feedback signal
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2022 ◽  
Vol 12 (1) ◽  
Author(s):  
Rui Yang ◽  
Ichiro Ogura ◽  
ZhenYan Jiang ◽  
LinJun An ◽  
Kiwamu Ashida ◽  
...  

AbstractThe application of self-excitation is proposed to improve the efficiency of the nanoscale cutting procedure based on use of a microcantilever in atomic force microscopy. The microcantilever shape is redesigned so that it can be used to produce vibration amplitudes with sufficient magnitudes to enable the excitation force applied by an actuator to be transferred efficiently to the tip of the microcantilever for the cutting process. A diamond abrasive that is set on the tip is also fabricated using a focused ion beam technique to improve the cutting effect. The natural frequency of the microcantilever is modulated based on the pressing load. Under conventional external excitation conditions, to maintain the microcantilever in its resonant state, it is necessary to vary the excitation frequency in accordance with the modulation. In this study, rather than using external excitation, the self-excitation cutting method is proposed to overcome this difficulty. The self-excited oscillation is produced by appropriate setting of the phase difference between the deflection signal of the microcantilever and the feedback signal for the actuator. In addition, it is demonstrated experimentally that the change in the phase difference enables us to control the amplitude of the self-excitation. As a result, control of the cutting depth is achieved via changes in the phase difference.


2022 ◽  
Author(s):  
Moritz Moeller ◽  
Sanjay Manohar ◽  
Rafal Bogacz

To accurately predict rewards associated with states or actions, the variability of observations has to be taken into account. In particular, when the observations are noisy, the individual rewards should have less influence on tracking of average reward, and the estimate of the mean reward should be updated to a smaller extent after each observation. However, it is not known how the magnitude of the observation noise might be tracked and used to control prediction updates in the brain reward system. Here, we introduce a new model that uses simple, tractable learning rules that track the mean and standard deviation of reward, and leverages prediction errors scaled by uncertainty as the central feedback signal. We provide a normative analysis, comparing the performance of the new model with that of conventional models in a value tracking task. We find that the new model has an advantage over conventional models when tested across various levels of observation noise. Further, we propose a possible biological implementation of the model in the basal ganglia circuit. The scaled prediction error feedback signal is consistent with experimental findings concerning dopamine prediction error scaling relative to reward magnitude, and the update rules are found to be consistent with many features of striatal plasticity. Our results span across the levels of implementation, algorithm, and computation, and might have important implications for understanding the dopaminergic prediction error signal and its relation to adaptive and effective learning.


2021 ◽  
Vol 12 (2) ◽  
pp. 1027-1036
Author(s):  
Qitao Huang ◽  
Peng Wang ◽  
Bowen Li ◽  
Qingjun Yang

Abstract. With the development of motor control technology, the electrically driven Stewart platform (EDSP), equipped with a ball screw or lead screw, is being widely used as a motion simulator, end effector, and vibration isolator. The motor drives the lead screw on each driven branch chain to realize 6-DOF motion of the moving platform. The control loop of the EDSP adopts the rotor position as a feedback signal from the encoder or resolver on the motor. When the moving platform of the EDSP performs translational or rotational motion, the lead screw on each driven branch chain passively generates a relative rotation between its screw and nut in addition to its original sliding motion. This type of passive rotation (PR) of the lead screw does not disturb the motor; hence, it cannot be detected by the position sensor attached to the corresponding motor. Thus, the driven branch chains cause unexpected length changes because of PR. As a result, the PR generates posture errors on the moving platform during operation. In our research, the PR on the EDSP was modeled and analyzed according to the geometry configuration of EDSP. Then, a control method to compensate for the posture errors caused by the PR was proposed. Finally, the effectiveness of the analysis process and compensation control method were validated; the improvement in pose accuracy was confirmed both by simulation and experiments.


