Science.gov

Sample records for open-loop control

  1. Open-loop control of class-2 tensegrity towers

    NASA Astrophysics Data System (ADS)

    Masic, Milenko; Skelton, Robert E.

    2004-07-01

    This paper concerns open-loop control laws for reconfiguration of tensegrity towers. By postulating the control strategy as an equilibrium tracking control, very little control energy is required. Several different reconfiguration scenarios are possible for different string connectivity schemes. This includes unit radius control, twist angle control and truncation parameter control. All these control laws allow a nonuniform distribution of the control parameters among units. By defining a wave--like reference signal and injecting it in the open--loop control law, we demonstrate the concept of self--propelled tensegrity structure that are capable of locomotion.

  2. VERSATILE TWO-AXIS OPEN-LOOP SOLAR TRACKER CONTROLLER*

    SciTech Connect

    Ward, Christina D; Maxey, L Curt; Evans III, Boyd Mccutchen; Lapsa, Melissa Voss

    2008-01-01

    A versatile single-board controller for two-axis solar tracking applications has been developed and tested on operating solar tracking systems with over two years of field experience. The operating experience gained from the two systems and associated modifications are discussed as representative examples of the practical issues associated with implementing a new two-axis solar tracker design. In this research, open and closed loop control methods were evaluated; however, only the open loop method met the 0.125 tracking accuracy requirement and the requirement to maintain pointing accuracy in hazy and scattered cloudy skies. The open loop algorithm was finally implemented in a microcontroller-based tracking system. Methods of applying this controller hardware to different tracker geometries and hardware are discussed along with the experience gained to date.

  3. Real-time open-loop control of a 1024-actuator MEMS deformable mirror

    NASA Astrophysics Data System (ADS)

    Blain, Célia; Conan, Rodolphe; Bradley, Colin; Guyon, Olivier; Gamroth, Darryl; Nash, Reston

    2010-07-01

    This article reports the progress made at the University of Victoria AO Lab, regarding the realtime open-loop control of a 1024-actuator MEMS deformable mirror (DM). The setup is an hybrid woofer-tweeter/open-loop bench. A tip-tilt mirror and a woofer DM (a 57-actuator CILAS DM) are driven in closed-loop while a 1024-actuator MEMS DM is utilized on a parallel open-loop path. Previous work shows that open-loop control providing low residual error (with frozen Kolmogorov turbulence) can be obtained without the need of DM modelling. A preliminary methodical calibration of the DM is employed instead. The MEMS electronics were upgraded to an update rate of 500 Hz and the experiment lays the groundwork for showing how these performances can also be achieved on the bench with dynamic turbulence (created with custom hot air turbulence generators). The current status of the experiment and the next milestones are presented.

  4. Optimal open-loop and feedback control using single gimbal control moment gyroscopes

    NASA Technical Reports Server (NTRS)

    Hoelscher, Brian R.; Vadali, Srinvas R.

    1993-01-01

    Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

  5. Open-loop quantum control as a resource for secure communications

    NASA Astrophysics Data System (ADS)

    Pastorello, Davide

    2016-05-01

    Properties of unitary time evolution of quantum systems can be applied to define quantum cryptographic protocols. Dynamics of a qubit can be exploited as a data encryption/decryption procedure by means of timed measurements, implementation of an open-loop control scheme over a qubit increases robustness of a protocol employing this principle.

  6. An innovative strategy for open loop control of hot deformation processes

    NASA Astrophysics Data System (ADS)

    Malas, J. C.; Irwin, R. D.; Grandhi, R. V.

    1993-10-01

    A new strategy for systematically calculating near optimal control parameters for hot deformation processes is presented in this article. This approach is based on modern control theory and involves deriving state-space models directly from available material behavior and hot deformation process models. Two basic stages of analysis and optimization are established in this strategy for nonlinear, open loop control system design for producing required microstructural characteristics, uniformity of deformation and temperature distribution, and other important physical requirements of hot worked products.

  7. Open-Loop Control of Oxidative Phosphorylation in Skeletal and Cardiac Muscle Mitochondria by Ca(2.).

    PubMed

    Vinnakota, Kalyan C; Singhal, Abhishek; Van den Bergh, Françoise; Bagher-Oskouei, Masoumeh; Wiseman, Robert W; Beard, Daniel A

    2016-02-23

    In cardiac muscle, mitochondrial ATP synthesis is driven by demand for ATP through feedback from the products of ATP hydrolysis. However, in skeletal muscle at higher workloads there is an apparent contribution of open-loop stimulation of ATP synthesis. Open-loop control is defined as modulation of flux through a biochemical pathway by a moiety, which is not a reactant or a product of the biochemical reactions in the pathway. The role of calcium, which is known to stimulate the activity of mitochondrial dehydrogenases, as an open-loop controller, was investigated in isolated cardiac and skeletal muscle mitochondria. The kinetics of NADH synthesis and respiration, feedback from ATP hydrolysis products, and stimulation by calcium were characterized in isolated mitochondria to test the hypothesis that calcium has a stimulatory role in skeletal muscle mitochondria not apparent in cardiac mitochondria. A range of respiratory states were obtained in cardiac and skeletal muscle mitochondria utilizing physiologically relevant concentrations of pyruvate and malate, and flux of respiration, NAD(P)H fluorescence, and rhodamine 123 fluorescence were measured over a range of extra mitochondrial calcium concentrations. We found that under these conditions calcium stimulates NADH synthesis in skeletal muscle mitochondria but not in cardiac mitochondria. PMID:26910432

  8. Multiple Model-Informed Open-Loop Control of Uncertain Intracellular Signaling Dynamics

    PubMed Central

    Perley, Jeffrey P.; Mikolajczak, Judith; Harrison, Marietta L.; Buzzard, Gregery T.; Rundell, Ann E.

    2014-01-01

    Computational approaches to tune the activation of intracellular signal transduction pathways both predictably and selectively will enable researchers to explore and interrogate cell biology with unprecedented precision. Techniques to control complex nonlinear systems typically involve the application of control theory to a descriptive mathematical model. For cellular processes, however, measurement assays tend to be too time consuming for real-time feedback control and models offer rough approximations of the biological reality, thus limiting their utility when considered in isolation. We overcome these problems by combining nonlinear model predictive control with a novel adaptive weighting algorithm that blends predictions from multiple models to derive a compromise open-loop control sequence. The proposed strategy uses weight maps to inform the controller of the tendency for models to differ in their ability to accurately reproduce the system dynamics under different experimental perturbations (i.e. control inputs). These maps, which characterize the changing model likelihoods over the admissible control input space, are constructed using preexisting experimental data and used to produce a model-based open-loop control framework. In effect, the proposed method designs a sequence of control inputs that force the signaling dynamics along a predefined temporal response without measurement feedback while mitigating the effects of model uncertainty. We demonstrate this technique on the well-known Erk/MAPK signaling pathway in T cells. In silico assessment demonstrates that this approach successfully reduces target tracking error by 52% or better when compared with single model-based controllers and non-adaptive multiple model-based controllers. In vitro implementation of the proposed approach in Jurkat cells confirms a 63% reduction in tracking error when compared with the best of the single-model controllers. This study provides an experimentally

  9. Multiple model-informed open-loop control of uncertain intracellular signaling dynamics.

    PubMed

    Perley, Jeffrey P; Mikolajczak, Judith; Harrison, Marietta L; Buzzard, Gregery T; Rundell, Ann E

    2014-04-01

    Computational approaches to tune the activation of intracellular signal transduction pathways both predictably and selectively will enable researchers to explore and interrogate cell biology with unprecedented precision. Techniques to control complex nonlinear systems typically involve the application of control theory to a descriptive mathematical model. For cellular processes, however, measurement assays tend to be too time consuming for real-time feedback control and models offer rough approximations of the biological reality, thus limiting their utility when considered in isolation. We overcome these problems by combining nonlinear model predictive control with a novel adaptive weighting algorithm that blends predictions from multiple models to derive a compromise open-loop control sequence. The proposed strategy uses weight maps to inform the controller of the tendency for models to differ in their ability to accurately reproduce the system dynamics under different experimental perturbations (i.e. control inputs). These maps, which characterize the changing model likelihoods over the admissible control input space, are constructed using preexisting experimental data and used to produce a model-based open-loop control framework. In effect, the proposed method designs a sequence of control inputs that force the signaling dynamics along a predefined temporal response without measurement feedback while mitigating the effects of model uncertainty. We demonstrate this technique on the well-known Erk/MAPK signaling pathway in T cells. In silico assessment demonstrates that this approach successfully reduces target tracking error by 52% or better when compared with single model-based controllers and non-adaptive multiple model-based controllers. In vitro implementation of the proposed approach in Jurkat cells confirms a 63% reduction in tracking error when compared with the best of the single-model controllers. This study provides an experimentally

  10. Learning tensegrity locomotion using open-loop control signals and coevolutionary algorithms.

    PubMed

    Iscen, Atil; Caluwaerts, Ken; Bruce, Jonathan; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

    2015-01-01

    Soft robots offer many advantages over traditional rigid robots. However, soft robots can be difficult to control with standard control methods. Fortunately, evolutionary algorithms can offer an elegant solution to this problem. Instead of creating controls to handle the intricate dynamics of these robots, we can simply evolve the controls using a simulation to provide an evaluation function. In this article, we show how such a control paradigm can be applied to an emerging field within soft robotics: robots based on tensegrity structures. We take the model of the Spherical Underactuated Planetary Exploration Robot ball (SUPERball), an icosahedron tensegrity robot under production at NASA Ames Research Center, develop a rolling locomotion algorithm, and study the learned behavior using an accurate model of the SUPERball simulated in the NASA Tensegrity Robotics Toolkit. We first present the historical-average fitness-shaping algorithm for coevolutionary algorithms to speed up learning while favoring robustness over optimality. Second, we use a distributed control approach by coevolving open-loop control signals for each controller. Being simple and distributed, open-loop controllers can be readily implemented on SUPERball hardware without the need for sensor information or precise coordination. We analyze signals of different complexities and frequencies. Among the learned policies, we take one of the best and use it to analyze different aspects of the rolling gait, such as lengths, tensions, and energy consumption. We also discuss the correlation between the signals controlling different parts of the tensegrity robot. PMID:25951199

  11. On Sequence Learning Models: Open-loop Control Not Strictly Guided by Hick's Law.

    PubMed

    Pavão, Rodrigo; Savietto, Joice P; Sato, João R; Xavier, Gilberto F; Helene, André F

    2016-01-01

    According to the Hick's law, reaction times increase linearly with the uncertainty of target stimuli. We tested the generality of this law by measuring reaction times in a human sequence learning protocol involving serial target locations which differed in transition probability and global entropy. Our results showed that sigmoid functions better describe the relationship between reaction times and uncertainty when compared to linear functions. Sequence predictability was estimated by distinct statistical predictors: conditional probability, conditional entropy, joint probability and joint entropy measures. Conditional predictors relate to closed-loop control models describing that performance is guided by on-line access to past sequence structure to predict next location. Differently, joint predictors relate to open-loop control models assuming global access of sequence structure, requiring no constant monitoring. We tested which of these predictors better describe performance on the sequence learning protocol. Results suggest that joint predictors are more accurate than conditional predictors to track performance. In conclusion, sequence learning is better described as an open-loop process which is not precisely predicted by Hick's law. PMID:26975409

  12. On Sequence Learning Models: Open-loop Control Not Strictly Guided by Hick’s Law

    PubMed Central

    Pavão, Rodrigo; Savietto, Joice P.; Sato, João R.; Xavier, Gilberto F.; Helene, André F.

    2016-01-01

    According to the Hick’s law, reaction times increase linearly with the uncertainty of target stimuli. We tested the generality of this law by measuring reaction times in a human sequence learning protocol involving serial target locations which differed in transition probability and global entropy. Our results showed that sigmoid functions better describe the relationship between reaction times and uncertainty when compared to linear functions. Sequence predictability was estimated by distinct statistical predictors: conditional probability, conditional entropy, joint probability and joint entropy measures. Conditional predictors relate to closed-loop control models describing that performance is guided by on-line access to past sequence structure to predict next location. Differently, joint predictors relate to open-loop control models assuming global access of sequence structure, requiring no constant monitoring. We tested which of these predictors better describe performance on the sequence learning protocol. Results suggest that joint predictors are more accurate than conditional predictors to track performance. In conclusion, sequence learning is better described as an open-loop process which is not precisely predicted by Hick’s law. PMID:26975409

  13. Influences of Frailty Syndrome on Open-loop and Closed-loop Postural Control Strategy

    PubMed Central

    Toosizadeh, Nima; Mohler, Jane; Wendel, Chris; Najafi, Bijan

    2014-01-01

    Background As the population of older adults quickly increases, the incidence of frailty syndrome, a reduction in physiological reserve across multiple physiological systems, likewise increases. To date, impaired balance has been associated with frailty; however, the underlying frailty-related postural balance mechanisms remain unclear. Objective The aim of the current study was to use open-loop (postural muscles) and closed-loop (postural muscles plus sensory feedback) (OLCL) mechanisms to explore differences in postural balance mechanisms between non-frail (n = 44), pre-frail (n = 59), and frail individuals (n = 19). Methods One-hundred and twenty-two older adults (age ≥ 65 years) without major mobility disorders were recruited, and frailty was measured using Fried's criteria. Each participant performed two 15-second trials of Romberg balance assessment, once with eyes-open, and once with eyes-closed. Body-worn sensors were used to estimate center-of-gravity (COG) plots. Body sway (traditional stabilogram analysis) and OLCL (stabilogram diffusion analysis) parameters were derived using COG plots and compared between groups using ANOVA. Frailty and pre-frailty were estimated using a multiple variable logistic regression while controlling for age, BMI, body sway, and OLCL parameters. Results Between-group differences in parameters of interest were more pronounced during eyes-closed condition. During eyes-closed, open-loop duration was approximately 33% and 22% shorter in frail and pre-frail, when compared to non-frail controls (mean = 1.9±1.1 sec, p = 0.01). The average rate of sway during open-loop was 164% and 66% higher, respectively in frail and pre-frail when compared to non-frail subjects (0.03±0.02 cm2/sec, p < 0.001). Results also suggest that OLCL parameters can predict frail and pre-frail categories when compared to non-frail controls. Using this method, frailty was identified with a sensitivity and specificity of 97% and 85% (as compared to non

  14. Open-Loop HIRF Experiments Performed on a Fault Tolerant Flight Control Computer

    NASA Technical Reports Server (NTRS)

    Koppen, Daniel M.

    1997-01-01

    During the third quarter of 1996, the Closed-Loop Systems Laboratory was established at the NASA Langley Research Center (LaRC) to study the effects of High Intensity Radiated Fields on complex avionic systems and control system components. This new facility provided a link and expanded upon the existing capabilities of the High Intensity Radiated Fields Laboratory at LaRC that were constructed and certified during 1995-96. The scope of the Closed-Loop Systems Laboratory is to place highly integrated avionics instrumentation into a high intensity radiated field environment, interface the avionics to a real-time flight simulation that incorporates aircraft dynamics, engines, sensors, actuators and atmospheric turbulence, and collect, analyze, and model aircraft performance. This paper describes the layout and functionality of the Closed-Loop Systems Laboratory, and the open-loop calibration experiments that led up to the commencement of closed-loop real-time flight experiments.

  15. Open-loop control of SCExAO's MEMS deformable mirror using the Fast Iterative Algorithm: speckle control performances

    NASA Astrophysics Data System (ADS)

    Blain, Célia; Guyon, Olivier; Martinache, Frantz; Bradley, Colin; Clergeon, Christophe

    2012-07-01

    Micro-Electro-Mechanical Systems (MEMS) deformable mirrors (DMs) are widely utilized in astronomical Adaptive Optics (AO) instrumentation. High precision open-loop control of MEMS DMs has been achieved by developing a high accuracy DM model, the Fast Iterative Algorithm (FIA), a physics-based model allowing precise control of the DM shape. Accurate open-loop control is particularly critical for the wavefront control of High- Contrast Imaging (HCI) instruments to create a dark hole area free of most slow and quasi-static speckles which remain the limiting factor for direct detection and imaging of exoplanets. The Subaru Coronagraphic Extreme Adaptive Optics (SCExAO) system is one of these high contrast imaging instruments and uses a 1024-actuator MEMS deformable mirror (DM) both in closed-loop and open-loop. The DM is used to modulate speckles in order to distinguish (i) speckles due to static and slow-varying residual aberrations from (ii) speckles due to genuine structures, such as exoplanets. The FIA has been fully integrated into the SCExAO wavefront control software and we report the FIA’s performance for the control of speckles in the focal plane.

  16. A general transfer-function approach to noise filtering in open-loop quantum control

    NASA Astrophysics Data System (ADS)

    Viola, Lorenza

    2015-03-01

    Hamiltonian engineering via unitary open-loop quantum control provides a versatile and experimentally validated framework for manipulating a broad class of non-Markovian open quantum systems of interest, with applications ranging from dynamical decoupling and dynamically corrected quantum gates, to noise spectroscopy and quantum simulation. In this context, transfer-function techniques directly motivated by control engineering have proved invaluable for obtaining a transparent picture of the controlled dynamics in the frequency domain and for quantitatively analyzing performance. In this talk, I will show how to identify a computationally tractable set of ``fundamental filter functions,'' out of which arbitrary filter functions may be assembled up to arbitrary high order in principle. Besides avoiding the infinite recursive hierarchy of filter functions that arises in general control scenarios, this fundamental set suffices to characterize the error suppression capabilities of the control protocol in both the time and frequency domain. I will show, in particular, how the resulting notion of ``filtering order'' reveals conceptually distinct, albeit complementary, features of the controlled dynamics as compared to the ``cancellation order,'' traditionally defined in the Magnus sense. Implications for current quantum control experiments will be discussed. Work supported by the U.S. Army Research Office under Contract No. W911NF-14-1-0682.

  17. Experimental evaluation of open-loop UpLink Power Control using ACTS

    NASA Technical Reports Server (NTRS)

    Dissanayake, Asoka

    1995-01-01

    The present investigation deals with the implementation of open-loop up-link power control using a beacon signal in the down-link frequency band as the control parameter. A power control system was developed and tested using the ACTS satellite. ACTS carries beacon signals in both up- and down-link bands with which the relationship between the up- and down-link fading can be established. A power controlled carrier was transmitted to the ACTS satellite from a NASA operated ground station and the transponded signal was received at COMSAT Laboratories using a terminal that was routinely used to monitor the two ACTS beacon signals. The experiment ran for a period of approximately six months and the collected data were used to evaluate the performance of the power control system. A brief review of propagation factors involved in estimating the up-link fade using a beacon signal in the down-link band are presented. The power controller design and the experiment configuration are discussed. Results of the experiment are discussed.

  18. Turbidity management during flushing-flows: A model for open-loop control

    NASA Astrophysics Data System (ADS)

    Fovet, Ophelie; Litrico, Xavier; Belaud, Gilles

    2012-04-01

    Fixed algae developments induce strong constraints for the management of open-channel networks. They cause clogging issues on hydraulic devices and can sometimes lead to water quality alteration. An original strategy to limit the algal biomass is to carry out regular flushes. A flush is performed by increasing the hydraulic shear conditions using the hydraulic structures of the canal. Consequently to the shear stress increase, a part of the fixed algae is detached, then re-suspended into the water column, and finally transported into the canal network. This leads to a peak of turbidity that needs to be controlled. The present paper proposes a quasi-linear model of the turbidity response to a discharge increase, that can be used for automatic controller design. The model parameters are identified on a real network. The calibration is based on continuous monitoring of water turbidity. Flushes are simulated on the whole branch and on an intermediate reach in order to test the ability of the model to simulate the propagation of a turbidity peak. Then, the model is used to develop an open-loop controller of turbidity for flush design. The efficiency of a flush will depend on its amplitude and duration. The design objective consists in maximizing the algae detachment without exceeding a maximal turbidity level, and using as little water as possible. The designed flush is finally tested on a nonlinear model.

  19. Open-loop control of liquid-crystal spatial light modulators for vertical atmospheric turbulence wavefront correction.

    PubMed

    Liu, Chao; Hu, Lifa; Mu, Quanquan; Cao, Zhaoliang; Xuan, Li

    2011-01-01

    We present an open-loop adaptive optics (AO) system based on two liquid-crystal spatial light modulators (LCSLMs) that profit from high precision wavefront generation and good repeatability. A wide optical bandwidth of 300 nm is designed for the system, and a new open-loop optical layout is invented to conveniently switch between the open and closed loop. The corresponding control algorithm is introduced with a loop frequency (the reciprocal of the total time delay of a correction loop) of 103 Hz. The system was mounted onto a 2.16 m telescope for vertical atmospheric turbulence correction. The full width at half-maximum of the image of the star α Boo reached 0.636 arc sec after the open-loop correction, while it was 2.12 arc sec before the correction. The result indicates that the open-loop AO system based on LCSLMs potentially has the ability to be used for general astronomical applications. PMID:21221164

  20. Open-loop control of noise amplification in a separated boundary layer flow

    SciTech Connect

    Boujo, E. Gallaire, F.; Ehrenstein, U.

    2013-12-15

    Linear optimal gains are computed for the subcritical two-dimensional separated boundary-layer flow past a bump. Very large optimal gain values are found, making it possible for small-amplitude noise to be strongly amplified and to destabilize the flow. The optimal forcing is located close to the summit of the bump, while the optimal response is the largest in the shear layer. The largest amplification occurs at frequencies corresponding to eigenvalues which first become unstable at higher Reynolds number. Nonlinear direct numerical simulations show that a low level of noise is indeed sufficient to trigger random flow unsteadiness, characterized here by large-scale vortex shedding. Next, a variational technique is used to compute efficiently the sensitivity of optimal gains to steady control (through source of momentum in the flow, or blowing/suction at the wall). A systematic analysis at several frequencies identifies the bump summit as the most sensitive region for control with wall actuation. Based on these results, a simple open-loop control strategy is designed, with steady wall suction at the bump summit. Linear calculations on controlled base flows confirm that optimal gains can be drastically reduced at all frequencies. Nonlinear direct numerical simulations also show that this control allows the flow to withstand a higher level of stochastic noise without becoming nonlinearly unstable, thereby postponing bypass transition. In the supercritical regime, sensitivity analysis of eigenvalues supports the choice of this control design. Full restabilization of the flow is obtained, as evidenced by direct numerical simulations and linear stability analysis.

  1. Open-loop control of noise amplification in a separated boundary layer flow

    NASA Astrophysics Data System (ADS)

    Boujo, E.; Ehrenstein, U.; Gallaire, F.

    2013-12-01

    Linear optimal gains are computed for the subcritical two-dimensional separated boundary-layer flow past a bump. Very large optimal gain values are found, making it possible for small-amplitude noise to be strongly amplified and to destabilize the flow. The optimal forcing is located close to the summit of the bump, while the optimal response is the largest in the shear layer. The largest amplification occurs at frequencies corresponding to eigenvalues which first become unstable at higher Reynolds number. Nonlinear direct numerical simulations show that a low level of noise is indeed sufficient to trigger random flow unsteadiness, characterized here by large-scale vortex shedding. Next, a variational technique is used to compute efficiently the sensitivity of optimal gains to steady control (through source of momentum in the flow, or blowing/suction at the wall). A systematic analysis at several frequencies identifies the bump summit as the most sensitive region for control with wall actuation. Based on these results, a simple open-loop control strategy is designed, with steady wall suction at the bump summit. Linear calculations on controlled base flows confirm that optimal gains can be drastically reduced at all frequencies. Nonlinear direct numerical simulations also show that this control allows the flow to withstand a higher level of stochastic noise without becoming nonlinearly unstable, thereby postponing bypass transition. In the supercritical regime, sensitivity analysis of eigenvalues supports the choice of this control design. Full restabilization of the flow is obtained, as evidenced by direct numerical simulations and linear stability analysis.

  2. On the periodic coordination of linear stochastic systems. [open-loop and closed-loop feedback optimal control

    NASA Technical Reports Server (NTRS)

    Chong, C.-Y.; Athans, M.

    1975-01-01

    The decentralized stochastic control of a linear dynamic system consisting of several subsystems is considered. A two-level approach is used by the introduction of a coordinator who collects measurements from the local controllers periodically and in return transmits coordinating parameters. Two types of coordination are considered: open-loop feedback and closed loop. The resulting control laws are found to be intuitively attractive.

  3. Analysis of open loop higher harmonic control at high airspeeds on a modern four-bladed articulated rotor

    NASA Technical Reports Server (NTRS)

    Kottapalli, Sesi; Leyland, Jane

    1991-01-01

    The effects of open loop higher harmonic control (HHC) on rotor hub loads, performance, and push rod loads of a Sikorsky S-76 helicopter rotor at high airspeeds (up to 200 knots) and moderate lift (10,000 lbs) were studied analytically. The analysis was performed as part of a wind tunnel pre-test prediction and preparation procedure, as well as to provide analytical results for post-test correlation efforts. The test associated with this study is to be concluded in the 40- by 80-Foot Wind Tunnel of the National Full-Scale Aerodynamics Complex (NFAC) at the NASA Ames Research Center. The results from this analytical study show that benefits from HHC can be achieved at high airspeeds. These results clear the way for conducting (with the requirement of safe pushrod loads) an open loop HHC test a high airspeeds in the 40- by 80-Foot Wind Tunnel using an S-76 rotor as the test article.

  4. Open-loop (feed-forward) and feedback control of coronary blood flow during exercise, cardiac pacing, and pressure changes.

    PubMed

    Pradhan, Ranjan K; Feigl, Eric O; Gorman, Mark W; Brengelmann, George L; Beard, Daniel A

    2016-06-01

    A control system model was developed to analyze data on in vivo coronary blood flow regulation and to probe how different mechanisms work together to control coronary flow from rest to exercise, and under a variety of experimental conditions, including cardiac pacing and with changes in coronary arterial pressure (autoregulation). In the model coronary flow is determined by the combined action of a feedback pathway signal that is determined by the level of plasma ATP in coronary venous blood, an adrenergic open-loop (feed-forward) signal that increases with exercise, and a contribution of pressure-mediated myogenic control. The model was identified based on data from exercise experiments where myocardial oxygen extraction, coronary flow, cardiac interstitial norepinephrine concentration, and arterial and coronary venous plasma ATP concentrations were measured during control and during adrenergic and purinergic receptor blockade conditions. The identified model was used to quantify the relative contributions of open-loop and feedback pathways and to illustrate the degree of redundancy in the control of coronary flow. The results indicate that the adrenergic open-loop control component is responsible for most of the increase in coronary blood flow that occurs during high levels of exercise. However, the adenine nucleotide-mediated metabolic feedback control component is essential. The model was evaluated by predicting coronary flow in cardiac pacing and autoregulation experiments with reasonable fits to the data. The analysis shows that a model in which coronary venous plasma adenine nucleotides are a signal in local metabolic feedback control of coronary flow is consistent with the available data. PMID:27037372

  5. The effects of spaceflight on open-loop and closed-loop postural control mechanisms: human neurovestibular studies on SLS-2

    NASA Technical Reports Server (NTRS)

    Collins, J. J.; De Luca, C. J.; Pavlik, A. E.; Roy, S. H.; Emley, M. S.; Young, L. R. (Principal Investigator)

    1995-01-01

    Stabilogram-diffusion analysis was used to examine how prolonged periods in microgravity affect the open-loop and closed-loop postural control mechanisms. It was hypothesized that following spaceflight: (1) the effective stochastic activity of the open-loop postural control schemes in astronauts is increased; (2) the effective stochastic activity and uncorrelated behavior, respectively, of the closed-loop postural control mechanisms in astronauts are increased; and (3) astronauts utilized open-loop postural controls schemes for shorter time intervals and smaller displacements. Four crew members and two alternates from the 14-day Spacelab Life Sciences 2 Mission were included in the study. Each subject was tested under eyes-open, quiet-standing conditions on multiple preflight and postflight days. The subjects' center-of-pressure trajectories were measured with a force platform and analyzed according to stabilogram-diffusion analysis. It was found that the effective stochastic activity of the open-loop postural control schemes in three of the four crew members was increased following spaceflight. This result is interpreted as an indication that there may be in-flight adaptations to higher-level descending postural control pathways, e.g., a postflight increase in the tonic activation of postural muscles. This change may also be the consequence of a compensatory (e.g., "stiffening") postural control strategy that is adopted by astronauts to account for general feeling of postflight unsteadiness. The crew members, as a group, did not exhibit any consistent preflight/postflight differences in the steady-state behavior of their closed-loop postural control mechanisms or in the functional interaction of their open-loop and closed-loop postural control mechanisms. These results are interpreted as indications that although there may be in-flight adaptations to the vestibular system and/or proprioceptive system, input from the visual system can compensate for such changes

  6. Open loop pneumatic control of a Lysholm engine or turbine exhaust pressure

    SciTech Connect

    Plonski, B.A.

    1981-07-17

    A Lysholm engine, or helical screw expander, is currently being evaluated at the University of California, Berkeley for staging with a conventional turbine in geothermal energy conversion. A pneumatic closed loop, proportional-integral control system was implemented to control the Lysholm engine's exhaust pressure for performance testing of the engine at constant inlet/outlet pressure ratios. The control system will also be used to control the exhaust pressure of the conventional turbine during future testing of the staged Lysholm-turbine system. Analytical modeling of the control system was performed and successful tuning was achieved by applying Ziegler-Nichol's tuning method. Stable control and quick response, of approximately 1 minute, was demonstrated for load and set point changes in desired exhaust pressures.

  7. Coupled rotor-flexible fuselage vibration reduction using open loop higher harmonic control

    NASA Technical Reports Server (NTRS)

    Papavassiliou, I.; Friedmann, P. P.; Venkatesan, C.

    1991-01-01

    A fundamental study of vibration prediction and vibration reduction in helicopters using active controls was performed. The nonlinear equations of motion for a coupled rotor/flexible fuselage system have been derived using computer algebra on a special purpose symbolic computer facility. The trim state and vibratory response of the helicopter are obtained in a single pass by applying the harmonic balance technique and simultaneously satisfying the trim and the vibratory response of the helicopter for all rotor and fuselage degrees of freedom. The influence of the fuselage flexibility on the vibratory response is studied. It is shown that the conventional single frequency higher harmonic control is capable of reducing either the hub loads or only the fuselage vibrations but not both simultaneously. It is demonstrated that for simultaneous reduction of hub shears and fuselae vibrations a new scheme called multiple higher harmonic control is required.

  8. Open-loop and closed-loop control of dissociative ionization of ethanol in intense laser fields

    SciTech Connect

    Yazawa, Hiroki; Tanabe, Takasumi; Okamoto, Tatsuyoshi; Yamanaka, Mio; Kannari, Fumihiko; Itakura, Ryuji; Yamanouchi, Kaoru

    2006-05-28

    The relative yield of the C-O bond breaking with respect to the C-C bond breaking in ethanol cation C{sub 2}H{sub 5}OH{sup +} is maximized in intense laser fields (10{sup 13}-10{sup 15} W/cm{sup 2}) by open-loop and closed-loop optimization procedures. In the open-loop optimization, a train of intense laser pulses are synthesized so that the temporal separation between the first and last pulses becomes 800 fs, and the number and width of the pulses within a train are systematically varied. When the duration of 800 fs is filled with laser fields by increasing the number of pulses or by stretching all pulses in a triple pulse train, the relative yield of the C-O bond breaking becomes significantly large. In the closed-loop optimization using a self-learning algorithm, the four dispersion coefficients or the phases of 128 frequency components of an intense laser pulse are adopted as optimized parameters. From these optimization experiments it is revealed that the yield ratio of the C-O bond breaking is maximized as far as the total duration of the intense laser field reaches as long as {approx}1 ps and that the intermittent disappearance of the laser field within a pulse does not affect the relative yields of the bond breaking pathways.

  9. Closed-Loop Control Better than Open-Loop Control of Profofol TCI Guided by BIS: A Randomized, Controlled, Multicenter Clinical Trial to Evaluate the CONCERT-CL Closed-Loop System

    PubMed Central

    Zhang, Xuena; Wu, Anshi; Yao, Shanglong; Xue, Zhanggang; Yue, Yun

    2015-01-01

    Background The CONCERT-CL closed-loop infusion system designed by VERYARK Technology Co., Ltd. (Guangxi, China) is an innovation using TCI combined with closed-loop controlled intravenous anesthesia under the guide of BIS. In this study we performed a randomized, controlled, multicenter study to compare closed-loop control and open-loop control of propofol by using the CONCERT-CL closed-loop infusion system. Methods 180 surgical patients from three medical centers undergone TCI intravenous anesthesia with propofol and remifentanil were randomly assigned to propofol closed-loop group and propofol opened-loop groups. Primary outcome was global score (GS, GS = (MDAPE+Wobble)/% of time of bispectral index (BIS) 40-60). Secondary outcomes were doses of the anesthetics and emergence time from anesthesia, such as, time to tracheal extubation. Results There were 89 and 86 patients in the closed-loop and opened-loop groups, respectively. GS in the closed-loop groups (22.21±8.50) were lower than that in the opened-loop group (27.19±15.26) (p=0.009). The higher proportion of time of BIS between 40 and 60 was also observed in the closed-loop group (84.11±9.50%), while that was 79.92±13.17% in the opened-loop group, (p=0.016). No significant differences in propofol dose and time of tracheal extubation were observed. The frequency of propofol regulation in the closed-loop group (31.55±9.46 times/hr) was obverse higher than that in the opened-loop group (6.84±6.21 times/hr) (p=0.000). Conclusion The CONCERT-CL closed-loop infusion system can automatically regulate the TCI of propofol, maintain the BIS value in an adequate range and reduce the workload of anesthesiologists better than open-loop system. Trial Registration ChiCTR ChiCTR-OOR-14005551 PMID:25886041

  10. Neuro-inspired spike-based motion: from dynamic vision sensor to robot motor open-loop control through spike-VITE.

    PubMed

    Perez-Peña, Fernando; Morgado-Estevez, Arturo; Linares-Barranco, Alejandro; Jimenez-Fernandez, Angel; Gomez-Rodriguez, Francisco; Jimenez-Moreno, Gabriel; Lopez-Coronado, Juan

    2013-01-01

    In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation. PMID:24264330

  11. Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE

    PubMed Central

    Perez-Peña, Fernando; Morgado-Estevez, Arturo; Linares-Barranco, Alejandro; Jimenez-Fernandez, Angel; Gomez-Rodriguez, Francisco; Jimenez-Moreno, Gabriel; Lopez-Coronado, Juan

    2013-01-01

    In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation. PMID:24264330

  12. Open-loop, closed-loop and compensatory control: performance improvement under pressure in a rhythmic task

    PubMed Central

    Wei, Kunlin; Sternad, Dagmar

    2012-01-01

    According to explicit monitoring theories, the phenomenon of choking under pressure is due to actors focusing their attention on the execution of the skill. This step-by-step perceptually guided control may then interfere with automatic execution. In order to examine the changes in control at the sensorimotor level, we examined the rhythmic task of ball bouncing which affords detailed quantification of indicators of control based on previous research. The hypothesis was that under psychological pressure perceptually guided control should lead to decreased performance due to over-emphasis on closed-loop control and decreased compensatory control. In two experiments of different difficulty psychological stress was induced via setting up a fake competition. Results showed that, contrary to the hypothesis, performance accuracy and consistency improved together with an increase in compensatory control. Indicators for open- and closed-loop processes did not change. Only under more challenging conditions in Experiment 2, enhanced performance under pressure was accompanied by more active, closed-loop and less passive control. The results are discussed in light of task demands and the continuous rhythmic nature of the task: in more challenging tasks, control appears to be more prone to disturbance due to psychological stress. The different control demands in continuous rhythmic tasks may be less prone to interference due to psychological stress than in discrete tasks. PMID:19943039

  13. Open Loop Simulation

    NASA Technical Reports Server (NTRS)

    Thomas, Tamera L.

    1995-01-01

    My project is designing a flight control program utilizing 'C' language. It consists of paths made up of fixed radius arcs and straight lines. Arcs will be defined by a center, a radius and turn angle. Straight lines will be defined by an end way point and an inbound course. Way points will be pre-defined such that the location of the end of each leg accurately matches the beginning of the next leg. The simulation paths will closely match paths normally flown by the Transport System Research Vehicle (TSRV), but will necessarily be defined identically in terms of type and number of way points.

  14. Computation of eigenvalue sensitivity to base flow modifications in a discrete framework: Application to open-loop control

    NASA Astrophysics Data System (ADS)

    Mettot, Clément; Renac, Florent; Sipp, Denis

    2014-07-01

    A fully discrete formalism is introduced to perform stability analysis of a turbulent compressible flow whose dynamics is modeled with the Reynolds-Averaged Navier-Stokes (RANS) equations. The discrete equations are linearized using finite differences and the Jacobian is computed using repeated evaluation of the residuals. Stability of the flow is assessed solving an eigenvalue problem. The sensitivity gradients which indicate regions of the flow where a passive control device could stabilize the unstable eigenvalues are defined within this fully discrete framework. The second order finite differences are applied to the discrete residual to compute the gradients. In particular, the sensitivity gradients are shown to be linked to the Hessian of the RANS equations. The introduced formalism and linearization method are generic: the code used to evaluate the residual of the RANS equations can be used in a black box manner, and the complex linearization of the Hessian is avoided. The method is tested on a two dimensional deep cavity case, the flow is turbulent with a Reynolds number equal to 860 000 and compressible with a Mach number of 0.8. Several turbulence models and numerical schemes are used to validate the method. Physical features of the flow are recovered, such as the fundamental frequency of the natural flow as well as acoustic mechanisms, suggesting the validity of the method. The sensitivity gradients are then computed and validated, the error in predicting the eigenvalue variation being found less than 3%. Control maps using a small steady control device are finally obtained, indicating that the control area should be chosen in the vicinity of the leading edge of the cavity.

  15. Determination of all feasible robust PID controllers for open-loop unstable plus time delay processes with gain margin and phase margin specifications.

    PubMed

    Wang, Yuan-Jay

    2014-03-01

    This paper proposes a novel alternative method to graphically compute all feasible gain and phase margin specifications-oriented robust PID controllers for open-loop unstable plus time delay (OLUPTD) processes. This method is applicable to general OLUPTD processes without constraint on system order. To retain robustness for OLUPTD processes subject to positive or negative gain variations, the downward gain margin (GM(down)), upward gain margin (GM(up)), and phase margin (PM) are considered. A virtual gain-phase margin tester compensator is incorporated to guarantee the concerned system satisfies certain robust safety margins. In addition, the stability equation method and the parameter plane method are exploited to portray the stability boundary and the constant gain margin (GM) boundary as well as the constant PM boundary. The overlapping region of these boundaries is graphically determined and denotes the GM and PM specifications-oriented region (GPMSOR). Alternatively, the GPMSOR characterizes all feasible robust PID controllers which achieve the pre-specified safety margins. In particular, to achieve optimal gain tuning, the controller gains are searched within the GPMSOR to minimize the integral of the absolute error (IAE) or the integral of the squared error (ISE) performance criterion. Thus, an optimal PID controller gain set is successfully found within the GPMSOR and guarantees the OLUPTD processes with a pre-specified GM and PM as well as a minimum IAE or ISE. Consequently, both robustness and performance can be simultaneously assured. Further, the design procedures are summarized as an algorithm to help rapidly locate the GPMSOR and search an optimal PID gain set. Finally, three highly cited examples are provided to illustrate the design process and to demonstrate the effectiveness of the proposed method. PMID:24462232

  16. User adaptation in long-term, open-loop myoelectric training: implications for EMG pattern recognition in prosthesis control

    NASA Astrophysics Data System (ADS)

    He, Jiayuan; Zhang, Dingguo; Jiang, Ning; Sheng, Xinjun; Farina, Dario; Zhu, Xiangyang

    2015-08-01

    Objective. Recent studies have reported that the classification performance of electromyographic (EMG) signals degrades over time without proper classification retraining. This problem is relevant for the applications of EMG pattern recognition in the control of active prostheses. Approach. In this study we investigated the changes in EMG classification performance over 11 consecutive days in eight able-bodied subjects and two amputees. Main results. It was observed that, when the classifier was trained on data from one day and tested on data from the following day, the classification error decreased exponentially but plateaued after four days for able-bodied subjects and six to nine days for amputees. The between-day performance became gradually closer to the corresponding within-day performance. Significance. These results indicate that the relative changes in EMG signal features over time become progressively smaller when the number of days during which the subjects perform the pre-defined motions are increased. The performance of the motor tasks is thus more consistent over time, resulting in more repeatable EMG patterns, even if the subjects do not have any external feedback on their performance. The learning curves for both able-bodied subjects and subjects with limb deficiencies could be modeled as an exponential function. These results provide important insights into the user adaptation characteristics during practical long-term myoelectric control applications, with implications for the design of an adaptive pattern recognition system.

  17. Open-loop heliostat reflector

    SciTech Connect

    Koide, G.T.

    1980-07-30

    A microcomputer controlled heliostat driven in an elevation/azimuth gimbal arrangement with simple shaft encoders can reflect a sunlight beam to within +-two inches vertically and +-one inch horizontally at a distance of seven feet from the target, which corresponds to an arc of +-1.5/sup 0/. To minimize the error in tracking, the reflector should be aligned as accurately as possible with the north-south axis, with a transit or solar noon.

  18. Human-like Running Can Be Open-Loop Stable

    NASA Astrophysics Data System (ADS)

    Mombaur, Katja

    This paper addresses the question if running motions of a human-like robot can be stable without feedback. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future, We investigate a two-dimensional simulation model of running with 9 bodies (trunk, thighs, shanks, feet, and arms) powered by torques at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine torque inputs and spring-damper parameters that lead to fully open-loop stable running motions.

  19. Open-loop dereverberation of multichannel room impulse responses

    NASA Astrophysics Data System (ADS)

    Lee, Bowon; Hasegawa-Johnson, Mark A.; Goudeseune, Camille

    2003-04-01

    We are developing the audio display for a CAVE-type virtual reality theater, a 3-m cube with displays covering all six rigid faces. The user's headgear continuously reports ear positions so headphones would be possible, but we nevertheless prefer loudspeakers because this enhances the sense of total immersion. Because sounds produced at the loudspeakers are distorted by the room impulse responses, we therefore face the problem of controlling the sound at the listener's two ears. Our proposed solution consists of open-loop acoustic point control, i.e., dereverberation. The room impulse responses from each loudspeaker to each ear of the listener are inverted using multichannel inversion methods, to create exactly the desired sound field at the listener's ears. Because the actual room impulse responses cannot be measured in real time (as the listener walks around), instead the impulse responses simulated by the image-source method is used. A new evaluation criterion is proposed to quantitatively evaluate both the simulation and the open-loop dereverberation. The actual impulse responses used for this evaluation are measured with a starter pistol, since this best approximates the point source assumed by the image-source method.

  20. Open-loop correction of horizontal turbulence: system design and result.

    PubMed

    Mu, Quanquan; Cao, Zhaoliang; Li, Dayu; Hu, Lifa; Xuan, Li

    2008-08-10

    Adaptive optics systems often work in a closed-loop configuration due to the hysteretic and nonlinearity properties of conventional deformable mirrors. Because of the high-precision wavefront generation and nonhysteretic properties of liquid-crystal devices, the open-loop control becomes possible. Open-loop control is a requirement for advanced adaptive optics concepts. We designed an open-loop adaptive optics system with a liquid-crystal-on-silicon wavefront corrector. This system is simple, fast, and can save much more light compared to conventional liquid-crystal-based closed-loop systems. The detailed principle, construction, and operation are discussed. The 500 m horizontal turbulence correction experiment was done using a 250 mm telescope in the laboratory. The whole system can reach a 60 Hz correction frequency. Evaluation of the correction precision was done at closed-loop configuration, which is 0.2 lambda (lambda=0.633 microm) in peak to valley. The dynamic image under open-loop correction got the same resolution compared to closed-loop correction. The whole system reached 0.68 arc sec resolution capability at open-loop correction, which is slightly larger than the system's diffraction-limited resolution of 0.65 arc sec. PMID:18690274

  1. Open-loop heat-recovery dryer

    SciTech Connect

    TeGrotenhuis, Ward Evan

    2013-11-05

    A drying apparatus is disclosed that includes a drum and an open-loop airflow pathway originating at an ambient air inlet, passing through the drum, and terminating at an exhaust outlet. A passive heat exchanger is included for passively transferring heat from air flowing from the drum toward the exhaust outlet to air flowing from the ambient air inlet toward the drum. A heat pump is also included for actively transferring heat from air flowing from the passive heat exchanger toward the exhaust outlet to air flowing from the passive heat exchanger toward the drum. A heating element is also included for further heating air flowing from the heat pump toward the drum.

  2. Open loop model for WDM links

    NASA Astrophysics Data System (ADS)

    D, Meena; Francis, Fredy; T, Sarath K.; E, Dipin; Srinivas, T.; K, Jayasree V.

    2014-10-01

    Wavelength Division Multiplexing (WDM) techniques overfibrelinks helps to exploit the high bandwidth capacity of single mode fibres. A typical WDM link consisting of laser source, multiplexer/demultiplexer, amplifier and detectoris considered for obtaining the open loop gain model of the link. The methodology used here is to obtain individual component models using mathematical and different curve fitting techniques. These individual models are then combined to obtain the WDM link model. The objective is to deduce a single variable model for the WDM link in terms of input current to system. Thus it provides a black box solution for a link. The Root Mean Square Error (RMSE) associated with each of the approximated models is given for comparison. This will help the designer to select the suitable WDM link model during a complex link design.

  3. Alpha-canonical form representation of the open loop dynamics of the Space Shuttle main engine

    NASA Technical Reports Server (NTRS)

    Duyar, Almet; Eldem, Vasfi; Merrill, Walter C.; Guo, Ten-Huei

    1991-01-01

    A parameter and structure estimation technique for multivariable systems is used to obtain a state space representation of open loop dynamics of the space shuttle main engine in alpha-canonical form. The parameterization being used is both minimal and unique. The simplified linear model may be used for fault detection studies and control system design and development.

  4. Automatic one-loop calculations with Sherpa+OpenLoops

    NASA Astrophysics Data System (ADS)

    Cascioli, F.; Höche, S.; Krauss, F.; Maierhöfer, P.; Pozzorini, S.; Siegert, F.

    2014-06-01

    We report on the OpenLoops generator for one-loop matrix elements and its application to four-lepton production in association with up to one jet. The open loops algorithm uses a numerical recursion to construct the numerator of one-loop Feynman diagrams as functions of the loop momentum. In combination with tensor integrals this results in a highly efficient and numerically stable matrix element generator. In order to obtain a fully automated setup for the simulation of next-to-leading order scattering processes we interfaced OpenLoops to the Sherpa Monte Carlo event generator.

  5. Open-Loop Pitch Table Optimization for the Maximum Dynamic Pressure Orion Abort Flight Test

    NASA Technical Reports Server (NTRS)

    Stilwater, Ryan A.

    2009-01-01

    NASA has scheduled the retirement of the space shuttle orbiter fleet at the end of 2010. The Constellation program was created to develop the next generation of human spaceflight vehicles and launch vehicles, known as Orion and Ares respectively. The Orion vehicle is a return to the capsule configuration that was used in the Mercury, Gemini, and Apollo programs. This configuration allows for the inclusion of an abort system that safely removes the capsule from the booster in the event of a failure on launch. The Flight Test Office at NASA's Dryden Flight Research Center has been tasked with the flight testing of the abort system to ensure proper functionality and safety. The abort system will be tested in various scenarios to approximate the conditions encountered during an actual Orion launch. Every abort will have a closed-loop controller with an open-loop backup that will direct the vehicle during the abort. In order to provide the best fit for the desired total angle of attack profile with the open-loop pitch table, the table is tuned using simulated abort trajectories. A pitch table optimization program was created to tune the trajectories in an automated fashion. The program development was divided into three phases. Phase 1 used only the simulated nominal run to tune the open-loop pitch table. Phase 2 used the simulated nominal and three simulated off nominal runs to tune the open-loop pitch table. Phase 3 used the simulated nominal and sixteen simulated off nominal runs to tune the open-loop pitch table. The optimization program allowed for a quicker and more accurate fit to the desired profile as well as allowing for expanded resolution of the pitch table.

  6. Real-time open-loop frequency response analysis of flight test data

    NASA Technical Reports Server (NTRS)

    Bosworth, J. T.; West, J. C.

    1986-01-01

    A technique has been developed to compare the open-loop frequency response of a flight test aircraft real time with linear analysis predictions. The result is direct feedback to the flight control systems engineer on the validity of predictions and adds confidence for proceeding with envelope expansion. Further, gain and phase margins can be tracked for trends in a manner similar to the techniques used by structural dynamics engineers in tracking structural modal damping.

  7. Open loop liquid crystal adaptive optics systems: progresses and results

    NASA Astrophysics Data System (ADS)

    Cao, Zhao-liang; Mu, Quan-quan; Xu, Huan-yu; Zhang, Pei-guang; Yao, Li-shuang; Xuan, Li

    2015-10-01

    Liquid crystal wavefront corrector (LCWFC) is one of the most attractive wavefront correction devices for adaptive optics system. The main disadvantages for conventional nematic LCWFC are polarization dependence and narrow working waveband. In this paper, a polarized beam splitter (PBS) based open loop optical design and an optimized energy splitting method was used to overcome these problems respectively. The results indicate that the open loop configuration was suitable for LCWFC and the novel energy splitting method can significantly improve the detection capability of the liquid crystal adaptive optics system.

  8. Improved Speech Coding Based on Open-Loop Parameter Estimation

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Chen, Ya-Chin; Longman, Richard W.

    2000-01-01

    A nonlinear optimization algorithm for linear predictive speech coding was developed early that not only optimizes the linear model coefficients for the open loop predictor, but does the optimization including the effects of quantization of the transmitted residual. It also simultaneously optimizes the quantization levels used for each speech segment. In this paper, we present an improved method for initialization of this nonlinear algorithm, and demonstrate substantial improvements in performance. In addition, the new procedure produces monotonically improving speech quality with increasing numbers of bits used in the transmitted error residual. Examples of speech encoding and decoding are given for 8 speech segments and signal to noise levels as high as 47 dB are produced. As in typical linear predictive coding, the optimization is done on the open loop speech analysis model. Here we demonstrate that minimizing the error of the closed loop speech reconstruction, instead of the simpler open loop optimization, is likely to produce negligible improvement in speech quality. The examples suggest that the algorithm here is close to giving the best performance obtainable from a linear model, for the chosen order with the chosen number of bits for the codebook.

  9. Open-loop characteristics of magnetic suspension systems using electromagnets mounted in a planar array

    NASA Technical Reports Server (NTRS)

    Groom, Nelson J.; Britcher, Colin P.

    1992-01-01

    The open-loop characteristics of a Large-Gap Magnetic Suspension System (LGMSS) were studied and numerical results are presented. The LGMSS considered provides five-degree-of-freedom control. The suspended element is a cylinder that contains a core composed of permanent magnet material. The magnetic actuators are air core electromagnets mounted in a planar array. Configurations utilizing five, six, seven, and eight electromagnets were investigated and all configurations were found to be controllable from coil currents and observable from suspended element positions. Results indicate that increasing the number of coils has an insignificant effect on mode shapes and frequencies.

  10. Open-loop and closed-loop excitation of the wake behind a circular cylinder

    NASA Astrophysics Data System (ADS)

    Williams, David; Cohen, Kelly; Siegel, Stefan; McLaughlin, Tom

    2006-11-01

    Both open loop and closed loop control were used to modify the flow around a circular cylinder at Re = 20,000. Independent plasma actuators were installed on the sides of the cylinder at +/- 90^o from the forward stagnation line. The actuators could be excited in-phase or 180^o out of phase with one another. In the case of open-loop forcing, in-phase excitation at twice the von Karman vortex shedding frequency produced large changes in the wake structure, similar to the experiments done by Williams, Mansy & Amato (JFM, 1992.) Negligible changes in wake structure occurred when the out-of-phase actuation was used, although the lock-on phenomenon was observed, suggesting that the wake structure modification resulting from the interaction between the forcing field and near wake is independent of Reynolds number. Closed-loop excitation using a proportional-derivative controller was done using a hot-film probe positioned at x/D=1.5, y/D = 1.5. The amplitude of the wake oscillation was shown to be sensitive to both the gain and phase of the controller. The amplitude of oscillations at a fixed controller gain are enhanced or suppressed relative to the non-forced level, depending on the controller phase. The vortex shedding frequency is changed when the PD controller is in a region of suppression. The expert assistance of SSgt. Mary S. Church is gratefully acknowledged.

  11. Environmental impacts of open loop geothermal system on groundwater

    NASA Astrophysics Data System (ADS)

    Kwon, Koo-Sang; Park, Youngyun; Yun, Sang Woong; Lee, Jin-Yong

    2013-04-01

    Application of renewable energies such as sunlight, wind, rain, tides, waves and geothermal heat has gradually increased to reduce emission of CO2 which is supplied from combustion of fossil fuel. The geothermal energy of various renewable energies has benefit to be used to cooling and heating systems and has good energy efficiency compared with other renewable energies. However, open loop system of geothermal heat pump system has possibility that various environmental problems are induced because the system directly uses groundwater to exchange heat. This study was performed to collect data from many documents such as papers and reports and to summarize environmental impacts for application of open loop system. The environmental impacts are classified into change of hydrogeological factors such as water temperature, redox condition, EC, change of microbial species, well contamination and depletion of groundwater. The change of hydrogeological factors can induce new geological processes such as dissolution and precipitation of some minerals. For examples, increase of water temperature can change pH and Eh. These variations can change saturation index of some minerals. Therefore, dissolution and precipitation of some minerals such as quartz and carbonate species and compounds including Fe and Mn can induce a collapse and a clogging of well. The well contamination and depletion of groundwater can reduce available groundwater resources. These environmental impacts will be different in each region because hydrogeological properties and scale, operation period and kind of the system. Therefore, appropriate responses will be considered for each environmental impact. Also, sufficient study will be conducted to reduce the environmental impacts and to improve geothermal energy efficiency during the period that a open loop system is operated. This work was supported by the Energy Efficiency and Resources of the Korea Institute of Energy Technology Evaluation and Planning

  12. Open-loop Band excitation Kelvin Probe Force Microscopy

    SciTech Connect

    Guo, Senli; Kalinin, Sergei V; Jesse, Stephen

    2012-01-01

    A multidimensional scanning probe microscopy approach for quantitative, cross-talk free mapping of surface electrostatic properties is demonstrated. Open-loop band excitation Kelvin probe force microscopy (OL BE KPFM) probes the full response-frequency-potential surface at each pixel at standard imaging rates. The subsequent analysis reconstructs work function, tip surface capacitance gradient and resonant frequency maps, obviating feedback-related artifacts. OL BE KPFM imaging is demonstrated for several materials systems with topographic, potential and combined contrast. This approach combines the features of both frequency and amplitude KPFM and allows complete decoupling of topographic and voltage contributions to the KPFM signal.

  13. Comparing the performance of open loop centroiding techniques in the Raven MOAO system

    NASA Astrophysics Data System (ADS)

    Andersen, David R.; Bradley, Colin; Gamroth, Darryl; Kerley, Dan; Lardière, Olivier; Véran, Jean-Pierre

    2014-08-01

    Raven is a multi-object adaptive optics (MOAO) demonstrator that will be mounted on the NIR Nasmyth platform of the Subaru telescope in May, 2014. Raven can use three open-loop NGS WFSs and an on-axis LGS WFS to control DMs in two separate science pick-off arms. Centroiding in open loop AO systems like Raven is more difficult than in closed loop AO systems because the Shack-Hartmann spots will not be driven to the same spot on a detector. Rather the spots can fall on any combination of pixels because the WFSs need to have sufficient dynamic range to measure the full turbulence. In this paper, we compare correlation and thresholded center of gravity (tCOG) centroiding methods in simulation, with Raven using its calibration unit, and on-sky. Each method has its own advantages. Correlation centroiding is superior to tCOG centroiding for faint NGSs and for extended sources (Raven open loop WFSs do not contain ADCs so spots will become elongated). We expect that correlation centroiding will push the limiting magnitude of Raven NGSs fainter by roughly one magnitude. Correlation centroiding is computationally more intensive, however, and actually will limit Raven's sampling rate for shorter integrations. Therefore, for bright stars with sufficiently high signal-to-noise, Raven can be run significantly faster and with superior performance using the tCOG method. Here we quantify both the performance and timing differences of these two centroiding methods in simulation, in the lab and on sky using Raven.

  14. Optimization of the open-loop liquid crystal adaptive optics retinal imaging system

    NASA Astrophysics Data System (ADS)

    Kong, Ningning; Li, Chao; Xia, Mingliang; Li, Dayu; Qi, Yue; Xuan, Li

    2012-02-01

    An open-loop adaptive optics (AO) system for retinal imaging was constructed using a liquid crystal spatial light modulator (LC-SLM) as the wavefront compensator. Due to the dispersion of the LC-SLM, there was only one illumination source for both aberration detection and retinal imaging in this system. To increase the field of view (FOV) for retinal imaging, a modified mechanical shutter was integrated into the illumination channel to control the size of the illumination spot on the fundus. The AO loop was operated in a pulsing mode, and the fundus was illuminated twice by two laser impulses in a single AO correction loop. As a result, the FOV for retinal imaging was increased to 1.7-deg without compromising the aberration detection accuracy. The correction precision of the open-loop AO system was evaluated in a closed-loop configuration; the residual error is approximately 0.0909λ (root-mean-square, RMS), and the Strehl ratio ranges to 0.7217. Two subjects with differing rates of myopia (-3D and -5D) were tested. High-resolution images of capillaries and photoreceptors were obtained.

  15. Open loop, auto reversing liquid nitrogen circulation thermal system for thermo vacuum chamber

    NASA Astrophysics Data System (ADS)

    Naidu, M. C. A.; Nolakha, Dinesh; Saharkar, B. S.; Kavani, K. M.; Patel, D. R.

    2012-11-01

    In a thermo vacuum chamber, attaining and controlling low and high temperatures (-100 Deg. C to +120 Deg. C) is a very important task. This paper describes the development of "Open loop, auto reversing liquid nitrogen based thermal system". System specifications, features, open loop auto reversing system, liquid nitrogen flow paths etc. are discussed in this paper. This thermal system consists of solenoid operated cryogenic valves, double embossed thermal plate (shroud), heating elements, temperature sensors and PLC. Bulky items like blowers, heating chambers, liquid nitrogen injection chambers, huge pipe lines and valves were not used. This entire thermal system is very simple to operate and PLC based, fully auto system with auto tuned to given set temperatures. This system requires a very nominal amount of liquid nitrogen (approx. 80 liters / hour) while conducting thermo vacuum tests. This system was integrated to 1.2m dia thermo vacuum chamber, as a part of its augmentation, to conduct extreme temperature cycling tests on passive antenna reflectors of satellites.

  16. Study of the Open Loop and Closed Loop Oscillator Techniques

    SciTech Connect

    Imel, George R.; Baker, Benjamin; Riley, Tony; Langbehn, Adam; Aryal, Harishchandra; Benzerga, M. Lamine

    2015-04-11

    This report presents the progress and completion of a five-year study undertaken at Idaho State University of the measurement of very small worth reactivity samples comparing open and closed loop oscillator techniques.The study conclusively demonstrated the equivalency of the two techniques with regard to uncertainties in reactivity values, i.e., limited by reactor noise. As those results are thoroughly documented in recent publications, in this report we will concentrate on the support work that was necessary. For example, we describe in some detail the construction and calibration of a pilot rod for the closed loop system. We discuss the campaign to measure the required reactor parameters necessary for inverse-kinetics. Finally, we briefly discuss the transfer of the open loop technique to other reactor systems.

  17. Laser Safety Method For Duplex Open Loop Parallel Optical Link

    DOEpatents

    Baumgartner, Steven John; Hedin, Daniel Scott; Paschal, Matthew James

    2003-12-02

    A method and apparatus are provided to ensure that laser optical power does not exceed a "safe" level in an open loop parallel optical link in the event that a fiber optic ribbon cable is broken or otherwise severed. A duplex parallel optical link includes a transmitter and receiver pair and a fiber optic ribbon that includes a designated number of channels that cannot be split. The duplex transceiver includes a corresponding transmitter and receiver that are physically attached to each other and cannot be detached therefrom, so as to ensure safe, laser optical power in the event that the fiber optic ribbon cable is broken or severed. Safe optical power is ensured by redundant current and voltage safety checks.

  18. Importance of Hydrogeological Conditions on Open-loop Geothermal System

    NASA Astrophysics Data System (ADS)

    Park, D.; Bae, G.; Kim, S.; Lee, K.

    2013-12-01

    The open-loop geothermal system has been known as an eco-friendly, energy-saving, and cost-efficient alternative for the cooling and heating of buildings with directly using the relatively stable temperature of groundwater. Thus, hydrogeological properties of aquifer, such as hydraulic conductivity and storage, must be important in the system application. The study site is located near Han-river, Korea, and because of the well-developed alluvium it might be a typical site appropriate to this system requiring an amount of groundwater. In this study, the first objective of numerical experiments was to find the best distributions of pumping and injection wells suitable to the hydrogeological conditions of the site for the efficient and sustainable system operation. The aquifer has a gravel layer at 15m depth below the ground surface and the river and the agricultural field, which may be a potential contaminant source, are located at the west and east sides, respectively. Under the general conditions that the regional groundwater flows from the east to the river, the locally reversed well distribution, locating the pumping well at upgradient and the injection well at downgradient of the regional flow, was most sustainable. The gravel layer with high hydraulic conductivity caused a little drawdown despite of an amount of pumping and allowed to stably reinject the used groundwater in all the cases, but it provided a passage transferring the injected heat to the pumping well quickly, particularly in the cases locating the injection well at the upgradient. This thermal interference was more severe in the cases of the short distance between the wells. The high conductive layer is also a reason that the seasonal role conversion of wells for the aquifer thermal energy storage was ineffective in this site. Furthermore, the well distribution vertical to the regional groundwater flow was stable, but not best, and, thus, it may be a good choice in the conditions that the regional

  19. Revision for measuring radon exhalation rate in open loop

    NASA Astrophysics Data System (ADS)

    Tan, Y.; Xiao, D.; Yuan, H.; Tang, Q.; Liu, X.

    2013-01-01

    We propose a novel method for quickly measuring the radon exhalation rate in open loop. We first obtain the temporal variation of radon concentration in the internal cell of the RAD7 by analyzing the work principle of RAD7. We then obtain the temporal variation of radon concentration in the ventilation-type accumulation chamber when the effects of leakage and back diffusion are neglected. This method uses the measured value before the radon concentration in the ventilation-type accumulation chamber reaches a steady state. The diameter of the air input tube to the ventilation-type accumulation is large enough to keep the differential pressure in the accumulation chamber and outdoors negligible. Short cycle time and large flow rate will be appropriate for reducing measurement error. Several radon exhalation rate measurements of the medium surface have been performed in the Radon Laboratory of the University of South China. The radon exhalation rates obtained by verification experiments are in good agreement with the reference value. This method can be applied to develop and improve the instruments for measuring radon exhalation rate.

