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19th AIAA Aerodynamic Decelerator Systems technology Conference and Seminar

作者： Carter, David W. George, Sean Hattis, Philip D. Mcconley, Marc W. Rasmussen, Scott A. Singh, Leena Tavan, Steve Draper Laboratory Cambridge MA 02459 United States Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group Mail Stop 77 555 Technology Square United States Vehicle and Robotic Systems Group Mail Stop 23 555 Technology Square United States AIAA United States Mission Design and Analysis Group Mail Stop 70 555 Technology Square United States Tactics Guidance and Control Group Mail Stop 77 555 Technolog Square Cognitive Robotics Group Mail Stop 77 555 Technology Square Guidance and Control Group Mail Stop 77 555 Technology Square NSRDEC Warfighter Protection and Aerial Delivery Directorate AMSRD-NSC-WP-AJ Kansas Street United States

ISBN: (纸本)1563478943

Demonstration of autonomous Guidance, Navigation, and Control (GN&C) that can take parafoil airdrop systems from 25,000 feet to accurate landings is a key goal of the Joint Precision Airdrop System. A first instantiation test-flew a 10,000 pound-class parafoil system and has since been extended to accommodate payloads up to 30,000 pounds and as small as a few hundred pounds. The initial avionics applied by the GN&C software used a two-antenna Global Positioning System (GPS) receiver to obtain position, velocity, and heading data. Upgraded avionics now use a single-antenna GPS receiver providing position and velocity combined with inertial sensors providing three-axis acceleration and angular rate data. The guidance algorithm is partitioned into homing, energy management, and an optimized table-lookup terminal flight phase. The control algorithm is a proportional, integral, derivative design with features to deal with system constraints and with feed forward to improve response time. The GN&C software integration and testing is accomplished using a 6 degree-of-freedom simulation with both software-only and hardware-in-the-loop forms. GN&C with the original avionics enabled the 10,000 poundclass parafoil to achieve an expected delivery accuracy of about 150 meters. The GN&C using the new avionics is generalized for on-going tests with payloads ranging from 300 to 30,000 pounds.

关键词： Airfoils

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Supporting Multiple cognitive Processing Styles Using Tailored Support Systems

Supporting Multiple Cognitive Processing Styles Using Tailor...

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IEEE 8th Human Factors and Power Plants (HFPP 2007), and HPRCT 13th Annual Meeting

作者： Tuan Q. Tran Karen M. Feigh Amy R. Pritehett Human Factors and I&C Department Idaho National Laboratory Idaho Falls ID USA Cognitive Engineering Center Georgia Institute of Technology Atlanta GA USA

According to theories of cognitive processing style or cognitive control mode, human performance is more effective when an individual's cognitive state (e.g., intuition/scramble vs. deliberate/strategic) matches his/her ecological constraints or context (e.g., utilize intuition to strive for a "good-enough" response instead of deliberating for the "best" response under high time pressure). Ill-mapping between cognitive state and ecological constraints are believed to lead to degraded task performance. Consequently, incorporating support systems which are designed to specifically address multiple cognitive and functional states e.g., high workload, stress, boredom, and initiate appropriate mitigation strategies (e.g., reduce information load) is essential to reduce plant risk. Utilizing the concept of cognitive Control Models, this paper will discuss the importance of tailoring support systems to match an operator's cognitive state, and will further discuss the importance of these ecological constraints in selecting and implementing mitigation strategies for safe and effective system performance. An example from the nuclear power plant industry illustrating how a support system might be tailored to support different cognitive states is included.

