Reactive control of a two-body point absorber using reinforcement learning

In this article, reinforcement learning is used to obtain optimal reactive control of a two-body point absorber. In particular, the Q-learning algorithm is adopted for the maximization of the energy extraction in each sea state. The controller damping and stiffness coefficients are varied in steps, observing the associated reward, which corresponds to an increase in the absorbed power, or penalty, owing to large displacements. The generated power is averaged over a time horizon spanning several wave cycles due to the periodicity of ocean waves, discarding the transient effects at the start of each new episode. The model of a two-body point absorber is developed in order to validate the control strategy in both regular and irregular waves. In all analysed sea states, the controller learns the optimal damping and stiffness coefficients. Furthermore, the scheme is independent of internal models of the device response, which means that it can adapt to variations in the unit dynamics with time and does not suffer from modelling errors

Parent training for preschool ADHD: a randomized controlled trial of specialized and generic programs

BackgroundThe New Forest Parenting Package' (NFPP), an 8-week home-based intervention for parents of preschoolers with attention-deficit/hyperactivity disorder (ADHD), fosters constructive parenting to target ADHD-related dysfunctions in attention and impulse control. Although NFPP has improved parent and laboratory measures of ADHD in community samples of children with ADHD-like problems, its efficacy in a clinical sample, and relative to an active treatment comparator, is unknown. The aims are to evaluate the short- and long-term efficacy and generalization effects of NFPP compared to an established clinic-based parenting intervention for treating noncompliant behavior [Helping the Noncompliant Child' (HNC)] in young children with ADHD. MethodsA randomized controlled trial with three parallel arms was the design for this study. A total of 164 3-4-year-olds, 73.8% male, meeting DSM-IV ADHD diagnostic criteria were randomized to NFPP (N=67), HNC (N=63), or wait-list control (WL, N=34). All participants were assessed at post-treatment. NFPP and HNC participants were assessed at follow-up in the next school year. Primary outcomes were ADHD ratings by teachers blind to and uninvolved in treatment, and by parents. Secondary ADHD outcomes included clinician assessments, and laboratory measures of on-task behavior and delay of gratification. Other outcomes included parent and teacher ratings of oppositional behavior, and parenting measures. (Trial name: Home-Based Parent Training in ADHD Preschoolers; Registry: ClinicalTrials.gov Identifier: NCT01320098; URL: ). ResultsIn both treatment groups, children's ADHD and ODD behaviors, as well as aspects of parenting, were rated improved by parents at the end of treatment compared to controls. Most of these gains in the children's behavior and in some parenting practices were sustained at follow-up. However, these parent-reported improvements were not corroborated by teacher ratings or objective observations. NFPP was not significantly better, and on a few outcomes significantly less effective, than HNC. ConclusionsThe results do not support the claim that NFPP addresses putative dysfunctions underlying ADHD, bringing about generalized change in ADHD, and its underpinning self-regulatory processes. The findings support documented difficulties in achieving generalization across nontargeted settings, and the importance of using blinded measures to provide meaningful assessments of treatment effects

Numerical modelling of a 1.5 MW tidal turbine in realistic coupled wave–current sea states for the assessment of turbine hub-depth impacts on mechanical loads

This paper considers hub-depth impacts on mechanical loads for a tidal turbine operating in realistic coupled wave–current sea states. A novel medium-fidelity actuator-line CFD model for simulating tidal turbine non-steady hydrodynamic rotor load responses in the presence of turbulence, shear, and surface waves is developed. The model is validated using tank testing data from a lab-scale turbine. The validated model is then upscaled, to a power rating of 1.5 MW, and simulated in realistic wave–current conditions consistent with those of the MeyGen site. Mean torque and thrust are found to increase with turbine hub height, and the presence of waves is shown to increase mean torque and thrust values by up to 22% and 11%, respectively. The effect on standard deviations and maximum values for these variables is more pronounced, with increases of up to 2500% and 1700% in signal standard deviations, and up to 80% and 30% in maximum values for torque and thrust, respectively. The presence of longer period waves is also shown to reduce mean torque levels, while the corresponding standard deviations and maximum values remained relatively unchanged. In such circumstances, the turbine is operating with an undesirable combination of low-power and high-fatigue. Tidal turbine hub loading characteristics and sensitivities, in the context of the operational loads which subsequently enter the drivetrain and turbine support structure, are also analysed. The magnitude of out-of-plane rotor moments are found to increase with the hub height and wave height. Complex flow interactions are shown to play an important role in this context, leading to what is termed “wave-driven moment-type dominance” effects. Overall, both the rotor location and wave composition are found to significantly impact the turbine’s rotor mechanical load response