  20. Open-Loop Thrust Profile Development for Tethered Towing of Large Space Objects

    NASA Astrophysics Data System (ADS)

    Jasper, Lee E. Z.

    Towing objects in space has become an increasingly researched mission concept. Active debris removal, satellite servicing, and asteroid retrieval concepts in many cases rely on a thrusting vehicle to redirect and steer a passive object. Focus is often placed on the method of attachment, considering techniques such as grappling or netting the passive object. However, the actual process of towing, once capture has occurred, has not yet received much attention. This research considers the process of towing in space with the tug and passive object attached by a tether. Tethers are not only an effective way of transmitting forces, but they are utilized on many of the towing concepts considered, especially in orbital debris removal. Because the two end bodies are tethered, there is a potential for collision after any maneuver. To avoid collisions, the maneuver, and therefore thrust profile, must be designed in such a way as to limit separation distance reduction between the end bodies. Open-loop input shaping techniques are developed and employed in order to control the flexible system in both deep space and on-orbit environments. To study the behavior, an active debris removal system is proposed as a case study. This system, called the tethered-tug, considers using the reserve fuel from a recently launched upper stage rocket to rendezvous with, capture, and tow a near-by debris object. The system's performance is considered for five distinct open-loop thrust control profiles including on-off/step, frequency notched, discretized notch, Posicast, and bang-off-bang. Tether property variations are also considered along with off-axis towing, slack tethers, and debris with initial rotation rates. Input shaping is not only necessary but, it can be robust to unknown system properties while nearly zeroing relative motion between the end bodies. When considering on-orbit behavior specifically, the system settles into a tumbling or gravity gradient oscillation formation. This is

  1. Analysis of open-loop conical scan pointing error and variance estimators

    NASA Technical Reports Server (NTRS)

    Alvarez, L. S.

    1993-01-01

    General pointing error and variance estimators for an open-loop conical scan (conscan) system are derived and analyzed. The conscan algorithm is modeled as a weighted least-squares estimator whose inputs are samples of receiver carrier power and its associated measurement uncertainty. When the assumptions of constant measurement noise and zero pointing error estimation are applied, the variance equation is then strictly a function of the carrier power to uncertainty ratio and the operator selectable radius and period input to the algorithm. The performance equation is applied to a 34-m mirror-based beam-waveguide conscan system interfaced with the Block V Receiver Subsystem tracking a Ka-band (32-GHz) downlink. It is shown that for a carrier-to-noise power ratio greater than or equal to 30 dB-Hz, the conscan period for Ka-band operation may be chosen well below the current DSN minimum of 32 sec. The analysis presented forms the basis of future conscan work in both research and development as well as for the upcoming DSN antenna controller upgrade for the new DSS-24 34-m beam-waveguide antenna.

  2. Micromechanical torsional digital-to-analog converter for open-loop angular positioning applications

    NASA Astrophysics Data System (ADS)

    Zhou, Guangya; Tay, Francis E. H.; Chau, Fook Siong; Zhao, Yi; Logeeswaran, VJ

    2004-05-01

    This paper reports a novel micromechanical torsional digital-to-analog converter (MTDAC), operated in open-loop with digitally controlled precise multi-level tilt angles. The MTDAC mechanism presented is analogous to that of an electrical binary-weighted-input digital-to-analog converter (DAC). It consists of a rigid tunable platform, an array of torsional microactuators, each operating in a two-state (on/off) mode, and a set of connection beams with binary-weighted torsional stiffnesses that connect the actuators to the platform. The feasibility of the proposed MTDAC mechanism was verified numerically by finite element simulations and experimentally with a commercial optical phase-shifting interferometric system. A prototype 2-bit MTDAC was implemented using the poly-MUMPS process achieving a full-scale output tilt angle of 1.92° with a rotation step of 0.64°. This mechanism can be configured for many promising applications, particularly in beam steering-based OXC switches.

  3. High-sensitivity open-loop electronics for gravimetric acoustic-wave-based sensors.

    PubMed

    Rabus, David; Friedt, Jean-Michel; Ballandras, Sylvain; Martin, Gilles; Carry, Emile; Blondeau-Patissier, Virginie

    2013-06-01

    Detecting chemical species in gas phase has recently received an increasing interest mainly for security control, trying to implement new systems allowing for extended dynamics and reactivity. In this work, an open-loop interrogation strategy is proposed to use radio-frequency acoustic transducers as micro-balances for that purpose. The resulting system is dedicated to the monitoring of chemical compounds in gaseous or liquid-phase state. A 16 Hz standard deviation is demonstrated at 125 MHz, with a working frequency band in the 60 to 133 MHz range, answering the requirements for using Rayleigh- and Love-wave-based delay lines operating with 40-μm acoustic wavelength transducers. Moreover, this electronic setup was used to interrogate a high-overtone bulk acoustic wave resonator (HBAR) microbalance, a new sensor class allowing for multi-mode interrogation for gravimetric measurement improvement. The noise source still limiting the system performance is due to the analog-to-digital converter of the microcontroller, thus leaving open degrees-of-freedom for improving the obtained results by optimizing the voltage reference and board layout. The operation of the system is illustrated using a calibrated galvanic deposition at the surface of Love-wave delay lines to assess theoretical predictions of their gravimetric sensitivity and to compare them with HBAR-based sensor sensitivity. PMID:25004485

  4. Open-Loop Audio-Visual Stimulation (AVS): A Useful Tool for Management of Insomnia?

    PubMed

    Tang, Hsin-Yi Jean; Riegel, Barbara; McCurry, Susan M; Vitiello, Michael V

    2016-03-01

    Audio Visual Stimulation (AVS), a form of neurofeedback, is a non-pharmacological intervention that has been used for both performance enhancement and symptom management. We review the history of AVS, its two sub-types (close- and open-loop), and discuss its clinical implications. We also describe a promising new application of AVS to improve sleep, and potentially decrease pain. AVS research can be traced back to the late 1800s. AVS's efficacy has been demonstrated for both performance enhancement and symptom management. Although AVS is commonly used in clinical settings, there is limited literature evaluating clinical outcomes and mechanisms of action. One of the challenges to AVS research is the lack of standardized terms, which makes systematic review and literature consolidation difficult. Future studies using AVS as an intervention should; (1) use operational definitions that are consistent with the existing literature, such as AVS, Audio-visual Entrainment, or Light and Sound Stimulation, (2) provide a clear rationale for the chosen training frequency modality, (3) use a randomized controlled design, and (4) follow the Consolidated Standards of Reporting Trials and/or related guidelines when disseminating results. PMID:26294268

  5. Efficiency Evaluation of Open-Loop GHPS Operation Under Various Hydrogeological Conditions

    NASA Astrophysics Data System (ADS)

    Lee, S.; Kim, S.; Bae, G.; Lee, K.

    2008-12-01

    Geothermal heat pump system (GHPS) can be cost-effective renewable energy sources. In order to develop the GHPS which has certain hydrogeological characteristics, understanding the thermohydraulic process of an aquifer is necessary for effective usage of open-loop GHPS. Experimental and numerical tests are performed for two concepts of open-loop GHPS: simple open-loop and energy storage concept. In simple open-loop sets, tests were performed fixing the locations of pumping and injection wells. In contrast, tests in energy storage sets were conducted by changing the locations of wells in a seasonal cycle. Experimental test using sand tank was performed only for the simple open-loop concept, while numerical tests were performed for the both concepts. Numerical modeling results using FEFLOW were compatible with the experimental results. In the simple open-loop sets, the temporal temperature change in a pumping well was measured. Effective operation conditions are obtained with high hydraulic conductivity (3X10-3 m/s) and long distance (60 cm) between wells on hydraulic gradient 0.025 because the effect of injected water temperature must be minimized. In the energy storage sets, thermal recovery factors (R) under various conditions were calculated to evaluate the efficiency. Low hydraulic conductivity (3X10-5 m/s), hydraulic gradient 0.0 and long well distance (more than 20 m) are the best conditions for operation efficiency (R=37.92) because faster groundwater flow lead to advection or down-gradient `drift' of stored energy beyond potential recovery regions. In the case of two-layered aquifer, the porosity and groundwater flow characteristics of each layer sensitively affected the migration of thermal plume. Two-layered aquifer with the top-layer of low hydraulic conductivity (3X10-5 m/s) and porosity (0.2) is profitable for the effective open-loop GHPS operation under hydraulic gradient 0.0 and well distance (20 m). The results from experimental and numerical tests

  6. Use of an open-loop system to increase physical activity

    Technology Transfer Automated Retrieval System (TEKTRAN)

    This study evaluated the effectiveness of an open-loop system that reinforces physical activity with TV watching to increase children’s physical activity. Non-overweight, sedentary boys and girls (8-12 y) were randomized to a group that received feedback of activity counts + reinforcement for physic...

  7. A Novel Open-Loop Tracking Strategy for Photovoltaic Systems

    PubMed Central

    Alexandru, Cătălin

    2013-01-01

    This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system. PMID:24327803

  8. A novel open-loop tracking strategy for photovoltaic systems.

    PubMed

    Alexandru, Cătălin

    2013-01-01

    This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system. PMID:24327803

  9. Hardware platforms for MEMS gyroscope tuning based on evolutionary computation using open-loop and closed -loop frequency response

    NASA Technical Reports Server (NTRS)

    Keymeulen, Didier; Ferguson, Michael I.; Fink, Wolfgang; Oks, Boris; Peay, Chris; Terrile, Richard; Cheng, Yen; Kim, Dennis; MacDonald, Eric; Foor, David

    2005-01-01

    We propose a tuning method for MEMS gyroscopes based on evolutionary computation to efficiently increase the sensitivity of MEMS gyroscopes through tuning. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation. We also report on the development of a hardware platform for integrated tuning and closed loop operation of MEMS gyroscopes. The control of this device is implemented through a digital design on a Field Programmable Gate Array (FPGA). The hardware platform easily transitions to an embedded solution that allows for the miniaturization of the system to a single chip.

  10. High-resolution retinal imaging through open-loop adaptive optics

    NASA Astrophysics Data System (ADS)

    Li, Chao; Xia, Mingliang; Li, Dayu; Mu, Quanquan; Xuan, Li

    2010-07-01

    Using the liquid crystal spatial light modulator (LC-SLM) as the wavefront corrector, an open-loop adaptive optics (AO) system for fundus imaging in vivo is constructed. Compared with the LC-SLM closed-loop AO system, the light energy efficiency is increased by a factor of 2, which is helpful for the safety of fundus illumination in vivo. In our experiment, the subjective accommodation method is used to precorrect the defocus aberration, and three subjects with different myopia 0, -3, and -5 D are tested. Although the residual wavefront error after correction cannot to detected, the fundus images adequately demonstrate that the imaging system reaches the resolution of a single photoreceptor cell through the open-loop correction. Without dilating and cyclopleging the eye, the continuous imaging for 8 s is recorded for one of the subjects.

  11. Tuning of MEMS Devices using Evolutionary Computation and Open-loop Frequency Response

    NASA Technical Reports Server (NTRS)

    Keymeulen, Didier; Fink, Wolfgang; Ferguson, Michael I.; Peay, Chris; Oks, Boris; Terrile, Richard; Yee, Karl

    2005-01-01

    We propose a tuning method for MEMS gyroscopes based on evolutionary computation that has the capacity to efficiently increase the sensitivity of MEMS gyroscopes through tuning and, furthermore, to find the optimally tuned configuration for this state of increased sensitivity. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation.

  12. Thermal performance of an open loop closed end pulsating heat pipe

    NASA Astrophysics Data System (ADS)

    Saha, Manabendra; Feroz, C. M.; Ahmed, F.; Mujib, T.

    2012-02-01

    This paper presents an experimental study of an open loop pulsating heat pipe (OLPHP) of 0.9 mm inner diameter. The performance characterization has been done using four working fluids at vertical and horizontal orientations. Water, Methanol, 2-Propanol and Acetone has been employed as the working fluid with 50% fill ratio. The experimental results indicate a strong influence of gravity and thermo physical properties of the working fluids on the performance of OLPHP. Considering all the working fluids used, Water has shown better thermal performance in vertical orientation while Methanol has shown better performance in horizontal orientation. All the working fluids perform better at horizontal orientation.

  13. Image restoration of the open-loop adaptive optics retinal imaging system based on optical transfer function analysis

    NASA Astrophysics Data System (ADS)

    Yu, Lei; Qi, Yue; Li, Dayu; Xia, Mingliang; Xuan, Li

    2013-07-01

    The residual aberrations of the adaptive optics retinal imaging system will decrease the quality of the retinal images. To overcome this obstacle, we found that the optical transfer function (OTF) of the adaptive optics retinal imaging system can be described as the Levy stable distribution. Then a new method is introduced to estimate the OTF of the open-loop adaptive optics system, based on analyzing the residual aberrations of the open-loop adaptive optics system in the residual aberrations measuring mode. At last, the estimated OTF is applied to restore the retinal images of the open-loop adaptive optics retinal imaging system. The contrast and resolution of the restored image is significantly improved with the Laplacian sum (LS) from 0.0785 to 0.1480 and gray mean grads (GMG) from 0.0165 to 0.0306.

  14. Characterization of Site for Installing Open Loop Ground Source Heat Pump System

    NASA Astrophysics Data System (ADS)

    Yun, S. W.; Park, Y.; Lee, J. Y.; Yi, M. J.; Cha, J. H.

    2014-12-01

    This study was conducted to understand hydrogeological properties of site where open loop ground source heat pump system will be installed and operated. Groundwater level and water temperature were hourly measured at the well developed for usage of open loop ground source heat pump system from 11 October 2013 to 8 January 2014. Groundwater was sampled in January and August 2013 and its chemical and isotopic compositions were analyzed. The bedrock of study area is the Jurassic granodiorite that mainly consists of quartz (27.9 to 46.8%), plagioclase (26.0 to 45.5%), and alkali feldspar (9.5 to 18.7%). The groundwater level ranged from 68.30 to 68.94 m (above mean sea level). Recharge rate was estimated using modified watertable fluctuation method and the recharge ratios was 9.1%. The water temperature ranged from 14.8 to 15.0oC. The vertical Increase rates of water temperature were 1.91 to 1.94/100 m. The water temperature showed the significant seasonal variation above 50 m depth, but had constant value below 50 m depth. Therefore, heat energy of the groundwater can be used securely in open loop ground source heat pump system. Electrical conductivity ranged from 120 to 320 µS/cm in dry season and from 133 to 310 µS/cm in wet season. The electrical conductivity gradually decreased with depth. In particular, electrical conductivity in approximately 30 m depth decreased dramatically (287 to 249 µS/cm) in wet season. The groundwater was Ca-HCO3 type. The concentrations of dissolved components did not show the vertically significant variations from 0 to 250 m depth. The δ18O and δD ranged from -9.5 to -9.4‰ and from -69 to -68‰. This work is supported by the New and Renewable Energy of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Knowledge Economy (No.20123040110010).

  15. Research and implementation of a special signal source of open-loop testing system of resonant microsensor

    NASA Astrophysics Data System (ADS)

    Fan, Shangchun; Wang, Yijun

    2006-11-01

    As a core component for open-loop characteristics testing system of micro-sensor, quality of signal source influences the integer performances of testing system directly. The method to generate special signal of open-loop testing system of resonant micro-sensor are discussed in this paper, and a method of direct digital frequency synthesize (DDS) to develop the special signal source of the testing system is proposed. A designation approach based on DSP and FPGA in the realization of DDS is advocated. Finally a simulation is made using the MATLAB. The principle of DDS is also introduced.

  16. An investigation of the open-loop amplification of Reynolds number dependent processes by wave distortion

    NASA Technical Reports Server (NTRS)

    Purdy, K. R.; Ventrice, M. B.; Fang, J.

    1972-01-01

    Analytical and experimental studies were initiated to determine if the response of a constant temperature hot wire anemometer to acoustic oscillations could serve as an analog to the response of the drop vaporization burning rate process to acoustic oscillations, and, perhaps, also as an analog to any Reynolds number dependent process. The motivation behind this study was a recent analytical study which showed that distorted acoustic oscillations could amplify the open-loop response of vaporization limited combustion. This type of amplification may be the cause of unstable combustion in liquid propellant rocket engines. The analytical results obtained for the constant temperature anemometer are similar in nature to those previously obtained for vaporization limited combustion and indicate that the response is dependent on the amount and type of distortion as well as other factors, such as sound pressure level, Mach number and hot wire temperature. Preliminary results indicate qualitative agreement between theory and experiment.

  17. Adaptive Correlation Space Adjusted Open-Loop Tracking Approach for Vehicle Positioning with Global Navigation Satellite System in Urban Areas.

    PubMed

    Ruan, Hang; Li, Jian; Zhang, Lei; Long, Teng

    2015-01-01

    For vehicle positioning with Global Navigation Satellite System (GNSS) in urban areas, open-loop tracking shows better performance because of its high sensitivity and superior robustness against multipath. However, no previous study has focused on the effects of the code search grid size on the code phase measurement accuracy of open-loop tracking. Traditional open-loop tracking methods are performed by the batch correlators with fixed correlation space. The code search grid size, which is the correlation space, is a constant empirical value and the code phase measuring accuracy will be largely degraded due to the improper grid size, especially when the signal carrier-to-noise density ratio (C/N₀) varies. In this study, the Adaptive Correlation Space Adjusted Open-Loop Tracking Approach (ACSA-OLTA) is proposed to improve the code phase measurement dependent pseudo range accuracy. In ACSA-OLTA, the correlation space is adjusted according to the signal C/N₀. The novel Equivalent Weighted Pseudo Range Error (EWPRE) is raised to obtain the optimal code search grid sizes for different C/N₀. The code phase measuring errors of different measurement calculation methods are analyzed for the first time. The measurement calculation strategy of ACSA-OLTA is derived from the analysis to further improve the accuracy but reduce the correlator consumption. Performance simulation and real tests confirm that the pseudo range and positioning accuracy of ASCA-OLTA are better than the traditional open-loop tracking methods in the usual scenarios of urban area. PMID:26343683

  18. Adaptive Correlation Space Adjusted Open-Loop Tracking Approach for Vehicle Positioning with Global Navigation Satellite System in Urban Areas

    PubMed Central

    Ruan, Hang; Li, Jian; Zhang, Lei; Long, Teng

    2015-01-01

    For vehicle positioning with Global Navigation Satellite System (GNSS) in urban areas, open-loop tracking shows better performance because of its high sensitivity and superior robustness against multipath. However, no previous study has focused on the effects of the code search grid size on the code phase measurement accuracy of open-loop tracking. Traditional open-loop tracking methods are performed by the batch correlators with fixed correlation space. The code search grid size, which is the correlation space, is a constant empirical value and the code phase measuring accuracy will be largely degraded due to the improper grid size, especially when the signal carrier-to-noise density ratio (C/N0) varies. In this study, the Adaptive Correlation Space Adjusted Open-Loop Tracking Approach (ACSA-OLTA) is proposed to improve the code phase measurement dependent pseudo range accuracy. In ACSA-OLTA, the correlation space is adjusted according to the signal C/N0. The novel Equivalent Weighted Pseudo Range Error (EWPRE) is raised to obtain the optimal code search grid sizes for different C/N0. The code phase measuring errors of different measurement calculation methods are analyzed for the first time. The measurement calculation strategy of ACSA-OLTA is derived from the analysis to further improve the accuracy but reduce the correlator consumption. Performance simulation and real tests confirm that the pseudo range and positioning accuracy of ASCA-OLTA are better than the traditional open-loop tracking methods in the usual scenarios of urban area. PMID:26343683

  19. Optimum bleeding rate of open loop ground source heat pump systems determined by hydrogeological modeling in Korea

    NASA Astrophysics Data System (ADS)

    Jeon, W. H.; Kim, N.; Lee, J. Y.

    2014-12-01

    This study aims to evaluate the influence of open loop ground source heat pump systems operation on hydrological conditions of aquifer. Test bed is located in Chuncheon, Korea. The step drawdown test was conducted in five stages for 300 minutes. The variation of groundwater levels by open loop ground source heat pump systems operation was estimated using Visual MODFLOW. Transmissivity ranged from 2.02×10-4 to 9.36×10-4, and storage coefficient ranged from 0.00067 to 0.021. The amount of optimum bleeding was calculated to be 240 m3/day. When bleeding will be 50, 90, 240 and 450 m3/day for 5 years, groundwater levels may decrease 1.84, 3.31, 8.89 and 17.0 m, respectively. If the amount of bleeding is 50 m3/day, the influence of bleeding will not reach the boundary regions of the Soyang River after 5 years. Regarding the open loop ground source heat pump system installed at the test bed, the amount of optimum bleeding in accordance with the stand are proposed by the government is 90 m3/day, which is 20% of the 450 m3/day circulation quantity of the system. However, if continuous bleeding of more than 90 m3/day occurs, then the radius of influence is expected to reach the boundary regions of the Soyang River after 5 years. These results indicate that amount of optimum bleeding differ in each open loop ground soured heat pump system. Therefore, the debate for the amount of optimum bleeding in open loop ground source heat pump systems is demanded. This work is supported by the Energy Efficiency and Resources of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Knowledge Economy (No.20123040110010).

  20. A Numerical Study for Groundwater Flow, Heat and Solute Transport Associated with Operation of Open-loop Geothermal System in Alluvial Aquifer

    NASA Astrophysics Data System (ADS)

    Park, D. K.; Bae, G. O.; Lee, K. K.

    2014-12-01

    The open-loop geothermal system directly uses a relatively stable temperature of groundwater for cooling and heating in buildings and thus has been known as an eco-friendly, energy-saving, and cost-efficient technique. The facility for this system was installed at a site located near Paldang-dam in Han-river, Korea. Because of the well-developed alluvium, the site might be appropriate to application of this system requiring extraction and injection of a large amount of groundwater. A simple numerical experiment assuming various hydrogeologic conditions demonstrated that regional groundwater flow direction was the most important factor for efficient operation of facility in this site having a highly permeable layer. However, a comparison of river stage data and groundwater level measurements showed that the daily and seasonal controls of water level at Paldang-dam have had a critical influence on the regional groundwater flow in the site. Moreover, nitrate concentrations measured in the monitoring wells gave indication of the effect of agricultural activities around the facility on the groundwater quality. The facility operation, such as extraction and injection of groundwater, will obviously affect transport of the agricultural contaminant and, maybe, it will even cause serious problems in the normal operation. Particularly, the high-permeable layer in this aquifer must be a preferential path for quick spreadings of thermal and contaminant plumes. The objective of this study was to find an efficient, safe and stable operation plan of the open-loop geothermal system installed in this site having the complicated conditions of highly permeable layer, variable regional groundwater flow, and agricultural contamination. Numerical simulations for groundwater flow, heat and solute transport were carried out to analyze all the changes in groundwater level and flow, temperature, and quality according to the operation, respectively. Results showed that an operation plan for

  1. A 1microW 85nV/ radicalHz pseudo open-loop preamplifier with programmable band-pass filter for neural interface system.

    PubMed

    Chang, Sun-Il; Yoon, Euisik

    2009-01-01

    We report an energy efficient pseudo open-loop amplifier with programmable band-pass filter developed for neural interface systems. The proposed amplifier consumes 400nA at 2.5V power supply. The measured thermal noise level is 85nV/ radicalHz and input-referred noise is 1.69microV(rms) from 0.3Hz to 1 kHz. The amplifier has a noise efficiency factor of 2.43, the lowest in the differential topologies reported up to date to our knowledge. By programming the switched-capacitor frequency and bias current, we could control the bandwidth of the preamplifier from 138 mHz to 2.2 kHz to meet various application requirements. The entire preamplifier including band-pass filters has been realized in a small area of 0.043mm(2) using a 0.25microm CMOS technology. PMID:19964762

  2. Open Loop Heat Pipe Radiator Having a Free-Piston for Wiping Condensed Working Fluid

    NASA Technical Reports Server (NTRS)

    Weinstein, Leonard M. (Inventor)

    2015-01-01

    An open loop heat pipe radiator comprises a radiator tube and a free-piston. The radiator tube has a first end, a second end, and a tube wall, and the tube wall has an inner surface and an outer surface. The free-piston is enclosed within the radiator tube and is capable of movement within the radiator tube between the first and second ends. The free-piston defines a first space between the free-piston, the first end, and the tube wall, and further defines a second space between the free-piston, the second end, and the tube wall. A gaseous-state working fluid, which was evaporated to remove waste heat, alternately enters the first and second spaces, and the free-piston wipes condensed working fluid from the inner surface of the tube wall as the free-piston alternately moves between the first and second ends. The condensed working fluid is then pumped back to the heat source.

  3. Visualizing Nanoscale Distribution of Corrosion Cells by Open-Loop Electric Potential Microscopy.

    PubMed

    Honbo, Kyoko; Ogata, Shoichiro; Kitagawa, Takuya; Okamoto, Takahiro; Kobayashi, Naritaka; Sugimoto, Itto; Shima, Shohei; Fukunaga, Akira; Takatoh, Chikako; Fukuma, Takeshi

    2016-02-23

    Corrosion is a traditional problem but still one of the most serious problems in industry. To reduce the huge economic loss caused by corrosion, tremendous effort has been made to understand, predict and prevent it. Corrosion phenomena are generally explained by the formation of corrosion cells at a metal-electrolyte interface. However, experimental verification of their nanoscale distribution has been a major challenge owing to the lack of a method able to visualize the local potential distribution in an electrolytic solution. In this study, we have investigated the nanoscale corrosion behavior of Cu fine wires and a duplex stainless steel by in situ imaging of local corrosion cells by open-loop electric potential microscopy (OL-EPM). For both materials, potential images obtained by OL-EPM show nanoscale contrasts, where areas of higher and lower potential correspond to anodic areas (i.e., corrosion sites) and cathodic areas, respectively. This imaging capability allows us to investigate the real-time transition of local corrosion sites even when surface structures show little change. This is particularly useful for investigating reactions under surface oxide layers or highly corrosion-resistant materials as demonstrated here. The proposed technique should be applicable to the study of other redox reactions on a battery electrode or a catalytic material. The results presented here open up such future applications of OL-EPM in nanoscale electrochemistry. PMID:26811989

  4. Open-loop correction for an eddy current dominated beam-switching magnet

    SciTech Connect

    Koseki, K. Nakayama, H.; Tawada, M.

    2014-04-15

    A beam-switching magnet and the pulsed power supply it requires have been developed for the Japan Proton Accelerator Research Complex. To switch bunched proton beams, the dipole magnetic field must reach its maximum value within 40 ms. In addition, the field flatness should be less than 5 × 10{sup −4} to guide each bunched beam to the designed orbit. From a magnetic field measurement by using a long search coil, it was found that an eddy current in the thick endplates and laminated core disturbs the rise of the magnetic field. The eddy current also deteriorates the field flatness over the required flat-top period. The measured field flatness was 5 × 10{sup −3}. By using a double-exponential equation to approximate the measured magnetic field, a compensation pattern for the eddy current was calculated. The integrated magnetic field was measured while using the newly developed open-loop compensation system. A field flatness of less than 5 × 10{sup −4}, which is an acceptable value, was achieved.

  5. Application of Open Loop H-Adaptation to an Unstructured Grid Tidal Flat Model

    NASA Astrophysics Data System (ADS)

    Cowles, G. W.

    2008-12-01

    The complex topology of tidal flats presents a challenge to coastal ocean models. Recently, several models have been developed employing unstructured grids, which can provide the flexibility in mesh resolution required to resolve the complex bathymetry and coastline. However, the distribution of element size in the initial mesh can be somewhat arbitrary, and is in general the product of the operator tailoring the resolution to the underlying bathymetry and regions of interest. In this work, the flow solution from an idealized tidal flat application is used to drive an open loop h-adaptation of the mesh. The model used for this work is the Finite Volume Coastal Ocean Model (FVCOM), an open source, terrain following model. A background length scale distribution derived from model output is used to generate a new initial mesh for the model run, thus defining an iteration of the procedure. Several metrics for computing the background length scale will be examined. These include direct estimation of spatial discretization error using Richardson's extrapolation from a sequence of meshes as well as heuristics derived from gradients in the primitive variables. Examination of grid independence, computational efficiency, and performance of the scheme for idealized tidal flats with inclusion of morphodynamics will be discussed.

  6. A novel realization of signal processing to improve the precision of the open-loop IFOG

    NASA Astrophysics Data System (ADS)

    Li, Hua; Chen, Shufen; Fu, Lei

    2005-02-01

    With the development of the technique of the digital signal processor, the using of digital signal processor in the open loop IFOG (interferometric fiber optic gyroscope) signal processing brings a great improvement of the performance of IFOG, especially in the technique of digital filtering, acquisition the values of arcsine and inverse tan function. The traditional way to get the values of inverse tan function is linear interpolation technique in digital signal circuit. This article put forward a new way to acquire the values of inverse tan function, the proportion of the second order Bessel function to the first order Bessel function and the proportion of the fourth order Bessel function to the second order Bessel function by using of the virtue of DSP, high speed of data processing. The fundamental, second and fourth harmonic signals from photoelectrical detector are sampled and demodulated by analog circuit. Then the signals from analog circuit are sampled into DSP by a 24-bit analog-to-digital converter, which is used to improve the dynamical range of the system. Then DSP computes the values mentioned above by polynomial approach. The simulation in Mathematic and Microsoft Visual C++ 6.0 proved that the method of polynomial approach to the functions has higher precision compared to the method of linear interpolation. Meanwhile the designed circuit shows it can meet the demand of real time data process. The tested results of designed circuit prove it has a great improvement in the dynamic range and precision of IFOG.

  7. Open-loop frequency acquisition for suppressed-carrier biphase signals using one-pole arm filters

    NASA Technical Reports Server (NTRS)

    Shah, B.; Holmes, J. K.

    1991-01-01

    Open loop frequency acquisition performance is discussed for suppressed carrier binary phase shift keyed signals in terms of the probability of detecting the carrier frequency offset when the arms of the Costas loop detector have one pole filters. The approach, which does not require symbol timing, uses fast Fourier transforms (FFTs) to detect the carrier frequency offset. The detection probability, which depends on both the 3 dB arm filter bandwidth and the received symbol signal to noise ratio, is derived and is shown to be independent of symbol timing. It is shown that the performance of this technique is slightly better that other open loop acquisition techniques which use integrators in the arms and whose detection performance varies with symbol timing.

  8. Flow characteristics of continuous-flow left ventricular assist devices in a novel open-loop system.

    PubMed

    Stanfield, J Ryan; Selzman, Craig H; Pardyjak, Eric R; Bamberg, Stacy

    2012-01-01

    Fluid-pumping technology is a mature engineering subject area with a well-documented knowledge base. However, the pump design optimization techniques accepted in industry are geared toward steady-state constant-flow conditions. In contrast, the implantation of a continuous-flow pump to aid the output of the human left ventricle subjects the device to perpetual variation. This study measures pressure-flow performance characteristics for both axial- and centrifugal continuous-flow rotary blood pumps across a wide range of pressure differential values under uniform conditions by means of a novel open-loop flow system. The axial-flow devices show lower hydraulic efficiency. All pumps yield best efficiency point at a head to flow coefficient ratio of approximately 1.7. The open-loop flow system accounts for the dynamic changes associated with human heart physiology and allows for more precise characterization of existing heart pumps and those in development. PMID:22990285

  9. RIP Input Tables From WAPDEG for LA Design Selection: Continuous Post-Closure Ventilation Design- Open Loop

    SciTech Connect

    K.G> Mon; P.K. Mast; R. Howard; J.H. Lee

    1999-07-21

    The purpose of this calculation is to document (1) the Waste Package Degradation (WAPDEG) version 3.09 (CRWMS M&O 1998b). Software Routine Report for WAPDEG (Version 3.09) simulations used to analyze waste package degradation and failure under the repository exposure conditions characterized by the open loop option of the post-closure ventilation design and, (2) post-processing of these results into tables of waste package degradation time histories suitable for use as input into the Integrated Probabilistic Simulator for Environmental Systems version 5.19.0 1 (RIP) computer program (Golder Associates 1998). Specifically, the WAPDEG simulations discussed in this calculation correspond to waste package emplacement conditions (repository environment and design) defined in the Total System Performance Assessment-Viability Assessment (TSPA-VA), with the exception that the open loop option of the post-closure ventilation License Application Design Selection (LADS) Design Alternative (Design Alternative 3b) was analyzed. The open loop post-closure ventilation design alternative, under which airways to the surface remain open after repository closure, could result in substantial cooling and drying of the potential repository. In open loop post-closure ventilation, expanded air heated by waste decay would move up an exhaust shaft, pulling denser, cooler air into the repository through intake shafts. The exchange of air with the atmosphere could remove more heat and moisture. As a result of the enhanced ventilation relative to the TSPA-VA base-case design, different temperature and relative humidity time histories at the waste package surface are calculated (input to the WAPDEG simulations), and consequently different waste package failure histories (as calculated by WAPDEG) result.

  10. MaTrace: tracing the fate of materials over time and across products in open-loop recycling.

    PubMed

    Nakamura, Shinichiro; Kondo, Yasushi; Kagawa, Shigemi; Matsubae, Kazuyo; Nakajima, Kenichi; Nagasaka, Tetsuya

    2014-07-01

    Even for metals, open-loop recycling is more common than closed-loop recycling due, among other factors, to the degradation of quality in the end-of-life (EoL) phase. Open-loop recycling is subject to loss of functionality of original materials, dissipation in forms that are difficult to recover, and recovered metals might need dilution with primary metals to meet quality requirements. Sustainable management of metal resources calls for the minimization of these losses. Imperative to this is quantitative tracking of the fate of materials across different stages, products, and losses. A new input-output analysis (IO) based model of dynamic material flow analysis (MFA) is presented that can trace the fate of materials over time and across products in open-loop recycling taking explicit consideration of losses and the quality of scrap into account. Application to car steel recovered from EoL vehicles (ELV) showed that after 50 years around 80% of the steel is used in products, mostly buildings and civil engineering (infrastructure), with the rest mostly resided in unrecovered obsolete infrastructure and refinery losses. Sensitivity analysis was conducted to evaluate the effects of changes in product lifespan, and the quality of scrap. PMID:24872019

  11. Realisierung eines verzerrungsarmen Open-Loop Klasse-D Audio-Verstärkers mit SB-ZePoC

    NASA Astrophysics Data System (ADS)

    Schnick, O.; Mathis, W.

    2007-06-01

    In den letzten Jahren hat die Entwicklung von Klasse-D Verstärkern für Audio-Anwendungen ein vermehrtes Interesse auf sich gezogen. Eine Motivation hierfür liegt in der mit dieser Technik extrem hohen erzielbaren Effizienz von über 90%. Die Signale, die Klasse-D Verstärker steuern, sind binär. Immer mehr Audio-Signale werden entweder digital gespeichert (CD, DVD, MP3) oder digital übermittelt (Internet, DRM, DAB, DVB-T, DVB-S, GMS, UMTS), weshalb eine direkte Umsetzung dieser Daten in ein binäres Steuersignal ohne vorherige konventionelle D/A-Wandlung erstrebenswert erscheint. Die klassischen Pulsweitenmodulationsverfahren führen zu Aliasing-Komponenten im Audio-Basisband. Diese Verzerrungen können nur durch eine sehr hohe Schaltfrequenz auf ein akzeptables Maß reduziert werden. Durch das von der Forschungsgruppe um Prof. Mathis vorgestellte SB-ZePoC Verfahren (Zero Position Coding with Separated Baseband) wird diese Art der Signalverzerrung durch Generierung eines separierten Basisbands verhindert. Deshalb können auch niedrige Schaltfrequenzen gewählt werden. Dadurch werden nicht nur die Schaltverluste, sondern auch Timing-Verzerrungen verringert, die durch die nichtideale Schaltendstufe verursacht werden. Diese tragen einen großen Anteil zu den gesamten Verzerrungen eines Klasse-D Verstärkers bei. Mit dem SB-ZePoC Verfahren lassen sich verzerrungsarme Open-Loop Klasse-D Audio-Verstärker realisieren, die ohne aufwändige Gegenkopplungsschleifen auskommen. Class-D amplifiers are suiteble for amplification of audio signals. One argument is their high efficiency of 90% and more. Today most of the audio signals are stored or transmitted in digital form. A digitally controlled Class-D amplifier can be directly driven with coded (modulated) data. No separate D/A conversion is needed. Classical modulation schemes like Pulse-Width-Modulation (PWM) cause aliasing. So a very high switching rate is required to minimize the aliasing component within the signal

  12. Seizure Suppression Efficacy of Closed-Loop Versus Open-Loop Deep Brain Stimulation in a Rodent Model of Epilepsy.

    PubMed

    Salam, M Tariqus; Perez Velazquez, Jose Luis; Genov, Roman

    2016-06-01

    We assess and compare the effects of both closed-loop and open-loop neurostimulation of the rat hippocampus by means of a custom low-power programmable therapeutic neurostimulation device on the suppression of spontaneous seizures in a rodent model of epilepsy. Chronic seizures were induced by intraperitoneal kainic acid injection. Two bipolar electrodes were implanted into the CA1 regions of both hippocampi. The electrodes were connected to the custom-built programmable therapeutic neurostimulation device that can trigger an electrical stimulation either in a periodic manner or upon detection of the intracerebral electroencephalographic (icEEE) seizure onset. This device includes a microchip consisting of a 256-channel icEEG recording system and a 64-channel stimulator, and a programmable seizure detector implemented in a field-programmable gate array (FPGA). The neurostimulator was used to evaluate seizure suppression efficacy in ten epileptic rats for a total of 240 subject-days (5760 subject-hours). For this purpose, all rats were randomly divided into two groups: the no-stimulation group and the stimulation group. The no-stimulation group did not receive stimulation. The stimulation group received, first, closed-loop stimulation and, next, open-loop stimulation. The no-stimulation and stimulation groups had a similar seizure frequency baseline, averaging five seizures per day. Closed-loop stimulation reduced seizure frequency by 90% and open-loop stimulation reduced seizure frequency by 17%, both in the stimulation group as compared to the no-stimulation group. PMID:26571534

  13. An investigation of the open-loop amplification of a Reynolds number dependent process by wave distortion

    NASA Technical Reports Server (NTRS)

    Ventrice, M. B.; Purdy, K. R.

    1974-01-01

    The response of a constant-temperature hot-wire anemometer to sinusoidal and distorted sinusoidal acoustic oscillations is examined. The output of the anemometer is dependent upon the Reynolds number of the flow over the wire. The response is a measure of the interaction between the anemometer output and the acoustic pressure in the neighborhood of the wire. It is an open-loop prediction of the characteristics of actual closed-loop operation of a system. If the open-loop response is large enough, unstable closed-loop operation is predicted. The study was motivated by a need to investigate the stability limits of liquid-propellant rockets when perturbed by pressure oscillations. The sinusoidal and distorted sinusoidal acoustic oscillations used for this study are the same as those characteristic of unstable rocket combustion. Qualitatively, the results are similar--the response of the system to pure sinusoidal acoustic vibration of the fluid surrounding the wire is small, even when the magnitude of the acoustic pressure is quite large; but the response can be increased by as much as an order of magnitude with respect to the sinusoidal case by the addition of distortion. The amplitude and phase of the distortion component, relative to the fundamental component, are the dominant factors in the increase in the response.

  14. A simplified fracture network model for studying the efficiency of a single well semi open loop heat exchanger in fractured crystalline rock

    NASA Astrophysics Data System (ADS)

    de La Bernardie, Jérôme; de Dreuzy, Jean-Raynald; Bour, Olivier; Thierion, Charlotte; Ausseur, Jean-Yves; Lesuer, Hervé; Le Borgne, Tanguy

    2016-04-01

    Geothermal energy is a renewable energy source particularly attractive due to associated low greenhouse gas emission rates. Crystalline rocks are in general considered of poor interest for geothermal applications at shallow depths (< 100m), because of the low permeability of the medium. In some cases, fractures may enhance permeability, but thermal energy storage at these shallow depths is still remaining very challenging because of the complexity of fractured media. The purpose of this study is to test the possibility of efficient thermal energy storage in shallow fractured rocks with a single well semi open loop heat exchanger (standing column well). For doing so, a simplified numerical model of fractured media is considered with few fractures. Here we present the different steps for building the model and for achieving the sensitivity analysis. First, an analytical and dimensional study on the equations has been achieved to highlight the main parameters that control the optimization of the system. In a second step, multiphysics software COMSOL was used to achieve numerical simulations in a very simplified model of fractured media. The objective was to test the efficiency of such a system to store and recover thermal energy depending on i) the few parameters controlling fracture network geometry (size and number of fractures) and ii) the frequency of cycles used to store and recover thermal energy. The results have then been compared to reference shallow geothermal systems already set up for porous media. Through this study, relationships between structure, heat exchanges and storage may be highlighted.

  15. Open-loop GPS signal tracking at low elevation angles from a ground-based observation site

    NASA Astrophysics Data System (ADS)

    Beyerle, Georg; Zus, Florian

    2016-04-01

    For more than a decade space-based global navigation satellite system (GNSS) radio occultation (RO) observations are used by meteorological services world-wide for their numerical weather prediction models. In addition, climate studies increasingly rely on validated GNSS-RO data sets of atmospheric parameters. GNSS-RO profiles typically cover an altitude range from the boundary layer up to the upper stratosphere; their highest accuracy and precision, however, are attained at the tropopause level. In the lower troposphere, multipath ray propagation tend to induce signal amplitude and frequency fluctuations which lead to the development and implementation of open-loop signal tracking methods in GNSS-RO receiver firmwares. In open-loop mode the feed-back values for the carrier tracking loop are derived not from measured data, but from a Doppler frequency model which usually is extracted from an atmospheric climatology. In order to ensure that this receiver-internal parameter set, does not bias the carrier phase path observables, dual-channel open-loop GNSS-RO signal tracking was suggested. Following this proposal the ground-based "GLESER" (GPS low-elevation setting event recorder) campaign was established. Its objective was to disproof the existence of model-induced frequency biases using ground-based GPS observations at very low elevation angles. Between January and December 2014 about 2600 validated setting events, starting at geometric elevation angles of +2° and extending to ‑1°… ‑ 1.5°, were recorded by the single frequency "OpenGPS" GPS receiver at a measurement site located close to Potsdam, Germany (52.3808°N, 13.0642°E). The study is based on the assumption that these ground-based observations may be used as proxies for space-based RO measurements, even if the latter occur on a one order of magnitude faster temporal scale. The "GLESER" data analysis shows that the open-loop Doppler model has negligible influence on the derived frequency profile

  16. Shallow open-loop geothermal systems: simulation of heat transfer in groundwater and experimental tests for improving parameterization

    NASA Astrophysics Data System (ADS)

    Fossoul, F.; Orban, P.; Dassargues, A.; Hydrogeology; Environmental Geology

    2011-12-01

    Innovative and efficient strategies for energy use become a priority, especially in civil engineering. Geothermal open-loop systems (geothermal wells) are not so developed in Belgium contrary to close-loop systems. This is generally due to the lack of relevant dimensioning and impact study that must be foreseen during the planning phases of the building. However, as shallow groundwater is widely available, geothermal wells potential is significant. Using both experimental and numerical tools, our aim is to develop a rigorous methodology to design heating and cooling shallow geothermal wells (pumping/reinjection), with a detailed hydrogeological characterization coupled to feasibility, environmental impact assessment, dimensioning, and system sustainability. Concerning numerical modeling, Groundwater flow and heat transfer is computed using different codes (HydroGeoSphere, MT3DMS and SHEMAT) for a comparative sensitivity analysis on a typical case. Coupling and temperature non linearities of hydro-thermal parameters values are checked accurately. As shown previously, small temperature variations (temperatures ranging from 12 to 25 °C) allow to use conventional solute transport codes for modeling heat transfer in groundwater taking benefits of the similarities between solute transport and heat transfer equations. When numerical codes are used as dimensioning tools for long-term simulations, reliable values for hydro-thermal properties of the aquifer are essential. As very few experimental values are available in the literature, field experiments are needed to determine more accurately the local values in different geological/hydrogeological conditions. Apart from thermal response tests (TRT) usually performed for designing a close-loop system within a borehole considered in static groundwater conditions, there is no standard procedure for geothermal wells systems. In an open-loop system, groundwater movement induced by the pumping is responsible for a major heat

  17. New numerical methods for open-loop and feedback solutions to dynamic optimization problems

    NASA Astrophysics Data System (ADS)

    Ghosh, Pradipto

    The topic of the first part of this research is trajectory optimization of dynamical systems via computational swarm intelligence. Particle swarm optimization is a nature-inspired heuristic search method that relies on a group of potential solutions to explore the fitness landscape. Conceptually, each particle in the swarm uses its own memory as well as the knowledge accumulated by the entire swarm to iteratively converge on an optimal or near-optimal solution. It is relatively straightforward to implement and unlike gradient-based solvers, does not require an initial guess or continuity in the problem definition. Although particle swarm optimization has been successfully employed in solving static optimization problems, its application in dynamic optimization, as posed in optimal control theory, is still relatively new. In the first half of this thesis particle swarm optimization is used to generate near-optimal solutions to several nontrivial trajectory optimization problems including thrust programming for minimum fuel, multi-burn spacecraft orbit transfer, and computing minimum-time rest-to-rest trajectories for a robotic manipulator. A distinct feature of the particle swarm optimization implementation in this work is the runtime selection of the optimal solution structure. Optimal trajectories are generated by solving instances of constrained nonlinear mixed-integer programming problems with the swarming technique. For each solved optimal programming problem, the particle swarm optimization result is compared with a nearly exact solution found via a direct method using nonlinear programming. Numerical experiments indicate that swarm search can locate solutions to very great accuracy. The second half of this research develops a new extremal-field approach for synthesizing nearly optimal feedback controllers for optimal control and two-player pursuit-evasion games described by general nonlinear differential equations. A notable revelation from this development

  18. A miniaturized compact open-loop RFOG with demodulation signal compensation technique to suppress intensity modulation noise

    NASA Astrophysics Data System (ADS)

    Ying, Diqing; Mao, Jianmin; Li, Qiang; Jin, Zhonghe

    2016-01-01

    A miniaturized compact open-loop resonator fiber optic gyro (RFOG) prototype with main body size of about 10.4 cm×10.4 cm×5.2 cm is reported, and a demodulation signal compensation technique is proposed, aiming to suppress the drift arising from accompanying intensity modulation induced by semiconductor laser diode (LD). The scheme of how to establish this miniaturized RFOG prototype is specifically stated. The linear relationship between the first-harmonic and second-harmonic demodulated signals respectively for the two counter propagating beams in the resonator is verified by theory and experiment, and based on this relationship, the demodulation signal compensation technique by monitoring the second-harmonic demodulated signal is described in detail. With this compensation technique, the gyro output stability under 1°/s rotation rate is effectively improved from 0.12°/s to 0.03°/s, and especially, an about 0.36°/s peak-to-peak fluctuation due to tuning current reset is significantly suppressed. A long term bias stability of about 4.5°/h in 1 h for such a small-sized RFOG prototype is demonstrated, which is of the same magnitude as that of currently reported large-sized RFOG systems utilizing LD as the laser source as well.

  19. Computational analysis of open loop handwriting movements in Parkinson's disease: a rapid method to detect dopamimetic effects.

    PubMed

    Eichhorn, T E; Gasser, T; Mai, N; Marquardt, C; Arnold, G; Schwarz, J; Oertel, W H

    1996-05-01

    We used a computational analysis of open loop handwriting movements and a clinical rating scale for monitoring the effect of apomorphine in 16 patients with early untreated parkinsonism [subsequently L-DOPA responsive, probable Parkinson's disease (PD)], six patients with long-standing PD with L-DOPA associated motor fluctuations, and seven patients with known L-DOPA unresponsive parkinsonism. Subjects were instructed to write fluently concentric circles of approximately 12 mm in diameter. Movements were recorded for two periods of 3 s each, using a digitizing tablet. Mean peak velocity (Vmax) and mean peak acceleration (Amax) were determined. In addition, two sensitive indices describing the degree of automation of handwriting were derived: (a) NCV, calculated as the mean Number of Changes in direction of Velocity per half circle, and (b) NCA, the mean Number of Changes in the direction of Acceleration. Clinical rating was performed according to the Unified Parkinson's Disease Rating Scale part III (UPDRS III). After apomorphine injection, the patients with early untreated probable PD showed significant improvement of Vmax, Amax, NCV, NCA, and UPDRS III scores. Likewise, the patients with long-standing PD improved significantly in all kinematic parameters and UPDRS III scores. Patients with L-DOPA unresponsive parkinsonism failed to change significantly in any of the parameters tested. These observations suggest that the computer-assisted analysis of automated handwriting movements can be used as an objective quick method for quantifying dopamimetic effects on the kinematics of handwriting movements in parkinsonian patients. PMID:8723147

  20. Design and calibration of a low-cost open-loop PZT actuator for phase-shifting speckle interferometry

    NASA Astrophysics Data System (ADS)

    Bruno, Luigi; Mainieri, Paolo; Poggialini, Andrea

    2003-05-01

    The paper describes a simple low-cost open-loop PZT actuator and the procedures which have been developed for its calibration and alignment in order to obtain a device dedicated to phase-shifting speckle interferometry. A low-voltage multilayer PZT ceramic block was inserted between a mirror and a cube beamsplitter of a Michelson interferometer to be used in a shearometer assembled on a cube 40x40x40 mm. The PZT was driven by a supply voltage output by a 16 bit D/A converter directly connected to the parallel port of a personal computer which guarantees a very accurate output. By the analysis of the interference pattern produced by the Michelson interferometer the calibration curves (for ascending and descending input voltage) were obtained. When the whole hysteresis loop has been identified, a fairly linear working range can be chosen. The device is equipped with three setscrews acting on a leaf-spring for the compensation of the mirror tilting produced by the non uniform expansion of the PZT block. The calibration can be performed using either the interference between two smooth wavefronts (in presence of a sufficiently fine fringe pattern) or the interference between two speckle patterns. The calibration procedure can be consequently carried out directly on any speckle interferometer at the beginning of the measuring session, in this way the environmental sensitivity of the actuator can be overcome.

  1. A component-level failure detection and identification algorithm based on open-loop and closed-loop state estimators

    NASA Astrophysics Data System (ADS)

    You, Seung-Han; Cho, Young Man; Hahn, Jin-Oh

    2013-04-01

    This study presents a component-level failure detection and identification (FDI) algorithm for a cascade mechanical system subsuming a plant driven by an actuator unit. The novelty of the FDI algorithm presented in this study is that it is able to discriminate failure occurring in the actuator unit, the sensor measuring the output of the actuator unit, and the plant driven by the actuator unit. The proposed FDI algorithm exploits the measurement of the actuator unit output together with its estimates generated by open-loop (OL) and closed-loop (CL) estimators to enable FDI at the component's level. In this study, the OL estimator is designed based on the system identification of the actuator unit. The CL estimator, which is guaranteed to be stable against variations in the plant, is synthesized based on the dynamics of the entire cascade system. The viability of the proposed algorithm is demonstrated using a hardware-in-the-loop simulation (HILS), which shows that it can detect and identify target failures reliably in the presence of plant uncertainties.

  2. Can shallow open-loop hydrothermal well-doublets help remediate seawater intrusion?

    NASA Astrophysics Data System (ADS)

    De Keuleneer, François; Renard, Philippe

    2015-02-01

    Recharge through injection wells is a well-established technique to remediate and protect coastal aquifers from saltwater intrusion. In this study, it is shown that hydrothermal doublet installations can also be used to protect coastal aquifers while producing heat or cold for air conditioning. Such a method could be extremely valuable for situations where there is both a need for freshwater and energy production in coastal regions. The efficiency of the proposed approach is tested using Strack's analytical solution on a wide range of scenarios where the number of injection and pumping wells vary as well as the distance between these wells and the coast. The efficiency is evaluated through four control parameters: the relative freshwater volume, the maximum penetration distance of the saltwater toe, the thermal breakthrough time, and the percentage of injected water recycled. The analysis of these parameters computed for 343 scenarios confirms the efficiency of the method. Those results are extremely encouraging even if they still need to be confirmed through field experiments.

  3. Advanced Hybrid Spacesuit Concept Featuring Integrated Open Loop and Closed Loop Ventilation Systems

    NASA Technical Reports Server (NTRS)

    Daniel, Brian A.; Fitzpatrick, Garret R.; Gohmert, Dustin M.; Ybarra, Rick M.; Dub, Mark O.

    2013-01-01

    A document discusses the design and prototype of an advanced spacesuit concept that integrates the capability to function seamlessly with multiple ventilation system approaches. Traditionally, spacesuits are designed to operate both dependently and independently of a host vehicle environment control and life support system (ECLSS). Spacesuits that operate independent of vehicle-provided ECLSS services must do so with equipment selfcontained within or on the spacesuit. Suits that are dependent on vehicle-provided consumables must remain physically connected to and integrated with the vehicle to operate properly. This innovation is the design and prototype of a hybrid spacesuit approach that configures the spacesuit to seamlessly interface and integrate with either type of vehicular systems, while still maintaining the ability to function completely independent of the vehicle. An existing Advanced Crew Escape Suit (ACES) was utilized as the platform from which to develop the innovation. The ACES was retrofitted with selected components and one-off items to achieve the objective. The ventilation system concept was developed and prototyped/retrofitted to an existing ACES. Components were selected to provide suit connectors, hoses/umbilicals, internal breathing system ducting/ conduits, etc. The concept utilizes a lowpressure- drop, high-flow ventilation system that serves as a conduit from the vehicle supply into the suit, up through a neck seal, into the breathing helmet cavity, back down through the neck seal, out of the suit, and returned to the vehicle. The concept also utilizes a modified demand-based breathing system configured to function seamlessly with the low-pressure-drop closed-loop ventilation system.

  4. Open-loop wavefront sensing scheme for specimen aberrations correction in two-photon excited fluorescence microscopy

    NASA Astrophysics Data System (ADS)

    Aviles-Espinosa, Rodrigo; Andilla, Jordi; Porcar-Guezenec, Rafael; Levecq, Xavier; Artigas, David; Loza-Alvarez, Pablo

    2011-07-01

    The recent linkage between adaptive optics, a technique borrowed from astronomy and various imaging devices, has enabled to push forward their imaging capabilities by improving its contrast and resolution. A specific case is nonlinear microscopy (NLM) that, although it brings several inherent advantages (compared to linear fluorescence techniques) due to its nonlinear dependence on the excitation beam, its enhanced capabilities can be limited by the sample inhomogeneous structure. In this work, we demonstrate how these imaging capabilities can be enhanced by, employing adaptive optics in a two step correction process. Firstly, a closed-loop methodology aided by Shack-Hartman Wavefront sensing scheme is implemented for compensating the aberrations produced by the laser and the optical elements before the high numerical aperture microscope objective, resulting in a one-time calibration process. Then the residual aberrations are produced by the microscope objective and the sample. These are measured in a similar way as it is done in astronomy (employing a laser guide-star), using the two-photon excited fluorescence. The properties of this incoherent emission produced inside a test sample are compared to a genetically modified Caenorhabditis. elegans nematode expressing GFP showing that the emission of this protein (at 810nm) can be sensed efficiently with our WFS by modifying the exposure time. Therefore the recorded wavefront will capture the sample aberrations which are used to shape a deformable mirror in an open-loop configuration. This correction principle is demonstrated in a test sample by correcting aberrations in a "single-shot" resulting in a reduced sample exposure.

  5. A New Open-Loop Fiber Optic Gyro Error Compensation Method Based on Angular Velocity Error Modeling

    PubMed Central

    Zhang, Yanshun; Guo, Yajing; Li, Chunyu; Wang, Yixin; Wang, Zhanqing

    2015-01-01

    With the open-loop fiber optic gyro (OFOG) model, output voltage and angular velocity can effectively compensate OFOG errors. However, the model cannot reflect the characteristics of OFOG errors well when it comes to pretty large dynamic angular velocities. This paper puts forward a modeling scheme with OFOG output voltage u and temperature T as the input variables and angular velocity error Δω as the output variable. Firstly, the angular velocity error Δω is extracted from OFOG output signals, and then the output voltage u, temperature T and angular velocity error Δω are used as the learning samples to train a Radial-Basis-Function (RBF) neural network model. Then the nonlinear mapping model over T, u and Δω is established and thus Δω can be calculated automatically to compensate OFOG errors according to T and u. The results of the experiments show that the established model can be used to compensate the nonlinear OFOG errors. The maximum, the minimum and the mean square error of OFOG angular velocity are decreased by 97.0%, 97.1% and 96.5% relative to their initial values, respectively. Compared with the direct modeling of gyro angular velocity, which we researched before, the experimental results of the compensating method proposed in this paper are further reduced by 1.6%, 1.4% and 1.2%, respectively, so the performance of this method is better than that of the direct modeling for gyro angular velocity. PMID:25734642

  6. A new open-loop fiber optic gyro error compensation method based on angular velocity error modeling.

    PubMed

    Zhang, Yanshun; Guo, Yajing; Li, Chunyu; Wang, Yixin; Wang, Zhanqing

    2015-01-01

    With the open-loop fiber optic gyro (OFOG) model, output voltage and angular velocity can effectively compensate OFOG errors. However, the model cannot reflect the characteristics of OFOG errors well when it comes to pretty large dynamic angular velocities. This paper puts forward a modeling scheme with OFOG output voltage u and temperature T as the input variables and angular velocity error Δω as the output variable. Firstly, the angular velocity error Δω is extracted from OFOG output signals, and then the output voltage u, temperature T and angular velocity error Δω are used as the learning samples to train a Radial-Basis-Function (RBF) neural network model. Then the nonlinear mapping model over T, u and Δω is established and thus Δω can be calculated automatically to compensate OFOG errors according to T and u. The results of the experiments show that the established model can be used to compensate the nonlinear OFOG errors. The maximum, the minimum and the mean square error of OFOG angular velocity are decreased by 97.0%, 97.1% and 96.5% relative to their initial values, respectively. Compared with the direct modeling of gyro angular velocity, which we researched before, the experimental results of the compensating method proposed in this paper are further reduced by 1.6%, 1.4% and 1.42%, respectively, so the performance of this method is better than that of the direct modeling for gyro angular velocity. PMID:25734642

  7. Origin and control of instability in SCR/triac three-phase motor controllers

    NASA Technical Reports Server (NTRS)

    Dearth, J. J.

    1982-01-01

    The energy savings and reactive power reduction functions initiated by the power factor controller (PFC) are discussed. A three-phase PFC with soft start is examined analytically and experimentally to determine how well it controls the open loop instability and other possible modes of instability. The detailed mechanism of the open loop instability is determined and shown to impose design constraints on the closed loop system. The design is shown to meet those constraints.

  8. An optimal open/closed-loop control method with application to a pre-stressed thin duralumin plate

    NASA Astrophysics Data System (ADS)

    Nadimpalli, Sruthi Raju

    The excessive vibrations of a pre-stressed duralumin plate, suppressed by a combination of open-loop and closed-loop controls, also known as open/closed-loop control, is studied in this thesis. The two primary steps involved in this process are: Step (I) with an assumption that the closed-loop control law is proportional, obtain the optimal open-loop control by direct minimization of the performance measure consisting of energy at terminal time and a penalty on open-loop control force via calculus of variations. If the performance measure also involves a penalty on closed-loop control effort then a Fourier based method is utilized. Step (II) the energy at terminal time is minimized numerically to obtain optimal values of feedback gains. The optimal closed-loop control gains obtained are used to describe the displacement and the velocity of open-loop, closed-loop and open/closed-loop controlled duralumin plate.

  9. Mid-tropospheric Moisture Variations During the Development of Hurricane Karl as Resolved by Airborne GPS Radio Occultation with Open Loop Tracking

    NASA Astrophysics Data System (ADS)

    Haase, J. S.; Murphy, B.; Wang, K. N.; Garrison, J. L.; Adhikari, L.; Xie, F.

    2015-12-01

    The development of hurricane Karl in 2010 was investigated with dropsonde and airborne radio occultation (ARO) measurements from the stage of tropical disturbance within an easterly wave through to genesis of the tropical storm. Infrared imagery showed deep convection with extensive cold cloud tops on 11 September however the storm failed to develop until 3 days later. One possible explanation is the horizontal offset of the mid and lower level circulation centers. We illustrate with airborne radio occultation measurements additional information on the moisture distribution during this stage of development that indicates that average mid-level moisture was lower the following day and then increased again over the next two days prior to development. High sample rate RF data recorded by the GNSS instrument system for multistatic and occultation sensing (GISMOS) was analyzed with a version of the Purdue Software Receiver that has open-loop tracking implemented. Open loop tracking eliminates the feedback loop of conventional receivers that fails in the complex signal propagation environment typical of atmosphere with sharp moisture gradients. The open-loop excess phase profiles routinely sample below 4 km, with half of the profiles extending below 2 km. We retrieve slanted vertical profiles of atmospheric refractivity that can be considered a proxy for moisture in this tropical environment. We illustrate that in the mid to upper troposphere, ARO refractivity profiles sampling different areas within the tropical wave showed characteristics that were consistent with (~150 to 200 km scale) horizontal moisture gradients present in the NWP model representation of the developing tropical storm. Variation in refractivity preceding the development of the pre-Karl system is consistent with increasing moisture near the storm center. The ARO observations almost double the amount of thermodynamic data over that provided by the dropsondes. They provide interesting complementary

  10. Comparison of Driving Conditions and the Frequency of Rich Open Loop Operation for the South Coast Air Basin and the Federal Test Procedure with a 1991 Ffv Ford Taurus: Implications for Mobile Source Emissions Models.

    NASA Astrophysics Data System (ADS)

    St. Denis, Michael Joseph

    To aid in resolving critical questions about the accuracy of mobile source emissions models (e.g. EMFAC and MOBILE), this study provided a direct evaluation of real-time, on-road vehicle and engine operating parameters, and investigated their relationship to rich open loop emissions and driving pattern characteristics. More than 200,000 seconds of data were collected using a 1991 Ford Taurus under varying conditions in the South Coast Air Basin over a matrix of routes. Dynamometer emissions tests were conducted with the vehicle and the emissions data were used to model on-road emissions. The average on-road speed was 31.2 mph compared to 20.7 mph for the FTP and the maximum acceleration rate on-road was 10.0 mph s^{-1} compared to 3.3 mph s^{-1} for the FTP. Rich open loop operation occurred an average of 0.40% of the time on-road but was not observed during FTP and HFET tests. Factors which increased the frequency of rich open loop operation included aggressive driving, up-hill grades, merging and free flowing traffic conditions. Rich open loop emission rates were ~100, ~1700 and ~ 80 times higher than closed loop for HC, CO and NO_{rm x} (0.038 g s^{-1}, 3.17 g s ^{-1}, and 0.106 g s^ {-1} respectively during open loop operation). Modeling emissions as a function of load and speed was more accurate than with an acceleration-and speed-based model. The average modeled on-road emission rates were lower than the current emissions certification standards, but they were all greater than the emission rates measured for the FTP (33%, 190%, and 120% for HC, CO and NO _{rm x} respectively). Rich open loop operation accounted for ~ 70% of the increase in CO and ~ 40% of the increase in HC and NO, with the remainder attributed to differences between the FTP and on-road driving patterns. The results of the modeling studies suggest emissions from rich open loop operation, because they are not included in the FTP, may account for a portion of the under-estimation of current

  11. AC Bias Characterization of Low Noise Bolometers for SAFARI Using an Open-Loop Frequency Domain SQUID-based Multiplexer Operating Between 1 and 5 MHz

    NASA Astrophysics Data System (ADS)

    Gottardi, L.; Bruijn, M.; Gao, J.-R.; Hartog, R.; Hijmering, R.; Hoevers, H.; Khosropanah, P.; Korte, P.; Kuur, J.; Lindeman, M.; Ridder, M.

