Proprioceptive perception of phase variability

Previous work has established that judgments of relative phase variability of 2 visually presented oscillators covary with mean relative phase. Ninety degrees is judged to be more variable than 0° or 180°, independently of the actual level of phase variability. Judged levels of variability also increase at 180°. This pattern of judgments matches the pattern of movement coordination results. Here, participants judged the phase variability of their own finger movements, which they generated by actively tracking a manipulandum moving at 0°, 90°, or 180°, and with 1 of 4 levels of Phase Variability. Judgments covaried as an inverted U-shaped function of mean relative phase. With an increase in frequency, 180° was judged more variable whereas 0° was not. Higher frequency also reduced discrimination of the levels of Phase Variability. This matching of the proprioceptive and visual results, and of both to movement results, supports the hypothesized role of online perception in the coupling of limb movements. Differences in the 2 cases are discussed as due primarily to the different sensitivities of the systems to the information

Identifying the information for the visual perception of relative phase

The production and perception of coordinated rhythmic movement are very specifically structured. For production and perception, 0° mean relative phase is stable, 180° is less stable, and no other state is stable without training. It has been hypothesized that perceptual stability characteristics underpin the movement stability characteristics, which has led to the development of a phase-driven oscillator model (e.g., Bingham, 2004a, 2004b). In the present study, a novel perturbation method was used to explore the identity of the perceptual information being used in rhythmic movement tasks. In the three conditions, relative position, relative speed, and frequency (variables motivated by the model) were selectively perturbed. Ten participants performed a judgment task to identify 0° or 180° under these perturbation conditions, and 8 participants who had been trained to visually discriminate 90° performed the task with perturbed 90° displays. Discrimination of 0° and 180° was unperturbed in 7 out of the 10 participants, but discrimination of 90° was completely disrupted by the position perturbation and was made noisy by the frequency perturbation. We concluded that (1) the information used by most observers to perceive relative phase at 0° and 180° was relative direction and (2) becoming an expert perceiver of 90° entails learning a new variable composed of position and speed

An experimental laboratory bench setup to study electric vehicle antilock braking / traction systems and their control

This paper describes the preliminary research and implementation of an experimental test bench set up for an electric vehicle antilock braking system (ABS)/traction control system (TCS) representing the dry, wet and icy road surfaces. A fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking system is presented. The test facility comprised of an induction machine load operating in the generating region. The test facility was used to simulate a variety of tire/road μ-σ driving conditions, eliminating the initial requirement for skid-pan trials when developing algorithms. Simulation studies and results are provided

Application of Fuzzy control algorithms for electric vehicle antilock braking/traction control systems

Abstract—The application of fuzzy-based control strategies has recently gained enormous recognition as an approach for the rapid development of effective controllers for nonlinear time-variant systems. This paper describes the preliminary research and implementation of a fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking systems (ABSs). As the dynamics of the braking systems are highly nonlinear and time variant, fuzzy control offers potential as an important tool for development of robust traction control. Simulation studies are employed to derive an initial rule base that is then tested on an experimental test facility representing the dynamics of a braking system. The test facility is composed of an induction machine load operating in the generating region. It is shown that the torque-slip characteristics of an induction motor provides a convenient platform for simulating a variety of tire/road - driving conditions, negating the initial requirement for skid-pan trials when developing algorithms. The fuzzy membership functions were subsequently refined by analysis of the data acquired from the test facility while simulating operation at a high coefficient of friction. The robustness of the fuzzy-logic slip regulator is further tested by applying the resulting controller over a wide range of operating conditions. The results indicate that ABS/traction control may substantially improve longitudinal performance and offer significant potential for optimal control of driven wheels, especially under icy conditions where classical ABS/traction control schemes are constrained to operate very conservatively

Influence of ROV umbilical on power quality when supplying electrical loads

The paper investigates the effects of a 3 km electrical umbilical cable on power transmission for an "island" supply onboard an all/more electric 'work-class' remote operated vehicle (ROV). It is shown how the chosen transmission voltage and frequency influence efficiency and the selection of power transmission components. A key feature of the paper is a discussion on the use of matrix converters for the propulsion thruster drive system; thereby allowing the input displacement factor to be varied to maintain maximum power transmission efficiency, independent of the thruster power factor. The natural impedance characteristics of the umbilical cable are also considered as means of reducing the input filter requirements for such converter