关键词： Time factors Human factors USA Councils Availability Stress Information processing Biological system modeling Decision support systems Control system synthesis Process control

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A Combined fMRI and Heart Rate Variability Paradigm for Assessment of Central Autonomic Modulation

A Combined fMRI and Heart Rate Variability Paradigm for Asse...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： Riccardo Barbieri Giulia Conti Rupali Dhond Emery N. Brown Vitaly Napadow Neuroscience Statistics Research Laboratory Department of Anesthesia and Critical Care Massachusetts General Hospital Boston MA USA Department of Biomedical Engineering Polytechnic of Milan Milan Italy Martinos Center for Biomedical Imaging Massachusetts General Hospital Boston MA USA Department of Brain and Cognitive Sciences Massachusetts Institute of Technology Cambridge MA USA Center for Biomedical Imaging Massachusetts General Hospital Boston MA USA

While the central autonomic network (CAN) has been adequately defined in animal models, data from the human have been lacking. In this study, we correlated cardiac-gated fMRI data with continuous-time heart rate variability (HRV) assessment in order to estimate central autonomic processing in response to a dynamic grip task. The electrocardiogram (ECG) was collected simultaneously with fMRI, and was analyzed with a new point process adaptive filter algorithm for evaluation of HRV indices reflecting time-varying dynamics of autonomic modulation. These were correlated with fMRI signal intensity using a general linear model and subsequent analysis of covariance. Our combined HRV-fMRI data analysis suggests that fMRI activity in several brain regions, including the hypothalamus, parabrachial nucleus, periaqueductal gray, amygdala, and posterior insula, demonstrated significant correlation with parasympathetic tone assessed by HRV high frequency (HF) power. This study demonstrates that inter-subject variability in brain response to an exercise task may help explain the natural variability in autonomic response, as assessed by HRV analysis

关键词： Heart rate variability Animals Humans Electrocardiography Algorithm design and analysis Adaptive filters Signal analysis Data analysis Frequency Hafnium

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: robot EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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VIBRATION REDUCTION CONTROL FOR HUMAN-RIDING BIPED robot, HUBO FX-1

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IFAC Proceedings Volumes 2006年第16期39卷 638-643页

作者： Jung-Yup Kim Jungho Lee Ill-Woo Park Jun-Ho Oh Laboratory Humanoid Robot Research Center Mechanical Engineering Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 South Korea Phone Number : +82-42-869-5223

This paper presents a control algorithm that reduces the vibrations of a human-riding biped robot, HUBO FX-1 during walking. This kind of robot should handle the payload of at least 100 kg in order to carry a person easily. To secure a sufficient payload, it is important to reduce the weight of the robot. The weight of the robot is mainly composed of motors, reduction gears, and body frames. Reducing the weight of the body frame is more efficient use of power than reducing the capacities of motors and reduction gears. A disadvantage is that the leg structures become flexible, so serious structural vibrations are generated during walking. We solved this problem by using simple theoretical models and experiments based on sensory feedback. This control strategy is very effective for the weight reduction of biped robots.

关键词： robot Control Algorithm

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Experiments of vision guided walking of humanoid robot, KHR-2

Experiments of vision guided walking of humanoid robot, KHR-...

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IEEE-RAS International Conference on Humanoid robots

作者： Jung-Yup Kim Ill-Woo Park Jungho Lee Jun-Ho Oh HUBO Laboratory Humanoid Robot Research Center Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780393201

This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ~ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2

关键词： Legged locomotion Humanoid robots robot vision systems Charge coupled devices Charge-coupled image sensors Cameras Head Servomotors Machine vision Eyes

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A Bayesian decoding algorithm for analysis of information encoding in neural ensembles

A Bayesian decoding algorithm for analysis of information en...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： R. Barbieri L.M. Frank D.P. Nguyen M.C. Quirk V. Solo M.A. Wilson E.N. Brown Neuroscience Statistics Research Laboratory Department of Anesthesia and Critical Care Massachusetts General Hospital Division of Health Sciences and Technology Massachusetts Institute of Technology Boston MA USA Picower Learning and Memory Riken-MIT Neuroscience Research Center Department of Brain and Cognitive Sciences Massachusetts Institute of Technology Cambridge MA USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Developing optimal strategies for constructing and testing decoding algorithms is an important question in computational neuroscience, In this field, decoding algorithms are mathematical methods that model ensemble neural spiking activity as they dynamically represent a biological signal. We present a recursive decoding algorithm based on a Bayesian point process model of individual neuron spiking activity and a linear stochastic state-space model of the biological signal. We assess the accuracy of the algorithm by computing, along with the decoding error, the true coverage probability of the approximate 0.95 confidence regions for the individual signal estimates. We illustrate the new algorithm by analyzing the position and ensemble neural spiking activity of CA1 hippocampal neurons from a rat foraging in an open circular environment The median decoding error during 10 minutes of open foraging was 5.5 cm, and the true coverage probability for 0.95 confidence regions was 0.75 using 32 neurons. These findings improve significantly on our previous results and suggest an approach to reading dynamically information represented in ensemble neural spiking activity.

