Robust Gain-Scheduled Fault Tolerant Control for a Transport Aircraft

NASA Technical Reports Server (NTRS)

Shin, Jong-Yeob; Gregory, Irene

2007-01-01

This paper presents an application of robust gain-scheduled control concepts using a linear parameter-varying (LPV) control synthesis method to design fault tolerant controllers for a civil transport aircraft. To apply the robust LPV control synthesis method, the nonlinear dynamics must be represented by an LPV model, which is developed using the function substitution method over the entire flight envelope. The developed LPV model associated with the aerodynamic coefficient uncertainties represents nonlinear dynamics including those outside the equilibrium manifold. Passive and active fault tolerant controllers (FTC) are designed for the longitudinal dynamics of the Boeing 747-100/200 aircraft in the presence of elevator failure. Both FTC laws are evaluated in the full nonlinear aircraft simulation in the presence of the elevator fault and the results are compared to show pros and cons of each control law.

Small-Signal Dynamic Analysis of LCC-HVDC with STATCOM at the Inverter Busbar

NASA Astrophysics Data System (ADS)

Liu, Dong; Jiang, Wen; Guo, Chunyi; Rehman, Atiq Ur; Zhao, Chengyong

2018-01-01

This paper develops a linearized small-signal dynamic model of a Line-Commutated-Converter based HVDC (LCC-HVDC) system with STATCOM at the inverter busbar, and validates its accuracy by comparing time-domain responses from small-signal model and PSCAD-based simulation results. Considering the potential impact of Phase-Locked-Loop (PLL) parameters on the study system and the close connection of STATCOM and LCC inverter station at AC busbar, this paper investigates the impact of PLL gains and AC voltage control parameters of STATCOM on the system small-signal stability. The studies show that (i) the PLL gain has highly impact on the study system and smaller PLL gains are preferable; (ii) larger values of both the proportional gain and the integral gain of AC voltage controller of STATCOM could result in oscillation/instability of the system.

Adaptive pseudolinear compensators of dynamic characteristics of automatic control systems

NASA Astrophysics Data System (ADS)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Timoshenko, E. A.; Lenskiy, F. V.

2016-04-01

Adaptive pseudolinear gain and phase compensators of dynamic characteristics of automatic control systems are suggested. The automatic control system performance with adaptive compensators has been explored. The efficiency of pseudolinear adaptive compensators in the automatic control systems with time-varying parameters has been demonstrated.

Emulating a flexible space structure: Modeling

NASA Technical Reports Server (NTRS)

Waites, H. B.; Rice, S. C.; Jones, V. L.

1988-01-01

Control Dynamics, in conjunction with Marshall Space Flight Center, has participated in the modeling and testing of Flexible Space Structures. Through the series of configurations tested and the many techniques used for collecting, analyzing, and modeling the data, many valuable insights have been gained and important lessons learned. This paper discusses the background of the Large Space Structure program, Control Dynamics' involvement in testing and modeling of the configurations (especially the Active Control Technique Evaluation for Spacecraft (ACES) configuration), the results from these two processes, and insights gained from this work.

An optimized proportional-derivative controller for the human upper extremity with gravity.

PubMed

Jagodnik, Kathleen M; Blana, Dimitra; van den Bogert, Antonie J; Kirsch, Robert F

2015-10-15

When Functional Electrical Stimulation (FES) is used to restore movement in subjects with spinal cord injury (SCI), muscle stimulation patterns should be selected to generate accurate and efficient movements. Ideally, the controller for such a neuroprosthesis will have the simplest architecture possible, to facilitate translation into a clinical setting. In this study, we used the simulated annealing algorithm to optimize two proportional-derivative (PD) feedback controller gain sets for a 3-dimensional arm model that includes musculoskeletal dynamics and has 5 degrees of freedom and 22 muscles, performing goal-oriented reaching movements. Controller gains were optimized by minimizing a weighted sum of position errors, orientation errors, and muscle activations. After optimization, gain performance was evaluated on the basis of accuracy and efficiency of reaching movements, along with three other benchmark gain sets not optimized for our system, on a large set of dynamic reaching movements for which the controllers had not been optimized, to test ability to generalize. Robustness in the presence of weakened muscles was also tested. The two optimized gain sets were found to have very similar performance to each other on all metrics, and to exhibit significantly better accuracy, compared with the three standard gain sets. All gain sets investigated used physiologically acceptable amounts of muscular activation. It was concluded that optimization can yield significant improvements in controller performance while still maintaining muscular efficiency, and that optimization should be considered as a strategy for future neuroprosthesis controller design. Published by Elsevier Ltd.

Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton.

PubMed

Koller, Jeffrey R; Jacobs, Daniel A; Ferris, Daniel P; Remy, C David

2015-11-04

Robotic ankle exoskeletons can provide assistance to users and reduce metabolic power during walking. Our research group has investigated the use of proportional myoelectric control for controlling robotic ankle exoskeletons. Previously, these controllers have relied on a constant gain to map user's muscle activity to actuation control signals. A constant gain may act as a constraint on the user, so we designed a controller that dynamically adapts the gain to the user's myoelectric amplitude. We hypothesized that an adaptive gain proportional myoelectric controller would reduce metabolic energy expenditure compared to walking with the ankle exoskeleton unpowered because users could choose their preferred control gain. We tested eight healthy subjects walking with the adaptive gain proportional myoelectric controller with bilateral ankle exoskeletons. The adaptive gain was updated each stride such that on average the user's peak muscle activity was mapped to maximal power output of the exoskeleton. All subjects participated in three identical training sessions where they walked on a treadmill for 50 minutes (30 minutes of which the exoskeleton was powered) at 1.2 ms(-1). We calculated and analyzed metabolic energy consumption, muscle recruitment, inverse kinematics, inverse dynamics, and exoskeleton mechanics. Using our controller, subjects achieved a metabolic reduction similar to that seen in previous work in about a third of the training time. The resulting controller gain was lower than that seen in previous work (β=1.50±0.14 versus a constant β=2). The adapted gain allowed users more total ankle joint power than that of unassisted walking, increasing ankle power in exchange for a decrease in hip power. Our findings indicate that humans prefer to walk with greater ankle mechanical power output than their unassisted gait when provided with an ankle exoskeleton using an adaptive controller. This suggests that robotic assistance from an exoskeleton can allow humans to adopt gait patterns different from their normal choices for locomotion. In our specific experiment, subjects increased ankle power and decreased hip power to walk with a reduction in metabolic cost. Future exoskeleton devices that rely on proportional myolectric control are likely to demonstrate improved performance by including an adaptive gain.

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

Adaptive wing static aeroelastic roll control

NASA Astrophysics Data System (ADS)

Ehlers, Steven M.; Weisshaar, Terrence A.

1993-09-01

Control of the static aeroelastic characteristics of a swept uniform wing in roll using an adaptive structure is examined. The wing structure is modeled as a uniform beam with bending and torsional deformation freedom. Aerodynamic loads are obtained from strip theory. The structure model includes coefficients representing torsional and bending actuation provided by embedded piezoelectric material layers. The wing is made adaptive by requiring the electric field applied to the piezoelectric material layers to be proportional to the wing root loads. The proportionality factor, or feedback gain, is used to control static aeroelastic rolling properties. Example wing configurations are used to illustrate the capabilities of the adaptive structure. The results show that rolling power, damping-in-roll and aileron effectiveness can be controlled by adjusting the feedback gain. And that dynamic pressure affects the gain required. Gain scheduling can be used to set and maintain rolling properties over a range of dynamic pressures. An adaptive wing provides a method for active aeroelastic tailoring of structural response to meet changing structural performance requirements during a roll maneuver.

Use of Dynamic Distortion to Predict and Alleviate Loss of Control

NASA Technical Reports Server (NTRS)

Klyde, David; Liang, Chi-Ying; Alvarez, Daniel

2011-01-01

This research has developed and evaluated the specific concepts, termed Smart-Cue and Smart-Gain, to alleviate aircraft loss of control that results from unfavorable pilot/vehicle system interactions, including pilot-induced oscillations (PIOs). Unfavorable pilot/ vehicle-system interactions have long been an aviation safety problem. While the effective aircraft dynamic properties involved in these events have been extensively studied and understood, similar scrutiny has not been paid to the many aspects of the primary manual control system that converts the pilot control inputs to motions of the control surfaces. The purpose of the Smart-Cue and Smart-Gain developments is to redress this neglect, and to develop and validate remedial manual control systems.

Static-dynamic hybrid communication scheduling and control co-design for networked control systems.

PubMed

Wen, Shixi; Guo, Ge

2017-11-01

In this paper, the static-dynamic hybrid communication scheduling and control co-design is proposed for the networked control systems (NCSs) to solve the capacity limitation of the wireless communication network. The analytical most regular binary sequences (MRBSs) are used as the communication scheduling function for NCSs. When the communication conflicts yielded in the binary sequence MRBSs, a dynamic scheduling strategy is proposed to on-line reallocate the medium access status for each plant. Under such static-dynamic hybrid scheduling policy, plants in NCSs are described as the non-uniform sampled-control systems, whose controller have a group of controller gains and switch according to the sampling interval yielded by the binary sequence. A useful communication scheduling and control co-design framework is proposed for the NCSs to simultaneously decide the controller gains and the parameters used to generate the communication sequences MRBS. Numerical example and realistic example are respectively given to demonstrate the effectiveness of the proposed co-design method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive control in the presence of unmodeled dynamics. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Rohrs, C. E.

1982-01-01

Stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances were investigated. The class of adaptive algorithms considered are those commonly referred to as model reference adaptive control algorithms, self-tuning controllers, and dead beat adaptive controllers, developed for both continuous-time systems and discrete-time systems. A unified analytical approach was developed to examine the class of existing adaptive algorithms. It was discovered that all existing algorithms contain an infinite gain operator in the dynamic system that defines command reference errors and parameter errors; it is argued that such an infinite gain operator appears to be generic to all adaptive algorithms, whether they exhibit explicit or implicit parameter identification. It is concluded that none of the adaptive algorithms considered can be used with confidence in a practical control system design, because instability will set in with a high probability.

Tuning and performance evaluation of PID controller for superheater steam temperature control of 200 MW boiler using gain phase assignment algorithm

NASA Astrophysics Data System (ADS)

Begum, A. Yasmine; Gireesh, N.

2018-04-01

In superheater, steam temperature is controlled in a cascade control loop. The cascade control loop consists of PI and PID controllers. To improve the superheater steam temperature control the controller's gains in a cascade control loop has to be tuned efficiently. The mathematical model of the superheater is derived by sets of nonlinear partial differential equations. The tuning methods taken for study here are designed for delay plus first order transfer function model. Hence from the dynamical model of the superheater, a FOPTD model is derived using frequency response method. Then by using Chien-Hrones-Reswick Tuning Algorithm and Gain-Phase Assignment Algorithm optimum controller gains has been found out based on the least value of integral time weighted absolute error.

Adaptive attitude control and momentum management for large-angle spacecraft maneuvers

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Sunkel, John W.

1992-01-01

The fully coupled equations of motion are systematically linearized around an equilibrium point of a gravity gradient stabilized spacecraft, controlled by momentum exchange devices. These equations are then used for attitude control system design of an early Space Station Freedom flight configuration, demonstrating the errors caused by the improper approximation of the spacecraft dynamics. A full state feedback controller, incorporating gain-scheduled adaptation of the attitude gains, is developed for use during spacecraft on-orbit assembly or operations characterized by significant mass properties variations. The feasibility of the gain adaptation is demonstrated via a Space Station Freedom assembly sequence case study. The attitude controller stability robustness and transient performance during gain adaptation appear satisfactory.

Robust controller designs for second-order dynamic system: A virtual passive approach

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh

1990-01-01

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Performance limitations of bilateral force reflection imposed by operator dynamic characteristics

NASA Technical Reports Server (NTRS)

Chapel, Jim D.

1989-01-01

A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness.

Mechanisms of Gain Control by Voltage-Gated Channels in Intrinsically-Firing Neurons

PubMed Central

Patel, Ameera X.; Burdakov, Denis

2015-01-01

Gain modulation is a key feature of neural information processing, but underlying mechanisms remain unclear. In single neurons, gain can be measured as the slope of the current-frequency (input-output) relationship over any given range of inputs. While much work has focused on the control of basal firing rates and spike rate adaptation, gain control has been relatively unstudied. Of the limited studies on gain control, some have examined the roles of synaptic noise and passive somatic currents, but the roles of voltage-gated channels present ubiquitously in neurons have been less explored. Here, we systematically examined the relationship between gain and voltage-gated ion channels in a conductance-based, tonically-active, model neuron. Changes in expression (conductance density) of voltage-gated channels increased (Ca2+ channel), reduced (K+ channels), or produced little effect (h-type channel) on gain. We found that the gain-controlling ability of channels increased exponentially with the steepness of their activation within the dynamic voltage window (voltage range associated with firing). For depolarization-activated channels, this produced a greater channel current per action potential at higher firing rates. This allowed these channels to modulate gain by contributing to firing preferentially at states of higher excitation. A finer analysis of the current-voltage relationship during tonic firing identified narrow voltage windows at which the gain-modulating channels exerted their effects. As a proof of concept, we show that h-type channels can be tuned to modulate gain by changing the steepness of their activation within the dynamic voltage window. These results show how the impact of an ion channel on gain can be predicted from the relationship between channel kinetics and the membrane potential during firing. This is potentially relevant to understanding input-output scaling in a wide class of neurons found throughout the brain and other nervous systems. PMID:25816008

Dynamic loop gain increases upon adopting the supine body position during sleep in patients with obstructive sleep apnoea.

PubMed

Joosten, Simon A; Landry, Shane A; Sands, Scott A; Terrill, Philip I; Mann, Dwayne; Andara, Christopher; Skuza, Elizabeth; Turton, Anthony; Berger, Philip; Hamilton, Garun S; Edwards, Bradley A

2017-11-01

Obstructive sleep apnoea (OSA) is typically worse in the supine versus lateral sleeping position. One potential factor driving this observation is a decrease in lung volume in the supine position which is expected by theory to increase a key OSA pathogenic factor: dynamic ventilatory control instability (i.e. loop gain). We aimed to quantify dynamic loop gain in OSA patients in the lateral and supine positions, and to explore the relationship between change in dynamic loop gain and change in lung volume with position. Data from 20 patients enrolled in previous studies on the effect of body position on OSA pathogenesis were retrospectively analysed. Dynamic loop gain was calculated from routinely collected polysomnographic signals using a previously validated mathematical model. Lung volumes were measured in the awake state with a nitrogen washout technique. Dynamic loop gain was significantly higher in the supine than in the lateral position (0.77 ± 0.15 vs 0.68 ± 0.14, P = 0.012). Supine functional residual capacity (FRC) was significantly lower than lateral FRC (81.0 ± 15.4% vs 87.3 ± 18.4% of the seated FRC, P = 0.021). The reduced FRC we observed on moving to the supine position was predicted by theory to increase loop gain by 10.2 (0.6, 17.1)%, a value similar to the observed increase of 8.4 (-1.5, 31.0)%. Dynamic loop gain increased by a small but statistically significant amount when moving from the lateral to supine position and this may, in part, contribute to the worsening of OSA in the supine sleeping position. © 2017 Asian Pacific Society of Respirology.

Optimizing Dynamical Network Structure for Pinning Control

NASA Astrophysics Data System (ADS)

Orouskhani, Yasin; Jalili, Mahdi; Yu, Xinghuo

2016-04-01

Controlling dynamics of a network from any initial state to a final desired state has many applications in different disciplines from engineering to biology and social sciences. In this work, we optimize the network structure for pinning control. The problem is formulated as four optimization tasks: i) optimizing the locations of driver nodes, ii) optimizing the feedback gains, iii) optimizing simultaneously the locations of driver nodes and feedback gains, and iv) optimizing the connection weights. A newly developed population-based optimization technique (cat swarm optimization) is used as the optimization method. In order to verify the methods, we use both real-world networks, and model scale-free and small-world networks. Extensive simulation results show that the optimal placement of driver nodes significantly outperforms heuristic methods including placing drivers based on various centrality measures (degree, betweenness, closeness and clustering coefficient). The pinning controllability is further improved by optimizing the feedback gains. We also show that one can significantly improve the controllability by optimizing the connection weights.

Gain-Compensating Circuit For NDE and Ultrasonics

NASA Technical Reports Server (NTRS)

Kushnick, Peter W.

1987-01-01

High-frequency gain-compensating circuit designed for general use in nondestructive evaluation and ultrasonic measurements. Controls gain of ultrasonic receiver as function of time to aid in measuring attenuation of samples with high losses; for example, human skin and graphite/epoxy composites. Features high signal-to-noise ratio, large signal bandwidth and large dynamic range. Control bandwidth of 5 MHz ensures accuracy of control signal. Currently being used for retrieval of more information from ultrasonic signals sent through composite materials that have high losses, and to measure skin-burn depth in humans.

Chaos control for the output-constrained system by using adaptive dynamic surface technology and application to the brushless DC motor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luo, Shaohua, E-mail: hua66com@163.com; School of Automation, Chongqing University, Chongqing 400044; Hou, Zhiwei

2015-12-15

In this paper, chaos control is proposed for the output- constrained system with uncertain control gain and time delay and is applied to the brushless DC motor. Using the dynamic surface technology, the controller overcomes the repetitive differentiation of backstepping and boundedness hypothesis of pre-determined control gain by incorporating radial basis function neural network and adaptive technology. The tangent barrier Lyapunov function is employed for time-delay chaotic system to prevent constraint violation. It is proved that the proposed control approach can guarantee asymptotically stable in the sense of uniformly ultimate boundedness without constraint violation. Finally, the effectiveness of the proposedmore » approach is demonstrated on the brushless DC motor example.« less

An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

2008-01-01

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

Controls design with crossfeeds for hovering rotorcraft using quantitative feedback theory

NASA Technical Reports Server (NTRS)

Tischler, Mark B.; Biezad, Daniel J.; Cheng, Rendy

1996-01-01

A multi-input, multi-output controls design with dynamic crossfeed pre-compensation is presented for rotorcraft in near-hovering flight using Quantitative Feedback Theory (QFT). The resulting closed-loop control system bandwidth allows the rotorcraft to be considered for use as an inflight simulator. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets most handling qualities specifications relative to the decoupling of off-axis responses. Handling qualities are Level 1 for both low-gain tasks and high-gain tasks in the roll, pitch, and yaw axes except for the 10 deg/sec moderate-amplitude yaw command where the rotorcraft exhibits Level 2 handling qualities in the yaw axis caused by phase lag. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensators successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective. This is an area to be investigated in future research.

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

A high gain wide dynamic range transimpedance amplifier for optical receivers

NASA Astrophysics Data System (ADS)

Lianxi, Liu; Jiao, Zou; Yunfei, En; Shubin, Liu; Yue, Niu; Zhangming, Zhu; Yintang, Yang

2014-01-01

As the front-end preamplifiers in optical receivers, transimpedance amplifiers (TIAs) are commonly required to have a high gain and low input noise to amplify the weak and susceptible input signal. At the same time, the TIAs should possess a wide dynamic range (DR) to prevent the circuit from becoming saturated by high input currents. Based on the above, this paper presents a CMOS transimpedance amplifier with high gain and a wide DR for 2.5 Gbit/s communications. The TIA proposed consists of a three-stage cascade pull push inverter, an automatic gain control circuit, and a shunt transistor controlled by the resistive divider. The inductive-series peaking technique is used to further extend the bandwidth. The TIA proposed displays a maximum transimpedance gain of 88.3 dBΩ with the -3 dB bandwidth of 1.8 GHz, exhibits an input current dynamic range from 100 nA to 10 mA. The output voltage noise is less than 48.23 nV/√Hz within the -3 dB bandwidth. The circuit is fabricated using an SMIC 0.18 μm 1P6M RFCMOS process and dissipates a dc power of 9.4 mW with 1.8 V supply voltage.

Practical Methods for the Compensation and Control of Multivariable Systems.

DTIC Science & Technology

1982-04-01

a constant gain element gji . To be more specific, let us consider a linear multivariable system whose dynamical behavior is specified by a (pxm...controllable via uk if Yi is fed back to uj via an arbitrary gain gji , as depicted in the figure below? It might be noted that only the outputs and inputs...modes controllable via uk(s) before feedback will remain -19- controllable via uk(s) irrespective of gji (although certain of these uk controllable

Application of gain scheduling to the control of batch bioreactors

NASA Technical Reports Server (NTRS)

Cardello, Ralph; San, Ka-Yiu

1987-01-01

The implementation of control algorithms to batch bioreactors is often complicated by the inherent variations in process dynamics during the course of fermentation. Such a wide operating range may render the performance of fixed gain PID controllers unsatisfactory. In this work, a detailed study on the control of batch fermentation is performed. Furthermore, a simple batch controller design is proposed which incorporates the concept of gain-scheduling, a subclass of adaptive control, with oxygen uptake rate as an auxiliary variable. The control of oxygen tension in the biorector is used as a vehicle to convey the proposed idea, analysis and results. Simulation experiments indicate significant improvement in controller performance can be achieved by the proposed approach even in the presence of measurement noise.

A digitally controlled AGC loop circuitry for GNSS receiver chip with a binary weighted accurate dB-linear PGA

NASA Astrophysics Data System (ADS)

Gang, Jin; Yiqi, Zhuang; Yue, Yin; Miao, Cui

2015-03-01

A novel digitally controlled automatic gain control (AGC) loop circuitry for the global navigation satellite system (GNSS) receiver chip is presented. The entire AGC loop contains a programmable gain amplifier (PGA), an AGC circuit and an analog-to-digital converter (ADC), which is implemented in a 0.18 μm complementary metal-oxide-semiconductor (CMOS) process and measured. A binary-weighted approach is proposed in the PGA to achieve wide dB-linear gain control with small gain error. With binary-weighted cascaded amplifiers for coarse gain control, and parallel binary-weighted trans-conductance amplifier array for fine gain control, the PGA can provide a 64 dB dynamic range from -4 to 60 dB in 1.14 dB gain steps with a less than 0.15 dB gain error. Based on the Gaussian noise statistic characteristic of the GNSS signal, a digital AGC circuit is also proposed with low area and fast settling. The feed-backward AGC loop occupies an area of 0.27 mm2 and settles within less than 165 μs while consuming an average current of 1.92 mA at 1.8 V.

Indirect Identification of Linear Stochastic Systems with Known Feedback Dynamics

NASA Technical Reports Server (NTRS)

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

1996-01-01

An algorithm is presented for identifying a state-space model of linear stochastic systems operating under known feedback controller. In this algorithm, only the reference input and output of closed-loop data are required. No feedback signal needs to be recorded. The overall closed-loop system dynamics is first identified. Then a recursive formulation is derived to compute the open-loop plant dynamics from the identified closed-loop system dynamics and known feedback controller dynamics. The controller can be a dynamic or constant-gain full-state feedback controller. Numerical simulations and test data of a highly unstable large-gap magnetic suspension system are presented to demonstrate the feasibility of this indirect identification method.

Regulation of Cortical Dynamic Range by Background Synaptic Noise and Feedforward Inhibition

PubMed Central

Khubieh, Ayah; Ratté, Stéphanie; Lankarany, Milad; Prescott, Steven A.

2016-01-01

The cortex encodes a broad range of inputs. This breadth of operation requires sensitivity to weak inputs yet non-saturating responses to strong inputs. If individual pyramidal neurons were to have a narrow dynamic range, as previously claimed, then staggered all-or-none recruitment of those neurons would be necessary for the population to achieve a broad dynamic range. Contrary to this explanation, we show here through dynamic clamp experiments in vitro and computer simulations that pyramidal neurons have a broad dynamic range under the noisy conditions that exist in the intact brain due to background synaptic input. Feedforward inhibition capitalizes on those noise effects to control neuronal gain and thereby regulates the population dynamic range. Importantly, noise allows neurons to be recruited gradually and occludes the staggered recruitment previously attributed to heterogeneous excitation. Feedforward inhibition protects spike timing against the disruptive effects of noise, meaning noise can enable the gain control required for rate coding without compromising the precise spike timing required for temporal coding. PMID:26209846

Gaze stability, dynamic balance and participation deficits in people with multiple sclerosis at fall-risk.

PubMed

Garg, Hina; Dibble, Leland E; Schubert, Michael C; Sibthorp, Jim; Foreman, K Bo; Gappmaier, Eduard

2018-05-05

Despite the common complaints of dizziness and demyelination of afferent or efferent pathways to and from the vestibular nuclei which may adversely affect the angular Vestibulo-Ocular Reflex (aVOR) and vestibulo-spinal function in persons with Multiple Sclerosis (PwMS), few studies have examined gaze and dynamic balance function in PwMS. 1) Determine the differences in gaze stability, dynamic balance and participation measures between PwMS and controls, 2) Examine the relationships between gaze stability, dynamic balance and participation. Nineteen ambulatory PwMS at fall-risk and 14 age-matched controls were recruited. Outcomes included (a) gaze stability [angular Vestibulo-Ocular Reflex (aVOR) gain (ratio of eye to head velocity); number of Compensatory Saccades (CS) per head rotation; CS latency; gaze position error; Coefficient of Variation (CV) of aVOR gain], (b) dynamic balance [Functional Gait Assessment, FGA; four square step test], and (c) participation [dizziness handicap inventory; activities-specific balance confidence scale]. Separate independent t-tests and Pearson's correlations were calculated. PwMS were age = 53 ± 11.7yrs and had 4.2 ± 3.3 falls/yr. PwMS demonstrated significant (p<0.05) impairments in gaze stability, dynamic balance and participation measures compared to controls. CV of aVOR gain and CS latency were significantly correlated with FGA. Deficits and correlations across a spectrum of disability measures highlight the relevance of gaze and dynamic balance assessment in PwMS. This article is protected by copyright. All rights reserved. © 2018 Wiley Periodicals, Inc.

Dynamic modulation of visual and electrosensory gains for locomotor control

PubMed Central

Sutton, Erin E.; Demir, Alican; Stamper, Sarah A.; Fortune, Eric S.; Cowan, Noah J.

2016-01-01

Animal nervous systems resolve sensory conflict for the control of movement. For example, the glass knifefish, Eigenmannia virescens, relies on visual and electrosensory feedback as it swims to maintain position within a moving refuge. To study how signals from these two parallel sensory streams are used in refuge tracking, we constructed a novel augmented reality apparatus that enables the independent manipulation of visual and electrosensory cues to freely swimming fish (n = 5). We evaluated the linearity of multisensory integration, the change to the relative perceptual weights given to vision and electrosense in relation to sensory salience, and the effect of the magnitude of sensory conflict on sensorimotor gain. First, we found that tracking behaviour obeys superposition of the sensory inputs, suggesting linear sensorimotor integration. In addition, fish rely more on vision when electrosensory salience is reduced, suggesting that fish dynamically alter sensorimotor gains in a manner consistent with Bayesian integration. However, the magnitude of sensory conflict did not significantly affect sensorimotor gain. These studies lay the theoretical and experimental groundwork for future work investigating multisensory control of locomotion. PMID:27170650

A regional study of loblolly pine plantation development through 15 years after early complete woody and herbaceous plant control (COMP)

Treesearch

James H. Miller; B.R. Zutter; S.M Zedaker; M.B. Edwards; R.A. Newbold

2002-01-01

Pine plantations are increasingly cultured using early woody and/or herbaceous plant control. Developments in sustainable cultural practices are hindered by the absence of long-term data on productivity gains relative to competition levels, crop-competition dynamics, and compositional succession. To gain baseline data, this study examined loblolly pine (Pinus...

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Neural network application to aircraft control system design

NASA Technical Reports Server (NTRS)

Troudet, Terry; Garg, Sanjay; Merrill, Walter C.

1991-01-01

The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.

Neural network application to aircraft control system design

NASA Technical Reports Server (NTRS)

Troudet, Terry; Garg, Sanjay; Merrill, Walter C.

1991-01-01

The feasibility of using artificial neural network as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research identified to enhance the practical applicability of neural networks to flight control design.

Passive dynamics is a good basis for robot design and control, not!

NASA Astrophysics Data System (ADS)

Ruina, Andy

Many airplanes can, or nearly can, glide stably without control. So, it seems natural that the first successful powered flight followed from mastery of gliding. Many bicycles can, or nearly can, balance themselves when in motion. Bicycle design seems to have evolved to gain this feature. Also, we can make toys and 'robots' that, like a stable glider or coasting bicycle, stably walk without motors or control in a remarkably human-like way. Again, it seems to make sense to use `passive-dynamics' as a core for developing the control of walking robots and to gain understanding of the control of walking people. That's what I used to think. But, so far, this has not led to robust walking robots. What about human evolution? We didn't evolve dynamic bodies and then learn to control them. Rather, people had elaborate control systems way back when we were fish and even worms. However: if control is paramount, why is it that uncontrolled passive-dynamic walkers walk so much like humans? It seems that energy optimal, yet robust, control, perhaps a proxy for evolutionary development, arrives at solutions that have some features in common with passive-dynamics. Rather than thinking of good powered walking as passive walking with a small amount of control added, I now think of good powered walking, human or robotic, as highly controlled, while optimized for, in part, minimal actuator use. Thus, much of the motor effort, always at the ready, is usually titrated out.

Identification and Control of Non-Linear Time-Varying Dynamical Systems Using Artificial Neural Networks

DTIC Science & Technology

1992-09-01

finding an inverse plant such as was done by Bertrand [BD91] and by Levin, Gewirtzman and Inbar in a binary type inverse controller [LGI91], to self tuning...gain robust control. 2) Self oscillating adaptive controller. 3) Gain scheduling. 4) Self tuning. 5) Model-reference adaptive systems. Although the...of multidimensional systems (CS881 as well as aircraft [HG90]. The self oscillating method is also a feedback based mechanism, utilizing a relay in the

Piezoceramic devices and PVDF films as sensors and actuators for intelligent structures

NASA Astrophysics Data System (ADS)

Hanagud, S.; Obal, M. W.; Calise, A. G.

The use of bonded piezoceramic sensors and piezoceramic actuators to control vibrations in structural dynamic systems is discussed. Equations for developing optimum control strategies are derived. An example of a cantilever beam is considered to illustrate the development procedure for optimal vibration control of structures by the use of piezoceramic sensors, actuators, and rate feedbacks with appropriate gains. Research areas and future directions are outlined, including dynamic coupling and constitutive equations; load and energy transfer; composite structures; optimal dynamic compensation; estimation and identification; and distributed control.

Gain-Scheduled Fault Tolerance Control Under False Identification

NASA Technical Reports Server (NTRS)

Shin, Jong-Yeob; Belcastro, Christine (Technical Monitor)

2006-01-01

An active fault tolerant control (FTC) law is generally sensitive to false identification since the control gain is reconfigured for fault occurrence. In the conventional FTC law design procedure, dynamic variations due to false identification are not considered. In this paper, an FTC synthesis method is developed in order to consider possible variations of closed-loop dynamics under false identification into the control design procedure. An active FTC synthesis problem is formulated into an LMI optimization problem to minimize the upper bound of the induced-L2 norm which can represent the worst-case performance degradation due to false identification. The developed synthesis method is applied for control of the longitudinal motions of FASER (Free-flying Airplane for Subscale Experimental Research). The designed FTC law of the airplane is simulated for pitch angle command tracking under a false identification case.

Maintenance of exercise-induced benefits in physical functioning and bone among elderly women.

PubMed

Karinkanta, S; Heinonen, A; Sievänen, H; Uusi-Rasi, K; Fogelholm, M; Kannus, P

2009-04-01

This study showed that about a half of the exercise-induced gain in dynamic balance and bone strength was maintained one year after cessation of the supervised high-intensity training of home-dwelling elderly women. However, to maintain exercise-induced gains in lower limb muscle force and physical functioning, continued training seems necessary. Maintenance of exercise-induced benefits in physical functioning and bone structure was assessed one year after cessation of 12-month randomized controlled exercise intervention. Originally 149 healthy women 70-78 years of age participated in the 12-month exercise RCT and 120 (81%) of them completed the follow-up study. Self-rated physical functioning, dynamic balance, leg extensor force, and bone structure were assessed. During the intervention, exercise increased dynamic balance by 7% in the combination resistance and balance-jumping training group (COMB). At the follow-up, a 4% (95% CI: 1-8%) gain compared with the controls was still seen, while the exercise-induced isometric leg extension force and self-rated physical functioning benefits had disappeared. During the intervention, at least twice a week trained COMB subjects obtained a significant 2% benefit in tibial shaft bone strength index compared to the controls. A half of this benefit seemed to be maintained at the follow-up. Exercise-induced benefits in dynamic balance and rigidity in the tibial shaft may partly be maintained one year after cessation of a supervised 12-month multi-component training in initially healthy elderly women. However, to maintain the achieved gains in muscle force and physical functioning, continued training seems necessary.

Active inference and robot control: a case study

PubMed Central

Nizard, Ange; Friston, Karl; Pezzulo, Giovanni

2016-01-01

Active inference is a general framework for perception and action that is gaining prominence in computational and systems neuroscience but is less known outside these fields. Here, we discuss a proof-of-principle implementation of the active inference scheme for the control or the 7-DoF arm of a (simulated) PR2 robot. By manipulating visual and proprioceptive noise levels, we show under which conditions robot control under the active inference scheme is accurate. Besides accurate control, our analysis of the internal system dynamics (e.g. the dynamics of the hidden states that are inferred during the inference) sheds light on key aspects of the framework such as the quintessentially multimodal nature of control and the differential roles of proprioception and vision. In the discussion, we consider the potential importance of being able to implement active inference in robots. In particular, we briefly review the opportunities for modelling psychophysiological phenomena such as sensory attenuation and related failures of gain control, of the sort seen in Parkinson's disease. We also consider the fundamental difference between active inference and optimal control formulations, showing that in the former the heavy lifting shifts from solving a dynamical inverse problem to creating deep forward or generative models with dynamics, whose attracting sets prescribe desired behaviours. PMID:27683002

Preliminary assessment of the robustness of dynamic inversion based flight control laws

NASA Technical Reports Server (NTRS)

Snell, S. A.

1992-01-01

Dynamic-inversion-based flight control laws present an attractive alternative to conventional gain-scheduled designs for high angle-of-attack maneuvering, where nonlinearities dominate the dynamics. Dynamic inversion is easily applied to the aircraft dynamics requiring a knowledge of the nonlinear equations of motion alone, rather than an extensive set of linearizations. However, the robustness properties of the dynamic inversion are questionable especially when considering the uncertainties involved with the aerodynamic database during post-stall flight. This paper presents a simple analysis and some preliminary results of simulations with a perturbed database. It is shown that incorporating integrators into the control loops helps to improve the performance in the presence of these perturbations.

Systems and Methods for Parameter Dependent Riccati Equation Approaches to Adaptive Control

NASA Technical Reports Server (NTRS)

Kim, Kilsoo (Inventor); Yucelen, Tansel (Inventor); Calise, Anthony J. (Inventor)

2015-01-01

Systems and methods for adaptive control are disclosed. The systems and methods can control uncertain dynamic systems. The control system can comprise a controller that employs a parameter dependent Riccati equation. The controller can produce a response that causes the state of the system to remain bounded. The control system can control both minimum phase and non-minimum phase systems. The control system can augment an existing, non-adaptive control design without modifying the gains employed in that design. The control system can also avoid the use of high gains in both the observer design and the adaptive control law.