    2012-05-01

    SRON is developing the Frequency Domain Multiplexing (FDM) readout and the ultra low NEP TES bolometers array for the infrared spectrometer SAFARI on board of the Japanese space mission SPICA. The FDM prototype of the instrument requires critical and complex optimizations. For single pixel characterization under AC bias we are developing a simple FDM system working in the frequency range from 1 to 5 MHz, based on the open loop read-out of a linearized two-stage SQUID amplifier and high Q lithographic LC resonators. We describe the details of the experimental set-up required to achieve low power loading (< 1 fW) and low noise (NEP $\\sim 10^{-19} W/Hz^{1/2}$) in the TES bolometers. We conclude the paper by comparing the performance of a $4 \\cdot 10^{-19} W/Hz^{1/2}$ TES bolometer measured under DC and AC bias.

  12. A numerical approach to controller design with an application to a space structure test facility

    NASA Technical Reports Server (NTRS)

    Frazier, W. G.; Irwin, R. D.

    1992-01-01

    An iterative numerical algorithm that improves feasible closed loop design criteria by updating the parameters of a linear controller is developed. The algorithm allows the use of experimentally derived data collected from the open loop plant. It eliminates the need for an accurate parametric model of the open loop system. Experimental results from the application of a controller designed for a large space structure ground test facility using the algorithm are presented.

  13. Effect of using acetone and distilled water on the performance of open loop pulsating heat pipe (OLPHP) with different filling ratios

    NASA Astrophysics Data System (ADS)

    Rahman, Md. Lutfor; Afrose, Tonima; Tahmina, Halima Khatun; Rinky, Rumana Parvin; Ali, Mohammad

    2016-07-01

    Pulsating heat pipe (PHP) is a new innovation in the modern era of miniaturizes thermal management system for its higher heating and cooling capacity. The objective of this experiment is to observe the performance of open loop pulsating heat pipe using two fluids at different filling ratios. This OLPHP is a copper capillary tube of 2.5mm outer diameter and 2mm inner diameter. It consists of 8 loops where the evaporative section is 50mm, adiabatic section is 120mm and condensation section is 80mm. The experiment is conducted with distilled water and acetone at 40%, 50%, 60%, and 70% filling ratios where 0° (vertical) is considered as definite angle of inclination. Distilled water and acetone are selected as working fluids considering their different latent heat of vaporization and surface tension. It is found that acetone shows lower thermal resistance than water at all heat inputs. Best performance of acetone is attained at 70% filling ratio. Water displays better heat transfer capability at 50% filling ratio.

  14. GPS radio occultation with TerraSAR-X and TanDEM-X: sensitivity of lower troposphere sounding to the Open-Loop Doppler model

    NASA Astrophysics Data System (ADS)

    Zus, F.; Beyerle, G.; Heise, S.; Schmidt, T.; Wickert, J.

    2014-12-01

    The Global Positioning System (GPS) radio occultation (RO) technique provides valuable input for numerical weather prediction and is considered as a data source for climate related research. Numerous studies outline the high precision and accuracy of RO atmospheric soundings in the upper troposphere and lower stratosphere. In this altitude region (8-25 km) RO atmospheric soundings are considered to be free of any systematic error. In the tropical (30° S-30° N) Lower (<8 km) Troposphere (LT), this is not the case; systematic differences with respect to independent data sources exist and are still not completely understood. To date only little attention has been paid to the Open Loop (OL) Doppler model. Here we report on a RO experiment carried out on-board of the twin satellite configuration TerraSAR-X and TanDEM-X which possibly explains to some extent biases in the tropical LT. In two sessions we altered the OL Doppler model aboard TanDEM-X by not more than ±5 Hz with respect to TerraSAR-X and compare collocated atmospheric refractivity profiles. We find a systematic difference in the retrieved refractivity. The bias mainly stems from the tropical LT; there the bias reaches up to ±1%. Hence, we conclude that the negative bias (several Hz) of the OL Doppler model aboard TerraSAR-X introduces a negative bias (in addition to the negative bias which is primarily caused by critical refraction) in our retrieved refractivity in the tropical LT.

  15. A 20-40 MHz low-power clock oscillator with open-loop frequency calibration and temperature compensation

    NASA Astrophysics Data System (ADS)

    Lee, Dongsoo; Kim, Hongjin; Lee, Kang-Yoon

    2014-05-01

    In this paper, a 20-40 MHz low-power clock oscillator is presented to provide the frequency reference in data interface applications. The frequency source is referenced to a frequency-calibrated and temperature-compensated 2.5 GHz LC VCO that is implemented with a bondwire inductor. Class-C type VCO is adopted in order to improve the phase noise and reduce the current consumption. A full digital frequency calibration circuit is proposed to cover the wide output frequency range minimizing the frequency variation. External crystal oscillator (REF_CLK) is used only for the absolute frequency calibration at the initial programming stage and is not needed after the programming stage. On the other hand, temperature compensation is performed in an analogue way by controlling the varactor in the LC VCO. This chip is fabricated using 0.18-µm CMOS with the option of lateral PNP transistor. Lateral PNP transistors are used in the temperature compensation circuits. It can be implemented laterally in standard CMOS process. The power consumption is 4.8 mW from a 1.8 V supply. The accuracy of the frequency is ±58 ppm from -20°C to 80°C. The nominal phase noise at 1 MHz and period jitter is -122 dBc/Hz and 2 ps, respectively, when the output frequency is 25 MHz.

  16. Iterative LQG Controller Design Through Closed-Loop Identification

    NASA Technical Reports Server (NTRS)

    Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.

    1996-01-01

    This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.

  17. Evaluation of Analytical and Numerical Techniques for Defining the Radius of Influence for an Open-Loop Ground Source Heat Pump System

    SciTech Connect

    Freedman, Vicky L.; Mackley, Rob D.; Waichler, Scott R.; Horner, Jacob A.

    2013-09-26

    In an open-loop groundwater heat pump (GHP) system, groundwater is extracted, run through a heat exchanger, and injected back into the ground, resulting in no mass balance changes to the flow system. Although the groundwater use is non-consumptive, the withdrawal and injection of groundwater may cause negative hydraulic and thermal impacts to the flow system. Because GHP is a relatively new technology and regulatory guidelines for determining environmental impacts for GHPs may not exist, consumptive use metrics may need to be used for permit applications. For consumptive use permits, a radius of influence is often used, which is defined as the radius beyond which hydraulic impacts to the system are considered negligible. In this paper, the hydraulic radius of influence concept was examined using analytical and numerical methods for a non-consumptive GHP system in southeastern Washington State. At this location, the primary hydraulic concerns were impacts to nearby contaminant plumes and a water supply well field. The results of this study showed that the analytical techniques with idealized radial flow were generally unsuited because they over predicted the influence of the well system. The numerical techniques yielded more reasonable results because they could account for aquifer heterogeneities and flow boundaries. In particular, the use of a capture zone analysis was identified as the best method for determining potential changes in current contaminant plume trajectories. The capture zone analysis is a more quantitative and reliable tool for determining the radius of influence with a greater accuracy and better insight for a non-consumptive GHP assessment.

  18. Intermittent control of unstable multivariate systems.

    PubMed

    Loram, I; Gawthrop, P; Gollee, H

    2015-08-01

    A sensorimotor architecture inspired from biological, vertebrate control should (i) explain the interface between high dimensional sensory analysis, low dimensional goals and high dimensional motor mechanisms and (ii) provide both stability and flexibility. Our interest concerns whether single-input-single-output intermittent control (SISO_IC) generalized to multivariable intermittent control (MIC) can meet these requirements.We base MIC on the continuous-time observer-predictorstate-feedback architecture. MIC uses event detection. A system matched hold (SMH), using the underlying continuoustime optimal control design, generates multivariate open-loop control signals between samples of the predicted state. Combined, this serial process provides a single-channel of control with optimised sensor fusion and motor synergies. Quadratic programming provides constrained, optimised equilibrium control design to handle unphysical configurations, redundancy and provides minimum, necessary reduction of open loop instability through optimised joint impedance. In this multivariate form, dimensionality is linked to goals rather than neuromuscular or sensory degrees of freedom. The biological and engineering rationale for intermittent rather than continuous multivariate control, is that the generalised hold sustains open loop predictive control while the open loop interval provides time within the feedback loop for online centralised, state dependent optimisation and selection. PMID:26736539

  19. On the control of structures by applied thermal gradients

    NASA Technical Reports Server (NTRS)

    Edberg, Don; Chen, JAY-C.

    1987-01-01

    Some preliminary results of research on control of flexible structures performed at the Jet Propulsion Laboratory are presented. It was shown that the thermoelectric device is a feasible actuator and may effectively be used to control structures, provided the structure has a relatively low thermal inertia. The control law only depends on the open-loop system natural frequency.

  20. Feedback control of waiting times

    NASA Astrophysics Data System (ADS)

    Brandes, Tobias; Emary, Clive

    2016-04-01

    Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting-time distribution, under active and passive feedback conditions. We develop a general formalism and then specify to the simple unidirectional transport model, where we compare costs of open-loop and feedback control and use methods from optimal control theory to optimize waiting-time distributions.

  1. Feedback control of waiting times.

    PubMed

    Brandes, Tobias; Emary, Clive

    2016-04-01

    Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting-time distribution, under active and passive feedback conditions. We develop a general formalism and then specify to the simple unidirectional transport model, where we compare costs of open-loop and feedback control and use methods from optimal control theory to optimize waiting-time distributions. PMID:27176250

  2. Adaptation of a modern medium helicopter (Sikorsky S-76) to higher harmonic control

    NASA Technical Reports Server (NTRS)

    Oleary, J. J.; Kottapalli, S. B. R.; Davis, M. W.

    1985-01-01

    Sikorsky Aircraft has performed analytical studies, design analyses, and risk reduction tests have been performed for Higher Harmonic Control (HHC) on the S-76. The S-76 is an 8 to 10,000 lb helicopter which cruises at 145 kts. Flight test hardware has been assembled, main servo frequency response tested and upgraded, aircraft control system shake tested and verified, open loop controllers designed and fabricated, closed loop controllers defined and evaluated, and rotors turning ground and flight tests planned for the near future. Open loop analysis shows that about 2 deg of higher harmonic feathering at the blade 75% radius will be required to eliminate 4P vibration in the cockpit.

  3. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS

    SciTech Connect

    George Danko

    2006-04-01

    This report describes the results of the 2nd year of a research project on the implementation of a novel human-robot control system for hydraulic machinery. Sensor and valve re-calibration experiments were conducted to improve open loop machine control. A Cartesian control example was tested both in simulation and on the machine; the results are discussed in detail. The machine tests included open-loop as well as closed-loop motion control. Both methods worked reasonably well, due to the high-quality electro-hydraulic valves used on the experimental machine. Experiments on 3-D analysis of the bucket trajectory using marker tracking software are also presented with the results obtained. Open-loop control is robustly stable and free of short-term dynamic problems, but it allows for drifting away from the desired motion kinematics of the machine. A novel, closed-loop control adjustment provides a remedy, while retaining much of the advantages of the open-loop control based on kinematics transformation. Additional analysis of previously recorded, three-dimensional working trajectories of the bucket of large mine shovels was completed. The motion patterns, when transformed into a family of curves, serve as the basis for software-controlled machine kinematics transformation in the new human-robot control system.

  4. Multivariable PID control by decoupling

    NASA Astrophysics Data System (ADS)

    Garrido, Juan; Vázquez, Francisco; Morilla, Fernando

    2016-04-01

    This paper presents a new methodology to design multivariable proportional-integral-derivative (PID) controllers based on decoupling control. The method is presented for general n × n processes. In the design procedure, an ideal decoupling control with integral action is designed to minimise interactions. It depends on the desired open-loop processes that are specified according to realisability conditions and desired closed-loop performance specifications. These realisability conditions are stated and three common cases to define the open-loop processes are studied and proposed. Then, controller elements are approximated to PID structure. From a practical point of view, the wind-up problem is also considered and a new anti-wind-up scheme for multivariable PID controller is proposed. Comparisons with other works demonstrate the effectiveness of the methodology through the use of several simulation examples and an experimental lab process.

  5. Simulation Exercises for an Undergraduate Digital Process Control Course.

    ERIC Educational Resources Information Center

    Reeves, Deborah E.; Schork, F. Joseph

    1988-01-01

    Presents six problems from an alternative approach to homework traditionally given to follow-up lectures. Stresses the advantage of longer term exercises which allow for creativity and independence on the part of the student. Problems include: "System Model,""Open-Loop Simulation,""PID Control,""Dahlin Algorithm,""Analytical Predictor," and…

  6. PID Controller Settings Based on a Transient Response Experiment

    ERIC Educational Resources Information Center

    Silva, Carlos M.; Lito, Patricia F.; Neves, Patricia S.; Da Silva, Francisco A.

    2008-01-01

    An experimental work on controller tuning for chemical engineering undergraduate students is proposed using a small heat exchange unit. Based upon process reaction curves in open-loop configuration, system gain and time constant are determined for first order model with time delay with excellent accuracy. Afterwards students calculate PID…

  7. Strain actuated aeroelastic control

    NASA Technical Reports Server (NTRS)

    Lazarus, Kenneth B.

    1992-01-01

    Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.

  8. Long-term pumping test to study the impact of an open-loop geothermal system on seawater intrusion in a coastal aquifer: the case study of Bari (Southern Italy)

    NASA Astrophysics Data System (ADS)

    Clementina Caputo, Maria; Masciale, Rita; Masciopinto, Costantino; De Carlo, Lorenzo

    2016-04-01

    The high cost and scarcity of fossil fuels have promoted the increased use of natural heat for a number of direct applications. Just as for fossil fuels, the exploitation of geothermal energy should consider its environmental impact and sustainability. Particular attention deserves the so-called open loop geothermal groundwater heat pump (GWHP) system, which uses groundwater as geothermal fluid. From an economic point of view, the implementation of this kind of geothermal system is particularly attractive in coastal areas, which have generally shallow aquifers. Anyway the potential problem of seawater intrusion has led to laws that restrict the use of groundwater. The scarcity of freshwater could be a major impediment for the utilization of geothermal resources. In this study a new methodology has been proposed. It was based on an experimental approach to characterize a coastal area in order to exploit the low-enthalpy geothermal resource. The coastal karst and fractured aquifer near Bari, in Southern Italy, was selected for this purpose. For the purpose of investigating the influence of an open-loop GWHP system on the seawater intrusion, a long-term pumping test was performed. The test simulated the effects of a prolonged withdrawal on the chemical-physical groundwater characteristics of the studied aquifer portion. The duration of the test was programmed in 16 days, and it was performed with a constant pumping flowrate of 50 m3/h. The extracted water was outflowed into an adjacent artificial channel, by means of a piping system. Water depth, temperature and electrical conductivity of the pumped water were monitored for 37 days, including also some days before and after the pumping duration. The monitored parameters, collected in the pumping and in five observation wells placed 160 m down-gradient with respect to the groundwater flow direction, have been used to estimate different scenarios of the impact of the GWHP system on the seawater intrusion by mean of a

  9. Gust alleviation - Criteria and control laws

    NASA Technical Reports Server (NTRS)

    Rynaski, E. G.

    1979-01-01

    The relationships between criteria specified for aircraft gust alleviation and the form of the control laws that result from the criteria are considered. Open-loop gust alleviation based on the linearized, small perturbation equations of aircraft motion is discussed, and an approximate solution of the open-loop control law is presented for the case in which the number of degrees of freedom of the aircraft exceeds the rank of the control effectiveness matrix. Excessive actuator lag is compensated for by taking into account actuator dynamics in the equations of motion, resulting in the specification of a general load network. Criteria for gust alleviation when output motions are gust alleviated and the closed-loop control law derived from them are examined and linear optimal control law is derived. Comparisons of the control laws reveal that the effectiveness of an open-loop control law is greatest at low aircraft frequencies but deteriorates as the natural frequency of the actuators is approached, while closed-loop methods are found to be more effective at higher frequencies.

  10. Action Control: Independent Effects of Memory and Monocular Viewing on Reaching Accuracy

    ERIC Educational Resources Information Center

    Westwood, D.A.; Robertson, C.; Heath, M.

    2005-01-01

    Evidence suggests that perceptual networks in the ventral visual pathway are necessary for action control when targets are viewed with only one eye, or when the target must be stored in memory. We tested whether memory-linked (i.e., open-loop versus memory-guided actions) and monocular-linked effects (i.e., binocular versus monocular actions) on…

  11. Results of aircraft open-loop tests of an experimental magnetic leader cable system for guidance during roll-out and turnoff

    NASA Technical Reports Server (NTRS)

    Bundick, W. Thomas; Middleton, David B.; Poole, William L.

    1990-01-01

    An experimental magnetic leader cable (MLC) system designed to measure aircraft lateral displacement from centerline and heading relative to centerline during rollout, turnoff, and taxi was tested at NASA's Wallops Flight Facility using NASA's Transport System Research Vehicle (TSRV), a modified B-737. The MLC system consisted of ground equipment that produced a magnetic field about a wire along runway centerline and airborne equipment that detected the strength and direction of this field and computed displacement and heading. Results of these tests indicate that estimates of aircraft displacement from centerline produced by the magnetic leader cable system using either of the two algorithms appear to be adequate for use by an automatic control system during rollout, turnoff, and taxi. Estimates of heading, however, are not sufficiently accurate for use, probably because of distortion of the magnetic field by the metal aircraft.

  12. Generalized Momentum Control of the Spin-Stabilized Magnetospheric Multiscale (MMS) Formation

    NASA Technical Reports Server (NTRS)

    Benegalrao, Suyog; Queen, Steven; Shah, Neerav; Blackman, Kathleen

    2015-01-01

    Angular momentum control maneuvers required to keep spin-axis in science box. Traditional approach uses de-coupled modes for pointing, spin, nutation Impractical for MMS Frequency and Number of maneuvers (Orbit Control, Pointing, Nutation, Spin, four observatories, every 2-4 weeks). Difficult to implement de-coupled open-loop control with flexible wire booms. Desire a unified angular momentum controller. Comprehensively control pointing, spin, and nutation.

  13. Open-loop digital frequency multiplier

    NASA Technical Reports Server (NTRS)

    Moore, R. C.

    1977-01-01

    Monostable multivibrator is implemented by using digital integrated circuits where multiplier constant is too large for conventional phase-locked-loop integrated circuit. A 400 Hz clock is generated by divide-by-N counter from 1 Hz timing reference.

  14. Multi-mode ultrasonic welding control and optimization

    DOEpatents

    Tang, Jason C.H.; Cai, Wayne W

    2013-05-28

    A system and method for providing multi-mode control of an ultrasonic welding system. In one embodiment, the control modes include the energy of the weld, the time of the welding process and the compression displacement of the parts being welded during the welding process. The method includes providing thresholds for each of the modes, and terminating the welding process after the threshold for each mode has been reached, the threshold for more than one mode has been reached or the threshold for one of the modes has been reached. The welding control can be either open-loop or closed-loop, where the open-loop process provides the mode thresholds and once one or more of those thresholds is reached the welding process is terminated. The closed-loop control provides feedback of the weld energy and/or the compression displacement so that the weld power and/or weld pressure can be increased or decreased accordingly.

  15. Attitude-Control Algorithm for Minimizing Maneuver Execution Errors

    NASA Technical Reports Server (NTRS)

    Acikmese, Behcet

    2008-01-01

    A G-RAC attitude-control algorithm is used to minimize maneuver execution error in a spacecraft with a flexible appendage when said spacecraft must induce translational momentum by firing (in open loop) large thrusters along a desired direction for a given period of time. The controller is dynamic with two integrators and requires measurement of only the angular position and velocity of the spacecraft. The global stability of the closed-loop system is guaranteed without having access to the states describing the dynamics of the appendage and with severe saturation in the available torque. Spacecraft apply open-loop thruster firings to induce a desired translational momentum with an extended appendage. This control algorithm will assist this maneuver by stabilizing the attitude dynamics around a desired orientation, and consequently minimize the maneuver execution errors.

  16. Combating dephasing decoherence by periodically performing tracking control and projective measurement

    SciTech Connect

    Zhang Ming; Dai Hongyi; Xi Zairong; Xie Hongwei; Hu Dewen

    2007-10-15

    We propose a scheme to overcome phase damping decoherence by periodically performing open loop tracking control and projective measurement. Although it is impossible to stabilize a qubit subject to Markovian dynamics only by open loop coherent control, one can attain a 'softened' control goal with the help of periodical projective measurement. The 'softened' control objective in our scheme is to keep the state of the controlled qubit to stay near a reference pure state with a high probability for a sufficiently long time. Two suboptimal control problems are given in the sense of trace distance and fidelity, respectively, and they are eventually reduced to the design of a period T. In our scheme, one can choose the period T as long as possible if the 'softened' control goal is attained. This is in contrast to the observation that quantum Zeno effect takes place only if measurements are performed in a very frequent manner, i.e., the period T must be extremely small.

  17. Intermittent control models of human standing: similarities and differences.

    PubMed

    Gawthrop, Peter; Loram, Ian; Gollee, Henrik; Lakie, Martin

    2014-04-01

    Two architectures of intermittent control are compared and contrasted in the context of the single inverted pendulum model often used for describing standing in humans. The architectures are similar insofar as they use periods of open-loop control punctuated by switching events when crossing a switching surface to keep the system state trajectories close to trajectories leading to equilibrium. The architectures differ in two significant ways. Firstly, in one case, the open-loop control trajectory is generated by a system-matched hold, and in the other case, the open-loop control signal is zero. Secondly, prediction is used in one case but not the other. The former difference is examined in this paper. The zero control alternative leads to periodic oscillations associated with limit cycles; whereas the system-matched control alternative gives trajectories (including homoclinic orbits) which contain the equilibrium point and do not have oscillatory behaviour. Despite this difference in behaviour, it is further shown that behaviour can appear similar when either the system is perturbed by additive noise or the system-matched trajectory generation is perturbed. The purpose of the research is to come to a common approach for understanding the theoretical properties of the two alternatives with the twin aims of choosing which provides the best explanation of current experimental data (which may not, by itself, distinguish between the two alternatives) and suggesting future experiments to distinguish between the two alternatives. PMID:24500616

  18. Computational alternatives to obtain time optimal jet engine control. M.S. Thesis

    NASA Technical Reports Server (NTRS)

    Basso, R. J.; Leake, R. J.

    1976-01-01

    Two computational methods to determine an open loop time optimal control sequence for a simple single spool turbojet engine are described by a set of nonlinear differential equations. Both methods are modifications of widely accepted algorithms which can solve fixed time unconstrained optimal control problems with a free right end. Constrained problems to be considered have fixed right ends and free time. Dynamic programming is defined on a standard problem and it yields a successive approximation solution to the time optimal problem of interest. A feedback control law is obtained and it is then used to determine the corresponding open loop control sequence. The Fletcher-Reeves conjugate gradient method has been selected for adaptation to solve a nonlinear optimal control problem with state variable and control constraints.

  19. Simplify controller tuning

    SciTech Connect

    Puerto, J.R.; Dunne, P.

    1984-12-01

    Quite often, controller tuning methods use information obtained by oscillating the control loop with a constant amplitude cycle under proportional-only (P) control. Simple calculations can then be made to arrive at settings for twomode proportional and integral (PI) or three-mode proportional, integral, and derivative (PID) controllers. Calculations done in this manner are somewhat simpler and faster than those based on an open-loop process reaction curve. The problem, of course, is that very rarely can a loop be placed in a constant amplitude cycle. In this article, a method is described by which information may be gathered identical to that obtained by cycling the loop. It uses only the open-loop process response curve. The advantage is simpler calculations related to these constant cycling methods. A technique similar to the Ziegler-Nichols process reaction curve method is used to obtain an approximation of the dead time, /tau/ /SUB dt5/ and capacity time constant, /tau//sub 1/, assuming a self-regulating capacity.

  20. General unifying features of controlled quantum phenomena

    SciTech Connect

    Pechen, Alexander; Brif, Constantin; Wu, Rebing; Chakrabarti, Raj; Rabitz, Herschel

    2010-09-15

    Many proposals have been put forth for controlling quantum phenomena, including open-loop, adaptive feedback, and real-time feedback control. Each of these approaches has been viewed as operationally, and even physically, distinct from the others. This work shows that all such scenarios inherently share the same fundamental control features residing in the topology of the landscape relating the target physical observable to the applied controls. This unified foundation may provide a basis for development of hybrid control schemes that would combine the advantages of the existing approaches to achieve the best overall performance.

  1. Effect of natural damping on the dynamics and control of a class of optimally designed structures

    NASA Technical Reports Server (NTRS)

    Satyanarayana, K.; Bainum, M.

    1988-01-01

    In this study the vibration control of large space structures with structural damping is investigated. Emphasis is made on the control of both a class of optimally designed (stepped) structures and also the corresponding uniform structures using a cantilever beam as an example. The open loop and closed loop dynamics are compared and the transient responses are determined to study the effect of damping on the control system design.

  2. Modeling and simulation of control system for 3-phase variable-reluctance stepper motor

    NASA Astrophysics Data System (ADS)

    Liu, Lihua; Li, Hong

    2010-12-01

    In this paper, firstly, we establish the mode of the VR stepper motor on open-loop system of the stepper motor. Secondly, we control the exciting model, realize simulation of the circuit of unipolar driver and chop constant current control. Finally, we analyze the simulation results. And the results shows that these control methods can be applied to the actual motion of the system, which can improve the characteristics of the motion system of the stepper motor.

  3. Experimental evaluation of a shape memory alloy wire actuator with a modulated adaptive controller for position control

    NASA Astrophysics Data System (ADS)

    Senthilkumar, P.; Dayananda, G. N.; Umapathy, M.; Shankar, V.

    2012-01-01

    This paper presents an experimental investigation of position control of a shape memory alloy (SMA) wire actuator with adaptive and modulated adaptive controllers. The transfer function model of the SMA wire actuator is determined from the experimental open loop response. Adaptive controllers, namely LMS-GSPI, RLS-GSPI and Kalman-GSPI, and modulated adaptive controllers using pulse width modulation (PWM) are designed. The performances of these controllers are experimentally investigated for the position control of an SMA wire actuator with and without thermal disturbance. Experimental results demonstrate that the modulated adaptive controllers outperform adaptive controllers.

  4. An optimal PID controller via LQR for standard second order plus time delay systems.

    PubMed

    Srivastava, Saurabh; Misra, Anuraag; Thakur, S K; Pandit, V S

    2016-01-01

    An improved tuning methodology of PID controller for standard second order plus time delay systems (SOPTD) is developed using the approach of Linear Quadratic Regulator (LQR) and pole placement technique to obtain the desired performance measures. The pole placement method together with LQR is ingeniously used for SOPTD systems where the time delay part is handled in the controller output equation instead of characteristic equation. The effectiveness of the proposed methodology has been demonstrated via simulation of stable open loop oscillatory, over damped, critical damped and unstable open loop systems. Results show improved closed loop time response over the existing LQR based PI/PID tuning methods with less control effort. The effect of non-dominant pole on the stability and robustness of the controller has also been discussed. PMID:26654724

  5. Lessons Learned and Flight Results from the F15 Intelligent Flight Control System Project

    NASA Technical Reports Server (NTRS)

    Bosworth, John

    2006-01-01

    A viewgraph presentation on the lessons learned and flight results from the F15 Intelligent Flight Control System (IFCS) project is shown. The topics include: 1) F-15 IFCS Project Goals; 2) Motivation; 3) IFCS Approach; 4) NASA F-15 #837 Aircraft Description; 5) Flight Envelope; 6) Limited Authority System; 7) NN Floating Limiter; 8) Flight Experiment; 9) Adaptation Goals; 10) Handling Qualities Performance Metric; 11) Project Phases; 12) Indirect Adaptive Control Architecture; 13) Indirect Adaptive Experience and Lessons Learned; 14) Gen II Direct Adaptive Control Architecture; 15) Current Status; 16) Effect of Canard Multiplier; 17) Simulated Canard Failure Stab Open Loop; 18) Canard Multiplier Effect Closed Loop Freq. Resp.; 19) Simulated Canard Failure Stab Open Loop with Adaptation; 20) Canard Multiplier Effect Closed Loop with Adaptation; 21) Gen 2 NN Wts from Simulation; 22) Direct Adaptive Experience and Lessons Learned; and 23) Conclusions

  6. Identification of system, observer, and controller from closed-loop experimental data

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Phan, Minh

    1992-01-01

    This paper considers the identification problem of a system operating in closed-loop with an existing feedback controller. The closed-loop system is excited by a known excitation signal, and the resulting time histories of the closed-loop system response and the feedback signal are measured. From the time history data, the algorithm computes the Markov parameters of a closed-loop observer, from which the Markov parameters of the individual open-loop plant, observer, and controller are recovered. A state space model of the open-loop plant and the gain matrices for the controller and the observer are then realized. The results of the paper are demonstrated by an example using actual aircraft flutter test data.

  7. Energy Cost of Controlling Mesoscopic Quantum Systems

    NASA Astrophysics Data System (ADS)

    Horowitz, Jordan M.; Jacobs, Kurt

    2015-09-01

    We determine the minimum energy required to control the evolution of any mesoscopic quantum system in the presence of arbitrary Markovian noise processes. This result provides the mesoscopic equivalent of the fundamental cost of refrigeration, sets the minimum power consumption of mesoscopic devices that operate out of equilibrium, and allows one to calculate the efficiency of any control protocol, whether it be open-loop or feedback control. As examples, we calculate the energy cost of maintaining a qubit in the ground state and the efficiency of resolved-sideband cooling of nano-mechanical resonators, and discuss the energy cost of quantum information processing.

  8. Concurrent Adaptation of Human and Machine Improves Simultaneous and Proportional Myoelectric Control.

    PubMed

    Hahne, Janne M; Dahne, Sven; Hwang, Han-Jeong; Muller, Klaus-Robert; Parra, Lucas C

    2015-07-01

    Myoelectric control of a prosthetic hand with more than one degree of freedom (DoF) is challenging, and clinically available techniques require a sequential actuation of the DoFs. Simultaneous and proportional control of multiple DoFs is possible with regression-based approaches allowing for fluent and natural movements. Conventionally, the regressor is calibrated in an open-loop with training based on recorded data and the performance is evaluated subsequently. For individuals with amputation or congenital limb-deficiency who need to (re)learn how to generate suitable muscle contractions, this open-loop process may not be effective. We present a closed-loop real-time learning scheme in which both the user and the machine learn simultaneously to follow a common target. Experiments with ten able-bodied individuals show that this co-adaptive closed-loop learning strategy leads to significant performance improvements compared to a conventional open-loop training paradigm. Importantly, co-adaptive learning allowed two individuals with congenital deficiencies to perform simultaneous 2-D proportional control at levels comparable to the able-bodied individuals, despite having to a learn completely new and unfamiliar mapping from muscle activity to movement trajectories. To our knowledge, this is the first study which investigates man-machine co-adaptation for regression-based myoelectric control. The proposed training strategy has the potential to improve myographic prosthetic control in clinically relevant settings. PMID:25680209

  9. The dynamics and control of large flexible space structures, 8

    NASA Technical Reports Server (NTRS)

    Bainum, P. M.; Reddy, A. S. S. R.; Diarra, C. M.; Ananthakrishnan, S.

    1985-01-01

    A development of the in plane open loop rotational equations of motion for the proposed Spacecraft Control Laboratory Experiment (SCOLE) in orbit configuration is presented based on an Eulerian formulation. The mast is considered to be a flexible beam connected to the (rigid) shuttle and the reflector. Frequencies and mode shapes are obtained for the mast vibrational appendage modes (assumed to be decoupled) for different boundary conditions based on continuum approaches and also preliminary results are obtained using a finite element representation of the mast reflector system. The linearized rotational in plane equation is characterized by periodic coefficients and open loop system stability can be examined with an application of the Floquet theorem. Numerical results are presented to illustrate the potential instability associated with actuator time delays even for delays which represent only a small fraction of the natural period of oscillation of the modes contained in the open loop model of the system. When plant and measurement noise effects are added to the previously designed deterministic model of the hoop column system, it is seen that both the system transient and steady state performance are degraded. Mission requirements can be satisfied by appropriate assignment of cost function weighting elements and changes in the ratio of plant noise to measurement noise.

  10. Modal Filtering for Control of Flexible Aircraft

    NASA Technical Reports Server (NTRS)

    Suh, Peter M.; Mavris, Dimitri N.

    2013-01-01

    Modal regulators and deformation trackers are designed for an open-loop fluttering wing model. The regulators are designed with modal coordinate and accelerometer inputs respectively. The modal coordinates are estimated with simulated fiber optics. The robust stability of the closed-loop systems is compared in a structured singular-value vector analysis. Performance is evaluated and compared in a gust alleviation and flutter suppression simulation. For the same wing and flight condition two wing-shape-tracking control architectures are presented, which achieve deformation control at any point on the wing.

  11. Robust fuel- and time-optimal control of uncertain flexible space structures

    NASA Technical Reports Server (NTRS)

    Wie, Bong; Sinha, Ravi; Sunkel, John; Cox, Ken

    1993-01-01

    The problem of computing open-loop, fuel- and time-optimal control inputs for flexible space structures in the face of modeling uncertainty is investigated. Robustified, fuel- and time-optimal pulse sequences are obtained by solving a constrained optimization problem subject to robustness constraints. It is shown that 'bang-off-bang' pulse sequences with a finite number of switchings provide a practical tradeoff among the maneuvering time, fuel consumption, and performance robustness of uncertain flexible space structures.

  12. Spatiotemporal control and synchronization of flute modes and drift waves in a magnetized plasma column

    SciTech Connect

    Brochard, F.; Bonhomme, G.; Gravier, E.; Oldenbuerger, S.; Philipp, M.

    2006-05-15

    An open-loop spatiotemporal synchronization method is applied to flute modes in a cylindrical magnetized plasma. It is demonstrated that synchronization can be achieved only if the exciter signal rotates in the same direction as the propagating mode. Moreover, the efficiency of the synchronization is shown to depend on the radial properties of the instability under consideration. It is also demonstrated that the control disposition can alternatively be used to produce strongly developed turbulence of drift waves or flute instabilities.

  13. A platform for dynamic simulation and control of movement based on OpenSim and MATLAB.

    PubMed

    Mansouri, Misagh; Reinbolt, Jeffrey A

    2012-05-11

    Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB's variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1s (OpenSim) to 2.9s (MATLAB). For the closed-loop case, a proportional-integral-derivative controller was used to successfully balance a pole on model's hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions. PMID:22464351

  14. Modelling and Control of an Annular Momentum Control Device

    NASA Technical Reports Server (NTRS)

    Downer, James R.; Johnson, Bruce G.

    1988-01-01

    The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.

  15. Model-free approach to optimal signal light timing for system-wide traffic control

    SciTech Connect

    Spall, J.C.; Chin, D.C.

    1994-12-31

    A long-standing problem in traffic engineering is to optimize the flow of vehicles through a given road network. Improving the timing of the traffic signals at intersections in the network is generally the most powerful and cost-effective means of achieving this goal. However, because of the many complex aspects of a traffic system-human behavioral considerations, vehicle flow interactions within the network, weather effects, traffic accidents, long-term (e.g., seasonal) variation, etc.-it has been notoriously difficult to determine the optimal signal light timing. This is especially the case on a system- wide (multiple intersection) basis. Much of this difficulty has stemmed from the need to build extremely complex open-loop models of the traffic dynamics as a component of the control strategy. This paper presents a fundamentally different approach for optimal light timing that eliminates the need for such an open-loop model. The approach is based on a neural network (or other function approximator) serving as the basis for the control law, with the weight estimation occurring in closed-loop mode via the simultaneous perturbation stochastic approximation (SPSA) algorithm. Since the SPSA algorithm requires only loss function measurements (no gradients of the loss function), there is no open-loop model required for the weight estimation. The approach is illustrated by simulation on a six-intersection network with moderate congestion and stochastic, nonlinear effects.

  16. Optimization of an Aeroservoelastic Wing with Distributed Multiple Control Surfaces

    NASA Technical Reports Server (NTRS)

    Stanford, Bret K.

    2015-01-01

    This paper considers the aeroelastic optimization of a subsonic transport wingbox under a variety of static and dynamic aeroelastic constraints. Three types of design variables are utilized: structural variables (skin thickness, stiffener details), the quasi-steady deflection scheduling of a series of control surfaces distributed along the trailing edge for maneuver load alleviation and trim attainment, and the design details of an LQR controller, which commands oscillatory hinge moments into those same control surfaces. Optimization problems are solved where a closed loop flutter constraint is forced to satisfy the required flight margin, and mass reduction benefits are realized by relaxing the open loop flutter requirements.

  17. Experimental demonstration of static shape control. [using flexible beam facility for large space structure development

    NASA Technical Reports Server (NTRS)

    Eldred, D.; Schaechter, D.

    1981-01-01

    Results of a microprocessor-controlled implementation of static shape control using a specially constructed flexible beam facility are presented. The discussion covers the development of shape control algorithms, adaptation of the algorithms for use with finite element models, construction of a flexible beam, characterization and calibration of the facility, development of a finite element model for the beam, and the development of computer hardware and software. It is shown that feedback control yields better results than open-loop control, and that the use of more than two sensors in the control loop has little effect on the system performance.

  18. Low bandwidth robust controllers for flight

    NASA Technical Reports Server (NTRS)

    Biezad, Daniel J.; Chou, Hwei-Lan

    1993-01-01

    Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.

  19. Low Bandwidth Robust Controllers for Flight

    NASA Technical Reports Server (NTRS)

    Biezad, Daniel J.; Chou, Hwei-Lan

    1993-01-01

    Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.

  20. Load limiting parachute inflation control

    SciTech Connect

    Redmond, J.; Hinnerichs, T.; Parker, G.

    1994-01-01

    Excessive deceleration forces experienced during high speed deployment of parachute systems can cause damage to the payload and the canopy fabric. Conventional reefing lines offer limited relief by temporarily restricting canopy inflation and limiting the peak deceleration load. However, the open-loop control provided by existing reefing devices restrict their use to a specific set of deployment conditions. In this paper, the sensing, processing, and actuation that are characteristic of adaptive structures form the basis of three concepts for active control of parachute inflation. These active control concepts are incorporated into a computer simulation of parachute inflation. Initial investigations indicate that these concepts promise enhanced performance as compared to conventional techniques for a nominal release. Furthermore, the ability of each controller to adapt to off-nominal release conditions is examined.

  1. Transform methods for precision continuum and control models of flexible space structures

    NASA Technical Reports Server (NTRS)

    Lupi, Victor D.; Turner, James D.; Chun, Hon M.

    1991-01-01

    An open loop optimal control algorithm is developed for general flexible structures, based on Laplace transform methods. A distributed parameter model of the structure is first presented, followed by a derivation of the optimal control algorithm. The control inputs are expressed in terms of their Fourier series expansions, so that a numerical solution can be easily obtained. The algorithm deals directly with the transcendental transfer functions from control inputs to outputs of interest, and structural deformation penalties, as well as penalties on control effort, are included in the formulation. The algorithm is applied to several structures of increasing complexity to show its generality.

  2. Active Flow Control on a Low Reynolds Number Wing

    NASA Astrophysics Data System (ADS)

    Munson, Matthew; Gharib, Morteza

    2010-11-01

    Control of vortex formation has been shown to be a critical mechanism in some forms of animal flight. Flapping motions create advantageous flow structures which play a role in enhancing lift and increasing maneuverability. Active flow control may be capable of providing similar influence over vortex formation processes in fixed wing flight at small Reynolds numbers. Steady and pulsed mass injection strategies through simple slot actuators are used to explore the open-loop response of the flow around a simple low-aspect ratio wing. Flow dynamics and vortex formation will be quantitatively visualized with DPIV and flow forces will be simultaneously measured with a six-component balance.

  3. Game Theoretic Approach to Post-Docked Satellite Control

    NASA Technical Reports Server (NTRS)

    Hiramatsu, Takashi; Fitz-Coy, Norman G.

    2007-01-01

    This paper studies the interaction between two satellites after docking. In order to maintain the docked state with uncertainty in the motion of the target vehicle, a game theoretic controller with Stackelberg strategy to minimize the interaction between the satellites is considered. The small perturbation approximation leads to LQ differential game scheme, which is validated to address the docking interactions between a service vehicle and a target vehicle. The open-loop solution are compared with Nash strategy, and it is shown that less control efforts are obtained with Stackelberg strategy.

  4. Control of Disruptive Instabilities

    NASA Astrophysics Data System (ADS)

    Arshad, S. A.

    Available from UMI in association with The British Library. Requires signed TDF. In tokamak devices, at critical values of discharge parameters (n_ e, q(a), beta) the plasma can suddenly be terminated. The process is called a disruption. It is a major limitation in the operation of tokamaks, not only because of the limitation it imposes on the operation parameter space, but also due to the severe thermal and electromechanical loadings on the vessel. These difficulties and implications for fusion reactors have attracted increasing attention and a variety of approaches in the attempt to avoid, reduce or overcome the problem have been investigated. The growth of a magnetic perturbation is believed to be responsible for the disruptive process, and previous experiments have examined the effect on this perturbation of magnetic feedback. In DITE experiments have been done to extend this work by using a more sophisticated feedback loop. The detector-coils and feedback saddle-coils (configured to treat the m = 21, n = 1 structure which is dominant in disruption precursors) were mounted inside the vacuum vessel and fast programmable loop-gain and loop-phase controllers were used. Open-loop experiments contained studies of mode locking and plasma response to applied (2,1) fields. The feedback work explored the effect on disruption precursors over a large area in parameter space and was the first to address in detail the effect of feedback on disruptions. Both open-loop and feedback experiments were conducted on Ohmic discharges and discharges with lower hybrid current drive (LHCD). The experiments have demonstrated disruption precursor control in both types of discharge. Disruptions were studied in Ohmic plasmas. They were postponed and the density limit was extended.

  5. A universal scheme for indirect quantum control

    NASA Astrophysics Data System (ADS)

    Layden, David; Martin-Martinez, Eduardo; Kempf, Achim

    The goal of indirect quantum control is to coherently steer a quantum system solely by acting on a quantum actuator to which it is coupled. This approach to quantum control is convenient in many physical settings, as it allows one to avoid direct addressing of the system--and any associated difficulties--altogether. While it is known in principle that control of the actuator typically yields universal control of the system, the practical details of how such indirect control can be achieved are less clear. This deficiency has led to a number of implementation- and model-specific indirect control schemes, in lieu of a general recipe applicable to any physical setting. Here, we present such a recipe, in the form of an open-loop control scheme which implements arbitrary unitary operations on the system by exploiting open dynamics in the actuator. arXiv:1506.06749.

  6. Nonlinearity measure and internal model control based linearization in anti-windup design

    SciTech Connect

    Perev, Kamen

    2013-12-18

    This paper considers the problem of internal model control based linearization in anti-windup design. The nonlinearity measure concept is used for quantifying the control system degree of nonlinearity. The linearizing effect of a modified internal model control structure is presented by comparing the nonlinearity measures of the open-loop and closed-loop systems. It is shown that the linearization properties are improved by increasing the control system local feedback gain. However, it is emphasized that at the same time the stability of the system deteriorates. The conflicting goals of stability and linearization are resolved by solving the design problem in different frequency ranges.

  7. Flight dynamics analysis and control of transport aircraft subject to failure

    NASA Astrophysics Data System (ADS)

    Daşkɪran, O.; Kavsaoğlu, M. Ş.

    2013-12-01

    After a structural damage or component failure during any flight mode, aircraft dynamics are dramatically altered. A quick and adequate stabilization effort is crucial. Flight dynamics for several failure scenarios are analyzed. Necessary amounts of control deflections for postfailure trim are calculated. These trim values are used as control input in an open loop manner and validity of this approach is tested via flight simulations. Alternatively, a closed loop flight control system, which does not need the postfailure trim values, is also designed. This closed loop controller is based on a linearized aircraft model whereas flight simulations are based on nonlinear aircraft dynamics.

  8. Speed and pressure control system design and simulation for a compression press

    SciTech Connect

    Floersch, R.H.

    1981-04-01

    A new system design using closed loop control on the hydraulic system on compression transfer presses used to make filled elastomer parts will improve accuracy and repeatability of speed and pressure control during critical pre-cure forming stages. The present open loop system does not provide the control necessary to mold repeatably the filled elastomer products. These products form with great difficulty because of high loading levels of filler materials. The new system will mean improved wall thickness control of loaded elastomer parts, thus reducing the amount of scrap caused by wall thickness variations.

  9. Feed forward and feedback control for over-ground locomotion in anaesthetized cats.

    PubMed

    Mazurek, K A; Holinski, B J; Everaert, D G; Stein, R B; Etienne-Cummings, R; Mushahwar, V K

    2012-04-01

    The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm; ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future. PMID:22328615

  10. Feed forward and feedback control for over-ground locomotion in anaesthetized cats

    NASA Astrophysics Data System (ADS)

    Mazurek, K. A.; Holinski, B. J.; Everaert, D. G.; Stein, R. B.; Etienne-Cummings, R.; Mushahwar, V. K.

    2012-04-01

    The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.

  11. Spacecraft attitude control using neuro-fuzzy approximation of the optimal controllers

    NASA Astrophysics Data System (ADS)

    Kim, Sung-Woo; Park, Sang-Young; Park, Chandeok

    2016-01-01

    In this study, a neuro-fuzzy controller (NFC) was developed for spacecraft attitude control to mitigate large computational load of the state-dependent Riccati equation (SDRE) controller. The NFC was developed by training a neuro-fuzzy network to approximate the SDRE controller. The stability of the NFC was numerically verified using a Lyapunov-based method, and the performance of the controller was analyzed in terms of approximation ability, steady-state error, cost, and execution time. The simulations and test results indicate that the developed NFC efficiently approximates the SDRE controller, with asymptotic stability in a bounded region of angular velocity encompassing the operational range of rapid-attitude maneuvers. In addition, it was shown that an approximated optimal feedback controller can be designed successfully through neuro-fuzzy approximation of the optimal open-loop controller.

  12. Information-theoretic limits of control

    PubMed

    Touchette; Lloyd

    2000-02-01

    Fundamental limits on the controllability of physical systems are discussed in the light of information theory. It is shown that the second law of thermodynamics, when generalized to include information, sets absolute limits to the minimum amount of dissipation required by open-loop control. In addition, an information-theoretic analysis of control systems shows feedback control to be a zero sum game: each bit of information gathered from a dynamical system by a control device can serve to decrease the entropy of that system by at most one bit additional to the reduction of entropy attainable without such information. Consequences for the control of discrete state systems and chaotic maps are discussed. PMID:11017467

  13. Intermittent control: a computational theory of human control.

    PubMed

    Gawthrop, Peter; Loram, Ian; Lakie, Martin; Gollee, Henrik

    2011-02-01

    The paradigm of continuous control using internal models has advanced understanding of human motor control. However, this paradigm ignores some aspects of human control, including intermittent feedback, serial ballistic control, triggered responses and refractory periods. It is shown that event-driven intermittent control provides a framework to explain the behaviour of the human operator under a wider range of conditions than continuous control. Continuous control is included as a special case, but sampling, system matched hold, an intermittent predictor and an event trigger allow serial open-loop trajectories using intermittent feedback. The implementation here may be described as "continuous observation, intermittent action". Beyond explaining unimodal regulation distributions in common with continuous control, these features naturally explain refractoriness and bimodal stabilisation distributions observed in double stimulus tracking experiments and quiet standing, respectively. Moreover, given that human control systems contain significant time delays, a biological-cybernetic rationale favours intermittent over continuous control: intermittent predictive control is computationally less demanding than continuous predictive control. A standard continuous-time predictive control model of the human operator is used as the underlying design method for an event-driven intermittent controller. It is shown that when event thresholds are small and sampling is regular, the intermittent controller can masquerade as the underlying continuous-time controller and thus, under these conditions, the continuous-time and intermittent controller cannot be distinguished. This explains why the intermittent control hypothesis is consistent with the continuous control hypothesis for certain experimental conditions. PMID:21327829

  14. Stable Direct Adaptive Control of Linear Infinite-dimensional Systems Using a Command Generator Tracker Approach

    NASA Technical Reports Server (NTRS)

    Balas, M. J.; Kaufman, H.; Wen, J.

    1985-01-01

    A command generator tracker approach to model following contol of linear distributed parameter systems (DPS) whose dynamics are described on infinite dimensional Hilbert spaces is presented. This method generates finite dimensional controllers capable of exponentially stable tracking of the reference trajectories when certain ideal trajectories are known to exist for the open loop DPS; we present conditions for the existence of these ideal trajectories. An adaptive version of this type of controller is also presented and shown to achieve (in some cases, asymptotically) stable finite dimensional control of the infinite dimensional DPS.

  15. Flutter suppression digital control law design and testing for the AFW wind-tunnel model

    NASA Technical Reports Server (NTRS)

    Mukhopadhyay, Vivek

    1992-01-01

    Design of a control law for simultaneously suppressing the symmetric and antisymmetric flutter modes of a string mounted fixed-in-roll aeroelastic wind tunnel model is described. The flutter suppression control law was designed using linear quadratic Gaussian theory and involved control law order reduction, a gain root-locus study, and the use of previous experimental results. A 23 percent increase in open-loop flutter dynamic pressure was demonstrated during the wind tunnel test. Rapid roll maneuvers at 11 percent above the symmetric flutter boundary were also performed when the model was in a free-to-roll configuration.

  16. Flutter suppression digital control law design and testing for the AFW wind tunnel model

    NASA Technical Reports Server (NTRS)

    Mukhopadhyay, Vivek

    1994-01-01

    The design of a control law for simultaneously suppressing the symmetric and antisymmetric flutter modes of a sting mounted fixed-in-roll aeroelastic wind-tunnel model is described. The flutter suppression control law was designed using linear quadratic Gaussian theory, and it also involved control law order reduction, a gain root-locus study, and use of previous experimental results. A 23 percent increase in the open-loop flutter dynamic pressure was demonstrated during the wind-tunnel test. Rapid roll maneuvers at 11 percent above the symmetric flutter boundary were also performed when the model was in a free-to-roll configuration.

  17. Automatic control of bioprocesses.

    PubMed

    Stanke, Marc; Hitzmann, Bernd

    2013-01-01

    In this chapter, different approaches for open-loop and closed-loop control applied in bioprocess automation are discussed. Although in recent years many contributions dealing with closed-loop control have been published, only a minority were actually applied in real bioprocesses, the majority being simulations. As a result of the diversity of bioprocess requirements, a single control algorithm cannot be applied in all cases; rather, different approaches are necessary. Most publications combine different closed-loop control techniques to construct hybrid systems. These systems are supposed to combine the advantages of each approach into a well-performing control strategy. The majority of applications are soft sensors in combination with a proportional-integral-derivative (PID) controller. The fact that soft sensors have become this importance for control purposes demonstrates the lack of direct measurements or their large additional expense for robust and reliable online measurement systems. The importance of model predictive control is increasing; however, reliable and robust process models are required, as well as very powerful computers to address the computational needs. The lack of theoretical bioprocess models is compensated by hybrid systems combining theoretical models, fuzzy logic, and/or artificial neural network methodology. Although many authors suggest a possible transfer of their presented control application to other bioprocesses, the algorithms are mostly specialized to certain organisms or certain cultivation conditions as well as to a specific measurement system. PMID:23307293

  18. Benchmark simulation Model no 2 in Matlab-simulink: towards plant-wide WWTP control strategy evaluation.

    PubMed

    Vreck, D; Gernaey, K V; Rosen, C; Jeppsson, U

    2006-01-01

    In this paper, implementation of the Benchmark Simulation Model No 2 (BSM2) within Matlab-Simulink is presented. The BSM2 is developed for plant-wide WWTP control strategy evaluation on a long-term basis. It consists of a pre-treatment process, an activated sludge process and sludge treatment processes. Extended evaluation criteria are proposed for plant-wide control strategy assessment. Default open-loop and closed-loop strategies are also proposed to be used as references with which to compare other control strategies. Simulations indicate that the BM2 is an appropriate tool for plant-wide control strategy evaluation. PMID:17163014

  19. Control and structural optimization for maneuvering large spacecraft

    NASA Technical Reports Server (NTRS)

    Chun, H. M.; Turner, J. D.; Yu, C. C.

    1990-01-01

    Presented here are the results of an advanced control design as well as a discussion of the requirements for automating both the structures and control design efforts for maneuvering a large spacecraft. The advanced control application addresses a general three dimensional slewing problem, and is applied to a large geostationary platform. The platform consists of two flexible antennas attached to the ends of a flexible truss. The control strategy involves an open-loop rigid body control profile which is derived from a nonlinear optimal control problem and provides the main control effort. A perturbation feedback control reduces the response due to the flexibility of the structure. Results are shown which demonstrate the usefulness of the approach. Software issues are considered for developing an integrated structures and control design environment.

  20. Gain-scheduling Control of Rotary Inverted Pendulum by Weight Optimization and H∞ Loop Shaping Procedure

    NASA Astrophysics Data System (ADS)

    Yubai, Kazuhiro; Okuhara, Kazunori; Hirai, Junji

    Gain-scheduling control is one of effective methods for plants whose dynamics changes significantly according to its operating point. A frozen parameter method is known to be a practical gain-scheduling controller synthesis, which interpolates the controllers designed at the prespecified (frozen) operating points according to the current operation point. Hyde et al. proposed a gain-scheduling control that H∞ loop shaping procedure is adopted as a controller synthesis at each operating point. H∞ loop shaping procedure is based on loop shaping of an open loop characteristic by frequency weights and is known to be effective for plants with bad condition number. However, weight selection satisfying control specifications is hard job for a designer. This paper describes the design of a suboptimal weight and a controller by means of algorithm that maximizes the robust stability margin and shapes the open loop characteristic into the desired shape at each operating point. Moreover, we formulate a weight optimization problem as a generalized eigenvalue minimization problem, which reduces the designer's burden of weight selection. Finally, we realize robust and high performance control system by scheduling both weights and controllers. The effectiveness of the proposed control system is verified in terms of the achieved robust stability margin and experimental time responses of a rotary inverted pendulum which involves strong nonlinear dynamics.

  1. Structural Damage Detection Using Virtual Passive Controllers

    NASA Technical Reports Server (NTRS)

    Lew, Jiann-Shiun; Juang, Jer-Nan

    2001-01-01

    This paper presents novel approaches for structural damage detection which uses the virtual passive controllers attached to structures, where passive controllers are energy dissipative devices and thus guarantee the closed-loop stability. The use of the identified parameters of various closed-loop systems can solve the problem that reliable identified parameters, such as natural frequencies of the open-loop system may not provide enough information for damage detection. Only a small number of sensors are required for the proposed approaches. The identified natural frequencies, which are generally much less sensitive to noise and more reliable than the identified natural frequencies, are used for damage detection. Two damage detection techniques are presented. One technique is based on the structures with direct output feedback controllers while the other technique uses the second-order dynamic feedback controllers. A least-squares technique, which is based on the sensitivity of natural frequencies to damage variables, is used for accurately identifying the damage variables.

  2. Design of feedforward controllers for multivariable plants

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

    Simple methods for the design of feedforward controllers to achieve steady-state disturbance rejection and command tracking in stable multivariable plants are developed in this paper. The controllers are represented by simple and low-order transfer functions and are not based on reconstruction of the states of the commands and disturbances. For unstable plants, it is shown that the present method can be applied directly when an additional feedback controller is employed to stabilize the plant. The feedback and feedforward controllers do not affect each other and can be designed independently based on the open-loop plant to achieve stability, disturbance rejection and command tracking, respectivley. Numerical examples are given for illustration.

  3. Improvements on adaptive optics control approaches: experimental tests of wavefront correction forecasting

    NASA Astrophysics Data System (ADS)

    Del Moro, Dario; Piazzesi, Roberto; Stangalini, Marco; Giovannelli, Luca; Berrilli, Francesco

    2015-01-01

    The FORS (closed loop forecasting system) control algorithm has been already successfully applied to improve the efficiency of a simulated adaptive optics (AO) system. To test its performance in real conditions, we implemented this algorithm in a hardware AO demonstrator, introducing controlled aberrations into the system. We present here the results of introducing into the system both a simple periodic defocus aberration and a real open loop defocus time sequence acquired at the vacuum tower telescope solar telescope. In both cases, FORS yields a significant performance increase, improving the stability of the system in closed-loop conditions and decreasing the amplitude of the residual uncorrected wavefront aberrations.

  4. Optimal actuator location of minimum norm controls for heat equation with general controlled domain

    NASA Astrophysics Data System (ADS)

    Guo, Bao-Zhu; Xu, Yashan; Yang, Dong-Hui

    2016-09-01

    In this paper, we study optimal actuator location of the minimum norm controls for a multi-dimensional heat equation with control defined in the space L2 (Ω × (0 , T)). The actuator domain is time-varying in the sense that it is only required to have a prescribed Lebesgue measure for any moment. We select an optimal actuator location so that the optimal control takes its minimal norm over all possible actuator domains. We build a framework of finding the Nash equilibrium so that we can develop a sufficient and necessary condition to characterize the optimal relaxed solutions for both actuator location and corresponding optimal control of the open-loop system. The existence and uniqueness of the optimal classical solutions are therefore concluded. As a result, we synthesize both optimal actuator location and corresponding optimal control into a time-varying feedbacks.

  5. Input shaped control of 3-dimensional maneuvers of flexible spacecraft

    NASA Technical Reports Server (NTRS)

    Singh, T.; Vadali, S. R.

    1992-01-01

    This paper deals with the control of three dimensional rotational maneuvers of flexible spacecraft. A spacecraft with a spherical hub and six symmetric appendages is considered here as a model. The appendages are long and flexible leading to low frequency vibration under any control action. To provide a comprehensive treatment of input shaped controllers, both open loop and closed loop controllers are considered. The minimum-time bang-bang and the near-minimum-time controller, used in conjunction with the shaped input technique are studied. In addition, a combination of a Liapunov controller with the shaped input control technique is proposed to take advantage of the simple feedback control strategy and augment it with a technique that can eliminate the vibratory motion of the flexible appendages more efficiently.

  6. Optimal spacecraft attitude control using collocation and nonlinear programming

    NASA Astrophysics Data System (ADS)

    Herman, A. L.; Conway, B. A.

    1992-10-01

    Direct collocation with nonlinear programming (DCNLP) is employed to find the optimal open-loop control histories for detumbling a disabled satellite. The controls are torques and forces applied to the docking arm and joint and torques applied about the body axes of the OMV. Solutions are obtained for cases in which various constraints are placed on the controls and in which the number of controls is reduced or increased from that considered in Conway and Widhalm (1986). DCLNP works well when applied to the optimal control problem of satellite attitude control. The formulation is straightforward and produces good results in a relatively small amount of time on a Cray X/MP with no a priori information about the optimal solution. The addition of joint acceleration to the controls significantly reduces the control magnitudes and optimal cost. In all cases, the torques and acclerations are modest and the optimal cost is very modest.

  7. Tracking-refinement modeling for solar-collector control

    SciTech Connect

    Biggs, F.

    1980-01-01

    A closed-loop sun-tracking control used in conjunction with an open-loop system can utilize the unique features of both methods to obtain an improved sun-tracking capability. The open-loop part of the system uses a computer with clock and ephemeris input to acquire the sun at startup, to provide alignment during cloud passage, and to give an approximate sun-tracking capability throughout the day. The closed-loop portion of the system refines this alignment in order to maximize the collected solar power. For a parabolic trough that utilizes a tube along its focal line to collect energy in a fluid, a resistance wire attached to the tube can provide the sensor for the closed-loop part of the control. This kind of tracking refinement helps to compensate for such time-dependent effects as sag of the absorber tube and deformation of the concentrator surface from gravity or wind loading, temperature gradients, and manufacturing tolerances. A model is developed to explain the behavior of a resistance wire which is wrapped around the absorber tube of a parabolic-trough concentrator and used as a sensor in a tracking-refinement control.

  8. Stochastic optimal control of single neuron spike trains

    NASA Astrophysics Data System (ADS)

    Iolov, Alexandre; Ditlevsen, Susanne; Longtin, André

    2014-08-01

    Objective. External control of spike times in single neurons can reveal important information about a neuron's sub-threshold dynamics that lead to spiking, and has the potential to improve brain-machine interfaces and neural prostheses. The goal of this paper is the design of optimal electrical stimulation of a neuron to achieve a target spike train under the physiological constraint to not damage tissue. Approach. We pose a stochastic optimal control problem to precisely specify the spike times in a leaky integrate-and-fire (LIF) model of a neuron with noise assumed to be of intrinsic or synaptic origin. In particular, we allow for the noise to be of arbitrary intensity. The optimal control problem is solved using dynamic programming when the controller has access to the voltage (closed-loop control), and using a maximum principle for the transition density when the controller only has access to the spike times (open-loop control). Main results. We have developed a stochastic optimal control algorithm to obtain precise spike times. It is applicable in both the supra-threshold and sub-threshold regimes, under open-loop and closed-loop conditions and with an arbitrary noise intensity; the accuracy of control degrades with increasing intensity of the noise. Simulations show that our algorithms produce the desired results for the LIF model, but also for the case where the neuron dynamics are given by more complex models than the LIF model. This is illustrated explicitly using the Morris-Lecar spiking neuron model, for which an LIF approximation is first obtained from a spike sequence using a previously published method. We further show that a related control strategy based on the assumption that there is no noise performs poorly in comparison to our noise-based strategies. The algorithms are numerically intensive and may require efficiency refinements to achieve real-time control; in particular, the open-loop context is more numerically demanding than the closed

  9. Experimental Studies on the Fuel Control Method of the Scramjet Combustor

    NASA Astrophysics Data System (ADS)

    Fu, Qiang; Song, Wenyan; Li, Jianping; Han, Xiaobao; Niu, Jun

    2014-08-01

    The fuel control method of the liquid kerosenefueled scramjet combustor was investigated experimentally in this article. The primary goal was to experimentally demonstrate the possibility of using the closed-loop control with a combustor wall pressure feedback in the scramjet combustor. The open-loop control and the closed-loop control experiment were investigated by using the direct-connected test facility of Northwestern Polytechnical University. The typical flow conditions at the combustor entrance were: Mach number Ma = 2.0, totaltemperature Tt ≈ 880 K and total-pressure Pt = 700 ~ 800 kPa, which corresponded to a flight condition with Mach number 4.0. The monotone relationship between the wall pressure and the engine thrust was experimentally demonstrated by the open-loop control experiments. The closed-loop control experiments demonstrated that it was feasible to use wall pressure or pressure ratio as the feedback parameter in the closed-loop control, and the results indicate that it can precise control the fuel applying and shows a good performance.