关键词： Bayesian methods Decoding Information analysis Algorithm design and analysis Encoding Biological system modeling Neurons Biology computing Biological information theory Testing

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Free Communication Abstracts

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Sleep and Biological Rhythms 2005年第S1期3卷 A44-A73页

作者： Prashan T. Kaul Jasonm Passafiume Bruce F. O’Hara Ramalingam Vetrivelan Hruda Nanda Mallick Velayadhan Mohan Kumar G.-X. Zhan F. Serrano P. Fenik R. Hsu L. Kong D. Pratico E. Klann S. C. Veasey Ambika Prasad K. Mahapatra Velayudhan Mohan Kumar Tomoyuki Kuwaki Ben-Shiang Den Akira Nakamura Wei Zhang Masashi Yanagisawa Yasuichiro Fukuda Monica L. Andersen Sergio Tufik Isabela B. Antunes Juliana C. Perry S. Tufik M. L. Andersen M. C. Batista M. B. Calzavara J. L. Costa Frussa-Filho F. Désarnaud E. Murillo-Rodriguez D. Gerashchenko S. Shiromani L. Lin S. Nishino E. Mignot P. J. Shiromani Carlos Blanco-Centurion Priyattam J. Shiromani L. Ling M. Xu C. Blanco-Centurion Härmä Mikko Sallinen Mikael Shamini Jain Paul J. Mills Lianqi Liu Sonia Ancoli-Israel I. Haimov N. Breznitz S. Shiloh R. Silvestri I. Aricò G. Mento A. Gagliano T. Calarese C. di Perri R. Epstein O. Tzischinsky R. Naveh P. Herer G. Pillar H. Adami P. Lavie Gerald A. Marks Oren Sachs Christian C. Birabil Rachida Roky Brahim Benaji Majda Taoudi Benchekroun Florian Chapotot Alain Buguet Uma Rao Russell E. Poland K. Puvanendran Yumiko Mishima Kazuo Mishima Satoshi Hozumi Tetsuo Shimizu Yasuo Hishikawa Juan C. Toledo Yoshimasa Koyama Yukihiko Kayama Hiroshi Iwasaki Akihiro Kawauchi Tsuneharo Miki Hironobu Yaegashi Yasuro Takahashi Yuichi Inoue Daiki Ishiura Keisuke Yamamoto Mitsuyuki Nakao Norihito Katayama Mitsuaki Yamamoto Yasuhiro Matsumoto Kohtoku Satoh Takuma Tozawa Leon Lack Toby Bramwell Helen Wright Michael Gradisar P. Storrs F. Mckenna K. Hume Alexander A. Loshkarev Elena I. Rodionova Ekaterina V. Levichkina Ivan N. Pigarev Joseph de Koninck Rama Maganti Amit Biswas Lyudmila I. Kiyashchenko Boris Y. Mileykovskiy Jerome M. Siegel Melvi Methippara Sunil Kumar Noor Alam Ronald Szymusiak Dennis Mcginty Heidi L. Richardson Peter M. Parslow Adrian M. Walker Richard Harding Rosemary S. C. Horne O. Tzchishinsky T. Shochat A. Nictren T. Portnoy R. Peled Richard Bootzin S. Aparicio C. Garau R. V. Rial M. C. Nicolau M. Rivero S. Esteban M. C. Barriga H. E. Kuen University of Kentucky Lexington USA All India Institute of Medical Sciences New Delhi India Department of Physiology All India Institute of Medical Sciences New Delhi India Departmet of Physiology All India Institute of Medical Sciences New Delhi India Center for Sleep and Respiratory Neurobiology and Department of Medicine University of Pennsylvania School of Medicine Philadelphia USA Department of Molecular Physiology and Biophysics Baylor College of Medicine Houston USA Center for Experimental Therapeutics Department of Pharmacology University of Pennsylvania School of Medicine Philadelphia USA Departments of Molecular & Integrative Physiology Topeka USA Autonomic Physiology Chiba University Graduate School of Medicine Chiba Japan Department of Molecular Genetics University of Texas SWMC Dallas USA Universidade Federal de São Paulo-UNIFESP Sao Paulo Brazil West Roxbury VA/Harvard Medical School Boston USA VA Medical Center & Harvard Medical School West Roxbury Brockton USA Stanford University Palo Alto USA Stanford University Center for Narcolepsy Palo Alto USA West Roxbury VA and Harvard Medical School Boston USA Brain@Work Research Center Finnish Institute of Occupational Health Helsinki Finland University of California San Diego USA Department of Psychiatry University of California San Diego USA San Diego Veterans Affairs Healthcare System La Jolla USA Department of Behavioral Science Emek Yezreel Academic College Nazareth Israel Department of Psychology Tel Aviv University Tel Aviv Israel Sleep Medicine Center Messina Medical School Messina Italy Pediatric Neurology and Psychiaty Messina Medical School Messina Italy Sleep Laboratory Faculty of Medicine Technion Haifa Israel Emek Yezreel Academic College Emek Yezreel Afula Israel Director of Nursing Rambam Medical Center Haifa Israel Department of Psychiatry University of Texas South-western Medical Center Dallas USA Department of Biology Faculty of Sciences Ain Chock University

