance of nonlinear I-V and P-V characteristics of solar PV systems. Fuzzy Logic Controller (FLC) is suitable for nonlinear system control applications and eliminating oscillations, circuit c...

  10. Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System

    Directory of Open Access Journals (Sweden)

    Ruihong Xie

    2017-05-01

    Full Text Available This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square error is 1.253 mrad when tracking 10° 0.2 Hz signal.

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

    Directory of Open Access Journals (Sweden)

    Xianlei Cheng

    2015-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-05-01

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

  13. Automatic Tracking Evaluation and Development System (ATEDS)

    Data.gov (United States)

    Federal Laboratory Consortium — The heart of the ATEDS network consists of four SGI Octane computers running the IRIX operating system and equipped with V12 hardware graphics to support synthetic...

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

    Science.gov (United States)

    Kwon, Dong-Soo; Book, Wayne J.

    1991-01-01

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

  15. Tracking radioactive shipments using radio-navigation and satellite telecommunication systems

    International Nuclear Information System (INIS)

    Harmon, L.H.; Habib, E.J.; Hurley, J.D.; Carlson, R.D.

    1988-01-01

    The United States Department of Enegy (USDOE) Waste Transportation Management Division (WMTD) has commissioned the development of a transportation tracking management and communication system to monitor movement of radioactive material shipments throughout the United States. The system, TRANSCOM, is being developed to enhance DOE's management oversight and operational control over the transport of sensitive materials (e.g., spent fuel, highlevel waste, transuranic waste etc.) and to address state and local government concerns regarding public safety. These goals are accomplished through providing a near real time tracking and communication system complete with information database management to support emergency response capabilities

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

    Energy Technology Data Exchange (ETDEWEB)

    Gray, J; Kuhlman, J

    1981-01-31

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

  17. Track-to-track association for object matching in an inter-vehicle communication system

    Science.gov (United States)

    Yuan, Ting; Roth, Tobias; Chen, Qi; Breu, Jakob; Bogdanovic, Miro; Weiss, Christian A.

    2015-09-01

    Autonomous driving poses unique challenges for vehicle environment perception due to the complex driving environment the autonomous vehicle finds itself in and differentiates from remote vehicles. Due to inherent uncertainty of the traffic environments and incomplete knowledge due to sensor limitation, an autonomous driving system using only local onboard sensor information is generally not sufficiently enough for conducting a reliable intelligent driving with guaranteed safety. In order to overcome limitations of the local (host) vehicle sensing system and to increase the likelihood of correct detections and classifications, collaborative information from cooperative remote vehicles could substantially facilitate effectiveness of vehicle decision making process. Dedicated Short Range Communication (DSRC) system provides a powerful inter-vehicle wireless communication channel to enhance host vehicle environment perceiving capability with the aid of transmitted information from remote vehicles. However, there is a major challenge before one can fuse the DSRC-transmitted remote information and host vehicle Radar-observed information (in the present case): the remote DRSC data must be correctly associated with the corresponding onboard Radar data; namely, an object matching problem. Direct raw data association (i.e., measurement-to-measurement association - M2MA) is straightforward but error-prone, due to inherent uncertain nature of the observation data. The uncertainties could lead to serious difficulty in matching decision, especially, using non-stationary data. In this study, we present an object matching algorithm based on track-to-track association (T2TA) and evaluate the proposed approach with prototype vehicles in real traffic scenarios. To fully exploit potential of the DSRC system, only GPS position data from remote vehicle are used in fusion center (at host vehicle), i.e., we try to get what we need from the least amount of information; additional feature

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

    Directory of Open Access Journals (Sweden)

    Junqiu Li

    2016-01-01

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

  19. Discovery Mondays "Controlling the accelerators: tracking the protons"

    CERN Multimedia

    2007-01-01

    Le Centre de contrôle des accélérateurs du CERN.Like a train of particles that picks up speed every time it passes a set of points, by the time they collide the protons and ions in the LHC will have followed their path through the six stages of the CERN accelerator complex, picking up speed at each stage. Operating the controls of this huge complex designed to accelerate the infinitesimally small are its peerless controllers. From the CERN Control Centre, they will be on duty day and night to accelerate the "wagon-loads" of particles, ensuring that they stay on track and lining them up for head-on collisions. At the next Discovery Monday you will discover the path taken by the particles through the accelerator chain. You will gain an insight into the complex work performed by those controlling the particles and learn more about the CERN accelerator complex and its Control Centre. Hop on board for a speed-of-light tour of the C...

  20. The tracking and locating system of the mining personnel based on the Zigbee wireless network platform

    Energy Technology Data Exchange (ETDEWEB)

    Xiao-jia, Xie; Li-jun, Cheng; Yong, Wang [Chongqing University, Chongqing (China). College of Resources and Environmental Science

    2007-08-15

    By comparing the advanced Zigbee wireless network system with active RFID, the Zigbee wireless network technology was introduced into the system for tracking and locating of coal miners. The system structure and function characteristics were also introduced. This system makes it convenient to mine administrators, control room personnel and security inspectors to obtain information on the working hours and location of mine workers in the mine. 6 refs., 2 figs., 3 tabs.