  10. System/observer/controller identification toolbox

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Horta, Lucas G.; Phan, Minh

    1992-01-01

    System Identification is the process of constructing a mathematical model from input and output data for a system under testing, and characterizing the system uncertainties and measurement noises. The mathematical model structure can take various forms depending upon the intended use. The SYSTEM/OBSERVER/CONTROLLER IDENTIFICATION TOOLBOX (SOCIT) is a collection of functions, written in MATLAB language and expressed in M-files, that implements a variety of modern system identification techniques. For an open loop system, the central features of the SOCIT are functions for identification of a system model and its corresponding forward and backward observers directly from input and output data. The system and observers are represented by a discrete model. The identified model and observers may be used for controller design of linear systems as well as identification of modal parameters such as dampings, frequencies, and mode shapes. For a closed-loop system, an observer and its corresponding controller gain directly from input and output data.

  11. Step-control of electromechanical systems

    DOEpatents

    Lewis, Robert N.

    1979-01-01

    The response of an automatic control system to a general input signal is improved by applying a test input signal, observing the response to the test input signal and determining correctional constants necessary to provide a modified input signal to be added to the input to the system. A method is disclosed for determining correctional constants. The modified input signal, when applied in conjunction with an operating signal, provides a total system output exhibiting an improved response. This method is applicable to open-loop or closed-loop control systems. The method is also applicable to unstable systems, thus allowing controlled shut-down before dangerous or destructive response is achieved and to systems whose characteristics vary with time, thus resulting in improved adaptive systems.

  12. Active control of vibration transmission through struts

    NASA Astrophysics Data System (ADS)

    Pelinescu, Ion; Balachandran, Balakumar

    1998-07-01

    In this work, analytical investigations into active control of longitudinal and flexural vibrations transmitted through a cylindrical strut are conducted. A mechanics based model for a strut fitted with a piezoelectric actuator is developed. For harmonic disturbances, a linear dynamic formulation describing the motion of the actuator is integrated with the formulation describing wave transmission through the strut, and the resulting system is studied in the frequency domain. Open-loop studies are conducted with the aid of numerical simulations, and the potential of active control schemes to attenuate the transmitted vibrations over the frequency range of 10 Hz to 6000 Hz is examined. The relevance of the current work to control of helicopter cabin interior noise is also discussed.

  13. Maneuvering and control of flexible space robots

    NASA Technical Reports Server (NTRS)

    Meirovitch, Leonard; Lim, Seungchul

    1994-01-01

    This paper is concerned with a flexible space robot capable of maneuvering payloads. The robot is assumed to consist of two hinge-connected flexible arms and a rigid end-effector holding a payload; the robot is mounted on a rigid platform floating in space. The equations of motion are nonlinear and of high order. Based on the assumption that the maneuvering motions are one order of magnitude larger than the elastic vibrations, a perturbation approach permits design of controls for the two types of motion separately. The rigid-body maneuvering is carried out open loop, but the elastic motions are controlled closed loop, by means of discrete-time linear quadratic regulator theory with prescribed degree of stability. A numerical example demonstrates the approach. In the example, the controls derived by the perturbation approach are applied to the original nonlinear system and errors are found to be relatively small.

  14. Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

    NASA Technical Reports Server (NTRS)

    Frost, Susan A.; Balas, Mark J.

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

  15. Motion and force control for multiple cooperative manipulators

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz, Kenneth

    1989-01-01

    The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

  16. Robust control of flexible space vehicles with minimum structural excitation: On-off pulse control of flexible space vehicles

    NASA Technical Reports Server (NTRS)

    Wie, Bong; Liu, Qiang

    1992-01-01

    Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.

  17. Constant-current control method of multi-function electromagnetic transmitter.

    PubMed

    Xue, Kaichang; Zhou, Fengdao; Wang, Shuang; Lin, Jun

    2015-02-01

    Based on the requirements of controlled source audio-frequency magnetotelluric, DC resistivity, and induced polarization, a constant-current control method is proposed. Using the required current waveforms in prospecting as a standard, the causes of current waveform distortion and current waveform distortion's effects on prospecting are analyzed. A cascaded topology is adopted to achieve 40 kW constant-current transmitter. The responsive speed and precision are analyzed. According to the power circuit of the transmitting system, the circuit structure of the pulse width modulation (PWM) constant-current controller is designed. After establishing the power circuit model of the transmitting system and the PWM constant-current controller model, analyzing the influence of ripple current, and designing an open-loop transfer function according to the amplitude-frequency characteristic curves, the parameters of the PWM constant-current controller are determined. The open-loop transfer function indicates that the loop gain is no less than 28 dB below 160 Hz, which assures the responsive speed of the transmitting system; the phase margin is 45°, which assures the stabilization of the transmitting system. Experimental results verify that the proposed constant-current control method can keep the control error below 4% and can effectively suppress load change caused by the capacitance of earth load. PMID:25725863

  18. Constant-current control method of multi-function electromagnetic transmitter

    NASA Astrophysics Data System (ADS)

    Xue, Kaichang; Zhou, Fengdao; Wang, Shuang; Lin, Jun

    2015-02-01

    Based on the requirements of controlled source audio-frequency magnetotelluric, DC resistivity, and induced polarization, a constant-current control method is proposed. Using the required current waveforms in prospecting as a standard, the causes of current waveform distortion and current waveform distortion's effects on prospecting are analyzed. A cascaded topology is adopted to achieve 40 kW constant-current transmitter. The responsive speed and precision are analyzed. According to the power circuit of the transmitting system, the circuit structure of the pulse width modulation (PWM) constant-current controller is designed. After establishing the power circuit model of the transmitting system and the PWM constant-current controller model, analyzing the influence of ripple current, and designing an open-loop transfer function according to the amplitude-frequency characteristic curves, the parameters of the PWM constant-current controller are determined. The open-loop transfer function indicates that the loop gain is no less than 28 dB below 160 Hz, which assures the responsive speed of the transmitting system; the phase margin is 45°, which assures the stabilization of the transmitting system. Experimental results verify that the proposed constant-current control method can keep the control error below 4% and can effectively suppress load change caused by the capacitance of earth load.

  19. Behavioural system identification of visual flight speed control in Drosophila melanogaster

    PubMed Central

    Rohrseitz, Nicola; Fry, Steven N.

    2011-01-01

    Behavioural control in many animals involves complex mechanisms with intricate sensory-motor feedback loops. Modelling allows functional aspects to be captured without relying on a description of the underlying complex, and often unknown, mechanisms. A wide range of engineering techniques are available for modelling, but their ability to describe time-continuous processes is rarely exploited to describe sensory-motor control mechanisms in biological systems. We performed a system identification of visual flight speed control in the fruitfly Drosophila, based on an extensive dataset of open-loop responses previously measured under free flight conditions. We identified a second-order under-damped control model with just six free parameters that well describes both the transient and steady-state characteristics of the open-loop data. We then used the identified control model to predict flight speed responses after a visual perturbation under closed-loop conditions and validated the model with behavioural measurements performed in free-flying flies under the same closed-loop conditions. Our system identification of the fruitfly's flight speed response uncovers the high-level control strategy of a fundamental flight control reflex without depending on assumptions about the underlying physiological mechanisms. The results are relevant for future investigations of the underlying neuromotor processing mechanisms, as well as for the design of biomimetic robots, such as micro-air vehicles. PMID:20525744

  20. Detecting air traffic controller interventions in recorded air transportation system data

    NASA Astrophysics Data System (ADS)

    Kwon, Yul

    In this study, I propose a systematic method of detecting aircraft deviation due to air traffic controller (ATC) intervention. The aircraft deviations associated with ATC interventions are detected using a heuristic algorithm developed from analyzing the actual positions of an aircraft to its filed flight plan when the aircraft trajectories were identified as having an encounter in a loss-of-separation incident. An actual (closed-loop) flight trajectory of the Cleveland Air Route Traffic Control Center (ZOB ARTCC) was collected from the FlightAware database. This was compared with the corresponding planned (open-loop) trajectory dataset generated by the Microsoft(c) Flight Simulator X (FSX). I implemented a conflict-detection algorithm in Matlab to identify open-loop flight trajectories that encounters in loss-of-separation. I analyzed the differences between the closed-loop and open-loop flight trajectories of aircrafts that were identified to have encounters in loss of separation. The analysis identified operationally significant deviations in the closed-loop trajectory data with respect to the horizontal paths of the aircrafts. I then developed and validated a heuristic algorithm, the ATC intervention detection algorithm, based on the findings from the analysis. When used with a test dataset to validate the algorithm, it achieved an 85.7% detection rate in detecting horizontal deviations made by the ATC in resolving identified conflicts, and a false-alarm rate of 68%. In addition to the ATC intervention detection algorithm, I present in this paper an analysis of deviated flight trajectories in an effort to display how the presented methodology can be utilized to provide insight into air traffic controller resolution strategies.

  1. Adaptive stochastic control for a class of linear systems.

    NASA Technical Reports Server (NTRS)

    Tse, E.; Athans, M.

    1972-01-01

    The problem considered in this paper deals with the control of linear discrete-time stochastic systems with unknown (possibly time-varying and random) gain parameters. The philosophy of control is based on the use of an open-loop feedback optimal (OLFO) control using a quadratic index of performance. It is shown that the OLFO system consists of (1) an identifier that estimates the system state variables and gain parameters and (2) a controller described by an 'adaptive' gain and correction term. Several qualitative properties and asymptotic properties of the OLFO adaptive system are discussed. Simulation results dealing with the control of stable and unstable third-order plants are presented. The key quantitative result is the precise variation of the control system adaptive gains as a function of the future expected uncertainty of the parameters; thus, in this problem the ordinary 'separation theorem' does not hold.

  2. On-Orbit Model Refinement for Controller Redesign

    NASA Technical Reports Server (NTRS)

    Whorton, Mark S.; Calise, Anthony J.

    1998-01-01

    High performance control design for a flexible space structure is challenging since high fidelity plant models are difficult to obtain a priori. Uncertainty in the control design models typically require a very robust, low performance control design which must be tuned on-orbit to achieve the required performance. A new procedure for refining a multivariable open loop plant model based on closed-loop response data is presented. Using a minimal representation of the state space dynamics, a least squares prediction error method is employed to estimate the plant parameters. This control-relevant system identification procedure stresses the joint nature of the system identification and control design problem by seeking to obtain a model that minimizes the difference between the predicted and actual closed-loop performance. This paper presents an algorithm for iterative closed-loop system identification and controller redesign along with illustrative examples.

  3. A New Systematic Procedure to Design an Automatic Generation Controller

    NASA Astrophysics Data System (ADS)

    Khodabakhshian, A.

    A new method to tune the controller parameters is presented in study for Automatic Generation Control (AGC) of hydro turbine power systems. The controller parameters are adjusted such that the maximum phase is located on the right-most point of the ellipse, corresponding the maximum peak resonance on the Nichols chart. For this system making the open-loop frequency response curve tangent to a specified ellipse is an efficient method for controlling the overshoot, the stability and the dynamics of the system. The robustness of the feedback PID controller has been investigated on a multimachine power system model and the results are shown to be consistent with the expected performance. The results are also compared with a conventional PI controller and shown to be superior; especially since the transient droop compensator of the speed governor is removed a much faster response is obtained. The region of acceptable performance for the LFC covers a wide range of operating and system conditions.

  4. Distributed control for COFS 1

    NASA Technical Reports Server (NTRS)

    Montgomery, R. C.; Sulla, Jeff; Lindner, D. K.

    1986-01-01

    An overview is given of the work being done at NASA LaRC on developing the Control of Flexible Structures (COFS) 1 Flight Experiment Baseline Control Law. This control law currently evolving to a generic control system software package designed to supply many, but not all, guest investigators. A system simulator is also described. It is currently being developed for COFS-1 and will be used to develop the Baseline Control Law and to evaluate guest investigator control schemes. It will be available for use whether or not control schemes fall into the category of the Baseline Control Law. First, the hardware configuration for control experiments is described. This is followed by a description of the simulation software. Open-loop sinusoid excitation time histories are next presented both with and without a local controller for the Linear DC Motor (LDCM) actuators currently planned for the flight. The generic control law follows and algorithm processing requirements are cited for a nominal case of interest. Finally, a closed-loop simulation study is presented, and the state of the work is summarized in the concluding remarks.

  5. A novel control strategy for efficient biological phosphorus removal with carbon-limited wastewaters.

    PubMed

    Guerrero, Javier; Guisasola, Albert; Baeza, Juan A

    2014-01-01

    This work shows the development and the in silico evaluation of a novel control strategy aiming at successful biological phosphorus removal in a wastewater treatment plant operating in an A(2)/O configuration with carbon-limited influent. The principle of this novel approach is that the phosphorus in the effluent can be controlled with the nitrate setpoint in the anoxic reactor as manipulated variable. The theoretical background behind this control strategy is that reducing nitrate entrance to the anoxic reactor would result in more organic matter available for biological phosphorus removal. Thus, phosphorus removal would be enhanced at the expense of increasing nitrate in the effluent (but always below legal limits). The work shows the control development, tuning and performance in comparison to open-loop conditions and to two other conventional control strategies for phosphorus removal based on organic matter and metal addition. It is shown that the novel proposed strategy achieves positive nutrient removal results with similar operational costs to the other control strategies and open-loop operation. PMID:25116500

  6. Real-time control of ion density and ion energy in chlorine inductively coupled plasma etch processing

    NASA Astrophysics Data System (ADS)

    Chang, Cheng-Hung; Leou, Keh-Chyang; Lin, Chaung; Lin, Tsan-Lang; Tseng, Chih-Wei; Tsai, Chuen-Horng

    2003-07-01

    In this study, we have experimentally demonstrated the real-time closed-loop control of both ion density and ion energy in a chlorine inductively coupled plasma etcher. To measure positive ion density, the trace rare gases-optical emission spectroscopy is used to measure the chlorine positive ion density. An rf voltage probe is adopted to measure the root-mean-square rf voltage on the electrostatic chuck which is linearly dependent on sheath voltage. One actuator is a 13.56 MHz rf generator to drive the inductive coil seated on a ceramic window. The second actuator is also a 13.56 MHz rf generator to power the electrostatic chuck. The closed-loop controller is designed to compensate for process drift, process disturbance, and pilot wafer effect and to minimize steady-state error of plasma parameters. This controller has been used to control the etch process of unpatterned polysilicon. The experimental results showed that the closed-loop control had a better repeatability of plasma parameters compared with open-loop control. The closed-loop control can eliminate the process disturbance resulting from reflected power. In addition, experimental results also demonstrated that closed-loop control has a better reproducibility in etch rate as compared with open-loop control.

  7. Sensorless Control of Permanent Magnet Machine for NASA Flywheel Technology Development

    NASA Technical Reports Server (NTRS)

    Kenny, Barbara H.; Kascak, Peter E.

    2002-01-01

    This paper describes the position sensorless algorithms presently used in the motor control for the NASA "in-house" development work of the flywheel energy storage system. At zero and low speeds a signal injection technique, the self-sensing method, is used to determine rotor position. At higher speeds, an open loop estimate of the back EMF of the machine is made to determine the rotor position. At start up, the rotor is set to a known position by commanding dc into one of the phase windings. Experimental results up to 52,000 rpm are presented.

  8. Method and System for Active Noise Control of Tiltrotor Aircraft

    NASA Technical Reports Server (NTRS)

    Betzina, Mark D. (Inventor); Nguyen, Khanh Q. (Inventor)

    2003-01-01

    Methods and systems for reducing noise generated by rotating blades of a tiltrotor aircraft. A rotor-blade pitch angle associated with the tiltrotor aircraft can be controlled utilizing a swashplate connected to rotating blades of the tiltrotor aircraft. One or more Higher Harmonic Control (HHC) signals can be transmitted and input to a swashplate control actuator associated with the swashplate. A particular blade pitch oscillation (e.g., four cycles per revolution) is there-after produced in a rotating frame of reference associated with the rotating blades in response to input of an HHC signal to the swashplate control actuator associated with the swashplate to thereby reduce noise associated with the rotating blades of the tiltrotor aircraft. The HHC signal can be transmitted and input to the swashplate control actuator to reduce noise of the tiltrotor aircraft in response to a user input utilizing an open-loop configuration.

  9. Circadian Phase Resetting via Single and Multiple Control Targets

    PubMed Central

    Bagheri, Neda; Stelling, Jörg; Doyle, Francis J.

    2008-01-01

    Circadian entrainment is necessary for rhythmic physiological functions to be appropriately timed over the 24-hour day. Disruption of circadian rhythms has been associated with sleep and neuro-behavioral impairments as well as cancer. To date, light is widely accepted to be the most powerful circadian synchronizer, motivating its use as a key control input for phase resetting. Through sensitivity analysis, we identify additional control targets whose individual and simultaneous manipulation (via a model predictive control algorithm) out-perform the open-loop light-based phase recovery dynamics by nearly 3-fold. We further demonstrate the robustness of phase resetting by synchronizing short- and long-period mutant phenotypes to the 24-hour environment; the control algorithm is robust in the presence of model mismatch. These studies prove the efficacy and immediate application of model predictive control in experimental studies and medicine. In particular, maintaining proper circadian regulation may significantly decrease the chance of acquiring chronic illness. PMID:18795146

  10. Vibration control of a manipulator tip on a flexible body

    NASA Technical Reports Server (NTRS)

    Xu, J.; Bainum, P. M.; Li, F.

    1992-01-01

    Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

  11. Pulse control of single degree-of-freedom system

    NASA Technical Reports Server (NTRS)

    Udwadia, F. E.; Tabaie, S.

    1981-01-01

    The possibility of using active control for structural and mechanical systems is examined. Open loop adaptive control of structural systems subjected to deterministic and stochastic excitations is considered by means of an algorithm for a single-degree-of-freedom oscillator. The algorithm is heuristic and requires continuous monitoring of the state variables, with a pulse control applied when some prespecified level of control is exceeded. The control algorithm is based on the principle that the gradual rhythmic increase of the structural response can be eliminated by applying a pulse of suitable magnitude in the proper direction, thereby avoiding the application of large forces over sustained periods of time. The optimum pulse magnitude is determined as the minimum rms response of the system. Application to linear and nonlinear systems, as well as in chatter suppression, are outlined.

  12. REAL-TIME MODEL-BASED ELECTRICAL POWERED WHEELCHAIR CONTROL

    PubMed Central

    Wang, Hongwu; Salatin, Benjamin; Grindle, Garrett G.; Ding, Dan; Cooper, Rory A.

    2009-01-01

    The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel-slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3-D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds. PMID:19733494

  13. Method for spinning up a three-axis controlled spacecraft

    NASA Technical Reports Server (NTRS)

    Vorlicek, Preston L. (Inventor)

    1988-01-01

    A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).

  14. Feedback Control of the Wake of a Three-Dimensional Blunt Bluff Body

    NASA Astrophysics Data System (ADS)

    Flinois, Thibault; Morgans, Aimee

    2013-11-01

    When cars or trucks drive on motorways, more than two thirds of their fuel consumption is due to aerodynamic drag, a significant part of which is caused by the large scale separation that takes place near their trailing edge. We tackle this problem using Large Eddy Simulations and use feedback control of synthetic jets to reduce the losses associated with large-scale structures in the wake. The geometry is a long surface mounted block, whose leading edge is not modelled for computational efficiency and the structure of the unforced flow field around this body is similar to the flow over a surface mounted block or hump. Considering this flow field as a control system, the base pressure force was used as the system output and the input is a slot jet actuator located near the trailing edge. Using open-loop forcing, a form drag reduction of about 7.5% was obtained. Open-loop system identification also allowed a transfer function that models the system's response to actuation to be found. Finally, a set of feedback controllers were applied to the plant and their performance was analysed. These controllers successfully reduce the fluctuations in the near wake, with only a small control effort. However, more significant mean drag reductions are expected at higher Reynolds numbers. PhD Student, Imperial College London.

  15. Metrics of Balance Control for Use in Screening Tests of Vestibular Function

    NASA Technical Reports Server (NTRS)

    Fiedler, Matthew; Cohen, Helen; Mulavara, Ajitkumar; Peters, Brian; Miller, Chris; Bloomberg, Jacob

    2011-01-01

    Decrements in balance control have been documented in astronauts after space flight. Reliable measures of balance control are needed for use in postflight field tests at remote landing sites. Diffusion analysis (DA) is a statistical mechanical tool that shows the average difference of the dependent variable on varying time scales. These techniques have been shown to measure differences in open-loop and closed-loop postural control in astronauts and elderly subjects. The goal of this study was to investigate the reliability of these measures of balance control. Eleven subjects were tested using the Clinical Test of Sensory Interaction on Balance: the subject stood with feet together and arms crossed on a stable or compliant surface, with eyes open or closed and with or without head movements in the pitch or yaw plane. Subjects were instrumented with inertial motion sensors attached to their trunk segment. The DA curves for linear acceleration measures were characterized by linear fits measuring open- (Ds) and closed-loop (Dl) control, and their intersection point (X-int, Y-int). Ds and Y-int showed significant differences between the test conditions. Additionally, Ds was correlated with the root mean square (RMS) of the signal, indicating that RMS was dominated by open-loop events (< 0.5 seconds). The Y-int was found to be correlated with the average linear velocity of trunk movements. Thus DA measures could be applied to derive reliable metrics of balance stability during field tests.

  16. Numerical study of linear feedback control for form-drag reduction

    NASA Astrophysics Data System (ADS)

    Dahan, Jeremy; Morgans, Aimee

    2012-11-01

    The present work is a numerical investigation of linear system identification and model-based feedback control methods for form-drag reduction. Large-Eddy Simulation (LES) is used to represent the flow over a simple bluff body with a sharp trailing edge, with a turbulent separation. For actuation, two types of perturbations are considered: a model of zero-net-mass-flux slot jets and momentum sources. Pressure measurements distributed over the base of the body provide the sensor information. The first part of the study will focus on the open-loop characterization of the flow. The base pressure field will be studied in relation to the wake dynamics. The effect of key actuation and flow parameters, such as actuation type, actuation location and Reynolds number, will be investigated. A black-box model of the flow response, obtained via system identification, will be examined. The second part will look at the design of robust controllers. It will be shown that uncertainties in the model and inflow conditions can be partially mitigated by the robustness of the controller. The behaviour of the feedback-controlled flow will be compared with the results achievable using open-loop forcing to draw conclusions about the success of the flow response model and the controller synthesis. PhD student in Department of Aeronautics.

  17. Active load control during rolling maneuvers. [performed in the Langley Transonic Dynamics Tunnel

    NASA Technical Reports Server (NTRS)

    Woods-Vedeler, Jessica A.; Pototzky, Anthony S.; Hoadley, Sherwood T.

    1994-01-01

    A rolling maneuver load alleviation (RMLA) system has been demonstrated on the active flexible wing (AFW) wind tunnel model in the Langley Transonic Dynamics Tunnel (TDT). The objective was to develop a systematic approach for designing active control laws to alleviate wing loads during rolling maneuvers. Two RMLA control laws were developed that utilized outboard control-surface pairs (leading and trailing edge) to counteract the loads and that used inboard trailing-edge control-surface pairs to maintain roll performance. Rolling maneuver load tests were performed in the TDT at several dynamic pressures that included two below and one 11 percent above open-loop flutter dynamic pressure. The RMLA system was operated simultaneously with an active flutter suppression system above open-loop flutter dynamic pressure. At all dynamic pressures for which baseline results were obtained, torsion-moment loads were reduced for both RMLA control laws. Results for bending-moment load reductions were mixed; however, design equations developed in this study provided conservative estimates of load reduction in all cases.

  18. Axisymmetric Control in Alcator C-Mod

    NASA Astrophysics Data System (ADS)

    Tinios, Gerasimos

    1995-01-01

    This thesis investigates the degree to which linear axisymmetric modeling of the response of a tokamak plasma can reproduce observed experimental behavior. The emphasis is on the vertical instability. The motivation for this work lies in the fact that, once dependable models have been developed, modern control theory methods can be used to design feedback laws for more effective and efficient tokamak control. The models are tested against experimental data from the Alcator C-Mod tokamak. A linear model for each subsystem of the closed-loop system constituting an Alcator C-Mod discharge under feedback control has been constructed. A non-rigid, approximately flux-conserving, perturbed equilibrium plasma response model is used in the comparison to experiment. A detailed toroidally symmetric model of the vacuum vessel and the supporting superstructure is used. Modeling of the power supplies feeding the active coils has been included. Experiments have been conducted with vertically unstable plasmas where the feedback was turned off and the plasma response was observed in an open -loop configuration. The closed-loop behavior has been examined by injecting step perturbations into the desired vertical position of the plasma. The agreement between theory and experiment in the open-loop configuration was very satisfactory, proving that the perturbed equilibrium plasma response model and a toroidally symmetric electromagnetic model of the vacuum vessel and the structure can be trusted for the purpose of calculations for control law design. When the power supplies and the feedback computer hardware are added to the system, however, as they are in the closed-loop configuration, they introduce nonlinearities that make it difficult to explain observed behavior with linear theory. Nonlinear simulation of the time evolution of the closed-loop experiments was able to account for the discrepancies between linear theory and experiment. (Copies available exclusively from MIT Libraries

  19. Distributed Parameter Control of Selective Catalytic Reduction (SCR) for Diesel-Powered Vehicles

    NASA Astrophysics Data System (ADS)

    Pakravesh, Hallas

    The main scope of this work is to design a distributed parameter control for SCR, which is modelled by using coupled hyperbolic and parabolic partial differential equations (PDEs). This is a boundary control problem where the control objectives are to reduce the amount of NOx emissions and ammonia slip as far as possible. Two strategies are used to control SCR. The first strategy includes using the direct transcription (DT) as the open-loop control technique. The second strategy includes the design of a closed-loop control technique that uses a new numerical method developed in this work, which combines the method of characteristics and spectral decomposition, and the characteristic-based nonlinear model predictive control (CBNMPC) as the control algorithm. The results show that the designed advanced controllers are able to achieve very high control performance in terms of NOx and ammonia slip reduction.

  20. Real-time Adaptive Control Using Neural Generalized Predictive Control

    NASA Technical Reports Server (NTRS)

    Haley, Pam; Soloway, Don; Gold, Brian

    1999-01-01

    The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.

  1. Periodic-disturbance accommodating control of the space station for asymptotic momentum management

    NASA Technical Reports Server (NTRS)

    Warren, Wayne; Wie, Bong; Geller, David

    1989-01-01

    Periodic-disturbance accommodating control is investigated for asymptotic momentum management of control moment gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. The quaternion feedback controller designed using the linear-quadratic regulator synthesis technique is shown to be robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.

  2. Periodic-disturbance accommodating control of the space station for asymptotic momentum management

    NASA Technical Reports Server (NTRS)

    Warren, Wayne; Wie, Bong

    1989-01-01

    Periodic maneuvering control is developed for asymptotic momentum management of control gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. It is shown that the quaternion feedback controller is very robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.

  3. Differential contributions of the superior and inferior parietal cortex to feedback versus feedforward control of tools.

    PubMed

    Macuga, Kristen L; Frey, Scott H

    2014-05-15

    Damage to the superior and/or inferior parietal lobules (SPL, IPL) (Sirigu et al., 1996) or cerebellum (Grealy and Lee, 2011) can selectively disrupt motor imagery, motivating the hypothesis that these regions participate in predictive (i.e., feedforward) control. If so, then the SPL, IPL, and cerebellum should show greater activity as the demands on feedforward control increase from visually-guided execution (closed-loop) to execution without visual feedback (open-loop) to motor imagery. Using fMRI and a Fitts' reciprocal aiming task with tools directed at targets in far space, we found that the SPL and cerebellum exhibited greater activity during closed-loop control. Conversely, open-loop and imagery conditions were associated with increased activity within the IPL and prefrontal areas. These results are consistent with a superior-to-inferior gradient in the representation of feedback-to-feedforward control within the posterior parietal cortex. Additionally, the anterior SPL displayed greater activity when aiming movements were performed with a stick vs. laser pointer. This may suggest that it is involved in the remapping of far into near (reachable) space (Maravita and Iriki, 2004), or in distalization of the end-effector from hand to stick (Arbib et al., 2009). PMID:24473100

  4. Differential contributions of the superior and inferior parietal cortex to feedback versus feedforward control of tools

    PubMed Central

    Macuga, Kristen L.; Frey, Scott H.

    2016-01-01

    Damage to the superior and/or inferior parietal lobules (SPL, IPL) (Sirigu et al., 1996) or cerebellum (Grealy and Lee, 2011) can selectively disrupt motor imagery, motivating the hypothesis that these regions participate in predictive (i.e., feedforward) control. If so, then the SPL, IPL, and cerebellum should show greater activity as the demands on feedforward control increase from visually-guided execution (closed-loop) to execution without visual feedback (open-loop) to motor imagery. Using fMRI and a Fitts’ reciprocal aiming task with tools directed at targets in far space, we found that the SPL and cerebellum exhibited greater activity during closed-loop control. Conversely, open-loop and imagery conditions were associated with increased activity within the IPL and prefrontal areas. These results are consistent with a superior-to-inferior gradient in the representation of feedback-to-feedforward control within the posterior parietal cortex. Additionally, the anterior SPL displayed greater activity when aiming movements were performed with a stick vs. laser pointer. This may suggest that it is involved in the remapping of far into near (reachable) space (Maravita and Iriki, 2004), or in distalization of the end-effector from hand to stick (Arbib et al., 2009). PMID:24473100

  5. Myoelectric hand prosthesis force control through servo motor current feedback.

    PubMed

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control. PMID:19681841

  6. Controller design via structural reduced modeling by FETM

    NASA Technical Reports Server (NTRS)

    Yousuff, A.

    1986-01-01

    The Finite Element - Transfer Matrix (FETM) method has been developed to reduce the computations involved in analysis of structures. This widely accepted method, however, has certain limitations, and does not directly produce reduced models for control design. To overcome these shortcomings, a modification of FETM method has been developed. The modified FETM method easily produces reduced models that are tailored toward subsequent control design. Other features of this method are its ability to: (1) extract open loop frequencies and mode shapes with less computations, (2) overcome limitations of the original FETM method, and (3) simplify the procedures for output feedback, constrained compensation, and decentralized control. This semi annual report presents the development of the modified FETM, and through an example, illustrates its applicability to an output feedback and a decentralized control design.

  7. Controller design via structural reduced modeling by FETM

    NASA Technical Reports Server (NTRS)

    Yousuff, Ajmal

    1987-01-01

    The Finite Element-Transfer Matrix (FETM) method has been developed to reduce the computations involved in analysis of structures. This widely accepted method, however, has certain limitations, and does not address the issues of control design. To overcome these, a modification of the FETM method has been developed. The new method easily produces reduced models tailored toward subsequent control design. Other features of this method are its ability to: (1) extract open loop frequencies and mode shapes with less computations, (2) overcome limitations of the original FETM method, and (3) simplify the design procedures for output feedback, constrained compensation, and decentralized control. This report presents the development of the new method, generation of reduced models by this method, their properties, and the role of these reduced models in control design. Examples are included to illustrate the methodology.

  8. Adaptive synchronization and pinning control of colored networks

    NASA Astrophysics Data System (ADS)

    Wu, Zhaoyan; Xu, Xin-Jian; Chen, Guanrong; Fu, Xinchu

    2012-12-01

    A colored network model, corresponding to a colored graph in mathematics, is used for describing the complexity of some inter-connected physical systems. A colored network is consisted of colored nodes and edges. Colored nodes may have identical or nonidentical local dynamics. Colored edges between any pair of nodes denote not only the outer coupling topology but also the inner interactions. In this paper, first, synchronization of edge-colored networks is studied from adaptive control and pinning control approaches. Then, synchronization of general colored networks is considered. To achieve synchronization of a colored network to an arbitrarily given orbit, open-loop control, pinning control and adaptive coupling strength methods are proposed and tested, with some synchronization criteria derived. Finally, numerical examples are given to illustrate theoretical results.

  9. A fundamental aeroservoelastic study combining unsteady CFD with adaptive control

    NASA Technical Reports Server (NTRS)

    Friedmann, P.; Guillot, Damien M.

    1994-01-01

    This paper describes a two-dimensional aeroservoelastic study in the time domain. The model, which is based on exact inviscid aerodynamics, correctly represents the large amplitude motions and the associated strong shock dynamics in the transonic regime. The aeroservoelastic system consists of a two degree-of-freedom airfoil with a trailing edge control surface. Using first-order actuator dynamics, a digital adaptive controller is applied to provide active flutter suppression. Comparisons between time-responses of the open-loop and closed loop systems show the ability of the trailing edge control surface to suppress non-linear transonic aeroelastic phenomena. A relation between actuator dynamics, sampling time-step and limits on the flap deflection angle to guarantee the effectiveness of the adaptive controller was demonstrated by the results generated.

  10. Magnetic suspension system for an Annular Momentum Control Device (AMCD)

    NASA Technical Reports Server (NTRS)

    1979-01-01

    A technique to control a rim suspended in a magnetic field was developed. A complete system was developed, incorporating a support structure, magnetic actuators, a rim drive mechanism, an emergency fail-safe system, servo control system, and control electronics. Open loop and closed loop response of the system at zero speed and at 500 revolutions per minute (r/min) of the rim was obtained and analyzed. The rim was then dynamically balanced and a rim speed of 725 r/min was achieved. An analog simulation of the hardware was developed and tested with the actual control electronics connected to the analog computer. The system under development is stable at rim speeds below 700 r/min. Test results indicate that the rim under test is not rigid. The rim has a warp and a number of binding modes which prevented achievement of higher speeds. Further development efforts are required to achieve higher rim speeds.

  11. An adaptive control system for wing TE shape control

    NASA Astrophysics Data System (ADS)

    Dimino, I.; Concilio, A.; Schueller, M.; Gratias, A.

    2013-03-01

    A key technology to enable morphing aircraft for enhanced aerodynamic performance is the design of an adaptive control system able to emulate target structural shapes. This paper presents an approach to control the shape of a morphing wing by employing internal, integrated actuators acting on the trailing edge. The adaptive-wing concept employs active ribs, driven by servo actuators, controlled in turn by a dedicated algorithm aimed at shaping the wing cross section, according to a pre-defined geometry. The morphing control platform is presented and a suitable control algorithm is implemented in a dedicated routine for real-time simulations. The work is organized as follows. A finite element model of the uncontrolled, non-actuated structure is used to obtain the plant model for actuator torque and displacement control. After having characterized and simulated pure rotary actuator behavior over the structure, selected target wing shapes corresponding to rigid trailing edge rotations are achieved through both open-loop and closed-loop control logics.

  12. Analysis and control of cavity flow

    NASA Astrophysics Data System (ADS)

    Kourta, A.; Vitale, E.

    2008-07-01

    A flow above a cavity leads to an unsteady separated flow. This configuration exhibits an intense aeroacoustic coupling, where very intense aerodynamic noise can be emitted. Moreover, a majority of tangential flow above a cavity has an oscillatory character, resulting from a strong coupling between the acoustic and the flow dynamics. In the present work, we are interested in characterizing the dynamics and the frequency distribution of a cavity flow. First, the dynamics of the cavity are analyzed and the frequency distribution is established, which is followed by a study of nonlinear interaction. An open loop control using a synthetic jet is then applied in order to reduce noise generation. Finally, by choosing suitable jet parameters a significant noise reduction is obtained.

  13. Coherent optimal control of photosynthetic molecules

    NASA Astrophysics Data System (ADS)

    Caruso, F.; Montangero, S.; Calarco, T.; Huelga, S. F.; Plenio, M. B.

    2012-04-01

    We demonstrate theoretically that open-loop quantum optimal control techniques can provide efficient tools for the verification of various quantum coherent transport mechanisms in natural and artificial light-harvesting complexes under realistic experimental conditions. To assess the feasibility of possible biocontrol experiments, we introduce the main settings and derive optimally shaped and robust laser pulses that allow for the faithful preparation of specified initial states (such as localized excitation or coherent superposition, i.e., propagating and nonpropagating states) of the photosystem and probe efficiently the subsequent dynamics. With these tools, different transport pathways can be discriminated, which should facilitate the elucidation of genuine quantum dynamical features of photosystems and therefore enhance our understanding of the role that coherent processes may play in actual biological complexes.

  14. F-18 High Alpha Research Vehicle (HARV) parameter identification flight test maneuvers for optimal input design validation and lateral control effectiveness

    NASA Technical Reports Server (NTRS)

    Morelli, Eugene A.

    1995-01-01

    Flight test maneuvers are specified for the F-18 High Alpha Research Vehicle (HARV). The maneuvers were designed for open loop parameter identification purposes, specifically for optimal input design validation at 5 degrees angle of attack, identification of individual strake effectiveness at 40 and 50 degrees angle of attack, and study of lateral dynamics and lateral control effectiveness at 40 and 50 degrees angle of attack. Each maneuver is to be realized by applying square wave inputs to specific control effectors using the On-Board Excitation System (OBES). Maneuver descriptions and complete specifications of the time/amplitude points define each input are included, along with plots of the input time histories.

  15. A Piloted Evaluation of Damage Accommodating Flight Control Using a Remotely Piloted Vehicle

    NASA Technical Reports Server (NTRS)

    Cunningham, Kevin; Cox, David E.; Murri, Daniel G.; Riddick, Stephen E.

    2011-01-01

    Toward the goal of reducing the fatal accident rate of large transport airplanes due to loss of control, the NASA Aviation Safety Program has conducted research into flight control technologies that can provide resilient control of airplanes under adverse flight conditions, including damage and failure. As part of the safety program s Integrated Resilient Aircraft Control Project, the NASA Airborne Subscale Transport Aircraft Research system was designed to address the challenges associated with the safe and efficient subscale flight testing of research control laws under adverse flight conditions. This paper presents the results of a series of pilot evaluations of several flight control algorithms used during an offset-to-landing task conducted at altitude. The purpose of this investigation was to assess the ability of various flight control technologies to prevent loss of control as stability and control characteristics were degraded. During the course of 8 research flights, data were recorded while one task was repeatedly executed by a single evaluation pilot. Two generic failures, which degraded stability and control characteristics, were simulated inflight for each of the 9 different flight control laws that were tested. The flight control laws included three different adaptive control methodologies, several linear multivariable designs, a linear robust design, a linear stability augmentation system, and a direct open-loop control mode. Based on pilot Cooper-Harper Ratings obtained for this test, the adaptive flight control laws provided the greatest overall benefit for the stability and control degradation scenarios that were considered. Also, all controllers tested provided a significant improvement in handling qualities over the direct open-loop control mode.

  16. Design of feedback control systems for unstable plants with saturating actuators

    NASA Technical Reports Server (NTRS)

    Kapasouris, Petros; Athans, Michael; Stein, Gunter

    1988-01-01

    A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.

  17. Coherent feedback control of a single qubit in diamond

    NASA Astrophysics Data System (ADS)

    Hirose, Masashi; Cappellaro, Paola

    2016-04-01

    Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla

  18. Postural control model interpretation of stabilogram diffusion analysis

    NASA Technical Reports Server (NTRS)

    Peterka, R. J.

    2000-01-01

    Collins and De Luca [Collins JJ. De Luca CJ (1993) Exp Brain Res 95: 308-318] introduced a new method known as stabilogram diffusion analysis that provides a quantitative statistical measure of the apparently random variations of center-of-pressure (COP) trajectories recorded during quiet upright stance in humans. This analysis generates a stabilogram diffusion function (SDF) that summarizes the mean square COP displacement as a function of the time interval between COP comparisons. SDFs have a characteristic two-part form that suggests the presence of two different control regimes: a short-term open-loop control behavior and a longer-term closed-loop behavior. This paper demonstrates that a very simple closed-loop control model of upright stance can generate realistic SDFs. The model consists of an inverted pendulum body with torque applied at the ankle joint. This torque includes a random disturbance torque and a control torque. The control torque is a function of the deviation (error signal) between the desired upright body position and the actual body position, and is generated in proportion to the error signal, the derivative of the error signal, and the integral of the error signal [i.e. a proportional, integral and derivative (PID) neural controller]. The control torque is applied with a time delay representing conduction, processing, and muscle activation delays. Variations in the PID parameters and the time delay generate variations in SDFs that mimic real experimental SDFs. This model analysis allows one to interpret experimentally observed changes in SDFs in terms of variations in neural controller and time delay parameters rather than in terms of open-loop versus closed-loop behavior.

  19. Coherent feedback control of a single qubit in diamond.

    PubMed

    Hirose, Masashi; Cappellaro, Paola

    2016-04-01

    Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation

  20. Active control of aerothermoelastic effects for a conceptual hypersonic aircraft

    NASA Technical Reports Server (NTRS)

    Heeg, Jennifer; Gilbert, Michael G.; Pototzky, Anthony S.

    1990-01-01

    Procedures for and results of aeroservothermoelastic studies are described. The objectives of these studies were to develop the necessary procedures for performing an aeroelastic analysis of an aerodynamically heated vehicle and to analyze a configuration in the classical cold state and in a hot state. Major tasks include the development of the structural and aerodynamic models, open loop analyses, design of active control laws for improving dynamic responses and analyses of the closed loop vehicles. The analyses performed focused on flutter speed calculations, short period eigenvalue trends and statistical analyses of the vehicle response to controls and turbulence. Improving the ride quality of the vehicle and raising the flutter boundary of the aerodynamically-heated vehicle up to that of the cold vehicle were the objectives of the control law design investigations.

  1. Modeling and Control of a Double-effect Absorption Refrigerating Machine

    NASA Astrophysics Data System (ADS)

    Hihara, Eiji; Yamamoto, Yuuji; Saito, Takamoto; Nagaoka, Yoshikazu; Nishiyama, Noriyuki

    Because the heat capacity of absorption refrigerating machines is large compared with vapor compression refrigerating machines, the dynamic characteristics at the change in cooling load conditions are problems to be improved. The control method of energy input and of weak solution flow rate following cooling load variations was investigated. As the changes in cooling load and cooling capacity are moderate, the optimal operation conditions corresponding to the cooling load can be estimated with steady state characteristics. If the relation between the cooling load and the optimal operation conditions is well known, a feed forward control can be employed. In this report a new control algorithm, which is called MOL (Multi-variable Open Loop) control, is proposed. Comparing the MOL control with the conventional chilled water outlet temperature proportional control, the MOL control enables the smooth changes in cooling capacity and the reduction in fuel consumption.

  2. A Nonlinear Physics-Based Optimal Control Method for Magnetostrictive Actuators

    NASA Technical Reports Server (NTRS)

    Smith, Ralph C.

    1998-01-01

    This paper addresses the development of a nonlinear optimal control methodology for magnetostrictive actuators. At moderate to high drive levels, the output from these actuators is highly nonlinear and contains significant magnetic and magnetomechanical hysteresis. These dynamics must be accommodated by models and control laws to utilize the full capabilities of the actuators. A characterization based upon ferromagnetic mean field theory provides a model which accurately quantifies both transient and steady state actuator dynamics under a variety of operating conditions. The control method consists of a linear perturbation feedback law used in combination with an optimal open loop nonlinear control. The nonlinear control incorporates the hysteresis and nonlinearities inherent to the transducer and can be computed offline. The feedback control is constructed through linearization of the perturbed system about the optimal system and is efficient for online implementation. As demonstrated through numerical examples, the combined hybrid control is robust and can be readily implemented in linear PDE-based structural models.

  3. Control system estimation and design for aerospace vehicles with time delay

    NASA Technical Reports Server (NTRS)

    Allgaier, G. R.; Williams, T. L.

    1972-01-01

    The problems of estimation and control of discrete, linear, time-varying systems are considered. Previous solutions to these problems involved either approximate techniques, open-loop control solutions, or results which required excessive computation. The estimation problem is solved by two different methods, both of which yield the identical algorithm for determining the optimal filter. The partitioned results achieve a substantial reduction in computation time and storage requirements over the expanded solution, however. The results reduce to the Kalman filter when no delays are present in the system. The control problem is also solved by two different methods, both of which yield identical algorithms for determining the optimal control gains. The stochastic control is shown to be identical to the deterministic control, thus extending the separation principle to time delay systems. The results obtained reduce to the familiar optimal control solution when no time delays are present in the system.

  4. Application of the concept of dynamic trim control to automatic landing of carrier aircraft. [utilizing digital feedforeward control

    NASA Technical Reports Server (NTRS)

    Smith, G. A.; Meyer, G.

    1980-01-01

    The results of a simulation study of an alternative design concept for an automatic landing control system are presented. The alternative design concept for an automatic landing control system is described. The design concept is the total aircraft flight control system (TAFCOS). TAFCOS is an open loop, feed forward system that commands the proper instantaneous thrust, angle of attack, and roll angle to achieve the forces required to follow the desired trajector. These dynamic trim conditions are determined by an inversion of the aircraft nonlinear force characteristics. The concept was applied to an A-7E aircraft approaching an aircraft carrier. The implementation details with an airborne digital computer are discussed. The automatic carrier landing situation is described. The simulation results are presented for a carrier approach with atmospheric disturbances, an approach with no disturbances, and for tailwind and headwind gusts.

  5. Optimal Control of Distributed Energy Resources using Model Predictive Control

    SciTech Connect

    Mayhorn, Ebony T.; Kalsi, Karanjit; Elizondo, Marcelo A.; Zhang, Wei; Lu, Shuai; Samaan, Nader A.; Butler-Purry, Karen

    2012-07-22

    In an isolated power system (rural microgrid), Distributed Energy Resources (DERs) such as renewable energy resources (wind, solar), energy storage and demand response can be used to complement fossil fueled generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation. The problem is formulated as a multi-objective optimization problem with the goals of minimizing fuel costs and changes in power output of diesel generators, minimizing costs associated with low battery life of energy storage and maintaining system frequency at the nominal operating value. Two control modes are considered for controlling the energy storage to compensate either net load variability or wind variability. Model predictive control (MPC) is used to solve the aforementioned problem and the performance is compared to an open-loop look-ahead dispatch problem. Simulation studies using high and low wind profiles, as well as, different MPC prediction horizons demonstrate the efficacy of the closed-loop MPC in compensating for uncertainties in wind and demand.

  6. Application of Fuzzy-Logic Controller and Neural Networks Controller in Gas Turbine Speed Control and Overheating Control and Surge Control on Transient Performance

    NASA Astrophysics Data System (ADS)

    Torghabeh, A. A.; Tousi, A. M.

    2007-08-01

    This paper presents Fuzzy Logic and Neural Networks approach to Gas Turbine Fuel schedules. Modeling of non-linear system using feed forward artificial Neural Networks using data generated by a simulated gas turbine program is introduced. Two artificial Neural Networks are used , depicting the non-linear relationship between gas generator speed and fuel flow, and turbine inlet temperature and fuel flow respectively . Off-line fast simulations are used for engine controller design for turbojet engine based on repeated simulation. The Mamdani and Sugeno models are used to expression the Fuzzy system . The linguistic Fuzzy rules and membership functions are presents and a Fuzzy controller will be proposed to provide an Open-Loop control for the gas turbine engine during acceleration and deceleration . MATLAB Simulink was used to apply the Fuzzy Logic and Neural Networks analysis. Both systems were able to approximate functions characterizing the acceleration and deceleration schedules . Surge and Flame-out avoidance during acceleration and deceleration phases are then checked . Turbine Inlet Temperature also checked and controls by Neural Networks controller. This Fuzzy Logic and Neural Network Controllers output results are validated and evaluated by GSP software . The validation results are used to evaluate the generalization ability of these artificial Neural Networks and Fuzzy Logic controllers.

  7. Automatic determination of the transition between successive control mechanisms in upright stance assessed by modelling of the centre of pressure.

    PubMed

    Rougier, P

    1999-02-01

    A recently introduced concept models the trajectory of the centre of pressure as a fractional Brownian motion and reveals that two successive scaling regimes, acting hypothetically as open and closed loop mechanisms, are implicated in posture control. Objectivity is obviously required in the determination of the transition point, i.e. the point at which an open-loop control mechanism would switch to a closed-loop one, in order to provide reproducibility and automatism in the processing of data. In the method proposed herein, the transition point corresponds to the maximal distance separating a diffusion curve in a double logarithmic plot (mean square distances MSD calculated on each axis versus increasing time intervals Deltat) from a straight line characterising a pure stochastic behaviour. In closed eye conditions, the switch appears medio-laterally in a 0. 26-0.52 s range for Deltat, the corresponding MSD being in the range of 1.86-10.50 mm(2). In the forward-backward direction, the transition is in a 0.28-0.42 s range and the corresponding MSD is between 3.60 and 15.17 mm(2). Finally, these co-ordinates induce scaling exponents over 0.50 for the shortest Deltat, thus suggesting open-loop control, whereas those of longest Deltat, ranged between 0 and 0.20, give evidence of close-loop control. This data is compared to previous data based upon empirical methods. PMID:10455557

  8. Effects of flow control over a 3D turret -- Part II

    NASA Astrophysics Data System (ADS)

    Wallace, Ryan; Andino, Marlyn; Schmit, Ryan; Camphouse, Chris; Myatt, James; Glauser, Mark

    2007-11-01

    Building upon the 3D turret work done at Syracuse University an extended study was conducted in the Air Force Research Laboratory's Subsonic Aerodynamic Research Laboratory (SARL) wind tunnel at Wright-Patterson Air Force Base. The SARL experiments were performed at higher Reynolds and Mach numbers and therefore present a more complex, more challenging flow. Synthetic jets mounted upstream of the aperture were used to generate multiple actuation cases in order to provide a rich ensemble for plant model development based on the split POD method of Camphouse (2007). PIV velocity data was acquired along with simultaneous surface pressure data at various planes across the turret with and without open-loop control. In addition, a simple proportional closed-loop control was performed using the bandpass filtered first POD mode coefficient of the surface pressure as the feedback signal. The amplitude of the feedback signal was calibrated using the open-loop results which were the most effective in reducing the separation zone of the turret.

  9. Dynamic control of modeled tonic-clonic seizure states with closed-loop stimulation.

    PubMed

    Beverlin Ii, Bryce; Netoff, Theoden I

    2012-01-01

    Seizure control using deep brain stimulation (DBS) provides an alternative therapy to patients with intractable and drug resistant epilepsy. This paper presents novel DBS stimulus protocols to disrupt seizures. Two protocols are presented: open-loop stimulation and a closed-loop feedback system utilizing measured firing rates to adjust stimulus frequency. Stimulation suppression is demonstrated in a computational model using 3000 excitatory Morris-Lecar (M-L) model neurons connected with depressing synapses. Cells are connected using second order network topology (SONET) to simulate network topologies measured in cortical networks. The network spontaneously switches from tonic to clonic as synaptic strengths and tonic input to the neurons decreases. To this model we add periodic stimulation pulses to simulate DBS. Periodic forcing can synchronize or desynchronize an oscillating population of neurons, depending on the stimulus frequency and amplitude. Therefore, it is possible to either extend or truncate the tonic or clonic phases of the seizure. Stimuli applied at the firing rate of the neuron generally synchronize the population while stimuli slightly slower than the firing rate prevent synchronization. We present an adaptive stimulation algorithm that measures the firing rate of a neuron and adjusts the stimulus to maintain a relative stimulus frequency to firing frequency and demonstrate it in a computational model of a tonic-clonic seizure. This adaptive algorithm can affect the duration of the tonic phase using much smaller stimulus amplitudes than the open-loop control. PMID:23390413

  10. Dynamic control of modeled tonic-clonic seizure states with closed-loop stimulation

    PubMed Central

    Beverlin II, Bryce; Netoff, Theoden I.

    2013-01-01

    Seizure control using deep brain stimulation (DBS) provides an alternative therapy to patients with intractable and drug resistant epilepsy. This paper presents novel DBS stimulus protocols to disrupt seizures. Two protocols are presented: open-loop stimulation and a closed-loop feedback system utilizing measured firing rates to adjust stimulus frequency. Stimulation suppression is demonstrated in a computational model using 3000 excitatory Morris–Lecar (M–L) model neurons connected with depressing synapses. Cells are connected using second order network topology (SONET) to simulate network topologies measured in cortical networks. The network spontaneously switches from tonic to clonic as synaptic strengths and tonic input to the neurons decreases. To this model we add periodic stimulation pulses to simulate DBS. Periodic forcing can synchronize or desynchronize an oscillating population of neurons, depending on the stimulus frequency and amplitude. Therefore, it is possible to either extend or truncate the tonic or clonic phases of the seizure. Stimuli applied at the firing rate of the neuron generally synchronize the population while stimuli slightly slower than the firing rate prevent synchronization. We present an adaptive stimulation algorithm that measures the firing rate of a neuron and adjusts the stimulus to maintain a relative stimulus frequency to firing frequency and demonstrate it in a computational model of a tonic-clonic seizure. This adaptive algorithm can affect the duration of the tonic phase using much smaller stimulus amplitudes than the open-loop control. PMID:23390413

  11. Automatic control systems for submerged membrane bioreactors: a state-of-the-art review.

    PubMed

    Ferrero, Giuliana; Rodríguez-Roda, Ignasi; Comas, Joaquim

    2012-07-01

    Membrane bioreactor (MBR) technology has become relatively widespread as an advanced treatment for both industrial and municipal wastewater, especially in areas prone to water scarcity. Although operational cost is a key issue in MBRs, currently only a few crucial papers and inventions aimed to optimise and enhance MBR efficiency have been published. The present review summarises the available solutions in the area of automatic control systems and widely explores the advances in automation and control for MBRs. In this review of state of the art, different control systems are evaluated comparatively, distinguishing between control systems used for the filtration process and those used for the biological process of MBRs and describing the challenge faced by integrated control systems. The existing knowledge is classified according to the manipulated variables, the operational mode (open-loop or closed-loop) and the controlled variables used. PMID:22520860

  12. Modeling and Simulation of Resistive Wall Mode Control In DIII-D

    NASA Astrophysics Data System (ADS)

    Walker, M. L.; Humphreys, D. A.; Jensen, T. H.; Leuer, J. A.; Nerem, A.; Strait, E. J.; Garofalo, A. M.

    2001-10-01

    Detailed dynamic response models have been developed for all relevant subsystems comprising the DIII-D resistive wall mode (RWM) closed loop control system. These include the switching power amplifiers (SPA), digital plasma control system (PCS), acquisition and control circuitry, and a fully toroidal model of plasma/vessel dynamics based on specification of the marginal wall position from stability codes such as GATO and DCON. These models have been validated with experimental data, including open-loop excitation of the SPA, PCS, and vacuum vessel dynamic responses, and measurement of the growth rate and mode structure of the unstable plasma. These models are incorporated into a closed-loop control simulation to investigate the control limitations which are due to realistic power supply responses. Consequences of and approaches to the intrinsically multivariable RWM control problem are also investigated.

  13. Small Body GN&C Research Report: A Guidance and Control Technique for Small-Body Proximity Operations with Guaranteed Guidance Resolvability and Required Thruster Silent Time

    NASA Technical Reports Server (NTRS)

    Carson, John M., III; Ackmese, A. Behcet

    2005-01-01

    The guidance and control (G&C) algorithms for enabling small-body proximity operations are developed by using a model predictive control approach along with a convexification of the governing dynamics, control constraints, and trajectory/state constraints. The open-loop guidance is solved ahead of time or in a resolvable, real-time manner through the use of PWG (Pseudo Way-point Generation), a technique developed in this research. The PWG scheme ensures required thruster silent times during trajectory maneuvers. The feedback control is implemented to track the PWG trajectories in a manner that guarantees the resolvability for the open-loop problem, enabling the ability to update the G&C in a model-predictive manner. The schemes incorporate gravity models and thruster ring times into discrete dynamics that are solved as a optimal control problem to minimize fuel consumption or thruster energy expenditure. The optimal control problem is cast as an LMI (Linear Matrix Inequality) and then solved through Semi-Definite Programming techniques in a computationally efficient manner that provides convergence and constraint guarantees.

  14. Control of turbulent flow over an articulating turret for reduction of adverse aero-optic effects

    NASA Astrophysics Data System (ADS)

    Wallace, Ryan

    2011-12-01

    Turbulent flows such as wakes and shear layers are highly detrimental to the intensity of any collimated light beams that pass through these regions. The work presented in this thesis utilized suction flow control to help mitigate the adverse affects of the wake and shear layer over a flat aperture on the hemisphere of a three dimensional turret. The hemisphere of the turret was capable of dynamically articulating in two degrees of freedom: pitch and azimuthal rotation. The experiments were performed in the Syracuse University wind tunnel at a Mach number of 0.1, giving a Reynolds number of 500,000. Steady suction at various amounts were initially implemented for both static and dynamic pitching cases. Abatement of the wake above the aperture of the turret was seen for open loop suction actuation in both cases, demonstrating that for our conditions the suction system has enough control authority to reduce the turbulence levels. Building upon this success, a simple proportional closed loop controller was constructed to improve the efficiency of the actuation system by reducing the amount of suction required to achieve the same level of turbulence abatement as with the open loop control. The overall objective of the controller was to drive the velocity fluctuations over the aperture of the turret to zero. The next set of experiments fixed the pitch angle and dynamically rotated the hemisphere in the azimuthal direction. Like the pitch tests, steady suction actuation applied over the top of the turret was able to diminish the size of the wake. A multiple-input-multiple output closed loop controller was then employed with the objective of reducing the velocity fluctuations over the aperture of the turret. By dividing the actuation into two separate zones, the MIMO controller was able to more efficiently decrease the turbulent levels over the aperture when compared to the open loop case. Additional suction control tests were performed over a stationary turret in the Air

  15. Implementation and on-sky results of an optimal wavefront controller for the MMT NGS adaptive optics system

    NASA Astrophysics Data System (ADS)

    Powell, Keith B.; Vaitheeswaran, Vidhya

    2010-07-01

    The MMT observatory has recently implemented and tested an optimal wavefront controller for the NGS adaptive optics system. Open loop atmospheric data collected at the telescope is used as the input to a MATLAB based analytical model. The model uses nonlinear constrained minimization to determine controller gains and optimize the system performance. The real-time controller performing the adaptive optics close loop operation is implemented on a dedicated high performance PC based quad core server. The controller algorithm is written in C and uses the GNU scientific library for linear algebra. Tests at the MMT confirmed the optimal controller significantly reduced the residual RMS wavefront compared with the previous controller. Significant reductions in image FWHM and increased peak intensities were obtained in J, H and K-bands. The optimal PID controller is now operating as the baseline wavefront controller for the MMT NGS-AO system.

  16. Active vibration control based on piezoelectric smart composite

    NASA Astrophysics Data System (ADS)

    Gao, Le; Lu, Qingqing; Fei, Fan; Liu, Liwu; Liu, Yanju; Leng, Jinsong

    2013-12-01

    An aircraft’s vertical fin may experience dramatic buffet loads in high angle of attack flight conditions, and these buffet loads would cause huge vibration and dynamic stress on the vertical fin structure. To reduce the dynamic vibration of the vertical fin structure, macro fiber composite (MFC) actuators were used in this paper. The drive moment equations and sensing voltage equations of the MFC actuators were developed. Finite element analysis models based on three kinds of models of simplified vertical fin structures with surface-bonded MFC actuators were established in ABAQUS. The equivalent damping ratio of the structure was employed in finite element analysis, in order to measure the effectiveness of vibration control. Further, an open-loop test for the active vibration control system of the vertical fin with MFC actuators was designed and developed. The experimental results validated the effectiveness of the MFC actuators as well as the developed methodology.

  17. Block-decoupling vibration control using eigenstructure assignment

    NASA Astrophysics Data System (ADS)

    Wei, Xiaojun; Mottershead, John E.

    2016-06-01

    A theoretical study is presented on the feasibility of applying active control for the purpose of vibration isolation in lightweight structures by block diagonalisation of the system matrices and at the same time assigning eigenvalues (natural frequencies and damping) to the chosen substructures separately. The methodology, based on eigenstructure assignment using the method of receptances, is found to work successfully when the eigenvalues of the open-loop system are controllable and the open- and closed-loop eigenvalues are distinct. In the first part of the paper results are obtained under the restriction that the mass matrix is diagonal (lumped). This is certainly applicable in the case of numerous engineering systems consisting of discrete masses with flexible interconnections of negligible mass. Later in the paper this restriction is lifted to allow bandedness of the mass matrix. Several numerical examples are used to illustrate the working of the proposed algorithm.

  18. Fundamental Limits in Combine Harvester Header Height Control.

    PubMed

    Xie, Yangmin; Alleyne, Andrew G; Greer, Ashley; Deneault, Dustin

    2013-05-01

    This paper investigates fundamental performance limitations in the control of a combine harvester's header height control system. There are two primary subsystem characteristics that influence the achievable bandwidth by affecting the open loop transfer function. The first subsystem is the mechanical configuration of the combine and header while the second subsystem is the electrohydraulic actuation for the header. The mechanical combine + header subsystem results in an input-output representation that is underactuated and has a noncollocated sensor/actuator pair. The electrohydraulic subsystem introduces a significant time delay. In combination, they each reinforce the effect of the other thereby exacerbating the overall system limitation of the closed loop bandwidth. Experimental results are provided to validate the model and existence of the closed loop bandwidth limitations that stem from specific system design configurations. PMID:23904647

  19. Active Noise Control of Radiated Noise from Jets Originating NASA

    NASA Technical Reports Server (NTRS)

    Doty, Michael J.; Fuller, Christopher R.; Schiller, Noah H.; Turner, Travis L.

    2013-01-01

    The reduction of jet noise using a closed-loop active noise control system with highbandwidth active chevrons was investigated. The high frequency energy introduced by piezoelectrically-driven chevrons was demonstrated to achieve a broadband reduction of jet noise, presumably due to the suppression of large-scale turbulence. For a nozzle with one active chevron, benefits of up to 0.8 dB overall sound pressure level (OASPL) were observed compared to a static chevron nozzle near the maximum noise emission angle, and benefits of up to 1.9 dB OASPL were observed compared to a baseline nozzle with no chevrons. The closed-loop actuation system was able to effectively reduce noise at select frequencies by 1-3 dB. However, integrated OASPL did not indicate further reduction beyond the open-loop benefits, most likely due to the preliminary controller design, which was focused on narrowband performance.

  20. On reliable control system designs. Ph.D. Thesis; [actuators

    NASA Technical Reports Server (NTRS)

    Birdwell, J. D.

    1978-01-01

    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  1. A comparison of motor submodels in the optimal control model

    NASA Technical Reports Server (NTRS)

    Lancraft, R. E.; Kleinman, D. L.