Autonomic neural control of dynamic cerebral autoregulation in humans

NASA Technical Reports Server (NTRS)

Zhang, Rong; Zuckerman, Julie H.; Iwasaki, Kenichi; Wilson, Thad E.; Crandall, Craig G.; Levine, Benjamin D.

2002-01-01

BACKGROUND: The purpose of the present study was to determine the role of autonomic neural control of dynamic cerebral autoregulation in humans. METHODS AND RESULTS: We measured arterial pressure and cerebral blood flow (CBF) velocity in 12 healthy subjects (aged 29+/-6 years) before and after ganglion blockade with trimethaphan. CBF velocity was measured in the middle cerebral artery using transcranial Doppler. The magnitude of spontaneous changes in mean blood pressure and CBF velocity were quantified by spectral analysis. The transfer function gain, phase, and coherence between these variables were estimated to quantify dynamic cerebral autoregulation. After ganglion blockade, systolic and pulse pressure decreased significantly by 13% and 26%, respectively. CBF velocity decreased by 6% (P<0.05). In the very low frequency range (0.02 to 0.07 Hz), mean blood pressure variability decreased significantly (by 82%), while CBF velocity variability persisted. Thus, transfer function gain increased by 81%. In addition, the phase lead of CBF velocity to arterial pressure diminished. These changes in transfer function gain and phase persisted despite restoration of arterial pressure by infusion of phenylephrine and normalization of mean blood pressure variability by oscillatory lower body negative pressure. CONCLUSIONS: These data suggest that dynamic cerebral autoregulation is altered by ganglion blockade. We speculate that autonomic neural control of the cerebral circulation is tonically active and likely plays a significant role in the regulation of beat-to-beat CBF in humans.

Digital adaptive control of a VTOL aircraft

NASA Technical Reports Server (NTRS)

Reid, G. F.

1976-01-01

A technique has been developed for calculating feedback and feedforward gain matrices that stabilize a VTOL aircraft while enabling it to track input commands of forward and vertical velocity. Leverrier's algorithm is used in a procedure for determining a set of state variable, feedback gains that force the closed loop poles and zeroes of one pilot input transfer function to be at preselected positions in the s plane. This set of feedback gains is then used to calculate the feedback and feedforward gains for the velocity command controller. The method is computationally attractive since the gains are determined by solving systems of linear, simultaneous equations. Responses obtained using a digital simulation of the longitudinal dynamics of the CH-47 helicopter are presented.

Development of a helicopter rotor/propulsion system dynamics analysis

NASA Technical Reports Server (NTRS)

Warmbrodt, W.; Hull, R.

1982-01-01

A time-domain analysis of coupled engine/drive train/rotor dynamics of a twin-engine, single main rotor helicopter model has been performed. The analysis incorporates an existing helicopter model with nonlinear simulations of a helicopter turboshaft engine and its fuel controller. System dynamic behavior is studied using the resulting simulation which included representations for the two engines and their fuel controllers, drive system, main rotor, tail rotor, and aircraft rigid body motions. Time histories of engine and rotor RPM response to pilot control inputs are studied for a baseline rotor and propulsion system model. Sensitivity of rotor RPM droop to fuel controller gain changes and collective input feed-forward gain changes are studied. Torque-load-sharing between the two engines is investigated by making changes in the fuel controller feedback paths. A linear engine model is derived from the nonlinear engine simulation and used in the coupled system analysis. This four-state linear engine model is then reduced to a three-state model. The effect of this simplification on coupled system behavior is shown.

Observer-based distributed adaptive fault-tolerant containment control of multi-agent systems with general linear dynamics.

PubMed

Ye, Dan; Chen, Mengmeng; Li, Kui

2017-11-01

In this paper, we consider the distributed containment control problem of multi-agent systems with actuator bias faults based on observer method. The objective is to drive the followers into the convex hull spanned by the dynamic leaders, where the input is unknown but bounded. By constructing an observer to estimate the states and bias faults, an effective distributed adaptive fault-tolerant controller is developed. Different from the traditional method, an auxiliary controller gain is designed to deal with the unknown inputs and bias faults together. Moreover, the coupling gain can be adjusted online through the adaptive mechanism without using the global information. Furthermore, the proposed control protocol can guarantee that all the signals of the closed-loop systems are bounded and all the followers converge to the convex hull with bounded residual errors formed by the dynamic leaders. Finally, a decoupled linearized longitudinal motion model of the F-18 aircraft is used to demonstrate the effectiveness. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Regulation of Cortical Dynamic Range by Background Synaptic Noise and Feedforward Inhibition.

PubMed

Khubieh, Ayah; Ratté, Stéphanie; Lankarany, Milad; Prescott, Steven A

2016-08-01

The cortex encodes a broad range of inputs. This breadth of operation requires sensitivity to weak inputs yet non-saturating responses to strong inputs. If individual pyramidal neurons were to have a narrow dynamic range, as previously claimed, then staggered all-or-none recruitment of those neurons would be necessary for the population to achieve a broad dynamic range. Contrary to this explanation, we show here through dynamic clamp experiments in vitro and computer simulations that pyramidal neurons have a broad dynamic range under the noisy conditions that exist in the intact brain due to background synaptic input. Feedforward inhibition capitalizes on those noise effects to control neuronal gain and thereby regulates the population dynamic range. Importantly, noise allows neurons to be recruited gradually and occludes the staggered recruitment previously attributed to heterogeneous excitation. Feedforward inhibition protects spike timing against the disruptive effects of noise, meaning noise can enable the gain control required for rate coding without compromising the precise spike timing required for temporal coding. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles

NASA Astrophysics Data System (ADS)

Wilcox, Zachary Donald

The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed controller is then applied to a HSV model, and a Lyapunov analysis is used to prove global exponential reference model tracking in the presence of uncertainty in the state and input matrices and exogenous disturbances. Simulations with a spectrum of gains and temperature profiles on the full nonlinear dynamic model of the HSV is used to illustrate the performance and robustness of the developed controller. In addition, this work considers how the performance of the developed controller varies over a wide variety of control gains and temperature profiles and are optimized with respect to different performance metrics. Specifically, various temperature profile models and related nonlinear temperature dependent disturbances are used to characterize the relative control performance and effort for each model. Examining such metrics as a function of temperature provides a potential inroad to examine the interplay between structural/thermal protection design and control development and has application for future HSV design and control implementation.

The role of visual representation in physics learning: dynamic versus static visualization

NASA Astrophysics Data System (ADS)

Suyatna, Agus; Anggraini, Dian; Agustina, Dina; Widyastuti, Dini

2017-11-01

This study aims to examine the role of visual representation in physics learning and to compare the learning outcomes of using dynamic and static visualization media. The study was conducted using quasi-experiment with Pretest-Posttest Control Group Design. The samples of this research are students of six classes at State Senior High School in Lampung Province. The experimental class received a learning using dynamic visualization and control class using static visualization media. Both classes are given pre-test and post-test with the same instruments. Data were tested with N-gain analysis, normality test, homogeneity test and mean difference test. The results showed that there was a significant increase of mean (N-Gain) learning outcomes (p <0.05) in both experimental and control classes. The averages of students’ learning outcomes who are using dynamic visualization media are significantly higher than the class that obtains learning by using static visualization media. It can be seen from the characteristics of visual representation; each visualization provides different understanding support for the students. Dynamic visual media is more suitable for explaining material related to movement or describing a process, whereas static visual media is appropriately used for non-moving physical phenomena and requires long-term observation.

An analog neural hardware implementation using charge-injection multipliers and neutron-specific gain control.

PubMed

Massengill, L W; Mundie, D B

1992-01-01

A neural network IC based on a dynamic charge injection is described. The hardware design is space and power efficient, and achieves massive parallelism of analog inner products via charge-based multipliers and spatially distributed summing buses. Basic synaptic cells are constructed of exponential pulse-decay modulation (EPDM) dynamic injection multipliers operating sequentially on propagating signal vectors and locally stored analog weights. Individually adjustable gain controls on each neutron reduce the effects of limited weight dynamic range. A hardware simulator/trainer has been developed which incorporates the physical (nonideal) characteristics of actual circuit components into the training process, thus absorbing nonlinearities and parametric deviations into the macroscopic performance of the network. Results show that charge-based techniques may achieve a high degree of neural density and throughput using standard CMOS processes.

Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots

DTIC Science & Technology

2000-06-01

physical models of bipedal walking. The insight gained from these models is used in the development of three planar (motion only in the sagittal plane ...ground is implemented and tested in simulation. The dynamics of the sagittal plane are suffciently decoupled from the dynamics of the frontal and...transverse planes such that control of each can be treated separately. We achieve three-dimensional walking by adding lateral balance to the planar algorithms

Impact of Raman scattering on pulse dynamics in a fiber laser with narrow gain bandwidth

NASA Astrophysics Data System (ADS)

Uthayakumar, T.; Alsaleh, M.; Igbonacho, J.; Tchomgo Felenou, E.; Tchofo Dinda, P.; Grelu, Ph; Porsezian, K.

2018-06-01

We examine theoretically the multi-pulse dynamics in a dispersion-managed fiber laser, in which the pulse’s spectral width is controlled by a pass-band filter. We show that in the domain of stable states with very narrow spectral width, i.e. which is one order of magnitude smaller than the bandwidth of the Raman gain of the intra-cavity fiber system, the Raman scattering (RS) significantly alters the multi-pulse dynamics. RS is found to have a greater impact in the immediate vicinity of some critical values of the pump power of the intra-cavity gain medium, where processes of pulse fragmentation occur. As a result, all the borders between the zones of stability of the multi-pulse states are altered, i.e. either shifted or suppressed.

Performance bounds for nonlinear systems with a nonlinear ℒ2-gain property

NASA Astrophysics Data System (ADS)

Zhang, Huan; Dower, Peter M.

2012-09-01

Nonlinear ℒ2-gain is a finite gain concept that generalises the notion of conventional (linear) finite ℒ2-gain to admit the application of ℒ2-gain analysis tools of a broader class of nonlinear systems. The computation of tight comparison function bounds for this nonlinear ℒ2-gain property is important in applications such as small gain design. This article presents an approximation framework for these comparison function bounds through the formulation and solution of an optimal control problem. Key to the solution of this problem is the lifting of an ℒ2-norm input constraint, which is facilitated via the introduction of an energy saturation operator. This admits the solution of the optimal control problem of interest via dynamic programming and associated numerical methods, leading to the computation of the proposed bounds. Two examples are presented to demonstrate this approach.

High-sensitivity DPSK receiver for high-bandwidth free-space optical communication links.

PubMed

Juarez, Juan C; Young, David W; Sluz, Joseph E; Stotts, Larry B

2011-05-23

A high-sensitivity modem and high-dynamic range optical automatic gain controller (OAGC) have been developed to provide maximum link margin and to overcome the dynamic nature of free-space optical links. A sensitivity of -48.9 dBm (10 photons per bit) at 10 Gbps was achieved employing a return-to-zero differential phase shift keying based modem and a commercial Reed-Solomon forward error correction system. Low-noise optical gain was provided by an OAGC with a noise figure of 4.1 dB (including system required input loses) and a dynamic range of greater than 60 dB.

Adjustment of Adaptive Gain with Bounded Linear Stability Analysis to Improve Time-Delay Margin for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje Srinvas

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a linear damaged twin-engine generic transport model of aircraft. The analysis shows that the system with the adjusted adaptive gain becomes more robust to unmodeled dynamics or time delay.

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient

PubMed Central

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices. PMID:29666634

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient.

PubMed

Shi, Haibo; Sun, Yaoru; Li, Jie

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Yang, Lee; Fritz, Mathew; Nguyen, Louis H.; Johnson, Wyatt R.; Hart, Jeremy J.

2014-01-01

The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

Gain-scheduled {{\\mathscr{H}}}_{\\infty } buckling control of a circular beam-column subject to time-varying axial loads

NASA Astrophysics Data System (ADS)

Schaeffner, Maximilian; Platz, Roland

2018-06-01

For slender beam-columns loaded by axial compressive forces, active buckling control provides a possibility to increase the maximum bearable axial load above that of a purely passive structure. In this paper, an approach for gain-scheduled {{\\mathscr{H}}}∞ buckling control of a slender beam-column with circular cross-section subject to time-varying axial loads is investigated experimentally. Piezo-elastic supports with integrated piezoelectric stack actuators at the beam-column ends allow an active stabilization in arbitrary lateral directions. The axial loads on the beam-column influence its lateral dynamic behavior and, eventually, cause the beam-column to buckle. A reduced modal model of the beam-column subject to axial loads including the dynamics of the electrical components is set up and calibrated with experimental data. Particularly, the linear parameter-varying open-loop plant is used to design a model-based gain-scheduled {{\\mathscr{H}}}∞ buckling control that is implemented in an experimental test setup. The beam-column is loaded by ramp- and step-shaped time-varying axial compressive loads that result in a lateral deformation of the beam-column due to imperfections, such as predeformation, eccentric loading or clamping moments. The lateral deformations and the maximum bearable loads of the beam-column are analyzed and compared for the beam-column with and without gain-scheduled {{\\mathscr{H}}}∞ buckling control or, respectively, active and passive configuration. With the proposed gain-scheduled {{\\mathscr{H}}}∞ buckling control it is possible to increase the maximum bearable load of the active beam-column by 19% for ramp-shaped axial loads and to significantly reduce the beam-column deformations for step-shaped axial loads compared to the passive structure.

Adaptive Fuzzy Output Feedback Control for Switched Nonlinear Systems With Unmodeled Dynamics.

PubMed

Tong, Shaocheng; Li, Yongming

2017-02-01

This paper investigates a robust adaptive fuzzy control stabilization problem for a class of uncertain nonlinear systems with arbitrary switching signals that use an observer-based output feedback scheme. The considered switched nonlinear systems possess the unstructured uncertainties, unmodeled dynamics, and without requiring the states being available for measurement. A state observer which is independent of switching signals is designed to solve the problem of unmeasured states. Fuzzy logic systems are used to identify unknown lumped nonlinear functions so that the problem of unstructured uncertainties can be solved. By combining adaptive backstepping design principle and small-gain approach, a novel robust adaptive fuzzy output feedback stabilization control approach is developed. The stability of the closed-loop system is proved via the common Lyapunov function theory and small-gain theorem. Finally, the simulation results are given to demonstrate the validity and performance of the proposed control strategy.

A new adjustable gains for second order sliding mode control of saturated DFIG-based wind turbine

NASA Astrophysics Data System (ADS)

Bounadja, E.; Djahbar, A.; Taleb, R.; Boudjema, Z.

2017-02-01

The control of Doubly-Fed induction generator (DFIG), used in wind energy conversion, has been given a great deal of interest. Frequently, this control has been dealt with ignoring the magnetic saturation effect in the DFIG model. The aim of the present work is twofold: firstly, the magnetic saturation effect is accounted in the control design model; secondly, a new second order sliding mode control scheme using adjustable-gains (AG-SOSMC) is proposed to control the DFIG via its rotor side converter. This scheme allows the independent control of the generated active and reactive power. Conventionally, the second order sliding mode control (SOSMC) applied to the DFIG, utilize the super-twisting algorithm with fixed gains. In the proposed AG-SOSMC, a simple means by which the controller can adjust its behavior is used. For that, a linear function is used to represent the variation in gain as a function of the absolute value of the discrepancy between the reference rotor current and its measured value. The transient DFIG speed response using the aforementioned characteristic is compared with the one determined by using the conventional SOSMC controller with fixed gains. Simulation results show, accurate dynamic performances, quicker transient response and more accurate control are achieved for different operating conditions.

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

NASA Astrophysics Data System (ADS)

Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

2015-11-01

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

Wiener-Hopf optimal control of a hydraulic canal prototype with fractional order dynamics.

PubMed

Feliu-Batlle, Vicente; Feliu-Talegón, Daniel; San-Millan, Andres; Rivas-Pérez, Raúl

2017-06-26

This article addresses the control of a laboratory hydraulic canal prototype that has fractional order dynamics and a time delay. Controlling this prototype is relevant since its dynamics closely resembles the dynamics of real main irrigation canals. Moreover, the dynamics of hydraulic canals vary largely when the operation regime changes since they are strongly nonlinear systems. All this makes difficult to design adequate controllers. The controller proposed in this article looks for a good time response to step commands. The design criterium for this controller is minimizing the integral performance index ISE. Then a new methodology to control fractional order processes with a time delay, based on the Wiener-Hopf control and the Padé approximation of the time delay, is developed. Moreover, in order to improve the robustness of the control system, a gain scheduling fractional order controller is proposed. Experiments show the adequate performance of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A high sensitive 66 dB linear dynamic range receiver for 3-D laser radar

NASA Astrophysics Data System (ADS)

Ma, Rui; Zheng, Hao; Zhu, Zhangming

2017-08-01

This study presents a CMOS receiver chip realized in 0.18 μm standard CMOS technology and intended for high precision 3-D laser radar. The chip includes an adjustable gain transimpedance pre-amplifier, a post-amplifier and two timing comparators. An additional feedback is employed in the regulated cascode transimpedance amplifier to decrease the input impedance, and a variable gain transimpedance amplifier controlled by digital switches and analog multiplexer is utilized to realize four gain modes, extending the input dynamic range. The measurement shows that the highest transimpedance of the channel is 50 k {{Ω }}, the uncompensated walk error is 1.44 ns in a wide linear dynamic range of 66 dB (1:2000), and the input referred noise current is 2.3 pA/\\sqrt{{Hz}} (rms), resulting in a very low detectable input current of 1 μA with SNR = 5.

Robust control of combustion instabilities

NASA Astrophysics Data System (ADS)

Hong, Boe-Shong

Several interactive dynamical subsystems, each of which has its own time-scale and physical significance, are decomposed to build a feedback-controlled combustion- fluid robust dynamics. On the fast-time scale, the phenomenon of combustion instability is corresponding to the internal feedback of two subsystems: acoustic dynamics and flame dynamics, which are parametrically dependent on the slow-time-scale mean-flow dynamics controlled for global performance by a mean-flow controller. This dissertation constructs such a control system, through modeling, analysis and synthesis, to deal with model uncertainties, environmental noises and time- varying mean-flow operation. Conservation law is decomposed as fast-time acoustic dynamics and slow-time mean-flow dynamics, served for synthesizing LPV (linear parameter varying)- L2-gain robust control law, in which a robust observer is embedded for estimating and controlling the internal status, while achieving trade- offs among robustness, performances and operation. The robust controller is formulated as two LPV-type Linear Matrix Inequalities (LMIs), whose numerical solver is developed by finite-element method. Some important issues related to physical understanding and engineering application are discussed in simulated results of the control system.

Modeling and distributed gain scheduling strategy for load frequency control in smart grids with communication topology changes.

PubMed

Liu, Shichao; Liu, Xiaoping P; El Saddik, Abdulmotaleb

2014-03-01

In this paper, we investigate the modeling and distributed control problems for the load frequency control (LFC) in a smart grid. In contrast with existing works, we consider more practical and real scenarios, where the communication topology of the smart grid changes because of either link failures or packet losses. These topology changes are modeled as a time-varying communication topology matrix. By using this matrix, a new closed-loop power system model is proposed to integrate the communication topology changes into the dynamics of a physical power system. The globally asymptotical stability of this closed-loop power system is analyzed. A distributed gain scheduling LFC strategy is proposed to compensate for the potential degradation of dynamic performance (mean square errors of state vectors) of the power system under communication topology changes. In comparison to conventional centralized control approaches, the proposed method can improve the robustness of the smart grid to the variation of the communication network as well as to reduce computation load. Simulation results show that the proposed distributed gain scheduling approach is capable to improve the robustness of the smart grid to communication topology changes. © 2013 ISA. Published by ISA. All rights reserved.

Acceleration and torque feedback for robotic control - Experimental results

NASA Technical Reports Server (NTRS)

Mclnroy, John E.; Saridis, George N.

1990-01-01

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Biomechanics and Developmental Neuromotor Control.

ERIC Educational Resources Information Center

Zernicke, Ronald F.; Schneider, Klaus

1993-01-01

By applying the principles and methods of mechanics to the musculoskeletal system, new insights can be discovered about control of human limb dynamics in both adults and infants. Reviews previous research on how infants gain control of their limbs and learn to reach in the first year of life. (MDM)

Coherent Amplification of Ultrafast Molecular Dynamics in an Optical Oscillator

NASA Astrophysics Data System (ADS)

Aharonovich, Igal; Pe'er, Avi

2016-02-01

Optical oscillators present a powerful optimization mechanism. The inherent competition for the gain resources between possible modes of oscillation entails the prevalence of the most efficient single mode. We harness this "ultrafast" coherent feedback to optimize an optical field in time, and show that, when an optical oscillator based on a molecular gain medium is synchronously pumped by ultrashort pulses, a temporally coherent multimode field can develop that optimally dumps a general, dynamically evolving vibrational wave packet, into a single vibrational target state. Measuring the emitted field opens a new window to visualization and control of fast molecular dynamics. The realization of such a coherent oscillator with hot alkali dimers appears within experimental reach.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

PubMed Central

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-01-01

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics. PMID:25339687

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

PubMed

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-12-06

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Resistive wall mode feedback control in EXTRAP T2R with improved steady-state error and transient response

NASA Astrophysics Data System (ADS)

Brunsell, P. R.; Olofsson, K. E. J.; Frassinetti, L.; Drake, J. R.

2007-10-01

Experiments in the EXTRAP T2R reversed field pinch [P. R. Brunsell, H. Bergsåker, M. Cecconello et al., Plasma Phys. Control. Fusion 43, 1457 (2001)] on feedback control of m =1 resistive wall modes (RWMs) are compared with simulations using the cylindrical linear magnetohydrodynamic model, including the dynamics of the active coils and power amplifiers. Stabilization of the main RWMs (n=-11,-10,-9,-8,+5,+6) is shown using modest loop gains of the order G ˜1. However, other marginally unstable RWMs (n=-2,-1,+1,+2) driven by external field errors are only partially canceled at these gains. The experimental system stability limit is confirmed by simulations showing that the latency of the digital controller ˜50μs is degrading the system gain margin. The transient response is improved with a proportional-plus-derivative controller, and steady-state error is improved with a proportional-plus-integral controller. Suppression of all modes is obtained at high gain G ˜10 using a proportional-plus-integral-plus-derivative controller.

Active flutter suppression using optical output feedback digital controllers

NASA Technical Reports Server (NTRS)

1982-01-01

A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A convergent algorithm is employed to determine constrained control law parameters that minimize an infinite time discrete quadratic performance index. Low order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Sample rate variation, prefilter pole variation, control structure variation and gain scheduling are discussed. A digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.

External control of semiconductor nanostructure lasers

NASA Astrophysics Data System (ADS)

Naderi, Nader A.

2011-12-01

Novel semiconductor nanostructure laser diodes such as quantum-dot and quantum-dash are key optoelectronic candidates for many applications such as data transmitters in ultra fast optical communications. This is mainly due to their unique carrier dynamics compared to conventional quantum-well lasers that enables their potential for high differential gain and modified linewidth enhancement factor. However, there are known intrinsic limitations associated with semiconductor laser dynamics that can hinder the performance including the mode stability, spectral linewidth, and direct modulation capabilities. One possible method to overcome these limitations is through the use of external control techniques. The electrical and/or optical external perturbations can be implemented to improve the parameters associated with the intrinsic laser's dynamics, such as threshold gain, damping rate, spectral linewidth, and mode selectivity. In this dissertation, studies on the impact of external control techniques through optical injection-locking, optical feedback and asymmetric current bias control on the overall performance of the nanostructure lasers were conducted in order to understand the associated intrinsic device limitations and to develop strategies for controlling the underlying dynamics to improve laser performance. In turn, the findings of this work can act as a guideline for making high performance nanostructure lasers for future ultra fast data transmitters in long-haul optical communication systems, and some can provide an insight into making a compact and low-cost terahertz optical source for future implementation in monolithic millimeter-wave integrated circuits.

Rotor-state feedback in the design of flight control laws for a hovering helicopter

NASA Technical Reports Server (NTRS)

Takahashi, Marc D.

1994-01-01

The use of rigid-body and rotor-state feedback gains in the design of helicopter flight control laws was investigated analytically on a blade element, articulated rotor, helicopter model. The study was conducted while designing a control law to meet an existing military rotorcraft handling qualities design specification (ADS-33C) in low-speed flight. A systematic approach to meet this specification was developed along with an assessment of the function of these gains in the feedback loops. Using the results of this assessment, the pitch and roll crossover behavior was easily modified by adjusting the body attitude and rotor-flap feedback gains. Critical to understanding the feedback gains is that the roll and pitch rate dynamics each have second-order behavior, not the classic first-order behavior, which arises from a quasi-static rotor, six degree-of-freedom model.

Dynamic sensitivity analysis of biological systems

PubMed Central

Wu, Wu Hsiung; Wang, Feng Sheng; Chang, Maw Shang

2008-01-01

Background A mathematical model to understand, predict, control, or even design a real biological system is a central theme in systems biology. A dynamic biological system is always modeled as a nonlinear ordinary differential equation (ODE) system. How to simulate the dynamic behavior and dynamic parameter sensitivities of systems described by ODEs efficiently and accurately is a critical job. In many practical applications, e.g., the fed-batch fermentation systems, the system admissible input (corresponding to independent variables of the system) can be time-dependent. The main difficulty for investigating the dynamic log gains of these systems is the infinite dimension due to the time-dependent input. The classical dynamic sensitivity analysis does not take into account this case for the dynamic log gains. Results We present an algorithm with an adaptive step size control that can be used for computing the solution and dynamic sensitivities of an autonomous ODE system simultaneously. Although our algorithm is one of the decouple direct methods in computing dynamic sensitivities of an ODE system, the step size determined by model equations can be used on the computations of the time profile and dynamic sensitivities with moderate accuracy even when sensitivity equations are more stiff than model equations. To show this algorithm can perform the dynamic sensitivity analysis on very stiff ODE systems with moderate accuracy, it is implemented and applied to two sets of chemical reactions: pyrolysis of ethane and oxidation of formaldehyde. The accuracy of this algorithm is demonstrated by comparing the dynamic parameter sensitivities obtained from this new algorithm and from the direct method with Rosenbrock stiff integrator based on the indirect method. The same dynamic sensitivity analysis was performed on an ethanol fed-batch fermentation system with a time-varying feed rate to evaluate the applicability of the algorithm to realistic models with time-dependent admissible input. Conclusion By combining the accuracy we show with the efficiency of being a decouple direct method, our algorithm is an excellent method for computing dynamic parameter sensitivities in stiff problems. We extend the scope of classical dynamic sensitivity analysis to the investigation of dynamic log gains of models with time-dependent admissible input. PMID:19091016

Helicopter mathematical models and control law development for handling qualities research

NASA Technical Reports Server (NTRS)

Chen, Robert T. N.; Lebacqz, J. Victor; Aiken, Edwin W.; Tischler, Mark B.

1988-01-01

Progress made in joint NASA/Army research concerning rotorcraft flight-dynamics modeling, design methodologies for rotorcraft flight-control laws, and rotorcraft parameter identification is reviewed. Research into these interactive disciplines is needed to develop the analytical tools necessary to conduct flying qualities investigations using both the ground-based and in-flight simulators, and to permit an efficient means of performing flight test evaluation of rotorcraft flying qualities for specification compliance. The need for the research is particularly acute for rotorcraft because of their mathematical complexity, high order dynamic characteristics, and demanding mission requirements. The research in rotorcraft flight-dynamics modeling is pursued along two general directions: generic nonlinear models and nonlinear models for specific rotorcraft. In addition, linear models are generated that extend their utilization from 1-g flight to high-g maneuvers and expand their frequency range of validity for the design analysis of high-gain flight control systems. A variety of methods ranging from classical frequency-domain approaches to modern time-domain control methodology that are used in the design of rotorcraft flight control laws is reviewed. Also reviewed is a study conducted to investigate the design details associated with high-gain, digital flight control systems for combat rotorcraft. Parameter identification techniques developed for rotorcraft applications are reviewed.

Design and implementation of a control system for a quadrotor MAV

NASA Astrophysics Data System (ADS)

Bawek, Dean

The quadrotor is a 200 g MAV with rapid-prototyped rotors that are driven by four brushless electric motors, capable of a collective thrust of around 400 g using an 11 V battery. The vehicle is compact with its largest dimension at 188 mm. Without any feedback control, the quadrotor is unstable. For flight stability, the vehicle incorporates a linear quadratic regulator to augment its dynamics for hover. The quadrotor's nonlinear dynamics are linearized about hover in order to be used in controller formulation. Feedback comes both directly from sensors and a Luenberger observer that computes the rotor velocities. A Simulink simulation uses hardware and software properties to serve as an environment for controller gain tuning prior to flight testing. The results from the simulation generate stabilizing control gains for the on-board attitude controller and for an off-board PC autopilot that uses the Vicon computer vision system for position feedback. Through the combined effort of the on-board and off-board controllers, the quadrotor successfully demonstrates stable hover in both nominal and disturbed conditions.

Second-order sliding mode controller with model reference adaptation for automatic train operation

NASA Astrophysics Data System (ADS)

Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

2017-11-01

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

Propulsion Controls Modeling for a Small Turbofan Engine

NASA Technical Reports Server (NTRS)

Connolly, Joseph W.; Csank, Jeffrey T.; Chicatelli, Amy; Franco, Kevin

2017-01-01

A nonlinear dynamic model and propulsion controller are developed for a small-scale turbofan engine. The small-scale turbofan engine is based on the Price Induction company's DGEN 380, one of the few turbofan engines targeted for the personal light jet category. Comparisons of the nonlinear dynamic turbofan engine model to actual DGEN 380 engine test data and a Price Induction simulation are provided. During engine transients, the nonlinear model typically agrees within 10 percent error, even though the nonlinear model was developed from limited available engine data. A gain scheduled proportional integral low speed shaft controller with limiter safety logic is created to replicate the baseline DGEN 380 controller. The new controller provides desired gain and phase margins and is verified to meet Federal Aviation Administration transient propulsion system requirements. In understanding benefits, there is a need to move beyond simulation for the demonstration of advanced control architectures and technologies by using real-time systems and hardware. The small-scale DGEN 380 provides a cost effective means to accomplish advanced controls testing on a relevant turbofan engine platform.

Dynamic characteristics of heart rate control by the autonomic nervous system in rats.

PubMed

Mizuno, Masaki; Kawada, Toru; Kamiya, Atsunori; Miyamoto, Tadayoshi; Shimizu, Shuji; Shishido, Toshiaki; Smith, Scott A; Sugimachi, Masaru

2010-09-01

We estimated the transfer function of autonomic heart rate (HR) control by using random binary sympathetic or vagal nerve stimulation in anaesthetized rats. The transfer function from sympathetic stimulation to HR response approximated a second-order, low-pass filter with a lag time (gain, 4.29 +/- 1.55 beats min(1) Hz(1); natural frequency, 0.07 +/- 0.03 Hz; damping coefficient, 1.96 +/- 0.64; and lag time, 0.73 +/- 0.12 s). The transfer function from vagal stimulation to HR response approximated a first-order, low-pass filter with a lag time (gain, 8.84 +/- 4.51 beats min(1) Hz(1); corner frequency, 0.12 +/- 0.06 Hz; and lag time, 0.12 +/- 0.08 s). These results suggest that the dynamic characteristics of HR control by the autonomic nervous system in rats are similar to those of larger mammals.

Design and evaluation of a robust dynamic neurocontroller for a multivariable aircraft control problem

NASA Technical Reports Server (NTRS)

Troudet, T.; Garg, S.; Merrill, W.

1992-01-01

The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.

Bi-directional thruster development and test report

NASA Technical Reports Server (NTRS)

Jacot, A. D.; Bushnell, G. S.; Anderson, T. M.

1990-01-01

The design, calibration and testing of a cold gas, bi-directional throttlable thruster are discussed. The thruster consists of an electro-pneumatic servovalve exhausting through opposite nozzles with a high gain pressure feedback loop to optimize performance. The thruster force was measured to determine hysteresis and linearity. Integral gain was used to maximize performance for linearity, hysteresis, and minimum thrust requirements. Proportional gain provided high dynamic response (bandwidth and phase lag). Thruster performance is very important since the thrusters are intended to be used for active control.

Sub-optimal control of fuzzy linear dynamical systems under granular differentiability concept.

PubMed

Mazandarani, Mehran; Pariz, Naser

2018-05-01

This paper deals with sub-optimal control of a fuzzy linear dynamical system. The aim is to keep the state variables of the fuzzy linear dynamical system close to zero in an optimal manner. In the fuzzy dynamical system, the fuzzy derivative is considered as the granular derivative; and all the coefficients and initial conditions can be uncertain. The criterion for assessing the optimality is regarded as a granular integral whose integrand is a quadratic function of the state variables and control inputs. Using the relative-distance-measure (RDM) fuzzy interval arithmetic and calculus of variations, the optimal control law is presented as the fuzzy state variables feedback. Since the optimal feedback gains are obtained as fuzzy functions, they need to be defuzzified. This will result in the sub-optimal control law. This paper also sheds light on the restrictions imposed by the approaches which are based on fuzzy standard interval arithmetic (FSIA), and use strongly generalized Hukuhara and generalized Hukuhara differentiability concepts for obtaining the optimal control law. The granular eigenvalues notion is also defined. Using an RLC circuit mathematical model, it is shown that, due to their unnatural behavior in the modeling phenomenon, the FSIA-based approaches may obtain some eigenvalues sets that might be different from the inherent eigenvalues set of the fuzzy dynamical system. This is, however, not the case with the approach proposed in this study. The notions of granular controllability and granular stabilizability of the fuzzy linear dynamical system are also presented in this paper. Moreover, a sub-optimal control for regulating a Boeing 747 in longitudinal direction with uncertain initial conditions and parameters is gained. In addition, an uncertain suspension system of one of the four wheels of a bus is regulated using the sub-optimal control introduced in this paper. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Divided visual attention: A comparison of patients with multiple sclerosis and controls, assessed with an optokinetic nystagmus suppression task.

PubMed

Williams, Isla M; Schofield, Peter; Khade, Neha; Abel, Larry A

2016-12-01

Multiple sclerosis (MS) frequently causes impairment of cognitive function. We compared patients with MS with controls on divided visual attention tasks. The MS patients' and controls' stare optokinetic nystagmus (OKN) was recorded in response to a 24°/s full field stimulus. Suppression of the OKN response, judged by the gain, was measured during tasks dividing visual attention between the fixation target and a second stimulus, central or peripheral, static or dynamic. All participants completed the Audio Recorded Cognitive Screen. MS patients had lower gain on the baseline stare OKN. OKN suppression in divided attention tasks was the same in MS patients as in controls but in both groups was better maintained in static than in dynamic tasks. In only dynamic tasks, older age was associated with less effective OKN suppression. MS patients had lower scores on a timed attention task and on memory. There was no significant correlation between attention or memory and eye movement parameters. Attention, a complex multifaceted construct, has different neural combinations for each task. Despite impairments on some measures of attention, MS patients completed the divided visual attention tasks normally. Copyright © 2016 Elsevier Ltd. All rights reserved.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

NASA Astrophysics Data System (ADS)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Exercise and Diet in Obesity Treatment: An Integrative System Dynamics Perspective.

