Search results for "Feedback loop"
showing 10 items of 15 documents
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Engineering multi-agent systems using feedback loops and holarchies
2016
This paper presents a methodological approach for the engineering of Multi-Agent Systems using feedback loops as a first class concept in order to identify organizations. Feedback loops are a way for modeling complex systems that expose emergent behavior by means of a cause-effect loop between two levels called micro and macro levels of the system. The proposed approach principles consist in defining an abstract feedback loop pattern and providing activities and guidelines in order to identify and refine possible candidates for feedback loops during the analysis phase of the Aspecs methodology. This approach is illustrated by using an example drawn from the smart grid field.
A new approach to simulate coating thickness in cold spray
2020
Abstract In the process of cold spray on complex components, the coating thickness is an important indicator to monitor and control. Current methods such as destructive tests or direct mechanical measurements can only be performed after spraying. Besides, these methods lead to production shutdown and additional costs . This article presents a novel approach predicting coating thickness for components with complex curved surfaces, especially in the case of shadow effects. Firstly, a three-dimensional geometric model of the coating profile based on Gaussian distribution was developed. In addition, the relative deposition efficiency (RDE) resulting from the different robot kinematic parameters…
Bioelectrical coupling in multicellular domains regulated by gap junctions: A conceptual approach.
2018
We review the basic concepts involved in bioelectrically-coupled multicellular domains, focusing on the role of membrane potentials (Vmem). In the first model, single-cell Vmem is modulated by two generic polarizing and depolarizing ion channels, while intercellular coupling is implemented via voltage-gated gap junctions. Biochemical and bioelectrical signals are integrated via a feedback loop between Vmem and the transcription and translation of a protein forming an ion channel. The effective rate constants depend on the single-cell Vmem because these potentials modulate the local concentrations of signaling molecules and ions. This electrochemically-based idealization of the complex bioph…
Comparison of global responses to mild deficiency and excess copper levels in Arabidopsis seedlings
2013
[EN] Copper is an essential micronutrient in higher plants, but it is toxic in excess. The fine adjustments required to fit copper nutritional demands for optimal growth are illustrated by the diverse, severe symptoms resulting from copper deficiency and excess. Here, a differential transcriptomic analysis was done between Arabidopsis thaliana plants suffering from mild copper deficiency and those with a slight copper excess. The effects on the genes encoding cuproproteins or copper homeostasis factors were included in a CuAt database, which was organised to collect additional information and connections to other databases. The categories overrepresented under copper deficiency and copper e…
Mechanistic Investigations of the BZ Reaction with Oxalic Acid Substrate. I. The Oscillatory Parameter Region and Rate Constants Measured for the Rea…
2004
This paper is the first part of a study reinvestigating the mechanism of the Belousov-Zhabotinsky (BZ) reaction of oxalic acid, which is the simplest organic substrate for a BZ oscillator. New experiments are performed to find the oscillatory region in 1 M sulfuric acid at 20 °C. The removal rate of the end product bromine by an inert gas stream is a critical parameter here: oscillations can be observed only in a window of that parameter. The “rate constant” for the physical removal of bromine is measured as a function of the gas flow rate and reactor volume; furthermore, the rate constants of three component reactions important in this system are also determined. These are oxygen atom tran…
Visual-based Feedback Control of Casting Manipulation
2006
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position o…
Hidden oscillations in aircraft flight control system with input saturation
2013
Abstract The presence of actuator saturation can dramatically degrade the system performance. Since the feedback loop is broken when the actuator saturates the unstable modes of the regulator may then drift to undesirable values. The consequences are that undesired nonlinear oscillations appear and that the settling time may unacceptably increase. Rigorous analysis of nonlinear aircraft models is a very difficult task, that is why a numerical simulation is often used as an analysis and design tool. In this paper difficulties of numerical analysis related to the existence of hidden oscillations in the aircraft control system are demonstrated.
Learning With Context Feedback Loop for Robust Medical Image Segmentation
2021
Deep learning has successfully been leveraged for medical image segmentation. It employs convolutional neural networks (CNN) to learn distinctive image features from a defined pixel-wise objective function. However, this approach can lead to less output pixel interdependence producing incomplete and unrealistic segmentation results. In this paper, we present a fully automatic deep learning method for robust medical image segmentation by formulating the segmentation problem as a recurrent framework using two systems. The first one is a forward system of an encoder-decoder CNN that predicts the segmentation result from the input image. The predicted probabilistic output of the forward system …
Frequency-modulated atomic force microscopy operation by imaging at the frequency shift minimum: the dip-df mode.
2014
In frequency modulated non-contact atomic force microscopy, the change of the cantilever frequency (Delta f) is used as the input signal for the topography feedback loop. Around the Delta f(z) minimum, however, stable feedback operation is challenging using a standard proportional-integral-derivative (PID) feedback design due to the change of sign in the slope. When operated under liquid conditions, it is furthermore difficult to address the attractive interaction regime due to its often moderate peakedness. Additionally, the Delta f signal level changes severely with time in this environment due to drift of the cantilever frequency f(0) and, thus, requires constant adjustment. Here, we pre…