New battery model and state-of-health determination through subspace parameter estimation and state-observer techniques

This paper describes a novel adaptive battery model based on a remapped variant of the well-known Randles' lead-acid model. Remapping of the model is shown to allow improved modeling capabilities and accurate estimates of dynamic circuit parameters when used with subspace parameter-estimation techniques. The performance of the proposed methodology is demonstrated by application to batteries for an all-electric personal rapid transit vehicle from the Urban Light TRAnsport (ULTRA) program, which is designated for use at Heathrow Airport, U. K. The advantages of the proposed model over the Randles' circuit are demonstrated by comparisons with alternative observer/estimator techniques, such as the basic Utkin observer and the Kalman estimator. These techniques correctly identify and converge on voltages associated with the battery state-of-charge (SoC), despite erroneous initial conditions, thereby overcoming problems attributed to SoC drift (incurred by Coulomb-counting methods due to overcharging or ambient temperature fluctuations). Observation of these voltages, as well as online monitoring of the degradation of the estimated dynamic model parameters, allows battery aging (state-of-health) to also be assessed and, thereby, cell failure to be predicted. Due to the adaptive nature of the proposed algorithms, the techniques are suitable for applications over a wide range of operating environments, including large ambient temperature variations. Moreover, alternative battery topologies may also be accommodated by the automatic adjustment of the underlying state-space models used in both the parameter-estimation and observer/estimator stages

Novel battery model of an all-electric personal rapid transit vehicle to determine state-of-health through subspace parameter estimation and a Kalman Estimator

Abstract--The paper describes a real-time adaptive battery model for use in an all-electric Personal Rapid Transit vehicle. Whilst traditionally, circuit-based models for lead-acid batteries centre on the well-known Randles’ model, here the Randles’ model is mapped to an equivalent circuit, demonstrating improved modelling capabilities and more accurate estimates of circuit parameters when used in Subspace parameter estimation techniques. Combined with Kalman Estimator algorithms, these techniques are demonstrated to correctly identify and converge on voltages associated with the battery State-of-Charge, overcoming problems such as SoC drift (incurred by coulomb-counting methods due to over-charging or ambient temperature fluctuations). Online monitoring of the degradation of these estimated parameters allows battery ageing (State-of-Health) to be assessed and, in safety-critical systems, cell failure may be predicted in time to avoid inconvenience to passenger networks. Due to the adaptive nature of the proposed methodology, this system can be implemented over a wide range of operating environments, applications and battery topologies

Drive systems for operation on deep-sea ROVs

Power systems for thruster actuators and other auxiliaries employed on work-class deep-sea ROVs subject to 300bar ambient pressures, are considered. Emphasis on 3×3 matrix converters for thrusters and 3×2 matrix converters for system auxiliaries, is given, along with experimental results showing operation during pressure cycling consistent with typical operational duties

GA tuning of pitch controller for small scale MAVs

The paper presents the application of intelligent tuning methods for the control of a prototype MAV in order to address problems associated with bandwidth limited actuators and gust alleviation. Specifically, as a proof of concept, the investigation is focused on the pitch control of a MAV. The work is supported by experimental results from wind tunnel testing that shows the merits of the use of Genetic Algorithm (GA) tuning techniques compared to classical, empirical tuning methodologies. To provide a measure of relative merit, the controller responses are evaluated using the ITAE performance index. In this way, the proposed method is shown to induce far superior dynamic performance compared to traditional approaches

True infliximab resistance in rheumatoid arthritis: a role for lymphotoxin α?

Background: The combination of methotrexate and the anti-tumour necrosis factor (TNF) antibody infliximab is a very effective treatment for rheumatoid arthritis (RA). However, a proportion of patients are not responsive to this treatment. Inefficacy may represent a TNF independent disease or insufficient drug at the site of action. Case report: A patient with RA resistant to repeated high dose infliximab infusions and intra-articular infliximab into an inflamed knee is described. No beneficial clinical effect was observed. Pre-injection arthroscopic biopsy of the study knee demonstrated TNF staining but also confirmed the presence of lymphotoxin (LT or TNFß) on immunohistochemistry. Subsequent treatment with etanercept (which blocks LT as well as TNF) resulted in clinical remission of disease. Conclusion: This case suggests that resistance to TNF blockade may occur when TNF is not the dominant inflammatory cytokine and suggests that LT may have a pathogenic role in RA