Electronics ◽  
2021 ◽  
Vol 10 (22) ◽  
pp. 2844
Author(s):  
Dariusz Kuś ◽  
Adam Kurnicki ◽  
Jarosław Sikora ◽  
Janusz Mroczka

The stability of the electron thermionic emission current is one of the most important requirements for electron sources used, inter alia, in evaporators, production of rare gas excimers, and electron beam objects for high energy physics. In emission current control systems, a negative feedback signal, directly proportional to the emission current is transferred from the high-voltage anode circuit to the low-voltage cathode circuit. This technique, especially for high-voltage sources of electrons, requires the use of galvanic isolation. Alternatively, a method of converting the emission current to voltage in the cathode power supply circuit was proposed. It uses a linear cathode current intensity distribution and multiplicative-additive processing of two voltage signals, directly proportional to the values of cathode current intensity. The simulation results show that a relatively high conversion accuracy can be obtained for low values of the electron work function of the cathode material. The results of experimental tests of the dynamic parameters of the electron source and the steady-state Ie-V characteristic of the converter are presented. The implementation of the proposed Ie-V conversion method facilitates the design of the emission current controller, especially for high-voltage sources of electrons, because a negative feedback loop between the anode and cathode circuits is not required, all controller sub-components are at a common electrostatic potential.


2021 ◽  
Vol 2093 (1) ◽  
pp. 012007
Author(s):  
JiaLei Su

Abstract The force supple control method of robotic arm has been widely researched internationally for many years, and its specific use varies according to the structure of the robotic arm, the location of the sensor, the working space environment, and other factors. Based on the force control principle and control method of the space robot arm, this paper adopts the position-based Cartesian spatial impedance control and proposes an effective forcesmoothing control method after pre-processing the feedback signal of the six-dimensional force sensor installed at the end of the space robot arm with the coordinate system conversion. In addition, the proposed position-based Cartesian spatial impedance control method is modeled and simulated to analyze the effect of each control element on the force-following control effect, to find out the control conditions that can optimize the force-position control effect, and finally to optimize the impedance parameters. This study aims to promote the rapid development of the field of robotic arm control.


Author(s):  
Corinna Gebehart ◽  
Ansgar Büschges

Nervous systems face a torrent of sensory inputs, including proprioceptive feedback. Signal integration depends on spatially and temporally coinciding signals. It is unclear how relative time delays affect multimodal signal integration from spatially distant sense organs. We measured transmission times and latencies along all processing stages of sensorimotor pathways in the stick insect leg muscle control system using intra- and extracellular recordings. Transmission times of signals from load-sensing tibial and trochanterofemoral campaniform sensilla (tiCS, tr/fCS) to the premotor network were longer than from the movement-sensing femoral chordotonal organ (fCO). We characterized connectivity patterns from tiCS, tr/fCS, and fCO afferents to identified premotor nonspiking interneurons (NSIs) and motor neurons (MNs) by distinguishing short- and long-latency responses to sensory stimuli. Functional NSI connectivity depended on sensory context. The timeline of concurrent tiCS and fCO signals had an early phase of movement signal influences and delayed load influences. Temporal differences persisted into MN activity and muscle force development. We demonstrate a temporal difference in the processing of two distinct sensory modalities generated by the sensorimotor network and affecting motor output. The reported temporal differences in sensory processing and signal integration improve our understanding of sensory network computation and function in motor control.


2021 ◽  
Vol 118 (43) ◽  
pp. e2113852118
Author(s):  
Bo Hyun Lee ◽  
Bertil Hille ◽  
Duk-Su Koh

The pineal gland secretes melatonin principally at night. Regulated by norepinephrine released from sympathetic nerve terminals, adrenergic receptors on pinealocytes activate aralkylamine N-acetyltransferase that converts 5-hydroxytryptamine (5-HT, serotonin) to N-acetylserotonin, the precursor of melatonin. Previous studies from our group and others reveal significant constitutive secretion of 5-HT from pinealocytes. Here, using mass spectrometry, we demonstrated that the 5-HT is secreted primarily via a decynium-22–sensitive equilibrative plasma membrane monoamine transporter instead of by typical exocytotic quantal secretion. Activation of the endogenous 5-HT receptors on pinealocytes evoked an intracellular Ca2+ rise that was blocked by RS-102221, an antagonist of 5-HT2C receptors. Applied 5-HT did not evoke melatonin secretion by itself, but it did potentiate melatonin secretion evoked by submaximal norepinephrine. In addition, RS-102221 reduced the norepinephrine-induced melatonin secretion in strips of pineal gland, even when no exogenous 5-HT was added, suggesting that the 5-HT that is constitutively released from pinealocytes accumulates enough in the tissue to act as an autocrine feedback signal sensitizing melatonin release.


