Precision Control of a Sensorless Brushless Direct Current Motor System

Sensorless control strategies were first suggested well over a decade ago with the aim of reducing the size, weight and unit cost of electrically actuated servo systems. The resulting algorithms have been successfully applied to the induction and synchronous motor families in applications where control of armature speeds above approximately one hundred revolutions per minute is desired. However, sensorless position control remains problematic. This thesis provides an in depth investigation into sensorless motor control strategies for high precision motion control applications. Specifically, methods of achieving control of position and very low speed thresholds are investigated. The developed grey box identification techniques are shown to perform better than their traditional white or black box counterparts. Further, fuzzy model based sliding mode control is implemented and results demonstrate its improved robustness to certain classes of disturbance. Attempts to reject uncertainty within the developed models using the sliding mode are discussed. Novel controllers, which enhance the performance of the sliding mode are presented. Finally, algorithms that achieve control without a primary feedback sensor are successfully demonstrated. Sensorless position control is achieved with resolutions equivalent to those of existing stepper motor technology. The successful control of armature speeds below sixty revolutions per minute is achieved and problems typically associated with motor starting are circumvented.Research Instruments Ltd

Calibration of an Intermediate Scale Fire Test Rig for Exterior Wall Assemblies: Source Fire

Combustible materials offer great benefit to builders and architects. The use of combustible materials in exterior wall assemblies is regulated via building codes to limit potential fire spread. Acceptable performance is based on NFPA 285. NFPA 285 is a rigorous full scale fire test whose cost per test is high. This cost severely limits its use by manufacturers for design iterations to optimize their products. Using a previously designed intermediate scale fire test rig, the goal of this project was to design a source fire that simulates the fire of NFPA 285. By utilizing existing 2D plume theory and adapting heat transfer principles; this project developed a source fire to replicate the thermal insult of NFPA 285 which will allow for economical testing related to assembly optimization

Linking modern pollen accumulation rates to biomass: Quantitative vegetation reconstruction in the western Klamath Mountains, NW California, USA

Quantitative reconstructions of vegetation abundance from sediment-derived pollen systems provide unique insights into past ecological conditions. Recently, the use of pollen accumulation rates (PAR, grains cm−2 year−1) has shown promise as a bioproxy for plant abundance. However, successfully reconstructing region-specific vegetation dynamics using PAR requires that accurate assessments of pollen deposition processes be quantitatively linked to spatially-explicit measures of plant abundance. Our study addressed these methodological challenges. Modern PAR and vegetation data were obtained from seven lakes in the western Klamath Mountains, California. To determine how to best calibrate our PAR-biomass model, we first calculated the spatial area of vegetation where vegetation composition and patterning is recorded by changes in the pollen signal using two metrics. These metrics were an assemblage-level relevant source area of pollen (aRSAP) derived from extended R-value analysis (sensu Sugita, 1993) and a taxon-specific relevant source area of pollen (tRSAP) derived from PAR regression (sensu Jackson, 1990). To the best of our knowledge, aRSAP and tRSAP have not been directly compared. We found that the tRSAP estimated a smaller area for some taxa (e.g. a circular area with a 225 m radius for Pinus) than the aRSAP (a circular area with a 625 m radius). We fit linear models to relate PAR values from modern lake sediments with empirical, distance-weighted estimates of aboveground live biomass (AGLdw) for both the aRSAP and tRSAP distances. In both cases, we found that the PARs of major tree taxa – Pseudotsuga, Pinus, Notholithocarpus, and TCT (Taxodiaceae, Cupressaceae, and Taxaceae families) – were statistically significant and reasonably precise estimators of contemporary AGLdw. However, predictions weighted by the distance defined by aRSAP tended to be more precise. The relative root-mean squared error for the aRSAP biomass estimates was 9% compared to 12% for tRSAP. Our results demonstrate that calibrated PAR-biomass relationships provide a robust method to infer changes in past plant biomass

Real-Time Projection to Verify Plan Success During Execution

The Mission Data System provides a framework for modeling complex systems in terms of system behaviors and goals that express intent. Complex activity plans can be represented as goal networks that express the coordination of goals on different state variables of the system. Real-time projection extends the ability of this system to verify plan achievability (all goals can be satisfied over the entire plan) into the execution domain so that the system is able to continuously re-verify a plan as it is executed, and as the states of the system change in response to goals and the environment. Previous versions were able to detect and respond to goal violations when they actually occur during execution. This new capability enables the prediction of future goal failures; specifically, goals that were previously found to be achievable but are no longer achievable due to unanticipated faults or environmental conditions. Early detection of such situations enables operators or an autonomous fault response capability to deal with the problem at a point that maximizes the available options. For example, this system has been applied to the problem of managing battery energy on a lunar rover as it is used to explore the Moon. Astronauts drive the rover to waypoints and conduct science observations according to a plan that is scheduled and verified to be achievable with the energy resources available. As the astronauts execute this plan, the system uses this new capability to continuously re-verify the plan as energy is consumed to ensure that the battery will never be depleted below safe levels across the entire plan

Infrastructure for Semantic Annotation in the Genomics Domain

We describe a novel super-infrastructure for biomedical text mining which incorporates an end-to-end pipeline for the collection, annotation, storage, retrieval and analysis of biomedical and life sciences literature, combining NLP and corpus linguistics methods. The infrastructure permits extreme-scale research on the open access PubMed Central archive. It combines an updatable Gene Ontology Semantic Tagger (GOST) for entity identification and semantic markup in the literature, with a NLP pipeline scheduler (Buster) to collect and process the corpus, and a bespoke columnar corpus database (LexiDB) for indexing. The corpus database is distributed to permit fast indexing, and provides a simple web front-end with corpus linguistics methods for sub-corpus comparison and retrieval. GOST is also connected as a service in the Language Application (LAPPS) Grid, in which context it is interoperable with other NLP tools and data in the Grid and can be combined with them in more complex workflows. In a literature based discovery setting, we have created an annotated corpus of 9,776 papers with 5,481,543 words