Radiation Force Modeling for a Wave Energy Converter Array

The motivation and focus of this work is to generate passive transfer function matrices that model the radiation forces for an array of WECs. Multivariable control design is often based on linear time-invariant (LTI) systems such as state-space or transfer function matrix models. The intended use is for designing real-time control strategies where knowledge of the model’s poles and zeros is helpful. This work presents a passivity-based approach to estimate radiation force transfer functions that accurately replace the convolution operation in the Cummins equation while preserving the physical properties of the radiation function. A two-stage numerical optimization approach is used, the first stage uses readily available algorithms for fitting a radiation damping transfer function matrix to the system’s radiation frequency response. The second stage enforces additional constraints on the form of the transfer function matrix to increase its passivity index. After introducing the passivity-based algorithm to estimate radiation force transfer functions for a single WEC, the algorithm was extended to a WEC array. The proposed approach ensures a high degree of match with the radiation function without degrading its passivity characteristics. The figures of merit that will be assessed are (i) the accuracy of the LTI systems in approximating the radiation function, as measured by the normalized root mean squared error (NRMSE), and (ii) the stability of the overall system, quantified by the input passivity index, , of the radiation force transfer function matrix

Control of a Point Absorber using Reinforcement Learning

This work presents the application of reinforcement learning for the optimal resistive control of a point absorber. The model-free Q-learning algorithm is selected in order to maximise energy absorption in each sea state. Step changes are made to the controller damping, observing the associated penalty, for excessive motions, or reward, i.e. gain in associated power. Due to the general periodicity of gravity waves, the absorbed power is averaged over a time horizon lasting several wave periods. The performance of the algorithm is assessed through the numerical simulation of a point absorber subject to motions in heave in both regular and irregular waves. The algorithm is found to converge towards the optimal controller damping in each sea state. Additionally, the model-free approach ensures the algorithm can adapt to changes to the device hydrodynamics over time and is unbiased by modelling errors.The authors would like to thank the Energy Technology Institute and the Research Council Energy Programme for funding this research as part of the IDCORE programme (grant EP/J500847) as well as the Engineering and Physical Sciences Research Council (grant EP/J500847/1). In addition, Mr. Anderlini would like to thank Wave Energy Scotland for sponsoring his Eng.D. research project

Child Psychosocial Adjustment and Parenting in Families Affected by Maternal HIV/AIDS

Child adjustment and parenting were examined in 23 9-through 16-year-old youth from families affected by maternal HIV infection and 20 same-age peers whose mothers were not infected. Children whose mothers were seropositive reported significantly more externalizing problems. Infected mothers reported less age-appropriate supervision/monitoring relative to non-infected mothers. Better mother-child relationship quality and less impairment in parental supervision/monitoring of age-appropriate youth behaviors were associated with fewer externalizing difficulties among the HIV-positive group only. Similarly, only among HIV-infected mothers was refraining from engaging in inconsistent disciplinary tactics associated with lower reports of internalizing and externalizing problems. These data highlight the promise of programs targeting parenting skills to prevent or ameliorate child difficulties

Making HIV Prevention Programming Count: Identifying Predictors of Success in a Parent-Based HIV Prevention Program for Youth

Predictors of change in the number of sexual topics parents discussed and responsiveness during sex communication with their preadolescent after participating in a five-session sexual risk reduction intervention for parents were examined. Data were from 339 African American parents of preadolescents enrolled in the intervention arm of a randomized-controlled trial of the Parents’ Matter! Program (PMP). Four categories of predictors of success were examined: time and resource constraints, personal characteristics, the parent-child relationship, and parent perceptions of child readiness for sex communication. There were only sporadic associations between success and time and resource constraints for either outcome. Parent perception of child readiness for sex communication was positively associated with discussions of sex topics (b = 1.11, confidence interval [CI]: 0.24-1.97) and parental responsiveness (b = .68, CI: 0.22-1.15). Although parents face time and resource constraints, most attended at least four sessions, and demographics such as income had limited effects on program success