Comparison of nonlinear dynamic inversion and inverse simulation

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A Comparison of Inverse Simulation-Based Fault Detection in a Simple Robotic Rover with a Traditional Model-Based Method

Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing \textit{input} residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances

Inverse Simulation as a Tool for Fault Detection and Isolation in Planetary Rovers

With manned expeditions to planetary bodies beyond our own and the Moon currently intractable, the onus falls upon robotic systems to explore and analyse extraterrestrial environments such as Mars. These systems typically take the form of wheeled rovers, designed to navigate the difficult terrain of other worlds. Rovers have been used in this role since Lunokhod 1 landed on the Moon in 1970. While early rovers were remote controlled, communication latency with bodies beyond the Moon and the desire to improve mission effectiveness have resulted in increasing autonomy in planetary rovers. With an increase in autonomy, however, comes an increase in complexity. This can have a negative impact on the reliability of the rover system. With a fault-free system an unlikely prospect and human assistance millions of miles away, the rover must have a robust fault detection, isolation and recovery (FDIR) system. The need for comprehensive FDIR is demonstrated by the recent Chinese lunar rover, Yutu (or “Jade Rabbit”). Yutu was rendered immobile 42 days after landing and remained so for the duration of its operational life: 31 months. While its lifespan far exceeded its expected value, Yutu's inability to move severely impaired its ability to perform its mission. This clearly highlights the need for robust FDIR. A common approach to FDIR is through the generation and analysis of residuals. Output residuals may be obtained by comparing the outputs of the system with predictions of those outputs, obtained from a mathematical model of the system which is supplied with the system inputs. Output residuals allow simple detection and isolation of faults at the output of the system. Faults in earlier stages of the system, however, propagate through the system dynamics and can disperse amongst several of the outputs. This problem is exemplified by faults at the input, which can potentially excite every system state and thus manifest in every output residual. Methods exist for decoupling and analysing output residuals such that input faults may be isolated, however, these methods are complex and require comprehensive development and testing. A conceptually simpler approach is presented in this paper. Inverse simulation (InvSim) is a numerical method by which the inputs of a system are obtained for a desired output. It does so by using a Newton-Raphson algorithm to solve a non-linear model of the system for the input. When supplied with the outputs of a fault-afflicted system, InvSim produces the input required to drive a fault-free system to this output. The fault therefore manifests itself in this generated input signal. The InvSim-generated input may then be compared to the true system input to generate input residuals. Just as a fault at an output manifests itself in the residual for that output alone, a fault at an input similarly manifests itself only in the residual for that input. InvSim may also be used to generate residuals at other locations in the system, by considering distinct subsystems with their own inputs and outputs. This ability is tested comprehensively in this paper. Faults are applied to a simulated rover at a variety of locations within the system structure and residuals generated using both InvSim and conventional forward simulation. Residuals generated using InvSim are shown to facilitate detection and isolation of faults in several locations using simple analyses. By contrast, forward simulation requires the use of complex analytical methods such as structured residuals or adaptive thresholds

Association of Air Pollution with Increased Incidence of Ventricular Tachyarrhythmias Recorded by Implanted Cardioverter Defibrillators

Epidemiologic studies have demonstrated a consistent link between sudden cardiac deaths and particulate air pollution. We used implanted cardioverter defibrillator (ICD) records of ventricular tachyarrhythmias to assess the role of air pollution as a trigger of these potentially life-threatening events. The study cohort consisted of 203 cardiac patients with ICD devices in the Boston metropolitan area who were followed for an average of 3.1 years between 1995 and 2002. Fine particle mass and gaseous air pollution plus temperature and relative humidity were measured on almost all days, and black carbon, sulfate, and particle number on a subset of days. Date, time, and intracardiac electrograms of ICD-detected arrhythmias were downloaded at the patients’ regular follow-up visits (about every 3 months). Ventricular tachyarrhythmias were identified by electrophysiologist review. Risk of ventricular arrhythmias associated with air pollution was estimated with logistic regression, adjusting for season, temperature, relative humidity, day of the week, patient, and a recent prior arrhythmia. We found increased risks of ventricular arrhythmias associated with 2-day mean exposure for all air pollutants considered, although these associations were not statistically significant. We found statistically significant associations between air pollution and ventricular arrhythmias for episodes within 3 days of a previous arrhythmia. The associations of ventricular tachyarrhythmias with fine particle mass, carbon monoxide, nitrogen dioxide, and black carbon suggest a link with motor vehicle pollutants. The associations with sulfate suggest a link with stationary fossil fuel combustion sources

Some basement rocks from Bear Mountain to the Housatonic Highlands

Guidebook for field trips in western Massachusetts, northern Connecticut and adjacent areas of New York: 67th annual meeting October 10, 11, and 12, 1975: Trip A-1; C-