ERIC Educational Resources Information Center

Abdel-Hamid, Tarek K.

2003-01-01

Examined the utility of System Dynamics modeling as a vehicle for controlled experimentation to study and gain insight into the impacts of physical activity and diet on body weight and composition. Results underscored the significant interaction effects between physical activity, diet, and body composition and demonstrated the utility of…

A model-based gain scheduling approach for controlling the common-rail system for GDI engines

NASA Astrophysics Data System (ADS)

di Gaeta, Alessandro; Montanaro, Umberto; Fiengo, Giovanni; Palladino, Angelo; Giglio, Veniero

2012-04-01

The progressive reduction in vehicle emission requirements have forced the automotive industry to invest in research for developing alternative and more efficient control strategies. All control features and resources are permanently active in an electronic control unit (ECU), ensuring the best performance with respect to emissions, fuel economy, driveability and diagnostics, independently from engine working point. In this article, a considerable step forward has been achieved by the common-rail technology which has made possible to vary the injection pressure over the entire engine speed range. As a consequence, the injection of a fixed amount of fuel is more precise and multiple injections in a combustion cycle can be made. In this article, a novel gain scheduling pressure controller for gasoline direct injection (GDI) engine is designed to stabilise the mean fuel pressure into the rail and to track demanded pressure trajectories. By exploiting a simple control-oriented model describing the mean pressure dynamics in the rail, the control structure turns to be simple enough to be effectively implemented in commercial ECUs. Experimental results in a wide range of operating points confirm the effectiveness of the proposed control method to tame efficiently the mean value pressure dynamics of the plant showing a good accuracy and robustness with respect to unavoidable parameters uncertainties, unmodelled dynamics, and hidden coupling terms.

Efficacy of predictive wavefront control for compensating aero-optical aberrations

NASA Astrophysics Data System (ADS)

Goorskey, David J.; Schmidt, Jason; Whiteley, Matthew R.

2013-07-01

Imaging and laser beam propagation from airborne platforms are degraded by dynamic aberrations due to air flow around the aircraft, aero-mechanical distortions and jitter, and free atmospheric turbulence. For certain applications, like dim-object imaging, free-space optical communications, and laser weapons, adaptive optics (AO) is necessary to compensate for the aberrations in real time. Aero-optical flow is a particularly interesting source of aberrations whose flowing structures can be exploited by adaptive and predictive AO controllers, thereby realizing significant performance gains. We analyze dynamic aero-optical wavefronts to determine the pointing angles at which predictive wavefront control is more effective than conventional, fixed-gain, linear-filter control. It was found that properties of the spatial decompositions and temporal statistics of the wavefronts are directly traceable to specific features in the air flow. Furthermore, the aero-optical wavefront aberrations at the side- and aft-looking angles were the most severe, but they also benefited the most from predictive AO.

Modified Dynamic Inversion to Control Large Flexible Aircraft: What's Going On?

NASA Technical Reports Server (NTRS)

Gregory, Irene M.

1999-01-01

High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper explores dynamic inversion application to an advanced highly flexible aircraft. An initial application has been made to a large flexible supersonic aircraft. In the course of controller design for this advanced vehicle, modifications were made to the standard dynamic inversion methodology. The results of this application were deemed rather promising. An analytical study has been undertaken to better understand the nature of the made modifications and to determine its general applicability. This paper presents the results of this initial analytical look at the modifications to dynamic inversion to control large flexible aircraft.

Control logic to track the outputs of a command generator or randomly forced target

NASA Technical Reports Server (NTRS)

Trankle, T. L.; Bryson, A. E., Jr.

1977-01-01

A procedure is presented for synthesizing time-invariant control logic to cause the outputs of a linear plant to track the outputs of an unforced (or randomly forced) linear dynamic system. The control logic uses feed-forward of the reference system state variables and feedback of the plant state variables. The feed-forward gains are obtained from the solution of a linear algebraic matrix equation of the Liapunov type. The feedback gains are the usual regulator gains, determined to stabilize (or augment the stability of) the plant, possibly including integral control. The method is applied here to the design of control logic for a second-order servomechanism to follow a linearly increasing (ramp) signal, an unstable third-order system with two controls to track two separate ramp signals, and a sixth-order system with two controls to track a constant signal and an exponentially decreasing signal (aircraft landing-flare or glide-slope-capture with constant velocity).

Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation

NASA Astrophysics Data System (ADS)

Farid, Yousef; Majd, Vahid Johari; Ehsani-Seresht, Abbas

2018-05-01

In this paper, a novel fault accommodation strategy is proposed for the legged robots subject to the actuator faults including actuation bias and effective gain degradation as well as the actuator saturation. First, the combined dynamics of two coupled subsystems consisting of the dynamics of the legs subsystem and the body subsystem are developed. Then, the interaction of the robot with the environment is formulated as the contact force optimization problem with equality and inequality constraints. The desired force is obtained by a dynamic model. A robust super twisting fault estimator is proposed to precisely estimate the defective torque amplitude of the faulty actuator in finite time. Defining a novel fractional sliding surface, a fractional nonsingular terminal sliding mode control law is developed. Moreover, by introducing a suitable auxiliary system and using its state vector in the designed controller, the proposed fault-tolerant control (FTC) scheme guarantees the finite-time stability of the closed-loop control system. The robustness and finite-time convergence of the proposed control law is established using the Lyapunov stability theory. Finally, numerical simulations are performed on a quadruped robot to demonstrate the stable walking of the robot with and without actuator faults, and actuator saturation constraints, and the results are compared to results with an integer order fault-tolerant controller.

Are high lags of accommodation in myopic children due to motor deficits?

PubMed

Labhishetty, Vivek; Bobier, William R

2017-01-01

Children with a progressing myopia exhibit an abnormal pattern of high accommodative lags coupled with high accommodative convergence (AC/A) and high accommodative adaptation. This is not predicted by the current models of accommodation and vergence. Reduced accommodative plant gain and reduced sensitivity to blur have been suggested as potential causes for this abnormal behavior. These etiologies were tested by altering parameters (sensory, controller and plant gains) in the Simulink model of accommodation. Predictions were then compared to the static and dynamic blur accommodation (BA) measures taken using a Badal optical system on 12 children (6 emmetropes and 6 myopes, 8-13years) and 6 adults (20-35years). Other critical parameters such as CA/C, AC/A, and accommodative adaptation were also measured. Usable BA responses were classified as either typical or atypical. Typical accommodation data confirmed the abnormal pattern of myopia along with an unchanged CA/C. Main sequence relationship remained invariant between myopic and nonmyopic children. An overall reduction was noted in the response dynamics such as peak velocity and acceleration with age. Neither a reduced plant gain nor reduced blur sensitivity could predict the abnormal accommodative behavior. A model adjustment reflecting a reduced accommodative sensory gain (ASG) coupled with an increased AC cross-link gain and reduced vergence adaptive gain does predict the empirical findings. Empirical measures also showed a greater frequency of errors in accommodative response generation (atypical responses) in both myopic and control children compared to adults. Copyright © 2016 Elsevier Ltd. All rights reserved.

Development of an optimal automatic control law and filter algorithm for steep glideslope capture and glideslope tracking

NASA Technical Reports Server (NTRS)

Halyo, N.

1976-01-01

A digital automatic control law to capture a steep glideslope and track the glideslope to a specified altitude is developed for the longitudinal/vertical dynamics of a CTOL aircraft using modern estimation and control techniques. The control law uses a constant gain Kalman filter to process guidance information from the microwave landing system, and acceleration from body mounted accelerometer data. The filter outputs navigation data and wind velocity estimates which are used in controlling the aircraft. Results from a digital simulation of the aircraft dynamics and the control law are presented for various wind conditions.

Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

NASA Technical Reports Server (NTRS)

Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

2010-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

The integrated manual and automatic control of complex flight systems

NASA Technical Reports Server (NTRS)

Schmidt, D. K.

1985-01-01

Pilot/vehicle analysis techniques for optimizing aircraft handling qualities are presented. The analysis approach considered is based on the optimal control frequency domain techniques. These techniques stem from an optimal control approach of a Neal-Smith like analysis on aircraft attitude dynamics extended to analyze the flared landing task. Some modifications to the technique are suggested and discussed. An in depth analysis of the effect of the experimental variables, such as prefilter, is conducted to gain further insight into the flared land task for this class of vehicle dynamics.

Modeling and Dynamic Analysis of Paralleled dc/dc Converters With Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

S-Ketoprofen Inhibits Tenotomy-Induced Bone Loss and Dynamics in Weanling Rats

NASA Technical Reports Server (NTRS)

Zeng, Q. Q.; Jee, W. S. S.; Ke, H. Z.; Wechter, W. J.

1993-01-01

The objects of this study were to determine whether S-ketoprofen, a non-steroidal anti-inflammatory drug (NSAID), can prevent immobilization (tenotomy)-induced bone loss in weanling rats. Forty five 4 week-old Sprague-Dawley female rats were either sham-operated or subjected to knee tenotomy and treated simultaneously with 0, 0.02, 0.1, 0.5 or 2.5 mg of S-ketoprofen/kg per day for 21 days. We then studied double-fluorescent labeled proximal tibial longitudinal sections and tibial shaft cross sections using static and dynamic histomorphometry. Less cancellous bone mass in proximal tibial metaphyses was found in tenotomized controls than in basal (36%) and sham-operated (54%) controls. This was due to the inhibition of age-related bone gain and induced bone loss due to increased bone resorption and decreased bone formation. S-ketoprofen prevented both the inhibition of age-related bone gain and the stimulation of bone loss at the 2.5 mg/kg per day dose level, while it only prevented bone loss at the 0.5 mg/kg dose levels. In cancellous bone, dynamic histomorphometry showed that S-ketoprofen prevented the tenotomy induced decrease in bone formation and increase in bone resorption. In the tibial shaft, tenotomy inhibited the enlargement of total tissue area by depressing periosteal bone formation, and thus inhibited age-related cortical bone gain. S-ketoprofen treatment did not prevent this change at all dose levels, but reduced marrow cavity area to increase cortical bone area at the 0.1, 0.5 and 2.5 mg/kg per dose levels compared to tenotomy controls. However, the cortical bone area in the 0.1 and 0.5 mg dose-treated treated tenotomy rats was still lower than in the age-related controls. S-ketoprofen also prevented the increase in endocortical eroded perimeter induced by tenotomy. In summary, tenotomy inhibited age-related bone gain and stimulated bone loss in cancellous bone sites, and only inhibited age-related bone gain in cortical bone sites. S-ketoprofen treatment at the highest dose levels prevented the changes in cancellous bone, and reduced marrow area to increase cortical bone in the tibial shafts.

Stability Result For Dynamic Inversion Devised to Control Large Flexible Aircraft

NASA Technical Reports Server (NTRS)

Gregory, Irene M.

2001-01-01

High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper is an initial attempt to establish global stability results for dynamic inversion methodology as applied to a large, flexible aircraft. This work builds on a previous result for rigid fighter aircraft and adds a new level of complexity that is the flexible aircraft dynamics, which cannot be ignored even in the most basic flight control. The results arise from observations of the control laws designed for a new generation of the High-Speed Civil Transport aircraft.

Enhancing Learners' Emotions in an L2 Context through Emotionalized Dynamic Assessment

ERIC Educational Resources Information Center

Abdolrezapour, Parisa; Tavakoli, Mansoor; Ketabi, Saeed

2013-01-01

The aim of this study was to gain more in-depth understanding of students' emotions in an EFL context by applying dynamic assessment (DA) procedures to the development of learners' emotional intelligence. The study with 50 intermediate learners aged 12-15 used three modalities: a control group, which was taught under institute's normal procedures;…

Solar Dynamics Observatory (SDO) HGAS Induced Jitter

NASA Technical Reports Server (NTRS)

Liu, Alice; Blaurock, Carl; Liu, Kuo-Chia; Mule, Peter

2008-01-01

This paper presents the results of a comprehensive assessment of High Gain Antenna System induced jitter on the Solar Dynamics Observatory. The jitter prediction is created using a coupled model of the structural dynamics, optical response, control systems, and stepper motor actuator electromechanical dynamics. The paper gives an overview of the model components, presents the verification processes used to evaluate the models, describes validation and calibration tests and model-to-measurement comparison results, and presents the jitter analysis methodology and results.

Hearing in noisy environments: noise invariance and contrast gain control

PubMed Central

Willmore, Ben D B; Cooke, James E; King, Andrew J

2014-01-01

Contrast gain control has recently been identified as a fundamental property of the auditory system. Electrophysiological recordings in ferrets have shown that neurons continuously adjust their gain (their sensitivity to change in sound level) in response to the contrast of sounds that are heard. At the level of the auditory cortex, these gain changes partly compensate for changes in sound contrast. This means that sounds which are structurally similar, but have different contrasts, have similar neuronal representations in the auditory cortex. As a result, the cortical representation is relatively invariant to stimulus contrast and robust to the presence of noise in the stimulus. In the inferior colliculus (an important subcortical auditory structure), gain changes are less reliably compensatory, suggesting that contrast- and noise-invariant representations are constructed gradually as one ascends the auditory pathway. In addition to noise invariance, contrast gain control provides a variety of computational advantages over static neuronal representations; it makes efficient use of neuronal dynamic range, may contribute to redundancy-reducing, sparse codes for sound and allows for simpler decoding of population responses. The circuits underlying auditory contrast gain control are still under investigation. As in the visual system, these circuits may be modulated by factors other than stimulus contrast, forming a potential neural substrate for mediating the effects of attention as well as interactions between the senses. PMID:24907308

Active Vertical Tail Buffeting Alleviation on an F/A-18 Model in a Wind Tunnel

NASA Technical Reports Server (NTRS)

Moses, Robert W.

1999-01-01

A 1/6-scale F-18 wind-tunnel model was tested in the Transonic Dynamics Tunnel at the NASA Langley Research Center as part of the Actively Controlled Response Of Buffet-Affected Tails (ACROBAT) program to assess the use of active controls in reducing vertical tail buffeting. The starboard vertical tail was equipped with an active rudder and other aerodynamic devices, and the port vertical tail was equipped with piezoelectric actuators. The tunnel conditions were atmospheric air at a dynamic pressure of 14 psf. By using single-input-single-output control laws at gains well below the physical limits of the control effectors, the power spectral density of the root strains at the frequency of the first bending mode of the vertical tail was reduced by as much as 60 percent up to angles of attack of 37 degrees. Root mean square (RMS) values of root strain were reduced by as much as 19 percent. Stability margins indicate that a constant gain setting in the control law may be used throughout the range of angle of attack tested.

Performance recovery of a class of uncertain non-affine systems with unmodelled dynamics: an indirect dynamic inversion method

NASA Astrophysics Data System (ADS)

Yi, Bowen; Lin, Shuyi; Yang, Bo; Zhang, Weidong

2018-02-01

This paper presents an output feedback indirect dynamic inversion (IDI) approach for a class of uncertain nonaffine systems with input unmodelled dynamics. Compared with previous approaches to achieve performance recovery, the proposed method aims at dealing with a broader class of nonaffine-in-control systems with triangular structure. An IDI state feedback law is designed first, in which less knowledge of the model plant is needed compared to earlier approximate dynamic inversion methods, thus yielding more robust performance. After that, an extended high-gain observer is designed to accomplish the task with output feedback. Finally, we prove that the designed IDI controller is equivalent to an adaptive proportional-integral (PI) controller, with respect to both time response equivalence and robustness equivalence. The conclusion implies that for the studied strict-feedback non-affine systems with unmodelled dynamics, there always exits a PI controller to stabilise the systems. The effectiveness and benefits of the designed approach are verified by three examples.

Multimodal Pilot Behavior in Multi-Axis Tracking Tasks with Time-Varying Motion Cueing Gains

NASA Technical Reports Server (NTRS)

Zaal, P. M. T; Pool, D. M.

2014-01-01

In a large number of motion-base simulators, adaptive motion filters are utilized to maximize the use of the available motion envelope of the motion system. However, not much is known about how the time-varying characteristics of such adaptive filters affect pilots when performing manual aircraft control. This paper presents the results of a study investigating the effects of time-varying motion filter gains on pilot control behavior and performance. An experiment was performed in a motion-base simulator where participants performed a simultaneous roll and pitch tracking task, while the roll and/or pitch motion filter gains changed over time. Results indicate that performance increases over time with increasing motion gains. This increase is a result of a time-varying adaptation of pilots' equalization dynamics, characterized by increased visual and motion response gains and decreased visual lead time constants. Opposite trends are found for decreasing motion filter gains. Even though the trends in both controlled axes are found to be largely the same, effects are less significant in roll. In addition, results indicate minor cross-coupling effects between pitch and roll, where a cueing variation in one axis affects the behavior adopted in the other axis.

Accentuated antagonism in vagal heart rate control mediated through muscarinic potassium channels.

PubMed

Mizuno, Masaki; Kamiya, Atsunori; Kawada, Toru; Miyamoto, Tadayoshi; Shimizu, Shuji; Shishido, Toshiaki; Sugimachi, Masaru

2008-12-01

Although muscarinic K(+) (K(ACh)) channels contribute to a rapid heart rate (HR) response to vagal stimulation, whether background sympathetic tone affects the HR control via the K(ACh)channels remains to be elucidated. In seven anesthetized rabbits with sinoaortic denervation and vagotomy, we estimated the dynamic transfer function of the HR response by using random binary vagal stimulation (0-10 Hz). Tertiapin, a selective K(ACh) channel blocker, decreased the dynamic gain (to 2.3+/- 0.9 beats.min(-1).Hz(-1), from 4.6+/- 1.1, P < 0.01, mean+/- SD) and the corner frequency (to 0.05+/- 0.01 Hz, from 0.26+/- 0.04, P < 0.01). Under 5 Hz tonic cardiac sympathetic stimulation (CSS), tertiapin decreased the dynamic gain (to 3.6+/- 1.0 beats.min(-1).Hz(-1), from 7.3+/- 1.1, P < 0.01) and the corner frequency (to 0.06+/- 0.02 Hz, from 0.23+/- 0.06, P < 0.01). Two-way analysis of variance indicated significant interaction between the tertiapin and CSS effects on the dynamic gain. In contrast, no significant interactions were observed between the tertiapin and CSS effects on the corner frequency and the lag time. In conclusion, although a cyclic AMP-dependent mechanism has been well established, an accentuated antagonism also occurred in the direct effect of ACh via the K(ACh) channels. The rapidity of the HR response obtained by the K(ACh) channel pathway was robust during the accentuated antagonism.

Experimental design studies and flow visualization of proportional laminar-flow fluidic amplifiers

NASA Technical Reports Server (NTRS)

Hellbaum, R. F.; Mcdermon, J. N.

1977-01-01

The effects of certain parameter variations on the performance characteristics of laminar, proportional, jet-deflection fluidic amplifiers were studied. The matching and staging of amplifiers to obtain high pressure gain was included, but dynamic effects were not. The parameter variations considered were aspect ratio, setback, control length, splitter distance, receiver-duct width, width of center-vent duct, and bias pressure. Usable pressure gains of 19 per stage were achieved, and 5 amplifier stages were integrated to yield an overall pressure gain of 2,000,000.

Contrast Gain Control Model Fits Masking Data

NASA Technical Reports Server (NTRS)

Watson, Andrew B.; Solomon, Joshua A.; Null, Cynthia H. (Technical Monitor)

1994-01-01

We studied the fit of a contrast gain control model to data of Foley (JOSA 1994), consisting of thresholds for a Gabor patch masked by gratings of various orientations, or by compounds of two orientations. Our general model includes models of Foley and Teo & Heeger (IEEE 1994). Our specific model used a bank of Gabor filters with octave bandwidths at 8 orientations. Excitatory and inhibitory nonlinearities were power functions with exponents of 2.4 and 2. Inhibitory pooling was broad in orientation, but narrow in spatial frequency and space. Minkowski pooling used an exponent of 4. All of the data for observer KMF were well fit by the model. We have developed a contrast gain control model that fits masking data. Unlike Foley's, our model accepts images as inputs. Unlike Teo & Heeger's, our model did not require multiple channels for different dynamic ranges.

Dynamic chirp control of all-optical format-converted pulsed data from a multi-wavelength inverse-optical-comb injected semiconductor optical amplifier.

PubMed

Lin, Gong-Ru; Pan, Ci-Ling; Yu, Kun-Chieh

2007-10-01

By spectrally and temporally reshaping the gain-window of a traveling-wave semiconductor optical amplifier (TWSOA) with a backward injected multi- or single-wavelength inverse-optical-comb, we theoretically and experimentally investigate the dynamic frequency chirp of the all-optical 10GBit/s Return-to-Zero (RZ) data-stream format-converted from the TWSOA under strong cross-gain depletion scheme. The multi-wavelength inverse-optical-comb injection effectively depletes the TWSOA gain spectrally and temporally, remaining a narrow gain-window and a reduced spectral linewidth and provide a converted RZ data with a smaller peak-to-peak frequency chirp of 6.7 GHz. Even at high inverse-optical-comb injection power and highly biased current condition for improving the operational bit-rate, the chirp of the multi-wavelength-injection converted RZ pulse is still 2.1-GHz smaller than that obtained by using single-wavelength injection at a cost of slight pulse-width broadening by 1 ps.

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Simulated Annealing-based Optimal Proportional-Integral-Derivative (PID) Controller Design: A Case Study on Nonlinear Quadcopter Dynamics

NASA Astrophysics Data System (ADS)

Nemirsky, Kristofer Kevin

In this thesis, the history and evolution of rotor aircraft with simulated annealing-based PID application were reviewed and quadcopter dynamics are presented. The dynamics of a quadcopter were then modeled, analyzed, and linearized. A cascaded loop architecture with PID controllers was used to stabilize the plant dynamics, which was improved upon through the application of simulated annealing (SA). A Simulink model was developed to test the controllers and verify the functionality of the proposed control system design. In addition, the data that the Simulink model provided were compared with flight data to present the validity of derived dynamics as a proper mathematical model representing the true dynamics of the quadcopter system. Then, the SA-based global optimization procedure was applied to obtain optimized PID parameters. It was observed that the tuned gains through the SA algorithm produced a better performing PID controller than the original manually tuned one. Next, we investigated the uncertain dynamics of the quadcopter setup. After adding uncertainty to the gyroscopic effects associated with pitch-and-roll rate dynamics, the controllers were shown to be robust against the added uncertainty. A discussion follows to summarize SA-based algorithm PID controller design and performance outcomes. Lastly, future work on SA application on multi-input-multi-output (MIMO) systems is briefly discussed.

Regulation of branching dynamics by axon-intrinsic asymmetries in Tyrosine Kinase Receptor signaling

PubMed Central

Zschätzsch, Marlen; Oliva, Carlos; Langen, Marion; De Geest, Natalie; Özel, Mehmet Neset; Williamson, W Ryan; Lemon, William C; Soldano, Alessia; Munck, Sebastian; Hiesinger, P Robin; Sanchez-Soriano, Natalia; Hassan, Bassem A

2014-01-01

Axonal branching allows a neuron to connect to several targets, increasing neuronal circuit complexity. While axonal branching is well described, the mechanisms that control it remain largely unknown. We find that in the Drosophila CNS branches develop through a process of excessive growth followed by pruning. In vivo high-resolution live imaging of developing brains as well as loss and gain of function experiments show that activation of Epidermal Growth Factor Receptor (EGFR) is necessary for branch dynamics and the final branching pattern. Live imaging also reveals that intrinsic asymmetry in EGFR localization regulates the balance between dynamic and static filopodia. Elimination of signaling asymmetry by either loss or gain of EGFR function results in reduced dynamics leading to excessive branch formation. In summary, we propose that the dynamic process of axon branch development is mediated by differential local distribution of signaling receptors. DOI: http://dx.doi.org/10.7554/eLife.01699.001 PMID:24755286

Dynamic Droop–Based Inertial Control of a Doubly-Fed Induction Generator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hwang, Min; Muljadi, Eduard; Park, Jung-Wook

2016-07-01

If a large disturbance occurs in a power grid, two auxiliary loops for the inertial control of a wind turbine generator have been used: droop loop and rate of change of frequency (ROCOF) loop. Because their gains are fixed, difficulties arise in determining them suitable for all grid and wind conditions. This paper proposes a dynamic droop-based inertial control scheme of a doubly-fed induction generator (DFIG). The scheme aims to improve the frequency nadir (FN) and ensure stable operation of a DFIG. To achieve the first goal, the scheme uses a droop loop, but it dynamically changes its gain basedmore » on the ROCOF to release a large amount of kinetic energy during the initial stage of a disturbance. To do this, a shaping function that relates the droop to the ROCOF is used. To achieve the second goal, different shaping functions, which depend on rotor speeds, are used to give a large contribution in high wind conditions and prevent over-deceleration in low wind conditions during inertial control. The performance of the proposed scheme was investigated under various wind conditions using an EMTP-RV simulator. The results indicate that the scheme improves the FN and ensures stable operation of a DFIG.« less

Optimal dynamic control of invasions: applying a systematic conservation approach.

PubMed

Adams, Vanessa M; Setterfield, Samantha A

2015-06-01

The social, economic, and environmental impacts of invasive plants are well recognized. However, these variable impacts are rarely accounted for in the spatial prioritization of funding for weed management. We examine how current spatially explicit prioritization methods can be extended to identify optimal budget allocations to both eradication and control measures of invasive species to minimize the costs and likelihood of invasion. Our framework extends recent approaches to systematic prioritization of weed management to account for multiple values that are threatened by weed invasions with a multi-year dynamic prioritization approach. We apply our method to the northern portion of the Daly catchment in the Northern Territory, which has significant conservation values that are threatened by gamba grass (Andropogon gayanus), a highly invasive species recognized by the Australian government as a Weed of National Significance (WONS). We interface Marxan, a widely applied conservation planning tool, with a dynamic biophysical model of gamba grass to optimally allocate funds to eradication and control programs under two budget scenarios comparing maximizing gain (MaxGain) and minimizing loss (MinLoss) optimization approaches. The prioritizations support previous findings that a MinLoss approach is a better strategy when threats are more spatially variable than conservation values. Over a 10-year simulation period, we find that a MinLoss approach reduces future infestations by ~8% compared to MaxGain in the constrained budget scenarios and ~12% in the unlimited budget scenarios. We find that due to the extensive current invasion and rapid rate of spread, allocating the annual budget to control efforts is more efficient than funding eradication efforts when there is a constrained budget. Under a constrained budget, applying the most efficient optimization scenario (control, minloss) reduces spread by ~27% compared to no control. Conversely, if the budget is unlimited it is more efficient to fund eradication efforts and reduces spread by ~65% compared to no control.

Self-Tuning Adaptive-Controller Using Online Frequency Identification

NASA Technical Reports Server (NTRS)

Chiang, W. W.; Cannon, R. H., Jr.

1985-01-01

A real time adaptive controller was designed and tested successfully on a fourth order laboratory dynamic system which features very low structural damping and a noncolocated actuator sensor pair. The controller, implemented in a digital minicomputer, consists of a state estimator, a set of state feedback gains, and a frequency locked loop (FLL) for real time parameter identification. The FLL can detect the closed loop natural frequency of the system being controlled, calculate the mismatch between a plant parameter and its counterpart in the state estimator, and correct the estimator parameter in real time. The adaptation algorithm can correct the controller error and stabilize the system for more than 50% variation in the plant natural frequency, compared with a 10% stability margin in frequency variation for a fixed gain controller having the same performance at the nominal plant condition. After it has locked to the correct plant frequency, the adaptive controller works as well as the fixed gain controller does when there is no parameter mismatch. The very rapid convergence of this adaptive system is demonstrated experimentally, and can also be proven with simple root locus methods.

Chaos control of the brushless direct current motor using adaptive dynamic surface control based on neural network with the minimum weights.

PubMed

Luo, Shaohua; Wu, Songli; Gao, Ruizhen

2015-07-01

This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in the closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.

Chaos control of the brushless direct current motor using adaptive dynamic surface control based on neural network with the minimum weights

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luo, Shaohua; Department of Mechanical Engineering, Chongqing Aerospace Polytechnic, Chongqing, 400021; Wu, Songli

2015-07-15

This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in themore » closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.« less

Adaptive Augmenting Control Flight Characterization Experiment on an F/A-18

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.; Orr, Jeb S.; Wall, John H.; Gilligan, Eric T.

2014-01-01

This paper summarizes the Adaptive Augmenting Control (AAC) flight characterization experiments performed using an F/A-18 (TN 853). AAC was designed and developed specifically for launch vehicles, and is currently part of the baseline autopilot design for NASA's Space Launch System (SLS). The scope covered here includes a brief overview of the algorithm (covered in more detail elsewhere), motivation and benefits of flight testing, top-level SLS flight test objectives, applicability of the F/A-18 as a platform for testing a launch vehicle control design, test cases designed to fully vet the AAC algorithm, flight test results, and conclusions regarding the functionality of AAC. The AAC algorithm developed at Marshall Space Flight Center is a forward loop gain multiplicative adaptive algorithm that modifies the total attitude control system gain in response to sensed model errors or undesirable parasitic mode resonances. The AAC algorithm provides the capability to improve or decrease performance by balancing attitude tracking with the mitigation of parasitic dynamics, such as control-structure interaction or servo-actuator limit cycles. In the case of the latter, if unmodeled or mismodeled parasitic dynamics are present that would otherwise result in a closed-loop instability or near instability, the adaptive controller decreases the total loop gain to reduce the interaction between these dynamics and the controller. This is in contrast to traditional adaptive control logic, which focuses on improving performance by increasing gain. The computationally simple AAC attitude control algorithm has stability properties that are reconcilable in the context of classical frequency-domain criteria (i.e., gain and phase margin). The algorithm assumes that the baseline attitude control design is well-tuned for a nominal trajectory and is designed to adapt only when necessary. Furthermore, the adaptation is attracted to the nominal design and adapts only on an as-needed basis (see Figure 1). The MSFC algorithm design was formulated during the Constellation Program and reached a high maturity level during SLS through simulation-based development and internal and external analytical review. The AAC algorithm design has three summary-level objectives: (1) "Do no harm;" return to baseline control design when not needed, (2) Increase performance; respond to error in ability of vehicle to track command, and (3) Regain stability; respond to undesirable control-structure interaction or other parasitic dynamics. AAC has been successfully implemented as part of the Space Launch System baseline design, including extensive testing in high-fidelity 6-DOF simulations the details of which are described in [1]. The Dryden Flight Research Center's F/A-18 Full-Scale Advanced Systems Testbed (FAST) platform is used to conduct an algorithm flight characterization experiment intended to fully vet the aforementioned design objectives. FAST was specifically designed with this type of test program in mind. The onboard flight control system has full-authority experiment control of ten aerodynamic effectors and two throttles. It has production and research sensor inputs and pilot engage/disengage and real-time configuration of up to eight different experiments on a single flight. It has failure detection and automatic reversion to fail-safe mode. The F/A-18 aircraft has an experiment envelope cleared for full-authority control and maneuvering and exhibits characteristics for robust recovery from unusual attitudes and configurations aided by the presence of a qualified test pilot. The F/A-18 aircraft has relatively high mass and inertia with exceptional performance; the F/A-18 also has a large thrust-to-weight ratio, owing to its military heritage. This enables the simulation of a portion of the ascent trajectory with a high degree of dynamic similarity to a launch vehicle, and the research flight control system can simulate unstable longitudinal dynamics. Parasitic dynamics such as slosh and bending modes, as well as atmospheric disturbances, are being produced by the airframe via modification of bending filters and the use of secondary control surfaces, including leading and trailing edge flaps, symmetric ailerons, and symmetric rudders. The platform also has the ability to inject signals in flight to simulate structural mode resonances or other challenging dynamics. This platform also offers more test maneuvers and longer maneuver times than a single rocket or missile test, which provides ample opportunity to fully and repeatedly exercise all aspects of the algorithm. Prior to testing on an F/A-18, AAC was the only component of the SLS autopilot design that had not been flight tested. The testing described in this paper raises the Technology Readiness Level (TRL) early in the SLS Program and is able to demonstrate its capabilities and robustness in a flight environment.

Presynaptic gain control by endogenous cotransmission of dopamine and GABA in the olfactory bulb.

PubMed

Vaaga, Christopher E; Yorgason, Jordan T; Williams, John T; Westbrook, Gary L

2017-03-01

In the olfactory bulb, lateral inhibition mediated by local juxtaglomerular interneurons has been proposed as a gain control mechanism, important for decorrelating odorant responses. Among juxtaglomerular interneurons, short axon cells are unique as dual-transmitter neurons that release dopamine and GABA. To examine their intraglomerular function, we expressed channelrhodopsin under control of the DAT-cre promoter and activated olfactory afferents within individual glomeruli. Optical stimulation of labeled cells triggered endogenous dopamine release as measured by cyclic voltammetry and GABA release as measured by whole cell GABA A receptor currents. Activation of short axon cells reduced the afferent presynaptic release probability via D 2 and GABA B receptor activation, resulting in reduced spiking in both mitral and external tufted cells. Our results suggest that short axon cells influence glomerular activity not only by direct inhibition of external tufted cells but also by inhibition of afferent inputs to external tufted and mitral cells. NEW & NOTEWORTHY Sensory systems, including the olfactory system, encode information across a large dynamic range, making synaptic mechanisms of gain control critical to proper function. Here we demonstrate that a dual-transmitter interneuron in the olfactory bulb controls the gain of intraglomerular afferent input via two distinct mechanisms, presynaptic inhibition as well as inhibition of a principal neuron subtype, and thereby potently controls the synaptic gain of afferent inputs. Copyright © 2017 the American Physiological Society.

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.

Modeling and Dynamic Analysis of Paralleled of dc/dc Converters with Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

Spacecraft stability and control using new techniques for periodic and time-delayed systems

NASA Astrophysics Data System (ADS)

NAzari, Morad

This dissertation addresses various problems in spacecraft stability and control using specialized theoretical and numerical techniques for time-periodic and time-delayed systems. First, the effects of energy dissipation are considered in the dual-spin spacecraft, where the damper masses in the platform (?) and the rotor (?) cause energy loss in the system. Floquet theory is employed to obtain stability charts for different relative spin rates of the subsystem [special characters omitted] with respect to the subsystem [special characters omitted]. Further, the stability and bifurcation of delayed feedback spin stabilization of a rigid spacecraft is investigated. The spin is stabilized about the principal axis of the intermediate moment of inertia using a simple delayed feedback control law. In particular, linear stability is analyzed via the exponential-polynomial characteristic equations and then the method of multiple scales is used to obtain the normal form of the Hopf bifurcation. Next, the dynamics of a rigid spacecraft with nonlinear delayed multi-actuator feedback control are studied, where a nonlinear feedback controller using an inverse dynamics approach is sought for the controlled system to have the desired linear delayed closed-loop dynamics (CLD). Later, three linear state feedback control strategies based on Chebyshev spectral collocation and the Lyapunov Floquet transformation (LFT) are explored for regulation control of linear periodic time delayed systems. First , a delayed feedback control law with discrete delay is implemented and the stability of the closed-loop response is investigated in the parameter space of available control gains using infinite-dimensional Floquet theory. Second, the delay differential equation (DDE) is discretized into a large set of ordinary differential equations (ODEs) using the Chebyshev spectral continuous time approximation (CSCTA) and delayed feedback with distributed delay is applied. The third strategy involves use of both CSCTA and the reduced Lyapunov Floquet transformation (RLFT) in order to design a non-delayed feedback control law. The delayed Mathieu equation is used as an illustrative example in which the closed-loop response and control effort are compared for all three control strategies. Finally, three example applications of control of time-periodic astrodynamic systems, i.e. formation flying control for an elliptic Keplerian chief orbit, body-fixed hovering control over a tumbling asteroid, and stationkeeping in Earth-Moon L1 halo orbits, are shown using versions of the control strategies introduced above. These applications employ a mixture of feedforward and non-delayed periodic-gain state feedback for tracking control of natural and non-natural motions in these systems. A major conclusion is that control effort is minimized by employing periodic-gain (rather than constant-gain) feedback control in such systems.