    1978-01-01

    Properties of several structural variations in the neuromotor interface portion of the optimal control model (OCM) are investigated. For example, it is known that commanding control-rate introduces an open-loop pole at S=O and will generate low frequency phase and magnitude characteristics similar to experimental data. However, this gives rise to unusually high sensitivities with respect to motor and sensor noise-ratios, thereby reducing the models' predictive capabilities. Relationships for different motor submodels are discussed to show sources of these sensitivities. The models investigated include both pseudo motor-noise and actual (system driving) motor-noise characterizations. The effects of explicit proprioceptive feedback in the OCM is also examined. To show graphically the effects of each submodel on system outputs, sensitivity studies are included, and compared to data obtained from other tests.

  2. A control theoretic model of driver steering behavior

    NASA Technical Reports Server (NTRS)

    Donges, E.

    1977-01-01

    A quantitative description of driver steering behavior such as a mathematical model is presented. The steering task is divided into two levels: (1) the guidance level involving the perception of the instantaneous and future course of the forcing function provided by the forward view of the road, and the response to it in an anticipatory open-loop control mode; (2) the stabilization level whereby any occuring deviations from the forcing function are compensated for in a closed-loop control mode. This concept of the duality of the driver's steering activity led to a newly developed two-level model of driver steering behavior. Its parameters are identified on the basis of data measured in driving simulator experiments. The parameter estimates of both levels of the model show significant dependence on the experimental situation which can be characterized by variables such as vehicle speed and desired path curvature.

  3. Environmental Control and Life Support for an evolutionary Space Station

    NASA Technical Reports Server (NTRS)

    Quattrone, P. D.; Wynveen, R. A.

    1983-01-01

    The requirements for the Space Station are being defined. The Environmental Control/Life Support System (ECLSS) is one of its 13 systems. The ECLSS is further divided into five functional categories. Major ones are the Air Revitalization and Water Reclamation Systems. The paper presents ECLSS performance requirements, average design loads and fluids interfaces. The major cost savings of regenerable ECLSS techniques versus the open loop approach are quantified. Issues impacting ECLSS design are cited. Priority regenerable ECLSS developments are reviewed including the Electrochemical CO2 Concentrator, Static Feed Electrolyzer and Automated Control/Monitor Instrumentation. Baseline and alternative approaches are cited. The ECLSS planning issues are reviewed including functional boundaries, planning schedule, technology maturity definition and technology gaps. The paper concludes with a review of water electrolysis as a Space Station utility impacting ECLSS design.

  4. On reliable control system designs with and without feedback reconfigurations

    NASA Technical Reports Server (NTRS)

    Birdwell, J. D.; Castanon, D. A.; Athans, M.

    1979-01-01

    This paper contains an overview of a theoretical framework for the design of reliable multivariable control systems, with special emphasis on actuator failures and necessary actuator redundancy levels. Using a linear model of the system, with Markovian failure probabilities and quadratic performance index, an optimal stochastic control problem is posed and solved. The solution requires the iteration of a set of highly coupled Riccati-like matrix difference equations; if these converge one has a reliable design; if they diverge, the design is unreliable, and the system design cannot be stabilized. In addition, it is shown that the existence of a stabilizing constant feedback gain and the reliability of its implementation is equivalent to the convergence properties of a set of coupled Riccati-like matrix difference equations. In summary, these results can be used for offline studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  5. LEDA LLRF control system characterization

    SciTech Connect

    Regan, A.H.; Balleyguier, P.; Ziomek, C.D.

    1998-12-31

    The Low Energy Demonstration Accelerator (LEDA) for the Accelerator for the Production of Tritium (APT) project will be built at Los Alamos National Laboratory. The low-level RF (LLRF) control system portion of this accelerator must perform many functions, of which the primary one is controlling the RF fields in the accelerating cavities. Plans have been made to provide for on-line characterization of the LLRF control system and the complete RF system through use of stimulus and response buffers, and a digital signal processor built into the field control system electronics. The purpose of this circuitry is to characterize the behavior of the entire RF system (klystron, waveguides, high power splitters, accelerator cavity, etc.). This characterization feature can be used to measure the performance of the closed loop system with respect to the open loop system, to provide an automated way to set loop parameters, to determine the cavity Q-curve, and to detect any abnormal behavior in the RF chain. The types of measurements include frequency and time-domain responses to given perturbations, amplitude modulations, etc. This paper will discuss types of algorithms that can be implemented and present a description and block diagram of the electronics to be used.

  6. Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project: Test act system validation

    NASA Technical Reports Server (NTRS)

    1985-01-01

    The primary objective of the Test Active Control Technology (ACT) System laboratory tests was to verify and validate the system concept, hardware, and software. The initial lab tests were open loop hardware tests of the Test ACT System as designed and built. During the course of the testing, minor problems were uncovered and corrected. Major software tests were run. The initial software testing was also open loop. These tests examined pitch control laws, wing load alleviation, signal selection/fault detection (SSFD), and output management. The Test ACT System was modified to interface with the direct drive valve (DDV) modules. The initial testing identified problem areas with DDV nonlinearities, valve friction induced limit cycling, DDV control loop instability, and channel command mismatch. The other DDV issue investigated was the ability to detect and isolate failures. Some simple schemes for failure detection were tested but were not completely satisfactory. The Test ACT System architecture continues to appear promising for ACT/FBW applications in systems that must be immune to worst case generic digital faults, and be able to tolerate two sequential nongeneric faults with no reduction in performance. The challenge in such an implementation would be to keep the analog element sufficiently simple to achieve the necessary reliability.

  7. An approximate internal model-based neural control for unknown nonlinear discrete processes.

    PubMed

    Li, Han-Xiong; Deng, Hua

    2006-05-01

    An approximate internal model-based neural control (AIMNC) strategy is proposed for unknown nonaffine nonlinear discrete processes under disturbed environment. The proposed control strategy has some clear advantages in respect to existing neural internal model control methods. It can be used for open-loop unstable nonlinear processes or a class of systems with unstable zero dynamics. Based on a novel input-output approximation, the proposed neural control law can be derived directly and implemented straightforward for an unknown process. Only one neural network needs to be trained and control algorithm can be directly obtained from model identification without further training. The stability and robustness of a closed-loop system can be derived analytically. Extensive simulations demonstrate the superior performance of the proposed AIMNC strategy. PMID:16722170

  8. A Review of Control Strategies in Closed-Loop Neuroprosthetic Systems

    PubMed Central

    Wright, James; Macefield, Vaughan G.; van Schaik, André; Tapson, Jonathan C.

    2016-01-01

    It has been widely recognized that closed-loop neuroprosthetic systems achieve more favorable outcomes for users then equivalent open-loop devices. Improved performance of tasks, better usability, and greater embodiment have all been reported in systems utilizing some form of feedback. However, the interdisciplinary work on neuroprosthetic systems can lead to miscommunication due to similarities in well-established nomenclature in different fields. Here we present a review of control strategies in existing experimental, investigational and clinical neuroprosthetic systems in order to establish a baseline and promote a common understanding of different feedback modes and closed-loop controllers. The first section provides a brief discussion of feedback control and control theory. The second section reviews the control strategies of recent Brain Machine Interfaces, neuromodulatory implants, neuroprosthetic systems, and assistive neurorobotic devices. The final section examines the different approaches to feedback in current neuroprosthetic and neurorobotic systems. PMID:27462202

  9. Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization

    NASA Astrophysics Data System (ADS)

    Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin

    2014-10-01

    The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.

  10. Entrained gasification combined-cycle control study. Volume 3: model descriptions. Final report

    SciTech Connect

    Clark, J.; Denton, L.; Hashemi, M.; Joiner, J.; Smelser, S.; Chowaniec, C.; Hobbs, M.; Jennings, S.; Phelts, E.

    1980-07-01

    Two control strategies were evaluated for a new type of electric power plant as part of a large utility network. An entrained coal gasifier fuels a gas turbine/steam turbine combined-cycle unit forming the integrated plant which was simulated by computer to analyze alternative control strategies. Transient operation of this gasification-combined-cycle (GCC) plant was studied to determine open-loop response as a stand-alone plant, as well as closed-loop response while functioning in a typical utility power system. GCC plant performance during specified operating contingencies, such as equipment trip or emergency shutdown, was also studied. This volume presents the model descriptions for the Texaco entrained gasifiers, Selexol unit, oxygen plant, scrubber, ammonia absorber, water balance, combustion turbine-generator and gas-turbine controls, heat recovery steam generators, steam turbine-generator and steam-turbine controls, fuel gas expander, power system, and station controller.

  11. Control approaches for intelligent material systems -- What can we learn from nature?

    SciTech Connect

    Robertshaw, H.H.

    1994-12-31

    Three natural systems (human thermoregulation, enzyme-catalyzed biochemical reactions, and rivers) are examined with the intent of finding commonalties in control among these systems which may offer inspiration or guidance to the task of controlling the behavior of Intelligent Material Systems. It is observed that these natural systems act in ways not seen in technological control systems. The observations of a lack of (feedback) control, the predominance of regulation, the extremely local nature of the apparent goals, the storage of information in form (in structure), and non-numerical processing, produce a strong impression of coupled open-loop processes amidst seeming chaos almost passively producing what the author calls natural system control.

  12. A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems

    NASA Technical Reports Server (NTRS)

    Jackson, Mark; Zimpfer, Doug; Adams, Neil; Lindsey, K. L. (Technical Monitor)

    2000-01-01

    Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.

  13. Application of modern control design methodology to oblique wing research aircraft

    NASA Technical Reports Server (NTRS)

    Vincent, James H.

    1991-01-01

    A Linear Quadratic Regulator synthesis technique was used to design an explicit model following control system for the Oblique Wing Research Aircraft (OWRA). The forward path model (Maneuver Command Generator) was designed to incorporate the desired flying qualities and response decoupling. The LQR synthesis was based on the use of generalized controls, and it was structured to provide a proportional/integral error regulator with feedforward compensation. An unexpected consequence of this design approach was the ability to decouple the control synthesis into separate longitudinal and lateral directional designs. Longitudinal and lateral directional control laws were generated for each of the nine design flight conditions, and gain scheduling requirements were addressed. A fully coupled 6 degree of freedom open loop model of the OWRA along with the longitudinal and lateral directional control laws was used to assess the closed loop performance of the design. Evaluations were performed for each of the nine design flight conditions.

  14. Control-Based Real-Time Metadata Matching for Information Dissemination

    SciTech Connect

    Chen, Ming; Wang, Xiaorui; Gunasekaran, Raghul; Qi, Hairong; Shankar, Mallikarjun

    2008-01-01

    Real-time information dissemination is of increasing im- portance to our society. Existing work mainly focuses on delivering information from sources to sinks in a timely manner based on established subscriptions, with the as- sumption that those subscriptions are persistent. However, the bottleneck of many real-time information dissemination systems is actually the matching process to continuously reevaluate such subscriptions between numerous sources and numerous sinks, in response to dynamically varying in- formation attributes at runtime. In this paper, we propose a feedback controller to adaptively meet the response time constraints on metadata matching in an example informa- tion dissemination system. Our controller features a rigor- ous design based on well-established feedback control the- ory for guaranteed control accuracy and system stability. Empirical results on a physical test-bed demonstrate that our controller outperforms both an open-loop solution and a typical heuristic solution, by having more accurate con- trol and better system quality of service.

  15. Comparison of Five System Identification Algorithms for Rotorcraft Higher Harmonic Control

    NASA Technical Reports Server (NTRS)

    Jacklin, Stephen A.

    1998-01-01

    This report presents an analysis and performance comparison of five system identification algorithms. The methods are presented in the context of identifying a frequency-domain transfer matrix for the higher harmonic control (HHC) of helicopter vibration. The five system identification algorithms include three previously proposed methods: (1) the weighted-least- squares-error approach (in moving-block format), (2) the Kalman filter method, and (3) the least-mean-squares (LMS) filter method. In addition there are two new ones: (4) a generalized Kalman filter method and (5) a generalized LMS filter method. The generalized Kalman filter method and the generalized LMS filter method were derived as extensions of the classic methods to permit identification by using more than one measurement per identification cycle. Simulation results are presented for conditions ranging from the ideal case of a stationary transfer matrix and no measurement noise to the more complex cases involving both measurement noise and transfer-matrix variation. Both open-loop identification and closed- loop identification were simulated. Closed-loop mode identification was more challenging than open-loop identification because of the decreasing signal-to-noise ratio as the vibration became reduced. The closed-loop simulation considered both local-model identification, with measured vibration feedback and global-model identification with feedback of the identified uncontrolled vibration. The algorithms were evaluated in terms of their accuracy, stability, convergence properties, computation speeds, and relative ease of implementation.

  16. The development of the DAST I remotely piloted research vehicle for flight testing an active flutter suppression control system. Ph.D. Thesis. Final Report

    NASA Technical Reports Server (NTRS)

    Grose, D. L.

    1979-01-01

    The development of the DAST I (drones for aerodynamic and structural testing) remotely piloted research vehicle is described. The DAST I is a highly modified BQM-34E/F Firebee II Supersonic Aerial Target incorporating a swept supercritical wing designed to flutter within the vehicle's flight envelope. The predicted flutter and rigid body characteristics are presented. A description of the analysis and design of an active flutter suppression control system (FSS) designed to increase the flutter boundary of the DAST wing (ARW-1) by a factor of 20% is given. The design and development of the digital remotely augmented primary flight control system and on-board analog backup control system is presented. An evaluation of the near real-time flight flutter testing methods is made by comparing results of five flutter testing techniques on simulated DAST I flutter data. The development of the DAST ARW-1 state variable model used to generate time histories of simulated accelerometer responses is presented. This model uses control surface commands and a Dryden model gust as inputs. The feasibility of the concept of extracting open loop flutter characteristics from closed loop FSS responses was examined. It was shown that open loop characteristics can be determined very well from closed loop subcritical responses.

  17. Entrainment and Control of Bacterial Populations: An in Silico Study over a Spatially Extended Agent Based Model.

    PubMed

    Mina, Petros; Tsaneva-Atanasova, Krasimira; Bernardo, Mario di

    2016-07-15

    We extend a spatially explicit agent based model (ABM) developed previously to investigate entrainment and control of the emergent behavior of a population of synchronized oscillating cells in a microfluidic chamber. Unlike most of the work in models of control of cellular systems which focus on temporal changes, we model individual cells with spatial dependencies which may contribute to certain behavioral responses. We use the model to investigate the response of both open loop and closed loop strategies, such as proportional control (P-control), proportional-integral control (PI-control) and proportional-integral-derivative control (PID-control), to heterogeinities and growth in the cell population, variations of the control parameters and spatial effects such as diffusion in the spatially explicit setting of a microfluidic chamber setup. We show that, as expected from the theory of phase locking in dynamical systems, open loop control can only entrain the cell population in a subset of forcing periods, with a wide variety of dynamical behaviors obtained outside these regions of entrainment. Closed-loop control is shown instead to guarantee entrainment in a much wider region of control parameter space although presenting limitations when the population size increases over a certain threshold. In silico tracking experiments are also performed to validate the ability of classical control approaches to achieve other reference behaviors such as a desired constant output or a linearly varying one. All simulations are carried out in BSim, an advanced agent-based simulator of microbial population which is here extended ad hoc to include the effects of control strategies acting onto the population. PMID:27110835

  18. Active control of vortex-induced vibrations of a circular cylinder using windward-suction- leeward-blowing actuation

    NASA Astrophysics Data System (ADS)

    Wang, Chenglei; Tang, Hui; Yu, Simon C. M.; Duan, Fei

    2016-05-01

    This paper studies the control of two-dimensional vortex-induced vibrations (VIVs) of a single circular cylinder at a Reynolds number of 100 using a novel windward-suction-leeward-blowing (WSLB) concept. A lattice Boltzmann method based numerical framework is adopted for this study. Both open-loop and closed-loop controls are implemented. In the open-loop control, three types of actuation arrangements, including the pure suction on the windward side of the cylinder, the pure blowing on the leeward side, and the general WSLB on both sides, are implemented and compared. It is found that the general WSLB is the most effective, whereas the pure suction is the least effective. In the closed-loop control, the proportional (P), integral (I), and proportional-integral (PI) control schemes are applied to adjust the WSLB velocities according to the flow information obtained from a sensor. The effects of four key control parameters including the proportional gain constant, the integral gain constant, the length of data history used for the feedback, and the location of the sensor are investigated. It is found that the use of only P control fails to completely suppress the VIV, the use of only I control can achieve the complete suppression, and the PI control performs the best in terms of both the control effectiveness and efficiency. In the PI control, there exists an optimal length of data history for the feedback, at which the VIV control is the most efficient. There also exist the minimum required WSLB velocities for the VIV suppression, independent of the control schemes. Moreover, it is found that the VIV control is independent of the sensor location.

  19. Randomized controlled trial of anterior-chamber intraocular lenses in Nepal: long-term follow-up.

    PubMed Central

    Evans, J. R.; Henning, A.; Pradhan, D.; Foster, A.; Lagnado, R.; Poulson, A.; Johnson, G. J.; Wormald, R. P.

    2000-01-01

    Most of the estimated 20 million people who are blind with cataracts live in rural areas of developing countries, where expert surgical resources are scarce. We have studied the use of multiflex open-loop anterior-chamber intraocular lenses (ACIOL) in high-volume low-cost surgery. Between 1992 and 1995, a total of 2000 people attending Lahan Eye Hospital, Nepal, with bilateral cataracts reducing vision to < or = 6/36 were randomly allocated to receive intracapsular extraction (ICCE) with aphakic spectacles, or ICCE with an ACIOL. We re-examined the cohort (1305/2000, 65%) between November 1996 and April 1997 and report the findings in this article. There were 13 new cases of poor visual outcome (best corrected vision < 6/60) arising after one year: 9 in the ACIOL group and 4 in the control group; odds ratio 2.1 (95% confidence interval, 0.59-9.55). The causes of poor outcome were as follows: ACIOL group--retinal detachment (4 cases), cystoid macular oedema (2), epiretinal membrane (1), age-related macular degeneration (1), and late endophthalmitis (1); control group--retinal detachment (2 cases), late endophthalmitis (1), and primary open-angle glaucoma with age-related macular degeneration (1). In rural areas of developing countries, well-manufactured multiflex open-loop ACIOLs can be implanted safely by experienced ophthalmologists after routine ICCE, avoiding the disadvantages of aphakic spectacle correction. PMID:10812737

  20. Feasibility of Outpatient Fully Integrated Closed-Loop Control

    PubMed Central

    Kovatchev, Boris P.; Renard, Eric; Cobelli, Claudio; Zisser, Howard C.; Keith-Hynes, Patrick; Anderson, Stacey M.; Brown, Sue A.; Chernavvsky, Daniel R.; Breton, Marc D.; Farret, Anne; Pelletier, Marie-Josée; Place, Jérôme; Bruttomesso, Daniela; Del Favero, Simone; Visentin, Roberto; Filippi, Alessio; Scotton, Rachele; Avogaro, Angelo; Doyle, Francis J.

    2013-01-01

    OBJECTIVE To evaluate the feasibility of a wearable artificial pancreas system, the Diabetes Assistant (DiAs), which uses a smart phone as a closed-loop control platform. RESEARCH DESIGN AND METHODS Twenty patients with type 1 diabetes were enrolled at the Universities of Padova, Montpellier, and Virginia and at Sansum Diabetes Research Institute. Each trial continued for 42 h. The United States studies were conducted entirely in outpatient setting (e.g., hotel or guest house); studies in Italy and France were hybrid hospital–hotel admissions. A continuous glucose monitoring/pump system (Dexcom Seven Plus/Omnipod) was placed on the subject and was connected to DiAs. The patient operated the system via the DiAs user interface in open-loop mode (first 14 h of study), switching to closed-loop for the remaining 28 h. Study personnel monitored remotely via 3G or WiFi connection to DiAs and were available on site for assistance. RESULTS The total duration of proper system communication functioning was 807.5 h (274 h in open-loop and 533.5 h in closed-loop), which represented 97.7% of the total possible time from admission to discharge. This exceeded the predetermined primary end point of 80% system functionality. CONCLUSIONS This study demonstrated that a contemporary smart phone is capable of running outpatient closed-loop control and introduced a prototype system (DiAs) for further investigation. Following this proof of concept, future steps should include equipping insulin pumps and sensors with wireless capabilities, as well as studies focusing on control efficacy and patient-oriented clinical outcomes. PMID:23801798

  1. Control and Identification of a Separated Flow

    NASA Astrophysics Data System (ADS)

    Huang, Shao-Ching; Kim, John; Gibson, Steve

    2004-11-01

    There has been increased interest in applying modern control theory to flow-control problems. For simple flows, such as turbulent channel and boundary layers, several investigators have successfully designed controllers based on linear optimal control theory. However, applying the same procedure to complex flows is hindered since certain required information of the flow is not readily available. In this study, we use system identification theory to construct an approximate linear model from input-output data for a separated boundary layer on a flat plate exposed to an adverse pressure gradient. The subspace system identification method yields a more accurate system model than the ARX method we had used previously. A linear quadratic Gaussian (LQG) synthesis was used to design an optimal controller to reduce the separation bubble size. Effects of the controller were investigated by comparing the controlled flow field to the uncontrolled one, and that controlled by a conventional open-loop scheme. A number of issues regarding model reduction, model stability, and the choice of cost function, will also be presented.

  2. Rolling Maneuver Load Alleviation using active controls

    NASA Technical Reports Server (NTRS)

    Woods-Vedeler, Jessica A.; Pototzky, Anthony S.

    1992-01-01

    Rolling Maneuver Load Alleviation (RMLA) has been demonstrated on the Active Flexible Wing (AFW) wind tunnel model in the NASA Langley Transonic Dynamics Tunnel. The design objective was to develop a systematic approach for developing active control laws to alleviate wing incremental loads during roll maneuvers. Using linear load models for the AFW wind-tunnel model which were based on experimental measurements, two RMLA control laws were developed based on a single-degree-of-freedom roll model. The RMLA control laws utilized actuation of outboard control surface pairs to counteract incremental loads generated during rolling maneuvers and actuation of the trailing edge inboard control surface pairs to maintain roll performance. To evaluate the RMLA control laws, roll maneuvers were performed in the wind tunnel at dynamic pressures of 150, 200, and 250 psf and Mach numbers of 0.33, .38 and .44, respectively. Loads obtained during these maneuvers were compared to baseline maneuver loads. For both RMLA controllers, the incremental torsion moments were reduced by up to 60 percent at all dynamic pressures and performance times. Results for bending moment load reductions during roll maneuvers varied. In addition, in a multiple function test, RMLA and flutter suppression system control laws were operated simultaneously during roll maneuvers at dynamic pressures 11 percent above the open-loop flutter dynamic pressure.

  3. Kinetic model solves visbreaker constraint control problem

    SciTech Connect

    Iscovici, R.S. )

    1994-05-01

    A kinetic model of the visbreaking process was developed and used in an advanced control algorithm implemented in a distributed control system (DCS). During development, model predictions were checked against unit history data and compared to the actual unit performance with respect to fuel oil stability vs. cracking conversion. In the first stage, the algorithm was used in open-loop supervisory control. In the second stage the advanced control loop was closed and the visbreaking units was run automatically. The visbreaker control, based on process kinetics, is simple enough to be developed and implemented in a DCS, eliminating need for higher-power computers at the information system (IS) level, and reducing to a minimum data transfer from them to the process regulatory control level based on the DCS. The advanced control application led to profits estimated at $4.5 million annually, more than expected. The visbreaker advanced control showed how process engineering knowledge used in powerful and versatile DCSs could increase profit, shorten pay-out time and ease the workload on unit operators.

  4. Application handbook for a Standardized Control Module (SCM) for DC-DC converters, volume 1

    NASA Technical Reports Server (NTRS)

    Lee, F. C.; Mahmoud, M. F.; Yu, Y.

    1980-01-01

    The standardized control module (SCM) was developed for application in the buck, boost and buck/boost DC-DC converters. The SCM used multiple feedback loops to provide improved input line and output load regulation, stable feedback control system, good dynamic transient response and adaptive compensation of the control loop for changes in open loop gain and output filter time constraints. The necessary modeling and analysis tools to aid the design engineer in the application of the SCM to DC-DC Converters were developed. The SCM functional block diagram and the different analysis techniques were examined. The average time domain analysis technique was chosen as the basic analytical tool. The power stage transfer functions were developed for the buck, boost and buck/boost converters. The analog signal and digital signal processor transfer functions were developed for the three DC-DC Converter types using the constant on time, constant off time and constant frequency control laws.

  5. Rapid torque-limited line-of-sight pointing of SCOLE (Spacecraft Control Laboratory Experiment) configuration

    NASA Technical Reports Server (NTRS)

    Lin, J. G.

    1986-01-01

    The design concept of a control for rapid torque-limited slewing of a rigid-mast version of the NASA SCOLE configuration is presented and demonstrated by means of numerical simulation. The time-optimal control problem for the system is decomposed into separate single-axis problems, expanding analytically the implicit nonlinear transcendental expression for the SCOLE line-of-sight error, and the final Euler attitude angles and slew angles are determined. The simulation results are presented in tables and graphs, and it is found that bang-bang or bang-pause-bang slew maneuvers with control moment applied to the Shuttle and control force applied to the reflector, and with a 5-deg/s slew-rate limit, produce the best pointing accuracy and the shortest slew times, although the specified line-of-sight error of 0.02 deg cannot be achieved using such open-loop single-axis maneuvers.

  6. Neuro-estimator based GMC control of a batch reactive distillation.

    PubMed

    Prakash, K J Jithin; Patle, Dipesh S; Jana, Amiya K

    2011-07-01

    In this paper, an artificial neural network (ANN)-based nonlinear control algorithm is proposed for a simulated batch reactive distillation (RD) column. In the homogeneously catalyzed reactive process, an esterification reaction takes place for the production of ethyl acetate. The fundamental model has been derived incorporating the reaction term in the model structure of the nonreactive distillation process. The process operation is simulated at the startup phase under total reflux conditions. The open-loop process dynamics is also addressed running the batch process at the production phase under partial reflux conditions. In this study, a neuro-estimator based generic model controller (GMC), which consists of an ANN-based state predictor and the GMC law, has been synthesized. Finally, this proposed control law has been tested on the representative batch reactive distillation comparing with a gain-scheduled proportional integral (GSPI) controller and with its ideal performance (ideal GMC). PMID:21334616

  7. A modified Finite Element-Transfer Matrix for control design of space structures

    NASA Technical Reports Server (NTRS)

    Tan, T.-M.; Yousuff, A.; Bahar, L. Y.; Konstandinidis, M.

    1990-01-01

    The Finite Element-Transfer Matrix (FETM) method was developed for reducing the computational efforts involved in structural analysis. While being widely used by structural analysts, this method does, however, have certain limitations, particularly when used for the control design of large flexible structures. In this paper, a new formulation based on the FETM method is presented. The new method effectively overcomes the limitations in the original FETM method, and also allows an easy construction of reduced models that are tailored for the control design. Other advantages of this new method include the ability to extract open loop frequencies and mode shapes with less computation, and simplification of the design procedures for output feedback, constrained compensation, and decentralized control. The development of this new method and the procedures for generating reduced models using this method are described in detail and the role of the reduced models in control design is discussed through an illustrative example.

  8. Active vibration control using a modal-domain fiber optic sensor

    NASA Technical Reports Server (NTRS)

    Cox, David E.

    1992-01-01

    A closed-loop control experiment is described in which vibrations of a cantilevered beam are suppressed using measurements from a modal-domain fiber optic sensor. Modal-domain sensors are interference between the modes of a few-mode optical waveguide to detect strain. The fiber is bonded along the length of the beam and provides a measurement related to the strain distribution on the surface of the beam. A model for the fiber optic sensor is derived, and this model is integrated with the dynamic model of the beam. A piezoelectric actuator is also bonded to the beam and used to provide control forces. Control forces are obtained through dynamic compensation of the signal from the fiber optic sensor. The compensator is implemented with a real-time digital controller. Analytical models are verified by comparing simulations to experimental results for both open-loop and closed-loop configurations.

  9. Lp-stability (1 less than or equal to p less than or equal to infinity) of multivariable nonlinear time-varying feedback systems that are open-loop unstable. [noting unstable convolution subsystem forward control and time varying nonlinear feedback

    NASA Technical Reports Server (NTRS)

    Callier, F. M.; Desoer, C. A.

    1973-01-01

    A class of multivariable, nonlinear time-varying feedback systems with an unstable convolution subsystem as feedforward and a time-varying nonlinear gain as feedback was considered. The impulse response of the convolution subsystem is the sum of a finite number of increasing exponentials multiplied by nonnegative powers of the time t, a term that is absolutely integrable and an infinite series of delayed impulses. The main result is a theorem. It essentially states that if the unstable convolution subsystem can be stabilized by a constant feedback gain F and if incremental gain of the difference between the nonlinear gain function and F is sufficiently small, then the nonlinear system is L(p)-stable for any p between one and infinity. Furthermore, the solutions of the nonlinear system depend continuously on the inputs in any L(p)-norm. The fixed point theorem is crucial in deriving the above theorem.

  10. Aerodynamic flow control of a high lift system with dual synthetic jet arrays

    NASA Astrophysics Data System (ADS)

    Alstrom, Robert Bruce

    Implementing flow control systems will mitigate the vibration and aeroacoustic issues associated with weapons bays; enhance the performance of the latest generation aircraft by reducing their fuel consumption and improving their high angle-of-attack handling qualities; facilitate steep climb out profiles for military transport aircraft. Experimental research is performed on a NACA 0015 airfoil with a simple flap at angle of attack of 16o in both clean and high lift configurations. The results of the active control phase of the project will be discussed. Three different experiments were conducted; they are Amplitude Modulated Dual Location Open Loop Control, Adaptive Control with Amplitude Modulation using Direct Sensor Feedback and Adaptive Control with Amplitude Modulation using Extremum Seeking Control. All the closed loop experiments are dual location. The analysis presented uses the spatial variation of the root mean square pressure fluctuations, power spectral density estimates, Fast Fourier Transforms (FFTs), and time frequency analysis which consists of the application of the Morlet and Mexican Hat wavelets. Additionally, during the course of high speed testing in the wind tunnel, some aeroacoustic phenomena were uncovered; those results will also be presented. A cross section of the results shows that the shape of the RMS pressure distributions is sensitive to forcing frequency. The application of broadband excitation in the case adaptive control causes the flow to select a frequency to lock in to. Additionally, open loop control results in global synchronization via switching between two stable states and closed loop control inhibits the switching phenomena, but rather synchronizes the flow about multiple stable shedding frequencies.

  11. Toward rational design of electrical stimulation strategies for epilepsy control.

    PubMed

    Sunderam, Sridhar; Gluckman, Bruce; Reato, Davide; Bikson, Marom

    2010-01-01

    Electrical stimulation is emerging as a viable alternative for patients with epilepsy whose seizures are not alleviated by drugs or surgery. Its attractions are temporal and spatial specificity of action, flexibility of waveform parameters and timing, and the perception that its effects are reversible unlike resective surgery. However, despite significant advances in our understanding of mechanisms of neural electrical stimulation, clinical electrotherapy for seizures relies heavily on empirical tuning of parameters and protocols. We highlight concurrent treatment goals with potentially conflicting design constraints that must be resolved when formulating rational strategies for epilepsy electrotherapy, namely, seizure reduction versus cognitive impairment, stimulation efficacy versus tissue safety, and mechanistic insight versus clinical pragmatism. First, treatment markers, objectives, and metrics relevant to electrical stimulation for epilepsy are discussed from a clinical perspective. Then the experimental perspective is presented, with the biophysical mechanisms and modalities of open-loop electrical stimulation, and the potential benefits of closed-loop control for epilepsy. PMID:19926525

  12. Toward rational design of electrical stimulation strategies for epilepsy control

    PubMed Central

    Sunderam, Sridhar; Gluckman, Bruce; Reato, Davide; Bikson, Marom

    2009-01-01

    Electrical stimulation is emerging as a viable alternative for epilepsy patients whose seizures are not alleviated by drugs or surgery. Its attractions are temporal and spatial specificity of action, flexibility of waveform parameters and timing, and the perception that its effects are reversible unlike resective surgery. However, despite significant advances in our understanding of mechanisms of neural electrical stimulation, clinical electrotherapy for seizures relies heavily on empirical tuning of parameters and protocols. We highlight concurrent treatment goals with potentially conflicting design constraints that must be resolved when formulating rational strategies for epilepsy electrotherapy: namely seizure reduction versus cognitive impairment, stimulation efficacy versus tissue safety, and mechanistic insight versus clinical pragmatism. First, treatment markers, objectives, and metrics relevant to electrical stimulation for epilepsy are discussed from a clinical perspective. Then the experimental perspective is presented, with the biophysical mechanisms and modalities of open-loop electrical stimulation, and the potential benefits of closed-loop control for epilepsy. PMID:19926525

  13. Design study for LANDSAT-D attitude control system

    NASA Technical Reports Server (NTRS)

    Iwens, R. P.; Bernier, G. E.; Hofstadter, R. F.; Mayo, R. A.; Nakano, H.

    1977-01-01

    The gimballed Ku-band antenna system for communication with TDRS was studied. By means of an error analysis it was demonstrated that the antenna cannot be open loop pointed to TDRS by an onboard programmer, but that an autotrack system was required. After some tradeoffs, a two-axis, azimuth-elevation type gimbal configuration was recommended for the antenna. It is shown that gimbal lock only occurs when LANDSAT-D is over water where a temporary loss of the communication link to TDRS is of no consequence. A preliminary gimbal control system design is also presented. A digital computer program was written that computes antenna gimbal angle profiles, assesses percent antenna beam interference with the solar array, and determines whether the spacecraft is over land or water, a lighted earth or a dark earth, and whether the spacecraft is in eclipse.

  14. Operator in-the-loop control of rotary cranes

    SciTech Connect

    Parker, G.G.; Robinett, R.D.; Driessen, B.J.; Dohrmann, C.R.

    1996-03-01

    An open-loop control method is presented for reducing the oscillatory motion of rotary crane payloads during operator commanded maneuvers. A typical rotary crane consists of a multiple degree-of-freedom platform for positioning a spherical pendulum with an attached payload. The crane operator positions the Payload by issuing a combination of translational and rotational commands to the platform as well as load-line length changes. Frequently, these pendulum modes are time-varying and exhibit low natural frequencies. Maneuvers are therefore performed at rates sufficiently slow so as not to excite oscillation. The strategy presented here generates crane commands which suppress vibration of the payload without a priori knowledge of the desired maneuver. Results are presented for operator in-the-loop positioning using a real-time dynamics simulation of a three-axis rotary crane where the residual sway magnitude is reduced in excess of 4OdB.

  15. Model for human use of motion cues in vehicular control

    NASA Technical Reports Server (NTRS)

    Hess, Ronald A.

    1990-01-01

    A feedback model for human use of motion cues in tracking and regulation tasks is offered. The motion cue model is developed as a simple extension of a structural model of the human pilot, although other equivalent dynamic representations of the pilot could be used in place of the structural model. In the structural model,it is hypothesized that proprioceptive cues and an internal representation of the vehicle dynamics allow the human to create compensation characteristics that are appropriate for the dynamics of the particular vehicle being controlled. It is shown that an additional loop closure involving motion feedback can improve the pilot/vehicle dynamics by decreasing high-frequency phase lags in the effective open-loop system transfer function. Data from a roll-attitude tracking/regulation task conducted on a moving base simulator are used to verify the modeling approach.

  16. Application of QFT to the Problem of Failed In-Flight Controllers During Approach and Landing of a B720 Aircraft

    NASA Technical Reports Server (NTRS)

    Chou, Hwei-Lan; Biezad, Daniel J.

    1996-01-01

    Previous studies by NASA Dryden have shown the use of throttles for emergency flight control to be extremely difficult, especially for landing. Flight control using only the throttles to achieve safe landing for a large jet transport airplane, the Boeing 720, is investigated using Quantitative Feedback Theory (QFT). Results are compared to an augmented control developed in a previous study. The controller corrected unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but improving the control bandwidth substantially proved very difficult. The pitch controller is robust in conditions of no or moderate turbulence. The roll controller performed well in conditions of no turbulence, but is sensitive to moderate turbulence. Handling qualities of the augmented control for approach and landing were evaluated by piloted simulation flights.

  17. Modular control of fusion power heating applications

    SciTech Connect

    Demers, D. R.

    2012-08-24

    This work is motivated by the growing demand for auxiliary heating on small and large machines worldwide. Numerous present and planned RF experiments (EBW, Lower Hybrid, ICRF, and ECH) are increasingly complex systems. The operational challenges are indicative of a need for components of real-time control that can be implemented with a moderate amount of effort in a time- and cost-effective fashion. Such a system will improve experimental efficiency, enhance experimental quality, and expedite technological advancements. The modular architecture of this control-suite serves multiple purposes. It facilitates construction on various scales from single to multiple controller systems. It enables expandability of control from basic to complex via the addition of modules with varying functionalities. It simplifies the control implementation process by reducing layers of software and electronic development. While conceived with fusion applications in mind, this suite has the potential to serve a broad range of scientific and industrial applications. During the Phase-I research effort we established the overall feasibility of this modular control-suite concept. We developed the fundamental modules needed to implement open-loop active-control and demonstrated their use on a microwave power deposition experiment.

  18. Rolling maneuver load alleviation using active controls

    NASA Technical Reports Server (NTRS)

    Woods-Vedeler, Jessica A.; Pototzky, Anthony S.

    1992-01-01

    Rolling Maneuver Load Alleviation (RMLA) was demonstrated on the Active Flexible Wing (AFW) wind tunnel model in the LaRC Transonic Dynamics Tunnel. The design objective was to develop a systematic approach for developing active control laws to alleviate wing incremental loads during roll maneuvers. Using linear load models for the AFW wind-tunnel model which were based on experimental measurements, two RMLA control laws were developed based on a single-degree-of-freedom roll model. The RMLA control laws utilized actuation of outboard control surface pairs to counteract incremental loads generated during rolling maneuvers and roll performance. To evaluate the RMLA control laws, roll maneuvers were performed in the wind tunnel at dynamic pressures of 150, 200, and 250 psf and Mach numbers of .33, .38, and .44, respectively. Loads obtained during these maneuvers were compared to baseline maneuver loads. For both RMLA controllers, the incremental torsion moments were reduced by up to 60 percent at all dynamic pressures and performance times. Results for bending moment load reductions during roll maneuvers varied. In addition, in a multiple function test, RMLA and flutter suppression system control laws were operated simultaneously during roll maneuvers at dynamic pressures 11 percent above the open-loop flutter dynamic pressure.

  19. A Robust Design Methodology for Optimal Microscale Secondary Flow Control in Compact Inlet Diffusers

    NASA Technical Reports Server (NTRS)

    Anderson, Bernhard H.; Keller, Dennis J.

    2001-01-01

    It is the purpose of this study to develop an economical Robust design methodology for microscale secondary flow control in compact inlet diffusers. To illustrate the potential of economical Robust Design methodology, two different mission strategies were considered for the subject inlet, namely Maximum Performance and Maximum HCF Life Expectancy. The Maximum Performance mission maximized total pressure recovery while the Maximum HCF Life Expectancy mission minimized the mean of the first five Fourier harmonic amplitudes, i.e., 'collectively' reduced all the harmonic 1/2 amplitudes of engine face distortion. Each of the mission strategies was subject to a low engine face distortion constraint, i.e., DC60<0.10, which is a level acceptable for commercial engines. For each of these missions strategies, an 'Optimal Robust' (open loop control) and an 'Optimal Adaptive' (closed loop control) installation was designed over a twenty degree angle-of-incidence range. The Optimal Robust installation used economical Robust Design methodology to arrive at a single design which operated over the entire angle-of-incident range (open loop control). The Optimal Adaptive installation optimized all the design parameters at each angle-of-incidence. Thus, the Optimal Adaptive installation would require a closed loop control system to sense a proper signal for each effector and modify that effector device, whether mechanical or fluidic, for optimal inlet performance. In general, the performance differences between the Optimal Adaptive and Optimal Robust installation designs were found to be marginal. This suggests, however, that Optimal Robust open loop installation designs can be very competitive with Optimal Adaptive close loop designs. Secondary flow control in inlets is inherently robust, provided it is optimally designed. Therefore, the new methodology presented in this paper, combined array 'Lower Order' approach to Robust DOE, offers the aerodynamicist a very viable and

  20. Multi-objective LQR with optimum weight selection to design FOPID controllers for delayed fractional order processes.

    PubMed

    Das, Saptarshi; Pan, Indranil; Das, Shantanu

    2015-09-01

    An optimal trade-off design for fractional order (FO)-PID controller is proposed with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain objectives. A class of delayed FO systems with single non-integer order element, exhibiting both sluggish and oscillatory open loop responses, have been controlled here. The FO time delay processes are handled within a multi-objective optimization (MOO) formalism of LQR based FOPID design. A comparison is made between two contemporary approaches of stabilizing time-delay systems withinLQR. The MOO control design methodology yields the Pareto optimal trade-off solutions between the tracking performance and total variation (TV) of the control signal. Tuning rules are formed for the optimal LQR-FOPID controller parameters, using median of the non-dominated Pareto solutions to handle delayed FO processes. PMID:26096954

  1. Closed-loop control of a 2-D mems micromirror with sidewall electrodes for a laser scanning microscope system

    NASA Astrophysics Data System (ADS)

    Chen, Hui; Chen, Albert; Jie Sun, Wei; Sun, Zhen Dong; Yeow, John TW

    2016-01-01

    This article presents the development and implementation of a robust nonlinear control scheme for a 2-D micromirror-based laser scanning microscope system. The presented control scheme, built around sliding mode control approach and augmented an adaptive algorithm, is proposed to improve the tracking accuracy in presence of cross-axis effect. The closed-loop controlled imaging system is developed through integrating a 2-D micromirror with sidewall electrodes (SW), a laser source, NI field-programmable gate array (FPGA) hardware, the optics, position sensing detector (PSD) and photo detector (PD). The experimental results demonstrated that the proposed scheme is able to achieve accurate tracking of a reference triangular signal. Compared with open-loop control, the scanning performance is significantly improved, and a better 2-D image is obtained using the micromirror with the proposed scheme.

  2. New results on the robust stability of PID controllers with gain and phase margins for UFOPTD processes.

    PubMed

    Jin, Q B; Liu, Q; Huang, B

    2016-03-01

    This paper considers the problem of determining all the robust PID (proportional-integral-derivative) controllers in terms of the gain and phase margins (GPM) for open-loop unstable first order plus time delay (UFOPTD) processes. It is the first time that the feasible ranges of the GPM specifications provided by a PID controller are given for UFOPTD processes. A gain and phase margin tester is used to modify the original model, and the ranges of the margin specifications are derived such that the modified model can be stabilized by a stabilizing PID controller based on Hermite-Biehlers Theorem. Furthermore, we obtain all the controllers satisfying a given margin specification. Simulation studies show how to use the results to design a robust PID controller. PMID:26708658

  3. Model Predictive Control-based Optimal Coordination of Distributed Energy Resources

    SciTech Connect

    Mayhorn, Ebony T.; Kalsi, Karanjit; Lian, Jianming; Elizondo, Marcelo A.

    2013-04-03

    Distributed energy resources, such as renewable energy resources (wind, solar), energy storage and demand response, can be used to complement conventional generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging, especially in isolated systems. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation performance. The goals of the optimization problem are to minimize fuel costs and maximize the utilization of wind while considering equipment life of generators and energy storage. Model predictive control (MPC) is used to solve a look-ahead dispatch optimization problem and the performance is compared to an open loop look-ahead dispatch problem. Simulation studies are performed to demonstrate the efficacy of the closed loop MPC in compensating for uncertainties and variability caused in the system.

  4. Model Predictive Control-based Optimal Coordination of Distributed Energy Resources

    SciTech Connect

    Mayhorn, Ebony T.; Kalsi, Karanjit; Lian, Jianming; Elizondo, Marcelo A.

    2013-01-07

    Distributed energy resources, such as renewable energy resources (wind, solar), energy storage and demand response, can be used to complement conventional generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging, especially in isolated systems. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation performance. The goals of the optimization problem are to minimize fuel costs and maximize the utilization of wind while considering equipment life of generators and energy storage. Model predictive control (MPC) is used to solve a look-ahead dispatch optimization problem and the performance is compared to an open loop look-ahead dispatch problem. Simulation studies are performed to demonstrate the efficacy of the closed loop MPC in compensating for uncertainties and variability caused in the system.

  5. Soft sensor based composition estimation and controller design for an ideal reactive distillation column.

    PubMed

    Vijaya Raghavan, S R; Radhakrishnan, T K; Srinivasan, K

    2011-01-01

    In this research work, the authors have presented the design and implementation of a recurrent neural network (RNN) based inferential state estimation scheme for an ideal reactive distillation column. Decentralized PI controllers are designed and implemented. The reactive distillation process is controlled by controlling the composition which has been estimated from the available temperature measurements using a type of RNN called Time Delayed Neural Network (TDNN). The performance of the RNN based state estimation scheme under both open loop and closed loop have been compared with a standard Extended Kalman filter (EKF) and a Feed forward Neural Network (FNN). The online training/correction has been done for both RNN and FNN schemes for every ten minutes whenever new un-trained measurements are available from a conventional composition analyzer. The performance of RNN shows better state estimation capability as compared to other state estimation schemes in terms of qualitative and quantitative performance indices. PMID:20887987

  6. Recovery of Dynamics and Function in Spiking Neural Networks with Closed-Loop Control

    PubMed Central

    Vlachos, Ioannis; Deniz, Taşkin; Aertsen, Ad; Kumar, Arvind

    2016-01-01

    There is a growing interest in developing novel brain stimulation methods to control disease-related aberrant neural activity and to address basic neuroscience questions. Conventional methods for manipulating brain activity rely on open-loop approaches that usually lead to excessive stimulation and, crucially, do not restore the original computations performed by the network. Thus, they are often accompanied by undesired side-effects. Here, we introduce delayed feedback control (DFC), a conceptually simple but effective method, to control pathological oscillations in spiking neural networks (SNNs). Using mathematical analysis and numerical simulations we show that DFC can restore a wide range of aberrant network dynamics either by suppressing or enhancing synchronous irregular activity. Importantly, DFC, besides steering the system back to a healthy state, also recovers the computations performed by the underlying network. Finally, using our theory we identify the role of single neuron and synapse properties in determining the stability of the closed-loop system. PMID:26829673

  7. Effectiveness of a disk-type magnetorheologic fluid damper for rotor system vibration control

    NASA Astrophysics Data System (ADS)

    Zhu, Changsheng; Robb, David A.; Ewins, David J.

    2001-07-01

    A disk-type MR fluid damper based on shear operation mode is presented in this paper. The magnetic field of the disk-type MR fluid damper is analysed by the finite element method. The effect of excitation current in the coil on the magnetic flux density in the axial gaps filled with MR fluid is studied both theoretically and experimentally. Finally, the effectiveness of the disk-type MR fluid damper for attenuating vibration of rotor systems and of a simple open-loop on-off control based on the feedback of rotational speed on controlling vibration of rotor systems are experimentally studied. It is shown that the dynamic characteristics of the disk-type MR fluid damper can be controlled by a simple magnetic coil with a low voltage, and the disk-type MR fluid damper is very effective to attenuate vibration of rotor systems.

  8. Dynamic Characteristic Analysis of Spinal Motor Control Between 11- and 15-Year-Old Children.

    PubMed

    Chow, Daniel H; Lau, Newman M

    2016-07-01

    Spinal motor control can provide substantial insight for the causes of spinal musculoskeletal disorders. Its dynamic characteristics however, have not been fully investigated. The objective of this study is to explore the dynamic characteristics of spinal motor control via the fractional Brownian motion mathematical technique. Spinal curvatures and repositioning errors of different spinal regions in 64 children age 11- or 15-years old during upright stance were measured and compared for the effects of age and gender. With the application of the fractional Brownian motion analytical technique to the changes of spinal curvatures, distinct persistent movement behaviors could be determined, which could be interpreted physiologically as open-loop behaviors. Moreover, it was found that the spinal motor control of 15-year-old children was better than that of 11-year-old children with smaller repositioning error and less curvature variability as well as shorter response time and smaller curvature deformation. PMID:26314089

  9. Recovery of Dynamics and Function in Spiking Neural Networks with Closed-Loop Control.

    PubMed

    Vlachos, Ioannis; Deniz, Taşkin; Aertsen, Ad; Kumar, Arvind

    2016-02-01

    There is a growing interest in developing novel brain stimulation methods to control disease-related aberrant neural activity and to address basic neuroscience questions. Conventional methods for manipulating brain activity rely on open-loop approaches that usually lead to excessive stimulation and, crucially, do not restore the original computations performed by the network. Thus, they are often accompanied by undesired side-effects. Here, we introduce delayed feedback control (DFC), a conceptually simple but effective method, to control pathological oscillations in spiking neural networks (SNNs). Using mathematical analysis and numerical simulations we show that DFC can restore a wide range of aberrant network dynamics either by suppressing or enhancing synchronous irregular activity. Importantly, DFC, besides steering the system back to a healthy state, also recovers the computations performed by the underlying network. Finally, using our theory we identify the role of single neuron and synapse properties in determining the stability of the closed-loop system. PMID:26829673

  10. Novel sensors to enable closed-loop active clearance control in gas turbine engines

    NASA Astrophysics Data System (ADS)

    Geisheimer, Jonathan; Holst, Tom

    2014-06-01

    Active clearance control within the turbine section of gas turbine engines presents and opportunity within aerospace and industrial applications to improve operating efficiencies and the life of downstream components. Open loop clearance control is currently employed during the development of all new large core aerospace engines; however, the ability to measure the gap between the blades and the case and close down the clearance further presents as opportunity to gain even greater efficiencies. The turbine area is one of the harshest environments for long term placement of a sensor in addition to the extreme accuracy requirements required to enable closed loop clearance control. This paper gives an overview of the challenges of clearance measurements within the turbine as well as discusses the latest developments of a microwave sensor designed for this application.

  11. Precision Pointing Control System (PPCS) system design and analysis. [for gimbaled experiment platforms

    NASA Technical Reports Server (NTRS)

    Frew, A. M.; Eisenhut, D. F.; Farrenkopf, R. L.; Gates, R. F.; Iwens, R. P.; Kirby, D. K.; Mann, R. J.; Spencer, D. J.; Tsou, H. S.; Zaremba, J. G.

    1972-01-01

    The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.

  12. Direct torque control of permanent magnet drives

    SciTech Connect

    French, C.; Acarnley, P.

    1995-12-31

    Many permanent magnet motor drives use an open loop form of torque control, based on the assumption that output torque is proportional to applied current. In a practical motor this assumption may not always be correct, due to sub-optimal alignment of magnets, non-uniformity of magnetic material, current sensor non-linearities and current controller limitations. These factors, together with non-optimized current references, can lead to high values of torque ripple and copper loss. This paper describes a method of estimating the electro-magnetic torque from the rate of change of co-energy with respect to position, thus taking account of mutual torque, reluctance torque and saturation effects. The paper shows how the estimator can be used in a direct torque control scheme. The direct torque controller maximizes the torque:copper loss ratio. Implementation of the direct torque controller in a DSP based drive system is described, with steady-state and transient experimental results illustrating the effectiveness of the direct torque control scheme.

  13. Sliding mode control for Lorentz-augmented spacecraft hovering around elliptic orbits

    NASA Astrophysics Data System (ADS)

    Huang, Xu; Yan, Ye; Zhou, Yang; Zhang, Hua

    2014-10-01

    A Lorentz spacecraft is an electrostatically charged space vehicle that could actively modulate its surface charge to generate Lorentz force as it moves through the planetary magnetic field. The induced Lorentz force provides propellantless electromagnetic propulsion for orbital maneuvering, such as spacecraft hovering that the chaser thrusts continuously to create an equilibrium state at the desired position relative to the target. Due to the fact that the direction of Lorentz force is determined by the local magnetic field and the velocity of the spacecraft with respect to the local magnetic field, which does not necessarily coincide with that of the required control acceleration for hovering, thus, in most cases, the Lorentz force works as a means of auxiliary propulsion to reduce the expenditure of fuel onboard. And that is why it is called Lorentz-augmented hovering. A dynamical model for Lorentz-augmented hovering around elliptic orbits is developed based upon the assumption that the Earth's magnetic field could be modeled as a tilted dipole that corotates with Earth. Fuel-optimal open-loop control laws are then derived based on the proposed dynamical model, presenting the optimal trajectories of the required specific charge of Lorentz spacecraft and the thruster-generated control acceleration. Considering the external disturbances that may drift the desired hovering position, a closed-loop integral sliding mode controller is also designed to guarantee the tracking of optimal control trajectories, ensuring the robustness of the system against perturbations. Numerical simulations are presented to analyze the characteristics of Lorentz-augmented hovering around eccentric orbits and the results substantiate the validity of the proposed open-loop and closed-loop control methods.

  14. Motion and force control of multiple robotic manipulators

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz-Delgado, Kenneth

    1992-01-01

    This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

  15. A minimum attention control law for ball catching.

    PubMed

    Jang, Cheongjae; Lee, Jee-eun; Lee, Sohee; Park, F C

    2015-10-01

    Digital implementations of control laws typically involve discretization with respect to both time and space, and a control law that can achieve a task at coarser levels of discretization can be said to require less control attention, and also reduced implementation costs. One means of quantitatively capturing the attention of a control law is to measure the rate of change of the control with respect to changes in state and time. In this paper we present an attention-minimizing control law for ball catching and other target tracking tasks based on Brockett's attention criterion. We first highlight the connections between this attention criterion and some well-known principles from human motor control. Under the assumption that the optimal control law is the sum of a linear time-varying feedback term and a time-varying feedforward term, we derive an LQR-based minimum attention tracking control law that is stable, and obtained efficiently via a finite-dimensional optimization over the symmetric positive-definite matrices. Taking ball catching as our primary task, we perform numerical experiments comparing the performance of the various control strategies examined in the paper. Consistent with prevailing theories about human ball catching, our results exhibit several familiar features, e.g., the transition from open-loop to closed-loop control during the catching movement, and improved robustness to spatiotemporal discretization. The presented control laws are applicable to more general tracking problems that are subject to limited communication resources. PMID:26440578

  16. O the Use of Modern Control Theory for Active Structural Acoustic Control.

    NASA Astrophysics Data System (ADS)

    Saunders, William Richard

    A modern control theory formulation of Active Structural Acoustic Control (ASAC) of simple structures radiating acoustic energy into light or heavy fluid mediums is discussed in this dissertation. ASAC of a baffled, simply-supported plate subject to mechanical disturbances is investigated. For the case of light fluid loading, a finite element modelling approach is used to extend previous ASAC design methods. Vibration and acoustic controllers are designed for the plate. Comparison of the controller performance shows distinct advantages of the ASAC method for minimizing radiated acoustic power. A novel approach to the modelling of the heavy fluid-loaded plate is developed here. Augmenting structural and acoustic dynamics using state vector formalism allows the design of both vibration and ASAC controllers for the fluid-loaded plate. This modern control approach to active structural acoustic control is unique in its ability to suppress both persistent and transient disturbances on a plate in a heavy fluid. Numerical simulations of the open-loop and closed-loop plate response are provided to support the theoretical developments.

  17. Towards autonomous neuroprosthetic control using Hebbian reinforcement learning

    NASA Astrophysics Data System (ADS)

    Mahmoudi, Babak; Pohlmeyer, Eric A.; Prins, Noeline W.; Geng, Shijia; Sanchez, Justin C.

    2013-12-01

    Objective. Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Approach. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. Main results. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. Significance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.

  18. The Design of the Plasma Control System in KTX

    NASA Astrophysics Data System (ADS)

    Zhang, Yong; Xiao, Bingjia; Yuan, Qiping; Zhang, Ruirui; Yang, Fei; Li, Shi; Li, Hong; Liu, Ahdi; Liu, Wandong

    2015-04-01

    KTX (Keda Torus for eXperiment) is a new reversed field pinch device. The KTX plasma control system (PCS) can provide real-time, stable, flexible plasma control which is designed by ASIPP (Institute of Plasma Physics, Chinese Academy of Sciences), based on the Linux cluster system and EPICS (Experimental Physics and Industrial Control System) framework, and developed from DIII-D (Doublet III-D) PCS. The control of the equilibrium field in KTX uses a PID (Proportional-Integral-Derivative) feedback controller. The control of the gas injection is an open loop control. The plasma control simulation system is one part of the plasma control system, which is used to test the plasma control algorithm if it is revised and updated. The KTX PCS has been successfully tested using HT-7 (Hefei Torus 7) experiment data in simulation mode. In the next phase, an error field feedback control and KTX simulator will be added to the KTX PCS, and the KTX PCS will be applied in experiments in the future. supported by the External Cooperation Program of BIC, Chinese Academy of Sciences (No. GJHZ201303), the National Magnetic Confinement Fusion Research Program of China (Nos. 2014GB10300, 2012GB105000 and 2011GB10600), National Natural Science Foundation of China (No. 11205200), the Anhui Provincial Science Foundation for Outstanding Young Talent of China (No. 2012SQRL265)

  19. On actuator placement for robust time-optimal control of uncertain flexible spacecraft

    NASA Technical Reports Server (NTRS)

    Wie, Bong; Sinha, Ravi; Liu, Qiang

    1992-01-01

    The problem of computing open-loop, on-off jet firing logic for flexible spacecraft in the face of plant modeling uncertainty is investigated. The primary control objective is to achieve a fast maneuvering time with a minimum of structural vibrations during and/or after a maneuver. This paper is also concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated. A three-mass-spring model of flexible spacecraft with a rigid-body mode and two flexible modes is used to illustrate the concept.

  20. A Novel Atomic Force Microscope Control System Based on PC104 and DSP Embedded System

    NASA Astrophysics Data System (ADS)

    Yin, Bohua; Chen, Daixie; Lin, Yunsheng; Chu, Mingzhang; Han, Li

    In order to achieve large scanning range, this article presents a new type high-speed AFM system. According to the need of rapid data transmission and operation, the AFM control system structure was composed of PC104 and DSP hardware model. Because of using a large displacement flexure stage as the sample stage, this AFM system is capable of providing a scan range of 100×100um image with 50 Hz line-scan speed. The capacitor displacement sensors are used as x-y position during AFM scan image. We realized a new scanning method based on positioning control. The scanning images are more precision and less distortion than general open-loop x-y scanning image.

  1. Low frequency inertial control strategy for seismic attenuation with passive monolithic mechanical sensors

    NASA Astrophysics Data System (ADS)

    Barone, F.; Giordano, G.; De Rosa, R.; Acernese, F.; Romano, R.

    2016-04-01

    In this paper we present experimental results about preliminary activity related to the control of seismic attenuators and inertial platforms using monolithic accelerometer sensors based on folded pendulum mechanical scheme. Apart the compactness and robustness of monolithic implementations of folded pendulums, the main advantages of this kind of sensors are the tune-ability of their resonance frequency and their high sensitivity over a large measurement band. In this preliminary test we show that the main resonant frequencies of the inertial platform, located in the frequency band 0.01 +/- 10Hz, can be controlled using open loop monolithic folded pendulums as inertial sensors. The results are presented and discussed in this paper together with the planned further developments and improvements.

  2. On the Origins and Control of Community Types in the Human Microbiome

    PubMed Central

    Cao, Hong-Tai; Weiss, Scott T.; Liu, Yang-Yu

    2016-01-01

    Microbiome-based stratification of healthy individuals into compositional categories, referred to as “enterotypes” or “community types”, holds promise for drastically improving personalized medicine. Despite this potential, the existence of community types and the degree of their distinctness have been highly debated. Here we adopted a dynamic systems approach and found that heterogeneity in the interspecific interactions or the presence of strongly interacting species is sufficient to explain community types, independent of the topology of the underlying ecological network. By controlling the presence or absence of these strongly interacting species we can steer the microbial ecosystem to any desired community type. This open-loop control strategy still holds even when the community types are not distinct but appear as dense regions within a continuous gradient. This finding can be used to develop viable therapeutic strategies for shifting the microbial composition to a healthy configuration. PMID:26866806

  3. On the Origins and Control of Community Types in the Human Microbiome.

    PubMed

    Gibson, Travis E; Bashan, Amir; Cao, Hong-Tai; Weiss, Scott T; Liu, Yang-Yu

    2016-02-01

    Microbiome-based stratification of healthy individuals into compositional categories, referred to as "enterotypes" or "community types", holds promise for drastically improving personalized medicine. Despite this potential, the existence of community types and the degree of their distinctness have been highly debated. Here we adopted a dynamic systems approach and found that heterogeneity in the interspecific interactions or the presence of strongly interacting species is sufficient to explain community types, independent of the topology of the underlying ecological network. By controlling the presence or absence of these strongly interacting species we can steer the microbial ecosystem to any desired community type. This open-loop control strategy still holds even when the community types are not distinct but appear as dense regions within a continuous gradient. This finding can be used to develop viable therapeutic strategies for shifting the microbial composition to a healthy configuration. PMID:26866806

  4. Real-Time Feedback Control of Flow-Induced Cavity Tones. Part 2; Adaptive Control

    NASA Technical Reports Server (NTRS)

    Kegerise, M. A.; Cabell, R. H.; Cattafesta, L. N., III

    2006-01-01

    An adaptive generalized predictive control (GPC) algorithm was formulated and applied to the cavity flow-tone problem. The algorithm employs gradient descent to update the GPC coefficients at each time step. Past input-output data and an estimate of the open-loop pulse response sequence are all that is needed to implement the algorithm for application at fixed Mach numbers. Transient measurements made during controller adaptation revealed that the controller coefficients converged to a steady state in the mean, and this implies that adaptation can be turned off at some point with no degradation in control performance. When converged, the control algorithm demonstrated multiple Rossiter mode suppression at fixed Mach numbers ranging from 0.275 to 0.38. However, as in the case of fixed-gain GPC, the adaptive GPC performance was limited by spillover in sidebands around the suppressed Rossiter modes. The algorithm was also able to maintain suppression of multiple cavity tones as the freestream Mach number was varied over a modest range (0.275 to 0.29). Beyond this range, stable operation of the control algorithm was not possible due to the fixed plant model in the algorithm.