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Peripheral Arterial Tone as an On-Line Measure of Flight Load

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Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2002年第1期46卷 140 - 144页

作者： Cristina Iani Daniel Gopher Arthur J. Grunwald Peretz Lavie Max-Wertheimer Minerva Center for Cognitive Processes & Human Performance Flight Control Laboratory Faculty of Aerospace Engineering Sleep Laboratory Faculty of Medicine Technion - Israel Institute of Technology 32000 Haifa Israel

We investigated variations in continuous and discrete flight demands in a simulated flight mission employing a novel physiological measure of invested effort, Peripheral Arterial Tone (PAT).Twelve male subjects performed a computer-simulated agricultural flight task. They were required to fly over a specific lane of a field (continuous task) and change lanes in response to flags, which were presented at varying intervals (discrete task). The difficulty of the flight task was manipulated by changing the plane control (single-vs. dual-axis control), while the difficulty associated with the discrete events was manipulated by varying the amount of lateral change signalled by the flag (no change vs. 1.5 or 3 lanes of change).PAT amplitude values were lower in the difficult level of the continuous task and was further attenuated following the appearance of the flag when a change in the flight position was required.

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Empirical and modeled acoustic transfer functions in a simple room: effects of distance and direction

Empirical and modeled acoustic transfer functions in a simpl...

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IEEE Workshop on Applications of Signal Processing to Audio and Acoustics

作者： B.G. Shinn-Cunningham J.G. Desloge N. Kopco Research Center Cognitive and Neural Systems and Biomedical Engineering Boston University Hearing Boston MA USA Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA USA Research Center Cognitive and Neural Systems Boston University Hearing Boston MA USA

Empirical transfer functions were measured for a manikin head as a function of source position (relative to the listener) and listener position (relative to the room) for sources within a meter of the listener. Empirical results are compared to room simulations using a standard image-method model combined with anechoic, distance-dependent head-related transfer functions (HRTFs). Results suggest that the biggest discrepancies between measured and modeled impulse responses arise due to interactions of the head with the source, which cannot be ignored for sources this close to the listener. Results give insight into the importance of the acoustic effects of the head and room on the total signal reaching a listener and have implications for understanding spatial perception in rooms and developing realistic 3D spatial auditory displays.

关键词： Transfer functions Head Reverberation Acoustic measurements Position measurement Auditory displays Ear Auditory system Laboratories Biomedical measurements

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