Effects of Retinal Eccentricity on Human Manual Control

NASA Technical Reports Server (NTRS)

Popovici, Alexandru; Zaal, Peter M. T.

2017-01-01

This study investigated the effects of viewing a primary flight display at different retinal eccentricities on human manual control behavior and performance. Ten participants performed a pitch tracking task while looking at a simplified primary flight display at different horizontal and vertical retinal eccentricities, and with two different controlled dynamics. Tracking performance declined at higher eccentricity angles and participants behaved more nonlinearly. The visual error rate gain increased with eccentricity for single-integrator-like controlled dynamics, but decreased for double-integrator-like dynamics. Participants' visual time delay was up to 100 ms higher at the highest horizontal eccentricity compared to foveal viewing. Overall, vertical eccentricity had a larger impact than horizontal eccentricity on most of the human manual control parameters and performance. Results might be useful in the design of displays and procedures for critical flight conditions such as in an aerodynamic stall.

Respiratory modulation of cardiovascular rhythms before and after short-duration human spaceflight.

PubMed

Verheyden, B; Beckers, F; Couckuyt, K; Liu, J; Aubert, A E

2007-12-01

Astronauts commonly return from space with altered short-term cardiovascular dynamics and blunted baroreflex sensitivity. Although many studies have addressed this issue, post-flight effects on the dynamic circulatory control remain incompletely understood. It is not clear how long the cardiovascular system needs to recover from spaceflight as most post-flight investigations only extended between a few days and 2 weeks. In this study, we examined the effect of short-duration spaceflight (1-2 weeks) on respiratory-mediated cardiovascular rhythms in five cosmonauts. Two paced-breathing protocols at 6 and 12 breaths min(-1) were performed in the standing and supine positions before spaceflight, and after 1 and 25 days upon return. Dynamic baroreflex function was evaluated by transfer function analysis between systolic pressure and the RR intervals. Post-flight orthostatic blood pressure control was preserved in all cosmonauts. In the standing position after spaceflight there was an increase in heart rate (HR) of approx. 20 beats min(-1) or more. Averaged for all five cosmonauts, respiratory sinus dysrhythmia and transfer gain reduced to 40% the day after landing, and had returned to pre-flight levels after 25 days. Low-frequency gain decreased from 6.6 (3.4) [mean (SD)] pre-flight to 3.9 (1.6) post-flight and returned to 5.7 (1.3) ms mmHg(-1) after 25 days upon return to Earth. Unlike alterations in the modulation of HR, blood pressure dynamics were not significantly different between pre- and post-flight sessions. Our results indicate that short-duration spaceflight reduces respiratory modulation of HR and decreases cardiac baroreflex gain without affecting post-flight arterial blood pressure dynamics. Altered respiratory modulation of human autonomic rhythms does not persist until 25 days upon return to Earth.

Flexible body stability analysis of Space Shuttle ascent flight control system by using lambda matrix solution techniques

NASA Technical Reports Server (NTRS)

Bown, R. L.; Christofferson, A.; Lardas, M.; Flanders, H.

1980-01-01

A lambda matrix solution technique is being developed to perform an open loop frequency analysis of a high order dynamic system. The procedure evaluates the right and left latent vectors corresponding to the respective latent roots. The latent vectors are used to evaluate the partial fraction expansion formulation required to compute the flexible body open loop feedback gains for the Space Shuttle Digital Ascent Flight Control System. The algorithm is in the final stages of development and will be used to insure that the feedback gains meet the design specification.

Design of a robust control law for the Vega launcher ballistic phase

NASA Astrophysics Data System (ADS)

Valli, Monica; Lavagna, Michèle R.; Panozzo, Thomas

2012-02-01

This work presents the design of a robust control law, and the related control system architecture, for the Vega launcher ballistic phase, taking into account the complete six degrees of freedom dynamics. To gain robustness a non-linear control approach has been preferred: more specifically the Lyapunov's second stability theorem has been exploited, being a very powerful tool to guarantee asymptotic stability of the controlled dynamics. The dynamics of Vega's actuators has also been taken into account. The system performance has been checked and analyzed by numerical simulations run on real mission data for different operational and configuration scenarios, and the effectiveness of the synthesized control highlighted: in particular scenarios including a wide range of composite's inertial configurations performing various typologies of maneuvers have been run. The robustness of the controlled dynamics has been validated by 100 cases Monte Carlo analysis campaign: the containment of the dispersion for the controlled variables - say the composite roll, yaw and pitch angles - confirmed the wide validity and generality of the proposed control law. This paper will show the theoretical approach and discuss the obtained results.

Increasing Linear Dynamic Range of a CMOS Image Sensor

NASA Technical Reports Server (NTRS)

Pain, Bedabrata

2007-01-01

A generic design and a corresponding operating sequence have been developed for increasing the linear-response dynamic range of a complementary metal oxide/semiconductor (CMOS) image sensor. The design provides for linear calibrated dual-gain pixels that operate at high gain at a low signal level and at low gain at a signal level above a preset threshold. Unlike most prior designs for increasing dynamic range of an image sensor, this design does not entail any increase in noise (including fixed-pattern noise), decrease in responsivity or linearity, or degradation of photometric calibration. The figure is a simplified schematic diagram showing the circuit of one pixel and pertinent parts of its column readout circuitry. The conventional part of the pixel circuit includes a photodiode having a small capacitance, CD. The unconventional part includes an additional larger capacitance, CL, that can be connected to the photodiode via a transfer gate controlled in part by a latch. In the high-gain mode, the signal labeled TSR in the figure is held low through the latch, which also helps to adapt the gain on a pixel-by-pixel basis. Light must be coupled to the pixel through a microlens or by back illumination in order to obtain a high effective fill factor; this is necessary to ensure high quantum efficiency, a loss of which would minimize the efficacy of the dynamic- range-enhancement scheme. Once the level of illumination of the pixel exceeds the threshold, TSR is turned on, causing the transfer gate to conduct, thereby adding CL to the pixel capacitance. The added capacitance reduces the conversion gain, and increases the pixel electron-handling capacity, thereby providing an extension of the dynamic range. By use of an array of comparators also at the bottom of the column, photocharge voltages on sampling capacitors in each column are compared with a reference voltage to determine whether it is necessary to switch from the high-gain to the low-gain mode. Depending upon the built-in offset in each pixel and in each comparator, the point at which the gain change occurs will be different, adding gain-dependent fixed pattern noise in each pixel. The offset, and hence the fixed pattern noise, is eliminated by sampling the pixel readout charge four times by use of four capacitors (instead of two such capacitors as in conventional design) connected to the bottom of the column via electronic switches SHS1, SHR1, SHS2, and SHR2, respectively, corresponding to high and low values of the signals TSR and RST. The samples are combined in an appropriate fashion to cancel offset-induced errors, and provide spurious-free imaging with extended dynamic range.

Adaptation without parameter change: Dynamic gain control in motion detection

PubMed Central

Borst, Alexander; Flanagin, Virginia L.; Sompolinsky, Haim

2005-01-01

Many sensory systems adapt their input-output relationship to changes in the statistics of the ambient stimulus. Such adaptive behavior has been measured in a motion detection sensitive neuron of the fly visual system, H1. The rapid adaptation of the velocity response gain has been interpreted as evidence of optimal matching of the H1 response to the dynamic range of the stimulus, thereby maximizing its information transmission. Here, we show that correlation-type motion detectors, which are commonly thought to underlie fly motion vision, intrinsically possess adaptive properties. Increasing the amplitude of the velocity fluctuations leads to a decrease of the effective gain and the time constant of the velocity response without any change in the parameters of these detectors. The seemingly complex property of this adaptation turns out to be a straightforward consequence of the multidimensionality of the stimulus and the nonlinear nature of the system. PMID:15833815

Collapse for the higher-order nonlinear Schrödinger equation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Achilleos, V.; Diamantidis, S.; Frantzeskakis, D. J.

We examine conditions for finite-time collapse of the solutions of the higher-order nonlinear Schr odinger (NLS) equation incorporating third-order dispersion, self-steepening, linear and nonlinear gain and loss, and Raman scattering; this is a system that appears in many physical contexts as a more realistic generalization of the integrable NLS. By using energy arguments, it is found that the collapse dynamics is chiefly controlled by the linear/nonlinear gain/loss strengths. We identify a critical value of the linear gain, separating the possible decay of solutions to the trivial zero-state, from collapse. The numerical simulations, performed for a wide class of initial data,more » are found to be in very good agreement with the analytical results, and reveal long-time stability properties of localized solutions. The role of the higher-order effects to the transient dynamics is also revealed in these simulations.« less

Collapse for the higher-order nonlinear Schrödinger equation

DOE PAGES

Achilleos, V.; Diamantidis, S.; Frantzeskakis, D. J.; ...

2016-02-01

We examine conditions for finite-time collapse of the solutions of the higher-order nonlinear Schr odinger (NLS) equation incorporating third-order dispersion, self-steepening, linear and nonlinear gain and loss, and Raman scattering; this is a system that appears in many physical contexts as a more realistic generalization of the integrable NLS. By using energy arguments, it is found that the collapse dynamics is chiefly controlled by the linear/nonlinear gain/loss strengths. We identify a critical value of the linear gain, separating the possible decay of solutions to the trivial zero-state, from collapse. The numerical simulations, performed for a wide class of initial data,more » are found to be in very good agreement with the analytical results, and reveal long-time stability properties of localized solutions. The role of the higher-order effects to the transient dynamics is also revealed in these simulations.« less

The dynamic response of visual accommodation over a seven-day period

NASA Technical Reports Server (NTRS)

Randle, R. J.; Murphy, M. R.

1974-01-01

Four college students, ranging in age from 18 to 21 years, were tested on their dynamic, monocular accommodation responses to a square wave stimulus and sine waves of two frequencies. The tests were conducted over a period of seven days in a controlled environment, each subject being tested once every three hours. Latency, magnitude, velocity, gain and phase lag of the responses were measured, and means and standard deviations were computed. The latency of response was stable throughout and agreed fairly well with previous studies. The response magnitude was relatively stable. Three of the subjects had higher velocities on receding targets; one was faster on approaching targets. The group mean velocity increased over the seven days of the study. In keeping with the trend to faster dynamics over the seven days, both gain and phase lag improved.

Transients control in Raman fiber amplifiers

NASA Astrophysics Data System (ADS)

Freitas, Marcio; Givigi, Sidney N., Jr.; Klein, Jackson; Calmon, Luiz C.; de Almeida, Ailson R.

2004-11-01

Raman fiber amplifiers (RFA) are being used in optical transmission communication systems in the recent years due to their advantages in comparison to erbium-doped fiber amplifiers (EDFA). Recently the analysis of RFAs dynamic response and transients control has become important in order to predict the system response to add/drop of channels or cable cuts in optical systems, and avoid impairments caused by the power transients. Fast signal power transients in the surviving channels are caused by the cross-gain saturation effect in RFA and the slope of the gain saturation characteristics determines the steady-state surviving channel power excursion. We are presenting the modeling and analysis of power transients and its control using a pump control method for a single and multi-pump scheme.

A class of optimum digital phase locked loops

NASA Technical Reports Server (NTRS)

Kumar, R.; Hurd, W. J.

1986-01-01

This paper presents a class of optimum digital filters for digital phase locked loops, for the important case in which the maximum update rate of the loop filter and numerically controlled oscillator (NCO) is limited. This case is typical when the loop filter is implemented in a microprocessor. In these situations, pure delay is encountered in the loop transfer function and thus the stability and gain margin of the loop are of crucial interest. The optimum filters designed for such situations are evaluated in terms of their gain margin for stability, dynamic error, and steady-state error performance. For situations involving considerably high phase dynamics an adaptive and programmable implementation is also proposed to obtain an overall optimum strategy.

Analysis and control of the dynamical response of a higher order drifting oscillator

PubMed Central

Páez Chávez, Joseph; Pavlovskaia, Ekaterina; Wiercigroch, Marian

2018-01-01

This paper studies a position feedback control strategy for controlling a higher order drifting oscillator which could be used in modelling vibro-impact drilling. Special attention is given to two control issues, eliminating bistability and suppressing chaos, which may cause inefficient and unstable drilling. Numerical continuation methods implemented via the continuation platform COCO are adopted to investigate the dynamical response of the system. Our analyses show that the proposed controller is capable of eliminating coexisting attractors and mitigating chaotic behaviour of the system, providing that its feedback control gain is chosen properly. Our investigations also reveal that, when the slider’s property modelling the drilled formation changes, the rate of penetration for the controlled drilling can be significantly improved. PMID:29507508

Analysis and control of the dynamical response of a higher order drifting oscillator

NASA Astrophysics Data System (ADS)

Liu, Yang; Páez Chávez, Joseph; Pavlovskaia, Ekaterina; Wiercigroch, Marian

2018-02-01

This paper studies a position feedback control strategy for controlling a higher order drifting oscillator which could be used in modelling vibro-impact drilling. Special attention is given to two control issues, eliminating bistability and suppressing chaos, which may cause inefficient and unstable drilling. Numerical continuation methods implemented via the continuation platform COCO are adopted to investigate the dynamical response of the system. Our analyses show that the proposed controller is capable of eliminating coexisting attractors and mitigating chaotic behaviour of the system, providing that its feedback control gain is chosen properly. Our investigations also reveal that, when the slider's property modelling the drilled formation changes, the rate of penetration for the controlled drilling can be significantly improved.

Adaptive Control for Microgravity Vibration Isolation System

NASA Technical Reports Server (NTRS)

Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S.

2005-01-01

Most active vibration isolation systems that try to a provide quiescent acceleration environment for space science experiments have utilized linear design methods. In this paper, we address adaptive control augmentation of an existing classical controller that employs a high-gain acceleration feedback together with a low-gain position feedback to center the isolated platform. The control design feature includes parametric and dynamic uncertainties because the hardware of the isolation system is built as a payload-level isolator, and the acceleration Sensor exhibits a significant bias. A neural network is incorporated to adaptively compensate for the system uncertainties, and a high-pass filter is introduced to mitigate the effect of the measurement bias. Simulations show that the adaptive control improves the performance of the existing acceleration controller and keep the level of the isolated platform deviation to that of the existing control system.

Linear parameter varying representations for nonlinear control design

NASA Astrophysics Data System (ADS)

Carter, Lance Huntington

Linear parameter varying (LPV) systems are investigated as a framework for gain-scheduled control design and optimal hybrid control. An LPV system is defined as a linear system whose dynamics depend upon an a priori unknown but measurable exogenous parameter. A gain-scheduled autopilot design is presented for a bank-to-turn (BTT) missile. The method is novel in that the gain-scheduled design does not involve linearizations about operating points. Instead, the missile dynamics are brought to LPV form via a state transformation. This idea is applied to the design of a coupled longitudinal/lateral BTT missile autopilot. The pitch and yaw/roll dynamics are separately transformed to LPV form, where the cross axis states are treated as "exogenous" parameters. These are actually endogenous variables, so such a plant is called "quasi-LPV." Once in quasi-LPV form, a family of robust controllers using mu synthesis is designed for both the pitch and yaw/roll channels, using angle-of-attack and roll rate as the scheduling variables. The closed-loop time response is simulated using the original nonlinear model and also using perturbed aerodynamic coefficients. Modeling and control of engine idle speed is investigated using LPV methods. It is shown how generalized discrete nonlinear systems may be transformed into quasi-LPV form. A discrete nonlinear engine model is developed and expressed in quasi-LPV form with engine speed as the scheduling variable. An example control design is presented using linear quadratic methods. Simulations are shown comparing the LPV based controller performance to that using PID control. LPV representations are also shown to provide a setting for hybrid systems. A hybrid system is characterized by control inputs consisting of both analog signals and discrete actions. A solution is derived for the optimal control of hybrid systems with generalized cost functions. This is shown to be computationally intensive, so a suboptimal strategy is proposed that neglects a subset of possible parameter trajectories. A computational algorithm is constructed for this suboptimal solution applied to a class of linear non-quadratic cost functions.

Smart monitoring system based on adaptive current control for superconducting cable test.

PubMed

Arpaia, Pasquale; Ballarino, Amalia; Daponte, Vincenzo; Montenero, Giuseppe; Svelto, Cesare

2014-12-01

A smart monitoring system for superconducting cable test is proposed with an adaptive current control of a superconducting transformer secondary. The design, based on Fuzzy Gain Scheduling, allows the controller parameters to adapt continuously, and finely, to the working variations arising from transformer nonlinear dynamics. The control system is integrated in a fully digital control loop, with all the related benefits, i.e., high noise rejection, ease of implementation/modification, and so on. In particular, an accurate model of the system, controlled by a Fuzzy Gain Scheduler of the superconducting transformer, was achieved by an experimental campaign through the working domain at several current ramp rates. The model performance was characterized by simulation, under all the main operating conditions, in order to guide the controller design. Finally, the proposed monitoring system was experimentally validated at European Organization for Nuclear Research (CERN) in comparison to the state-of-the-art control system [P. Arpaia, L. Bottura, G. Montenero, and S. Le Naour, "Performance improvement of a measurement station for superconducting cable test," Rev. Sci. Instrum. 83, 095111 (2012)] of the Facility for the Research on Superconducting Cables, achieving a significant performance improvement: a reduction in the system overshoot by 50%, with a related attenuation of the corresponding dynamic residual error (both absolute and RMS) up to 52%.

[Dynamic model of seasonal breeding rodent pest population controlled with short-acting sterilant].

PubMed

Liu, Han-wu; Jin, Zhen; Zhang, Feng-qin; Li, Qiu-ying

2013-04-01

Rodent pests bring great damage to human beings, while rodenticide and sterilant can be used to control the pests. After ingesting sterilant, rodent pests lose their fertility, but in some cases, the sterile individuals may gain their fertility again, produce offspring, and enlarge population size. In this paper, the dynamic models of rodent pest population under lethal control and shortacting contraception control were formulated, and, with the prerequisite of the seasonal breeding of rodent pest population, the models were used to regularly analyze their behaviors and the effects of the contraception rate, lethal rate, control interval, and sterilant valid period on the dynamics of the pest population. The results showed that larger contraception rate and lethal rate and shorter control interval could have better control effect, making the controlled population become smaller and even died out. Short-acting sterilant limited the control effect. At the later period of breeding season, the rodent pest population controlled with short-acting sterilant would have a weak recovery.

Robust non-fragile finite-frequency H∞ static output-feedback control for active suspension systems

NASA Astrophysics Data System (ADS)

Wang, Gang; Chen, Changzheng; Yu, Shenbo

2017-07-01

This paper deals with the problem of non-fragile H∞ static output-feedback control of vehicle active suspension systems with finite-frequency constraint. The control objective is to improve ride comfort within the given frequency range and ensure the hard constraints in the time-domain. Moreover, in order to enhance the robustness of the controller, the control gain perturbation is also considered in controller synthesis. Firstly, a new non-fragile H∞ finite-frequency control condition is established by using generalized Kalman-Yakubovich-Popov (GKYP) lemma. Secondly, the static output-feedback control gain is directly derived by using a non-iteration algorithm. Different from the existing iteration LMI results, the static output-feedback design is simple and less conservative. Finally, the proposed control algorithm is applied to a quarter-car active suspension model with actuator dynamics, numerical results are made to show the effectiveness and merits of the proposed method.

Control Augmented Structural Synthesis

NASA Technical Reports Server (NTRS)

Lust, Robert V.; Schmit, Lucien A.

1988-01-01

A methodology for control augmented structural synthesis is proposed for a class of structures which can be modeled as an assemblage of frame and/or truss elements. It is assumed that both the plant (structure) and the active control system dynamics can be adequately represented with a linear model. The structural sizing variables, active control system feedback gains and nonstructural lumped masses are treated simultaneously as independent design variables. Design constraints are imposed on static and dynamic displacements, static stresses, actuator forces and natural frequencies to ensure acceptable system behavior. Multiple static and dynamic loading conditions are considered. Side constraints imposed on the design variables protect against the generation of unrealizable designs. While the proposed approach is fundamentally more general, here the methodology is developed and demonstrated for the case where: (1) the dynamic loading is harmonic and thus the steady state response is of primary interest; (2) direct output feedback is used for the control system model; and (3) the actuators and sensors are collocated.

A saw-less direct conversion long term evolution receiver with 25% duty-cycle LO in 130 nm CMOS technology

NASA Astrophysics Data System (ADS)

Siyuan, He; Changhong, Zhang; Liang, Tao; Weifeng, Zhang; Longyue, Zeng; Wei, Lü; Haijun, Wu

2013-03-01

A CMOS long-term evolution (LTE) direct convert receiver that eliminates the interstage SAW filter is presented. The receiver consists of a low noise variable gain transconductance amplifier (TCA), a quadrature passive current commutating mixer with a 25% duty-cycle LO, a trans-impedance amplifier (TIA), a 7th-order Chebyshev filter and programmable gain amplifiers (PGAs). A wide dynamic gain range is allocated in the RF and analog parts. A current commutating passive mixer with a 25% duty-cycle LO improves gain, noise, and linearity. An LPF based on a Tow-Thomas biquad suppresses out-of-band interference. Fabricated in a 0.13 μm CMOS process, the receiver chain achieves a 107 dB maximum voltage gain, 2.7 dB DSB NF (from PAD port), -11 dBm IIP3, and > +65 dBm IIP2 after calibration, 96 dB dynamic control range with 1 dB steps, less than 2% error vector magnitude (EVM) from 2.3 to 2.7 GHz. The total receiver (total I Q path) draws 89 mA from a 1.2-V LDO on chip supply.

An Over 90 dB Intra-Scene Single-Exposure Dynamic Range CMOS Image Sensor Using a 3.0 μm Triple-Gain Pixel Fabricated in a Standard BSI Process.

PubMed

Takayanagi, Isao; Yoshimura, Norio; Mori, Kazuya; Matsuo, Shinichiro; Tanaka, Shunsuke; Abe, Hirofumi; Yasuda, Naoto; Ishikawa, Kenichiro; Okura, Shunsuke; Ohsawa, Shinji; Otaka, Toshinori

2018-01-12

To respond to the high demand for high dynamic range imaging suitable for moving objects with few artifacts, we have developed a single-exposure dynamic range image sensor by introducing a triple-gain pixel and a low noise dual-gain readout circuit. The developed 3 μm pixel is capable of having three conversion gains. Introducing a new split-pinned photodiode structure, linear full well reaches 40 ke - . Readout noise under the highest pixel gain condition is 1 e - with a low noise readout circuit. Merging two signals, one with high pixel gain and high analog gain, and the other with low pixel gain and low analog gain, a single exposure dynamic rage (SEHDR) signal is obtained. Using this technology, a 1/2.7", 2M-pixel CMOS image sensor has been developed and characterized. The image sensor also employs an on-chip linearization function, yielding a 16-bit linear signal at 60 fps, and an intra-scene dynamic range of higher than 90 dB was successfully demonstrated. This SEHDR approach inherently mitigates the artifacts from moving objects or time-varying light sources that can appear in the multiple exposure high dynamic range (MEHDR) approach.

An Over 90 dB Intra-Scene Single-Exposure Dynamic Range CMOS Image Sensor Using a 3.0 μm Triple-Gain Pixel Fabricated in a Standard BSI Process †

PubMed Central

Takayanagi, Isao; Yoshimura, Norio; Mori, Kazuya; Matsuo, Shinichiro; Tanaka, Shunsuke; Abe, Hirofumi; Yasuda, Naoto; Ishikawa, Kenichiro; Okura, Shunsuke; Ohsawa, Shinji; Otaka, Toshinori

2018-01-01

To respond to the high demand for high dynamic range imaging suitable for moving objects with few artifacts, we have developed a single-exposure dynamic range image sensor by introducing a triple-gain pixel and a low noise dual-gain readout circuit. The developed 3 μm pixel is capable of having three conversion gains. Introducing a new split-pinned photodiode structure, linear full well reaches 40 ke−. Readout noise under the highest pixel gain condition is 1 e− with a low noise readout circuit. Merging two signals, one with high pixel gain and high analog gain, and the other with low pixel gain and low analog gain, a single exposure dynamic rage (SEHDR) signal is obtained. Using this technology, a 1/2.7”, 2M-pixel CMOS image sensor has been developed and characterized. The image sensor also employs an on-chip linearization function, yielding a 16-bit linear signal at 60 fps, and an intra-scene dynamic range of higher than 90 dB was successfully demonstrated. This SEHDR approach inherently mitigates the artifacts from moving objects or time-varying light sources that can appear in the multiple exposure high dynamic range (MEHDR) approach. PMID:29329210

A low-noise wide-dynamic-range event-driven detector using SOI pixel technology for high-energy particle imaging

NASA Astrophysics Data System (ADS)

Shrestha, Sumeet; Kamehama, Hiroki; Kawahito, Shoji; Yasutomi, Keita; Kagawa, Keiichiro; Takeda, Ayaki; Tsuru, Takeshi Go; Arai, Yasuo

2015-08-01

This paper presents a low-noise wide-dynamic-range pixel design for a high-energy particle detector in astronomical applications. A silicon on insulator (SOI) based detector is used for the detection of wide energy range of high energy particles (mainly for X-ray). The sensor has a thin layer of SOI CMOS readout circuitry and a thick layer of high-resistivity detector vertically stacked in a single chip. Pixel circuits are divided into two parts; signal sensing circuit and event detection circuit. The event detection circuit consisting of a comparator and logic circuits which detect the incidence of high energy particle categorizes the incident photon it into two energy groups using an appropriate energy threshold and generate a two-bit code for an event and energy level. The code for energy level is then used for selection of the gain of the in-pixel amplifier for the detected signal, providing a function of high-dynamic-range signal measurement. The two-bit code for the event and energy level is scanned in the event scanning block and the signals from the hit pixels only are read out. The variable-gain in-pixel amplifier uses a continuous integrator and integration-time control for the variable gain. The proposed design allows the small signal detection and wide dynamic range due to the adaptive gain technique and capability of correlated double sampling (CDS) technique of kTC noise canceling of the charge detector.

Vertical Tail Buffeting Alleviation Using Piezoelectric Actuators: Some Results of the Actively Controlled Response of Buffet-Affected Tails (ACROBAT) Program

NASA Technical Reports Server (NTRS)

Moses, Robert W.

1997-01-01

A 1/6-scale F-18 wind-tunnel model was tested in the Transonic Dynamics Tunnel at the NASA Langley Research Center as part of the Actively Controlled Response Of Buffet Affected Tails (ACROBAT) program to assess the use of active controls in reducing vertical tail buffeting. The starboard vertical tail was equipped with an active rudder and the port vertical tail was equipped with piezoelectric actuators. The tunnel conditions were atmospheric air at a dynamic pressure of 14 psf. By using single-input-single-output control laws at gains well below the physical limits of the actuators, the power spectral density of the root strains at the frequency of the first bending mode of the vertical tail was reduced by as much as 60 percent up to angles of attack of 37 degrees. Root mean square (RMS) values of root strain were reduced by as much as 19 percent. Buffeting alleviation results when using the rudder are presented for comparison. Stability margins indicate that a constant gain setting in the control law may be used throughout the range of angle of attack tested.

Decentralized coordinated control of elastic web winding systems without tension sensor.

PubMed

Hou, Hailiang; Nian, Xiaohong; Chen, Jie; Xiao, Dengfeng

2018-06-26

In elastic web winding systems, precise regulation of web tension in each span is critical to ensure final product quality, and to achieve low cost by reducing the occurrence of web break or fold. Generally, web winding systems use load cells or swing rolls as tension sensors, which add cost, reduce system reliability and increase the difficulty of control. In this paper, a decentralized coordinated control scheme with tension observers is designed for a three-motor web-winding system. First, two tension observers are proposed to estimate the unwinding and winding tension. The designed observers consider the essential dynamic, radius, and inertial variation effects and only require the modest computational effort. Then, using the estimated tensions as feedback signals, a robust decentralized coordinated controller is adopted to reduce the interaction between subsystems. Asymptotic stabilities of the observer error dynamics and the closed-loop winding systems are demonstrated via Lyapunov stability theory. The observer gains and the controller gains can be obtained by solving matrix inequalities. Finally, some simulations and experiments are performed on a paper winding setup to test the performance of the designed observers and the observer-base DCC method, respectively. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Design and control of a vertical takeoff and landing fixed-wing unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Malang, Yasir

With the goal of extending capabilities of multi-rotor unmanned aerial vehicles (UAVs) for wetland conservation missions, a novel hybrid aircraft design consisting of four tilting rotors and a fixed wing is designed and built. The tilting rotors and nonlinear aerodynamic effects introduce a control challenge for autonomous flight, and the research focus is to develop and validate an autonomous transition flight controller. The overall controller structure consists of separate cascaded Proportional Integral Derivative (PID) controllers whose gains are scheduled according to the rotors' tilt angle. A control mechanism effectiveness factor is used to mix the multi-rotor and fixed-wing control actuators during transition. A nonlinear flight dynamics model is created and transition stability is shown through MATLAB simulations, which proves gain-scheduled control is a good fit for tilt-rotor aircraft. Experiments carried out using the prototype UAV validate simulation results for VTOL and tilted-rotor flight.

Adaptive NN control for discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints.

PubMed

Chen, Weisheng

2009-07-01

This paper focuses on the problem of adaptive neural network tracking control for a class of discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints. Two novel state-feedback and output-feedback dynamic control laws are established where the function tanh(.) is employed to solve the saturation constraint problem. Implicit function theorem and mean value theorem are exploited to deal with non-affine variables that are used as actual control. Radial basis function neural networks are used to approximate the desired input function. Discrete Nussbaum gain is used to estimate the unknown sign of control gain. The uniform boundedness of all closed-loop signals is guaranteed. The tracking error is proved to converge to a small residual set around the origin. A simulation example is provided to illustrate the effectiveness of control schemes proposed in this paper.

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

Sum-of-Squares-Based Region of Attraction Analysis for Gain-Scheduled Three-Loop Autopilot

NASA Astrophysics Data System (ADS)

Seo, Min-Won; Kwon, Hyuck-Hoon; Choi, Han-Lim

2018-04-01

A conventional method of designing a missile autopilot is to linearize the original nonlinear dynamics at several trim points, then to determine linear controllers for each linearized model, and finally implement gain-scheduling technique. The validation of such a controller is often based on linear system analysis for the linear closed-loop system at the trim conditions. Although this type of gain-scheduled linear autopilot works well in practice, validation based solely on linear analysis may not be sufficient to fully characterize the closed-loop system especially when the aerodynamic coefficients exhibit substantial nonlinearity with respect to the flight condition. The purpose of this paper is to present a methodology for analyzing the stability of a gain-scheduled controller in a setting close to the original nonlinear setting. The method is based on sum-of-squares (SOS) optimization that can be used to characterize the region of attraction of a polynomial system by solving convex optimization problems. The applicability of the proposed SOS-based methodology is verified on a short-period autopilot of a skid-to-turn missile.

Decentralized adaptive control of robot manipulators with robust stabilization design

NASA Technical Reports Server (NTRS)

Yuan, Bau-San; Book, Wayne J.

1988-01-01

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Adaptive Fuzzy Control for Nonstrict Feedback Systems With Unmodeled Dynamics and Fuzzy Dead Zone via Output Feedback.

PubMed

Wang, Lijie; Li, Hongyi; Zhou, Qi; Lu, Renquan

2017-09-01

This paper investigates the problem of observer-based adaptive fuzzy control for a category of nonstrict feedback systems subject to both unmodeled dynamics and fuzzy dead zone. Through constructing a fuzzy state observer and introducing a center of gravity method, unmeasurable states are estimated and the fuzzy dead zone is defuzzified, respectively. By employing fuzzy logic systems to identify the unknown functions. And combining small-gain approach with adaptive backstepping control technique, a novel adaptive fuzzy output feedback control strategy is developed, which ensures that all signals involved are semi-globally uniformly bounded. Simulation results are given to demonstrate the effectiveness of the presented method.

Three parameters optimizing closed-loop control in sequential segmental neuromuscular stimulation.

PubMed

Zonnevijlle, E D; Somia, N N; Perez Abadia, G; Stremel, R W; Maldonado, C J; Werker, P M; Kon, M; Barker, J H

1999-05-01

In conventional dynamic myoplasties, the force generation is poorly controlled. This causes unnecessary fatigue of the transposed/transplanted electrically stimulated muscles and causes damage to the involved tissues. We introduced sequential segmental neuromuscular stimulation (SSNS) to reduce muscle fatigue by allowing part of the muscle to rest periodically while the other parts work. Despite this improvement, we hypothesize that fatigue could be further reduced in some applications of dynamic myoplasty if the muscles were made to contract according to need. The first necessary step is to gain appropriate control over the contractile activity of the dynamic myoplasty. Therefore, closed-loop control was tested on a sequentially stimulated neosphincter to strive for the best possible control over the amount of generated pressure. A selection of parameters was validated for optimizing control. We concluded that the frequency of corrections, the threshold for corrections, and the transition time are meaningful parameters in the controlling algorithm of the closed-loop control in a sequentially stimulated myoplasty.

Nonlinear dynamic analysis and robust controller design for Francis hydraulic turbine regulating system with a straight-tube surge tank

NASA Astrophysics Data System (ADS)

Liang, Ji; Yuan, Xiaohui; Yuan, Yanbin; Chen, Zhihuan; Li, Yuanzheng

2017-02-01

The safety and stability of hydraulic turbine regulating system (HTRS) in hydropower plants become increasingly important since the rapid development and the broad application of hydro energy technology. In this paper, a novel mathematical model of Francis hydraulic turbine regulating system with a straight-tube surge tank based on a few state-space equations is introduced to study the dynamic behaviors of the HTRS system, where the existence of possible unstable oscillations of this model is studied extensively and presented in the forms of the bifurcation diagram, time waveform plot, phase trajectories, and power spectrum. To eliminate these undesirable behaviors, a specified fuzzy sliding mode controller is designed. In this hybrid controller, the sliding mode control law makes full use of the proposed model to guarantee the robust control in the presence of system uncertainties, while the fuzzy system is applied to approximate the proper gains of the switching control in sliding mode technique to reduce the chattering effect, and particle swarm optimization is developed to search the optimal gains of the controller. Numerical simulations are presented to verify the effectiveness of the designed controller, and the results show that the performances of the nonlinear HTRS system assisted with the proposed controller is much better than that with the commonly used optimal PID controller.

Ares I Flight Control System Design

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedrossian, Nazareth; Hall, Charles; Ryan, Stephen; Jackson, Mark

2010-01-01

The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.