  5. Bio-Inspired Controller on an FPGA Applied to Closed-Loop Diaphragmatic Stimulation

    PubMed Central

    Zbrzeski, Adeline; Bornat, Yannick; Hillen, Brian; Siu, Ricardo; Abbas, James; Jung, Ranu; Renaud, Sylvie

    2016-01-01

    Cervical spinal cord injury can disrupt connections between the brain respiratory network and the respiratory muscles which can lead to partial or complete loss of ventilatory control and require ventilatory assistance. Unlike current open-loop technology, a closed-loop diaphragmatic pacing system could overcome the drawbacks of manual titration as well as respond to changing ventilation requirements. We present an original bio-inspired assistive technology for real-time ventilation assistance, implemented in a digital configurable Field Programmable Gate Array (FPGA). The bio-inspired controller, which is a spiking neural network (SNN) inspired by the medullary respiratory network, is as robust as a classic controller while having a flexible, low-power and low-cost hardware design. The system was simulated in MATLAB with FPGA-specific constraints and tested with a computational model of rat breathing; the model reproduced experimentally collected respiratory data in eupneic animals. The open-loop version of the bio-inspired controller was implemented on the FPGA. Electrical test bench characterizations confirmed the system functionality. Open and closed-loop paradigm simulations were simulated to test the FPGA system real-time behavior using the rat computational model. The closed-loop system monitors breathing and changes in respiratory demands to drive diaphragmatic stimulation. The simulated results inform future acute animal experiments and constitute the first step toward the development of a neuromorphic, adaptive, compact, low-power, implantable device. The bio-inspired hardware design optimizes the FPGA resource and time costs while harnessing the computational power of spike-based neuromorphic hardware. Its real-time feature makes it suitable for in vivo applications. PMID:27378844

  6. Bio-Inspired Controller on an FPGA Applied to Closed-Loop Diaphragmatic Stimulation.

    PubMed

    Zbrzeski, Adeline; Bornat, Yannick; Hillen, Brian; Siu, Ricardo; Abbas, James; Jung, Ranu; Renaud, Sylvie

    2016-01-01

    Cervical spinal cord injury can disrupt connections between the brain respiratory network and the respiratory muscles which can lead to partial or complete loss of ventilatory control and require ventilatory assistance. Unlike current open-loop technology, a closed-loop diaphragmatic pacing system could overcome the drawbacks of manual titration as well as respond to changing ventilation requirements. We present an original bio-inspired assistive technology for real-time ventilation assistance, implemented in a digital configurable Field Programmable Gate Array (FPGA). The bio-inspired controller, which is a spiking neural network (SNN) inspired by the medullary respiratory network, is as robust as a classic controller while having a flexible, low-power and low-cost hardware design. The system was simulated in MATLAB with FPGA-specific constraints and tested with a computational model of rat breathing; the model reproduced experimentally collected respiratory data in eupneic animals. The open-loop version of the bio-inspired controller was implemented on the FPGA. Electrical test bench characterizations confirmed the system functionality. Open and closed-loop paradigm simulations were simulated to test the FPGA system real-time behavior using the rat computational model. The closed-loop system monitors breathing and changes in respiratory demands to drive diaphragmatic stimulation. The simulated results inform future acute animal experiments and constitute the first step toward the development of a neuromorphic, adaptive, compact, low-power, implantable device. The bio-inspired hardware design optimizes the FPGA resource and time costs while harnessing the computational power of spike-based neuromorphic hardware. Its real-time feature makes it suitable for in vivo applications. PMID:27378844

  7. Load-following control of an IGCC plant with CO2 capture

    SciTech Connect

    Bhattacharyya, D.; Turton, R.; Zitney, S.

    2011-01-01

    In this paper, a decentralized control strategy is considered for load-following control of an integrated gasification combined cycle (IGCC) plant with CO2 capture without flaring the syngas. The control strategy considered is gas turbine (GT) lead with gasifier follow. In this strategy, the GT controls the power load by manipulating its firing rate while the slurry feed flow to the gasifier is manipulated to control the syngas pressure at the GT inlet. However, the syngas pressure control is an integrating process with significant timedelay. In this work, a modified proportional-integral-derivative (PID) control is considered for syngas pressure control given that conventional PID controllers show poor control performance for integrating processes with large time delays. The conventional PID control is augmented with an internal feedback loop. The P-controller used in this internal loop converts the integrating process to an open-loop stable process. The resulting secondorder plus time delay model uses a PID controller where the tuning parameters are found by minimizing the integral time-weighted absolute error (ITAE) for disturbance rejection. A plant model with single integrator and time delay is identified by a P-control method. When a ramp change is introduced in the set-point of the load controller, the performance of both the load and pressure controllers with the modified PID control strategy is found to be superior to that using a traditional PID controller. Key

  8. Research on measurement and control of helicopter rotor response using blade-mounted accelerometers 1991-92

    NASA Technical Reports Server (NTRS)

    Ham, Norman D.; Mckillip, Robert M., Jr.

    1992-01-01

    Preliminary wind tunnel tests of the hill-size Model 412/IBC rotor at the Ames Research Center, NASA, are described. Blade flapping motion was excited by swash plate oscillation, and the flapping response was measured using blade-mounted accelerometers and compared with flapping motion inferred form blade strain measurements. The recorded open-loop accelerometer signals were used as input to the flapping-IBC system in the laboratory. The resulting controller cyclic pitch outputs are compared with the original cyclic pitch excitation inputs, and the potential effectiveness of the controller in suppressing the original excitation is evaluated. Control of blade flapping excites blade lagging, and vice versa; the paper describes a theoretical investigation of these coupling effects.

  9. Dual scheduling and quantised control for networked control systems with communication constraints

    NASA Astrophysics Data System (ADS)

    Lu, Hui; Zhou, Chuan

    2016-07-01

    A novel integrated design scheme of average dwell time scheduling strategy, dynamic bandwidth allocation policy and quantised control for a collection of networked control systems (NCSs) with time delay and communication constraints is proposed in this paper. A scheduling policy is presented to accommodate the limitation of communication capacity which depends on the convergence rate of closed-loop system and divergence rate of open-loop plant. Linear programming technique is adopted to dynamically allocate bit rate for each node and the strategy is used to make trade-offs between the network utilisation and the control performance which provides an effective way of optimising the quality of control (QoC) and the quality of service (QoS) for NCSs. Mid-tread uniform quantisers update the quantisation rules according to the assignment of the bit rate and convert the quantised state into a kind of input saturation with bounded disturbances. Taking into account the effect of dual scheduling strategy and quantisation, the NCSs are modelled as discrete-time switched systems with bounded disturbances. Furthermore, a scheduling and quantised feedback control co-design procedure is proposed for the simultaneous stabilisation of the collection of networked subsystems. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.

  10. Scalar control on speed drive for ac motor

    NASA Astrophysics Data System (ADS)

    Barsoum, Nader

    2012-11-01

    This paper aims to investigate the performance of ABB ACS800 variable speed drive operating under Scalar Control mode, and eventually develop a set of experimental procedures for undergraduate laboratory purposes. Scalar Control is the most widespread form of ac drive, for its low cost and simplicity especially implemented in the open loop mode. Scalar control is achieved by controlling the stator voltage and frequency, thus maintaining the motor's air-gap flux at a constant value. To illustrate the control method, the ac drive is configured according to the wiring diagram in the firmware manual that the drive control location can be both local and external. The drive is selected to operate under Factory application macro, whereby either ordinary speed control applications or constant speeds applications may be used. Under ordinary speed control, frequency reference signals are provided to the drive through the analogue input AI1. The drive will operate at the given frequency reference value throughout the operation regardless of any changes in the load. The torque speed curve moves along the speed axis with no changes to the shape as the supply frequencies changes. On the other hand, the drive allows three preset constant speed through digital inputs DI5 and DI6. The drive operate at a constant speed value over a time period, and only switch from one constant speed to another constant speed by triggering the two input switches. Scalar control is most suitable for applications not required high precision, such as blowers, fans and pumps.

  11. Robust on-off pulse control of flexible space vehicles

    NASA Technical Reports Server (NTRS)

    Wie, Bong; Sinha, Ravi

    1993-01-01

    The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

  12. Closed-loop response properties of a visual interneuron involved in fly optomotor control

    PubMed Central

    Ejaz, Naveed; Krapp, Holger G.; Tanaka, Reiko J.

    2013-01-01

    Due to methodological limitations neural function is mostly studied under open-loop conditions. Normally, however, nervous systems operate in closed-loop where sensory input is processed to generate behavioral outputs, which again change the sensory input. Here, we investigate the closed-loop responses of an identified visual interneuron, the blowfly H1-cell, that is part of a neural circuit involved in optomotor flight and gaze control. Those behaviors may be triggered by attitude changes during flight in turbulent air. The fly analyses the resulting retinal image shifts and performs compensatory body and head rotations to regain its default attitude. We developed a fly robot interface to study H1-cell responses in a 1 degree-of-freedom image stabilization task. Image shifts, induced by externally forced rotations, modulate the cell’s spike rate that controls counter rotations of a mobile robot to minimize relative motion between the robot and its visual surroundings. A feedback controller closed the loop between neural activity and the rotation of the robot. Under these conditions we found the following H1-cell response properties: (i) the peak spike rate decreases when the mean image velocity is increased, (ii) the relationship between spike rate and image velocity depends on the standard deviation of the image velocities suggesting adaptive scaling of the cell’s signaling range, and (iii) the cell’s gain decreases linearly with increasing image accelerations. Our results reveal a remarkable qualitative similarity between the response dynamics of the H1-cell under closed-loop conditions with those obtained in previous open-loop experiments. Finally, we show that the adaptive scaling of the H1-cell’s responses, while maximizing information on image velocity, decreases the cell’s sensitivity to image accelerations. Understanding such trade-offs in biological vision systems may advance the design of smart vision sensors for autonomous robots. PMID

  13. Closed-loop response properties of a visual interneuron involved in fly optomotor control.

    PubMed

    Ejaz, Naveed; Krapp, Holger G; Tanaka, Reiko J

    2013-01-01

    Due to methodological limitations neural function is mostly studied under open-loop conditions. Normally, however, nervous systems operate in closed-loop where sensory input is processed to generate behavioral outputs, which again change the sensory input. Here, we investigate the closed-loop responses of an identified visual interneuron, the blowfly H1-cell, that is part of a neural circuit involved in optomotor flight and gaze control. Those behaviors may be triggered by attitude changes during flight in turbulent air. The fly analyses the resulting retinal image shifts and performs compensatory body and head rotations to regain its default attitude. We developed a fly robot interface to study H1-cell responses in a 1 degree-of-freedom image stabilization task. Image shifts, induced by externally forced rotations, modulate the cell's spike rate that controls counter rotations of a mobile robot to minimize relative motion between the robot and its visual surroundings. A feedback controller closed the loop between neural activity and the rotation of the robot. Under these conditions we found the following H1-cell response properties: (i) the peak spike rate decreases when the mean image velocity is increased, (ii) the relationship between spike rate and image velocity depends on the standard deviation of the image velocities suggesting adaptive scaling of the cell's signaling range, and (iii) the cell's gain decreases linearly with increasing image accelerations. Our results reveal a remarkable qualitative similarity between the response dynamics of the H1-cell under closed-loop conditions with those obtained in previous open-loop experiments. Finally, we show that the adaptive scaling of the H1-cell's responses, while maximizing information on image velocity, decreases the cell's sensitivity to image accelerations. Understanding such trade-offs in biological vision systems may advance the design of smart vision sensors for autonomous robots. PMID:23543872

  14. Process control of large-scale finite element simulation software

    SciTech Connect

    Spence, P.A.; Weingarten, L.I.; Schroder, K.; Tung, D.M.; Sheaffer, D.A.

    1996-02-01

    We have developed a methodology for coupling large-scale numerical codes with process control algorithms. Closed-loop simulations were demonstrated using the Sandia-developed finite element thermal code TACO and the commercially available finite element thermal-mechanical code ABAQUS. This new capability enables us to use computational simulations for designing and prototyping advanced process-control systems. By testing control algorithms on simulators before building and testing hardware, enormous time and cost savings can be realized. The need for a closed-loop simulation capability was demonstrated in a detailed design study of a rapid-thermal-processing reactor under development by CVC Products Inc. Using a thermal model of the RTP system as a surrogate for the actual hardware, we were able to generate response data needed for controller design. We then evaluated the performance of both the controller design and the hardware design by using the controller to drive the finite element model. The controlled simulations provided data on wafer temperature uniformity as a function of ramp rate, temperature sensor locations, and controller gain. This information, which is critical to reactor design, cannot be obtained from typical open-loop simulations.

  15. An Investigation of Nonlinear Controller for Propulsion Controlled Aircraft

    NASA Technical Reports Server (NTRS)

    Lu, Ping

    1997-01-01

    Aircraft control systems are usually very reliable because of redundancy and multiple control surfaces. However, there are rare occasions when potentially disastrous flight control system failures do occur. At such times, the use of appropriate modulation of engine thrust to stabilize the aircraft may be the only chance of survival for the people aboard. In several cases where complete loss of control systems has occurred in multi-engine aircraft, pilots used the propulsion system to regain limited control of the aircraft with various degrees of success. In order to evaluate the feasibility of using only engine thrust modulation for emergency backup flight control, the NASA Dryden Flight Research Center has been conducting a series of analytical studies and flight tests on several different types of aircraft in a propulsion controlled aircraft (PCA) program. Simulation studies have included B-720, B-727, MD-11, C-402, C-17, F-18, and F-15, and flight tests have included B-747, B-777, MD-11, T-39, Lear 24, F-18, F-15, T-38, and PA-30. One objective was to determine the degree of control available with manual manipulation (open-loop) of the engine throttles. Flight tests and simulations soon showed that a closed loop controller could improve the chances of making a safe runway landing. The major work to date has concentrated on three aircraft (F-15, F-18, and the MD-11). Successful landings using PCA controllers were performed on the F-15 and MD-11 without the use of control surfaces. During the course of the research, some unique challenges have been identified. Compared to the conventional flight control surfaces, the engines are slow and have limited control effectiveness. Hence the ability of the system to promptly respond to aerodynamic changes is limited. Consequently, many nonlinear effects, which are easily accommodated by a conventional flight control system, become significant issues in the design of an effective controller when the engines are used as the

  16. Study of a Simulation Tool to Determine Achievable Control Dynamics and Control Power Requirements with Perfect Tracking

    NASA Technical Reports Server (NTRS)

    Ostroff, Aaron J.

    1998-01-01

    This paper contains a study of two methods for use in a generic nonlinear simulation tool that could be used to determine achievable control dynamics and control power requirements while performing perfect tracking maneuvers over the entire flight envelope. The two methods are NDI (nonlinear dynamic inversion) and the SOFFT(Stochastic Optimal Feedforward and Feedback Technology) feedforward control structure. Equivalent discrete and continuous SOFFT feedforward controllers have been developed. These equivalent forms clearly show that the closed-loop plant model loop is a plant inversion and is the same as the NDI formulation. The main difference is that the NDI formulation has a closed-loop controller structure whereas SOFFT uses an open-loop command model. Continuous, discrete, and hybrid controller structures have been developed and integrated into the formulation. Linear simulation results show that seven different configurations all give essentially the same response, with the NDI hybrid being slightly different. The SOFFT controller gave better tracking performance compared to the NDI controller when a nonlinear saturation element was added. Future plans include evaluation using a nonlinear simulation.

  17. Multiple-Probe Excitation and Control of Low-Frequency Fluctuations in a Laboratory Magnetosphere

    NASA Astrophysics Data System (ADS)

    Battey, Alexander; Abler, Melissa C.; Mauel, Michael; Collisionless Terella Experiment Team

    2015-11-01

    Plasma confined by a magnetic dipole have both astrophysical and laboratory applications and exhibit complex flute-like low-frequency turbulence. In this poster, we present new experiments, conducted with the Collisionless Terella Experiment (CTX), where both single and dual electrodes are used to inject currents and drive electrostatic potentials. These probes are driven either open-loop, to excite waves, or closed-loop, to implement multiple-point feedback control of the plasma's interchange turbulence. Our measurements of interchange turbulence show that two probes with a 90 degree spatial separation are able to manipulate the interchange modes differently than a system using only one probe. Supported by NSF-DOE Partnership for Plasma Science Grants DOE-DE-FG02-00ER54585 and NSF-PHY-1201896.

  18. MEMS adaptive optics for the Gemini Planet Imager: control methods and validation

    NASA Astrophysics Data System (ADS)

    Poyneer, Lisa A.; Dillon, Daren

    2008-02-01

    The Gemini Planet Imager (GPI) Adaptive Optics system will use a high-order MEMS deformable mirror for phase compensation. The MEMS mirror will be used in a Woofer-Tweeter configuration, with a frequency-domain based splitting of the phase between the two mirrors. Precise wavefront control depends on the ability to command them MEMS to make the exact phase desired. Non-linearities in the MEMS may prevent this. We determine that influence-function pre-compensation can remove most, but not all, open-loop error. We use simulation and a simulation of a non-linear MEMS to address the issue of how much non-linearity can be tolerated in closed-loop by GPI.

  19. Feasibility of controlling speed-dependent low-frequency brake vibration amplification by modulating actuation pressure

    NASA Astrophysics Data System (ADS)

    Sen, Osman Taha; Dreyer, Jason T.; Singh, Rajendra

    2014-12-01

    In this article, a feasibility study of controlling the low frequency torque response of a disc brake system with modulated actuation pressure (in the open loop mode) is conducted. First, a quasi-linear model of the torsional system is introduced, and analytical solutions are proposed to incorporate the modulation effect. Tractable expressions for three different modulation schemes are obtained, and conditions that would lead to a reduction in the oscillatory amplitudes are identified. Second, these conditions are evaluated with a numerical model of the torsional system with clearance nonlinearity, and analytical solutions are verified in terms of the trends observed. Finally, a laboratory experiment with a solenoid valve is built to modulate actuation pressure with a constant duty cycle, and time-frequency domain data are acquired. Measurements are utilized to assess analytical observations, and all methods show that the speed-dependent brake torque amplitudes can be altered with an appropriate modulation of actuation pressure.

  20. Optimization of microalgal photobioreactor system using model predictive control with experimental validation.

    PubMed

    Yoo, Sung Jin; Jeong, Dong Hwi; Kim, Jung Hun; Lee, Jong Min

    2016-08-01

    To maximize biomass and lipid concentrations, various optimization methods were investigated in microalgal photobioreactor systems under mixotrophic conditions. Lipid concentration was estimated using unscented Kalman filter (UKF) with other measurable sources and subsequently used as lipid data for performing model predictive control (MPC). In addition, the maximized biomass and lipid trajectory obtained by open-loop optimization were used as target trajectory for tracking by MPC. Simulation studies and experimental validation were performed and significant improvements in biomass and lipid productivity were achieved in the case where MPC was applied. However, occurence of a lag phase was observed while manipulating the feed flow rates, which is induced by large amount of inputs. This is an important phenomenon that can lead to model-plant mismatch and requires further study for the optimization of microalgal photobioreactors. PMID:27094678

  1. Attenuation of wall disturbances in an electron cyclotron resonance oxygen–argon plasma using real time control

    SciTech Connect

    Keville, Bernard Gaman, Cezar; Turner, Miles M.; Zhang, Yang; Daniels, Stephen; Holohan, Anthony M.

    2014-07-01

    Present practice in plasma-assisted semiconductor manufacturing specifies recipes in terms of inputs such as gas flow rates, power and pressure. However, ostensibly identical chambers running identical recipes may produce very different results. Extensive chamber matching, i.e., initial iterative, empirical tuning of the process recipe, which entails time-consuming, ex situ statistical analysis of process metrics such as etch depth, uniformity, anisotropy and selectivity, is required to ensure acceptable results. Once matched, chambers are run open loop and are thus sensitive to disturbances such as actuator drift, wall seasoning and substrate loading, which may impact negatively on process reproducibility. An alternative approach, which may obviate the need for chamber matching and reduce the sensitivity of process metrics to exogenous disturbances, would be to specify a recipe in terms of quantities such as active species densities, and to regulate these in real time by adjusting the inputs with a suitable control algorithm. In this work, real time control of an electron cyclotron resonance O{sub 2}/Ar plasma used for photoresist ashing has been implemented. The design of elementary, model-based algorithms for the control of the argon 750 and oxygen 844 line intensities measured by optical emission spectroscopy is described. Fluorination of the chamber walls by means of an SF{sub 6} plasma prior to ashing inhibits wall recombination of oxygen radicals resulting in an approximately 20% increase in ash rate in the open loop case. However, closed loop control almost completely attenuates the effect of fluorination, thus demonstrating the efficacy of the control algorithms in ensuring a reproducible ash rate in the face of a wall disturbance.

  2. Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics

    NASA Astrophysics Data System (ADS)

    Belavkin, V. P.

    2009-02-01

    A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

  3. Control of high frequency microactuators using active structures

    NASA Astrophysics Data System (ADS)

    Kreth, P. A.; Alvi, F. S.; Reese, B. M.; Oates, W. S.

    2015-02-01

    A fluidically driven microactuator that generates supersonic, pulsed microjets has been implemented with smart materials to actively and precisely control the frequency of the microjets in a closed-loop manner. Since this actuator relies on a number of microscale flow and acoustic phenomena to produce the pulsed microjets, its resonant frequency is determined by its geometry and other flow parameters. The design discussed in this paper integrates piezoelectric stacks by connecting them to movable sidewalls within the actuator such that the microactuator's internal geometry can be controlled by varying the voltage across the piezo-stacks. An open-loop control scheme demonstrates the frequency modulation capabilities that are enabled with this design: very large frequency deviations (up to +/- 500 Hz) around the actuator design frequency are attained at very high rates (up to 1 kHz). Closed-loop control of the microactuator's frequency was also demonstrated, and the results indicate that (combined with appropriate sensors) this actuator could be used effectively for active, feedback control in high-speed, resonance-dominated flowfields. This proof of concept study clearly illustrates the ability of this robust and compact actuator to produce perturbations that can be modulated and controlled based on the desired control objective.

  4. Quantum demolition filtering and optimal control of unstable systems.

    PubMed

    Belavkin, V P

    2012-11-28

    A brief account of the quantum information dynamics and dynamical programming methods for optimal control of quantum unstable systems is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme, we exploit the separation theorem of filtering and control aspects as in the usual case of quantum stable systems with non-demolition observation. This allows us to start with the Belavkin quantum filtering equation generalized to demolition observations and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to Hamiltonian terms in the filtering equation. An unstable controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one. PMID:23091216

  5. Optimal Micro-Scale Secondary Flow Control for the Management of High Cycle Fatigue and Distortion in Compact Inlet Diffusers

    NASA Technical Reports Server (NTRS)

    Anderson, Bernhard H.; Keller, Dennis J.

    2002-01-01

    The purpose of this study on micro-scale secondary flow control (MSFC) is to study the aerodynamic behavior of micro-vane effectors through their factor (i.e., the design variable) interactions and to demonstrate how these statistical interactions, when brought together in an optimal manner, determine design robustness. The term micro-scale indicates the vane effectors are small in comparison to the local boundary layer height. Robustness in this situation means that it is possible to design fixed MSFC robust installation (i.e.. open loop) which operates well over the range of mission variables and is only marginally different from adaptive (i.e., closed loop) installation design, which would require a control system. The inherent robustness of MSFC micro-vane effector installation designs comes about because of their natural aerodynamic characteristics and the manner in which these characteristics are brought together in an optimal manner through a structured Response Surface Methodology design process.

  6. The effects of digital control on longitudinal autopilots for bank-to-turn and skid-turn missiles

    NASA Astrophysics Data System (ADS)

    Karaiskos, I. C.

    1985-12-01

    In the development, the classical design and analysis were reviewed using the continuous uncoupled pitch channel autopilot for circular airframe. Then, applying analog-to-digital conversion, the corresponding discrete autopilot was designed. The performance of both continuous and discrete open loop systems was analyzed according to the desired requirements. In the following section, utilizing modern control design techniques for the discrete pitch channel autopilot, the control law was designed, assuming availability of all the states and taking the desired poles to be at the same place as in the classical design. Therefore the discrete state-feedback autopilot was obtained and analyzed. The next step was the design of an estimator which estimates the entire state vector, given measurements of the portion of the state. The performance of the estimator was analyzed too. Finally coupling the discrete pitch and roll channel autopilots the overall performance of the discrete system was obtained and analyzed. The resulting design was also proved to be robust.

  7. Controlling selective stimulations below a spinal cord hemisection using brain recordings with a neural interface system approach

    NASA Astrophysics Data System (ADS)

    Panetsos, Fivos; Sanchez-Jimenez, Abel; Torets, Carlos; Largo, Carla; Micera, Silvestro

    2011-08-01

    In this work we address the use of realtime cortical recordings for the generation of coherent, reliable and robust motor activity in spinal-lesioned animals through selective intraspinal microstimulation (ISMS). The spinal cord of adult rats was hemisectioned and groups of multielectrodes were implanted in both the central nervous system (CNS) and the spinal cord below the lesion level to establish a neural system interface (NSI). To test the reliability of this new NSI connection, highly repeatable neural responses recorded from the CNS were used as a pattern generator of an open-loop control strategy for selective ISMS of the spinal motoneurons. Our experimental procedure avoided the spontaneous non-controlled and non-repeatable neural activity that could have generated spurious ISMS and the consequent undesired muscle contractions. Combinations of complex CNS patterns generated precisely coordinated, reliable and robust motor actions.

  8. Constrained predictive control using orthogonal expansions

    SciTech Connect

    Finn, C.K. ); Wahlberg, B. . Dept. of Automatic Control); Ydstie, B.E. . Dept. of Chemical Engineering)

    1993-11-01

    Orthogonal expansion is routinely used for multivariable predictive control and optimization in the chemical and petrochemical manufacturing industries. In this article, the authors approximate bounded operators by orthogonal expansion. The rate of convergence depends on the choice of basis functions. Markov-Laguerre functions give rapid convergence for open-loop stable systems with long delay. The Markov-Kautz model can be used for lightly damped systems, and a more general orthogonal expansion is developed for modeling multivariable systems with widely scattered poles. The finite impulse response model is a special case of these models. A-priori knowledge about dominant time constants, time delay and oscillatory modes is used to reduce the model complexity and to improve conditioning of the parameter estimation algorithm. Algorithms for predictive control are developed, as well as conditions for constraint compatibility, closed-loop stability and constraint satisfaction for the ideal case. An H[infinity]--like design technique proposed guarantees robust stability in the presence of input constraints; output constraints may give chatter. A chatter-free algorithm is proposed.

  9. LISA satellite formation control

    NASA Astrophysics Data System (ADS)

    Bik, J. J. C. M.; Visser, P. N. A. M.; Jennrich, O.

    The joint ESA-NASA Laser Interferometer Space Antenna (LISA) mission consists of a triangular formation of three satellites aiming at detecting gravitational waves. In linear approximation the LISA satellites describe a circle around a reference point, maintaining a fixed position with respect to each other. The reference point, the center of the triangle, orbits the Sun in a circular orbit, trailing the Earth at twenty degrees. In reality the distance between the satellites will vary by about one to two percent and the angle between the arms of the antenna will vary by about 0.5° over the course of one year for the nominal LISA satellite configuration. For measurement accuracy it is desirable that the pointing offset of the telescopes be kept small. This makes it necessary to actuate the telescopes or to control the formation. It was assumed that the LISA satellites are equipped with six μN engines that would allow to keep the two cubical proof masses within each satellite in almost perfect free fall. It was found that control forces up to about 700 μN are required for maintaining the absolute triangular LISA formation, leading to unacceptable excursions of the proof masses from free fall. However, these forces compensate predominantly very low frequency variations of the arm lengths and angles of the triangle, which are then to be compensated by the telescope actuators. The variations are outside the aimed LISA measurement bandwidth (10 -4-0.1 Hz). In addition, the effect of thruster noise, orbit determination errors and orbit injection errors was examined. The effect of these error sources on the arm lengths and orientation angles between the LISA satellites was assessed both in open loop and in closed loop, where the closed loop was based on a proportional-derivative (PD) controller. It was found that orbit determination errors of the order of a few km in position and a few mm/s in velocity lead to negligible closed loop control forces. In addition, orbit

  10. Optimal Control of Airfoil Flow Separation using Fluidic Excitation

    NASA Astrophysics Data System (ADS)

    Shahrabi, Arireza F.

    as well as F+ were evaluated and discussed. The computational model predictions showed good agreement with the experimental data. It was observed that different angles of attack and flap angles have different requirements for the minimum value of the momentum coefficient, Cμ, in order for the SJA to be effective for control of separation. It was also found that the variation of F + noticeably affects the lift and drag forces acting on the airfoil. The optimum values of parameters during open loop control simulations have been applied in order to introduce the optimal open loop control outcome. An innovative approach has been implemented to formulate optimal frequencies and momentum ratios of vortex shedding which depends on angle of attack and static pressure of the separation zone in the upper chord. Optimal open loop results have been compared with the optimal closed loop results. Cumulative case studies in the matter of angle of attacks, flap angles, Re, Cμ and F+ provide a convincing collection of evidence to the following conclusion. An improvement of a direct closed loop control was demonstrated, and an analytical formula describing the properties of a separated flow and vortex shedding was proposed. Best AFC solutions are offered by providing optimal frequencies and momentum ratios at a variety of flow conditions.

  11. Closed-loop feedback control and bifurcation analysis of epileptiform activity via optogenetic stimulation in a mathematical model of human cortex.

    PubMed

    Selvaraj, Prashanth; Sleigh, Jamie W; Kirsch, Heidi E; Szeri, Andrew J

    2016-01-01

    Optogenetics provides a method of neuron stimulation that has high spatial, temporal, and cell-type specificity. Here we present a model of optogenetic feedback control that targets the inhibitory population, which expresses light-sensitive channelrhodopsin-2 channels, in a mean-field model of undifferentiated cortex that is driven to seizures. The inhibitory population is illuminated with an intensity that is a function of electrode measurements obtained via the cortical model. We test the efficacy of this control method on seizurelike activity observed in two parameter spaces of the cortical model that most closely correspond to seizures observed in patients. We also compare the effect of closed-loop and open-loop control on seizurelike activity using a less-complicated ordinary differential equation model of the undifferentiated cortex in parameter space. Seizurelike activity is successfully suppressed in both parameter planes using optimal illumination intensities less likely to have adverse effects on cortical tissue. PMID:26871110

  12. The Benchmark Active Controls Technology Model Aerodynamic Data

    NASA Technical Reports Server (NTRS)

    Scott, Robert C.; Hoadley, Sherwood T.; Wieseman, Carol D.; Durham, Michael H.

    1997-01-01

    The Benchmark Active Controls Technology (BACT) model is a part of the Benchmark Models Program (BMP). The BMP is a NASA Langley Research Center program that includes a series of models which were used to study different aeroelastic phenomena and to validate computational fluid dynamics codes. The primary objective of BACT testing was to obtain steady and unsteady loads, accelerations, and aerodynamic pressures due to control surface activity in order to calibrate unsteady CFD codes and active control design tools. Three wind-tunnel tests in the Transonic Dynamics Tunnel (TDT) have been completed. The first and parts of the second and third tests focused on collecting open-loop data to define the model's aeroservoelastic characteristics, including the flutter boundary across the Mach range. It is this data that is being presented in this paper. An extensive database of over 3000 data sets was obtained. This database includes steady and unsteady control surface effectiveness data, including pressure distributions, control surface hinge moments, and overall model loads due to deflections of a trailing edge control surface and upper and lower surface

  13. Multivariable shape control development on the DIII-D tokamak

    SciTech Connect

    Walker, M.L.; Humphreys, D.A.; Ferron, J.R.

    1997-11-01

    In this paper, the authors describe recent work on plasma shape and position control at DIII-D. This control consists of two equally challenging problems--the problem of identifying what the plasma actually looks like in real time, i.e. measuring the parameters to be controlled, and the task of determining the feedback algorithm which best controls these plasma parameters in a multiple input-output system. Recent implementation of the EFIT plasma equilibrium reconstruction algorithm in real time code which produces a new equilibrium estimate every 1.5 ms seems to solve the longstanding problem of obtaining sufficiently accurate plasma shape and position estimation. Stabilization of the open-loop unstable vertical motion is also viewed as a solved problem. The primary remaining problem appears to be how best to command the power supplies to achieve a desired shaping control response. They will describe the effort to understand and apply linearized models of plasma evolution to development and implementation of multivariable plasma controllers.

  14. Tollmien-Schlichting wave cancellation by feedback control

    NASA Astrophysics Data System (ADS)

    Vemuri, Hari; Morrison, Jonathan; Kerrigan, Eric

    2015-11-01

    Tollmien-Schlichting (TS) waves are primary instabilities in the boundary layer and, by actively interfering with their growth, the transition process can be delayed. In this study the experimental results of both open-loop and real-time feedback control will be shown for 3D TS waves excited within a flat-plate boundary layer. They are excited at a 0.75mm pin-hole source driven by a speaker. A 0.75 mm thin, dual slot geometry is used for actuation by another speaker and a wall hot-wire sensor manufactured in-house is used as the sensor for feedback control. The spatial transfer function models between the source and sensor (Gs) and the actuator and sensor (Ga) obtained by classic frequency sweep techniques are used to synthesize various types of robust, stabilizing controllers (K). The transfer function Gs determines the unstable range of frequencies whereas Ga together with K determines the stability of the closed-loop. A second traversing hot-wire is used to record the performance of the controller downstream. It is shown that the experimental transfer functions agree remarkably well with numerical calculations as do the predicted results from feedback control. Preliminary experimental feedback control results for various other actuator configurations will also be presented. This work is supported by EADS (support agreement number IW203591) and LFC-UK.

  15. Electric Water Heater Modeling and Control Strategies for Demand Response

    SciTech Connect

    Diao, Ruisheng; Lu, Shuai; Elizondo, Marcelo A.; Mayhorn, Ebony T.; Zhang, Yu; Samaan, Nader A.

    2012-07-22

    Abstract— Demand response (DR) has a great potential to provide balancing services at normal operating conditions and emergency support when a power system is subject to disturbances. Effective control strategies can significantly relieve the balancing burden of conventional generators and reduce investment on generation and transmission expansion. This paper is aimed at modeling electric water heaters (EWH) in households and tests their response to control strategies to implement DR. The open-loop response of EWH to a centralized signal is studied by adjusting temperature settings to provide regulation services; and two types of decentralized controllers are tested to provide frequency support following generator trips. EWH models are included in a simulation platform in DIgSILENT to perform electromechanical simulation, which contains 147 households in a distribution feeder. Simulation results show the dependence of EWH response on water heater usage . These results provide insight suggestions on the need of control strategies to achieve better performance for demand response implementation. Index Terms— Centralized control, decentralized control, demand response, electrical water heater, smart grid

  16. A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm

    NASA Astrophysics Data System (ADS)

    Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew

    2016-04-01

    The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.

  17. CALL FOR PAPERS: Quantum control

    NASA Astrophysics Data System (ADS)

    Mancini, Stefano; Wiseman, Howard M.; Man'ko, Vladimir I.

    2004-10-01

    Over the last few decades, the achievements of highly precise technologies for manipulating systems at quantum scales have paved the way for the development of quantum control. Moreover, the proliferation of results in quantum information suggest that control theory might profitably be re-examined from this perspective. Journal of Optics B: Quantum and Semiclassical Optics will publish a topical issue devoted to quantum control. The Guest Editors invite contributions from researchers working in any area related to quantum control. Topics to be covered include: • Quantum Hamiltonian dynamics and programming control • Quantum decoherence controlOpen loop control • Closed loop (feedback) control • Quantum measurement theory • Quantum noise and filtering • Estimation and decision theory • Quantum error correction • Group representation in quantum control • Coherent control in quantum optics and lasers • Coherent control in cavity QED and atom optics • Coherent control in molecular dynamics The topical issue is scheduled for publication in November 2005 and the DEADLINE for submission of contributions is 28 February 2005. All contributions will be peer-reviewed in accordance with the normal refereeing procedures and standards of Journal of Optics B: Quantum and Semiclassical Optics. Submissions should preferably be in either standard LaTeX form or Microsoft Word. Advice on publishing your work in the journal may be found at www.iop.org/journals/authors/jopb. Enquiries regarding this topical issue may be addressed to the Publisher, Dr Claire Bedrock (claire.bedrock@iop.org). There are no page charges for publication. The corresponding author of each paper published will receive a complimentary copy of the topical issue. Contributions to the topical issue should preferably be submitted electronically at www.iop.org/journals/authors/jopb or by e-mail to jopb@iop.org. Authors unable to submit online or by e-mail may send hard copy contributions

  18. Design of a constant-voltage and constant-current controller with dual-loop and adaptive switching frequency control

    NASA Astrophysics Data System (ADS)

    Yingping, Chen; Zhiqian, Li

    2015-05-01

    A 5.0-V 2.0-A flyback power supply controller providing constant-voltage (CV) and constant-current (CC) output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35-μm 40-V BCD process, and the active chip area is 1.5 × 1.0 mm2. The total error of the output voltage due to line and load variations is less than ±1.7%.

  19. Flight control design using a blend of modern nonlinear adaptive and robust techniques

    NASA Astrophysics Data System (ADS)

    Yang, Xiaolong

    In this dissertation, the modern control techniques of feedback linearization, mu synthesis, and neural network based adaptation are used to design novel control laws for two specific applications: F/A-18 flight control and reusable launch vehicle (an X-33 derivative) entry guidance. For both applications, the performance of the controllers is assessed. As a part of a NASA Dryden program to develop and flight test experimental controllers for an F/A-18 aircraft, a novel method of combining mu synthesis and feedback linearization is developed to design longitudinal and lateral-directional controllers. First of all, the open-loop and closed-loop dynamics of F/A-18 are investigated. The production F/A-18 controller as well as the control distribution mechanism are studied. The open-loop and closed-loop handling qualities of the F/A-18 are evaluated using low order transfer functions. Based on this information, a blend of robust mu synthesis and feedback linearization is used to design controllers for a low dynamic pressure envelope of flight conditions. For both the longitudinal and the lateral-directional axes, a robust linear controller is designed for a trim point in the center of the envelope. Then by including terms to cancel kinematic nonlinearities and variations in the aerodynamic forces and moments over the flight envelope, a complete nonlinear controller is developed. In addition, to compensate for the model uncertainty, linearization error and variations between operating points, neural network based adaptation is added to the designed longitudinal controller. The nonlinear simulations, robustness and handling qualities analysis indicate that the performance is similar to or better than that for the production F/A-18 controllers. When the dynamic pressure is very low, the performance of both the experimental and the production flight controllers is degraded, but Level I handling qualities are still achieved. A new generation of Reusable Launch Vehicles

  20. FLASH fly-by-light flight control demonstration results overview

    NASA Astrophysics Data System (ADS)

    Halski, Don J.

    1996-10-01

    The Fly-By-Light Advanced Systems Hardware (FLASH) program developed Fly-By-Light (FBL) and Power-By-Wire (PBW) technologies for military and commercial aircraft. FLASH consists of three tasks. Task 1 developed the fiber optic cable, connectors, testers and installation and maintenance procedures. Task 3 developed advanced smart, rotary thin wing and electro-hydrostatic (EHA) actuators. Task 2, which is the subject of this paper,l focused on integration of fiber optic sensors and data buses with cable plant components from Task 1 and actuators from Task 3 into centralized and distributed flight control systems. Both open loop and piloted hardware-in-the-loop demonstrations were conducted with centralized and distributed flight control architectures incorporating the AS-1773A optical bus, active hand controllers, optical sensors, optimal flight control laws in high speed 32-bit processors, and neural networks for EHA monitoring and fault diagnosis. This paper overviews the systems level testing conducted under the FLASH Flight Control task. Preliminary results are summarized. Companion papers provide additional information.

  1. Application of modern control theory for building structures

    NASA Astrophysics Data System (ADS)

    Basharkhah, M. A.; Yao, J. T. P.

    The design of feedback compensators is considered for linear and constant-coefficient multivariable systems and an attempt is made to find a suitable gain matrix for active control of structures. The application of the pole-assignment method is discussed. It is based on the shifting of open-loop poles to the left side of the s-plane, and is applicable to mechanical and electrical systems. The second method developed in this study provides a physical understanding of the active control of civil engineering structures because it allows control of several modes of the system. The K matrix of the control law can be found so that the first few modes of the system have smaller displacements than the corresponding displacements of the original system. Therefore, more modes of higher gain can be used to substantially reduce system displacements. Because the pole-assignment method will not always significantly reduce displacements, the second method is found to be better for the control of civil engineering structures.

  2. Closed-loop Separation Control Using Oscillatory Flow Excitation

    NASA Technical Reports Server (NTRS)

    Allan, Brian G.; Juang, Jer-Nan; Raney, David L.; Seifert, Avi; Pack, latunia G.; Brown, Donald E.

    2000-01-01

    Design and implementation of a digital feedback controller for a flow control experiment was performed. The experiment was conducted in a cryogenic pressurized wind tunnel on a generic separated configuration at a chord Reynolds number of 16 million and a Mach number of 0.25. The model simulates the upper surface of a 20% thick airfoil at zero angle-of-attack. A moderate favorable pressure gradient, up to 55% of the chord, is followed by a severe adverse pressure gradient which is relaxed towards the trailing edge. The turbulent separation bubble, behind the adverse pressure gradient, is then reduced by introducing oscillatory flow excitation just upstream of the point of flow separation. The degree of reduction in the separation region can be controlled by the amplitude of the oscillatory excitation. A feedback controller was designed to track a given trajectory for the desired degree of flow reattachment and to improve the transient behavior of the flow system. Closed-loop experiments demonstrated that the feedback controller was able to track step input commands and improve the transient behavior of the open-loop response.

  3. Fuzzy control structure for an anaerobic fluidised bed

    NASA Astrophysics Data System (ADS)

    Hernández, Salvador Carlos; Sanchez, Edgar N.; Béteau, Jean-François

    2012-12-01

    This article deals with the design of a fuzzy control strategy for a fluidised bed reactor, which is used for anaerobic wastewater treatment. This strategy is composed of a supervisor system and two PI L/A controllers. In addition, a biomass observer, designed on the basis of the Takagi-Sugeno approach considering a principal component analysis, is used with supervision proposals. The supervisor is also designed following the Takagi-Sugeno methodology; it detects the process state, selects and applies the most adequate control action in order to avoid the washout region. On the other side, two control actions are designed for bicarbonate regulation using the PI/LA technique: adding a base and dilution rate. These control actions, as well as the open loop operation, are selected by the supervisor in order to reject disturbances on the substrate influent allowing at the same time a high methane production. The applicability of the proposed structure in a fluidised bed reactor is illustrated via simulations.

  4. Biomechanical modeling and optimal control of human posture.

    PubMed

    Menegaldo, Luciano Luporini; Fleury, Agenor de Toledo; Weber, Hans Ingo

    2003-11-01

    The present work describes the biomechanical modeling of human postural mechanics in the saggital plane and the use of optimal control to generate open-loop raising-up movements from a squatting position. The biomechanical model comprises 10 equivalent musculotendon actuators, based on a 40 muscles model, and three links (shank, thigh and HAT-Head, Arms and Trunk). Optimal control solutions are achieved through algorithms based on the Consistent Approximations Theory (Schwartz and Polak, 1996), where the continuous non-linear dynamics is represented in a discrete space by means of a Runge-Kutta integration and the control signals in a spline-coefficient functional space. This leads to non-linear programming problems solved by a sequential quadratic programming (SQP) method. Due to the highly non-linear and unstable nature of the posture dynamics, numerical convergence is difficult, and specific strategies must be implemented in order to allow convergence. Results for control (muscular excitations) and angular trajectories are shown using two final simulation times, as well as specific control strategies are discussed. PMID:14522212

  5. Regulating knee joint position by combining electrical stimulation with a controllable friction brake.

    PubMed

    Durfee, W K; Hausdorff, J M

    1990-01-01

    Hybrid FES gait restoration systems which combine stimulation with controllable mechanical damping elements at the joints show promise for providing good control of limb motion despite variations in muscle properties. In this paper we compared three controllers for position tracking of the free swinging shank in able-bodied subjects. The controllers were open-loop (OL), proportional-derivative closed-loop (PD), and bang-bang plus controlled-brake control (CB). Both OL and PD controllers contained a forward path element, which inverted a model of the electrically stimulated muscle and limb system. The CB control was achieved by maximally activating the appropriate muscle group and controlling the brake to be a "moving-wall" against which the limb pushed. The CB control resulted in superior tracking performance for a wide range of position tracking tasks and muscle fatigue states but required no calibration or knowledge of muscle properties. The disadvantages of CB control include excess mechanical power dissipation in the brake and impact forces applied to the skeletal system. PMID:2281882

  6. Terminal-shock and restart control of a Mach 2.5, mixed compression inlet coupled to a turbofan engine

    NASA Technical Reports Server (NTRS)

    Baumbick, R. J.; Batterton, P. G.; Daniele, C. J.

    1974-01-01

    Results of an experimental program conducted on a mixed-compression inlet coupled to a turbofan engine are presented. Open-loop frequency response data are presented that show the response of shock position (as measured by an average inlet static pressure) to sinusoidal airflow disturbances produced at the compressor face station. Also presented are results showing the effect of different passive terminations (a choke plate or a long duct) on the characteristics of the inlet. Transfer functions obtained by using experimental data are presented and compared to the experimental data. Closed-loop frequency response of shock position (with a proportional-plus-integral controller) is presented. In addition, transient data are presented that show the unstart-restart characteristics of the inlet.

  7. Test Cases for the Benchmark Active Controls: Spoiler and Control Surface Oscillations and Flutter

    NASA Technical Reports Server (NTRS)

    Bennett, Robert M.; Scott, Robert C.; Wieseman, Carol D.

    2000-01-01

    As a portion of the Benchmark Models Program at NASA Langley, a simple generic model was developed for active controls research and was called BACT for Benchmark Active Controls Technology model. This model was based on the previously-tested Benchmark Models rectangular wing with the NACA 0012 airfoil section that was mounted on the Pitch and Plunge Apparatus (PAPA) for flutter testing. The BACT model had an upper surface spoiler, a lower surface spoiler, and a trailing edge control surface for use in flutter suppression and dynamic response excitation. Previous experience with flutter suppression indicated a need for measured control surface aerodynamics for accurate control law design. Three different types of flutter instability boundaries had also been determined for the NACA 0012/PAPA model, a classical flutter boundary, a transonic stall flutter boundary at angle of attack, and a plunge instability near M = 0.9. Therefore an extensive set of steady and control surface oscillation data was generated spanning the range of the three types of instabilities. This information was subsequently used to design control laws to suppress each flutter instability. There have been three tests of the BACT model. The objective of the first test, TDT Test 485, was to generate a data set of steady and unsteady control surface effectiveness data, and to determine the open loop dynamic characteristics of the control systems including the actuators. Unsteady pressures, loads, and transfer functions were measured. The other two tests, TDT Test 502 and TDT Test 5 18, were primarily oriented towards active controls research, but some data supplementary to the first test were obtained. Dynamic response of the flexible system to control surface excitation and open loop flutter characteristics were determined during Test 502. Loads were not measured during the last two tests. During these tests, a database of over 3000 data sets was obtained. A reasonably extensive subset of the data

  8. Optimal control law for classical and multiconjugate adaptive optics

    NASA Astrophysics Data System (ADS)

    Le Roux, Brice; Conan, Jean-Marc; Kulcsár, Caroline; Raynaud, Henri-François; Mugnier, Laurent M.; Fusco, Thierry

    2004-07-01

    Classical adaptive optics (AO) is now a widespread technique for high-resolution imaging with astronomical ground-based telescopes. It generally uses simple and efficient control algorithms. Multiconjugate adaptive optics (MCAO) is a more recent and very promising technique that should extend the corrected field of view. This technique has not yet been experimentally validated, but simulations already show its high potential. The importance for MCAO of an optimal reconstruction using turbulence spatial statistics has already been demonstrated through open-loop simulations. We propose an optimal closed-loop control law that accounts for both spatial and temporal statistics. The prior information on the turbulence, as well as on the wave-front sensing noise, is expressed in a state-space model. The optimal phase estimation is then given by a Kalman filter. The equations describing the system are given and the underlying assumptions explained. The control law is then derived. The gain brought by this approach is demonstrated through MCAO numerical simulations representative of astronomical observation on a 8-m-class telescope in the near infrared. We also discuss the application of this control approach to classical AO. Even in classical AO, the technique could be relevant especially for future extreme AO systems.

  9. Precision Attitude Control for the BETTII Balloon-Borne Interferometer

    NASA Technical Reports Server (NTRS)

    Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen

    2012-01-01

    The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.

  10. Pilot modeling, modal analysis, and control of large flexible aircraft

    NASA Technical Reports Server (NTRS)

    Schmidt, D. K.

    1984-01-01

    The issues to be addressed are threefold. The first deals with the question of whether dynamic aeroelastic effects can significantly impact piloted flight dynamics. For example, if one were to explore this problem experimentally, what mathematical model would be appropriate to use in the simulation? What modes, for example, should be included in the simulation, or what linear model should be used in the control synthesis? The second question deals with the appropriate design criteria or design objectives. In the case of active control, for example, what would be the design objectives for the control synthesis if aeroelastic effects are a problem? The outline of the topics includes a description of a model analysis methodology aimed at answering the question of the significance of higher order dynamics. Secondly, a pilot vehicle analysis of some experimental data addresses the question of ""What's important in the task?'' The experimental data will be presented briefly, followed by the results of an open-loop modal analysis of the generic vehicle configurations in question. Finally, one of the vehicles will be augmented via active control and the results presented.

  11. Optimal control law for classical and multiconjugate adaptive optics.

    PubMed

    Le Roux, Brice; Conan, Jean-Marc; Kulcsár, Caroline; Raynaud, Henri-François; Mugnier, Laurent M; Fusco, Thierry

    2004-07-01

    Classical adaptive optics (AO) is now a widespread technique for high-resolution imaging with astronomical ground-based telescopes. It generally uses simple and efficient control algorithms. Multiconjugate adaptive optics (MCAO) is a more recent and very promising technique that should extend the corrected field of view. This technique has not yet been experimentally validated, but simulations already show its high potential. The importance for MCAO of an optimal reconstruction using turbulence spatial statistics has already been demonstrated through open-loop simulations. We propose an optimal closed-loop control law that accounts for both spatial and temporal statistics. The prior information on the turbulence, as well as on the wave-front sensing noise, is expressed in a state-space model. The optimal phase estimation is then given by a Kalman filter. The equations describing the system are given and the underlying assumptions explained. The control law is then derived. The gain brought by this approach is demonstrated through MCAO numerical simulations representative of astronomical observation on a 8-m-class telescope in the near infrared. We also discuss the application of this control approach to classical AO. Even in classical AO, the technique could be relevant especially for future extreme AO systems. PMID:15260258

  12. Modern control strategies for vacuum arc remelting of segregation sensitive alloys

    SciTech Connect

    Williamson, R.L.; Schlienger, M.E.; Hysinger, C.L.; Beaman, J.J.

    1997-06-01

    There are several process variables which are crucial to the control of vacuum arc remelting of segregation sensitive alloys. These are: electrode gap, melt rate, cooling rate, furnace annulus, furnace atmosphere and electrode quality (i.e. cleanliness and integrity). Of these variables, active, closed loop control is usually applied only to electrode gap. Other variables are controlled by controlling furnace operational parameters to preset schedules (e.g. melting current is ramped or held constant to control melt rate in an open loop fashion), through proper maintenance and calibration of equipment (e.g. to ensure proper cooling water and gas flow rates, or to accomplish an acceptable vacuum leak rate), through proper practice of procedures, and by maintaining electrode quality control. Electrode gap control is accomplished by controlling an electrode gap indicator such as drip-short frequency (or period) to a specified set-point. This type of control, though often adequate, ignores information available from other electrode gap indicators and is susceptible to upsets. A multiple input electrode gap controller is described which uses optimal estimation techniques to address this problem.

  13. Invariant Control of the Technological Plants to Compensate an Impact of Main Disturbances Preemptively

    NASA Astrophysics Data System (ADS)

    Sniders, A.; Laizans, A.; Komass, T.

    2016-06-01

    The paper considers a survey of the research procedures and results due to invariant control method application perspective for operation quality advancement in several technological plants (wastewater biological treatment tanks and water steam production boilers), which operate under influence of organised and random disturbances. A specified subject of research is the simulation model of the multi-link invariant control system for steam pressure stabilisation in a steam boiler by preemptive compensation of steam load and feed water flow impact on output parameter (steam pressure), developed in MATLAB/SIMULINK. Simulation block-diagram of the steam boiler invariant control system, containing closed loop PID control circuit and open loop DPC circuit, has been composed on the basis of the designed mathematical model of the system components, disturbance compensation algorithms, and operational equation of the invariant control system. Comparative response of the steam boiler, operating under influence of fluctuating disturbances, with conventional PID control and using PID-DPC control with disturbance compensation controller DPC, has been investigated. Simulation results of invariant PID - DPC control system show that output parameter of the steam boiler - pressure remains practically constant under fluctuating disturbances due to a high-speed response of DPC controller.

  14. Nonlinear model identification and adaptive model predictive control using neural networks.

    PubMed

    Akpan, Vincent A; Hassapis, George D

    2011-04-01

    This paper presents two new adaptive model predictive control algorithms, both consisting of an on-line process identification part and a predictive control part. Both parts are executed at each sampling instant. The predictive control part of the first algorithm is the Nonlinear Model Predictive Control strategy and the control part of the second algorithm is the Generalized Predictive Control strategy. In the identification parts of both algorithms the process model is approximated by a series-parallel neural network structure which is trained by a recursive least squares (ARLS) method. The two control algorithms have been applied to: 1) the temperature control of a fluidized bed furnace reactor (FBFR) of a pilot plant and 2) the auto-pilot control of an F-16 aircraft. The training and validation data of the neural network are obtained from the open-loop simulation of the FBFR and the nonlinear F-16 aircraft models. The identification and control simulation results show that the first algorithm outperforms the second one at the expense of extra computation time. PMID:21281932

  15. A Lead Angle Control for HB-Type Stepping Motor in the Constant Voltage Range

    NASA Astrophysics Data System (ADS)

    Okumatsu, Yoshihiro; Kawamura, Atsuo

    Stepping motors are generally used as a positioning servo in the OA (Office Automation) and FA (Factory Automation) system because the construction cost is very low and the construction of system is very easy. Since they are generally driven by an open loop controller, the response of stepping motors is oscillatory and it is possible to be out of drive. Therefore they are driven by a closed loop controller in the special system, which requires the high reliability and stability. The lead angle control is used as a closed loop controller of stepping motors because an applied voltage amplitude is not able to be controlled. However a closed loop control of stepping motors is hardly used at present. This paper presents the lead angle control based on the vector control in the constant voltage drive range for 2 phases HB type stepping motors. In the constant voltage range, since the HB type stepping motor is modeled as a surface permanent magnet motor, the motor torque is controlled by the q-axis current. The d-axis current is calculated by the voltage limit condition because of the constant voltage amplitude operation. The control performances are examined by the simulations and experimental results.

  16. Force control for robotic manipulators with structurally flexible links

    NASA Astrophysics Data System (ADS)

    Latornell, Douglas John

    1992-01-01

    This thesis reports on the development of strategies for the control of contact forces exerted by a structurally flexible robotic manipulator on surfaces in its working environment. The controller is based on a multivariable, explicitly adaptive, long range predictive control algorithm. A static equilibrium bias term which is particularly applicable to the contact force control problem has been incorporated into the control algorithm cost function. A general formulation for the discrete time domain characteristic polynomial of the closed loop system has been derived and shown useful in tuning the controller. Kinematic and dynamic models of a robotic manipulator with structurally flexible links interacting with its working environment are derived. These models include inertia and damping effects in the contact dynamics in addition to the contact stiffness employed in most previous work. Linear analyses of the dynamic models for a variety of manipulator configurations reveal that the controlled variable, the contact force, is dominated by different open loop modes of the system depending on the effective stiffness of the contacting surfaces. This result has important implications for the selection of the controller parameters. The performance of the controller has been evaluated using computer simulation. A special purpose simulation program, TWOFLEX, which includes the dynamics models of the manipulator and the environment as well as the control algorithm was developed during the research. The configurations investigated using the simulation include a single flexible manipulator link, two link manipulators with both rigid and flexible links, and a two link prototype model of the Mobile Servicing System (MSS) manipulator for the proposed Space Station Freedom. The results show that the controller can be tuned to provide fast contact force step responses with minimal overshoot and zero steady-state error. The problem of maintaining control through the discontinuous

  17. An adaptive human response mechanism controlling the V/STOL aircraft. Appendix 3: The adaptive control model of a pilot in V/STOL aircraft control loops. M.S. Thesis. Final Report

    NASA Technical Reports Server (NTRS)

    Kucuk, Senol

    1988-01-01

    Importance of the role of human operator in control systems has led to the particular area of manual control theory. Human describing functions were developed to model human behavior for manual control studies to take advantage of the successful and safe human operations. A single variable approach is presented that can be extended for multi-variable tasks where a low order human response model is used together with its rules, to adapt the model on-line, being capable of responding to the changes in the controlled element dynamics. Basic control theory concepts are used to combine the model, constrained with the physical observations, particularly, for the case of aircraft control. Pilot experience is represented as the initial model parameters. An adaptive root-locus method is presented as the adaptation law of the model where the closed loop bandwidth of the system is to be preserved in a stable manner with the adjustments of the pilot handling qualities which relate the latter to the closed loop bandwidth and damping of the closed loop pilot aircraft combination. A Kalman filter parameter estimator is presented as the controlled element identifier of the adaptive model where any discrepancies of the open loop dynamics from the presented one, are sensed to be compensated.

  18. Feedforward-Feedback Hybrid Control for Magnetic Shape Memory Alloy Actuators Based on the Krasnosel'skii-Pokrovskii Model

    PubMed Central

    Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

    2014-01-01

    As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system. PMID:24828010

  19. Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties.

    PubMed

    Shao, Xingling; Wang, Honglun

    2015-01-01

    This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy. PMID:25082266

  20. An Actor-Critic based controller for glucose regulation in type 1 diabetes.

    PubMed

    Daskalaki, Elena; Diem, Peter; Mougiakakou, Stavroula G

    2013-02-01

    A novel adaptive approach for glucose control in individuals with type 1 diabetes under sensor-augmented pump therapy is proposed. The controller, is based on Actor-Critic (AC) learning and is inspired by the principles of reinforcement learning and optimal control theory. The main characteristics of the proposed controller are (i) simultaneous adjustment of both the insulin basal rate and the bolus dose, (ii) initialization based on clinical procedures, and (iii) real-time personalization. The effectiveness of the proposed algorithm in terms of glycemic control has been investigated in silico in adults, adolescents and children under open-loop and closed-loop approaches, using announced meals with uncertainties in the order of ±25% in the estimation of carbohydrates. The results show that glucose regulation is efficient in all three groups of patients, even with uncertainties in the level of carbohydrates in the meal. The percentages in the A+B zones of the Control Variability Grid Analysis (CVGA) were 100% for adults, and 93% for both adolescents and children. The AC based controller seems to be a promising approach for the automatic adjustment of insulin infusion in order to improve glycemic control. After optimization of the algorithm, the controller will be tested in a clinical trial. PMID:22502983

  1. Real time MHD mode control using ECCD in KSTAR: Plan and requirements

    NASA Astrophysics Data System (ADS)

    Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L.; Namkung, W.; Park, H.; Cho, M. H.; Kim, M. H.; Kim, K. J.; Na, Y. S.; Hosea, J.; Ellis, R.

    2014-02-01

    For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.

  2. Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

    NASA Technical Reports Server (NTRS)

    Williams-Hayes, Peggy S.

    2004-01-01

    The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.

  3. Subtractive, divisive and non-monotonic gain control in feedforward nets linearized by noise and delays

    PubMed Central

    Mejias, Jorge F.; Payeur, Alexandre; Selin, Erik; Maler, Leonard; Longtin, André

    2014-01-01

    The control of input-to-output mappings, or gain control, is one of the main strategies used by neural networks for the processing and gating of information. Using a spiking neural network model, we studied the gain control induced by a form of inhibitory feedforward circuitry—also known as “open-loop feedback”—, which has been experimentally observed in a cerebellum-like structure in weakly electric fish. We found, both analytically and numerically, that this network displays three different regimes of gain control: subtractive, divisive, and non-monotonic. Subtractive gain control was obtained when noise is very low in the network. Also, it was possible to change from divisive to non-monotonic gain control by simply modulating the strength of the feedforward inhibition, which may be achieved via long-term synaptic plasticity. The particular case of divisive gain control has been previously observed in vivo in weakly electric fish. These gain control regimes were robust to the presence of temporal delays in the inhibitory feedforward pathway, which were found to linearize the input-to-output mappings (or f-I curves) via a novel variability-increasing mechanism. Our findings highlight the feedforward-induced gain control analyzed here as a highly versatile mechanism of information gating in the brain. PMID:24616694

  4. Real time MHD mode control using ECCD in KSTAR: Plan and requirements

    SciTech Connect

    Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L.; Namkung, W.; Park, H.; Cho, M. H.; Kim, M. H.; Kim, K. J.; Na, Y. S.; Hosea, J.; Ellis, R.

    2014-02-12

    For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.

  5. Aeroelastic control of flutter using trailing edge control surfaces powered by piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Ardelean, Emil Valentin

    University. Operating in closed-loop, flutter was suppressed at the speed at which the flutter occurred open-loop; the flutter speed was increased by approximately 30%.

  6. Robust time and frequency domain estimation methods in adaptive control

    NASA Technical Reports Server (NTRS)

    Lamaire, Richard Orville

    1987-01-01

    A robust identification method was developed for use in an adaptive control system. The type of estimator is called the robust estimator, since it is robust to the effects of both unmodeled dynamics and an unmeasurable disturbance. The development of the robust estimator was motivated by a need to provide guarantees in the identification part of an adaptive controller. To enable the design of a robust control system, a nominal model as well as a frequency-domain bounding function on the modeling uncertainty associated with this nominal model must be provided. Two estimation methods are presented for finding parameter estimates, and, hence, a nominal model. One of these methods is based on the well developed field of time-domain parameter estimation. In a second method of finding parameter estimates, a type of weighted least-squares fitting to a frequency-domain estimated model is used. The frequency-domain estimator is shown to perform better, in general, than the time-domain parameter estimator. In addition, a methodology for finding a frequency-domain bounding function on the disturbance is used to compute a frequency-domain bounding function on the additive modeling error due to the effects of the disturbance and the use of finite-length data. The performance of the robust estimator in both open-loop and closed-loop situations is examined through the use of simulations.

  7. Comparison of advanced distillation control methods. Second annual report

    SciTech Connect

    Riggs, J.B.

    1996-11-01

    Detailed dynamic simulations of two industrial distillation columns (a propylene/propane splitter and a xylene/toluene column) have been used to study the issue of configuration selection for diagonal PI dual composition controls. Auto Tune Variation (ATV) identification with on-line detuning was used for tuning the diagonal proportional integral (PI) composition controls. Each configuration was evaluated with respect to steady-state relative gain array (RGA) values, sensitivity to feed composition changes, and open loop dynamic performance. Each configuration was tuned using setpoint changes over a wider range of operation for robustness and tested for feed composition upsets. Overall, configuration selection was shown to have a dominant effect upon control performance. Configuration analysis tools (e.g., RGA, condition number, disturbance sensitivity) were found to reject configuration choices that are obviously poor choices, but were unable to critically differentiate between the remaining viable choices. Configuration selection guidelines are given although it is demonstrated that the most reliable configuration selection approach is based upon testing the viable configurations using dynamic column simulators.

