Fault detection, isolation, and reconfiguration (FDIR) is an important and challenging problem in many engineering applications and continues to be an active area of research in the control community. This paper presents a survey of the various model-based FDIR methods developed in the last decade. In the paper, the FDIR problem is divided into the fault detection and isolation (FDI) step, and the controller reconfiguration step. For FDI, we discuss various model-based techniques to generate residuals that are robust to noise, unknown disturbance, and model uncertainties, as well as various statistical techniques of testing the residuals for abrupt changes (or faults). We then discuss various techniques of implementing reconfigurable control strategy in response to faults.

A Survey of Fault Detection, Isolation, and Reconfiguration Methods

A new method for the ablation of undesirable tissue such as cells of a cancerous or non-cancerous tumor is disclosed. It involves the placement of electrodes into or near the vicinity of the undesirable tissue through the application of electrical pulses causing irreversible electroporation of the cells throughout the entire area of the undesirable tissue. The electric pulses irreversibly permeate the cell membranes, thereby invoking cell death. The irreversibly permeabilized cells are left in situ and are removed by the body immune system. The amount of tissue ablation achievable through the use of irreversible electroporation without inducing thermal damage is considerable.

Tissue ablation with irreversible electroporation

Twenty-five years ago, as an American GP living and practising in Wales, I would watch BBC sports programmes, such as darts and bowls and snooker, all unknown to me and, therefore, fascinating. I always found it odd — pairings such as Scotland (or Wales) versus The Rest of the World. It either seemed overly ambitious for Scotland or slim pickings for the rest of the world. After the recent US presidential election, it appears as if it will continue to be the US versus The Rest of the World.

Three books might help you, who are of ‘the rest of the world’, begin to grapple with what is going on in the US. Written from the short, medium, and long view, each has a somewhat parochial twist. Each also, however, contains a great deal of useful history.

The 9/11 Commission Report refutes the old saw that nothing good can be written by a committee. The report is a remarkable book and its recent nomination as a finalist for the National Book Award is a first for a government document, and well deserved. What is contained in this report is well known by most of us — the cast of characters has been in the news for over 3 years. And the sequence of events and many of the details that were gleaned from the ongoing hearings have been contained in news stories, long and short. However, to have published what is known until this point in a single narrative, which is at once accessible and clearly written, is a truly historical achievement. Reading the events of the day — regarding the planes that crashed in the city of New York, as the rescue squads from police and fire departments move into place and act — is both familiar and detailed in a way that helps us understand better than I would ever have imagined the why and how of all the death and destruction.

So much about those days have been parsed into documentaries — long analyses of causation of issues, like why the towers fell — that one would think that everything that could be written had been. But the Commission's report really does add enormous amounts of history to the sound bites and 30-second visuals that have pervaded politics and the world assessment of the US since that time. The report deals extensively and thoughtfully with the history of Islam, both ancient and recent, and describes the history of terrorism as it evolved from highjackings of the 1970s to the use of bombs and targeted destruction of military targets in the late 1980s and 1990s.

Events that occurred in the time that preceded the attacks of 9/11 are written in a way that shows the convergence of intelligence reports, a long history of threats from Bin Laden, and many alerts and warnings (‘the system was blinking red’ in the words of Tenet, CIA director). The information about the movements of the terrorists in their planning and the worldwide involvement of cells, support systems, and finances makes it clear that these events were truly the result of a network that reaches virtually everywhere.

After the attacks, reading of the efforts of the fire, police, and other rescue squads in New York adds specifics that are terrible and remarkable. On 9/11, I ran up and down the stairs between patients to watch on television as it was all happening. All of us who watched that day wondered what those people who were clearly doomed were thinking, feeling, and seeing. Their actual words in this report are not fiction, they are the words, for most the last words, of people who died as we watched. Their words are the hardest part of this long, detailed report to deal with.

Much of the final third of the report is devoted to what a fire captain friend of mine once called a PFE — a post-fire evaluation — which he mandated for his squad after every fire. In a PFE, the entire squad reconstructed, relived, and discussed the events to see what could be improved next time. The 9/11 Commission engaged in a world-scale PFE. Although all US politicians state that they intend to follow the recommendations of The 9/11 Commission Report, the backing and filling is already well underway. What politician, for example, is going to agree that major conurbations, and political and tactical targets should receive preference over their hometown fire departments and that homeland security money should ‘not be used as a pork barrel’?