The development of optimal control laws for orbiting tethered platform systems

NASA Technical Reports Server (NTRS)

Bainum, P. M.; Woodard, S.; Juang, J.-N.

1986-01-01

A mathematical model of the open and closed loop in-orbit plane dynamics of a space platform-tethered-subsatellite system is developed. The system consists of a rigid platform from which an (assumed massless) tether is deploying (retrieving) a subsatellite from an attachment point which is, in general, offset from the platform's mass center. A Lagrangian formulation yields equations describing platform pitch, subsatellite tether-line swing, and varying tether length motions. These equations are linearized about the nominal station keeping motion. Control can be provided by both modulation of the tether tension level and by a momentum type platform-mounted device; system controllability depends on the presence of both control inputs. Stability criteria are developed in terms of the control law gains, the platform inertia ratio, and tether offset parameter. Control law gains are obtained based on linear quadratic regulator techniques. Typical transient responses of both the state and required control effort are presented.

The development of optimal control laws for orbiting tethered platform systems

NASA Technical Reports Server (NTRS)

Bainum, P. M.

1986-01-01

A mathematical model of the open and closed loop in orbit plane dynamics of a space platform-tethered-subsatellite system is developed. The system consists of a rigid platform from which an (assumed massless) tether is deploying (retrieving) a subsatellite from an attachment point which is, in general, offset from the platform's mass center. A Langrangian formulation yields equations describing platform pitch, subsatellite tetherline swing, and varying tether length motions. These equations are linearized about the nominal station keeping motion. Control can be provided by both modulation of the tether tension level and by a momentum type platform-mounted device; system controllability depends on the presence of both control inputs. Stability criteria are developed in terms of the control law gains, the platform inertia ratio, and tether offset parameter. Control law gains are obtained based on linear quadratic regulator techniques. Typical transient responses of both the state and required control effort are presented.

The experimental results of a self tuning adaptive controller using online frequency identification. [for Galileo spacecraft

NASA Technical Reports Server (NTRS)

Chiang, W.-W.; Cannon, R. H., Jr.

1985-01-01

A fourth-order laboratory dynamic system featuring very low structural damping and a noncolocated actuator-sensor pair has been used to test a novel real-time adaptive controller, implemented in a minicomputer, which consists of a state estimator, a set of state feedback gains, and a frequency-locked loop for real-time parameter identification. The adaptation algorithm employed can correct controller error and stabilize the system for more than 50 percent variation in the plant's natural frequency, compared with a 10 percent stability margin in frequency variation for a fixed gain controller having the same performance as the nominal plant condition. The very rapid convergence achievable by this adaptive system is demonstrated experimentally, and proven with simple, root-locus methods.

Polarization mode control of long-wavelength VCSELs by intracavity patterning

DOE PAGES

Long, Christopher Michael; Mickovic, Zlatko; Dwir, Benjamin; ...

2016-04-26

Polarization mode control is enhanced in wafer-fused vertical-cavity surface-emitting lasers emitting at 1310 nm wavelength by etching two symmetrically arranged arcs above the gain structure within the laser cavity. The intracavity patterning introduces birefringence and dichroism, which discriminates between the two polarization states of the fundamental transverse modes. We find that the cavity modifications define the polarization angle at threshold with respect to the crystal axes, and increase the gain anisotropy and birefringence on average, leading to an increase in the polarization switching current. As a result, experimental measurements are explained using the spin-flip model of VCSEL polarization dynamics.

Solution to automatic generation control problem using firefly algorithm optimized I(λ)D(µ) controller.

PubMed

Debbarma, Sanjoy; Saikia, Lalit Chandra; Sinha, Nidul

2014-03-01

Present work focused on automatic generation control (AGC) of a three unequal area thermal systems considering reheat turbines and appropriate generation rate constraints (GRC). A fractional order (FO) controller named as I(λ)D(µ) controller based on crone approximation is proposed for the first time as an appropriate technique to solve the multi-area AGC problem in power systems. A recently developed metaheuristic algorithm known as firefly algorithm (FA) is used for the simultaneous optimization of the gains and other parameters such as order of integrator (λ) and differentiator (μ) of I(λ)D(µ) controller and governor speed regulation parameters (R). The dynamic responses corresponding to optimized I(λ)D(µ) controller gains, λ, μ, and R are compared with that of classical integer order (IO) controllers such as I, PI and PID controllers. Simulation results show that the proposed I(λ)D(µ) controller provides more improved dynamic responses and outperforms the IO based classical controllers. Further, sensitivity analysis confirms the robustness of the so optimized I(λ)D(µ) controller to wide changes in system loading conditions and size and position of SLP. Proposed controller is also found to have performed well as compared to IO based controllers when SLP takes place simultaneously in any two areas or all the areas. Robustness of the proposed I(λ)D(µ) controller is also tested against system parameter variations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Resilience and Controllability of Dynamic Collective Behaviors

PubMed Central

Komareji, Mohammad; Bouffanais, Roland

2013-01-01

The network paradigm is used to gain insight into the structural root causes of the resilience of consensus in dynamic collective behaviors, and to analyze the controllability of the swarm dynamics. Here we devise the dynamic signaling network which is the information transfer channel underpinning the swarm dynamics of the directed interagent connectivity based on a topological neighborhood of interactions. The study of the connectedness of the swarm signaling network reveals the profound relationship between group size and number of interacting neighbors, which is found to be in good agreement with field observations on flock of starlings [Ballerini et al. (2008) Proc. Natl. Acad. Sci. USA, 105: 1232]. Using a dynamical model, we generate dynamic collective behaviors enabling us to uncover that the swarm signaling network is a homogeneous clustered small-world network, thus facilitating emergent outcomes if connectedness is maintained. Resilience of the emergent consensus is tested by introducing exogenous environmental noise, which ultimately stresses how deeply intertwined are the swarm dynamics in the physical and network spaces. The availability of the signaling network allows us to analytically establish for the first time the number of driver agents necessary to fully control the swarm dynamics. PMID:24358209

40 CFR 204.54 - Test procedures.

Code of Federal Regulations, 2011 CFR

2011-07-01

... frequency response calibration and an attenuator (gain control) calibration plus a measurement of dynamic... 40 Protection of Environment 25 2011-07-01 2011-07-01 false Test procedures. 204.54 Section 204.54 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) NOISE ABATEMENT PROGRAMS NOISE EMISSION...

Performance evaluation of a burst-mode EDFA in an optical packet and circuit integrated network.

PubMed

Shiraiwa, Masaki; Awaji, Yoshinari; Furukawa, Hideaki; Shinada, Satoshi; Puttnam, Benjamin J; Wada, Naoya

2013-12-30

We experimentally investigate the performance of burst-mode EDFA in an optical packet and circuit integrated system. In such networks, packets and light paths can be dynamically assigned to the same fibers, resulting in gain transients in EDFAs throughout the network that can limit network performance. Here, we compare the performance of a 'burst-mode' EDFA (BM-EDFA), employing transient suppression techniques and optical feedback, with conventional EDFAs, and those using automatic gain control and previous BM-EDFA implementations. We first measure gain transients and other impairments in a simplified set-up before making frame error-rate measurements in a network demonstration.

Dynamic regulation of heart rate during acute hypotension: new insight into baroreflex function

NASA Technical Reports Server (NTRS)

Zhang, R.; Behbehani, K.; Crandall, C. G.; Zuckerman, J. H.; Levine, B. D.; Blomqvist, C. G. (Principal Investigator)

2001-01-01

To examine the dynamic properties of baroreflex function, we measured beat-to-beat changes in arterial blood pressure (ABP) and heart rate (HR) during acute hypotension induced by thigh cuff deflation in 10 healthy subjects under supine resting conditions and during progressive lower body negative pressure (LBNP). The quantitative, temporal relationship between ABP and HR was fitted by a second-order autoregressive (AR) model. The frequency response was evaluated by transfer function analysis. Results: HR changes during acute hypotension appear to be controlled by an ABP error signal between baseline and induced hypotension. The quantitative relationship between changes in ABP and HR is characterized by a second-order AR model with a pure time delay of 0.75 s containing low-pass filter properties. During LBNP, the change in HR/change in ABP during induced hypotension significantly decreased, as did the numerator coefficients of the AR model and transfer function gain. Conclusions: 1) Beat-to-beat HR responses to dynamic changes in ABP may be controlled by an error signal rather than directional changes in pressure, suggesting a "set point" mechanism in short-term ABP control. 2) The quantitative relationship between dynamic changes in ABP and HR can be described by a second-order AR model with a pure time delay. 3) The ability of the baroreflex to evoke a HR response to transient changes in pressure was reduced during LBNP, which was due primarily to a reduction of the static gain of the baroreflex.

Feedback control policies employed by people using intracortical brain-computer interfaces.

PubMed

Willett, Francis R; Pandarinath, Chethan; Jarosiewicz, Beata; Murphy, Brian A; Memberg, William D; Blabe, Christine H; Saab, Jad; Walter, Benjamin L; Sweet, Jennifer A; Miller, Jonathan P; Henderson, Jaimie M; Shenoy, Krishna V; Simeral, John D; Hochberg, Leigh R; Kirsch, Robert F; Ajiboye, A Bolu

2017-02-01

When using an intracortical BCI (iBCI), users modulate their neural population activity to move an effector towards a target, stop accurately, and correct for movement errors. We call the rules that govern this modulation a 'feedback control policy'. A better understanding of these policies may inform the design of higher-performing neural decoders. We studied how three participants in the BrainGate2 pilot clinical trial used an iBCI to control a cursor in a 2D target acquisition task. Participants used a velocity decoder with exponential smoothing dynamics. Through offline analyses, we characterized the users' feedback control policies by modeling their neural activity as a function of cursor state and target position. We also tested whether users could adapt their policy to different decoder dynamics by varying the gain (speed scaling) and temporal smoothing parameters of the iBCI. We demonstrate that control policy assumptions made in previous studies do not fully describe the policies of our participants. To account for these discrepancies, we propose a new model that captures (1) how the user's neural population activity gradually declines as the cursor approaches the target from afar, then decreases more sharply as the cursor comes into contact with the target, (2) how the user makes constant feedback corrections even when the cursor is on top of the target, and (3) how the user actively accounts for the cursor's current velocity to avoid overshooting the target. Further, we show that users can adapt their control policy to decoder dynamics by attenuating neural modulation when the cursor gain is high and by damping the cursor velocity more strongly when the smoothing dynamics are high. Our control policy model may help to build better decoders, understand how neural activity varies during active iBCI control, and produce better simulations of closed-loop iBCI movements.

Feedback control policies employed by people using intracortical brain-computer interfaces

NASA Astrophysics Data System (ADS)

Willett, Francis R.; Pandarinath, Chethan; Jarosiewicz, Beata; Murphy, Brian A.; Memberg, William D.; Blabe, Christine H.; Saab, Jad; Walter, Benjamin L.; Sweet, Jennifer A.; Miller, Jonathan P.; Henderson, Jaimie M.; Shenoy, Krishna V.; Simeral, John D.; Hochberg, Leigh R.; Kirsch, Robert F.; Bolu Ajiboye, A.

2017-02-01

Objective. When using an intracortical BCI (iBCI), users modulate their neural population activity to move an effector towards a target, stop accurately, and correct for movement errors. We call the rules that govern this modulation a ‘feedback control policy’. A better understanding of these policies may inform the design of higher-performing neural decoders. Approach. We studied how three participants in the BrainGate2 pilot clinical trial used an iBCI to control a cursor in a 2D target acquisition task. Participants used a velocity decoder with exponential smoothing dynamics. Through offline analyses, we characterized the users’ feedback control policies by modeling their neural activity as a function of cursor state and target position. We also tested whether users could adapt their policy to different decoder dynamics by varying the gain (speed scaling) and temporal smoothing parameters of the iBCI. Main results. We demonstrate that control policy assumptions made in previous studies do not fully describe the policies of our participants. To account for these discrepancies, we propose a new model that captures (1) how the user’s neural population activity gradually declines as the cursor approaches the target from afar, then decreases more sharply as the cursor comes into contact with the target, (2) how the user makes constant feedback corrections even when the cursor is on top of the target, and (3) how the user actively accounts for the cursor’s current velocity to avoid overshooting the target. Further, we show that users can adapt their control policy to decoder dynamics by attenuating neural modulation when the cursor gain is high and by damping the cursor velocity more strongly when the smoothing dynamics are high. Significance. Our control policy model may help to build better decoders, understand how neural activity varies during active iBCI control, and produce better simulations of closed-loop iBCI movements.

Interaural Level Difference Dependent Gain Control and Synaptic Scaling Underlying Binaural Computation

PubMed Central

Xiong, Xiaorui R.; Liang, Feixue; Li, Haifu; Mesik, Lukas; Zhang, Ke K.; Polley, Daniel B.; Tao, Huizhong W.; Xiao, Zhongju; Zhang, Li I.

2013-01-01

Binaural integration in the central nucleus of inferior colliculus (ICC) plays a critical role in sound localization. However, its arithmetic nature and underlying synaptic mechanisms remain unclear. Here, we showed in mouse ICC neurons that the contralateral dominance is created by a “push-pull”-like mechanism, with contralaterally dominant excitation and more bilaterally balanced inhibition. Importantly, binaural spiking response is generated apparently from an ipsilaterally-mediated scaling of contralateral response, leaving frequency tuning unchanged. This scaling effect is attributed to a divisive attenuation of contralaterally-evoked synaptic excitation onto ICC neurons with their inhibition largely unaffected. Thus, a gain control mediates the linear transformation from monaural to binaural spike responses. The gain value is modulated by interaural level difference (ILD) primarily through scaling excitation to different levels. The ILD-dependent synaptic scaling and gain adjustment allow ICC neurons to dynamically encode interaural sound localization cues while maintaining an invariant representation of other independent sound attributes. PMID:23972599

IMAGES: A digital computer program for interactive modal analysis and gain estimation for eigensystem synthesis

NASA Technical Reports Server (NTRS)

Jones, R. L.

1984-01-01

An interactive digital computer program for modal analysis and gain estimation for eigensystem synthesis was written. Both mathematical and operation considerations are described; however, the mathematical presentation is limited to those concepts essential to the operational capability of the program. The program is capable of both modal and spectral synthesis of multi-input control systems. It is user friendly, has scratchpad capability and dynamic memory, and can be used to design either state or output feedback systems.

Numerical study on the selective excitation of Helmholtz-Gauss beams in end-pumped solid-state digital lasers with the control of the laser gain transverse position provided by off-axis end pumping

NASA Astrophysics Data System (ADS)

Tsai, Ko-Fan; Chu, Shu-Chun

2018-03-01

This study proposes a complete and unified method for selective excitation of any specified nearly nondiffracting Helmholtz-Gauss (HzG) beam in end-pumped solid-state digital lasers. Four types of the HzG beams: cosine-Gauss beams, Bessel-Gauss beams, Mathieu-Gauss beams, and, in particular, parabolic-Gauss beams are successfully demonstrated to be generated with the proposed methods. To the best of the authors’ knowledge, parabolic-Gauss beams have not yet been directly generated from any kind of laser system. The numerical results of this study show that one can successfully achieve any lasing HzG beams directly from the solid-state digital lasers with only added control of the laser gain transverse position provided by off-axis end pumping. This study also presents a practical digital laser set-up for easily manipulating off-axis pumping in order to achieve the control of the laser gain transverse gain position in digital lasers. The reported results in this study provide advancement of digital lasers in dynamically generating nondiffracting beams. The control of the digital laser cavity gain position creates the possibility of achieving real-time selection of more laser modes in digital lasers, and it is worth further investigation in the future.

Optimal Control Modification Adaptive Law for Time-Scale Separated Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2010-01-01

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Optimal Control Modification for Time-Scale Separated Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Application of Bounded Linear Stability Analysis Method for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics-driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a second order system that represents a pitch attitude control of a generic transport aircraft. The analysis shows that the system with the metrics-conforming variable adaptive gain becomes more robust to unmodeled dynamics or time delay. The effect of analysis time-window for BLSA is also evaluated in order to meet the stability margin criteria.

Study of the fractional order proportional integral controller for the permanent magnet synchronous motor based on the differential evolution algorithm.

PubMed

Zheng, Weijia; Pi, Youguo

2016-07-01

A tuning method of the fractional order proportional integral speed controller for a permanent magnet synchronous motor is proposed in this paper. Taking the combination of the integral of time and absolute error and the phase margin as the optimization index, the robustness specification as the constraint condition, the differential evolution algorithm is applied to search the optimal controller parameters. The dynamic response performance and robustness of the obtained optimal controller are verified by motor speed-tracking experiments on the motor speed control platform. Experimental results show that the proposed tuning method can enable the obtained control system to achieve both the optimal dynamic response performance and the robustness to gain variations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Static and Dynamic Characteristics of DC-DC Converter Using a Digital Filter

NASA Astrophysics Data System (ADS)

Kurokawa, Fujio; Okamatsu, Masashi

This paper presents the regulation and dynamic characteristics of the dc-dc converter with digital PID control, the minimum phase FIR filter or the IIR filter, and then the design criterion to improve the dynamic characteristics is discussed. As a result, it is clarified that the DC-DC converter using the IIR filter method has superior performance characteristics. The regulation range is within 1.3%, the undershoot against the step change of the load is less than 2% and the transient time is less than 0.4ms with the IIR filter method. In this case, the switching frequency is 100kHz and the step change of the load R is from 50 Ω to 10 Ω. Further, the superior characteristics are obtained when the first gain, the second gain and the second cut-off frequency are relatively large, and the first cut-off frequency and the passing frequency are relatively low. Moreover, it is important that the gain strongly decreases at the second cut-off frequency because the upper band pass frequency range must be always less than half of the sampling frequency based on the sampling theory.

Robust Control Algorithm for a Two Cart System and an Inverted Pendulum

NASA Technical Reports Server (NTRS)

Wilson, Chris L.; Capo-Lugo, Pedro

2011-01-01

The Rectilinear Control System can be used to simulate a launch vehicle during liftoff. Several control schemes have been developed that can control different dynamic models of the rectilinear plant. A robust control algorithm was developed that can control a pendulum to maintain an inverted position. A fluid slosh tank will be attached to the pendulum in order to test robustness in the presence of unknown slosh characteristics. The rectilinear plant consists of a DC motor and three carts mounted in series. Each cart s weight can be adjusted with brass masses and the carts can be coupled with springs. The pendulum is mounted on the first cart and an adjustable air damper can be attached to the third cart if desired. Each cart and the pendulum have a quadrature encoder to determine position. Full state feedback was implemented in order to develop the control algorithm along with a state estimator to determine the velocity states of the system. A MATLAB program was used to convert the state space matrices from continuous time to discrete time. This program also used a desired phase margin and damping ratio to determine the feedback gain matrix that would be used in the LabVIEW program. This experiment will allow engineers to gain a better understanding of liquid propellant slosh dynamics, therefore enabling them to develop more robust control algorithms for launch vehicle systems

Dynamic Task Assignment of Autonomous Distributed AGV in an Intelligent FMS Environment

NASA Astrophysics Data System (ADS)

Fauadi, Muhammad Hafidz Fazli Bin Md; Lin, Hao Wen; Murata, Tomohiro

The need of implementing distributed system is growing significantly as it is proven to be effective for organization to be flexible against a highly demanding market. Nevertheless, there are still large technical gaps need to be addressed to gain significant achievement. We propose a distributed architecture to control Automated Guided Vehicle (AGV) operation based on multi-agent architecture. System architectures and agents' functions have been designed to support distributed control of AGV. Furthermore, enhanced agent communication protocol has been configured to accommodate dynamic attributes of AGV task assignment procedure. Result proved that the technique successfully provides a better solution.

A Presynaptic Gain Control Mechanism Fine-Tunes Olfactory Behavior

PubMed Central

Root, Cory M.; Masuyama, Kaoru; Green, David S.; Enell, Lina E.; Nässel, Dick R.; Lee, Chi-Hon; Wang, Jing W.

2008-01-01

Early sensory processing can play a critical role in sensing environmental cues. We have investigated the physiological and behavioral function of gain control at the first synapse of olfactory processing in Drosophila. We report that olfactory receptor neurons (ORNs) express the GABAB receptor (GABABR) and its expression expands the dynamic range of ORN synaptic transmission that is preserved in projection neuron responses. Strikingly, we find that different ORN channels have unique baseline levels of GABABR expression. ORNs that sense the aversive odorant CO2 do not express GABABRs nor exhibit any presynaptic inhibition. In contrast, pheromone-sensing ORNs express a high level of GABABRs and exhibit strong presynaptic inhibition. Furthermore, a behavioral significance of presynaptic inhibition was revealed by a courtship behavior in which pheromone-dependent mate localization is impaired in flies that lack GABABRs in specific ORNs. Together, these findings indicate that different olfactory receptor channels may employ heterogeneous presynaptic gain control as a mechanism to allow an animal’s innate behavioral responses to match its ecological needs. PMID:18667158

IMPLICIT DUAL CONTROL BASED ON PARTICLE FILTERING AND FORWARD DYNAMIC PROGRAMMING.

PubMed

Bayard, David S; Schumitzky, Alan

2010-03-01

This paper develops a sampling-based approach to implicit dual control. Implicit dual control methods synthesize stochastic control policies by systematically approximating the stochastic dynamic programming equations of Bellman, in contrast to explicit dual control methods that artificially induce probing into the control law by modifying the cost function to include a term that rewards learning. The proposed implicit dual control approach is novel in that it combines a particle filter with a policy-iteration method for forward dynamic programming. The integration of the two methods provides a complete sampling-based approach to the problem. Implementation of the approach is simplified by making use of a specific architecture denoted as an H-block. Practical suggestions are given for reducing computational loads within the H-block for real-time applications. As an example, the method is applied to the control of a stochastic pendulum model having unknown mass, length, initial position and velocity, and unknown sign of its dc gain. Simulation results indicate that active controllers based on the described method can systematically improve closed-loop performance with respect to other more common stochastic control approaches.

Gain optimization with non-linear controls

NASA Technical Reports Server (NTRS)

Slater, G. L.; Kandadai, R. D.

1984-01-01

An algorithm has been developed for the analysis and design of controls for non-linear systems. The technical approach is to use statistical linearization to model the non-linear dynamics of a system by a quasi-Gaussian model. A covariance analysis is performed to determine the behavior of the dynamical system and a quadratic cost function. Expressions for the cost function and its derivatives are determined so that numerical optimization techniques can be applied to determine optimal feedback laws. The primary application for this paper is centered about the design of controls for nominally linear systems but where the controls are saturated or limited by fixed constraints. The analysis is general, however, and numerical computation requires only that the specific non-linearity be considered in the analysis.

The dynamic simulation of the Progetto Energia combined cycle power plants

DOE Office of Scientific and Technical Information (OSTI.GOV)

Giglio, R.; Cerabolini, M.; Pisacane, F.

1996-12-31

Over the next four years, the Progetto Energia project is building several cogeneration plants to satisfy the increasing demands of Italy`s industrial complex and the country`s demand for electrical power. Located at six different sites within Italy`s borders these Combined Cycle Cogeneration Plants will supply a total of 500 MW of electricity and 100 tons/hr of process steam to Italian industries and residences. To ensure project success, a dynamic model of the 50 MW base unit was developed. The goal established for the model was to predict the dynamic behavior of the complex thermodynamic system in order to assess equipmentmore » performance and control system effectiveness for normal operation and, more importantly, abrupt load changes. In addition to fulfilling its goals, the dynamic study guided modifications to controller logic that significantly improved steam drum pressure control and bypassed steam de-superheating performance. Simulations of normal and abrupt transient events allowed engineers to define optimum controller gain coefficients. The paper discusses the Combined Cycle plant configuration, its operating modes and control system, the dynamic model representation, the simulation results and project benefits.« less

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.

A Model-based B2B (Batch to Batch) Control for An Industrial Batch Polymerization Process

NASA Astrophysics Data System (ADS)

Ogawa, Morimasa

This paper describes overview of a model-based B2B (batch to batch) control for an industrial batch polymerization process. In order to control the reaction temperature precisely, several methods based on the rigorous process dynamics model are employed at all design stage of the B2B control, such as modeling and parameter estimation of the reaction kinetics which is one of the important part of the process dynamics model. The designed B2B control consists of the gain scheduled I-PD/II2-PD control (I-PD with double integral control), the feed-forward compensation at the batch start time, and the model adaptation utilizing the results of the last batch operation. Throughout the actual batch operations, the B2B control provides superior control performance compared with that of conventional control methods.

Neural net controller for inlet pressure control of rocket engine testing

NASA Technical Reports Server (NTRS)

Trevino, Luis C.

1994-01-01

Many dynamic systems operate in select operating regions, each exhibiting characteristic modes of behavior. It is traditional to employ standard adjustable gain proportional-integral-derivative (PID) loops in such systems where no apriori model information is available. However, for controlling inlet pressure for rocket engine testing, problems in fine tuning, disturbance accommodation, and control gains for new profile operating regions (for research and development) are typically encountered. Because of the capability of capturing I/O peculiarities, using NETS, a back propagation trained neural network is specified. For select operating regions, the neural network controller is simulated to be as robust as the PID controller. For a comparative analysis, the higher order moment neural array (HOMNA) method is used to specify a second neural controller by extracting critical exemplars from the I/O data set. Furthermore, using the critical exemplars from the HOMNA method, a third neural controller is developed using NETS back propagation algorithm. All controllers are benchmarked against each other.

Reinforcement learning for partially observable dynamic processes: adaptive dynamic programming using measured output data.

PubMed

Lewis, F L; Vamvoudakis, Kyriakos G

2011-02-01

Approximate dynamic programming (ADP) is a class of reinforcement learning methods that have shown their importance in a variety of applications, including feedback control of dynamical systems. ADP generally requires full information about the system internal states, which is usually not available in practical situations. In this paper, we show how to implement ADP methods using only measured input/output data from the system. Linear dynamical systems with deterministic behavior are considered herein, which are systems of great interest in the control system community. In control system theory, these types of methods are referred to as output feedback (OPFB). The stochastic equivalent of the systems dealt with in this paper is a class of partially observable Markov decision processes. We develop both policy iteration and value iteration algorithms that converge to an optimal controller that requires only OPFB. It is shown that, similar to Q -learning, the new methods have the important advantage that knowledge of the system dynamics is not needed for the implementation of these learning algorithms or for the OPFB control. Only the order of the system, as well as an upper bound on its "observability index," must be known. The learned OPFB controller is in the form of a polynomial autoregressive moving-average controller that has equivalent performance with the optimal state variable feedback gain.

A static model of a Sendzimir mill for use in shape control

NASA Astrophysics Data System (ADS)

Gunawardene, G. W. D. M.

The design of shape control systems is an area of current interest in the steel industry. Shape is defined as the internal stress distribution resulting from a transverse variation in the reduction of the strip thickness. The object of shape control is to adjust the mill so that the rolled strip is free from internal stresses. Both static and dynamic models of the mill are required for the control system design.The subject of this thesis is the static model of the Sendzimir cold rolling mill, which is a 1-2-3-4 type cluster mill. The static model derived enables shape profiles to be calculated for a given set of actuator positions, and is used to generate the steady state mill gains. The method of calculation of these shape profiles is discussed. The shape profiles obtained for different mill schedules are plotted against the distance across the strip. The corresponding mill gains are calculated and these relate the shape changes to the actuator changes. These mill gains are presented in the form of a square matrix, obtained by measuring shape at eight points across the strip.

Adaptive Fuzzy Control Design for Stochastic Nonlinear Switched Systems With Arbitrary Switchings and Unmodeled Dynamics.

PubMed

Li, Yongming; Sui, Shuai; Tong, Shaocheng

2017-02-01

This paper deals with the problem of adaptive fuzzy output feedback control for a class of stochastic nonlinear switched systems. The controlled system in this paper possesses unmeasured states, completely unknown nonlinear system functions, unmodeled dynamics, and arbitrary switchings. A state observer which does not depend on the switching signal is constructed to tackle the unmeasured states. Fuzzy logic systems are employed to identify the completely unknown nonlinear system functions. Based on the common Lyapunov stability theory and stochastic small-gain theorem, a new robust adaptive fuzzy backstepping stabilization control strategy is developed. The stability of the closed-loop system on input-state-practically stable in probability is proved. The simulation results are given to verify the efficiency of the proposed fuzzy adaptive control scheme.

Musicianship enhances ipsilateral and contralateral efferent gain control to the cochlea.

PubMed

Bidelman, Gavin M; Schneider, Amy D; Heitzmann, Victoria R; Bhagat, Shaum P

2017-02-01

Human hearing sensitivity is easily compromised with overexposure to excessively loud sounds, leading to permanent hearing damage. Consequently, finding activities and/or experiential factors that distinguish "tender" from "tough" ears (i.e., acoustic vulnerability) would be important for identifying people at higher risk for hearing damage. To regulate sound transmission and protect the inner ear against acoustic trauma, the auditory system modulates gain control to the cochlea via biological feedback of the medial olivocochlear (MOC) efferents, a neuronal pathway linking the lower brainstem and cochlear outer hair cells. We hypothesized that a salient form of auditory experience shown to have pervasive neuroplastic benefits, namely musical training, might act to fortify hearing through tonic engagement of these reflexive pathways. By measuring MOC efferent feedback via otoacoustic emissions (cochlear emitted sounds), we show that dynamic ipsilateral and contralateral cochlear gain control is enhanced in musically-trained individuals. Across all participants, MOC strength was correlated with the years of listeners' training suggested that efferent gain control is experience dependent. Our data provide new evidence that intensive listening experience(s) (e.g., musicianship) can strengthen the ipsi/contralateral MOC efferent system and sound regulation to the inner ear. Implications for reducing acoustic vulnerability to damaging sounds are discussed. Copyright © 2016 Elsevier B.V. All rights reserved.

Distributed cerebellar plasticity implements adaptable gain control in a manipulation task: a closed-loop robotic simulation

PubMed Central

Garrido, Jesús A.; Luque, Niceto R.; D'Angelo, Egidio; Ros, Eduardo

2013-01-01

Adaptable gain regulation is at the core of the forward controller operation performed by the cerebro-cerebellar loops and it allows the intensity of motor acts to be finely tuned in a predictive manner. In order to learn and store information about body-object dynamics and to generate an internal model of movement, the cerebellum is thought to employ long-term synaptic plasticity. LTD at the PF-PC synapse has classically been assumed to subserve this function (Marr, 1969). However, this plasticity alone cannot account for the broad dynamic ranges and time scales of cerebellar adaptation. We therefore tested the role of plasticity distributed over multiple synaptic sites (Hansel et al., 2001; Gao et al., 2012) by generating an analog cerebellar model embedded into a control loop connected to a robotic simulator. The robot used a three-joint arm and performed repetitive fast manipulations with different masses along an 8-shape trajectory. In accordance with biological evidence, the cerebellum model was endowed with both LTD and LTP at the PF-PC, MF-DCN and PC-DCN synapses. This resulted in a network scheme whose effectiveness was extended considerably compared to one including just PF-PC synaptic plasticity. Indeed, the system including distributed plasticity reliably self-adapted to manipulate different masses and to learn the arm-object dynamics over a time course that included fast learning and consolidation, along the lines of what has been observed in behavioral tests. In particular, PF-PC plasticity operated as a time correlator between the actual input state and the system error, while MF-DCN and PC-DCN plasticity played a key role in generating the gain controller. This model suggests that distributed synaptic plasticity allows generation of the complex learning properties of the cerebellum. The incorporation of further plasticity mechanisms and of spiking signal processing will allow this concept to be extended in a more realistic computational scenario. PMID:24130518

Nonlinear identification of the total baroreflex arc: chronic hypertension model.

PubMed

Moslehpour, Mohsen; Kawada, Toru; Sunagawa, Kenji; Sugimachi, Masaru; Mukkamala, Ramakrishna

2016-05-01

The total baroreflex arc is the open-loop system relating carotid sinus pressure (CSP) to arterial pressure (AP). Its linear dynamic functioning has been shown to be preserved in spontaneously hypertensive rats (SHR). However, the system is known to exhibit nonlinear dynamic behaviors. The aim of this study was to establish nonlinear dynamic models of the total arc (and its subsystems) in hypertensive rats and to compare these models with previously published models for normotensive rats. Hypertensive rats were studied under anesthesia. The vagal and aortic depressor nerves were sectioned. The carotid sinus regions were isolated and attached to a servo-controlled piston pump. AP and sympathetic nerve activity were measured while CSP was controlled via the pump using Gaussian white noise stimulation. Second-order, nonlinear dynamics models were developed by application of nonparametric system identification to a portion of the measurements. The models of the total arc predicted AP 21-43% better (P < 0.005) than conventional linear dynamic models in response to a new portion of the CSP measurement. The linear and nonlinear terms of these validated models were compared with the corresponding terms of an analogous model for normotensive rats. The nonlinear gains for the hypertensive rats were significantly larger than those for the normotensive rats [-0.38 ± 0.04 (unitless) vs. -0.22 ± 0.03, P < 0.01], whereas the linear gains were similar. Hence, nonlinear dynamic functioning of the sympathetically mediated total arc may enhance baroreflex buffering of AP increases more in SHR than normotensive rats. Copyright © 2016 the American Physiological Society.

Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study

PubMed Central

Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

2015-01-01

Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin–blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results. PMID:26284169

Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study.

PubMed

Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

2015-01-01

Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin-blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results.

Developmental improvements in dynamic control of fingertip forces last throughout childhood and into adolescence

PubMed Central

Dayanidhi, Sudarshan; Hedberg, Åsa; Forssberg, Hans

2013-01-01

While it is clear that the development of dexterous manipulation in children exhibits dramatic improvements over an extended period, it is difficult to separate musculoskeletal from neural contributors to these important functional gains. This is in part due to the inability of current methods to disambiguate improvements in hand strength from gains in finger dexterity (i.e., the dynamic control of fingertip force vectors at low magnitudes). We adapted our novel instrumentation to evaluate finger dexterity in 130 typically developing children between the ages of 4 and 16 yr. We find that finger dexterity continues to develop well into late adolescence and musculoskeletal growth and strength are poorly correlated with the improvements in dexterity. Importantly, because these behavioral results seem to mirror the known timelines of neuroanatomical development up to adolescence, we speculate that they reflect the functional benefits of such continual neural maturation. This novel perspective now enables the systematic study of the functional roles of specific neuroanatomical structures and their connectivity, maturity, and plasticity. Moreover, the temporal dynamics of the fingertip force vectors shows improvements in stability that provide a novel way to look at the maturation of finger control. From a clinical perspective, our results provide a practical means to chart functional development of dexterous manipulation in typically developing children and could be adapted for clinical use and for use in children with developmental disorders. PMID:23864371

Relationship between cerebral blood flow and blood pressure in long-term heart transplant recipients.