  8. Water mass control system based on artificial neural networks for the steam generator in a pressurized water reactor

    NASA Astrophysics Data System (ADS)

    Dong, Wei

    The control of water mass inventory and water level in the steam generator is important for nuclear power plant. Conventional control system designs attempt to maintain downcomer water level within a relatively narrow operational band. However, the water level measured in the downcomer can temporarily react in a manner opposite to water mass inventory changes, which is known as shrink and swell effects. As a result, automatic or manual control of water level can be difficult under these conditions and can lead to reactor trips. This research introduces a new feedwater control strategy for nuclear steam generators. By estimating the water mass inventory with neural networks, the new method directly controls water mass inventory by conventional PI controller. Since shrink and swell are eliminated in water mass control, theoretical analysis and simulation results show the new control strategy improves the operation of nuclear steam generators significantly. In the water mass control system design, the safety function of the system is still based on the Steam Generator Water Level. Thus, the conventional water level trips will protect the plant when the new control strategy fails to maintain the water level within the safety range. The water mass estimator can be embedded in the Instrumentation and Control System of a Nuclear Power Plant to open loop observe the Steam Generator water mass inventory, improving the safety of nuclear power plant operation. Closed loop water mass control for a Steam Generator can be implemented after the observed water mass shows good agreement with theoretical calculations and plant operation experiences.

  9. Optimal V/f control of super high-speed PMSM and its application

    NASA Astrophysics Data System (ADS)

    Bian, Chunyuan; Ren, Shuangyan; Yan, Shijie; Man, Yongkui; Wang, Zhiqiang

    2006-11-01

    Due to the features such as high efficiency, small volume and high power density, super high-speed permanent magnet synchronous motor (PMSM) are becoming attractive in many fields such as high-speed micro-turbine generators, centrifugal compressors and pumps. V/f control is flexible and easy to be realized, moreover, voltage utilization ratio of SVPWM modulation is high, so the plan combined with V/f control and SVPWM modulation can be adopted for PMSM. The effects of the stator resistance and the dead-time on the control are generally neglected in traditional V/f control, which leads to that the low-speed performance is poor and the system is not stable at high speed. Based on considering the effects of stator resistance and dead-time, an optimal V/f control of the super high-speed PMSM is presented. Combined with the optimal V/f control and SVPWM modulation, soft starting and operating experiments for PMSM generator (105Kw, 61000rpm) are successfully implemented in the designed system of super high-speed gas micro-turbine based on DSP 320F2407A. The experiment results shows that this optimal V/f control is virtual and feasible for super high-speed PMSM. The proposed scheme provided dynamic stability and high performance of the super high-speed PMSM with an open-loop control.

  10. Biomechanically Induced and Controller Coupled Oscillations Experienced on the F-16XL Aircraft During Rolling Maneuvers

    NASA Technical Reports Server (NTRS)

    Smith, John W.; Montgomery, Terry

    1996-01-01

    During rapid rolling maneuvers, the F-16 XL aircraft exhibits a 2.5 Hz lightly damped roll oscillation, perceived and described as 'roll ratcheting.' This phenomenon is common with fly-by-wire control systems, particularly when primary control is derived through a pedestal-mounted side-arm controller. Analytical studies have been conducted to model the nature of the integrated control characteristics. The analytical results complement the flight observations. A three-degree-of-freedom linearized set of aerodynamic matrices was assembled to simulate the aircraft plant. The lateral-directional control system was modeled as a linear system. A combination of two second-order transfer functions was derived to couple the lateral acceleration feed through effect of the operator's arm and controller to the roll stick force input. From the combined systems, open-loop frequency responses and a time history were derived, describing and predicting an analogous in-flight situation. This report describes the primary control, aircraft angular rate, and position time responses of the F-16 XL-2 aircraft during subsonic and high-dynamic-pressure rolling maneuvers. The analytical description of the pilot's arm and controller can be applied to other aircraft or simulations to assess roll ratcheting susceptibility.

  11. Proportional and Integral Thermal Control System for Large Scale Heating Tests

    NASA Technical Reports Server (NTRS)

    Fleischer, Van Tran

    2015-01-01

    The National Aeronautics and Space Administration Armstrong Flight Research Center (Edwards, California) Flight Loads Laboratory is a unique national laboratory that supports thermal, mechanical, thermal/mechanical, and structural dynamics research and testing. A Proportional Integral thermal control system was designed and implemented to support thermal tests. A thermal control algorithm supporting a quartz lamp heater was developed based on the Proportional Integral control concept and a linearized heating process. The thermal control equations were derived and expressed in terms of power levels, integral gain, proportional gain, and differences between thermal setpoints and skin temperatures. Besides the derived equations, user's predefined thermal test information generated in the form of thermal maps was used to implement the thermal control system capabilities. Graphite heater closed-loop thermal control and graphite heater open-loop power level were added later to fulfill the demand for higher temperature tests. Verification and validation tests were performed to ensure that the thermal control system requirements were achieved. This thermal control system has successfully supported many milestone thermal and thermal/mechanical tests for almost a decade with temperatures ranging from 50 F to 3000 F and temperature rise rates from -10 F/s to 70 F/s for a variety of test articles having unique thermal profiles and test setups.

  12. Modification of the logic and control system for the 80-ounce injection molding machine

    SciTech Connect

    Domer, G.A.

    1990-01-01

    The modification of the hydraulic logic and control system for the 80-ounce injection molding machine in the Molding and Machining, Plastics, department was required to allow production of near net size thick-walled parts and machining stock from high-shrinkage materials while retaining the original logic for standard product. The control system that was developed allows the new capability of open clamp injection. This capability will replace the present method of purchasing machining stock from an outside source. The control system was implemented with a Giddings Lewis Programmable Industrial Computer 409 (G L PiC 409). Hydraulic modifications included adding Vickers servo valves, an Inductosyn position transducer, and MOOG pressure transducers to perform force and position control. The control system provides two capabilities, NORMAL and SERVO. The NORMAL mode is defined as operating the machine according to original design specifications. The SERVO mode is defined as operating the machine according to a recipe in open loop position control then in closed loop force control. The G L PiC 409 controls the tasks of both modes. A selector switch determines the mode of operation (NORMAL or SERVO). The NORMAL mode uses the original hydraulic circuits, and the SERVO mode diverts fluid into the modified hydraulic circuits. 11 figs.

  13. Velocity control with disturbance observer for pedal-assisted electric bikes

    NASA Astrophysics Data System (ADS)

    Chang, Shyue-Bin; Chen, Pang-Chia; Chuang, Hung-Shiang; Hsiao, Chih-Ching

    2012-11-01

    This paper proposes a velocity control approach for light electric bicycles with human power assistance. A disturbance observer mechanism is used to estimate the sum of the human torque and resistance torques. The resulting vehicle velocity control provides better battery energy efficiency by knowledge of the instantaneous human torque assistance and better speed control by knowledge of the instantaneous resistive torque. The disturbance observer is tuned in terms of the DC gain of a low-passed Q-filter for both open-loop and closed-loop schemes. Assuming that the slow varying nature of the disturbance has been properly estimated and compensated, the torque control law is designed via an optimal control approach to achieve multi-objective performances regarding the external disturbance input, control signal magnitude, and velocity tracking error. The three main parameters of the electric bike, including the moment of inertia, the radius of tyre and the vehicle weight are allowed to be variational. Specifically, the deviation of the inertia moment and deviation of the tyre radius are addressed during the controller design in terms of linear matrix inequalities. On the other hand, the effect of vehicle weight deviation on the system behaviour is evaluated when the vehicle is implemented with the constructed control law. Based on the parameters and specifications of the EL-168 electric bike produced by KENTFA Advanced Technology, Taiwan, the design results are verified through time-response simulations.

  14. In Silico Closed-Loop Control Validation Studies for Optimal Insulin Delivery in Type 1 Diabetes.

    PubMed

    Zavitsanou, Stamatina; Mantalaris, Athanasios; Georgiadis, Michael C; Pistikopoulos, Efstratios N

    2015-10-01

    This study presents a general closed-loop control strategy for optimal insulin delivery in type 1 Diabetes Mellitus (T1DM). The proposed control strategy aims toward an individualized optimal insulin delivery that consists of a patient-specific model predictive controller, a state estimator, a personalized scheduling level, and an open-loop optimization problem subjected to patient-specific process model and constraints. This control strategy can be also modified to address the case of limited patient data availability resulting in an "approximation" control strategy. Both strategies are validated in silico in the presence of predefined and unknown meal disturbances using both a novel mathematical model of glucose-insulin interactions and the UVa/Padova Simulator model as a virtual patient. The robustness of the control performance is evaluated under several conditions such as skipped meals, variability in the meal time, and metabolic uncertainty. The simulation results of the closed-loop validation studies indicate that the proposed control strategies can potentially achieve improved glycaemic control. PMID:25935026

  15. Modeling and path-following control of a vector-driven stratospheric satellite

    NASA Astrophysics Data System (ADS)

    Zheng, Zewei; Chen, Tian; Xu, Ming; Zhu, Ming

    2016-05-01

    The stratospheric satellite driven by steady prevailing winds in the stratosphere must be controlled in its longitudinal excursion to keep a latitudinal orbital flight. In a reliable and high-precision control system, an available system model must come first. In this paper, we study the 6 degree-of-freedom (DOF) modeling and path-following problem of a novel stratospheric satellite which consists of a high-altitude helium balloon, a truss and two vector-motor-driven propellers. To keep a latitudinal flight orbit, an algorithm for accurate latitudinal path following is proposed based on the theories of vector field and sliding mode control. Moreover, a forward velocity controller is added to the control algorithm to maintain a constant velocity. Finally, a series of open-loop control simulations are completed to verify the effectiveness of the model in the performance of the stratospheric satellite dynamics, and path-following control simulation results demonstrate the effectiveness of the proposed control algorithm.

  16. Open-loop tomography with artificial neural networks on CANARY: on-sky results

    NASA Astrophysics Data System (ADS)

    Osborn, J.; Guzman, D.; de Cos Juez, F. J.; Basden, A. G.; Morris, T. J.; Gendron, E.; Butterley, T.; Myers, R. M.; Guesalaga, A.; Sanchez Lasheras, F.; Gomez Victoria, M.; Sánchez Rodríguez, M. L.; Gratadour, D.; Rousset, G.

    2014-07-01

    We present recent results from the initial testing of an artificial neural network (ANN)-based tomographic reconstructor Complex Atmospheric Reconstructor based on Machine lEarNing (CARMEN) on CANARY, an adaptive optics demonstrator operated on the 4.2 m William Herschel Telescope, La Palma. The reconstructor was compared with contemporaneous data using the Learn and Apply (L&A) tomographic reconstructor. We find that the fully optimized L&A tomographic reconstructor outperforms CARMEN by approximately 5 per cent in Strehl ratio or 15 nm rms in wavefront error. We also present results for CANARY in Ground Layer Adaptive Optics mode to show that the reconstructors are tomographic. The results are comparable and this small deficit is attributed to limitations in the training data used to build the ANN. Laboratory bench tests show that the ANN can outperform L&A under certain conditions, e.g. if the higher layer of a model two layer atmosphere was to change in altitude by ˜300 m (equivalent to a shift of approximately one tenth of a subaperture).

  17. A open loop guidance architecture for navigationally robust on-orbit docking

    NASA Technical Reports Server (NTRS)

    Chern, Hung-Sheng

    1995-01-01

    The development of an open-hop guidance architecture is outlined for autonomous rendezvous and docking (AR&D) missions to determine whether the Global Positioning System (GPS) can be used in place of optical sensors for relative initial position determination of the chase vehicle. Feasible command trajectories for one, two, and three impulse AR&D maneuvers are determined using constrained trajectory optimization. Early AR&D command trajectory results suggest that docking accuracies are most sensitive to vertical position errors at the initial conduction of the chase vehicle. Thus, a feasible command trajectory is based on maximizing the size of the locus of initial vertical positions for which a fixed sequence of impulses will translate the chase vehicle into the target while satisfying docking accuracy requirements. Documented accuracies are used to determine whether relative GPS can achieve the vertical position error requirements of the impulsive command trajectories. Preliminary development of a thruster management system for the Cargo Transfer Vehicle (CTV) based on optimal throttle settings is presented to complete the guidance architecture. Results show that a guidance architecture based on a two impulse maneuvers generated the best performance in terms of initial position error and total velocity change for the chase vehicle.

  18. CANARY phase B: on-sky open-loop tomographic LGS AO results

    NASA Astrophysics Data System (ADS)

    Morris, Tim; Gendron, Eric; Basden, Alastair; Martin, Olivier; Osborn, James; Henry, David; Hubert, Zoltan; Sivo, Gaetano; Gratadour, Damien; Chemla, Fanny; Sevin, Arnaud; Cohen, Matthieu; Younger, Eddy; Vidal, Fabrice; Wilson, Richard; Butterley, Tim; Bitenc, Urban; Reeves, Andrew; Bharmal, Nazim; Raynaud, Henri-François; Kulcsar, Caroline; Conan, Jean-Marc; Huet, Jean-Michel; Perret, Denis; Dickson, Colin; Atkinson, David; Bailie, Tom; Longmore, Andy; Todd, Stephen; Talbot, Gordon; Morris, Simon; Rousset, Gérard; Myers, Richard

    2014-07-01

    CANARY is an on-sky Laser Guide Star (LGS) tomographic AO demonstrator that has been in operation at the 4.2m William Herschel Telescope (WHT) in La Palma since 2010. In 2013, CANARY was upgraded from its initial configuration that used three off-axis Natural Guide Stars (NGS) through the inclusion of four off-axis Rayleigh LGS and associated wavefront sensing system. Here we present the system and analysis of the on-sky results obtained at the WHT between May and September 2014. Finally we present results from the final `Phase C' CANARY system that aims to recreate the tomographic configuration to emulate the expected tomographic AO configuration of both the AOF at the VLT and E-ELT.

  19. Investigation of open-loop beam motion at low frequencies at the APS

    SciTech Connect

    Kim, S.H.; Decker, G.; Doose, C.; Mangra, D.; Merl, R.

    1997-08-01

    Sources of transverse beam motion in the APS storage ring have been investigated for ground-motion- and water-system-induced vibrations of the magnet and vacuum systems, and for power supply ripple. The displacement of magnets in a bandwidth of 4-30 Hz have been reduced significantly by inserting viscoelastic damping pads between the girder supports and pedestals, and by welding the magnet cooling headers to the ceiling of the storage ring tunnel. Current ripple on magnet power supplies was identified as a source of horizontal beam motion. Beam motion was measured without the closed-orbit feedback system activated. At {beta}{sub x} = 15.4 m and {beta}{sub y} = 10.4 m the rms beam motion in the 0.02-30 Hz band was 22.7 {mu}m and 6.3 {mu}m in the horizontal and verticle planes, respectively. A few narrow-band structures of the horizontal beam motion spectrum in the 1-4 Hz band have to be investigated further to identify the sources.

  20. Spatial awareness in immersive virtual environments revealed in open-loop walking

    NASA Astrophysics Data System (ADS)

    Turano, Kathleen A.; Chaudhury, Sidhartha

    2005-03-01

    People are able to walk without vision to previously viewed targets in the real world. This ability to update one"s position in space has been attributed to a path integration system that uses internally generated self-motion signals together with the perceived object-to-self distance of the target. In a previous study using an immersive virtual environment (VE), we found that many subjects were unable to walk without vision to a previously viewed target located 4 m away. Their walking paths were influenced by the room structure that varied trial to trial. In this study we investigated whether the phenomenon is specific to a VE by testing subjects in a real world and a VE. The real world was viewed with field restricting goggles and via cameras using the same head-mounted display as in the VE. The results showed that only in the VE were walking paths influenced by the room structure. Women were more affected than men, and the effect decreased over trials and after subjects performed the task in the real world. The results also showed that a brief (<0.5 s) exposure to the visual scene during self-motion was sufficient to reduce the influence of the room structure on walking paths. The results are consistent with the idea that without visual experience within the VE, the path integration system is unable to effectively update one"s spatial position. As a result, people rely on other cues to define their position in space. Women, unlike men, choose to use visual cues about environmental structure to reorient.

  1. Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots.

    PubMed

    Zhao, Jing; Li, Wei; Li, Mengfan

    2015-01-01

    In this paper, we evaluate the control performance of SSVEP (steady-state visual evoked potential)- and P300-based models using Cerebot-a mind-controlled humanoid robot platform. Seven subjects with diverse experience participated in experiments concerning the open-loop and closed-loop control of a humanoid robot via brain signals. The visual stimuli of both the SSVEP- and P300- based models were implemented on a LCD computer monitor with a refresh frequency of 60 Hz. Considering the operation safety, we set the classification accuracy of a model over 90.0% as the most important mandatory for the telepresence control of the humanoid robot. The open-loop experiments demonstrated that the SSVEP model with at most four stimulus targets achieved the average accurate rate about 90%, whereas the P300 model with the six or more stimulus targets under five repetitions per trial was able to achieve the accurate rates over 90.0%. Therefore, the four SSVEP stimuli were used to control four types of robot behavior; while the six P300 stimuli were chosen to control six types of robot behavior. Both of the 4-class SSVEP and 6-class P300 models achieved the average success rates of 90.3% and 91.3%, the average response times of 3.65 s and 6.6 s, and the average information transfer rates (ITR) of 24.7 bits/min 18.8 bits/min, respectively. The closed-loop experiments addressed the telepresence control of the robot; the objective was to cause the robot to walk along a white lane marked in an office environment using live video feedback. Comparative studies reveal that the SSVEP model yielded faster response to the subject's mental activity with less reliance on channel selection, whereas the P300 model was found to be suitable for more classifiable targets and required less training. To conclude, we discuss the existing SSVEP and P300 models for the control of humanoid robots, including the models proposed in this paper. PMID:26562524

  2. Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots

    PubMed Central

    Li, Mengfan

    2015-01-01

    In this paper, we evaluate the control performance of SSVEP (steady-state visual evoked potential)- and P300-based models using Cerebot—a mind-controlled humanoid robot platform. Seven subjects with diverse experience participated in experiments concerning the open-loop and closed-loop control of a humanoid robot via brain signals. The visual stimuli of both the SSVEP- and P300- based models were implemented on a LCD computer monitor with a refresh frequency of 60 Hz. Considering the operation safety, we set the classification accuracy of a model over 90.0% as the most important mandatory for the telepresence control of the humanoid robot. The open-loop experiments demonstrated that the SSVEP model with at most four stimulus targets achieved the average accurate rate about 90%, whereas the P300 model with the six or more stimulus targets under five repetitions per trial was able to achieve the accurate rates over 90.0%. Therefore, the four SSVEP stimuli were used to control four types of robot behavior; while the six P300 stimuli were chosen to control six types of robot behavior. Both of the 4-class SSVEP and 6-class P300 models achieved the average success rates of 90.3% and 91.3%, the average response times of 3.65 s and 6.6 s, and the average information transfer rates (ITR) of 24.7 bits/min 18.8 bits/min, respectively. The closed-loop experiments addressed the telepresence control of the robot; the objective was to cause the robot to walk along a white lane marked in an office environment using live video feedback. Comparative studies reveal that the SSVEP model yielded faster response to the subject’s mental activity with less reliance on channel selection, whereas the P300 model was found to be suitable for more classifiable targets and required less training. To conclude, we discuss the existing SSVEP and P300 models for the control of humanoid robots, including the models proposed in this paper. PMID:26562524

  3. Neural control of helicopter blade-vortex interaction noise

    NASA Astrophysics Data System (ADS)

    Glaessel, Holger; Kloeppel, Valentin; Rudolph, Stephan

    2001-06-01

    Significant reduction of helicopter blade-vortex interaction (BVI) noise is currently one of the most advanced research topics in the helicopter industry. This is due to the complex flow, the close aerodynamic and structural coupling, and the interaction of the blades with the trailing edge vortices. Analytical and numerical modeling techniques are therefore currently still far from a sufficient degree of accuracy to obtain satisfactory results using classical model based control concepts. Neural networks with a proven potential to learn nonlinear relationships implicitly encoded in a training data set are therefore an appropriate and complementary technique for the alternative design of a nonlinear controller for BVI noise reduction. For nonlinear and adaptive control different neural control strategies have been proposed. Two possible approaches, a direct and an indirect neural controller are described. In indirect neural control, the plant has to be identified first by training a network with measured data. The plant network is then used to train the controller network. On the other hand the direct control approach does not rely on an explicit plant model, instead a specific training algorithm (like reinforcement learning) uses the information gathered from interactions with the environment. In the investigation of the BVI noise phenomena, helicopter developers have undertaken substantial efforts in full scale flight tests and wind tunnel experiments. Data obtained in these experiments have been adequately preprocessed using wavelet analysis and filtering techniques and are then used in the design of a neural controller. Neural open-loop control and neural closed-loop control concepts for the BVI noise reduction problem are conceived, simulated and compared against each other in this work in the above mentioned framework.

  4. Operational Performance of the Two-Channel 10 Megawatt Feedback Amplifier System for MHD Control on the Columbia University HBT-EP Tokamak

    SciTech Connect

    Reass, W.A.; Wurden, G.A.

    1997-10-06

    The operational characteristics and performance of the two channel 10 Megawatt MHD feedback control system as installed by Los Alamos National Laboratory on the Columbia University HBT-EP tokamak are described. In the present configuration, driving independent 300 {micro}H saddle coil sets, each channel can deliver 1100 Amperes and 16 kV peak to peak. Full power bandwidth is about 12 kHz, with capabilities at reduced power to 30 kHz. The present system topology is designed to suppress magnetohydrodynamic activity with m=2, n=1 symmetry. Application of either static (single phase) or rotating (twin phased) magnetic perturbations shows the ability to spin up or slow down the plasma, and also prevent (or cause) so-called ''mode-locking''. Open loop and active feedback experiments using a digital signal processor (DSP) have been performed on the HBT-EP tokamak and initial results show the ability to manipulate the plasma MHD mode frequency.

  5. Feedback control for counterflow thrust vectoring with a turbine engine: Experiment design and robust control design and implementation

    NASA Astrophysics Data System (ADS)

    Dores, Delfim Zambujo Das

    2005-11-01

    Engineering research over the last few years has successfully demonstrated the potential of thrust vector control using counterflow at conditions up to Mach 2. Flow configurations that include the pitch vectoring of rectangular jets and multi-axis vector control in diamond and axisymmetric nozzle geometries have been studied. Although bistable (on-off) fluid-based control has been around for some time, the present counterflow thrust vector control is unique because proportional and continuous jet response can be achieved in the absence of moving parts, while avoiding jet attachment, which renders most fluidic approaches unacceptable for aircraft and missile control applications. However, before this study, research had been limited to open-loop studies of counterflow thrust vectoring. For practical implementation it was vital that the counterflow scheme be used in conjunction with feedback control. Hence, the focus of this research was to develop and experimentally demonstrate a feedback control design methodology for counterflow thrust vectoring. This research focused on 2-D (pitch) thrust vectoring and addresses four key modeling issues. The first issue is to determine the measured variable to be commanded since the thrust vector angle is not measurable in real time. The second related issue is to determine the static mapping from the thrust vector angle to this measured variable. The third issue is to determine the dynamic relationship between the measured variable and the thrust vector angle. The fourth issue is to develop dynamic models with uncertainty characterizations. The final and main goal was the design and implementation of robust controllers that yield closed-loop systems with fast response times, and avoid overshoot in order to aid in the avoidance of attachment. These controllers should be simple and easy to implement in real applications. Hence, PID design has been chosen. Robust control design is accomplished by using ℓ1 control theory in

  6. Integrated Robot-Human Control in Mining Operations

    SciTech Connect

    George Danko

    2007-09-30

    This report contains a detailed description of the work conducted for the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of 'software machine kinematics' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. The human operator retains the master control of the main motion parameters, while the computer coordinates the repetitive movement patterns of the machine links. These repetitive movements may be selected from a pre-defined family of trajectories with different transformations. The operator can make adjustments to this pattern in real time, as needed, to accommodate rapidly-changing environmental conditions. A working prototype has been developed using a Bobcat 435 excavator. The machine is operational with or without the computer control system depending on whether the computer interface is on or off. In preparation for emulated mining tasks tests, typical, repetitive tool trajectories during surface mining operations were recorded at the Newmont Mining Corporation's 'Lone Tree' mine in Nevada. Analysis of these working trajectories has been completed. The motion patterns, when transformed into a family of curves, may serve as the basis for software-controlled machine kinematics transformation in the new human-robot control system. A Cartesian control example has been developed and tested both in simulation and on the experimental excavator. Open-loop control is robustly stable and free of short-term dynamic problems, but it allows for drifting away from the desired motion kinematics of the machine. A novel, closed

  7. Feedback shape control for deployable mesh reflectors using gain scheduling method

    NASA Astrophysics Data System (ADS)

    Xie, Yangmin; Shi, Hang; Alleyne, Andrew; Yang, Bingen

    2016-04-01

    This paper presents a theoretical study on the dynamic shape control problem of deployable mesh reflectors (DMRs) via feedback approaches. The reflector structure is simplified from a nonlinear model to be quasi-static with respect to temperature variations but dynamic with respect to mechanical vibrations. The orbital cycle is segmented into multiple temperature zones, and an H∞ robust state feedback controller is designed for each zone to guarantee the local stability of the system under the model uncertainty caused by thermal effects and to reject external force disturbances. At the same time, gain scheduling control method is adopted to compensate thermal distortions and to ensure smooth transition response when switching among the local robust controllers. A DMR model is considered in the case study to show the effectiveness of the control approach. The structural vibrations caused by external force disturbances can be sufficiently suppressed in a much shorter time. The closed loop response of the DMR structure shows that much higher surface accuracy is obtained during the orbiting mission compared to the open-loop configuration, and transient focal length and transient de-focus of the reflector are well controlled within the satisfactory bounds, demonstrating the numerical feasibility of the proposed method to solve the dynamic shape control problem of DMRs.

  8. Suboptimal feedback control of turbulent flow over a backward-facing step

    NASA Astrophysics Data System (ADS)

    Kang, Seongwon; Choi, Haecheon

    2002-07-01

    The objective of the present numerical study is to increase mixing in turbulent flow behind a backward-facing step using a systematic feedback control method. Spatially and temporally varying blowing and suction with zero-net mass flow rate are provided at the step edge, based on the sensing of the spanwise distribution of the wall pressure fluctuations at a downstream location. The cost functional to be increased is the root-mean-square spanwise pressure-gradient fluctuations at the sensing location, which may be associated with mixing behind the backward-facing step. Given the cost functional, the actuation at the step edge is determined through the suboptimal feedback control procedure of Choi et al. (1993). Large-eddy simulations of turbulent flow are conducted at a Reynolds number of 5100 based on the step height and free-stream velocity. The results of suboptimal feedback controls are compared with those of non-feedback single-frequency actuations. In case of the suboptimal control, velocity and vorticity fluctuations substantially increase downstream of the backward-facing step as well as in the recirculation zone. As a result, the reattachment length is significantly reduced, as compared to those of uncontrolled flow and flow with single-frequency actuations. A simple open-loop control method is devised from the suboptimal feedback control result, producing nearly the same mixing enhancement as the feedback control.

  9. Design of feedback control systems for stable plants with saturating actuators

    NASA Technical Reports Server (NTRS)

    Kapasouris, Petros; Athans, Michael; Stein, Gunter

    1988-01-01

    A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way as to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of the methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.

  10. Experimental study of active control of wave transmission through hollow cylindrical struts

    NASA Astrophysics Data System (ADS)

    Pelinescu, Ion; Balachandran, Balakumar

    2001-08-01

    Experimental investigations conducted into active control of longitudinal waves transmitted through a hollow cylindrical strut are presented in this article. Following along the lines of our previous work, an active strut of finite extent length, instrumented with sensors, piezoelectric, and magnetostrictive actuators, is studied in the frequency range of 10 Hz to 2 kHz. Single and multiple actuator arrangements are employed in open loop control investigations, and the effectiveness of the control effort in minimizing longitudinal harmonic disturbances transmitted through the strut is experimentally investigated. Initial efforts towards development of feedforward and feedback boundary control algorithms for reducing longitudinal vibratory loads in finite length cylinders is also presented. For the feedback controller development, the strut-actuator ensemble is modeled by using the one dimensional wave equation and the direct method of Liapunov is used. The feedforward control algorithm is based on the previous model of the active strut and relies on measurements of axial strains and accelerations at the strut ends. The influence of the boundary conditions and static forces applied to the strut are also investigated. The relevance of the current work to control of structure-borne helicopter cabin interior noise is also discussed.

  11. Multichannel control systems for the attenuation of interior road noise in vehicles

    NASA Astrophysics Data System (ADS)

    Cheer, Jordan; Elliott, Stephen J.

    2015-08-01

    This paper considers the active control of road noise in vehicles, using either multichannel feedback control, with both headrest and floor positioned microphones providing feedback error signals, or multichannel feedforward control, in which reference signals are provided by the microphones on the vehicle floor and error signals are provided by the microphones mounted on the headrests. The formulation of these control problems is shown to be similar if the constraints of robust stability, limited disturbance enhancement and open-loop stability are imposed. A novel formulation is presented for disturbance enhancement in multichannel systems, which limits the maximum enhancement of each individual error signal. The performance of these two systems is predicted using plant responses and disturbance signals measured in a small city car. The reduction in the sum of the squared pressure signals at the four error microphones for both systems is found to be up to 8 dB at low frequencies and 3 dB on average, where the sound level is particularly high from 80 to 180 Hz. The performance of both systems is found to be robust to measured variations in the plant responses. The enhancements in the disturbance at higher frequencies are smaller for the feedback controller than for the feedforward controller, although the performance of the feedback controller is more significantly reduced by the introduction of additional delay in the plant response.

  12. Proportional-Integral-Derivative (PID) Control of Secreted Factors for Blood Stem Cell Culture

    PubMed Central

    Caldwell, Julia; Wang, Weijia; Zandstra, Peter W.

    2015-01-01

    Clinical use of umbilical cord blood has typically been limited by the need to expand hematopoietic stem and progenitor cells (HSPC) ex vivo. This expansion is challenging due to the accumulation of secreted signaling factors in the culture that have a negative regulatory effect on HSPC output. Strategies for global regulation of these factors through dilution have been developed, but do not accommodate the dynamic nature or inherent variability of hematopoietic cell culture. We have developed a mathematical model to simulate the impact of feedback control on in vitro hematopoiesis, and used it to design a proportional-integral-derivative (PID) control algorithm. This algorithm was implemented with a fed-batch bioreactor to regulate the concentrations of secreted factors. Controlling the concentration of a key target factor, TGF-β1, through dilution limited the negative effect it had on HSPCs, and allowed global control of other similarly-produced inhibitory endogenous factors. The PID control algorithm effectively maintained the target soluble factor at the target concentration. We show that feedback controlled dilution is predicted to be a more cost effective dilution strategy compared to other open-loop strategies, and can enhance HSPC expansion in short term culture. This study demonstrates the utility of secreted factor process control strategies to optimize stem cell culture systems, and motivates the development of multi-analyte protein sensors to automate the manufacturing of cell therapies. PMID:26348930

  13. Using Fast-Steering Mirror Control to Reduce Instrument Pointing Errors Caused by Spacecraft Jitter

    NASA Technical Reports Server (NTRS)

    Antol, Jeffery; Holtz, Ted M.; Cuda, Vince; Johnson, Thomas A.

    1996-01-01

    The scope of this study was to investigate the benefit of using feedback control of a Fast Steering Mirror (FSM) to reduce instrument pointing errors. Initially, the study identified FSM control technologies and categorized them according to their use, range of applicability, and physical requirements. Candidate payloads were then evaluated according to their relevance in use of fast steering minor control technologies. This leads to the mission and instrument selection which served as the candidate mission for numerical modeling. A standard SmallSat was designed in order to accommodate the payload requirements (weight, size, power, etc.). This included sizing the SmallSat bus, sizing the solar array, choosing appropriate antennas, and identifying an attitude control system (ACS). A feedback control system for the FSM compensation was then designed, and the instrument pointing error and SmallSat jitter environment for open-loop and closed-loop FSM control were evaluated for typical SmallSat disturbances. The results were then compared to determine the effectiveness of the FSM feedback control system.

  14. On the control of a canonical separated flow

    NASA Astrophysics Data System (ADS)

    Griffin, John C.

    Flow separation is generally an undesirable phenomenon that produces adverse effects to ideal aerodynamic performance. Control of ow separation is a complex problem and thus a popular area of research. A common obstacle is the lack of understanding of the complex fluid mechanics in cases of ow separation, evident by the substantial amount of ow control achieved through trial-and-error methods. The purpose of this work is to better understand the nature of separation for improved active control methods, which includes closed-loop control via reduced order methods. Control of a canonical separation problem, with the key features of separated flow, is achieved at a chord Reynolds number of 105. Separation is created on a at plate model, void of curvature that would otherwise include effects particular to the type of aerodynamic body. The characteristics of the imposed separation are evaluated with the intent of having a nominally two-dimensional separation, with the same essential flow characteristics of a more traditionally stalled airfoil. Results provide a reduced-order estimation technique that is used to identify global, dynamic modes through experimental measurements. Reattachment of the baseline separation is first achieved in open-loop control via ZNMF actuation. Efficient reattachment is reached by targeting the identified characteristic flow frequencies, which is able to reattach the separated flow with less than a quarter of the control effort as a comparison case with high-frequency forcing. The baseline and control results are used to identify a reduced-order model suitable for closed-loop control, with benefits of set-point tracking and full boundary layer attachment with minimum control effort.

  15. Status of the Fiber Optic Control System Integration (FOCSI) program

    NASA Astrophysics Data System (ADS)

    Baumbick, Robert J.

    1993-05-01

    This report presents a discussion of the progress made in the NASA/NAVY Fiber Optic Control System Integration (FOCSI) program. This program will culminate in open-loop flight tests of passive optical sensors and associated electro-optics on an F-18 aircraft. Currently, the program is in the final stages of hardware fabrication and environmental testing of the passive optical sensors and electro-optics. This program is a foundation for future Fly-by-Light (FBL) programs. The term Fly-by-Light is used to describe the utilization of passive optical sensors and fiber optic data links for monitoring and control of aircraft in which sensor and actuation signals are transmitted optically. The benefits of this technology for advanced aircraft include the following: improved reliability and reduced certification cost due to greater immunity to EME (electromagnetic effects); reduced harness volume and weight; elimination of short circuits and sparking in wiring due to insulation deterioration; lower maintenance costs (fewer components); greater flexibility in data bus protocol and architecture; absence of ground loops; and higher operating temperatures for electrically passive optical sensors.

  16. Control of a free-flying robot manipulator system

    NASA Technical Reports Server (NTRS)

    Alexander, H.; Cannon, R. H., Jr.

    1985-01-01

    The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.

  17. Status of the Fiber Optic Control System Integration (FOCSI) program

    NASA Technical Reports Server (NTRS)

    Baumbick, Robert J.

    1993-01-01

    This report presents a discussion of the progress made in the NASA/NAVY Fiber Optic Control System Integration (FOCSI) program. This program will culminate in open-loop flight tests of passive optical sensors and associated electro-optics on an F-18 aircraft. Currently, the program is in the final stages of hardware fabrication and environmental testing of the passive optical sensors and electro-optics. This program is a foundation for future Fly-by-Light (FBL) programs. The term Fly-by-Light is used to describe the utilization of passive optical sensors and fiber optic data links for monitoring and control of aircraft in which sensor and actuation signals are transmitted optically. The benefits of this technology for advanced aircraft include the following: improved reliability and reduced certification cost due to greater immunity to EME (electromagnetic effects); reduced harness volume and weight; elimination of short circuits and sparking in wiring due to insulation deterioration; lower maintenance costs (fewer components); greater flexibility in data bus protocol and architecture; absence of ground loops; and higher operating temperatures for electrically passive optical sensors.

  18. A versatile motion control system for astronomical instrumentation

    NASA Astrophysics Data System (ADS)

    Wagner, Karl; Alter, Matthias; Bideaux, André; Klein, Ralf; Lehmitz, Michael; Mohr, Lars; Ramos, José Ricardo

    2010-07-01

    With steadily increasing telescope sizes and the growing complexity of scientific instruments, there is an ever-growing demand for improved electronics, controlling all the different optical parts on moving mechanisms. Among competing requirements are, on one hand, the increasing number of actuators, with high-precision positioning in closed and open loop, and on the other hand, smaller sizes, low power and restricted heat emission. A specific challenge is accommodating mechanisms that operate in infrared instrumentation at cryogenic temperatures down to 60 Kelvin. In this area piezo motors offer promising solutions. To fulfill these different demands a competitive motion control system has been developed at the Max-Planck-Institut für Astronomie (MPIA) in Heidelberg, Germany. A modular chassis with standardized boards provides best solutions for extensive tasks. High and low power DC servo motors, brushless DC servo motors, stepper motors and piezo motors with different technologies are supported. Diversity position feedback capabilities, like incremental and absolute encoders for non cryogenic and capacitive sensors and resolvers for cryogenic applications, are provided.

  19. Closed-Loop Control of a Neuroprosthetic Hand by Magnetoencephalographic Signals

    PubMed Central

    Fukuma, Ryohei; Yanagisawa, Takufumi; Yorifuji, Shiro; Kato, Ryu; Yokoi, Hiroshi; Hirata, Masayuki; Saitoh, Youichi; Kishima, Haruhiko; Kamitani, Yukiyasu; Yoshimine, Toshiki

    2015-01-01

    Objective A neuroprosthesis using a brain–machine interface (BMI) is a promising therapeutic option for severely paralyzed patients, but the ability to control it may vary among individual patients and needs to be evaluated before any invasive procedure is undertaken. We have developed a neuroprosthetic hand that can be controlled by magnetoencephalographic (MEG) signals to noninvasively evaluate subjects’ ability to control a neuroprosthesis. Method Six nonparalyzed subjects performed grasping or opening movements of their right hand while the slow components of the MEG signals (SMFs) were recorded in an open-loop condition. The SMFs were used to train two decoders to infer the timing and types of movement by support vector machine and Gaussian process regression. The SMFs were also used to calculate estimated slow cortical potentials (eSCPs) to identify the origin of motor information. Finally, using the trained decoders, the subjects controlled a neuroprosthetic hand in a closed-loop condition. Results The SMFs in the open-loop condition revealed movement-related cortical field characteristics and successfully inferred the movement type with an accuracy of 75.0 ± 12.9% (mean ± SD). In particular, the eSCPs in the sensorimotor cortex contralateral to the moved hand varied significantly enough among the movement types to be decoded with an accuracy of 76.5 ± 10.6%, which was significantly higher than the accuracy associated with eSCPs in the ipsilateral sensorimotor cortex (58.1 ± 13.7%; p = 0.0072, paired two-tailed Student’s t-test). Moreover, another decoder using SMFs successfully inferred when the accuracy was the greatest. Combining these two decoders allowed the neuroprosthetic hand to be controlled in a closed-loop condition. Conclusions Use of real-time MEG signals was shown to successfully control the neuroprosthetic hand. The developed system may be useful for evaluating movement-related slow cortical potentials of severely paralyzed patients

  20. Power and Performance Management in Nonlinear Virtualized Computing Systems via Predictive Control.

    PubMed

    Wen, Chengjian; Mu, Yifen

    2015-01-01

    The problem of power and performance management captures growing research interest in both academic and industrial field. Virtulization, as an advanced technology to conserve energy, has become basic architecture for most data centers. Accordingly, more sophisticated and finer control are desired in virtualized computing systems, where multiple types of control actions exist as well as time delay effect, which make it complicated to formulate and solve the problem. Furthermore, because of improvement on chips and reduction of idle power, power consumption in modern machines shows significant nonlinearity, making linear power models(which is commonly adopted in previous work) no longer suitable. To deal with this, we build a discrete system state model, in which all control actions and time delay effect are included by state transition and performance and power can be defined on each state. Then, we design the predictive controller, via which the quadratic cost function integrating performance and power can be dynamically optimized. Experiment results show the effectiveness of the controller. By choosing a moderate weight, a good balance can be achieved between performance and power: 99.76% requirements can be dealt with and power consumption can be saved by 33% comparing to the case with open loop controller. PMID:26225769

  1. Antenna Linear-Quadratic-Gaussian (LQG) Controllers: Properties, Limits of Performance, and Tuning Procedure

    NASA Technical Reports Server (NTRS)

    Gawronski, W.

    2004-01-01

    Wind gusts are the main disturbances that depreciate tracking precision of microwave antennas and radiotelescopes. The linear-quadratic-Gaussian (LQG) controllers - as compared with the proportional-and-integral (PI) controllers significantly improve the tracking precision in wind disturbances. However, their properties have not been satisfactorily understood; consequently, their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller model and the selection of weights of the LQG performance index. This article analyzes properties of an open- and closed-loop antenna. It shows that the proper choice of coordinates of the open-loop model simplifies the shaping of the closed-loop performance. The closed-loop properties are influenced by the LQG weights. The article shows the impact of the weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. The bandwidth and the disturbance rejection characterize the antenna performance, while the acceleration represents the performance limit set by the antenna hardware (motors). The article presents the controller tuning procedure, based on the coordinate selection and the weight properties. The procedure rationally shapes the closed-loop performance, as an alternative to the trial-and-error approach.

  2. Space Weather Influence on Relative Motion Control using the Touchless Electrostatic Tractor

    NASA Astrophysics Data System (ADS)

    Hogan, Erik A.; Schaub, Hanspeter

    2016-07-01

    With recent interest in the use of electrostatic forces for contactless tugging and attitude control of noncooperative objects for orbital servicing and active debris mitigation, the need for a method of remote charge control arises. In this paper, the use of a directed electron beam for remote charge control is considered in conjunction with the relative motion control. A tug vehicle emits an electron beam onto a deputy object, charging it negatively. At the same time, the tug is charged positively due to beam emission, resulting in an attractive electrostatic force. The relative position feedback control between the tug and the passive debris object is studied subject to the charging being created through an electron beam. Employing the nominal variations of the GEO space weather conditions across longitude slots, two electrostatic tugging strategies are considered. First, the electron beam current is adjusted throughout the orbit in order to maximize this resulting electrostatic force. This open-loop control strategy compensates for changes in the nominally expected local space weather environment in the GEO region to adjust for fluctuations in the local plasma return currents. Second, the performance impact of using a fixed electron beam current on the electrostatic tractor is studied if the same natural space weather variations are assumed. The fixed electron beam current shows a minor performance penalty (<5 %) while providing a much simpler implementation that does not require any knowledge of local space weather conditions.

  3. Power and Performance Management in Nonlinear Virtualized Computing Systems via Predictive Control

    PubMed Central

    Wen, Chengjian; Mu, Yifen

    2015-01-01

    The problem of power and performance management captures growing research interest in both academic and industrial field. Virtulization, as an advanced technology to conserve energy, has become basic architecture for most data centers. Accordingly, more sophisticated and finer control are desired in virtualized computing systems, where multiple types of control actions exist as well as time delay effect, which make it complicated to formulate and solve the problem. Furthermore, because of improvement on chips and reduction of idle power, power consumption in modern machines shows significant nonlinearity, making linear power models(which is commonly adopted in previous work) no longer suitable. To deal with this, we build a discrete system state model, in which all control actions and time delay effect are included by state transition and performance and power can be defined on each state. Then, we design the predictive controller, via which the quadratic cost function integrating performance and power can be dynamically optimized. Experiment results show the effectiveness of the controller. By choosing a moderate weight, a good balance can be achieved between performance and power: 99.76% requirements can be dealt with and power consumption can be saved by 33% comparing to the case with open loop controller. PMID:26225769

  4. Space Weather Influence on Relative Motion Control using the Touchless Electrostatic Tractor

    NASA Astrophysics Data System (ADS)

    Hogan, Erik A.; Schaub, Hanspeter

    2016-09-01

    With recent interest in the use of electrostatic forces for contactless tugging and attitude control of noncooperative objects for orbital servicing and active debris mitigation, the need for a method of remote charge control arises. In this paper, the use of a directed electron beam for remote charge control is considered in conjunction with the relative motion control. A tug vehicle emits an electron beam onto a deputy object, charging it negatively. At the same time, the tug is charged positively due to beam emission, resulting in an attractive electrostatic force. The relative position feedback control between the tug and the passive debris object is studied subject to the charging being created through an electron beam. Employing the nominal variations of the GEO space weather conditions across longitude slots, two electrostatic tugging strategies are considered. First, the electron beam current is adjusted throughout the orbit in order to maximize this resulting electrostatic force. This open-loop control strategy compensates for changes in the nominally expected local space weather environment in the GEO region to adjust for fluctuations in the local plasma return currents. Second, the performance impact of using a fixed electron beam current on the electrostatic tractor is studied if the same natural space weather variations are assumed. The fixed electron beam current shows a minor performance penalty (<5 %) while providing a much simpler implementation that does not require any knowledge of local space weather conditions.

  5. A hybrid feedback linearizing-Kalman filtering control algorithm for a distillation column.

    PubMed

    Jana, Amiya Kumar; Samanta, Amar Nath

    2006-01-01

    This paper studies the design of a discrete-time multivariable feedback linearizing control (FLC) structure. The control scheme included (i) a transformer [also called the input/output (I/O) linearizing state feedback law] that transformed the nonlinear u-y to a linearized v-y system, (ii) a closed-loop observer [extended Kalman filter (EKF)], which estimated the unmeasured states, and (iii) a conventional proportional integral (PI) controller that was employed around the v-y system as an external controller. To avoid the estimator design complexity, the design of EKF for a binary distillation column has been performed based on a reduced-order compartmental distillation model. Consequently, there is a significant process/predictor mismatch, and despite this discrepancy, the EKF estimated the required states of the simulated distillation column precisely. The FLC in conjunction with EKF (FLC-EKF) and that coupled with a measured composition-based reduced-order open-loop observer (FLC-MCROOLO) have been synthesized. The FLC structures showed better performance than the traditional proportional integral derivative controller. In practice, the presence of uncertainties and unknown disturbances are common, and in such situations, the proposed FLC-EKF control scheme ensured the superiority over the FLC-MCROOLO law. PMID:16480113

  6. The GBT precision telescope control system

    NASA Astrophysics Data System (ADS)

    Prestage, Richard M.; Constantikes, Kim T.; Balser, Dana S.; Condon, James J.

    2004-10-01

    The NRAO Robert C. Byrd Green Bank Telescope (GBT) is a 100m diameter advanced single dish radio telescope designed for a wide range of astronomical projects with special emphasis on precision imaging. Open-loop adjustments of the active surface, and real-time corrections to pointing and focus on the basis of structural temperatures already allow observations at frequencies up to 50GHz. Our ultimate goal is to extend the observing frequency limit up to 115GHz; this will require a two dimensional tracking error better than 1.3", and an rms surface accuracy better than 210μm. The Precision Telescope Control System project has two main components. One aspect is the continued deployment of appropriate metrology systems, including temperature sensors, inclinometers, laser rangefinders and other devices. An improved control system architecture will harness this measurement capability with the existing servo systems, to deliver the precision operation required. The second aspect is the execution of a series of experiments to identify, understand and correct the residual pointing and surface accuracy errors. These can have multiple causes, many of which depend on variable environmental conditions. A particularly novel approach is to solve simultaneously for gravitational, thermal and wind effects in the development of the telescope pointing and focus tracking models. Our precision temperature sensor system has already allowed us to compensate for thermal gradients in the antenna, which were previously responsible for the largest "non-repeatable" pointing and focus tracking errors. We are currently targetting the effects of wind as the next, currently uncompensated, source of error.

  7. The multiple-function multi-input/multi-output digital controller system for the AFW wind-tunnel model

    NASA Technical Reports Server (NTRS)

    Hoadley, Sherwood T.; Mcgraw, Sandra M.

    1992-01-01

    A real time multiple-function digital controller system was developed for the Active Flexible Wing (AFW) Program. The digital controller system (DCS) allowed simultaneous execution of two control laws: flutter suppression and either roll trim or a rolling maneuver load control. The DCS operated within, but independently of, a slower host operating system environment, at regulated speeds up to 200 Hz. It also coordinated the acquisition, storage, and transfer of data for near real time controller performance evaluation and both open- and closed-loop plant estimation. It synchronized the operation of four different processing units, allowing flexibility in the number, form, functionality, and order of control laws, and variability in the selection of the sensors and actuators employed. Most importantly, the DCS allowed for the successful demonstration of active flutter suppression to conditions approximately 26 percent (in dynamic pressure) above the open-loop boundary in cases when the model was fixed in roll and up to 23 percent when it was free to roll. Aggressive roll maneuvers with load control were achieved above the flutter boundary. The purpose here is to present the development, validation, and wind tunnel testing of this multiple-function digital controller system.

  8. Low-order design and high-order simulation of active closed-loop control for aerospace structures under construction

    NASA Technical Reports Server (NTRS)

    Balas, Mark J.

    1989-01-01

    Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.

  9. In Silico Magnetic Nanocontainers Navigation in Blood Vessels: A Feedback Control Approach.

    PubMed

    Do, Ton Duc; Noh, Yeongil; Kim, Myeong Ok; Yoon, Jungwon

    2016-06-01

    Magnetic nanoparticles (MNPs) are recently used in a drug delivery system to pass the blood brain barrier. However, because the magnetic force acting on particles is proportional to their volumes, as the size of particles is small, the large magnetic field is required to produce enough magnetic force for overcoming the hydrodynamic drag force as well as other forces in blood vessels. Other difficulties for controlling MNPs are the complicated behavior of hydrodynamic drag force and uncertain factors in their dynamics. Therefore, open-loop control methods cannot guarantee guiding every MNP to the correct location. Considering these challenges, this paper introduces a feedback control approach for magnetic nanoparticles (MNPs) in blood vessels. To the best of our knowledge, this is the first time feedback controller that is designed for MNPs without aggregation. Simulation studies in MATLAB and real-time verifications on a physical model in COMSOL-MATLAB interface are performed to prove the feasibility of the proposed approach. It is shown that the proposed control scheme can accurately and effectively navigate the MNP to the correct path with feasible hardware supports. PMID:27427720

  10. A flexible platform for biofeedback-driven control and personalization of electrical nerve stimulation therapy.

    PubMed

    Ward, Matthew P; Qing, Kurt Y; Otto, Kevin J; Worth, Robert M; John, Simon W M; Irazoqui, Pedro P

    2015-05-01

    Electrical vagus nerve stimulation is a treatment alternative for many epileptic and depressed patients whose symptoms are not well managed with pharmaceutical therapy. However, the fixed stimulus, open loop dosing mechanism limits its efficacy and precludes major advances in the quality of therapy. A real-time, responsive form of vagus nerve stimulation is needed to control nerve activation according to therapeutic need. This personalized approach to therapy will improve efficacy and reduce the number and severity of side effects. We present autonomous neural control, a responsive, biofeedback-driven approach that uses the degree of measured nerve activation to control stimulus delivery. We demonstrate autonomous neural control in rats, showing that it rapidly learns how to most efficiently activate any desired proportion of vagal A, B, and/or C fibers over time. This system will maximize efficacy by minimizing patient response variability and by minimizing therapeutic failures resulting from longitudinal decreases in nerve activation with increasing durations of treatment. The value of autonomous neural control equally applies to other applications of electrical nerve stimulation. PMID:25167554

  11. Finite state control of a variable impedance hybrid neuroprosthesis for locomotion after paralysis.

    PubMed

    Bulea, Thomas C; Kobetic, Rudi; Audu, Musa L; Schnellenberger, John R; Triolo, Ronald J

    2013-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%. PMID:23193320

  12. Design of Robust Adaptive Unbalance Response Controllers for Rotors with Magnetic Bearings

    NASA Technical Reports Server (NTRS)

    Knospe, Carl R.; Tamer, Samir M.; Fedigan, Stephen J.

    1996-01-01

    Experimental results have recently demonstrated that an adaptive open loop control strategy can be highly effective in the suppression of unbalance induced vibration on rotors supported in active magnetic bearings. This algorithm, however, relies upon a predetermined gain matrix. Typically, this matrix is determined by an optimal control formulation resulting in the choice of the pseudo-inverse of the nominal influence coefficient matrix as the gain matrix. This solution may result in problems with stability and performance robustness since the estimated influence coefficient matrix is not equal to the actual influence coefficient matrix. Recently, analysis tools have been developed to examine the robustness of this control algorithm with respect to structured uncertainty. Herein, these tools are extended to produce a design procedure for determining the adaptive law's gain matrix. The resulting control algorithm has a guaranteed convergence rate and steady state performance in spite of the uncertainty in the rotor system. Several examples are presented which demonstrate the effectiveness of this approach and its advantages over the standard optimal control formulation.

  13. Multi-loop Control System Design for Biodiesel Process using Waste Cooking Oil

    NASA Astrophysics Data System (ADS)

    Patle, Dipesh S.; Z, Ahmad; Rangaiah, G. P.

    2015-06-01

    Biodiesel is one of the promising liquid fuels for future due to its advantages such as renewability and eco-friendliness. This manuscript describes the development of a multi-loop control system design for a comprehensive biodiesel process using waste cooking oil. Method for controlled variable-manipulated variable (CV-MV) pairings are vital for the stable, effective and economical operation of the process. Liquid recycles, product quality requirements and effective inventory control pose tough challenges to the safe operation of the biodiesel process. A simple and easy to apply effective RGA method [Xiong Q, Cai W J and He M J 2005 A practical loop pairing criterion for multivariable processes Journal of Process Control vol. 15 pp 741-747.] is applied to determine CV-MV pairings i.e. control configuration design for the bioprocess. This method uses steady state gain as well as bandwidth information of the process open loop transfer function to determine input-output pairings.

  14. Finite State Control of a Variable Impedance Hybrid Neuroprosthesis for Locomotion after Paralysis

    PubMed Central

    Bulea, Thomas C.; Kobetic, R.; Audu, M.L.; Schnellenberger, J.; Triolo, R.J.

    2013-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation (FNS) alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%. PMID:23193320

  15. Improvements to the measurement of electrically controlled hydraulic pumps' flow/pressure characteristics

    NASA Astrophysics Data System (ADS)

    Tao, Jian-Feng; Liu, Cheng-Liang; Gu, Jian-Jiang; Shen, Liang-Chong

    2011-12-01

    To increase the measurement accuracy, and also to automate the measurement operation, we modify the electrically controlled hydraulic pumps' (ECHPs') flow/pressure performance characteristic description and improve the test method in existent standards. According to ECHPs' working principle, we divide ECHPs' operation into two models: constant flow operating mode (CFOM) and constant pressure operating mode (CPOM). A direct drive servo-proportional control valve (DDV) is used to load the test pump. In the CFOM, we change the pressure load at a constant rate by driving the DDV's displacement with nonlinear feedback and a proportional-integral (PI) controller. In the CPOM, we take advantage of the DDV's inherent linearity between its input signal and output flow, and change the flow load at a constant rate by using open-loop spool displacement control. A mathematic model is built for the derivation of a stable condition and the analysis of steady-state pressure tracking error. The theoretical analysis shows that the feedback linearization and PI controller with negative proportional and integral gains are able to track a slope pressure load command with a desired rate. The test results also show that the mathematical model is valid and the proposed method can improve the measurement accuracy remarkably.

  16. Self-optimising control for a class of continuous bioreactor via variable-structure feedback

    NASA Astrophysics Data System (ADS)

    Lara-Cisneros, Gerardo; Alvarez-Ramírez, José; Femat, Ricardo

    2016-04-01

    A self-optimising controller is designed for stabilisation of a class of bioreactor exploiting sliding-mode techniques. The stability analysis for the class of bioreactor, in open-loop configuration, suggests that the optimal behaviour, respect to maximal biomass production, occurs in an unstable region (structurally unstable). In this contribution, a variable-structure controller is designed, exploiting the inhibitory effect of substrate concentration under the biomass growth rate, such that the closed-loop system reaches the optimal manifold where the effect induced by the growth rate gradient is compensated (favouring the maximum growth rate). The self-optimising comprises an uncertainty estimator which computes the unknown terms for increasing the robustness issues of the sliding-mode scheme. Numerical experiments illustrate the performance and execution of the control strategy considering different parameter values for biomass growth rate. The robustness and fragility of the proposed controller are also discussed with respect to the modelling uncertainty and small changes in the controller gains, respectively.

  17. ORACLS: A system for linear-quadratic-Gaussian control law design

    NASA Technical Reports Server (NTRS)

    Armstrong, E. S.

    1978-01-01

    A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.

  18. Two Agents in the Brain: Motor Control of Unimanual and Bimanual Reaching Movements

    PubMed Central

    Asai, Tomohisa; Sugimori, Eriko; Tanno, Yoshihiko

    2010-01-01

    Previous studies have suggested that the left and right hands have different specialties for motor control that can be represented as two agents in the brain. This study examined how coordinated movements are performed during bimanual reaching tasks to highlight differences in the characteristics of the hands. We examined motor movement accuracy, reaction time, and movement time in right-handed subjects performing a three-dimensional motor control task (visually guided reaching). In the no-visual-feedback condition, right-hand movement had lower accuracy and a shorter reaction time than did left-hand movement, whereas bimanual movement had the longest reaction time, but the best accuracy. This suggests that the two hands have different internal models and specialties: closed-loop control for the right hand and open-loop control for the left hand. Consequently, during bimanual movements, both models might be used, creating better control and planning (or prediction), but requiring more computation time compared to the use of one hand only. PMID:20386749

  19. Optimal control of FES-assisted standing up in paraplegia using genetic algorithms.

    PubMed

    Davoodi, R; Andrews, B J

    1999-11-01

    A practical system for Functional Electrical Stimulation (FES) assisted standing up in paraplegia should involve only a minimum of manual set up and tuning. An improved tuning method, using a genetic algorithm (GA) is proposed and demonstrated using computer simulation. Specifically, the GA adjusts the parameters of fuzzy logic (FL) and gain-scheduling proportional integral derivative (GS-PID) controllers that electrically stimulate the hip and knee musculature during the sit-stand maneuver. These new GA designed controllers were found to be effective in coordinating volitional and FES control according to formulated criteria. The latter was based on the deviations from a desired trajectory of the knee and hip joints and the magnitude of the voluntary upper body forces. The magnitude of the average arm forces were slightly higher when compared with the open-loop maximal stimulation of the hip and knee musculature; however, the terminal knee velocities were significantly reduced to less than 10 degrees /s. For practical implementation, the number of trials required to optimize the FL and GS-PID controllers can be reduced by a proposed pre-training procedure using a computer model scaled to the individual. The GA designed controllers remain near optimal provided the model-subject mismatch is small. PMID:10699563

  20. Integration of Online Parameter Identification and Neural Network for In-Flight Adaptive Control

    NASA Technical Reports Server (NTRS)

    Hageman, Jacob; Smith, Mark; Stachowiak, Susan

    2003-01-01

    An indirect adaptive system has been constructed for robust control of an aircraft with uncertain aerodynamic characteristics. This system consists of a multilayer perceptron pre-trained neural network, online stability and control derivative identification, a dynamic cell structure online learning neural network, and a model following control system based on the stochastic optimal feedforward and feedback technique. The pre-trained neural network and model following control system have been flight-tested, but the online parameter identification and online learning neural network are new additions used for in-flight adaptation of the control system model. A description of the modification and integration of these two stand-alone software packages into the complete system in preparation for initial flight tests is presented. Open-loop results using both simulation and flight data, as well as closed-loop performance of the complete system in a nonlinear, six-degree-of-freedom, flight validated simulation, are analyzed. Results show that this online learning system, in contrast to the nonlearning system, has the ability to adapt to changes in aerodynamic characteristics in a real-time, closed-loop, piloted simulation, resulting in improved flying qualities.

  1. Closed-loop separation control over a sharp edge ramp using genetic programming

    NASA Astrophysics Data System (ADS)

    Debien, Antoine; von Krbek, Kai A. F. F.; Mazellier, Nicolas; Duriez, Thomas; Cordier, Laurent; Noack, Bernd R.; Abel, Markus W.; Kourta, Azeddine

    2016-03-01

    We experimentally perform open and closed-loop control of a separating turbulent boundary layer downstream from a sharp edge ramp. The turbulent boundary layer just above the separation point has a Reynolds number Re_{θ }≈ 3500 based on momentum thickness. The goal of the control is to mitigate separation and early re-attachment. The forcing employs a spanwise array of active vortex generators. The flow state is monitored with skin-friction sensors downstream of the actuators. The feedback control law is obtained using model-free genetic programming control (GPC) (Gautier et al. in J Fluid Mech 770:442-457, 2015). The resulting flow is assessed using the momentum coefficient, pressure distribution and skin friction over the ramp and stereo PIV. The PIV yields vector field statistics, e.g. shear layer growth, the back-flow area and vortex region. GPC is benchmarked against the best periodic forcing. While open-loop control achieves separation reduction by locking-on the shedding mode, GPC gives rise to similar benefits by accelerating the shear layer growth. Moreover, GPC uses less actuation energy.

  2. Global predictive real-time control of Quebec Urban Community's westerly sewer network.

    PubMed

    Pleau, M; Pelletier, G; Colas, H; Lavallée, P; Bonin, R

    2001-01-01

    Quebec Urban Community (QUC) has selected Global Predictive Real-Time Control (GP-RTC) as the most efficient approach to achieve environmental objectives defined by the Ministry of Environment. QUC wants to reduce combined sewer overflows (CSOs) frequency to the St Lawrence river to two events per summer period in order to reclaim the use of Jacques-Cartier Beach for recreational activities and sports of primary contact. QUC's control scheme is based on the Certainty Equivalent Control Open Loop Feedback (CEOLF) strategy which permits one to introduce, at each control period, updated measurements and meteorological predictions. A non-linear programming package is used to find the flow set points that minimise a multi-objective (cost) function, subjected to linear equality and inequality constraints representing the physical and operational constraints on the sewer network. Implementation of GP-RTC on QUC's westerly network was performed in the summer of 1999 and was operational by mid-August. Reductions in overflow volumes with GP-RTC compared to static control are attributed to the optimal use of two existing tunnels as retention facilities as well as the maximal use of the wastewater treatment plant (WWTP) capacity. PMID:11385838

  3. Control design for the SISO system with the unknown order and the unknown relative degree.

    PubMed

    Zhao, Chunzhe; Li, Donghai

    2014-07-01

    For the uncertain system whose order, relative degree and parameters are unknown in the control design, new research is still in need on the parameter tuning and close-loop stability. During the last 10 years, much progress is made in the application and theory research of the active disturbance rejection control (ADRC) for the uncertain system. In this study, the necessary and sufficient conditions are established for building the ADRC for the minimum-phase system and the open-loop stable system when the plant parameters, orders and relative degrees are unknown, the corresponding ideal dynamics are analyzed, and the theoretical results are verified by the simulations. Considering the wide application and the long history of the PID/PI controller, a method is given to design ADRC quickly based on the existing (generalized or conventional) PID/PI controller. A plenty of simulations are made to illustrate this PID/PI-based design method and the corresponding close-loop performances. The simulation examples include the minimum/nonminimum-phase plants, the stable/integrating plants, the high/low-order plant, and the plants with time delays. Such plants are from a wider scope than the theoretical result, and representative of many kinds of the industrial processes. That leads to a new way to simplify the ADRC design via absorbing the engineering experience in designing the PID/PI controller. PMID:24238360

  4. Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT

    NASA Technical Reports Server (NTRS)

    Polutchko, Robert J.