Comet C/2011 W3 (Lovejoy) between 2 and 10 Solar Radii: Physical Parameters of the Comet and the Corona

n/

Effects of habitat composition and landscape structure on worker foraging distances of five bumblebee species

Bumblebees (Bombus spp.) are important pollinators of both crops and wild flowers. Their contribution to this essential ecosystem service has been threatened over recent decades by changes in land use, which have led to declines in their populations. In order to design effective conservation measures it is important to understand the effects of variation in landscape composition and structure on the foraging activities of worker bumblebees. This is because the viability of individual colonies is likely to be affected by the trade-off between the energetic costs of foraging over greater distances and the potential gains from access to additional resources. We used field surveys, molecular genetics and fine resolution remote sensing to estimate the locations of wild bumblebee nests and to infer foraging distances across a 20 km2 agricultural landscape in southern England. We investigated five species, including the rare B. ruderatus and ecologically similar but widespread B. hortorum. We compared worker foraging distances between species and examined how variation in landscape composition and structure affected foraging distances at the colony level. Mean worker foraging distances differed significantly between species. Bombus terrestris, B. lapidarius and B. ruderatus exhibited significantly greater mean foraging distances (551 m, 536 m, 501 m, respectively) than B. hortorum and B. pascuorum (336 m, 272 m, respectively). There was wide variation in worker foraging distances between colonies of the same species, which was in turn strongly influenced by the amount and spatial configuration of available foraging habitats. Shorter foraging distances were found for colonies where the local landscape had high coverage and low fragmentation of semi-natural vegetation, including managed agri-environmental field margins. The strength of relationships between different landscape variables and foraging distance varied between species, for example the strongest relationship for B. ruderatus being with floral cover of preferred forage plants. Our findings suggest that favourable landscape composition and configuration has the potential to minimise foraging distances across a range of bumblebee species. There is thus potential for improvements in the design and implementation of landscape management options, such as agri-environment schemes, aimed at providing foraging habitat for bumblebees and enhancing crop pollination services

Land management explains major trends in forest structure and composition over the last millennium in California's Klamath Mountains

For millennia, forest ecosystems in California have been shaped by fire from both natural processes and Indigenous land management, but the notion of climatic variation as a primary controller of the pre-colonial landscape remains pervasive. Understanding the relative influence of climate and Indigenous burning on the fire regime is key because contemporary forest policy and management are informed by historical baselines. This need is particularly acute in California, where 20th-century fire suppression, coupled with a warming climate, has caused forest densification and increasingly large wildfires that threaten forest ecosystem integrity and management of the forests as part of climate mitigation efforts. We examine climatic versus anthropogenic influence on forest conditions over 3 millennia in the western Klamath Mountains—the ancestral territories of the Karuk and Yurok Tribes—by combining paleoenvironmental data with Western and Indigenous knowledge. A fire regime consisting of tribal burning practices and lightning were associated with long-term stability of forest biomass. Before Euro-American colonization, the long-term median forest biomass was between 104 and 128 Mg/ha, compared to values over 250 Mg/ha today. Indigenous depopulation after AD 1800, coupled with 20th-century fire suppression, likely allowed biomass to increase, culminating in the current landscape: a closed Douglas fir–dominant forest unlike any seen in the preceding 3,000 y. These findings are consistent with precontact forest conditions being influenced by Indigenous land management and suggest large-scale interventions could be needed to return to historic forest biomass levels

A Model for Rigorously Applying the Exploration, Preparation, Implementation, Sustainment (EPIS) Framework in the Design and Measurement of a Large Scale Collaborative Multi-Site Study

Background This paper describes the means by which a United States National Institute on Drug Abuse (NIDA)-funded cooperative, Juvenile Justice-Translational Research on Interventions for Adolescents in the Legal System (JJ-TRIALS), utilized an established implementation science framework in conducting a multi-site, multi-research center implementation intervention initiative. The initiative aimed to bolster the ability of juvenile justice agencies to address unmet client needs related to substance use while enhancing inter-organizational relationships between juvenile justice and local behavioral health partners. Methods The EPIS (Exploration, Preparation, Implementation, Sustainment) framework was selected and utilized as the guiding model from inception through project completion; including the mapping of implementation strategies to EPIS stages, articulation of research questions, and selection, content, and timing of measurement protocols. Among other key developments, the project led to a reconceptualization of its governing implementation science framework into cyclical form as the EPIS Wheel. The EPIS Wheel is more consistent with rapid-cycle testing principles and permits researchers to track both progressive and recursive movement through EPIS. Moreover, because this randomized controlled trial was predicated on a bundled strategy method, JJ-TRIALS was designed to rigorously test progress through the EPIS stages as promoted by facilitation of data-driven decision making principles. The project extended EPIS by (1) elucidating the role and nature of recursive activity in promoting change (yielding the circular EPIS Wheel), (2) by expanding the applicability of the EPIS framework beyond a single evidence-based practice (EBP) to address varying process improvement efforts (representing varying EBPs), and (3) by disentangling outcome measures of progression through EPIS stages from the a priori established study timeline. Discussion The utilization of EPIS in JJ-TRIALS provides a model for practical and applied use of implementation frameworks in real-world settings that span outer service system and inner organizational contexts in improving care for vulnerable populations. Trial registration NCT02672150. Retrospectively registered on 22 January 2016