PubMed

Smirl, Jonathan D; Haykowsky, Mark J; Nelson, Michael D; Tzeng, Yu-Chieh; Marsden, Katelyn R; Jones, Helen; Ainslie, Philip N

2014-12-01

Heart transplant recipients are at an increased risk for cerebral hemorrhage and ischemic stroke; yet, the exact mechanism for this derangement remains unclear. We hypothesized that alterations in cerebrovascular regulation is principally involved. To test this hypothesis, we studied cerebral pressure-flow dynamics in 8 clinically stable male heart transplant recipients (62±8 years of age and 9±7 years post transplant, mean±SD), 9 male age-matched controls (63±8 years), and 10 male donor controls (27±5 years). To increase blood pressure variability and improve assessment of the pressure-flow dynamics, subjects performed squat-stand maneuvers at 0.05 and 0.10 Hz. Beat-to-beat blood pressure, middle cerebral artery velocity, and end-tidal carbon dioxide were continuously measured during 5 minutes of seated rest and throughout the squat-stand maneuvers. Cardiac baroreceptor sensitivity gain and cerebral pressure-flow responses were assessed with linear transfer function analysis. Heart transplant recipients had reductions in R-R interval power and baroreceptor sensitivity low frequency gain (P<0.01) compared with both control groups; however, these changes were unrelated to transfer function metrics. Thus, in contrast to our hypothesis, the increased risk of cerebrovascular complication after heart transplantation does not seem to be related to alterations in cerebral pressure-flow dynamics. Future research is, therefore, warranted. © 2014 American Heart Association, Inc.

VASP- VARIABLE DIMENSION AUTOMATIC SYNTHESIS PROGRAM

NASA Technical Reports Server (NTRS)

White, J. S.

1994-01-01

VASP is a variable dimension Fortran version of the Automatic Synthesis Program, ASP. The program is used to implement Kalman filtering and control theory. Basically, it consists of 31 subprograms for solving most modern control problems in linear, time-variant (or time-invariant) control systems. These subprograms include operations of matrix algebra, computation of the exponential of a matrix and its convolution integral, and the solution of the matrix Riccati equation. The user calls these subprograms by means of a FORTRAN main program, and so can easily obtain solutions to most general problems of extremization of a quadratic functional of the state of the linear dynamical system. Particularly, these problems include the synthesis of the Kalman filter gains and the optimal feedback gains for minimization of a quadratic performance index. VASP, as an outgrowth of the Automatic Synthesis Program, has the following improvements: more versatile programming language; more convenient input/output format; some new subprograms which consolidate certain groups of statements that are often repeated; and variable dimensioning. The pertinent difference between the two programs is that VASP has variable dimensioning and more efficient storage. The documentation for the VASP program contains a VASP dictionary and example problems. The dictionary contains a description of each subroutine and instructions on its use. The example problems include dynamic response, optimal control gain, solution of the sampled data matrix Riccati equation, matrix decomposition, and a pseudo-inverse of a matrix. This program is written in FORTRAN IV and has been implemented on the IBM 360. The VASP program was developed in 1971.

Robust ADP Design for Continuous-Time Nonlinear Systems With Output Constraints.

PubMed

Fan, Bo; Yang, Qinmin; Tang, Xiaoyu; Sun, Youxian

2018-06-01

In this paper, a novel robust adaptive dynamic programming (RADP)-based control strategy is presented for the optimal control of a class of output-constrained continuous-time unknown nonlinear systems. Our contribution includes a step forward beyond the usual optimal control result to show that the output of the plant is always within user-defined bounds. To achieve the new results, an error transformation technique is first established to generate an equivalent nonlinear system, whose asymptotic stability guarantees both the asymptotic stability and the satisfaction of the output restriction of the original system. Furthermore, RADP algorithms are developed to solve the transformed nonlinear optimal control problem with completely unknown dynamics as well as a robust design to guarantee the stability of the closed-loop systems in the presence of unavailable internal dynamic state. Via small-gain theorem, asymptotic stability of the original and transformed nonlinear system is theoretically guaranteed. Finally, comparison results demonstrate the merits of the proposed control policy.

Robustness enhancement of neurocontroller and state estimator

NASA Technical Reports Server (NTRS)

Troudet, Terry

1993-01-01

The feasibility of enhancing neurocontrol robustness, through training of the neurocontroller and state estimator in the presence of system uncertainties, is investigated on the example of a multivariable aircraft control problem. The performance and robustness of the newly trained neurocontroller are compared to those for an existing neurocontrol design scheme. The newly designed dynamic neurocontroller exhibits a better trade-off between phase and gain stability margins, and it is significantly more robust to degradations of the plant dynamics.

Control systems engineering for optimizing a prenatal weight gain intervention to regulate infant birth weight.

PubMed

Savage, Jennifer S; Downs, Danielle Symons; Dong, Yuwen; Rivera, Daniel E

2014-07-01

We used dynamical systems modeling to describe how a prenatal behavioral intervention that adapts to the needs of each pregnant woman may help manage gestational weight gain and alter the obesogenic intrauterine environment to regulate infant birth weight. This approach relies on integrating mechanistic energy balance, theory of planned behavior, and self-regulation models to describe how internal processes can be impacted by intervention dosages, and reinforce positive outcomes (e.g., healthy eating and physical activity) to moderate gestational weight gain and affect birth weight. A simulated hypothetical case study from MATLAB with Simulink showed how, in response to our adaptive intervention, self-regulation helps adjust perceived behavioral control. This, in turn, changes the woman's intention and behavior with respect to healthy eating and physical activity during pregnancy, affecting gestational weight gain and infant birth weight. This article demonstrates the potential for real-world applications of an adaptive intervention to manage gestational weight gain and moderate infant birth weight. This model could be expanded to examine the long-term sustainable impacts of an intervention that varies according to the participant's needs on maternal postpartum weight retention and child postnatal eating behavior.

Dynamics of normalization underlying masking in human visual cortex.

PubMed

Tsai, Jeffrey J; Wade, Alex R; Norcia, Anthony M

2012-02-22

Stimulus visibility can be reduced by other stimuli that overlap the same region of visual space, a process known as masking. Here we studied the neural mechanisms of masking in humans using source-imaged steady state visual evoked potentials and frequency-domain analysis over a wide range of relative stimulus strengths of test and mask stimuli. Test and mask stimuli were tagged with distinct temporal frequencies and we quantified spectral response components associated with the individual stimuli (self terms) and responses due to interaction between stimuli (intermodulation terms). In early visual cortex, masking alters the self terms in a manner consistent with a reduction of input contrast. We also identify a novel signature of masking: a robust intermodulation term that peaks when the test and mask stimuli have equal contrast and disappears when they are widely different. We fit all of our data simultaneously with family of a divisive gain control models that differed only in their dynamics. Models with either very short or very long temporal integration constants for the gain pool performed worse than a model with an integration time of ∼30 ms. Finally, the absolute magnitudes of the response were controlled by the ratio of the stimulus contrasts, not their absolute values. This contrast-contrast invariance suggests that many neurons in early visual cortex code relative rather than absolute contrast. Together, these results provide a more complete description of masking within the normalization framework of contrast gain control and suggest that contrast normalization accomplishes multiple functional goals.

Robust pinning control of heterogeneous complex networks with jointly connected topologies and time-varying parametric uncertainty

NASA Astrophysics Data System (ADS)

Manfredi, Sabato

2018-05-01

The pinning/leader control problems provide the design of the leader or pinning controller in order to guide a complex network to a desired trajectory or target (synchronisation or consensus). Let a time-invariant complex network, pinning/leader control problems include the design of the leader or pinning controller gain and number of nodes to pin in order to guide a network to a desired trajectory (synchronization or consensus). Usually, lower is the number of pinned nodes larger is the pinning gain required to assess network synchronisation. On the other side, realistic application scenario of complex networks is characterised by switching topologies, time-varying node coupling strength and link weight that make hard to solve the pinning/leader control problem. Additionally, the system dynamics at nodes can be heterogeneous. In this paper, we derive robust stabilisation conditions of time-varying heterogeneous complex networks with jointly connected topologies when coupling strength and link weight interactions are affected by time-varying uncertainties. By employing Lyapunov stability theory and linear matrix inequality (LMI) technique, we formulate low computationally demanding stabilisability conditions to design a pinning/leader control gain for robust network synchronisation. The effectiveness of the proposed approach is shown by several design examples applied to a paradigmatic well-known complex network composed of heterogeneous Chua's circuits.

ACSYNT inner loop flight control design study

NASA Technical Reports Server (NTRS)

Bortins, Richard; Sorensen, John A.

1993-01-01

The NASA Ames Research Center developed the Aircraft Synthesis (ACSYNT) computer program to synthesize conceptual future aircraft designs and to evaluate critical performance metrics early in the design process before significant resources are committed and cost decisions made. ACSYNT uses steady-state performance metrics, such as aircraft range, payload, and fuel consumption, and static performance metrics, such as the control authority required for the takeoff rotation and for landing with an engine out, to evaluate conceptual aircraft designs. It can also optimize designs with respect to selected criteria and constraints. Many modern aircraft have stability provided by the flight control system rather than by the airframe. This may allow the aircraft designer to increase combat agility, or decrease trim drag, for increased range and payload. This strategy requires concurrent design of the airframe and the flight control system, making trade-offs of performance and dynamics during the earliest stages of design. ACSYNT presently lacks means to implement flight control system designs but research is being done to add methods for predicting rotational degrees of freedom and control effector performance. A software module to compute and analyze the dynamics of the aircraft and to compute feedback gains and analyze closed loop dynamics is required. The data gained from these analyses can then be fed back to the aircraft design process so that the effects of the flight control system and the airframe on aircraft performance can be included as design metrics. This report presents results of a feasibility study and the initial design work to add an inner loop flight control system (ILFCS) design capability to the stability and control module in ACSYNT. The overall objective is to provide a capability for concurrent design of the aircraft and its flight control system, and enable concept designers to improve performance by exploiting the interrelationships between aircraft and flight control system design parameters.

Trends in modern system theory

NASA Technical Reports Server (NTRS)

Athans, M.

1976-01-01

The topics considered are related to linear control system design, adaptive control, failure detection, control under failure, system reliability, and large-scale systems and decentralized control. It is pointed out that the design of a linear feedback control system which regulates a process about a desirable set point or steady-state condition in the presence of disturbances is a very important problem. The linearized dynamics of the process are used for design purposes. The typical linear-quadratic design involving the solution of the optimal control problem of a linear time-invariant system with respect to a quadratic performance criterion is considered along with gain reduction theorems and the multivariable phase margin theorem. The stumbling block in many adaptive design methodologies is associated with the amount of real time computation which is necessary. Attention is also given to the desperate need to develop good theories for large-scale systems, the beginning of a microprocessor revolution, the translation of the Wiener-Hopf theory into the time domain, and advances made in dynamic team theory, dynamic stochastic games, and finite memory stochastic control.

ASDTIC: A feedback control innovation

NASA Technical Reports Server (NTRS)

Lalli, V. R.; Schoenfeld, A. D.

1972-01-01

The ASDTIC (Analog Signal to Discrete Time Interval Converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

ASDTIC - A feedback control innovation.

NASA Technical Reports Server (NTRS)

Lalli, V. R.; Schoenfeld, A. D.

1972-01-01

The ASDTIC (analog signal to discrete time interval converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

Design of human controlled 1 DOF right hand exoskeleton using electromyography signal

NASA Astrophysics Data System (ADS)

Azzam, M.; Wijaya, S. K.; Prawito

2017-07-01

Exoskeleton in general is a structure that is anatomically designed to be able to accommodate the physical movement of its user and provide additional strength. The use of EMG signal to control a 1 DOF right arm exoskeleton is evaluated in this research. This research aims to achieve optimum control using EMG signal. EMG signal is a variation of voltage that occurs when muscle contracts hence its strong correlation with the user's intention of movement. The RMS values of each EMG signal that originates from bicep and tricep muscle are calculated and processed to determine the direction and speed of rotation of a DC motor that actuates the exoskeleton. The RMS calculation is conducted at various array length that will theoretically affect its accuracy. The difference between those two RMS values is then calculated and interpreted as the intention of flexion or extension movement that will control the DC motor rotational direction. The absolute value of the RMS difference multiplied with a gain factor is used to regulate the duty cycle of a PWM signal that is used to control the rotational speed of the DC motor. To achieve the smallest settling time, array length and gain factor were varied. The test was conducted in two stages, static and dynamic tests. The test result shows a trend where the settling time decreases when array length is shortened and gain is increased. It shows that optimum control can be achieved by selecting the right array length and gain.

Minimal complexity control law synthesis

NASA Technical Reports Server (NTRS)

Bernstein, Dennis S.; Haddad, Wassim M.; Nett, Carl N.

1989-01-01

A paradigm for control law design for modern engineering systems is proposed: Minimize control law complexity subject to the achievement of a specified accuracy in the face of a specified level of uncertainty. Correspondingly, the overall goal is to make progress towards the development of a control law design methodology which supports this paradigm. Researchers achieve this goal by developing a general theory of optimal constrained-structure dynamic output feedback compensation, where here constrained-structure means that the dynamic-structure (e.g., dynamic order, pole locations, zero locations, etc.) of the output feedback compensation is constrained in some way. By applying this theory in an innovative fashion, where here the indicated iteration occurs over the choice of the compensator dynamic-structure, the paradigm stated above can, in principle, be realized. The optimal constrained-structure dynamic output feedback problem is formulated in general terms. An elegant method for reducing optimal constrained-structure dynamic output feedback problems to optimal static output feedback problems is then developed. This reduction procedure makes use of star products, linear fractional transformations, and linear fractional decompositions, and yields as a byproduct a complete characterization of the class of optimal constrained-structure dynamic output feedback problems which can be reduced to optimal static output feedback problems. Issues such as operational/physical constraints, operating-point variations, and processor throughput/memory limitations are considered, and it is shown how anti-windup/bumpless transfer, gain-scheduling, and digital processor implementation can be facilitated by constraining the controller dynamic-structure in an appropriate fashion.

Discrete time learning control in nonlinear systems

NASA Technical Reports Server (NTRS)

Longman, Richard W.; Chang, Chi-Kuang; Phan, Minh

1992-01-01

In this paper digital learning control methods are developed primarily for use in single-input, single-output nonlinear dynamic systems. Conditions for convergence of the basic form of learning control based on integral control concepts are given, and shown to be satisfied by a large class of nonlinear problems. It is shown that it is not the gross nonlinearities of the differential equations that matter in the convergence, but rather the much smaller nonlinearities that can manifest themselves during the short time interval of one sample time. New algorithms are developed that eliminate restrictions on the size of the learning gain, and on knowledge of the appropriate sign of the learning gain, for convergence to zero error in tracking a feasible desired output trajectory. It is shown that one of the new algorithms can give guaranteed convergence in the presence of actuator saturation constraints, and indicate when the requested trajectory is beyond the actuator capabilities.

Rendezvous with connectivity preservation for multi-robot systems with an unknown leader

NASA Astrophysics Data System (ADS)

Dong, Yi

2018-02-01

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator.

A Regional Study of Loblolly Pine (Pinus taeda) Plantation Development During the First 15 Years After Early Complete Woody and/or Herbaceous Plant Control

Treesearch

James H. Miller; Bruce R. Zutter; Shepard M. Zedaker; M. Boyd Edwards; Ray A. Newbold

2002-01-01

Conifer plantations in North America and elsewhere in the world are increasingly cultured using early control of herbaceous and woody plants. Development of sustainable cultural practices are hindered by the absence of long-term data on productivity gains relative to competition levels, crop- competition dynamics, and ecological changes. There are lmany reports of...

Proprioceptive feedback determines visuomotor gain in Drosophila

PubMed Central

Bartussek, Jan; Lehmann, Fritz-Olaf

2016-01-01

Multisensory integration is a prerequisite for effective locomotor control in most animals. Especially, the impressive aerial performance of insects relies on rapid and precise integration of multiple sensory modalities that provide feedback on different time scales. In flies, continuous visual signalling from the compound eyes is fused with phasic proprioceptive feedback to ensure precise neural activation of wing steering muscles (WSM) within narrow temporal phase bands of the stroke cycle. This phase-locked activation relies on mechanoreceptors distributed over wings and gyroscopic halteres. Here we investigate visual steering performance of tethered flying fruit flies with reduced haltere and wing feedback signalling. Using a flight simulator, we evaluated visual object fixation behaviour, optomotor altitude control and saccadic escape reflexes. The behavioural assays show an antagonistic effect of wing and haltere signalling on visuomotor gain during flight. Compared with controls, suppression of haltere feedback attenuates while suppression of wing feedback enhances the animal’s wing steering range. Our results suggest that the generation of motor commands owing to visual perception is dynamically controlled by proprioception. We outline a potential physiological mechanism based on the biomechanical properties of WSM and sensory integration processes at the level of motoneurons. Collectively, the findings contribute to our general understanding how moving animals integrate sensory information with dynamically changing temporal structure. PMID:26909184

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1994-01-01

During the first half of the year, the investigators concentrated their efforts on completing the design of control laws for the longitudinal axis of the HARV. During the second half of the year they concentrated on the synthesis of control laws for the lateral-directional axes. The longitudinal control law design efforts can be briefly summarized as follows. Longitudinal control laws were developed for the HARV using mu synthesis design techniques coupled with dynamic inversion. An inner loop dynamic inversion controller was used to simplify the system dynamics by eliminating the aerodynamic nonlinearities and inertial cross coupling. Models of the errors resulting from uncertainties in the principal longitudinal aerodynamic terms were developed and included in the model of the HARV with the inner loop dynamic inversion controller. This resulted in an inner loop transfer function model which was an integrator with the modeling errors characterized as uncertainties in gain and phase. Outer loop controllers were then designed using mu synthesis to provide robustness to these modeling errors and give desired response to pilot inputs. Both pitch rate and angle of attack command following systems were designed. The following tasks have been accomplished for the lateral-directional controllers: inner and outer loop dynamic inversion controllers have been designed; an error model based on a linearized perturbation model of the inner loop system was derived; controllers for the inner loop system have been designed, using classical techniques, that control roll rate and Dutch roll response; the inner loop dynamic inversion and classical controllers have been implemented on the six degree of freedom simulation; and lateral-directional control allocation scheme has been developed based on minimizing required control effort.

A class of stabilizing controllers for flexible multibody systems

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.; Maghami, Peiman G.

1995-01-01

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Connected cruise control: modelling, delay effects, and nonlinear behaviour

NASA Astrophysics Data System (ADS)

Orosz, Gábor

2016-08-01

Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.

On the effect of local barrier height in scanning tunneling microscopy: Measurement methods and control implications

NASA Astrophysics Data System (ADS)

Tajaddodianfar, Farid; Moheimani, S. O. Reza; Owen, James; Randall, John N.

2018-01-01

A common cause of tip-sample crashes in a Scanning Tunneling Microscope (STM) operating in constant current mode is the poor performance of its feedback control system. We show that there is a direct link between the Local Barrier Height (LBH) and robustness of the feedback control loop. A method known as the "gap modulation method" was proposed in the early STM studies for estimating the LBH. We show that the obtained measurements are affected by controller parameters and propose an alternative method which we prove to produce LBH measurements independent of the controller dynamics. We use the obtained LBH estimation to continuously update the gains of a STM proportional-integral (PI) controller and show that while tuning the PI gains, the closed-loop system tolerates larger variations of LBH without experiencing instability. We report experimental results, conducted on two STM scanners, to establish the efficiency of the proposed PI tuning approach. Improved feedback stability is believed to help in avoiding the tip/sample crash in STMs.

Time Varying Compensator Design for Reconfigurable Structures Using Non-Collocated Feedback

NASA Technical Reports Server (NTRS)

Scott, Michael A.

1996-01-01

Analysis and synthesis tools are developed to improved the dynamic performance of reconfigurable nonminimum phase, nonstrictly positive real-time variant systems. A novel Spline Varying Optimal (SVO) controller is developed for the kinematic nonlinear system. There are several advantages to using the SVO controller, in which the spline function approximates the system model, observer, and controller gain. They are: The spline function approximation is simply connected, thus the SVO controller is more continuous than traditional gain scheduled controllers when implemented on a time varying plant; ft is easier for real-time implementations in storage and computational effort; where system identification is required, the spline function requires fewer experiments, namely four experiments; and initial startup estimator transients are eliminated. The SVO compensator was evaluated on a high fidelity simulation of the Shuttle Remote Manipulator System. The SVO controller demonstrated significant improvement over the present arm performance: (1) Damping level was improved by a factor of 3; and (2) Peak joint torque was reduced by a factor of 2 following Shuttle thruster firings.

Magnetic vortex based transistor operations.

PubMed

Kumar, D; Barman, S; Barman, A

2014-02-17

Transistors constitute the backbone of modern day electronics. Since their advent, researchers have been seeking ways to make smaller and more efficient transistors. Here, we demonstrate a sustained amplification of magnetic vortex core gyration in coupled two and three vortices by controlling their relative core polarities. This amplification is mediated by a cascade of antivortex solitons travelling through the dynamic stray field. We further demonstrated that the amplification can be controlled by switching the polarity of the middle vortex in a three vortex sequence and the gain can be controlled by the input signal amplitude. An attempt to show fan-out operation yielded gain for one of the symmetrically placed branches which can be reversed by switching the core polarity of all the vortices in the network. The above observations promote the magnetic vortices as suitable candidates to work as stable bipolar junction transistors (BJT).

Magnetic Vortex Based Transistor Operations

NASA Astrophysics Data System (ADS)

Kumar, D.; Barman, S.; Barman, A.

2014-02-01

Transistors constitute the backbone of modern day electronics. Since their advent, researchers have been seeking ways to make smaller and more efficient transistors. Here, we demonstrate a sustained amplification of magnetic vortex core gyration in coupled two and three vortices by controlling their relative core polarities. This amplification is mediated by a cascade of antivortex solitons travelling through the dynamic stray field. We further demonstrated that the amplification can be controlled by switching the polarity of the middle vortex in a three vortex sequence and the gain can be controlled by the input signal amplitude. An attempt to show fan-out operation yielded gain for one of the symmetrically placed branches which can be reversed by switching the core polarity of all the vortices in the network. The above observations promote the magnetic vortices as suitable candidates to work as stable bipolar junction transistors (BJT).

Robust Control for the Mercury Laser Altimeter

NASA Technical Reports Server (NTRS)

Rosenberg, Jacob S.

2006-01-01

Mercury Laser Altimeter Science Algorithms is a software system for controlling the laser altimeter aboard the Messenger spacecraft, which is to enter into orbit about Mercury in 2011. The software will control the altimeter by dynamically modifying hardware inputs for gain, threshold, channel-disable flags, range-window start location, and range-window width, by using ranging information provided by the spacecraft and noise counts from instrument hardware. In addition, because of severe bandwidth restrictions, the software also selects returns for downlink.

Optimisation of flight dynamic control based on many-objectives meta-heuristic: a comparative study

NASA Astrophysics Data System (ADS)

Bureerat, Sujin; Pholdee, Nantiwat; Radpukdee, Thana

2018-05-01

Development of many objective meta-heuristics (MnMHs) is a currently interesting topic as they are suitable to real applications of optimisation problems which usually require many ob-jectives. However, most of MnMHs have been mostly developed and tested based on stand-ard testing functions while the use of MnMHs to real applications is rare. Therefore, in this work, MnMHs are applied for optimisation design of flight dynamic control. The design prob-lem is posed to find control gains for minimising; the control effort, the spiral root, the damp-ing in roll root, sideslip angle deviation, and maximising; the damping ratio of the dutch-roll complex pair, the dutch-roll frequency, bank angle at pre-specified times 1 seconds and 2.8 second subjected to several constraints based on Military Specifications (1969) requirement. Several established many-objective meta-heuristics (MnMHs) are used to solve the problem while their performances are compared. With this research work, performance of several MnMHs for flight control is investigated. The results obtained will be the baseline for future development of flight dynamic and control.

Kaman 40 kW wind turbine generator - control system dynamics

NASA Technical Reports Server (NTRS)

Perley, R.

1981-01-01

The generator design incorporates an induction generator for application where a utility line is present and a synchronous generator for standalone applications. A combination of feed forward and feedback control is used to achieve synchronous speed prior to connecting the generator to the load, and to control the power level once the generator is connected. The dynamics of the drive train affect several aspects of the system operation. These were analyzed to arrive at the required shaft stiffness. The rotor parameters that affect the stability of the feedback control loop vary considerably over the wind speed range encountered. Therefore, the controller gain was made a function of wind speed in order to maintain consistent operation over the whole wind speed range. The velocity requirement for the pitch control mechanism is related to the nature of the wind gusts to be encountered, the dynamics of the system, and the acceptable power fluctuations and generator dropout rate. A model was developed that allows the probable dropout rate to be determined from a statistical model of wind gusts and the various system parameters, including the acceptable power fluctuation.

Computation of a controlled store separation from a cavity

NASA Technical Reports Server (NTRS)

Atwood, Christopher A.

1993-01-01

Coupling of the Reynolds-averaged Navier-Stokes equations, rigid-body dynamics, and a pitch attitude control law is demonstrated in two- and three-dimensions. The application problem was the separation of a canard-controlled store from an open-flow rectangular cavity bay at a freestream Mach number of 1.2. The transient flowfield was computed using a diagonal scheme in an overset mesh framework, with the resultant aerodynamic loads used as the forcing functions in the nonlinear dynamics equations. The proportional and rate gyro sensitivities were computed a priori using pole placement techniques for the linearized dynamical equations. These fixed gain values were used in the controller for the nonlinear simulation. Reasonable comparison between the full and linearized equations for a perturbed two-dimensional missile was found. Also in two-dimensions, a controlled store was found to possess improved separation characteristics over a canard-fixed store. In three-dimensions, trajectory comparisons with wind-tunnel data for the canard-fixed case will be made. In addition, it will be determined if a canard-controlled store is an effective means of improving cavity store separation characteristics.

Intelligent control for PMSM based on online PSO considering parameters change

NASA Astrophysics Data System (ADS)

Song, Zhengqiang; Yang, Huiling

2018-03-01

A novel online particle swarm optimization method is proposed to design speed and current controllers of vector controlled interior permanent magnet synchronous motor drives considering stator resistance variation. In the proposed drive system, the space vector modulation technique is employed to generate the switching signals for a two-level voltage-source inverter. The nonlinearity of the inverter is also taken into account due to the dead-time, threshold and voltage drop of the switching devices in order to simulate the system in the practical condition. Speed and PI current controller gains are optimized with PSO online, and the fitness function is changed according to the system dynamic and steady states. The proposed optimization algorithm is compared with conventional PI control method in the condition of step speed change and stator resistance variation, showing that the proposed online optimization method has better robustness and dynamic characteristics compared with conventional PI controller design.

Noise effects on robust synchronization of a small pacemaker neuronal ensemble via nonlinear controller: electronic circuit design.

PubMed

Megam Ngouonkadi, Elie Bertrand; Fotsin, Hilaire Bertrand; Kabong Nono, Martial; Louodop Fotso, Patrick Herve

2016-10-01

In this paper, we report on the synchronization of a pacemaker neuronal ensemble constituted of an AB neuron electrically coupled to two PD neurons. By the virtue of this electrical coupling, they can fire synchronous bursts of action potential. An external master neuron is used to induce to the whole system the desired dynamics, via a nonlinear controller. Such controller is obtained by a combination of sliding mode and feedback control. The proposed controller is able to offset uncertainties in the synchronized systems. We show how noise affects the synchronization of the pacemaker neuronal ensemble, and briefly discuss its potential benefits in our synchronization scheme. An extended Hindmarsh-Rose neuronal model is used to represent a single cell dynamic of the network. Numerical simulations and Pspice implementation of the synchronization scheme are presented. We found that, the proposed controller reduces the stochastic resonance of the network when its gain increases.

Improved approximations for control augmented structural synthesis

NASA Technical Reports Server (NTRS)

Thomas, H. L.; Schmit, L. A.

1990-01-01

A methodology for control-augmented structural synthesis is presented for structure-control systems which can be modeled as an assemblage of beam, truss, and nonstructural mass elements augmented by a noncollocated direct output feedback control system. Truss areas, beam cross sectional dimensions, nonstructural masses and rotary inertias, and controller position and velocity gains are treated simultaneously as design variables. The structural mass and a control-system performance index can be minimized simultaneously, with design constraints placed on static stresses and displacements, dynamic harmonic displacements and forces, structural frequencies, and closed-loop eigenvalues and damping ratios. Intermediate design-variable and response-quantity concepts are used to generate new approximations for displacements and actuator forces under harmonic dynamic loads and for system complex eigenvalues. This improves the overall efficiency of the procedure by reducing the number of complete analyses required for convergence. Numerical results which illustrate the effectiveness of the method are given.

Detection of antipersonnel (AP) mines using mechatronics approach

NASA Astrophysics Data System (ADS)

Shahri, Ali M.; Naghdy, Fazel

1998-09-01

At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work.

Analysis of sensorless control of brushless DC motor using unknown input observer with different gains

NASA Astrophysics Data System (ADS)

Astik, Mitesh B.; Bhatt, Praghnesh; Bhalja, Bhavesh R.

2017-03-01

A sensorless control scheme based on an unknown input observer is presented in this paper in which back EMF of the Brushless DC Motor (BLDC) is continuously estimated from available line voltages and currents. During negative rotation of motor, actual and estimated speed fail to track the reference speed and if the corrective action is not taken by the observer, the motor goes into saturation. To overcome this problem, the speed estimation algorithm has been implemented in this paper to control the dynamic behavior of the motor during negative rotation. The Ackermans method was used to calculate the gains of an unknown input observer which is based on the appropriate choice of the eigenvalues in advance. The criteria to choose eigenvalue is to obtain a balance between faster convergence rate and the least noise level. Simulations have been carried out for different disturbances such as step changes in motor reference speed and load torque. The comparative simulation results clearly depict that the disturbance effects in actual and estimated responses minimizes as observer gain setting increases.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Sunlight Responsive Thermochromic Window System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Millett, F,A; Byker,H, J

2006-10-27

Pleotint has embarked on a novel approach with our Sunlight Responsive Thermochromic, SRT™, windows. We are integrating dynamic sunlight control, high insulation values and low solar heat gain together in a high performance window. The Pleotint SRT window is dynamic because it reversibly changes light transmission based on thermochromics activated directly by the heating effect of sunlight. We can achieve a window package with low solar heat gain coefficient (SHGC), a low U value and high insulation. At the same time our windows provide good daylighting. Our innovative window design offers architects and building designers the opportunity to choose theirmore » desired energy performance, excellent sound reduction, external pane can be self-cleaning, or a resistance to wind load, blasts, bullets or hurricanes. SRT windows would provide energy savings that are estimated at up to 30% over traditional window systems. Glass fabricators will be able to use existing equipment to make the SRT window while adding value and flexibility to the basic design. Glazing installers will have the ability to fit the windows with traditional methods without wires, power supplies and controllers. SRT windows can be retrofit into existing buildings,« less

Control law parameterization for an aeroelastic wind-tunnel model equipped with an active roll control system and comparison with experiment

NASA Technical Reports Server (NTRS)

Perry, Boyd, III; Dunn, H. J.; Sandford, Maynard C.

1988-01-01

Nominal roll control laws were designed, implemented, and tested on an aeroelastically-scaled free-to-roll wind-tunnel model of an advanced fighter configuration. The tests were performed in the NASA Langley Transonic Dynamics Tunnel. A parametric study of the nominal roll control system was conducted. This parametric study determined possible control system gain variations which yielded identical closed-loop stability (roll mode pole location) and identical roll response but different maximum control-surface deflections. Comparison of analytical predictions with wind-tunnel results was generally very good.

Optimization and evaluation of a proportional derivative controller for planar arm movement.

PubMed

Jagodnik, Kathleen M; van den Bogert, Antonie J

2010-04-19

In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased. Copyright 2009 Elsevier Ltd. All rights reserved.

Optimization and evaluation of a proportional derivative controller for planar arm movement

PubMed Central

Jagodnik, Kathleen M.; van den Bogert, Antonie J.

2013-01-01

In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased. PMID:20097345

Temporal dynamics of contrast gain in single cells of the cat striate cortex.

PubMed

Bonds, A B

1991-03-01

The response amplitude of cat striate cortical cells is usually reduced after exposure to high-contrast stimuli. The temporal characteristics and contrast sensitivity of this phenomenon were explored by stimulating cortical cells with drifting gratings in which contrast sequentially incremented and decremented in stepwise fashion over time. All responses showed a clear hysteresis, in which contrast gain dropped on average 0.36 log unit and then returned to baseline values within 60 s. Noticeable gain adjustments were seen in as little as 3 s and with peak contrasts as low as 3%. Contrast adaptation was absent in responses from LGN cells. Adaptation was found to depend on temporal frequency of stimulation, with greater and more rapid adaptation at higher temporal frequencies. Two different tests showed that the mechanism controlling response reduction was influenced primarily by stimulus contrast rather than response amplitude. These results support the existence of a rapid and sensitive cortically based system that normalizes the output of cortical cells as a function of local mean contrast. Control of the adaptation appears to arise at least in part across a population of cells, which is consistent with the idea that the gain control serves to limit the information converging from many cells onto subsequent processing areas.

Satellite Dynamic Damping via Active Force Control Augmentation

NASA Astrophysics Data System (ADS)

Varatharajoo, Renuganth

2012-07-01

An approach that incorporates the Active Force Control (AFC) technique into a conventional Proportional-Derivative (PD) controller is proposed for a satellite active dynamic damping towards a full attitude control. The AFC method has been established to facilitate a robust motion control of dynamical systems in the presence of disturbances, parametric uncertainties and changes that are commonly prevalent in the real-world environment. The usefulness of the method can be extended by introducing intelligent mechanisms to approximate the mass or inertia matrix of the dynamic system to trigger the compensation effect of the controller. AFC is a technique that relies on the appropriate estimation of the inertial or mass parameters of the dynamic system and the measurements of the acceleration and force signals induced by the system if practical implementation is ever considered. In AFC, it is shown that the system subjected to a number of disturbances remains stable and robust via the compensating action of the control strategy. We demonstrate that it is possible to design a spacecraft attitude feedback controller that will ensure the system dynamics set point remains unchanged even in the presence of the disturbances provided that the actual disturbances can be modeled effectively. In order to further facilitate this analysis, a combined energy and attitude control system (CEACS) is proposed as a model satellite attitude control actuator. All the governing equations are established and the proposed satellite attitude control architecture is made amenable to numerical treatments. The results show that the PD-AFC attitude damping performances are superiorly better than that of the solely PD type. It is also shown that the tunings of the AFC system gains are crucial to ensure a better attitude damping performance and this process is mandatory for AFC systems. Finally, the results demonstrate an important satellite dynamic damping enhancement capability using the AFC technique. Keywords: Satellite, Dynamic Damping, Attitude Control, AFC Technique,

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tendick, Frank; Stark, Lawrence W.; Ellis, Stephen R.

1987-01-01

Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.

Active vibration control of functionally graded beams with piezoelectric layers based on higher order shear deformation theory

NASA Astrophysics Data System (ADS)

Bendine, K.; Boukhoulda, F. B.; Nouari, M.; Satla, Z.

2016-12-01

This paper reports on a study of active vibration control of functionally graded beams with upper and lower surface-bonded piezoelectric layers. The model is based on higher-order shear deformation theory and implemented using the finite element method (FEM). The proprieties of the functionally graded beam (FGB) are graded along the thickness direction. The piezoelectric actuator provides a damping effect on the FGB by means of a velocity feedback control algorithm. A Matlab program has been developed for the FGB model and compared with ANSYS APDL. Using Newmark's method numerical solutions are obtained for the dynamic equations of FGB with piezoelectric layers. Numerical results show the effects of the constituent volume fraction and the influence the feedback control gain on the frequency and dynamic response of FGBs.