Rather than bringing a grieving country together in a way that will make such events unlikely to happen again, the reactions from the report have begun to cleave along party lines once again. The 9/11 Commission was almost unique in its thoroughness, transparency, and its ability to focus on the real issue of terror and lawlessness. However, the extent to which a violent stateless ideology has negatively affected the tolerance of differences, the sense of community, and the level of civic discourse in the US means that terrorism has affected our neighborhoods as much as it has affected our country. And fear rather than determination, despite the President's stump speech, has become the dominant emotion.

Robert Byrd, from his 45-year perspective in the US Senate, understands that cheques and balances are essential to avoid tragedy, even if they, at times, impede progress. His book, Losing America, contains several ‘under-the-table’ looks at Congress and the manipulations and arrogance of the coterie of ideologues who surround George W. Bush. Byrd, from the Southern tradition of politeness and respect, which often cloaks bar-room politics, is steeped in the history of the institution of the Senate. He is personally offended by Bush's lack of interest or curiosity in the legislative process prior to 9/11, and his dishonesty and deception afterwards. Byrd's address to the Senate on the eve of the war on Iraq was widely quoted and is contained in this book. While people marching in the streets made headlines, it was an 85-year-old senator, not previously known as an outraged progressive, who took on both the Administration for its hypocrisy and many of his colleagues for their lack of courage and principle. He voted against the war and continues to point out the dishonesty of the people who guide it. The book reads with a sensibility from another age. Although his own history is certainly not without problems, Senator Byrd's belief in the true democratic process, rather than the gun-barrel approach of George W. Bush, should be given the respect that he, and it, deserve.

Arthur Schlesinger Jr has been writing history since 1946 and has Pulitzer prizes to prove he does it well. His voice is considered, thoughtful, and scholarly — as one might expect from a historian and distinguished teacher. Toward the end of his book War and the American Presidency, however, Schlesinger's voice rises with outrage at those who surround and influence George W. Bush, the ‘small group of Messianic statesman whose self righteousness bids fair to wreck our age’. He writes of the imperial presidencies of the early years of the country, which repressed dissent during wartime, and how the US moved from wars based on pique to engaging international diplomacy and internationalism. Schlesinger reminds us that all presidents since Wilson, with George W. Bush being the glaring exception, believed in statesmanship, diplomacy, alliances to guard against capricious choices and, when necessary, taking on common enemies.

Much of Schlesinger's book, however, also chronicles the record of the current Administration which, by being ‘judge, jury, and executioner resurrects the imperial presidency’. An imperial presidency in the age of frigates and single-shot rifles cannot be compared with one that possesses weapons of mass destruction and a wooly-headed sense of divine guidance. We used to think of Henry Kissinger as the prototype for Dr Strangelove, but I wish Kubrick were still alive to do the remake with Dick Cheney and Donald Rumsfeld in mind.

Needless to say, the recent election, instead of relegating George W. Bush and his hangers-on to the historical trashbin, has pushed them to the front of the international agenda. A secretive, defensive, unreflective president will now shape the world for our grandchildren. Each of these books elaborates on the ineffectiveness of Bush dealing with the real enemy while he digs deeper into a country where he is creating more enemies by the day.

One has to ask why, instead of quietly writing their memoirs, two distinguished 87-year-old statesmen are raising the alarm and shaking us by the throat — like the aging Thomas Jefferson who, in his famous letter of 1820, said of the first compromise to try to divide the country between slave and free states: ‘this momentous question, like a firebell in the night, awakened and filled me with terror’. Byrd and Schlesinger hear the firebell and are ringing it to wake us up. Another quote that might better capture Bush and his legacy would be from the Bible he uses as justification for his policies: ‘He that troubleth his own house shall inherit the wind’ (Proverbs 11, 29).

The 9/11 Commission Report: Final Report of the National Commission on Terrorist attacks upon the United States.

Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition): Franklin ... This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems: Gene F. Franklin ... Digital Control of Dynamic Systems, 2nd Edition. Gene F. Franklin, Stanford University. J. David Powell, Stanford University Digital Control of Dynamic Systems, 2nd Edition Pearson This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. MATLAB statements and problems are thoroughly and carefully integrated throughout the book to offer readers a complete design picture. Digital Control of Dynamic Systems, 3rd Edition ... Digital control of dynamic systems | Gene F. Franklin, J. David Powell, Michael L. Workman | download | B–OK. Download books for free. Find books Digital control of dynamic systems | Gene F. Franklin, J ... Abstract This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic... (PDF) Digital Control of Dynamic Systems Digital Control of Dynamic Systems, Addison.pdf There is document Digital Control of Dynamic Systems, Addison.pdfavailable here for reading and downloading. Use the download button below or simple online reader. The file extension PDFand ranks to the Documentscategory. Digital Control of Dynamic Systems, Addison.pdf Download ... Automatic control is the science that develops techniques to steer, guide, control dynamic systems. These systems are built by humans and must perform a specific task. Examples of such dynamic systems are found in biology, physics, robotics, finance, etc. Digital Control means that the control laws are implemented in a digital device, such as a microcontroller or a microprocessor. Introduction to Digital Control of Dynamic Systems And ... The discussions are clear, nomenclature is not hard to follow and there are plenty of worked examples. The book covers discretization effects and design by emulation (i.e. design of continuous-time control system followed by discretization before implementation) which are not to be found on every book on digital control. Amazon.com: Customer reviews: Digital Control of Dynamic ... Find helpful customer reviews and review ratings for Digital Control of Dynamic Systems (3rd Edition) at Amazon.com. Read honest and unbiased product reviews from our users. Amazon.com: Customer reviews: Digital Control of Dynamic ... 1.1.2 Digital control Digital control systems employ a computer as a fundamental component in the controller. The computer typically receives a measurement of the controlled variable, also often receives the reference input, and produces its output using an algorithm. Introduction to Applied Digital Control From the Back Cover This well-respected, marketleading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition) Test Bank `Among the advantages of digital logic for control are the increased flexibility `of the control programs and the decision-making or logic capability of digital `systems, which can be combined with the dynamic control function to meet `other system requirements. `The digital controls studied in this book are for closed-loop (feedback) Every day, eBookDaily adds three new free Kindle books to several different genres, such as Nonfiction, Business & Investing, Mystery & Thriller, Romance, Teens & Young Adult, Children's Books, and others.

http://ieeexplore.ieee.org/iel6/29/26151/01163502.pdf

Digital control of dynamic systems

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Haptic guidance system and method

A system with multimodality instrument for tissue identification includes a computer-controlled motor driven heuristic probe with a multisensory tip. For neurosurgical applications, the instrument is mounted on a stereotactic frame for the probe to penetrate the brain in a precisely controlled fashion. The resistance of the brain tissue being penetrated is continually monitored by a miniaturized strain gauge attached to the probe tip. Other modality sensors may be mounted near the probe tip to provide real-time tissue characterizations and the ability to detect the proximity of blood vessels, thus eliminating errors normally associated with registration of pre-operative scans, tissue swelling, elastic tissue deformation, human judgement, etc., and rendering surgical procedures safer, more accurate, and efficient. A neural network program adaptively learns the information on resistance and other characteristic features of normal brain tissue during the surgery and provides near real-time modeling. A fuzzy logic interface to the neural network program incorporates expert medical knowledge in the learning process. Identification of abnormal brain tissue is determined by the detection of change and comparison with previously learned models of abnormal brain tissues. The operation of the instrument is controlled through a user friendly graphical interface. Patient data is presented in a 3D stereographics display. Acoustic feedback of selected information may optionally be provided. Upon detection of the close proximity to blood vessels or abnormal brain tissue, the computer-controlled motor immediately stops probe penetration. The use of this system will make surgical procedures safer, more accurate, and more efficient. Other applications of this system include the detection, prognosis and treatment of breast cancer, prostate cancer, spinal diseases, and use in general exploratory surgery.