Roche Lobe Overflow from Dwarf Stellar Systems

We use both analytical analyses and numerical simulations to examine the evolution of residual gas within tidally-limited dwarf galaxies and globular clusters. If the gas sound speed exceeds about 10% of the central velocity dispersion, as is the case for ionized gas within small stellar systems, the gas shall have significant density at the tidal radius, and the gas may be lost on timescales as short as a few times the sound crossing time of the system. In colder systems, the density at the tidal radius is much lower, greatly reducing the mass loss rate, and the system may retain its gas for a Hubble time. The tidally removed gas shall follow an orbit close to that of the original host system, forming an extended stream of ionized, gaseous debris. Tidal mass loss severely limits the ability of dwarf systems to continuously form stars. The ordinary gas content in many dwarf galaxies is fully ionized during high red-shift epochs, possibly preventing star formation in some systems, leading to the formation of starless, dark-matter concentrations. In either the field or in the center of galaxy clusters, ionized gas may be retained by dwarf galaxies, even though its sound speed may be comparable to or even exceed the velocity dispersion. These processes may help to explain some observed differences among dwarf galaxy types, as well as observations of the haloes of massive galaxies.Comment: 28 pages, LaTeX, AASTex macro

The structure of HI in galactic disks: Simulations vs observations

We generate synthetic HI Galactic plane surveys from spiral galaxy simulations which include stellar feedback processes. Compared to a model without feedback we find an increased scale height of HI emission (in better agreement with observations) and more realistic spatial structure (including supernova blown bubbles). The synthetic data show HI self-absorption with a morphology similar to that seen in observations. The density and temperature of the material responsible for HI self-absorption is consistent with observationally determined values, and is found to be only weakly dependent on absorption strength and star formation efficiency.Comment: 12 pages, 7 figures. Accepted for publication in MNRA

Fire characterization and object thermal response for a large flat plate adjacent to a large JP-4 fuel fire

A series of three 18.9 m diameter JP-4 pool fire experiments with a large (2.1 m X 4.6 m), flat plate calorimeter adjacent to the fuel pool were recently performed. The objectives of these experiments were to: (1) gain a better understanding of fire phenomenology, (2) provide empirical input parameter estimates for simplified, deterministic Risk Assessment Compatible Fire Models (RACFMs), (3) assist in continuing fire field model code validation and development, and (4) enhance the data base of fire temperature and heat flux to object distributions. Due to different wind conditions during each experiment, data were obtained for conditions where the plate was not engulfed, fully-engulfed and partially engulfed by the continuous flame zone. Results include the heat flux distribution to the plate and flame thermocouple temperatures in the vicinity of the plate and at two cross sections within the lower region of the continuous flame zone. The results emphasize the importance of radiative coupling (i.e. the cooling of the flames by a thermally massive object) and convective coupling (including object-induced turbulence and object/wind/flame interactions) in determining the heat flux from a fire to an object. The formation of a secondary flame zone on an object adjacent to a fire via convective coupling (which increases the heat flux by a factor of two) is shown to be possible when the object is located within a distance equal to the object width from the fire

Nonstimulated early visual areas carry information about surrounding context

Even within the early sensory areas, the majority of the input to any given cortical neuron comes from other cortical neurons. To extend our knowledge of the contextual information that is transmitted by such lateral and feedback connections, we investigated how visually nonstimulated regions in primary visual cortex (V1) and visual area V2 are influenced by the surrounding context. We used functional magnetic resonance imaging (fMRI) and pattern-classification methods to show that the cortical representation of a nonstimulated quarter-field carries information that can discriminate the surrounding visual context. We show further that the activity patterns in these regions are significantly related to those observed with feed-forward stimulation and that these effects are driven primarily by V1. These results thus demonstrate that visual context strongly influences early visual areas even in the absence of differential feed-forward thalamic stimulation

Online discussion boards: improving practice and student engagement by harnessing facilitator perceptions

This research explores the perceptions of facilitators in asynchronous online discussion to improve practice and student engagement in Higher Education. Traditional didactic delivery of learning content may fail the expectations of student and academic stakeholders. The pressure to teach within constrained resources presents challenges, but also provides stimulating opportunities for optimising use of educational technology. Fostering student engagement requires rethinking traditional classroom and online delivery.The study explores the challenges and benefits experienced, resulting in the identification of key themes from which implications for practice are discussed. In doing so, it broadens conceptual understandings, while offering recommendations for university teachers, administrators and leaders.The impact of facilitated online discussion boards on student engagement and participation was investigated from the experiences and perceptions of facilitators of online discussion boards in a Health Science subject at the University of Tasmania. After the semester was completed, all facilitators were invited to participate in one-to-one, semi-structured interviews. Interview questions were grouped to produce both descriptive and reflective responses about roles as a facilitator, and about preparation, training and support.Findings suggest that, with appropriately trained and prepared facilitators, online discussion can improve student engagement, enhance learning outcomes and satisfy stakeholder expectations