2021 ◽  
Vol 9 ◽  
Author(s):  
Hailong Zhang ◽  
Yang Tang ◽  
Seisuke Okubo ◽  
Shoujian Peng ◽  
Cancan Chen

Time-dependent behavior has been demonstrated to be an essential factor in determining the long-term stability of underground structures. Creep and relaxation experiments are commonly used to investigate time-dependent behavior by subjecting rock to constant stress and strain. However, both stress and strain of in-situ rock masses are likely to change with time, a phenomenon known as generalized relaxation that has not been thoroughly investigated. In this study, a newly proposed control method with a constant linear combination of stress and strain as a feedback signal is used in compression and tension tests to investigate generalized relaxation behaviors of rocks. The results showed that the stress and strain of generalized relaxation are dependent on values of α, which represented generalized relaxation direction. The isochronous curves are enclosed within stress–strain curves of different loading conditions. The variation of stress (∆σ) and strain (∆ε) increases with increasing stress level and decreases with increasing confining pressure. Also, ∆σ and ∆ε in region II are smaller than in regions I and III. Furthermore, by performing brittle rock tests, complete generalized relaxation curves are obtained; three stages are observed, which are similar to conventional creep and relaxation behavior. Finally, the time and generalized relaxation failure behavior of Class I and Class II rock are discussed. The study is a valuable resource for gaining a comprehensive understanding of the time-dependent behavior of rocks and improving the stability and safety of underground structures.


Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6386
Author(s):  
Abdul Gaffar Sheik ◽  
Eagalapati Tejaswini ◽  
Murali Mohan Seepana ◽  
Seshagiri Rao Ambati ◽  
Montse Meneses ◽  
...  

Simultaneous removal of nitrogen and phosphorous is a recommended practice while treating wastewater. In the present study, control strategies based on proportional-integral (PI), model predictive control (MPC), and fuzzy logic are developed and implemented on a plant-wide wastewater treatment plant. Four combinations of control frameworks are developed in order to reduce the operational cost and improve the effluent quality. As a working platform, a Benchmark simulation model (BSM2-P) is used. A default control framework with PI controllers is used to control nitrate and dissolved oxygen (DO) by manipulating the internal recycle and oxygen mass transfer coefficient (KLa). Hierarchical control topology is proposed in which a lower-level control framework with PI controllers is implemented to DO in the sixth reactor by regulating the KLa of the fifth, sixth, and seventh reactors, and fuzzy and MPC are used at the supervisory level. This supervisory level considers the ammonia in the last aerobic reactor as a feedback signal to alter the DO set-points. PI-fuzzy showed improved effluent quality by 21.1%, total phosphorus removal rate by 33.3% with an increase of operational cost, and a slight increase in the production rates of greenhouse gases. In all the control design frameworks, a trade-off is observed between operational cost and effluent quality.


Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1197
Author(s):  
Mengxin Sun ◽  
Yong Feng ◽  
Yin Wang ◽  
Weiqing Huang ◽  
Songfei Su

Piezoelectric actuators are widely used in the optical field due to their high precision, compact structure, flexible design, and fast response. This paper presents a novel piezoelectric actuator with a bridge-type mechanism, which can be used to stabilize the images of an infrared imaging system. The bridge amplification mechanism is used to amplify the actuation displacement, and its structural parameters are optimized by the response surface method. The control strategy of the image stabilization system is formulated, and the overall structure of the infrared image stabilization system is designed according to the principle of image stabilization and the control strategy. The prototype was fabricated and verified by a series of experiments. In the test, the laminated piezoelectric ceramics are used as the driving element, and its maximum output displacement was about 17 μm under a voltage of 100 V. Firstly, the performance of the piezoelectric amplification mechanism was tested, and the maximum displacement of the piezoelectric micro-motion mechanism was 115 μm. The displacement amplification ratio of the mechanism was 5.7. Then, the step distance and response time of the micro-displacement mechanism were measured by inputting the stepping signal. When the input voltage increased to 3 V, 5 V, and 7 V, the stepping displacements of the mechanism were 2.4 μm, 4.1 μm, and 5.8 μm. Finally, the image stabilization effect of the designed mechanism was verified by imaging timing control and feedback signal processing.


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