/pdf/multimodality-instrument-for-tissue-characterization-553xz9hvwt.pdf

Multimodality instrument for tissue characterization

/pdf/situational-awareness-for-first-responders-via-mobile-27dcjcw6v0.pdf

Situational Awareness for First Responders via Mobile Computing

*† ‡ Spacecraft control, state estimation, and fault-detection-and-isolation (FDI) systems are all affected by unknown variations in the vehicle mass and thruster properties. It is often difficult to accurately measure inertia terms on the ground, and mass properties can change on-orbit as fuel is expended, the configuration changes, or payloads are added or removed. Multiple concurrent recursive least squares identification (MCRLS ID) algorithms using gyros and accelerometers to monitor vehicle motions are derived and used here to identify on-line the vehicle inertia tensor, inverse inertia tensor, center of mass, thruster force magnitude, and total mass. Originally developed for application to the X-38 v.201 spacecraft thruster FDI system, the algorithms have been extended, refined, and implemented on the MIT SPHERES experimental spacecraft, which are now awaiting launch to the ISS for space-based testing. The MCRLS ID architecture makes approximations that enable application of linear parameter estimation methods to applications where the unknown parameters do not appear linearly in the regression equation. As compared to alternative methods, this approach favors efficiency of algorithm development, re-configurability, and on-line implementation over absolute algorithmic accuracy, which is often limited by other modeling deficiencies or system uncertainties. An accurate and computationally efficient filtering method for estimating angular acceleration from raw gyro signals is presented. The algorithms have been tested extensively in 2-D air-bearing testing on the flight hardware and during brief 0-g testing on the NASA 0-g KC-135. The SPHERES will launch to the International Space Station on STS-121, with a series of experiments following soon after. The experimental plan is presented.

http://intellization.com/files/mass_ID_paper_AIAA_2005.pdf

Motion-Based Mass- and Thruster-Property Identification for Thruster-Controlled Spacecraft

Failures of aircraft primary flight-control systems to aircraft during flight have led to catastrophic accidents with subsequent loss of lives (e.g. , DC-1O crash, B-747 crash, C-5 crash, B-52 crash, and others). Dryden Flight Research Center (DFRC) investigated the use of engine thrust for emergency flight control of several airplanes, including the B-720, Lear 24, F-15, C-402, and B-747. A series of three piloted simulation tests have been conducted at Ames Research Center to investigate propulsion control for safely landing a medium size jet transport which has experienced a total primary flight-control failure. The first series of tests was completed in July 1992 and defined the best interface for the pilot commands to drive the engines. The second series of tests was completed in August 1994 and investigated propulsion controlled aircraft (PCA) display requirements and various command modes. The third series of tests was completed in May 1995 and investigated PCA full-flight envelope capabilities. This report describes the concept of a PCA, discusses pilot controls, displays, and procedures; and presents the results of piloted simulation evaluations of the concept by a cross-section of air transport pilots.

/pdf/piloted-simulation-tests-of-propulsion-control-as-backup-to-4qscg3okhw.pdf

Piloted Simulation Tests of Propulsion Control as Backup to Loss of Primary Flight Controls for a B747-400 Jet Transport

This project looks to improve first responder situational awareness using tools and techniques of mobile computing. The prototype system combines wireless communication, real-time location determination, digital imaging, and three-dimensional graphics. Responder locations are tracked in an outdoor environment via GPS and uploaded to a central server via GPRS or an 802.11 network. Responders can also wirelessly share digital images and text reports, both with other responders and with the incident commander. A pre-built three dimensional graphics model of a particular emergency scene is used to visualize responder and report locations. Responders have a choice of information end points, ranging from programmable cellular phones to tablet computers. The system also employs location-aware computing to make responders aware of particular hazards as they approach them. The prototype was developed in conjunction with the NASA Ames Disaster Assistance and Rescue Team and has undergone field testing during responder exercise at NASA Ames.

/pdf/improving-situational-awareness-for-first-responders-via-54f2asghj7.pdf

Robert W. Mah

Papers

Multimodality instrument for tissue characterization

Situational Awareness for First Responders via Mobile Computing

Motion-Based Mass- and Thruster-Property Identification for Thruster-Controlled Spacecraft

Piloted Simulation Tests of Propulsion Control as Backup to Loss of Primary Flight Controls for a B747-400 Jet Transport

Improving Situational Awareness for First Responders via Mobile Computing