    1989-01-01

    A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.

  5. Controlled locomotion of robots driven by a vibrating surface

    NASA Astrophysics Data System (ADS)

    Umbanhowar, Paul; Lynch, Kevin M.

    Robots typically derive their powers of movement from onboard actuators and power sources, but other scenarios are possible where the external environment provides part or all of the necessary forcing and control. I will discuss details of a system where the ``robots'' are just planar solid objects and the requisite driving forces originate from frictional sliding-interactions with a periodically oscillated and nominally horizontal surface. For the robots to move, the temporal symmetry of the frictional forces must be broken, which is achieved here by modulating the normal force using vertical acceleration of the surface. Independent of the initial conditions and vibration waveform, a sliding locomotor reaches a unique velocity limit cycle at a given position. Its resulting motion can be described in terms of velocity fields which specify the robot's cycle-averaged velocity as a function of position. Velocity fields with non-zero spatial divergence can be generated by combining translational and rotational surface motions; this allows the simultaneous and open-loop collection, dispersal, and transport of multiple robots. Fields and field sequences can simultaneously move multiple robots between arbitrary positions and, potentially, along arbitrary trajectories. Supported by NSF CMMI #0700537.

  6. The multiple-function multi-input/multi-output digital controller system for the AFW wind tunnel model

    NASA Technical Reports Server (NTRS)

    Hoadley, Sherwood T.; Mcgraw, Sandra M.

    1992-01-01

    A real-time multiple-function digital controller system was developed for the Active Flexible Wing (AFW) Program. The digital controller system (DCS) allowed simultaneous execution of two control laws: flutter suppression and either roll trim or a rolling maneuver load control. The DCS operated within, but independently of, a slower host operating system environment, at regulated speeds up to 200 Hz. It also coordinated the acquisition, storage, and transfer of data for near real-time controller performance evaluation and both open- and closed-loop plant estimation. It synchronized the operation of four different processing units, allowing flexibility in the number, form, functionality, and order of control laws, and variability in selection of sensors and actuators employed. Most importantly, the DCS allowed for the successful demonstration of active flutter suppression to conditions approximately 26 percent (in dynamic pressure) above the open-loop boundary in cases when the model was fixed in roll and up to 23 percent when it was free to roll. Aggressive roll maneuvers with load control were achieved above the flutter boundary.

  7. Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control

    NASA Astrophysics Data System (ADS)

    Na, Xiaoxiang; Cole, David J.

    2013-02-01

    This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy.

  8. Adaptive Control of Non-Minimum Phase Modal Systems Using Residual Mode Filters2. Parts 1 and 2

    NASA Technical Reports Server (NTRS)

    Balas, Mark J.; Frost, Susan

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. This paper will be divided into two parts. Here in Part I we will review the basic adaptive control approach and introduce the primary ideas. In Part II, we will present the RMF methodology and complete the proofs of all our results. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.

  9. On-orbit application of H-infinity to the middeck active controls experiment: Overview of results

    NASA Technical Reports Server (NTRS)

    Woods-Vedeler, Jessica A.; Horta, Lucas G.

    1996-01-01

    The Middeck Active Control Experiment (MACE) was successfully completed during the flight of STS-67 in March 1995. MACE provided an on-orbit validation of modem robust control theory and system identification techniques through the testing of a flexible, multi-instrument, science platform in the micro-gravity environment of the Space Shuttle's Middeck. As part of this experiment, H-infinity control design was validated in zero gravity (0-G) environment. The control objective was to isolate a payload sensor from a 5O Hz bandwidth disturbance occurring on the test article. Controllers were designed with the use of finite element models developed using 1 -G measurements and a measurement model obtained by applying system identification techniques to open loop data obtained on orbit. Over 50 single-input, single-output and multi-input, multi-output, single and multi-axis H-infinity control designs were evaluated on-orbit. Up to 19 dB reduction in vibration levels and 25 Hz bandwidth of control were achieved.

  10. Simulation studies of alternate longitudinal control systems for the space shuttle orbiter in the landing regime

    NASA Technical Reports Server (NTRS)

    Powers, B. G.; Sarrafian, S. K.

    1986-01-01

    Simulations of the space shuttle orbiter in the landing task were conducted by the NASA Ames-Dryden Flight Research Facility using the Ames Research Center vertical motion simulator (VMS) and the total in-flight simulator (TIFS) variable-stability aircraft. Several new control systems designed to improve the orbiter longitudinal response characteristics were investigated. These systems improved the flightpath response by increasing the amount of pitch-rate overshoot. Reduction in the overall time delay was also investigated. During these evaluations, different preferences were noted for the baseline or the new systems depending on the pilot background. The trained astronauts were quite proficient with the baseline system and found the new systems to be less desirable than the baseline. On the other hand, the pilots without extensive flight training with the orbiter had a strong preference for the new systems. This paper presents the results of the VMS and TIFS simulations. A hypothesis is presented regarding the control strategies of the two pilot groups and how this influenced their control systems preferences. Interpretations of these control strategies are made in terms of open-loop aircraft response characteristics as well as pilot-vehicle closed-loop characteristics.

  11. The dynamics and control of large flexible space structures, part 7

    NASA Technical Reports Server (NTRS)

    Bainum, P. M.; Reddy, A. S. S. R.; Krishna, R.; Diarra, C. M.; Ananthakrishnan, S.

    1984-01-01

    A preliminary Eulerian formulation of the in-plane dynamics of the proposed spacecraft control laboratory experiment configuration is undertaken when the mast is treated as a cantilever type beam and the reflector as a lumped mass at the end of the beam. Frequency and mode shapes are obtained for the open loop model of the beam system and the stability of closed loop control systems is analyzed by both frequency and time domain techniques. Environmental disturbances due to solar radiation pressure are incorporated into models of controlled large flexible orbiting platforms. Thermally induced deformations of simple beam and platform type structures are modelled and expressions developed for the disturbance torques resulting from the interaction of solar radiation pressure. Noise effects in the deterministic model of the hoop/column antenna system are found to cause a degradation in system performance. Appropriate changes in the ratio of plant noise to the measurement noise and/or changes in the control weighting matrix elements can improve transient and steady state performance.

  12. Exploratory Studies in Generalized Predictive Control for Active Gust Load Alleviation

    NASA Technical Reports Server (NTRS)

    Kvaternik, Raymond G.; Eure, Kenneth W.; Juang, Jer-Nan

    2006-01-01

    The results of numerical simulations aimed at assessing the efficacy of Generalized Predictive Control (GPC) for active gust load alleviation using trailing- and leading-edge control surfaces are presented. The equations underlying the method are presented and discussed, including system identification, calculation of control law matrices, and calculation of commands applied to the control effectors. Both embedded and explicit feedforward paths for inclusion of disturbance effects are addressed. Results from two types of simulations are shown. The first used a 3-DOF math model of a mass-spring-dashpot system subject to user-defined external disturbances. The second used open-loop data from a wind-tunnel test in which a wing model was excited by sinusoidal vertical gusts; closed-loop behavior was simulated in post-test calculations. Results obtained from these simulations have been decidedly positive. In particular, results of closed-loop simulations for the wing model showed reductions in root moments by factors as high as 1000, depending on whether the excitation is from a constant- or variable-frequency gust and on the direction of the response.

  13. Active Control of High Frequency Combustion Instability in Aircraft Gas-Turbine Engines

    NASA Technical Reports Server (NTRS)

    Corrigan, Bob (Technical Monitor); DeLaat, John C.; Chang, Clarence T.

    2003-01-01

    Active control of high-frequency (greater than 500 Hz) combustion instability has been demonstrated in the NASA single-nozzle combustor rig at United Technologies Research Center. The combustor rig emulates an actual engine instability and has many of the complexities of a real engine combustor (i.e. actual fuel nozzle and swirler, dilution cooling, etc.) In order to demonstrate control, a high-frequency fuel valve capable of modulating the fuel flow at up to 1kHz was developed. Characterization of the fuel delivery system was accomplished in a custom dynamic flow rig developed for that purpose. Two instability control methods, one model-based and one based on adaptive phase-shifting, were developed and evaluated against reduced order models and a Sectored-1-dimensional model of the combustor rig. Open-loop fuel modulation testing in the rig demonstrated sufficient fuel modulation authority to proceed with closed-loop testing. During closed-loop testing, both control methods were able to identify the instability from the background noise and were shown to reduce the pressure oscillations at the instability frequency by 30%. This is the first known successful demonstration of high-frequency combustion instability suppression in a realistic aero-engine environment. Future plans are to carry these technologies forward to demonstration on an advanced low-emission combustor.

  14. Reduction of Helicopter BVI Noise, Vibration, and Power Consumption Through Individual Blade Control

    NASA Technical Reports Server (NTRS)

    Jacklin, Stephen A.; Blaas, Achim; Teves, Dietrich; Kube, Roland; Warmbrodt, William (Technical Monitor)

    1994-01-01

    A wind tunnel test was conducted with a full-scale BO 105 helicopter rotor to evaluate the potential of open-loop individual blade control (IBC) to improve rotor performance, to reduce blade vortex interaction (BVI) noise, and to alleviate helicopter vibrations. The wind tunnel test was an international collaborative effort between NASA/U.S. Army AFDD, ZF Luftfahrttechnik, Eurocopter Deutschland, and the German Aerospace Laboratory (DLR) and was conducted under the auspices of the U.S./German MOU on Rotorcraft Aeromechanics. In this test the normal blade pitch links of the rotor were replaced by servo-actuators so that the pitch of each blade could be controlled independently of the other blades. The specially designed servoactuators and IBC control system were designed and manufactured by ZF Luftfahrttechnik, GmbH. The wind tunnel test was conducted in the 40- by 80-Foot Wind Tunnel at the NASA Ames Research Center. An extensive amount of measurement information was acquired for each IBC data point. These data include rotor performance, static and dynamic hub forces and moments, rotor loads, control loads, inboard and outboard blade pitch motion, and BVI noise data. The data indicated very significant (80 percent) simultaneous reductions in both BVI noise and hub vibrations could be obtained using multi-harmonic input at the critical descent (terminal approach) condition. The data also showed that performance improvements of up to 7 percent could be obtained using 2P input at high-speed forward flight conditions.

  15. The dynamics and control of large flexible space structures-V

    NASA Technical Reports Server (NTRS)

    Bainum, P. M.; Reddy, A. S. S. R.; Diarra, C. M.; Kumar, V. K.

    1982-01-01

    A general survey of the progress made in the areas of mathematical modelling of the system dynamics, structural analysis, development of control algorithms, and simulation of environmental disturbances is presented. The use of graph theory techniques is employed to examine the effects of inherent damping associated with LSST systems on the number and locations of the required control actuators. A mathematical model of the forces and moments induced on a flexible orbiting beam due to solar radiation pressure is developed and typical steady state open loop responses obtained for the case when rotations and vibrations are limited to occur within the orbit plane. A preliminary controls analysis based on a truncated (13 mode) finite element model of the 122m. Hoop/Column antenna indicates that a minimum of six appropriately placed actuators is required for controllability. An algorithm to evaluate the coefficients which describe coupling between the rigid rotational and flexible modes and also intramodal coupling was developed and numerical evaluation based on the finite element model of Hoop/Column system is currently in progress.

  16. Reinforcement learning versus model predictive control: a comparison on a power system problem.

    PubMed

    Ernst, Damien; Glavic, Mevludin; Capitanescu, Florin; Wehenkel, Louis

    2009-04-01

    This paper compares reinforcement learning (RL) with model predictive control (MPC) in a unified framework and reports experimental results of their application to the synthesis of a controller for a nonlinear and deterministic electrical power oscillations damping problem. Both families of methods are based on the formulation of the control problem as a discrete-time optimal control problem. The considered MPC approach exploits an analytical model of the system dynamics and cost function and computes open-loop policies by applying an interior-point solver to a minimization problem in which the system dynamics are represented by equality constraints. The considered RL approach infers in a model-free way closed-loop policies from a set of system trajectories and instantaneous cost values by solving a sequence of batch-mode supervised learning problems. The results obtained provide insight into the pros and cons of the two approaches and show that RL may certainly be competitive with MPC even in contexts where a good deterministic system model is available. PMID:19095542

  17. Semi-active control of helicopter vibration using controllable stiffness and damping devices

    NASA Astrophysics Data System (ADS)

    Anusonti-Inthra, Phuriwat

    , represented by a lumped mass under harmonic force excitation, is supported by a spring and a parallel damper on the fuselage (assumed to have infinite mass). Properties of the spring or damper can then be controlled to reduce transmission of the force into the fuselage or the support structure. This semi-active isolation concept can produce additional 30% vibration reduction beyond the level achieved by a passive isolator. Different control schemes (i.e. open-loop, closed-loop, and closed-loop adaptive schemes) are developed and evaluated to control transmission of vibratory loads to the support structure (fuselage), and it is seen that a closed-loop adaptive controller is required to retain vibration reduction effectiveness when there is a change in operating condition. (Abstract shortened by UMI.)

  18. Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

    NASA Astrophysics Data System (ADS)

    Bruns, Tim M.; Wagenaar, Joost B.; Bauman, Matthew J.; Gaunt, Robert A.; Weber, Douglas J.

    2013-04-01

    Objective. Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach. We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results. Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance. This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability.

  19. Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

    PubMed Central

    Bruns, Tim M; Wagenaar, Joost B; Bauman, Matthew J; Gaunt, Robert A; Weber, Douglas J

    2013-01-01

    Objective Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability. PMID:23503062

  20. Closed-loop control of zebrafish response using a bioinspired robotic-fish in a preference test

    PubMed Central

    Kopman, Vladislav; Laut, Jeffrey; Polverino, Giovanni; Porfiri, Maurizio

    2013-01-01

    In this paper, we study the response of zebrafish to a robotic-fish whose morphology and colour pattern are inspired by zebrafish. Experiments are conducted in a three-chambered instrumented water tank where a robotic-fish is juxtaposed with an empty compartment, and the preference of live subjects is scored as the mean time spent in the vicinity of the tank's two lateral sides. The tail-beating of the robotic-fish is controlled in real-time based on feedback from fish motion to explore a spectrum of closed-loop systems, including proportional and integral controllers. Closed-loop control systems are complemented by open-loop strategies, wherein the tail-beat of the robotic-fish is independent of the fish motion. The preference space and the locomotory patterns of fish for each experimental condition are analysed and compared to understand the influence of real-time closed-loop control on zebrafish response. The results of this study show that zebrafish respond differently to the pattern of tail-beating motion executed by the robotic-fish. Specifically, the preference and behaviour of zebrafish depend on whether the robotic-fish tail-beating frequency is controlled as a function of fish motion and how such closed-loop control is implemented. PMID:23152102

  1. Feasibility study of a bidirectional jet flap device for application to helicopter rotor blades. Phase 2: Lift controller development

    NASA Technical Reports Server (NTRS)

    Rose, R. E.; Wynn, T. M.; Smith, G. A.; Merrill, G. L.

    1972-01-01

    A bidirectional jet flap device called the variable deflection thruster (VDT) has been investigated for possible application to helicopter rotors. This investigation included the development and testing of a fluidic lift control system for the VDT-blade model making use of the test result that VDT-blade lift can be sensed from the differential pressure at midchord. This study constitutes a long-range program to develop blown control techniques for stabilizing the higher harmonic modes of helicopter rotors. Wind tunnel tests were conducted using a three-sectioned, two-dimensional VDT-blade model having individually controlled VDT jet flaps in each section. Steady-state tests were conducted without the fluidic lift controller (open loop) for both full-span blowing and for the model center section blowing only. Steady-state tests were conducted with the center section blowing only using the fluidic lift controller (close-loop) to control the lift on the model center section. Dynamic tests were conducted using the complete model with the VDT jet in the model center section oscillating at various frequencies and also using the model center section alone on a single endplate to obtain finite-aspect-ratio effects. Fair agreement was obtained between theory and experimental results.

  2. Closed-loop control of zebrafish response using a bioinspired robotic-fish in a preference test.

    PubMed

    Kopman, Vladislav; Laut, Jeffrey; Polverino, Giovanni; Porfiri, Maurizio

    2013-01-01

    In this paper, we study the response of zebrafish to a robotic-fish whose morphology and colour pattern are inspired by zebrafish. Experiments are conducted in a three-chambered instrumented water tank where a robotic-fish is juxtaposed with an empty compartment, and the preference of live subjects is scored as the mean time spent in the vicinity of the tank's two lateral sides. The tail-beating of the robotic-fish is controlled in real-time based on feedback from fish motion to explore a spectrum of closed-loop systems, including proportional and integral controllers. Closed-loop control systems are complemented by open-loop strategies, wherein the tail-beat of the robotic-fish is independent of the fish motion. The preference space and the locomotory patterns of fish for each experimental condition are analysed and compared to understand the influence of real-time closed-loop control on zebrafish response. The results of this study show that zebrafish respond differently to the pattern of tail-beating motion executed by the robotic-fish. Specifically, the preference and behaviour of zebrafish depend on whether the robotic-fish tail-beating frequency is controlled as a function of fish motion and how such closed-loop control is implemented. PMID:23152102

  3. Combined magnetic and kinetic control of advanced tokamak steady state scenarios based on semi-empirical modelling

    NASA Astrophysics Data System (ADS)

    Moreau, D.; Artaud, J. F.; Ferron, J. R.; Holcomb, C. T.; Humphreys, D. A.; Liu, F.; Luce, T. C.; Park, J. M.; Prater, R.; Turco, F.; Walker, M. L.

    2015-06-01

    This paper shows that semi-empirical data-driven models based on a two-time-scale approximation for the magnetic and kinetic control of advanced tokamak (AT) scenarios can be advantageously identified from simulated rather than real data, and used for control design. The method is applied to the combined control of the safety factor profile, q(x), and normalized pressure parameter, βN, using DIII-D parameters and actuators (on-axis co-current neutral beam injection (NBI) power, off-axis co-current NBI power, electron cyclotron current drive power, and ohmic coil). The approximate plasma response model was identified from simulated open-loop data obtained using a rapidly converging plasma transport code, METIS, which includes an MHD equilibrium and current diffusion solver, and combines plasma transport nonlinearity with 0D scaling laws and 1.5D ordinary differential equations. The paper discusses the results of closed-loop METIS simulations, using the near-optimal ARTAEMIS control algorithm (Moreau D et al 2013 Nucl. Fusion 53 063020) for steady state AT operation. With feedforward plus feedback control, the steady state target q-profile and βN are satisfactorily tracked with a time scale of about 10 s, despite large disturbances applied to the feedforward powers and plasma parameters. The robustness of the control algorithm with respect to disturbances of the H&CD actuators and of plasma parameters such as the H-factor, plasma density and effective charge, is also shown.

  4. Loop tuning with specification on gain and phase margins via modified second-order sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Boiko, I. M.

    2012-01-01

    The modified second-order sliding mode algorithm is used for controller tuning. Namely, the modified suboptimal algorithm-based test (modified SOT) and non-parametric tuning rules for proportional-integral-derivative (PID) controllers are presented in this article. In the developed method of test and tuning, the idea of coordinated selection of the test parameters and the controller tuning parameters is introduced. The proposed approach allows for the formulation of simple non-parametric tuning rules for PID controllers that provide desired amplitude or phase margins exactly. In the modified SOT, the frequency of the self-excited oscillations can be generated equal to either the phase crossover frequency or the magnitude crossover frequency of the open-loop system frequency response (including a future PID controller) - depending on the tuning method choice. The first option will provide tuning with specification on gain margin, and the second option will ensure tuning with specification on phase margin. Tuning rules for a PID controller and simulation examples are provided.

  5. Experimental demonstration of using divergence cost-function in SPGD algorithm for coherent beam combining with tip/tilt control.

    PubMed

    Geng, Chao; Luo, Wen; Tan, Yi; Liu, Hongmei; Mu, Jinbo; Li, Xinyang

    2013-10-21

    A novel approach of tip/tilt control by using divergence cost function in stochastic parallel gradient descent (SPGD) algorithm for coherent beam combining (CBC) is proposed and demonstrated experimentally in a seven-channel 2-W fiber amplifier array with both phase-locking and tip/tilt control, for the first time to our best knowledge. Compared with the conventional power-in-the-bucket (PIB) cost function for SPGD optimization, the tip/tilt control using divergence cost function ensures wider correction range, automatic switching control of program, and freedom of camera's intensity-saturation. Homemade piezoelectric-ring phase-modulator (PZT PM) and adaptive fiber-optics collimator (AFOC) are developed to correct piston- and tip/tilt-type aberrations, respectively. The PIB cost function is employed for phase-locking via maximization of SPGD optimization, while the divergence cost function is used for tip/tilt control via minimization. An average of 432-μrad of divergence metrics in open loop has decreased to 89-μrad when tip/tilt control implemented. In CBC, the power in the full width at half maximum (FWHM) of the main lobe increases by 32 times, and the phase residual error is less than λ/15. PMID:24150347

  6. Active Control of Jet Noise Using High Resolution TRPIV Part 2: Velocity-Pressure-Acoustic Correlations

    NASA Astrophysics Data System (ADS)

    Low, Kerwin; Kostka, Stanislav; Berger, Zachary; Berry, Matthew; Gogineni, Sivaram; Glauser, Mark

    2011-11-01

    We investigate the pressure, velocity and acoustic field of a transonic jet. Test conditions comprise a 2 inch nozzle, analyzing two flow speeds, Mach 0.6 and 0.85, with open loop control explored for the Mach 0.6 case. We make simultaneous measurements of the near-field pressure and far-field acoustics at 40 kHz, alongside 10 kHz time resolved PIV measurements in the r-z plane. Cross correlations are performed exploring how both the near-field Fourier filtered pressure and low dimensional POD modes relate to the far-field acoustics. Of interest are those signatures witch exhibit the strongest correlation with far-field, and subsequently how these structures can be controlled. The goal is to investigate how flow-induced perturbations, via synthetic jet actuators, of the developing shear layer might bring insight into how one may alter the flow such that the far-field acoustic signature is mitigated. The TR-PIV measurements will prove to be a powerful tool in being able to track the propagation of physical structures for both the controlled and uncontrolled jet.

  7. Reduction of blade-vortex interaction noise using higher harmonic pitch control

    NASA Technical Reports Server (NTRS)

    Brooks, Thomas F.; Booth, Earl R., Jr.; Jolly, J. Ralph, Jr.; Yeager, William T., Jr.; Wilbur, Matthew L.

    1989-01-01

    An acoustics test using an aeroelastically scaled rotor was conducted to examine the effectiveness of higher harmonic blade pitch control for the reduction of impulsive blade-vortex interaction (BVI) noise. A four-bladed, 110 in. diameter, articulated rotor model was tested in a heavy gas (Freon-12) medium in Langley's Transonic Dynamics Tunnel. Noise and vibration measurements were made for a range of matched flight conditions, where prescribed (open-loop) higher harmonic pitch was superimposed on the normal (baseline) collective and cyclic trim pitch. For the inflow-microphone noise measurements, advantage was taken of the reverberance in the hard walled tunnel by using a sound power determination approach. Initial findings from on-line data processing for three of the test microphones are reported for a 4/rev (4P) collective pitch control for a range of input amplitudes and phases. By comparing these results to corresponding baseline (no control) conditions, significant noise reductions (4 to 5 dB) were found for low-speed descent conditions, where helicopter BVI noise is most intense. For other rotor flight conditions, the overall noise was found to increase. All cases show increased vibration levels.

  8. Compliance and control characteristics of an additive manufactured-flexure stage

    SciTech Connect

    Lee, ChaBum; Tarbutton, Joshua A.

    2015-04-15

    This paper presents a compliance and positioning control characteristics of additive manufactured-nanopositioning system consisted of the flexure mechanism and voice coil motor (VCM). The double compound notch type flexure stage was designed to utilize the elastic deformation of two symmetrical four-bar mechanisms to provide a millimeter-level working range. Additive manufacturing (AM) process, stereolithography, was used to fabricate the flexure stage. The AM stage was inspected by using 3D X-ray computerized tomography scanner: air-voids and shape irregularity. The compliance, open-loop resonance peak, and damping ratio of the AM stage were measured 0.317 mm/N, 80 Hz, and 0.19, respectively. The AM stage was proportional-integral-derivative positioning feedback-controlled and the capacitive type sensor was used to measure the displacement. As a result, the AM flexure mechanism was successfully 25 nm positioning controlled within 500 μm range. The resonance peak was found approximately at 280 Hz in closed-loop. This research showed that the AM flexure mechanism and the VCM can provide millimeter range with high precision and can be a good alternative to an expensive metal-based flexure mechanism and piezoelectric transducer.

  9. Reduction of blade-vortex interaction noise through higher harmonic pitch control

    NASA Technical Reports Server (NTRS)

    Brooks, Thomas F.; Booth, Earl R., Jr.; Jolly, J. Ralph, Jr.; Yeager, William T., Jr.; Wilbur, Matthew L.

    1990-01-01

    An acoustics test using an aeroelastically scaled rotor was conducted to examine the effectiveness of higher harmonic blade pitch control for the reduction of impulsive blade-vortex interaction (BVI) noise. A four-bladed, 110 in. diameter, articulated rotor model was tested in a heavy gas (Freon-12) medium in Langley's Transonic Dynamics Tunnel. Noise and vibration measurements were made for a range of matched flight conditions, where prescribed (open-loop) higher harmonic pitch was superimposed on the normal (baseline) collective and cyclic trim pitch. For the inflow-microphone noise measurements, advantage was taken of the reverberance in the hard walled tunnel by using a sound power determination approach. Initial findings from on-line data processing for three of the test microphones are reported for a 4/rev (4P) collective pitch control for a range of input amplitudes and phases. By comparing these results to corresponding baseline (no control) conditions, significant noise reductions (4 to 5 dB) were found for low-speed descent conditions, where helicopter BVI noise is most intense. For other rotor flight conditions, the overall noise was found to increase. All cases show increased vibration levels.

  10. Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project: Program review

    NASA Technical Reports Server (NTRS)

    1986-01-01

    This report summarizes the Integrated Application of Active Controls (IAAC) Technology to an Advanced Subsonic Transport Project, established as one element of the NASA/Boeing Energy Efficient Transport Technology Program. The performance assessment showed that incorporating ACT into an airplane designed to fly approximately 200 passengers approximately 2,000 nmi could yield block fuel savings from 6 to 10 percent at the design range. The principal risks associated with incorporating these active control functions into a commercial airplane are those involved with the ACT system implementation. The Test and Evaluation phase of the IAAC Project focused on the design, fabrication, and test of a system that implemented pitch axis fly-by-wire, pitch axis augmentation, and wing load alleviation. The system was built to be flight worthy, and was planned to be experimentally flown on the 757. The system was installed in the Boeing Digital Avionics Flight Controls Laboratory (DAFCL), where open loop hardware and software tests, and a brief examination of a direct drive valve (DDV) actuation concept were accomplished. The IAAC Project has shown that ACT can be beneficially incorporated into a commercial transport airplane. Based on the results achieved during the testing phase, there appears to be no fundamental reason(s) that would preclude the commercial application of ACT, assuming an appropriate development effort is included.

  11. Modeling and inverse feedforward control for conducting polymer actuators with hysteresis

    NASA Astrophysics Data System (ADS)

    Wang, Xiangjiang; Alici, Gursel; Tan, Xiaobo

    2014-02-01

    Conducting polymer actuators are biocompatible with a small footprint, and operate in air or liquid media under low actuation voltages. This makes them excellent actuators for macro- and micro-manipulation devices, however, their positioning ability or accuracy is adversely affected by their hysteresis non-linearity under open-loop control strategies. In this paper, we establish a hysteresis model for conducting polymer actuators, based on a rate-independent hysteresis model known as the Duhem model. The hysteresis model is experimentally identified and integrated with the linear dynamics of the actuator. This combined model is inverted to control the displacement of the tri-layer actuators considered in this study, without using any external feedback. The inversion requires an inverse hysteresis model which was experimentally identified using an inverse neural network model. Experimental results show that the position tracking errors are reduced by more than 50% when the hysteresis inverse model is incorporated into an inversion-based feedforward controller, indicating the potential of the proposed method in enabling wider use of such smart actuators.

  12. Compliance and control characteristics of an additive manufactured-flexure stage.

    PubMed

    Lee, ChaBum; Tarbutton, Joshua A

    2015-04-01

    This paper presents a compliance and positioning control characteristics of additive manufactured-nanopositioning system consisted of the flexure mechanism and voice coil motor (VCM). The double compound notch type flexure stage was designed to utilize the elastic deformation of two symmetrical four-bar mechanisms to provide a millimeter-level working range. Additive manufacturing (AM) process, stereolithography, was used to fabricate the flexure stage. The AM stage was inspected by using 3D X-ray computerized tomography scanner: air-voids and shape irregularity. The compliance, open-loop resonance peak, and damping ratio of the AM stage were measured 0.317 mm/N, 80 Hz, and 0.19, respectively. The AM stage was proportional-integral-derivative positioning feedback-controlled and the capacitive type sensor was used to measure the displacement. As a result, the AM flexure mechanism was successfully 25 nm positioning controlled within 500 μm range. The resonance peak was found approximately at 280 Hz in closed-loop. This research showed that the AM flexure mechanism and the VCM can provide millimeter range with high precision and can be a good alternative to an expensive metal-based flexure mechanism and piezoelectric transducer. PMID:25933897

  13. Compliance and control characteristics of an additive manufactured-flexure stage

    NASA Astrophysics Data System (ADS)

    Lee, ChaBum; Tarbutton, Joshua A.

    2015-04-01

    This paper presents a compliance and positioning control characteristics of additive manufactured-nanopositioning system consisted of the flexure mechanism and voice coil motor (VCM). The double compound notch type flexure stage was designed to utilize the elastic deformation of two symmetrical four-bar mechanisms to provide a millimeter-level working range. Additive manufacturing (AM) process, stereolithography, was used to fabricate the flexure stage. The AM stage was inspected by using 3D X-ray computerized tomography scanner: air-voids and shape irregularity. The compliance, open-loop resonance peak, and damping ratio of the AM stage were measured 0.317 mm/N, 80 Hz, and 0.19, respectively. The AM stage was proportional-integral-derivative positioning feedback-controlled and the capacitive type sensor was used to measure the displacement. As a result, the AM flexure mechanism was successfully 25 nm positioning controlled within 500 μm range. The resonance peak was found approximately at 280 Hz in closed-loop. This research showed that the AM flexure mechanism and the VCM can provide millimeter range with high precision and can be a good alternative to an expensive metal-based flexure mechanism and piezoelectric transducer.

  14. OPTICON: Pro-Matlab software for large order controlled structure design

    NASA Technical Reports Server (NTRS)

    Peterson, Lee D.

    1989-01-01

    A software package for large order controlled structure design is described and demonstrated. The primary program, called OPTICAN, uses both Pro-Matlab M-file routines and selected compiled FORTRAN routines linked into the Pro-Matlab structure. The program accepts structural model information in the form of state-space matrices and performs three basic design functions on the model: (1) open loop analyses; (2) closed loop reduced order controller synthesis; and (3) closed loop stability and performance assessment. The current controller synthesis methods which were implemented in this software are based on the Generalized Linear Quadratic Gaussian theory of Bernstein. In particular, a reduced order Optimal Projection synthesis algorithm based on a homotopy solution method was successfully applied to an experimental truss structure using a 58-state dynamic model. These results are presented and discussed. Current plans to expand the practical size of the design model to several hundred states and the intention to interface Pro-Matlab to a supercomputing environment are discussed.

  15. On the decentralized control of large-scale systems. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Chong, C.

    1973-01-01

    The decentralized control of stochastic large scale systems was considered. Particular emphasis was given to control strategies which utilize decentralized information and can be computed in a decentralized manner. The deterministic constrained optimization problem is generalized to the stochastic case when each decision variable depends on different information and the constraint is only required to be satisfied on the average. For problems with a particular structure, a hierarchical decomposition is obtained. For the stochastic control of dynamic systems with different information sets, a new kind of optimality is proposed which exploits the coupled nature of the dynamic system. The subsystems are assumed to be uncoupled and then certain constraints are required to be satisfied, either in a off-line or on-line fashion. For off-line coordination, a hierarchical approach of solving the problem is obtained. The lower level problems are all uncoupled. For on-line coordination, distinction is made between open loop feedback optimal coordination and closed loop optimal coordination.

  16. Simulink-Based Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV)

    NASA Technical Reports Server (NTRS)

    Christhilf, David m.; Bacon, Barton J.

    2006-01-01

    The Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV) is a Simulink-based approach to providing an engineering quality desktop simulation capability for finding trim solutions, extracting linear models for vehicle analysis and control law development, and generating open-loop and closed-loop time history responses for control system evaluation. It represents a useful level of maturity rather than a finished product. The layout is hierarchical and supports concurrent component development and validation, with support from the Concurrent Versions System (CVS) software management tool. Real Time Workshop (RTW) is used to generate pre-compiled code for substantial component modules, and templates permit switching seamlessly between original Simulink and code compiled for various platforms. Two previous limitations are addressed. Turn around time for incorporating tabular model components was improved through auto-generation of required Simulink diagrams based on data received in XML format. The layout was modified to exploit a Simulink "compile once, evaluate multiple times" capability for zero elapsed time for use in trimming and linearizing. Trim is achieved through a Graphical User Interface (GUI) with a narrow, script definable interface to the vehicle model which facilitates incorporating new models.

  17. Comparison of frequency-domain and time-domain rotorcraft vibration control methods

    NASA Technical Reports Server (NTRS)

    Gupta, N. K.

    1984-01-01

    Active control of rotor-induced vibration in rotorcraft has received significant attention recently. Two classes of techniques have been proposed. The more developed approach works with harmonic analysis of measured time histories and is called the frequency-domain approach. The more recent approach computes the control input directly using the measured time history data and is called the time-domain approach. The report summarizes the results of a theoretical investigation to compare the two approaches. Five specific areas were addressed: (1) techniques to derive models needed for control design (system identification methods), (2) robustness with respect to errors, (3) transient response, (4) susceptibility to noise, and (5) implementation difficulties. The system identification methods are more difficult for the time-domain models. The time-domain approach is more robust (e.g., has higher gain and phase margins) than the frequency-domain approach. It might thus be possible to avoid doing real-time system identification in the time-domain approach by storing models at a number of flight conditions. The most significant error source is the variation in open-loop vibrations caused by pilot inputs, maneuvers or gusts. The implementation requirements are similar except that the time-domain approach can be much simpler to implement if real-time system identification were not necessary.

  18. ALL-ELECTRONIC DROPLET GENERATION ON-CHIP WITH REAL-TIME FEEDBACK CONTROL FOR EWOD DIGITIAL MICROFLUIDICS

    PubMed Central

    Gong, Jian; Kim, Chang-Jin “CJ”

    2009-01-01

    Electrowetting-on-dielectric (EWOD) actuation enables digital (or droplet) microfluidics where small packets of liquids are manipulated on a two-dimensional surface. Due to its mechanical simplicity and low energy consumption, EWOD holds particular promise for portable systems. To improve volume precision of the droplets, which is desired for quantitative applications such as biochemical assays, existing practices would require near-perfect device fabricaion and operation conditions unless the droplets are generated under feedback control by an extra pump setup off of the chip. In this paper, we develop an all-electronic (i.e., no ancillary pumping) real-time feedback control of on-chip droplet generation. A fast voltage modulation, capacitance sensing, and discrete-time PID feedback controller are integrated on the operating electronic board. A significant improvement is obtained in the droplet volume uniformity, compared with an open loop control as well as the previous feedback control employing an external pump. Furthermore, this new capability empowers users to prescribe the droplet volume even below the previously considered minimum, allowing, for example, 1:x (x < 1) mixing, in comparison to the previously considered n:m mixing (i.e., n and m unit droplets). PMID:18497909

  19. Adsorption Processes in Spacecraft Environmental Control and Life Support Systems

    NASA Technical Reports Server (NTRS)

    Bauman, Liese Dall; Finn, John E.; Kliss, Mark (Technical Monitor)

    1998-01-01

    The environmental control and life support system on a spacecraft must maintain a safe and comfortable environment in which the crew can live and work. The system's functions include supplying the crew with oxygen and water as well as removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used in the past, logistics and safety factors of current and future missions in space make near-complete recycling of the cabin's air and water imperative. The recycling process may include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and other processes. Several of these operations can be performed totally or in part by adsorption processes. These processes are frequently good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relatively high energy efficiency, design flexibility, technological maturity, and regenerability. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. This article focuses on three current spacecraft life support applications that often use adsorption technology: gas-phase trace contaminant control, carbon dioxide removal from cabin air, and potable water recovery from waste streams. In each application, adsorption technology has been selected for use on the International Space Station. The requirements, science, and hardware for each of these applications are discussed. Eventually, human space exploration may lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different requirements and resources available to them, such as gases present in the planetary atmosphere. Adsorption separation and

  20. Model-based rational feedback controller design for closed-loop deep brain stimulation of Parkinson's disease

    NASA Astrophysics Data System (ADS)

    Gorzelic, P.; Schiff, S. J.; Sinha, A.

    2013-04-01

    Objective. To explore the use of classical feedback control methods to achieve an improved deep brain stimulation (DBS) algorithm for application to Parkinson's disease (PD). Approach. A computational model of PD dynamics was employed to develop model-based rational feedback controller design. The restoration of thalamocortical relay capabilities to patients suffering from PD is formulated as a feedback control problem with the DBS waveform serving as the control input. Two high-level control strategies are tested: one that is driven by an online estimate of thalamic reliability, and another that acts to eliminate substantial decreases in the inhibition from the globus pallidus interna (GPi) to the thalamus. Control laws inspired by traditional proportional-integral-derivative (PID) methodology are prescribed for each strategy and simulated on this computational model of the basal ganglia network. Main Results. For control based upon thalamic reliability, a strategy of frequency proportional control with proportional bias delivered the optimal control achieved for a given energy expenditure. In comparison, control based upon synaptic inhibitory output from the GPi performed very well in comparison with those of reliability-based control, with considerable further reduction in energy expenditure relative to that of open-loop DBS. The best controller performance was amplitude proportional with derivative control and integral bias, which is full PID control. We demonstrated how optimizing the three components of PID control is feasible in this setting, although the complexity of these optimization functions argues for adaptive methods in implementation. Significance. Our findings point to the potential value of model-based rational design of feedback controllers for Parkinson's disease.

  1. Simulation and experiment research on the proportional pressure control of water-assisted injection molding

    NASA Astrophysics Data System (ADS)

    Zhou, Hua; Chen, Yinglong; Zhang, Zengmeng; Yang, Huayong

    2012-05-01

    Water-assisted injection molding (WAIM), a newly developed fluid-assisted injection molding technology has drawn more and more attentions for the energy saving, short cooling circle time and high quality of products. Existing research for the process of WAIM has shown that the pressure control of the injecting water is mostly important for the WAIM. However, the proportional pressure control for the WAIM system is quite complex due to the existence of nonlinearities in the water hydraulic system. In order to achieve better pressure control performance of the injecting water to meet the requirements of the WAIM, the proportional pressure control of the WAIM system is investigated both numerically and experimentally. A newly designed water hydraulic system for WAIM is first modeled in AMEsim environment, the load characteristics and the nonlinearities of water hydraulic system are both considered, then the main factors affecting the injecting pressure and load flow rate are extensively studied. Meanwhile, an open-loop model-based compensation control strategy is employed to regulate the water injection pressure and a feedback proportional integrator controller is further adopted to achieve better control performance. In order to verify the AMEsim simulation results WAIM experiment for particular Acrylonitrile Butadiene Styrene (ABS) parts is implemented and the measured experimental data including injecting pressure and flow rate results are compared with the simulation. The good coincidence between experiment and simulation shows that the AMEsim model is accurate, and the tracking performance of the load pressure indicates that the proposed control strategy is effective for the proportional pressure control of the nonlinear WAIM system. The proposed proportional pressure control strategy and the conclusions drawn from simulation and experiment contribute to the application of water hydraulic proportional control and WAIM technology.

  2. Algorithm research and realization of the turning control system for heavy transportation vehicle

    NASA Astrophysics Data System (ADS)

    Mi, Hanguang; Yuan, Haiwen; Wang, Qiusheng; Zhao, Jingpo

    2012-05-01

    The dynamics of turning system which is a nonlinear system normally has great impact on the transportation speed of the vehicle having heavy load and large size. The dynamics of turning system depends on control algorithm and its implementation, but the existing control algorithms which having high dynamics in the application of heavy transportation vehicle are complex for realization and high hardware requirement. So, the nonlinear turning system is analyzed for improving its dynamics by researching new efficient control algorithm. The models of electromagnetic valve, hydraulic cylinder and turning mechanical part are built individually to get the open-loop model of the turning system following characteristics analyzed. According to the model, a new control algorithm for heavy transportation vehicle which combined PID with Bang-Bang control is presented. Then the close-loop model of turning system is obtained under Matlab/Simulink environment. By comparing the step response of different control algorithms in the same conditions, the new algorithm's validity is verified. On the basis of the analysis results, the algorithm is adopted to implement the turning control system by using CAN field bus and PLC controllers. Furthermore, the turning control system has been applied in one type of heavy transportation vehicle. It reduces the response time of turning system from seconds level to 250 ms, and the speed of heavy transportation vehicle increases from 5 km/h to 30 km/h. The application result shows that the algorithm and turning control system have met all the turning requirements. This new type of turning control algorithm proposed is simple in implementation for fast response of nonlinear and large-scale turning system of heavy transportation vehicle.

  3. Design, optimization, and control of tensegrity structures

    NASA Astrophysics Data System (ADS)

    Masic, Milenko

    The contributions of this dissertation may be divided into four categories. The first category involves developing a systematic form-finding method for general and symmetric tensegrity structures. As an extension of the available results, different shape constraints are incorporated in the problem. Methods for treatment of these constraints are considered and proposed. A systematic formulation of the form-finding problem for symmetric tensegrity structures is introduced, and it uses the symmetry to reduce both the number of equations and the number of variables in the problem. The equilibrium analysis of modular tensegrities exploits their peculiar symmetry. The tensegrity similarity transformation completes the contributions in the area of enabling tools for tensegrity form-finding. The second group of contributions develops the methods for optimal mass-to-stiffness-ratio design of tensegrity structures. This technique represents the state-of-the-art for the static design of tensegrity structures. It is an extension of the results available for the topology optimization of truss structures. Besides guaranteeing that the final design satisfies the tensegrity paradigm, the problem constrains the structure from different modes of failure, which makes it very general. The open-loop control of the shape of modular tensegrities is the third contribution of the dissertation. This analytical result offers a closed form solution for the control of the reconfiguration of modular structures. Applications range from the deployment and stowing of large-scale space structures to the locomotion-inducing control for biologically inspired structures. The control algorithm is applicable regardless of the size of the structures, and it represents a very general result for a large class of tensegrities. Controlled deployments of large-scale tensegrity plates and tensegrity towers are shown as examples that demonstrate the full potential of this reconfiguration strategy. The last

  4. Feedback control of combustion instabilities from within limit cycle oscillations using H∞ loop-shaping and the ν-gap metric

    PubMed Central

    Morgans, Aimee S.

    2016-01-01

    Combustion instabilities arise owing to a two-way coupling between acoustic waves and unsteady heat release. Oscillation amplitudes successively grow, until nonlinear effects cause saturation into limit cycle oscillations. Feedback control, in which an actuator modifies some combustor input in response to a sensor measurement, can suppress combustion instabilities. Linear feedback controllers are typically designed, using linear combustor models. However, when activated from within limit cycle, the linear model is invalid, and such controllers are not guaranteed to stabilize. This work develops a feedback control strategy guaranteed to stabilize from within limit cycle oscillations. A low-order model of a simple combustor, exhibiting the essential features of more complex systems, is presented. Linear plane acoustic wave modelling is combined with a weakly nonlinear describing function for the flame. The latter is determined numerically using a level set approach. Its implication is that the open-loop transfer function (OLTF) needed for controller design varies with oscillation level. The difference between the mean and the rest of the OLTFs is characterized using the ν-gap metric, providing the minimum required ‘robustness margin’ for an H∞ loop-shaping controller. Such controllers are designed and achieve stability both for linear fluctuations and from within limit cycle oscillations. PMID:27493558

  5. Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

    NASA Technical Reports Server (NTRS)

    Williams, Peggy S.

    2004-01-01

    The NASA F-15 Intelligent Flight Control System project team has developed a series of flight control concepts designed to demonstrate the benefits of a neural network-based adaptive controller. The objective of the team is to develop and flight-test control systems that use neural network technology to optimize the performance of the aircraft under nominal conditions as well as stabilize the aircraft under failure conditions. Failure conditions include locked or failed control surfaces as well as unforeseen damage that might occur to the aircraft in flight. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to the baseline aerodynamic derivatives in flight. This set of open-loop flight tests was performed in preparation for a future phase of flights in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed a pitch frequency sweep and an automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. An examination of flight data shows that addition of the flight-identified aerodynamic derivative increments into the simulation improved the pitch handling qualities of the aircraft.

  6. Modelling, Simulation, Fabrication, Experiments and Real-Time Linear State Variable Feedback Control of Cuk Converter using Pole Placement Technique

    NASA Astrophysics Data System (ADS)

    Nanda, S.; Sengupta, M.; Sengupta, A.

    2014-01-01

    Using a suitable combination of some of the basic converter topologies representing the Buck, the Boost and the Buck-Boost converters, one may obtain some other useful dc-to-dc converters. A typical example is the cascade connection of the Boost and the Buck converter which produces the well known Cuk converter. This work emphasises on the modelling, real-time simulations, fabrication and closed-loop control of a Cuk converter. For the modelling and real time simulation, FPGA platform has been used. Small signal modelling and conventional control aspects (compensator) of Cuk converter are discussed. A 200W, 10kHz Cuk converter is designed, fabricated and tested in the laboratory. The converter model is of fourth order. The transfer function being a non-minimum phase one with two right-half plane zeroes, a limited work has been done on this. For such systems, conventional control methods are demonstrated to fail. Pole placement technique, which is envisaged to be a suitable control technique for a higher order non-minimum phase system has been adopted. Excellent correlation between off-line and real-time simulation results establishes the accuracy of the work. Agreement between open-loop results obtained from the experimental set-up under steady state vis-a-vis those obtained from simulation is also a major highlight of the paper.

  7. Alleviation of whirl-flutter on a joined-wing tilt-rotor aircraft configuration using active controls

    NASA Technical Reports Server (NTRS)

    Vanaken, Johannes M.

    1991-01-01

    The feasibility of using active controls to delay the onset of whirl-flutter on a joined-wing tilt rotor aircraft was investigated. The CAMRAD/JA code was used to obtain a set of linear differential equations which describe the motion of the joined-wing tilt-rotor aircraft. The hub motions due to wing/body motion is a standard input to CAMRAD/JA and were obtained from a structural dynamics model of a representative joined-wing tilt-rotor aircraft. The CAMRAD/JA output, consisting of the open-loop system matrices, and the airframe free vibration motion were input to a separate program which performed the closed-loop, active control calculations. An eigenvalue analysis was performed to determine the flutter stability of both open- and closed-loop systems. Sensor models, based upon the feedback of pure state variables and based upon hub-mounted sensors, providing physically measurable accelerations, were evaluated. It was shown that the onset of tilt-rotor whirl-flutter could be delayed from 240 to above 270 knots by feeding back vertical and span-wise accelerations, measured at the rotor hub, to the longitudinal cyclic pitch. Time response calculations at a 270-knot cruise condition showed an active cyclic pitch control level of 0.009 deg, which equates to a very acceptable 9 pound active-control force applied at the rotor hub.

  8. A neural network-based design of an on-off adaptive control for Deep Brain Stimulation in movement disorders.

    PubMed

    Shukla, Pitamber; Basu, Ishita; Graupe, Daniel; Tuninetti, Daniela; Slavin, Konstantin V

    2012-01-01

    The current Food and Drug Administration approved system for the treatment of tremor disorders through Deep Brain Stimulation (DBS) of the area of the brain that controls movement, operates open-loop. It does not automatically adapt to the instantaneous patient's needs or to the progression of the disease. This paper demonstrates an adaptive closed-loop controlled DBS that, after switching off stimulation, tracks few physiological signals to predict the reappearance of tremor before the patient experiences discomfort, at which point it instructs the DBS controller to switch on stimulation again. The core of the proposed approach is a Neural Network (NN) which effectively extracts tremor predictive information from non-invasively recorded surface-electromyogram(sEMG) and accelerometer signals measured at the symptomatic extremities. A simple feed-forward back-propagation NN architecture is shown to successfully predict tremor in 31 out of 33 trials in two Parkinson's Disease patients with an overall accuracy of 75.8% and sensitivity of 92.3%. This work therefore shows that closed-loop DBS control is feasible in the near future and that it can be achieved without modifications of the electrodes implanted in the brain, i.e., is backward compatible with approved DBS systems. PMID:23366839

  9. Interaction between beam control and rf feedback loops for high Q cavities an heavy beam loading. Revision A

    SciTech Connect

    Mestha, L.K.; Kwan, C.M.; Yeung, K.S.

    1994-04-01

    An open-loop state space model of all the major low-level rf feedback control loops is derived. The model has control and state variables for fast-cycling machines to apply modern multivariable feedback techniques. A condition is derived to know when exactly we can cross the boundaries between time-varying and time-invariant approaches for a fast-cycling machine like the Low Energy Booster (LEB). The conditions are dependent on the Q of the cavity and the rate at which the frequency changes with time. Apart from capturing the time-variant characteristics, the errors in the magnetic field are accounted in the model to study the effects on synchronization with the Medium Energy Booster (MEB). The control model is useful to study the effects on beam control due to heavy beam loading at high intensities, voltage transients just after injection especially due to time-varying voltages, instability thresholds created by the cavity tuning feedback system, cross coupling between feedback loops with and without direct rf feedback etc. As a special case we have shown that the model agrees with the well known Pedersen model derived for the CERN PS booster. As an application of the model we undertook a detailed study of the cross coupling between the loops by considering all of them at once for varying time, Q and beam intensities. A discussion of the method to identify the coupling is shown. At the end a summary of the identified loop interactions is presented.

  10. Adaptive control of epileptiform excitability in an in vitro model of limbic seizures

    PubMed Central

    Panuccio, Gabriella; Guez, Arthur; Vincent, Robert; Avoli, Massimo; Pineau, Joelle

    2016-01-01

    Deep brain stimulation (DBS) is a promising tool for treating drug-resistant epileptic patients. Currently, the most common approach is fixed-frequency stimulation (periodic pacing) by means of stimulating devices that operate under open-loop control. However, a drawback of this DBS strategy is the impossibility of tailoring a personalized treatment, which also limits the optimization of the stimulating apparatus. Here, we propose a novel DBS methodology based on a closed-loop control strategy, developed by exploiting statistical machine learning techniques, in which stimulation parameters are adapted to the current neural activity thus allowing for seizure suppression that is fine-tuned on the individual scale (adaptive stimulation). By means of field potential recording from adult rat hippocampus–entorhinal cortex (EC) slices treated with the convulsant drug 4-aminopyridine we determined the effectiveness of this approach compared to low-frequency periodic pacing, and found that the closed-loop stimulation strategy: (i) has similar efficacy as low-frequency periodic pacing in suppressing ictal-like events but (ii) is more efficient than periodic pacing in that it requires less electrical pulses. We also provide evidence that the closed-loop stimulation strategy can alternatively be employed to tune the frequency of a periodic pacing strategy. Our findings indicate that the adaptive stimulation strategy may represent a novel, promising approach to DBS for individually-tailored epilepsy treatment. PMID:23313899

  11. Distributed Smart Device for Monitoring, Control and Management of Electric Loads in Domotic Environments

    PubMed Central

    Morales, Ricardo; Badesa, Francisco J.; García-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose María

    2012-01-01

    This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much as possible in order to install it inside a Schuko socket. Moreover, the electronic Schuko socket (electronic microdevice + Schuko socket) has the feature of communicating with a central unit and with other microdevices over the existing powerlines. Using the existing power lines, the proposed device can be installed in new buildings or in old ones. The main use of this device is to monitor, control and manage electric loads to save energy and prevent accidents produced by different kind of devices (e.g., iron) used in domestic tasks. The developed smart device is based on a single phase multifunction energy meter manufactured by Analog Devices (ADE7753) to measure the consumption of electrical energy and then to transmit it using a serial interface. To provide current measurement information to the ADE7753, an ultra flat SMD open loop integrated circuit current transducer based on the Hall effect principle manufactured by Lem (FHS-40P/SP600) has been used. Moreover, each smart device has a PL-3120 smart transceiver manufactured by LonWorks to execute the user's program, to communicate with the ADE7753 via serial interface and to transmit information to the central unit via powerline communication. Experimental results show the exactitude of the measurements made using the developed smart device. PMID:22778581

  12. Coherent beam combining of pulsed fibre amplifiers with active phase control

    SciTech Connect

    Wang, X L; Zhou, Pu; Ma, Y X; Ma, H T; Xu, X J; Liu, Z J; Zhao, Y J

    2011-12-31

    Coherent beam combining of pulsed fibre lasers is a promising method for power scaling while simultaneously maintaining good beam quality. We propose and demonstrate a scalable architecture for coherent beam combining of all-fibre pulsed amplifiers with active phase control using the stochastic parallel gradient descent (SPGD) algorithm. A low-pass filter is introduced to eliminate the fluctuation of the metric function caused by pulsed lasers and to extract the exact phase noise signal. Active control is thereby based on the SPGD algorithm, resulting in stable coherent beam combining at the receiving plane even in a turbulent environment. Experimental results show that the fringe visibility of the long exposure pattern increases from 0 to 0.4, and the power encircled in the main-lobe increases by 1.6 times when the system evolves from the open-loop phase-locking scheme to the closed-loop scheme. This architecture can be easily scaled up to a higher power by increasing the number of amplifying channels and the power of a single amplifier.

  13. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion. I. Rhythm generation

    PubMed Central

    Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.

    2012-01-01

    Locomotion in mammals is controlled by a spinal central pattern generator (CPG) coupled to a biomechanical limb system, with afferent feedback to the spinal circuits and CPG closing the control loop. We have considered a simplified model of this system, in which the CPG establishes a rhythm when a supra-spinal activating drive is present and afferent signals from a single-joint limb feed back to affect CPG operation. Using dynamical systems methods, in a series of two papers, we analyze the mechanisms by which this model produces oscillations, and the characteristics of these oscillations, in the closed and open loop regimes. In this first paper, we analyze the phase transition mechanisms operating within the CPG and use the results to explain how afferent feedback allows oscillations to occur at a wider range of drive values to the CPG than the range over which oscillations occur in the CPG without feedback and to comment on why stronger feedback leads to faster oscillations. Linking these transitions to structure in the phase plane associated with the limb segment clarifies how increased weights of afferent feedback to the CPG can restore locomotion after removal of supra-spinal drive to simulate spinal cord injury. PMID:22058274

  14. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion: I. Rhythm generation.

    PubMed

    Spardy, Lucy E; Markin, Sergey N; Shevtsova, Natalia A; Prilutsky, Boris I; Rybak, Ilya A; Rubin, Jonathan E

    2011-12-01

    Locomotion in mammals is controlled by a spinal central pattern generator (CPG) coupled to a biomechanical limb system, with afferent feedback to the spinal circuits and CPG closing the control loop. We have considered a simplified model of this system, in which the CPG establishes a rhythm when a supra-spinal activating drive is present and afferent signals from a single-joint limb feed back to affect CPG operation. Using dynamical system methods, in a series of two papers we analyze the mechanisms by which this model produces oscillations, and the characteristics of these oscillations, in the closed- and open-loop regimes. In this first paper, we analyze the phase transition mechanisms operating within the CPG and use the results to explain how afferent feedback allows oscillations to occur at a wider range of drive values to the CPG than the range over which oscillations occur in the CPG without feedback, and then to comment on why stronger feedback leads to faster oscillations. Linking these transitions to structures in the phase plane associated with the limb segment clarifies how increased weights of afferent feedback to the CPG can restore locomotion after removal of supra-spinal drive to simulate spinal cord injury. PMID:22058274

  15. Stochastic response analysis, order reduction, and output feedback controllers for flexible spacecraft

    NASA Technical Reports Server (NTRS)

    Hablani, H. B.

    1985-01-01

    Real disturbances and real sensors have finite bandwidths. The first objective of this paper is to incorporate this finiteness in the 'open-loop modal cost analysis' as applied to a flexible spacecraft. Analysis based on residue calculus shows that among other factors, significance of a mode depends on the power spectral density of disturbances and the response spectral density of sensors at the modal frequency. The second objective of this article is to compare performances of an optimal and a suboptimal output feedback controller, the latter based on 'minimum error excitation' of Kosut. Both the performances are found to be nearly the same, leading us to favor the latter technique because it entails only linear computations. Our final objective is to detect an instability due to truncated modes by representing them as a multiplicative and an additive perturbation in a nominal transfer function. In an example problem it is found that this procedure leads to a narrow range of permissible controller gains, and that it labels a wrong mode as a cause of instability. A free beam is used to illustrate the analysis in this work.

  16. Distributed smart device for monitoring, control and management of electric loads in domotic environments.

    PubMed

    Morales, Ricardo; Badesa, Francisco J; García-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose María

    2012-01-01

    This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much as possible in order to install it inside a Schuko socket. Moreover, the electronic Schuko socket (electronic microdevice + Schuko socket) has the feature of communicating with a central unit and with other microdevices over the existing powerlines. Using the existing power lines, the proposed device can be installed in new buildings or in old ones. The main use of this device is to monitor, control and manage electric loads to save energy and prevent accidents produced by different kind of devices (e.g., iron) used in domestic tasks. The developed smart device is based on a single phase multifunction energy meter manufactured by Analog Devices (ADE7753) to measure the consumption of electrical energy and then to transmit it using a serial interface. To provide current measurement information to the ADE7753, an ultra flat SMD open loop integrated circuit current transducer based on the Hall effect principle manufactured by Lem (FHS-40P/SP600) has been used. Moreover, each smart device has a PL-3120 smart transceiver manufactured by LonWorks to execute the user's program, to communicate with the ADE7753 via serial interface and to transmit information to the central unit via powerline communication. Experimental results show the exactitude of the measurements made using the developed smart device. PMID:22778581

  17. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion: I. Rhythm generation

    NASA Astrophysics Data System (ADS)

    Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.

    2011-10-01

    Locomotion in mammals is controlled by a spinal central pattern generator (CPG) coupled to a biomechanical limb system, with afferent feedback to the spinal circuits and CPG closing the control loop. We have considered a simplified model of this system, in which the CPG establishes a rhythm when a supra-spinal activating drive is present and afferent signals from a single-joint limb feed back to affect CPG operation. Using dynamical system methods, in a series of two papers we analyze the mechanisms by which this model produces oscillations, and the characteristics of these oscillations, in the closed- and open-loop regimes. In this first paper, we analyze the phase transition mechanisms operating within the CPG and use the results to explain how afferent feedback allows oscillations to occur at a wider range of drive values to the CPG than the range over which oscillations occur in the CPG without feedback, and then to comment on why stronger feedback leads to faster oscillations. Linking these transitions to structures in the phase plane associated with the limb segment clarifies how increased weights of afferent feedback to the CPG can restore locomotion after removal of supra-spinal drive to simulate spinal cord injury.

  18. Adsorption processes in spacecraft environmental control and life support systems

    NASA Technical Reports Server (NTRS)

    DallBauman, L. A.; Finn, J. E.

    1999-01-01

    The environmental control and life support system on a spacecraft maintains a safe and comfortable environment in which the crew can live and work by supplying oxygen and water and by removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used successfully in the past for short-duration missions, the economics of current and future long-duration missions in space will make nearly complete recycling of air and water imperative. A variety of operations will be necessary to achieve the goal of nearly complete recycling. These include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and others. Several of these can be performed totally or in part by adsorption processes. These processes are good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relative high energy efficiency, design flexibility, technological maturity, and regenerative nature. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. Among the life support applications that can be achieved through use of adsorption technology are removal of trace contaminants and carbon dioxide from cabin air and recovery of potable water from waste streams. In each of these cases adsorption technology has been selected for use onboard the International Space Station. The requirements, science, and hardware for these applications are discussed. Human space exploration may eventually lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different resources available to them, such as gases present in the planetary atmosphere. Separation and purification processes based on

  19. New experimental approaches to the biology of flight control systems.

    PubMed

    Taylor, Graham K; Bacic, Marko; Bomphrey, Richard J; Carruthers, Anna C; Gillies, James; Walker, Simon M; Thomas, Adrian L R

    2008-01-01

    Here we consider how new experimental approaches in biomechanics can be used to attain a systems-level understanding of the dynamics of animal flight control. Our aim in this paper is not to provide detailed results and analysis, but rather to tackle several conceptual and methodological issues that have stood in the way of experimentalists in achieving this goal, and to offer tools for overcoming these. We begin by discussing the interplay between analytical and empirical methods, emphasizing that the structure of the models we use to analyse flight control dictates the empirical measurements we must make in order to parameterize them. We then provide a conceptual overview of tethered-flight paradigms, comparing classical ;open-loop' and ;closed-loop' setups, and describe a flight simulator that we have recently developed for making flight dynamics measurements on tethered insects. Next, we provide a conceptual overview of free-flight paradigms, focusing on the need to use system identification techniques in order to analyse the data they provide, and describe two new techniques that we have developed for making flight dynamics measurements on freely flying birds. First, we describe a technique for obtaining inertial measurements of the orientation, angular velocity and acceleration of a steppe eagle Aquila nipalensis in wide-ranging free flight, together with synchronized measurements of wing and tail kinematics using onboard instrumentation and video cameras. Second, we describe a photogrammetric method to measure the 3D wing kinematics of the eagle during take-off and landing. In each case, we provide demonstration data to illustrate the kinds of information available from each method. We conclude by discussing the prospects for systems-level analyses of flight control using these techniques and others like them. PMID:18165253

  20. Adsorption processes in spacecraft environmental control and life support systems.

    PubMed

    DallBauman, L A; Finn, J E

    1999-01-01

    The environmental control and life support system on a spacecraft maintains a safe and comfortable environment in which the crew can live and work by supplying oxygen and water and by removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used successfully in the past for short-duration missions, the economics of current and future long-duration missions in space will make nearly complete recycling of air and water imperative. A variety of operations will be necessary to achieve the goal of nearly complete recycling. These include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and others. Several of these can be performed totally or in part by adsorption processes. These processes are good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relative high energy efficiency, design flexibility, technological maturity, and regenerative nature. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. Among the life support applications that can be achieved through use of adsorption technology are removal of trace contaminants and carbon dioxide from cabin air and recovery of potable water from waste streams. In each of these cases adsorption technology has been selected for use onboard the International Space Station. The requirements, science, and hardware for these applications are discussed. Human space exploration may eventually lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different resources available to them, such as gases present in the planetary atmosphere. Separation and purification processes based on