Bilevel shared control for teleoperators

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space

Sliding mode control method having terminal convergence in finite time

An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters

Variable Complexity Structural Optimization of Shells

Structural designers today face both opportunities and challenges in a vast array of available analysis and optimization programs. Some programs such as NASTRAN, are very general, permitting the designer to model any structure, to any degree of accuracy, but often at a higher computational cost. Additionally, such general procedures often do not allow easy implementation of all constraints of interest to the designer. Other programs, based on algebraic expressions used by designers one generation ago, have limited applicability for general structures with modem materials. However, when applicable, they provide easy understanding of design decisions trade-off. Finally, designers can also use specialized programs suitable for designing efficiently a subset of structural problems. For example, PASCO and PANDA2 are panel design codes, which calculate response and estimate failure much more efficiently than general-purpose codes, but are narrowly applicable in terms of geometry and loading. Therefore, the problem of optimizing structures based on simultaneous use of several models and computer programs is a subject of considerable interest. The problem of using several levels of models in optimization has been dubbed variable complexity modeling. Work under NASA grant NAG1-2110 has been concerned with the development of variable complexity modeling strategies with special emphasis on response surface techniques. In addition, several modeling issues for the design of shells of revolution were studied

Variable Complexity Structural Optimization of Shells

Structural designers today face both opportunities and challenges in a vast array of available analysis and optimization programs. Some programs such as NASTRAN, are very general, permitting the designer to model any structure, to any degree of accuracy, but often at a higher computational cost. Additionally, such general procedures often do not allow easy implementation of all constraints of interest to the designer. Other programs, based on algebraic expressions used by designers one generation ago, have limited applicability for general structures with modem materials. However, when applicable, they provide easy understanding of design decisions trade-off. Finally, designers can also use specialized programs suitable for designing efficiently a subset of structural problems. For example, PASCO and PANDA2 are panel design codes, which calculate response and estimate failure much more efficiently than general-purpose codes, but are narrowly applicable in terms of geometry and loading. Therefore, the problem of optimizing structures based on simultaneous use of several models and computer programs is a subject of considerable interest. The problem of using several levels of models in optimization has been dubbed variable complexity modeling. Work under NASA grant NAG1-1808 has been concerned with the development of variable complexity modeling strategies with special emphasis on response surface techniques. In addition several modeling issues for the design of shells of revolution were studied

Malpe fishing harbour inferno: an impact analysis

An unprecedented fire disaster, in which 196 mechanised fishing boats were gutted, took place at Malpe, a major fishing harbour in Karnataka State in the afternoon of 19th July, 1979. The total loss due to this havoc has been estimated at 2.3 crores of rupees. Though the total loss to the nation on accountof the fire disaster is to the tune of Rs. 2.3 crores, the individual loss of the owners of mechanised vessels was much less. A member of C. M. F. R. I. staff has been deployed to gather information relating to the progress made towards the normalisation of fishing activities in the affected area. This would enable monitoring of the process of rehabilitation in the coming month

Implementation of a Regression-based Trust Model in a Wireless Ad hoc Testbed

Wireless ad hoc networks are resource constraint and vulnerable to various security attacks. Trust based security modelling go hand in hand with cryptographic services to offer good security services. We have implemented a vector auto regression (VAR) based trust model over ad hoc on demand distance vector protocol and optimised link state routing protocol. The novelty in this model lies in  capturing individual functional behaviours of a neighbour in an ad hoc network and modeling them as regression parameters. The experimental results show the feasibility of implementing trust models over real ad hoc network deployments. The simulations results show that the proposed VAR trust model offers better performance compared to the existing trust models.Defence Science Journal, 2012, 62(1), pp.167-173, DOI:http://dx.doi.org/10.14429/dsj.62.143

Doping dependence of charge-transfer excitations in La_{2-x}Sr_xCuO_4

We report a resonant inelastic x-ray scattering (RIXS) study of the doping dependence of charge-transfer excitations in $\rm La_{2-x}Sr_xCuO_4$. The mome ntum dependence of these charge excitations are studied over the whole Brillouin zone in underdoped (x=0.05) and optimally doped (x=0.17) samples, and compared with that of the undoped (x=0) sample. We observe a large change in the RIXS spectra between the x=0 and x=0.17 sample, while the RIXS spectra of the x=0.05 sample are similar to that of the x=0 sample. The most prominent effect of doped-holes on the charge excitation spectra is the appearance of a continuum of intensity, which exhibits a strong momentum-dependence below 2 eV. For the x=0.17 sample, some of the spectral weight from the lowest-lying charge-transfer excitation of the undoped compound is transferred to the continuum intensity below the gap, in agreement with earlier optical studies. However, the higher energy charge-transfer excitation carries significant spectral weight even for the x=0.17 sample. The doping dependence of the dispersion of this charge-transfer excitation is also discussed and compared with recent theoretical calculations.Comment: 7 pages, 6 figures, to appear in Phys. Rev.

Polydisperse suspensions : erosion, deposition, and flow capacity

Deposition from particle-laden flows is often described in terms of the capacity and competence of the flow, but robust definitions of these terms have proved elusive. In this paper we provide a mathematical modelling framework within which erosion and deposition of polydisperse sediment, and thus flow capacity and competence, can be rigorously defined. This framework explicitly captures the coupling between the suspension and an active layer of sediment at the top of the bed, and is capable of describing both depositional and erosional flows over both erodible and non-erodible beds. Crucially, the capacity of a flow is shown to depend on the erosional and depositional history because these processes determine the composition of the active layer. This dependence is explored within models of bidisperse and polydisperse suspensions. It is further demonstrated that monodisperse representations of suspended sediment transport may severely underpredict actual flow capacity. The polydisperse model is validated against recent experimental studies of the evolution of suspended material in waning turbulent flows, and is used to demonstrate that loss of capacity is the principal driver of sediment deposition

Modelling cell motility and chemotaxis with evolving surface finite elements

We present a mathematical and a computational framework for the modelling of cell motility. The cell membrane is represented by an evolving surface, with the movement of the cell determined by the interaction of various forces that act normal to the surface. We consider external forces such as those that may arise owing to inhomogeneities in the medium and a pressure that constrains the enclosed volume, as well as internal forces that arise from the reaction of the cells' surface to stretching and bending. We also consider a protrusive force associated with a reaction-diffusion system (RDS) posed on the cell membrane, with cell polarization modelled by this surface RDS. The computational method is based on an evolving surface finite-element method. The general method can account for the large deformations that arise in cell motility and allows the simulation of cell migration in three dimensions. We illustrate applications of the proposed modelling framework and numerical method by reporting on numerical simulations of a model for eukaryotic chemotaxis and a model for the persistent movement of keratocytes in two and three space dimensions. Movies of the simulated cells can be obtained from http://homepages.warwick.ac.uk/maskae/CV_Warwick/Chemotaxis.html