Development of a Test Facility for Air Revitalization Technology Evaluation

NASA Technical Reports Server (NTRS)

Lu, Sao-Dung; Lin, Amy; Campbell, Melissa; Smith, Frederick

2006-01-01

An active fault tolerant control (FTC) law is generally sensitive to false identification since the control gain is reconfigured for fault occurrence. In the conventional FTC law design procedure, dynamic variations due to false identification are not considered. In this paper, an FTC synthesis method is developed in order to consider possible variations of closed-loop dynamics under false identification into the control design procedure. An active FTC synthesis problem is formulated into an LMI optimization problem to minimize the upper bound of the induced-L2 norm which can represent the worst-case performance degradation due to false identification. The developed synthesis method is applied for control of the longitudinal motions of FASER (Free-flying Airplane for Subscale Experimental Research). The designed FTC law of the airplane is simulated for pitch angle command tracking under a false identification case.

[Research on fuzzy proportional-integral-derivative control of master-slave minimally invasive operation robot driver].

PubMed

Zhao, Ximei; Ren, Chengyi; Liu, Hao; Li, Haogyi

2014-12-01

Robotic catheter minimally invasive operation requires that the driver control system has the advantages of quick response, strong anti-jamming and real-time tracking of target trajectory. Since the catheter parameters of itself and movement environment and other factors continuously change, when the driver is controlled using traditional proportional-integral-derivative (PID), the controller gain becomes fixed once the PID parameters are set. It can not change with the change of the parameters of the object and environmental disturbance so that its change affects the position tracking accuracy, and may bring a large overshoot endangering patients' vessel. Therefore, this paper adopts fuzzy PID control method to adjust PID gain parameters in the tracking process in order to improve the system anti-interference ability, dynamic performance and tracking accuracy. The simulation results showed that the fuzzy PID control method had a fast tracking performance and a strong robustness. Compared with those of traditional PID control, the feasibility and practicability of fuzzy PID control are verified in a robotic catheter minimally invasive operation.

Pilot-optimal augmentation synthesis

NASA Technical Reports Server (NTRS)

Schmidt, D. K.

1978-01-01

An augmentation synthesis method usable in the absence of quantitative handling qualities specifications, and yet explicitly including design objectives based on pilot-rating concepts, is presented. The algorithm involves the unique approach of simultaneously solving for the stability augmentation system (SAS) gains, pilot equalization and pilot rating prediction via optimal control techniques. Simultaneous solution is required in this case since the pilot model (gains, etc.) depends upon the augmented plant dynamics, and the augmentation is obviously not a priori known. Another special feature is the use of the pilot's objective function (from which the pilot model evolves) to design the SAS.

Design of a wideband CMOS impedance spectroscopy ASIC analog front-end for multichannel biosensor interfaces.

PubMed

Valente, Virgilio; Dai Jiang; Demosthenous, Andreas

2015-08-01

This paper presents the preliminary design and simulation of a flexible and programmable analog front-end (AFE) circuit with current and voltage readout capabilities for electric impedance spectroscopy (EIS). The AFE is part of a fully integrated multifrequency EIS platform. The current readout comprises of a transimpedance stage and an automatic gain control (AGC) unit designed to accommodate impedance changes larger than 3 order of magnitude. The AGC is based on a dynamic peak detector that tracks changes in the input current over time and regulates the gain of a programmable gain amplifier in order to optimise the signal-to-noise ratio. The system works up to 1 MHz. The voltage readout consists of a 2 stages of fully differential current-feedback instrumentation amplifier which provide 100 dB of CMRR and a programmable gain up to 20 V/V per stage with a bandwidth in excess of 10MHz.

Dynamic learning from adaptive neural network control of a class of nonaffine nonlinear systems.

PubMed

Dai, Shi-Lu; Wang, Cong; Wang, Min

2014-01-01

This paper studies the problem of learning from adaptive neural network (NN) control of a class of nonaffine nonlinear systems in uncertain dynamic environments. In the control design process, a stable adaptive NN tracking control design technique is proposed for the nonaffine nonlinear systems with a mild assumption by combining a filtered tracking error with the implicit function theorem, input-to-state stability, and the small-gain theorem. The proposed stable control design technique not only overcomes the difficulty in controlling nonaffine nonlinear systems but also relaxes constraint conditions of the considered systems. In the learning process, the partial persistent excitation (PE) condition of radial basis function NNs is satisfied during tracking control to a recurrent reference trajectory. Under the PE condition and an appropriate state transformation, the proposed adaptive NN control is shown to be capable of acquiring knowledge on the implicit desired control input dynamics in the stable control process and of storing the learned knowledge in memory. Subsequently, an NN learning control design technique that effectively exploits the learned knowledge without re-adapting to the controller parameters is proposed to achieve closed-loop stability and improved control performance. Simulation studies are performed to demonstrate the effectiveness of the proposed design techniques.

Session 6: Dynamic Modeling and Systems Analysis

NASA Technical Reports Server (NTRS)

Csank, Jeffrey; Chapman, Jeffryes; May, Ryan

2013-01-01

These presentations cover some of the ongoing work in dynamic modeling and dynamic systems analysis. The first presentation discusses dynamic systems analysis and how to integrate dynamic performance information into the systems analysis. The ability to evaluate the dynamic performance of an engine design may allow tradeoffs between the dynamic performance and operability of a design resulting in a more efficient engine design. The second presentation discusses the Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS). T-MATS is a Simulation system with a library containing the basic building blocks that can be used to create dynamic Thermodynamic Systems. Some of the key features include Turbo machinery components, such as turbines, compressors, etc., and basic control system blocks. T-MAT is written in the Matlab-Simulink environment and is open source software. The third presentation focuses on getting additional performance from the engine by allowing the limit regulators only to be active when a limit is danger of being violated. Typical aircraft engine control architecture is based on MINMAX scheme, which is designed to keep engine operating within prescribed mechanical/operational safety limits. Using a conditionally active min-max limit regulator scheme, additional performance can be gained by disabling non-relevant limit regulators

Imaging contrast and tip-sample interaction of non-contact amplitude modulation atomic force microscopy with Q-control

NASA Astrophysics Data System (ADS)

Shi, Shuai; Guo, Dan; Luo, Jianbin

2017-10-01

Active quality factor (Q) exhibits many promising properties in dynamic atomic force microscopy. Energy dissipation and image contrasts are investigated in the non-contact amplitude modulation atomic force microscopy (AM-AFM) with an active Q-control circuit in the ambient air environment. Dissipated power and virial were calculated to compare the highly nonlinear interaction of tip-sample and image contrasts with different Q gain values. Greater free amplitudes and lower effective Q values show better contrasts for the same setpoint ratio. Active quality factor also can be employed to change tip-sample interaction force in non-contact regime. It is meaningful that non-destructive and better contrast images can be realized in non-contact AM-AFM by applying an active Q-control to the dynamic system.

Local Voltage Control in Distribution Networks: A Game-Theoretic Perspective

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Xinyang; Tian, Jie; Chen, Lijun

Inverter-based voltage regulation is gaining importance to alleviate emerging reliability and power-quality concerns related to distribution systems with high penetration of photovoltaic (PV) systems. This paper seeks contribution in the domain of reactive power compensation by establishing stability of local Volt/VAr controllers. In lieu of the approximate linear surrogate used in the existing work, the paper establishes existence and uniqueness of an equilibrium point using nonlinear AC power flow model. Key to this end is to consider a nonlinear dynamical system with non-incremental local Volt/VAr control, cast the Volt/VAr dynamics as a game, and leverage the fixed-point theorem as wellmore » as pertinent contraction mapping argument. Numerical examples are provided to complement the analytical results.« less

Local Voltage Control in Distribution Networks: A Game-Theoretic Perspective: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Xinyang; Tian, Jie; Chen, Lijun

Inverter-based voltage regulation is gaining importance to alleviate emerging reliability and power-quality concerns related to distribution systems with high penetration of photovoltaic (PV) systems. This paper seeks contribution in the domain of reactive power compensation by establishing stability of local Volt/VAr controllers. In lieu of the approximate linear surrogate used in the existing work, the paper establishes existence and uniqueness of an equilibrium point using nonlinear AC power flow model. Key to this end is to consider a nonlinear dynamical system with non-incremental local Volt/VAr control, cast the Volt/VAr dynamics as a game, and leverage the fixed-point theorem as wellmore » as pertinent contraction mapping argument. Numerical examples are provided to complement the analytical results.« less

Membrane voltage fluctuations reduce spike frequency adaptation and preserve output gain in CA1 pyramidal neurons in a high conductance state

PubMed Central

Fernandez, Fernando R.; Broicher, Tilman; Truong, Alan; White, John A.

2011-01-01

Modulating the gain of the input-output function of neurons is critical for processing of stimuli and network dynamics. Previous gain control mechanisms have suggested that voltage fluctuations play a key role in determining neuronal gain in vivo. Here we show that, under increased membrane conductance, voltage fluctuations restore Na+ current and reduce spike frequency adaptation in rat hippocampal CA1 pyramidal neurons in vitro. As a consequence, membrane voltage fluctuations produce a leftward shift in the f-I relationship without a change in gain, relative to an increase in conductance alone. Furthermore, we show that these changes have important implications for the integration of inhibitory inputs. Due to the ability to restore Na+ current, hyperpolarizing membrane voltage fluctuations mediated by GABAA-like inputs can increase firing rate in a high conductance state. Finally, our data show that the effects on gain and synaptic integration are mediated by voltage fluctuations within a physiologically relevant range of frequencies (10–40 Hz). PMID:21389243

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1992-01-01

The results of a study of the application of H infinity and mu synthesis techniques to the design of feedback control laws for the longitudinal dynamics of the High Angle of Attack Research Vehicle (HARV) are presented. The objective of this study is to develop methods for the design of feedback control laws which cause the closed loop longitudinal dynamics of the HARV to meet handling quality specifications over the entire flight envelope. Control law designs are based on models of the HARV linearized at various flight conditions. The control laws are evaluated by both linear and nonlinear simulations of typical maneuvers. The fixed gain control laws resulting from both the H infinity and mu synthesis techniques result in excellent performance even when the aircraft performs maneuvers in which the system states vary significantly from their equilibrium design values. Both the H infinity and mu synthesis control laws result in performance which compares favorably with an existing baseline longitudinal control law.

Magnetic Vortex Based Transistor Operations

PubMed Central

Kumar, D.; Barman, S.; Barman, A.

2014-01-01

Transistors constitute the backbone of modern day electronics. Since their advent, researchers have been seeking ways to make smaller and more efficient transistors. Here, we demonstrate a sustained amplification of magnetic vortex core gyration in coupled two and three vortices by controlling their relative core polarities. This amplification is mediated by a cascade of antivortex solitons travelling through the dynamic stray field. We further demonstrated that the amplification can be controlled by switching the polarity of the middle vortex in a three vortex sequence and the gain can be controlled by the input signal amplitude. An attempt to show fan–out operation yielded gain for one of the symmetrically placed branches which can be reversed by switching the core polarity of all the vortices in the network. The above observations promote the magnetic vortices as suitable candidates to work as stable bipolar junction transistors (BJT). PMID:24531235

Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

NASA Astrophysics Data System (ADS)

Sun, Yuming; Wu, Christine Qiong

2012-12-01

Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.

Brown Country: Johnny Rodriguez

ERIC Educational Resources Information Center

Vargas, Deborah R.

2007-01-01

The year 1972 was part of a dynamic period of Chicano politics and cultural production in South Texas. A few years earlier, in the Crystal City Revolts, Tejanos had moved to gain control of city and school board positions, events that resulted in the creation of the Raza Unida Party in 1970. Nineteen seventy-two also marked the beginning of the…

Measuring circuit

DOEpatents

Sun, Shan C.; Chaprnka, Anthony G.

1977-01-11

An automatic gain control circuit functions to adjust the magnitude of an input signal supplied to a measuring circuit to a level within the dynamic range of the measuring circuit while a log-ratio circuit adjusts the magnitude of the output signal from the measuring circuit to the level of the input signal and optimizes the signal-to-noise ratio performance of the measuring circuit.

Prediction and Analysis of the Nonsteady Transition and Separation Processes on an Oscillating Wind Turbine Airfoil using the \\gamma-Re_\\theta Transition Model.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nandi, Taraj; Brasseur, James; Vijayakumar, Ganesh

2016-01-04

This study is aimed at gaining insight into the nonsteady transitional boundary layer dynamics of wind turbine blades and the predictive capabilities of URANS based transition and turbulence models for similar physics through the analysis of a controlled flow with similar nonsteady parameters.

Conceptual Design Optimization of an Augmented Stability Aircraft Incorporating Dynamic Response and Actuator Constraints

NASA Technical Reports Server (NTRS)

Welstead, Jason; Crouse, Gilbert L., Jr.

2014-01-01

Empirical sizing guidelines such as tail volume coefficients have long been used in the early aircraft design phases for sizing stabilizers, resulting in conservatively stable aircraft. While successful, this results in increased empty weight, reduced performance, and greater procurement and operational cost relative to an aircraft with optimally sized surfaces. Including flight dynamics in the conceptual design process allows the design to move away from empirical methods while implementing modern control techniques. A challenge of flight dynamics and control is the numerous design variables, which are changing fluidly throughout the conceptual design process, required to evaluate the system response to some disturbance. This research focuses on addressing that challenge not by implementing higher order tools, such as computational fluid dynamics, but instead by linking the lower order tools typically used within the conceptual design process so each discipline feeds into the other. In thisresearch, flight dynamics and control was incorporated into the conceptual design process along with the traditional disciplines of vehicle sizing, weight estimation, aerodynamics, and performance. For the controller, a linear quadratic regulator structure with constant gains has been specified to reduce the user input. Coupling all the disciplines in the conceptual design phase allows the aircraft designer to explore larger design spaces where stabilizers are sized according to dynamic response constraints rather than historical static margin and volume coefficient guidelines.

An adaptive neuro fuzzy inference system controlled space cector pulse width modulation based HVDC light transmission system under AC fault conditions

NASA Astrophysics Data System (ADS)

Ajay Kumar, M.; Srikanth, N. V.

2014-03-01

In HVDC Light transmission systems, converter control is one of the major fields of present day research works. In this paper, fuzzy logic controller is utilized for controlling both the converters of the space vector pulse width modulation (SVPWM) based HVDC Light transmission systems. Due to its complexity in the rule base formation, an intelligent controller known as adaptive neuro fuzzy inference system (ANFIS) controller is also introduced in this paper. The proposed ANFIS controller changes the PI gains automatically for different operating conditions. A hybrid learning method which combines and exploits the best features of both the back propagation algorithm and least square estimation method is used to train the 5-layer ANFIS controller. The performance of the proposed ANFIS controller is compared and validated with the fuzzy logic controller and also with the fixed gain conventional PI controller. The simulations are carried out in the MATLAB/SIMULINK environment. The results reveal that the proposed ANFIS controller is reducing power fluctuations at both the converters. It also improves the dynamic performance of the test power system effectively when tested for various ac fault conditions.

Ares-I Bending Filter Design using a Constrained Optimization Approach

NASA Technical Reports Server (NTRS)

Hall, Charles; Jang, Jiann-Woei; Hall, Robert; Bedrossian, Nazareth

2008-01-01

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output is required to ensure adequate stable response to guidance commands while minimizing trajectory deviations. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares-I time-varying dynamics and control system can be frozen over a short period of time, the bending filters are designed to stabilize all the selected frozen-time launch control systems in the presence of parameter uncertainty. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constrains minimizes performance degradation caused by the addition of the bending filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The bending filter designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC MAVERIC 6DOF nonlinear time domain simulation.

Applied Time Domain Stability Margin Assessment for Nonlinear Time-Varying Systems

NASA Technical Reports Server (NTRS)

Kiefer, J. M.; Johnson, M. D.; Wall, J. H.; Dominguez, A.

2016-01-01

The baseline stability margins for NASA's Space Launch System (SLS) launch vehicle were generated via the classical approach of linearizing the system equations of motion and determining the gain and phase margins from the resulting frequency domain model. To improve the fidelity of the classical methods, the linear frequency domain approach can be extended by replacing static, memoryless nonlinearities with describing functions. This technique, however, does not address the time varying nature of the dynamics of a launch vehicle in flight. An alternative technique for the evaluation of the stability of the nonlinear launch vehicle dynamics along its trajectory is to incrementally adjust the gain and/or time delay in the time domain simulation until the system exhibits unstable behavior. This technique has the added benefit of providing a direct comparison between the time domain and frequency domain tools in support of simulation validation. This technique was implemented by using the Stability Aerospace Vehicle Analysis Tool (SAVANT) computer simulation to evaluate the stability of the SLS system with the Adaptive Augmenting Control (AAC) active and inactive along its ascent trajectory. The gains for which the vehicle maintains apparent time-domain stability defines the gain margins, and the time delay similarly defines the phase margin. This method of extracting the control stability margins from the time-domain simulation is relatively straightforward and the resultant margins can be compared to the linearized system results. The sections herein describe the techniques employed to extract the time-domain margins, compare the results between these nonlinear and the linear methods, and provide explanations for observed discrepancies. The SLS ascent trajectory was simulated with SAVANT and the classical linear stability margins were evaluated at one second intervals. The linear analysis was performed with the AAC algorithm disabled to attain baseline stability margins. At each time point, the system was linearized about the current operating point using Simulink's built-in solver. Each linearized system in time was evaluated for its rigid-body gain margin (high frequency gain margin), rigid-body phase margin, and aero gain margin (low frequency gain margin) for each control axis. Using the stability margins derived from the baseline linearization approach, the time domain derived stability margins were determined by executing time domain simulations in which axis-specific incremental gain and phase adjustments were made to the nominal system about the expected neutral stability point at specific flight times. The baseline stability margin time histories were used to shift the system gain to various values around the zero margin point such that a precise amount of expected gain margin was maintained throughout flight. When assessing the gain margins, the gain was applied starting at the time point under consideration, thereafter following the variation in the margin found in the linear analysis. When assessing the rigid-body phase margin, a constant time delay was applied to the system starting at the time point under consideration. If the baseline stability margins were correctly determined via the linear analysis, the time domain simulation results should contain unstable behavior at certain gain and phase values. Examples will be shown from repeated simulations with variable added gain and phase lag. Faithfulness of margins calculated from the linear analysis to the nonlinear system will be demonstrated.

Discrete dynamical laser equation for the critical onset of bistability, entanglement and disappearance

NASA Astrophysics Data System (ADS)

Abdul, M.; Farooq, U.; Akbar, Jehan; Saif, F.

2018-06-01

We transform the semi-classical laser equation for single mode homogeneously broadened lasers to a one-dimensional nonlinear map by using the discrete dynamical approach. The obtained mapping, referred to as laser logistic mapping (LLM), characteristically exhibits convergent, cyclic and chaotic behavior depending on the control parameter. Thus, the so obtained LLM explains stable, bistable, multi-stable, and chaotic solutions for output field intensity. The onset of bistability takes place at a critical value of the effective gain coefficient. The obtained analytical results are confirmed through numerical calculations.

Abnormal frontoparietal synaptic gain mediating the P300 in patients with psychotic disorder and their unaffected relatives.

PubMed

Díez, Álvaro; Ranlund, Siri; Pinotsis, Dimitris; Calafato, Stella; Shaikh, Madiha; Hall, Mei-Hua; Walshe, Muriel; Nevado, Ángel; Friston, Karl J; Adams, Rick A; Bramon, Elvira

2017-06-01

The "dysconnection hypothesis" of psychosis suggests that a disruption of functional integration underlies cognitive deficits and clinical symptoms. Impairments in the P300 potential are well documented in psychosis. Intrinsic (self-)connectivity in a frontoparietal cortical hierarchy during a P300 experiment was investigated. Dynamic Causal Modeling was used to estimate how evoked activity results from the dynamics of coupled neural populations and how neural coupling changes with the experimental factors. Twenty-four patients with psychotic disorder, twenty-four unaffected relatives, and twenty-five controls underwent EEG recordings during an auditory oddball paradigm. Sixteen frontoparietal network models (including primary auditory, superior parietal, and superior frontal sources) were analyzed and an optimal model of neural coupling, explaining diagnosis and genetic risk effects, as well as their interactions with task condition were identified. The winning model included changes in connectivity at all three hierarchical levels. Patients showed decreased self-inhibition-that is, increased cortical excitability-in left superior frontal gyrus across task conditions, compared with unaffected participants. Relatives had similar increases in excitability in left superior frontal and right superior parietal sources, and a reversal of the normal synaptic gain changes in response to targets relative to standard tones. It was confirmed that both subjects with psychotic disorder and their relatives show a context-independent loss of synaptic gain control at the highest hierarchy levels. The relatives also showed abnormal gain modulation responses to task-relevant stimuli. These may be caused by NMDA-receptor and/or GABAergic pathologies that change the excitability of superficial pyramidal cells and may be a potential biological marker for psychosis. Hum Brain Mapp 38:3262-3276, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Multivariable control of vapor compression systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

He, X.D.; Liu, S.; Asada, H.H.

1999-07-01

This paper presents the results of a study of multi-input multi-output (MIMO) control of vapor compression cycles that have multiple actuators and sensors for regulating multiple outputs, e.g., superheat and evaporating temperature. The conventional single-input single-output (SISO) control was shown to have very limited performance. A low order lumped-parameter model was developed to describe the significant dynamics of vapor compression cycles. Dynamic modes were analyzed based on the low order model to provide physical insight of system dynamic behavior. To synthesize a MIMO control system, the Linear-Quadratic Gaussian (LQG) technique was applied to coordinate compressor speed and expansion valve openingmore » with guaranteed stability robustness in the design. Furthermore, to control a vapor compression cycle over a wide range of operating conditions where system nonlinearities become evident, a gain scheduling scheme was used so that the MIMO controller could adapt to changing operating conditions. Both analytical studies and experimental tests showed that the MIMO control could significantly improve the transient behavior of vapor compression cycles compared to the conventional SISO control scheme. The MIMO control proposed in this paper could be extended to the control of vapor compression cycles in a variety of HVAC and refrigeration applications to improve system performance and energy efficiency.« less

Control theory analysis of a three-axis VTOL flight director. M.S. Thesis - Pennsylvania State Univ.

NASA Technical Reports Server (NTRS)

Niessen, F. R.

1971-01-01

A control theory analysis of a VTOL flight director and the results of a fixed-based simulator evaluation of the flight-director commands are discussed. The VTOL configuration selected for this study is a helicopter-type VTOL which controls the direction of the thrust vector by means of vehicle-attitude changes and, furthermore, employs high-gain attitude stabilization. This configuration is the same as one which was simulated in actual instrument flight tests with a variable stability helicopter. Stability analyses are made for each of the flight-director commands, assuming a single input-output, multi-loop system model for each control axis. The analyses proceed from the inner-loops to the outer-loops, using an analytical pilot model selected on the basis of the innermost-loop dynamics. The time response of the analytical model of the system is primarily used to adjust system gains, while root locus plots are used to identify dominant modes and mode interactions.

The dynamics of motivated perception: Effects of control and status on the perception of ambivalent stimuli.

PubMed

Voss, Andreas; Schwieren, Christiane

2015-01-01

Previous studies on attentional biases often show contradictory results. This suggests that important moderating variables have been neglected so far. We suggest that (1) control over potential consequences and (2) satisfaction with the current status are important factors that need to be considered. We explored the influence of these variables using a colour classification task, where colours are associated with financial gains and losses. Data were analysed with hierarchical logistic regression models and with stochastic diffusion models. The latter approach has the special advantage that it allows separating perceptual and judgemental biases. Results show an overall positive judgemental bias. In the absence of control, this positivity bias increases with the amount of money that has been gained, whereas the opposite pattern is present when dangers can be controlled. In the second experiment, no general feedback was given, which led to an increasing negativity bias. Results are discussed within an action theoretic framework.

Optimal control of multiphoton ionization dynamics of small alkali aggregates

NASA Astrophysics Data System (ADS)

Lindinger, A.; Bartelt, A.; Lupulescu, C.; Vajda, S.; Woste, Ludger

2003-11-01

We have performed transient multi-photon ionization experiments on small alkali clusters of different size in order to probe their wave packet dynamics, structural reorientations, charge transfers and dissociative events in different vibrationally excited electronic states including their ground state. The observed processes were highly dependent on the irradiated pulse parameters like wavelength range or its phase and amplitude; an emphasis to employ a feedback control system for generating the optimum pulse shapes. Their spectral and temporal behavior reflects interesting properties about the investigated system and the irradiated photo-chemical process. First, we present the vibrational dynamics of bound electronically excited states of alkali dimers and trimers. The scheme for observing the wave packet dynamics in the electronic ground state using stimulated Raman-pumping is shown. Since the employed pulse parameters significantly influence the efficiency of the irradiated dynamic pathways photo-induced ioniziation experiments were carried out. The controllability of 3-photon ionization pathways is investigated on the model-like systems NaK and K2. A closed learning loop for adaptive feedback control is used to find the optimal fs pulse shape. Sinusoidal parameterizations of the spectral phase modulation are investigated in regard to the obtained optimal field. By reducing the number of parameters and thereby the complexity of the phase moduation, optimal pulse shapes can be generated that carry fingerprints of the molecule's dynamical properties. This enables to find "understandable" optimal pulse forms and offers the possiblity to gain insight into the photo-induced control process. Characteristic motions of the involved wave packets are proposed to explain the optimized dynamic dissociation pathways.

A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

PubMed

Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

2013-03-01

A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Full-order observer for direct torque control of induction motor based on constant V/F control technique.

PubMed

Pimkumwong, Narongrit; Wang, Ming-Shyan

2018-02-01

This paper presents another control method for the three-phase induction motor that is direct torque control based on constant voltage per frequency control technique. This method uses the magnitude of stator flux and torque errors to generate the stator voltage and phase angle references for controlling the induction motor by using constant voltage per frequency control method. Instead of hysteresis comparators and optimum switching table, the PI controllers and space vector modulation technique are used to reduce torque and stator-flux ripples and achieve constant switching frequency. Moreover, the coordinate transformations are not required. To implement this control method, a full-order observer is used to estimate stator flux and overcome the problems from drift and saturation in using pure integrator. The feedback gains are designed by simple manner to improve the convergence of stator flux estimation, especially in low speed range. Furthermore, the necessary conditions to maintain the stability for feedback gain design are introduced. The simulation and experimental results show accurate and stable operation of the introduced estimator and good dynamic response of the proposed control method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Switched Fuzzy-PD Control of Contact Forces in Robotic Microbiomanipulation.

PubMed

Zhang, Weize; Dong, Xianke; Liu, Xinyu

2017-05-01

Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction mechanisms of neuronal circuitries. In this paper, we present a novel contact force control scheme implemented in an automated Drosophila larvae micromanipulation system, featuring a switched fuzzy to proportional-differential (PD) controller and a noise-insensitive extended high gain observer (EHGO). The switched fuzzy-PD control law inherits the fast convergence of fuzzy control and overcomes its drawbacks such as large overshoot and steady-state oscillation. The noise-insensitive EHGO can reliably estimate system modeling errors and is robust to force measurement noises, which is advantageous over conventional high gain observers (sensitive to signal noises). Force control experiments show that, compared to a proportional-integral-differential (PID) controller, this new force control scheme significantly enhances the system dynamic performance in terms of rising time, overshoot, and oscillation. The developed robotic system and the force control scheme will be applied to mechanical stimulation and fluorescence imaging of Drosophila larvae for identifying new mechanotransduction mechanisms.

Genetic algorithm based active vibration control for a moving flexible smart beam driven by a pneumatic rod cylinder

NASA Astrophysics Data System (ADS)

Qiu, Zhi-cheng; Shi, Ming-li; Wang, Bin; Xie, Zhuo-wei

2012-05-01

A rod cylinder based pneumatic driving scheme is proposed to suppress the vibration of a flexible smart beam. Pulse code modulation (PCM) method is employed to control the motion of the cylinder's piston rod for simultaneous positioning and vibration suppression. Firstly, the system dynamics model is derived using Hamilton principle. Its standard state-space representation is obtained for characteristic analysis, controller design, and simulation. Secondly, a genetic algorithm (GA) is applied to optimize and tune the control gain parameters adaptively based on the specific performance index. Numerical simulations are performed on the pneumatic driving elastic beam system, using the established model and controller with tuned gains by GA optimization process. Finally, an experimental setup for the flexible beam driven by a pneumatic rod cylinder is constructed. Experiments for suppressing vibrations of the flexible beam are conducted. Theoretical analysis, numerical simulation and experimental results demonstrate that the proposed pneumatic drive scheme and the adopted control algorithms are feasible. The large amplitude vibration of the first bending mode can be suppressed effectively.

Experimental comparison of conventional and nonlinear model-based control of a mixing tank

DOE Office of Scientific and Technical Information (OSTI.GOV)

Haeggblom, K.E.

1993-11-01

In this case study concerning control of a laboratory-scale mixing tank, conventional multiloop single-input single-output (SISO) control is compared with model-based'' control where the nonlinearity and multivariable characteristics of the process are explicitly taken into account. It is shown, especially if the operating range of the process is large, that the two outputs (level and temperature) cannot be adequately controlled by multiloop SISO control even if gain scheduling is used. By nonlinear multiple-input multiple-output (MIMO) control, on the other hand, very good control performance is obtained. The basic approach to nonlinear control used in this study is first to transformmore » the process into a globally linear and decoupled system, and then to design controllers for this system. Because of the properties of the resulting MIMO system, the controller design is very easy. Two nonlinear control system designs based on a steady-state and a dynamic model, respectively, are considered. In the dynamic case, both setpoint tracking and disturbance rejection can be addressed separately.« less

Stabilization of business cycles of finance agents using nonlinear optimal control

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.

2017-11-01

Stabilization of the business cycles of interconnected finance agents is performed with the use of a new nonlinear optimal control method. First, the dynamics of the interacting finance agents and of the associated business cycles is described by a modeled of coupled nonlinear oscillators. Next, this dynamic model undergoes approximate linearization round a temporary operating point which is defined by the present value of the system's state vector and the last value of the control inputs vector that was exerted on it. The linearization procedure is based on Taylor series expansion of the dynamic model and on the computation of Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms in the Taylor series expansion is considered as a disturbance which is compensated by the robustness of the control loop. Next, for the linearized model of the interacting finance agents, an H-infinity feedback controller is designed. The computation of the feedback control gain requires the solution of an algebraic Riccati equation at each iteration of the control algorithm. Through Lyapunov stability analysis it is proven that the control scheme satisfies an H-infinity tracking performance criterion, which signifies elevated robustness against modelling uncertainty and external perturbations. Moreover, under moderate conditions the global asymptotic stability features of the control loop are proven.

Further evidences for sleep instability and impaired spindle-delta dynamics in schizophrenia: a whole-night polysomnography study with neuroloop-gain and sleep-cycle analysis.

PubMed

Sasidharan, Arun; Kumar, Sunil; Nair, Ajay Kumar; Lukose, Ammu; Marigowda, Vrinda; John, John P; Kutty, Bindu M

2017-10-01

Sleep offers a unique window into the brain dysfunctions in schizophrenia. Many past sleep studies have reported abnormalities in both macro-sleep architecture (like increased awakenings) as well as micro-sleep-architecture (like spindle deficits) in patients with schizophrenia (PSZ). The present study attempts to replicate previous reports of macro- and micro-sleep-architectural abnormalities in schizophrenia. In addition, the study also examined sleep-stage changes and spindle-delta dynamics across sleep-cycles to provide further evidence in support of the dysfunctional thalamocortical mechanisms causing sleep instability and poor sleep maintenance associated with schizophrenia pathophysiology. Whole-night polysomnography was carried out among 45 PSZ and 39 age- and gender-matched healthy control subjects. Sleep-stage dynamics were assessed across sleep-cycles using a customized software algorithm. Spindle-delta dynamics across sleep-cycles were determined using neuroloop-gain analysis. PSZ showed macro-sleep architecture abnormalities such as prolonged sleeplessness, increased intermittent-awakenings, long sleep-onset latency, reduced non-rapid eye movement (NREM) stage 2 sleep, increased stage transitions, and poor sleep efficiency. They also showed reduced spindle density (sigma neuroloop-gain) but comparable slow wave density (delta neuroloop-gain) throughout the sleep. Sleep-cycle-wise analysis revealed transient features of sleep instability due to significantly increased intermittent awakenings especially in the first and third sleep-cycles, and unstable and recurrent stage transitions in both NREM (first sleep-cycle) and rapid eye movement (REM) sleep-periods (second sleep-cycle). Spindle deficits were persistent across the first three cycles and were positively correlated with sleep disruption during the subsequent REM sleep. In addition to replicating previously reported sleep deficits in PSZ, the current study showed subtle deficits in NREM-REM alterations across whole-night polysomnography. These results point towards a possible maladaptive interplay between unstable thalamocortical networks, resulting in sleep-cycle-specific instability patterns associated with schizophrenia pathophysiology. Copyright © 2017 Elsevier B.V. All rights reserved.

Design of an all-attitude flight control system to execute commanded bank angles and angles of attack

NASA Technical Reports Server (NTRS)

Burgin, G. H.; Eggleston, D. M.

1976-01-01

A flight control system for use in air-to-air combat simulation was designed. The input to the flight control system are commanded bank angle and angle of attack, the output are commands to the control surface actuators such that the commanded values will be achieved in near minimum time and sideslip is controlled to remain small. For the longitudinal direction, a conventional linear control system with gains scheduled as a function of dynamic pressure is employed. For the lateral direction, a novel control system, consisting of a linear portion for small bank angle errors and a bang-bang control system for large errors and error rates is employed.

Optimisation of active suspension control inputs for improved vehicle handling performance

NASA Astrophysics Data System (ADS)

Čorić, Mirko; Deur, Joško; Kasać, Josip; Tseng, H. Eric; Hrovat, Davor

2016-11-01

Active suspension is commonly considered under the framework of vertical vehicle dynamics control aimed at improvements in ride comfort. This paper uses a collocation-type control variable optimisation tool to investigate to which extent the fully active suspension (FAS) application can be broaden to the task of vehicle handling/cornering control. The optimisation approach is firstly applied to solely FAS actuator configurations and three types of double lane-change manoeuvres. The obtained optimisation results are used to gain insights into different control mechanisms that are used by FAS to improve the handling performance in terms of path following error reduction. For the same manoeuvres the FAS performance is compared with the performance of different active steering and active differential actuators. The optimisation study is finally extended to combined FAS and active front- and/or rear-steering configurations to investigate if they can use their complementary control authorities (over the vertical and lateral vehicle dynamics, respectively) to further improve the handling performance.

Development and Flight Testing of a Neural Network Based Flight Control System on the NF-15B Aircraft

NASA Technical Reports Server (NTRS)

Bomben, Craig R.; Smolka, James W.; Bosworth, John T.; Silliams-Hayes, Peggy S.; Burken, John J.; Larson, Richard R.; Buschbacher, Mark J.; Maliska, Heather A.

2006-01-01

The Intelligent Flight Control System (IFCS) project at the NASA Dryden Flight Research Center, Edwards AFB, CA, has been investigating the use of neural network based adaptive control on a unique NF-15B test aircraft. The IFCS neural network is a software processor that stores measured aircraft response information to dynamically alter flight control gains. In 2006, the neural network was engaged and allowed to learn in real time to dynamically alter the aircraft handling qualities characteristics in the presence of actual aerodynamic failure conditions injected into the aircraft through the flight control system. The use of neural network and similar adaptive technologies in the design of highly fault and damage tolerant flight control systems shows promise in making future aircraft far more survivable than current technology allows. This paper will present the results of the IFCS flight test program conducted at the NASA Dryden Flight Research Center in 2006, with emphasis on challenges encountered and lessons learned.

Predictability and Robustness in the Manipulation of Dynamically Complex Objects

PubMed Central

Hasson, Christopher J.

2017-01-01

Manipulation of complex objects and tools is a hallmark of many activities of daily living, but how the human neuromotor control system interacts with such objects is not well understood. Even the seemingly simple task of transporting a cup of coffee without spilling creates complex interaction forces that humans need to compensate for. Predicting the behavior of an underactuated object with nonlinear fluid dynamics based on an internal model appears daunting. Hence, this research tests the hypothesis that humans learn strategies that make interactions predictable and robust to inaccuracies in neural representations of object dynamics. The task of moving a cup of coffee is modeled with a cart-and-pendulum system that is rendered in a virtual environment, where subjects interact with a virtual cup with a rolling ball inside using a robotic manipulandum. To gain insight into human control strategies, we operationalize predictability and robustness to permit quantitative theory-based assessment. Predictability is quantified by the mutual information between the applied force and the object dynamics; robustness is quantified by the energy margin away from failure. Three studies are reviewed that show how with practice subjects develop movement strategies that are predictable and robust. Alternative criteria, common for free movement, such as maximization of smoothness and minimization of force, do not account for the observed data. As manual dexterity is compromised in many individuals with neurological disorders, the experimental paradigm and its analyses are a promising platform to gain insights into neurological diseases, such as dystonia and multiple sclerosis, as well as healthy aging. PMID:28035560

Human dynamic closed-loop accommodation augmented by sympathetic inhibition.

PubMed

Culhane, H M; Winn, B; Gilmartin, B

1999-05-01

A ciliary alpha-adrenoceptor accommodative effect has been proposed, caused by a small population of alpha1-inhibitory receptors in excised human ciliary muscle. This study was intended to investigate the effect on the closed-loop dynamic accommodative process of modulating alpha1-adrenoceptor activity by topical instillation of the alpha1-adrenergic agonist, phenylephrine hydrochloride. A group of 10 visually normal subjects viewed a photopic (30 candela/m2) high-contrast Maltese cross, which was modulated sinusoidally (0.05-0.6Hz) and stepwise over a 2-D range (2-4 D). Monocular temporal accommodation responses were measured using a continuously recording dynamic tracking infrared optometer under two trial conditions: after instillation of saline control solution and 50 minutes subsequent to the instillation of 0.27 microl 0.4% benoxinate hydrochloride and 0.27 microl 2.5% phenylephrine hydrochloride. Pupil size and accommodative amplitude were measured at 90-second intervals for 50 minutes after drug instillation. All accommodative measurements were recorded through a fixed 4-mm pupil. A significant reduction in accommodative amplitude (11%; P < 0.05) was recorded, whereas pupil size showed a significant increase (33%; P < 0.05). No significant change in step-response dynamics was observed. However, phenylephrine hydrochloride caused a significant increase in accommodative gain in the low and midtemporal frequency ranges compared with the effect of a saline control treatment. No significant variation in phase lag was observed. For the first time in humans, this study shows that augmentation of the alpha1-inhibitory sympathetic contribution results in increased accommodative gain at low and midtemporal frequencies, which is consistent with findings in animal studies.

An Analysis on a Dynamic Amplifier and Calibration Methods for a Pseudo-Differential Dynamic Comparator

NASA Astrophysics Data System (ADS)

Paik, Daehwa; Miyahara, Masaya; Matsuzawa, Akira

This paper analyzes a pseudo-differential dynamic comparator with a dynamic pre-amplifier. The transient gain of a dynamic pre-amplifier is derived and applied to equations of the thermal noise and the regeneration time of a comparator. This analysis enhances understanding of the roles of transistor's parameters in pre-amplifier's gain. Based on the calculated gain, two calibration methods are also analyzed. One is calibration of a load capacitance and the other is calibration of a bypass current. The analysis helps designers' estimation for the accuracy of calibration, dead-zone of a comparator with a calibration circuit, and the influence of PVT variation. The analyzed comparator uses 90-nm CMOS technology as an example and each estimation is compared with simulation results.

An ignition key for atomic-scale engines

NASA Astrophysics Data System (ADS)

Dundas, Daniel; Cunningham, Brian; Buchanan, Claire; Terasawa, Asako; Paxton, Anthony T.; Todorov, Tchavdar N.

2012-10-01

A current-carrying resonant nanoscale device, simulated by non-adiabatic molecular dynamics, exhibits sharp activation of non-conservative current-induced forces with bias. The result, above the critical bias, is generalized rotational atomic motion with a large gain in kinetic energy. The activation exploits sharp features in the electronic structure, and constitutes, in effect, an ignition key for atomic-scale motors. A controlling factor for the effect is the non-equilibrium dynamical response matrix for small-amplitude atomic motion under current. This matrix can be found from the steady-state electronic structure by a simpler static calculation, providing a way to detect the likely appearance, or otherwise, of non-conservative dynamics, in advance of real-time modelling.

Enhancing Children's Spatial and Numerical Skills through a Dynamic Spatial Approach to Early Geometry Instruction: Effects of a 32-Week Intervention

ERIC Educational Resources Information Center

Hawes, Zachary; Moss, Joan; Caswell, Beverly; Naqvi, Sarah; MacKinnon, Sharla

2017-01-01

This study describes the implementation and effects of a 32-week teacher-led spatial reasoning intervention in K-2 classrooms. The intervention targeted spatial visualization skills as an integrated feature of regular mathematics instruction. Compared to an active control group, children in the spatial intervention demonstrated gains in spatial…

Polarization Sensitive QWIP Thermal Imager

DTIC Science & Technology

2000-03-01

array (FPA) with peak responsivity in the long-wave infrared ( LWIR ) spectral band near 9 µm. Polarization-dependent responsivity is achieved by...demonstrated in various combinations: MWIR/ LWIR (using rectangular grid gratings), MWIR/MWIR, and LWIR / LWIR . The FPA described here was fabricated with a...CCA supports the nonuniformity correction, global gain and level control, failed pixel substitution, dynamic range reduction, BIT status and serial

Short-Term Gains, Long-Term Pains: How Cues about State Aid Learning in Dynamic Environments

ERIC Educational Resources Information Center

Gureckis, Todd M.; Love, Bradley C.

2009-01-01

Successful investors seeking returns, animals foraging for food, and pilots controlling aircraft all must take into account how their current decisions will impact their future standing. One challenge facing decision makers is that options that appear attractive in the short-term may not turn out best in the long run. In this paper, we explore…

Load Frequency Control of AC Microgrid Interconnected Thermal Power System

NASA Astrophysics Data System (ADS)

Lal, Deepak Kumar; Barisal, Ajit Kumar

2017-08-01

In this paper, a microgrid (MG) power generation system is interconnected with a single area reheat thermal power system for load frequency control study. A new meta-heuristic optimization algorithm i.e. Moth-Flame Optimization (MFO) algorithm is applied to evaluate optimal gains of the fuzzy based proportional, integral and derivative (PID) controllers. The system dynamic performance is studied by comparing the results with MFO optimized classical PI/PID controllers. Also the system performance is investigated with fuzzy PID controller optimized by recently developed grey wolf optimizer (GWO) algorithm, which has proven its superiority over other previously developed algorithm in many interconnected power systems.

A Sarsa(λ)-based control model for real-time traffic light coordination.

PubMed

Zhou, Xiaoke; Zhu, Fei; Liu, Quan; Fu, Yuchen; Huang, Wei

2014-01-01

Traffic problems often occur due to the traffic demands by the outnumbered vehicles on road. Maximizing traffic flow and minimizing the average waiting time are the goals of intelligent traffic control. Each junction wants to get larger traffic flow. During the course, junctions form a policy of coordination as well as constraints for adjacent junctions to maximize their own interests. A good traffic signal timing policy is helpful to solve the problem. However, as there are so many factors that can affect the traffic control model, it is difficult to find the optimal solution. The disability of traffic light controllers to learn from past experiences caused them to be unable to adaptively fit dynamic changes of traffic flow. Considering dynamic characteristics of the actual traffic environment, reinforcement learning algorithm based traffic control approach can be applied to get optimal scheduling policy. The proposed Sarsa(λ)-based real-time traffic control optimization model can maintain the traffic signal timing policy more effectively. The Sarsa(λ)-based model gains traffic cost of the vehicle, which considers delay time, the number of waiting vehicles, and the integrated saturation from its experiences to learn and determine the optimal actions. The experiment results show an inspiring improvement in traffic control, indicating the proposed model is capable of facilitating real-time dynamic traffic control.

The Inverse Optimal Control Problem for a Three-Loop Missile Autopilot

NASA Astrophysics Data System (ADS)

Hwang, Donghyeok; Tahk, Min-Jea

2018-04-01

The performance characteristics of the autopilot must have a fast response to intercept a maneuvering target and reasonable robustness for system stability under the effect of un-modeled dynamics and noise. By the conventional approach, the three-loop autopilot design is handled by time constant, damping factor and open-loop crossover frequency to achieve the desired performance requirements. Note that the general optimal theory can be also used to obtain the same gain as obtained from the conventional approach. The key idea of using optimal control technique for feedback gain design revolves around appropriate selection and interpretation of the performance index for which the control is optimal. This paper derives an explicit expression, which relates the weight parameters appearing in the quadratic performance index to the design parameters such as open-loop crossover frequency, phase margin, damping factor, or time constant, etc. Since all set of selection of design parameters do not guarantee existence of optimal control law, explicit inequalities, which are named the optimality criteria for the three-loop autopilot (OC3L), are derived to find out all set of design parameters for which the control law is optimal. Finally, based on OC3L, an efficient gain selection procedure is developed, where time constant is set to design objective and open-loop crossover frequency and phase margin as design constraints. The effectiveness of the proposed technique is illustrated through numerical simulations.

Modeling, Analysis and Mitigation of Sub-Synchronous Interactions between Full- and Partial-Scale Voltage-Source Converters and Power Networks

NASA Astrophysics Data System (ADS)

Alawasa, Khaled Mohammad

Voltage-source converters (VSCs) have gained widespread acceptance in modern power systems. The stability and dynamics of power systems involving these devices have recently become salient issues. In the small-signal sense, the dynamics of VSC-based systems is dictated by its incremental output impedance, which is formed by a combination of 'passive' circuit components and 'active' control elements. Control elements such as control parameters, control loops, and control topologies play a significant role in shaping the impedance profile. Depending on the control schemes and strategies used, VSC-based systems can exhibit different incremental impedance dynamics. As the control elements and dynamics are involved in the impedance structure, the frequency-dependent output impedance might have a negative real-part (i.e., a negative resistance). In the grid-connected mode, the negative resistance degrades the system damping and negatively impacts the stability. In high-voltage networks where high-power VSC-based systems are usually employed and where sub-synchronous dynamics usually exist, integrating large VSC-based systems might reduce the overall damping and results in unstable dynamics. The objectives of this thesis are to (1) investigate and analyze the output impedance properties under different control strategies and control functions, (2) identify and characterize the key contributors to the impedance and sub-synchronous damping profiles, and (3) propose mitigation techniques to minimize and eliminate the negative impact associated with integrating VSC-based systems into power systems. Different VSC configurations are considered in this thesis; in particular, the full-scale and partial-scale topologies (doubly fed-induction generators) are addressed. Additionally, the impedance and system damping profiles are studied under two different control strategies: the standard vector control strategy and the recently-developed power synchronization control strategy. Furthermore, this thesis proposes a simple and robust technique for damping the sub-synchronous resonance in a power system.

Direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Closed-loop control of a core free rolled EAP actuator

NASA Astrophysics Data System (ADS)

Sarban, Rahimullah; Oubaek, Jakob; Jones, Richard W.

2009-03-01

Tubular dielectric electro-active polymer actuators, also referred as tubular InLastors, have many possible applications. One of the most obvious is as a positioning push-type device. This work examines the feedback closed-loop control of a core-free tubular InLastor fabricated from sheets of PolyPowerTM, an EAP material developed by Danfoss PolyPower A/S, which uses a silicone elastomer in conjunction with smart compliant electrode technology. This is part of an ongoing study to develop a precision positioning feedback control system for this device. Initially proportional and integral (PI) control is considered to provide position control of the tubular InLastor. Control of the tubular Inlastors require more than conventional control, used for linear actuators, because the InLastors display highly nonlinear static voltage-strain and voltage-force characteristics as well as dynamic hysteresis and time-dependent strain behavior. In an attempt to overcome the nonlinear static voltage-strain characteristics of the Inlastors and for improving the dynamic performance of the controlled device, a gain scheduling algorithm is then integrated into the PI controlled system.

Gain and refractive index dynamics in p-doped InAs quantum dash semiconductor optical amplifiers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Komolibus, Katarzyna; Tyndall National Institute, University College Cork, Cork T12 R5CP; Piwonski, Tomasz, E-mail: tomasz.piwonski@tyndall.ie

The ultrafast carrier dynamics in a p-doped dash-in-a-well structure at 1.5 μm is experimentally investigated. An analysis of the timescales related to carrier relaxation and escape processes as well as the “dynamical” linewidth enhancement factor is presented and compared with results obtained from similar un-doped materials. Intentional p-doping of the active region results in an enhancement of the intermediate timescale of the gain dynamics associated with phonon-assisted electron capture and a reduction of the α-factor due to increased differential gain.

The Extent of Genome Flux and Its Role in the Differentiation of Bacterial Lineages

PubMed Central

Nowell, Reuben W.; Green, Sarah; Laue, Bridget E.; Sharp, Paul M.

2014-01-01

Horizontal gene transfer (HGT) and gene loss are key processes in bacterial evolution. However, the role of gene gain and loss in the emergence and maintenance of ecologically differentiated bacterial populations remains an open question. Here, we use whole-genome sequence data to quantify gene gain and loss for 27 lineages of the plant-associated bacterium Pseudomonas syringae. We apply an extensive error-control procedure that accounts for errors in draft genome data and greatly improves the accuracy of patterns of gene occurrence among these genomes. We demonstrate a history of extensive genome fluctuation for this species and show that individual lineages could have acquired thousands of genes in the same period in which a 1% amino acid divergence accrues in the core genome. Elucidating the dynamics of genome fluctuation reveals the rapid turnover of gained genes, such that the majority of recently gained genes are quickly lost. Despite high observed rates of fluctuation, a phylogeny inferred from patterns of gene occurrence is similar to a phylogeny based on amino acid replacements within the core genome. Furthermore, the core genome phylogeny suggests that P. syringae should be considered a number of distinct species, with levels of divergence at least equivalent to those between recognized bacterial species. Gained genes are transferred from a variety of sources, reflecting the depth and diversity of the potential gene pool available via HGT. Overall, our results provide further insights into the evolutionary dynamics of genome fluctuation and implicate HGT as a major factor contributing to the diversification of P. syringae lineages. PMID:24923323

Gain-adaptive vector quantization for medium-rate speech coding

NASA Technical Reports Server (NTRS)

Chen, J.-H.; Gersho, A.

1985-01-01

A class of adaptive vector quantizers (VQs) that can dynamically adjust the 'gain' of codevectors according to the input signal level is introduced. The encoder uses a gain estimator to determine a suitable normalization of each input vector prior to VQ coding. The normalized vectors have reduced dynamic range and can then be more efficiently coded. At the receiver, the VQ decoder output is multiplied by the estimated gain. Both forward and backward adaptation are considered and several different gain estimators are compared and evaluated. An approach to optimizing the design of gain estimators is introduced. Some of the more obvious techniques for achieving gain adaptation are substantially less effective than the use of optimized gain estimators. A novel design technique that is needed to generate the appropriate gain-normalized codebook for the vector quantizer is introduced. Experimental results show that a significant gain in segmental SNR can be obtained over nonadaptive VQ with a negligible increase in complexity.

High Efficiency Automatic-Power-Controlled and Gain-Clamped EDFA for Broadband Passive Optical Networking Systems

NASA Astrophysics Data System (ADS)

Shen, Jyi-Lai; Wei, Shui-Ken; Lin, Chin-Yuan; Iong Li, Ssu; Huang, Chih-Chuan

2010-04-01

The configuration of a simple improved high efficiency automatic-power-controlled and gain-clamped EDFA (APC-GC-EDFA) for broadband passive optical networking systems (BPON) is presented here. In order to compensate the phase and amplitude variation due to the different distance between the optical line terminal (OLT) and optical network units (ONU), the APC-GC-EDFA need to be employed. A single 980 nm laser module is employed as the primary pump. To extend the bandwidth, all C-band ASE is recycled as the secondary pump to enhance the gain efficiency. An electrical feedback circuit is used as a multi-wavelength channel transmitter monitor for the automatic power control to improve the gain-flattened flatness for stable amplification. The experimental results prove that the EDFA system can provide flatter clamped gain in both C-band and L-band configurations. The gain flatness wavelength ranging from 1530 to 1610 nm is within 32.83 ± 0.64 dB, i.e. below 1.95 %. The gains are clamped at 33.85 ± 0.65 dB for the input signal power of -40 dBm to -10 dBm. The range of noise figure is between 6.37 and 6.56, which is slightly lower compared to that of unclamped amplifiers. This will be very useful for measuring the gain flatness of APC-GC-EDFA. Finally, we have also demonstrated the records of the overall simultaneous dynamics measurements for the new system stabilization. The carrier to noise ratio (CNR) is 49.5 to 50.8 dBc which is above the National Television System Committee (NTSC) standard of 43 dBc, and both composite second order (CSO) 69.2 to 71.5 dBc and composite triple beat (CTB) of 69.8 to 72.2 dBc are above 53 dBc. The recorded corresponding rise-time of 1.087 ms indicates that the system does not exhibit any overshoot of gain or ASE variation due to the signal at the beginning of the pulse.

Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

2018-05-01

This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

Two time scale output feedback regulation for ill-conditioned systems

NASA Technical Reports Server (NTRS)

Calise, A. J.; Moerder, D. D.

1986-01-01

Issues pertaining to the well-posedness of a two time scale approach to the output feedback regulator design problem are examined. An approximate quadratic performance index which reflects a two time scale decomposition of the system dynamics is developed. It is shown that, under mild assumptions, minimization of this cost leads to feedback gains providing a second-order approximation of optimal full system performance. A simplified approach to two time scale feedback design is also developed, in which gains are separately calculated to stabilize the slow and fast subsystem models. By exploiting the notion of combined control and observation spillover suppression, conditions are derived assuring that these gains will stabilize the full-order system. A sequential numerical algorithm is described which obtains output feedback gains minimizing a broad class of performance indices, including the standard LQ case. It is shown that the algorithm converges to a local minimum under nonrestrictive assumptions. This procedure is adapted to and demonstrated for the two time scale design formulations.

Wetland fire remote sensing research--The Greater Everglades example

USGS Publications Warehouse

Jones, John W.

2012-01-01

Fire is a major factor in the Everglades ecosystem. For thousands of years, lightning-strike fires from summer thunderstorms have helped create and maintain a dynamic landscape suited both to withstand fire and recover quickly in the wake of frequent fires. Today, managers in the Everglades National Park are implementing controlled burns to promote healthy, sustainable vegetation patterns and ecosystem functions. The U.S. Geological Survey (USGS) is using remote sensing to improve fire-management databases in the Everglades, gain insights into post-fire land-cover dynamics, and develop spatially and temporally explicit fire-scar data for habitat and hydrologic modeling.

Modified optimal control pilot model for computer-aided design and analysis

NASA Technical Reports Server (NTRS)

Davidson, John B.; Schmidt, David K.

1992-01-01

This paper presents the theoretical development of a modified optimal control pilot model based upon the optimal control model (OCM) of the human operator developed by Kleinman, Baron, and Levison. This model is input compatible with the OCM and retains other key aspects of the OCM, such as a linear quadratic solution for the pilot gains with inclusion of control rate in the cost function, a Kalman estimator, and the ability to account for attention allocation and perception threshold effects. An algorithm designed for each implementation in current dynamic systems analysis and design software is presented. Example results based upon the analysis of a tracking task using three basic dynamic systems are compared with measured results and with similar analyses performed with the OCM and two previously proposed simplified optimal pilot models. The pilot frequency responses and error statistics obtained with this modified optimal control model are shown to compare more favorably to the measured experimental results than the other previously proposed simplified models evaluated.

Use of non-adiabatic geometric phase for quantum computing by NMR.

PubMed

Das, Ranabir; Kumar, S K Karthick; Kumar, Anil

2005-12-01

Geometric phases have stimulated researchers for its potential applications in many areas of science. One of them is fault-tolerant quantum computation. A preliminary requisite of quantum computation is the implementation of controlled dynamics of qubits. In controlled dynamics, one qubit undergoes coherent evolution and acquires appropriate phase, depending on the state of other qubits. If the evolution is geometric, then the phase acquired depend only on the geometry of the path executed, and is robust against certain types of error. This phenomenon leads to an inherently fault-tolerant quantum computation. Here we suggest a technique of using non-adiabatic geometric phase for quantum computation, using selective excitation. In a two-qubit system, we selectively evolve a suitable subsystem where the control qubit is in state |1, through a closed circuit. By this evolution, the target qubit gains a phase controlled by the state of the control qubit. Using the non-adiabatic geometric phase we demonstrate implementation of Deutsch-Jozsa algorithm and Grover's search algorithm in a two-qubit system.

Stabilizing detached Bridgman melt crystal growth: Proportional-integral feedback control

NASA Astrophysics Data System (ADS)

Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey J.

2012-10-01

The dynamics, operability limits, and tuning of a proportional-integral feedback controller to stabilize detached vertical Bridgman crystal growth are analyzed using a capillary model of shape stability. The manipulated variable is the pressure difference between upper and lower vapor spaces, and the controlled variable is the gap width at the triple-phase line. Open and closed loop dynamics of step changes in these state variables are analyzed under both shape stable and shape unstable growth conditions. Effects of step changes in static contact angle and growth angle are also studied. Proportional and proportional-integral control can stabilize unstable growth, but only within tight operability limits imposed by the narrow range of allowed meniscus shapes. These limits are used to establish safe operating ranges of controller gain. Strong nonlinearity of the capillary model restricts the range of perturbations that can be stabilized, and under some circumstances, stabilizes a spurious operating state far from the set point. Stabilizing detachment at low growth angle proves difficult and becomes impossible at zero growth angle.

Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.

PubMed

Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping

2017-01-31

In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.

Users manual for flight control design programs

NASA Technical Reports Server (NTRS)

Nalbandian, J. Y.

1975-01-01

Computer programs for the design of analog and digital flight control systems are documented. The program DIGADAPT uses linear-quadratic-gaussian synthesis algorithms in the design of command response controllers and state estimators, and it applies covariance propagation analysis to the selection of sampling intervals for digital systems. Program SCHED executes correlation and regression analyses for the development of gain and trim schedules to be used in open-loop explicit-adaptive control laws. A linear-time-varying simulation of aircraft motions is provided by the program TVHIS, which includes guidance and control logic, as well as models for control actuator dynamics. The programs are coded in FORTRAN and are compiled and executed on both IBM and CDC computers.

Bio-inspired energy-harvesting mechanisms and patterns of dynamic soaring.

PubMed

Liu, Duo-Neng; Hou, Zhong-Xi; Guo, Zheng; Yang, Xi-Xiang; Gao, Xian-Zhong

2017-01-30

Albatrosses can make use of the dynamic soaring technique extracting energy from the wind field to achieve large-scale movement without a flap, which stimulates interest in effortless flight with small unmanned aerial vehicles (UAVs). However, mechanisms of energy harvesting in terms of the energy transfer from the wind to the flyer (albatross or UAV) are still indeterminate and controversial when using different reference frames in previous studies. In this paper, the classical four-phase Rayleigh cycle, includes sequentially upwind climb, downwind turn, downwind dive and upwind turn, is introduced in analyses of energy gain with the albatross's equation of motions and the simulated trajectory in dynamic soaring. Analytical and numerical results indicate that the energy gain in the air-relative frame mostly originates from large wind gradients at lower part of the climb and dive, while the energy gain in the inertial frame comes from the lift vector inclined to the wind speed direction during the climb, dive and downwind turn at higher altitude. These two energy-gain mechanisms are not equivalent in terms of energy sources and reference frames but have to be simultaneously satisfied in terms of the energy-neutral dynamic soaring cycle. For each reference frame, energy-loss phases are necessary to connect energy-gain ones. Based on these four essential phases in dynamic soaring and the albatrosses' flight trajectory, different dynamic soaring patterns are schematically depicted and corresponding optimal trajectories are computed. The optimal dynamic soaring trajectories are classified into two closed patterns including 'O' shape and '8' shape, and four travelling patterns including 'Ω' shape, 'α' shape, 'C' shape and 'S' shape. The correlation among these patterns are analysed and discussed. The completeness of the classification for different patterns is confirmed by listing and summarising dynamic soaring trajectories shown in studies over the past decades.

Dynamic Excitatory and Inhibitory Gain Modulation Can Produce Flexible, Robust and Optimal Decision-making

PubMed Central

Niyogi, Ritwik K.; Wong-Lin, KongFatt

2013-01-01

Behavioural and neurophysiological studies in primates have increasingly shown the involvement of urgency signals during the temporal integration of sensory evidence in perceptual decision-making. Neuronal correlates of such signals have been found in the parietal cortex, and in separate studies, demonstrated attention-induced gain modulation of both excitatory and inhibitory neurons. Although previous computational models of decision-making have incorporated gain modulation, their abstract forms do not permit an understanding of the contribution of inhibitory gain modulation. Thus, the effects of co-modulating both excitatory and inhibitory neuronal gains on decision-making dynamics and behavioural performance remain unclear. In this work, we incorporate time-dependent co-modulation of the gains of both excitatory and inhibitory neurons into our previous biologically based decision circuit model. We base our computational study in the context of two classic motion-discrimination tasks performed in animals. Our model shows that by simultaneously increasing the gains of both excitatory and inhibitory neurons, a variety of the observed dynamic neuronal firing activities can be replicated. In particular, the model can exhibit winner-take-all decision-making behaviour with higher firing rates and within a significantly more robust model parameter range. It also exhibits short-tailed reaction time distributions even when operating near a dynamical bifurcation point. The model further shows that neuronal gain modulation can compensate for weaker recurrent excitation in a decision neural circuit, and support decision formation and storage. Higher neuronal gain is also suggested in the more cognitively demanding reaction time than in the fixed delay version of the task. Using the exact temporal delays from the animal experiments, fast recruitment of gain co-modulation is shown to maximize reward rate, with a timescale that is surprisingly near the experimentally fitted value. Our work provides insights into the simultaneous and rapid modulation of excitatory and inhibitory neuronal gains, which enables flexible, robust, and optimal decision-making. PMID:23825935

YADCLAN: yet another digitally-controlled linear artificial neuron.

PubMed

Frenger, Paul

2003-01-01

This paper updates the author's 1999 RMBS presentation on digitally controlled linear artificial neuron design. Each neuron is based on a standard operational amplifier having excitatory and inhibitory inputs, variable gain, an amplified linear analog output and an adjustable threshold comparator for digital output. This design employs a 1-wire serial network of digitally controlled potentiometers and resistors whose resistance values are set and read back under microprocessor supervision. This system embodies several unique and useful features, including: enhanced neuronal stability, dynamic reconfigurability and network extensibility. This artificial neuronal is being employed for feature extraction and pattern recognition in an advanced robotic application.

Alternatives for jet engine control

NASA Technical Reports Server (NTRS)

Sain, M. K.

1981-01-01

Research centered on basic topics in the modeling and feedback control of nonlinear dynamical systems is reported. Of special interest were the following topics: (1) the role of series descriptions, especially insofar as they relate to questions of scheduling, in the control of gas turbine engines; (2) the use of algebraic tensor theory as a technique for parameterizing such descriptions; (3) the relationship between tensor methodology and other parts of the nonlinear literature; (4) the improvement of interactive methods for parameter selection within a tensor viewpoint; and (5) study of feedback gain representation as a counterpart to these modeling and parameterization ideas.

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.

Stability and Control Analysis of V/STOL Type B Aircraft.

DTIC Science & Technology

1979-03-31

control deficiency is larger at higher angles of attack. For example at 100 kt (51 m/s), the maximum sideslip is re- duced 2 deg, or 13%, by increasing... DEFICIENCY AREA L O ESIRED ENVELOPEi ( JI~AX SI lO KTI REACTION\\ TTLJJETS I o-TO J %%PLUS AIlERONS)S, E3" :-o e- AILERONS 0 10 20 30 40 so so 70 80 go...DISCRETE-TIME OPTIMAL CONTROL LAW GAINS [(0-I)r1 [C1 atC 2 1 jAtK1 & tK2 1 H D P! CONTROL LAW IN INCREMENTAL FORM ERROR DYNAMICS: Ak = Aak - Cl( ak

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 sting 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 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.

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.

Act-and-wait time-delayed feedback control of autonomous systems

NASA Astrophysics Data System (ADS)

Pyragas, Viktoras; Pyragas, Kestutis

2018-02-01

Recently an act-and-wait modification of time-delayed feedback control has been proposed for the stabilization of unstable periodic orbits in nonautonomous dynamical systems (Pyragas and Pyragas, 2016 [30]). The modification implies a periodic switching of the feedback gain and makes the closed-loop system finite-dimensional. Here we extend this modification to autonomous systems. In order to keep constant the phase difference between the controlled orbit and the act-and-wait switching function an additional small-amplitude periodic perturbation is introduced. The algorithm can stabilize periodic orbits with an odd number of real unstable Floquet exponents using a simple single-input single-output constraint control.

Advanced aeroservoelastic stabilization techniques for hypersonic flight vehicles

NASA Technical Reports Server (NTRS)

Chan, Samuel Y.; Cheng, Peter Y.; Myers, Thomas T.; Klyde, David H.; Magdaleno, Raymond E.; Mcruer, Duane T.

1992-01-01

Advanced high performance vehicles, including Single-Stage-To-Orbit (SSTO) hypersonic flight vehicles, that are statically unstable, require higher bandwidth flight control systems to compensate for the instability resulting in interactions between the flight control system, the engine/propulsion dynamics, and the low frequency structural modes. Military specifications, such as MIL-F-9490D and MIL-F-87242, tend to limit treatment of structural modes to conventional gain stabilization techniques. The conventional gain stabilization techniques, however, introduce low frequency effective time delays which can be troublesome from a flying qualities standpoint. These time delays can be alleviated by appropriate blending of gain and phase stabilization techniques (referred to as Hybrid Phase Stabilization or HPS) for the low frequency structural modes. The potential of using HPS for compensating structural mode interaction was previously explored. It was shown that effective time delay was significantly reduced with the use of HPS; however, the HPS design was seen to have greater residual response than a conventional gain stablized design. Additional work performed to advance and refine the HPS design procedure, to further develop residual response metrics as a basis for alternative structural stability specifications, and to develop strategies for validating HPS design and specification concepts in manned simulation is presented. Stabilization design sensitivity to structural uncertainties and aircraft-centered requirements are also assessed.

Gated high speed optical detector

NASA Technical Reports Server (NTRS)

Green, S. I.; Carson, L. M.; Neal, G. W.

1973-01-01

The design, fabrication, and test of two gated, high speed optical detectors for use in high speed digital laser communication links are discussed. The optical detectors used a dynamic crossed field photomultiplier and electronics including dc bias and RF drive circuits, automatic remote synchronization circuits, automatic gain control circuits, and threshold detection circuits. The equipment is used to detect binary encoded signals from a mode locked neodynium laser.

Conformation and dynamics of the ligand shell of a water-soluble Au102 nanoparticle.

PubMed

Salorinne, Kirsi; Malola, Sami; Wong, O Andrea; Rithner, Christopher D; Chen, Xi; Ackerson, Christopher J; Häkkinen, Hannu

2016-01-21

Inorganic nanoparticles, stabilized by a passivating layer of organic molecules, form a versatile class of nanostructured materials with potential applications in material chemistry, nanoscale physics, nanomedicine and structural biology. While the structure of the nanoparticle core is often known to atomic precision, gaining precise structural and dynamical information on the organic layer poses a major challenge. Here we report a full assignment of (1)H and (13)C NMR shifts to all ligands of a water-soluble, atomically precise, 102-atom gold nanoparticle stabilized by 44 para-mercaptobenzoic acid ligands in solution, by using a combination of multidimensional NMR methods, density functional theory calculations and molecular dynamics simulations. Molecular dynamics simulations augment the data by giving information about the ligand disorder and visualization of possible distinct ligand conformations of the most dynamic ligands. The method demonstrated here opens a way to controllable strategies for functionalization of ligated nanoparticles for applications.

Conformation and dynamics of the ligand shell of a water-soluble Au102 nanoparticle

PubMed Central

Salorinne, Kirsi; Malola, Sami; Wong, O. Andrea; Rithner, Christopher D.; Chen, Xi; Ackerson, Christopher J.; Häkkinen, Hannu

2016-01-01

Inorganic nanoparticles, stabilized by a passivating layer of organic molecules, form a versatile class of nanostructured materials with potential applications in material chemistry, nanoscale physics, nanomedicine and structural biology. While the structure of the nanoparticle core is often known to atomic precision, gaining precise structural and dynamical information on the organic layer poses a major challenge. Here we report a full assignment of 1H and 13C NMR shifts to all ligands of a water-soluble, atomically precise, 102-atom gold nanoparticle stabilized by 44 para-mercaptobenzoic acid ligands in solution, by using a combination of multidimensional NMR methods, density functional theory calculations and molecular dynamics simulations. Molecular dynamics simulations augment the data by giving information about the ligand disorder and visualization of possible distinct ligand conformations of the most dynamic ligands. The method demonstrated here opens a way to controllable strategies for functionalization of ligated nanoparticles for applications. PMID:26791253

Precise computer controlled positioning of robot end effectors using force sensors

NASA Technical Reports Server (NTRS)

Shieh, L. S.; Mcinnis, B. C.; Wang, J. C.

1988-01-01

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

A Functional Subnetwork Approach to Designing Synthetic Nervous Systems That Control Legged Robot Locomotion

PubMed Central

Szczecinski, Nicholas S.; Hunt, Alexander J.; Quinn, Roger D.

2017-01-01

A dynamical model of an animal’s nervous system, or synthetic nervous system (SNS), is a potentially transformational control method. Due to increasingly detailed data on the connectivity and dynamics of both mammalian and insect nervous systems, controlling a legged robot with an SNS is largely a problem of parameter tuning. Our approach to this problem is to design functional subnetworks that perform specific operations, and then assemble them into larger models of the nervous system. In this paper, we present networks that perform addition, subtraction, multiplication, division, differentiation, and integration of incoming signals. Parameters are set within each subnetwork to produce the desired output by utilizing the operating range of neural activity, R, the gain of the operation, k, and bounds based on biological values. The assembly of large networks from functional subnetworks underpins our recent results with MantisBot. PMID:28848419

Multi-kw dc power distribution system study program

NASA Technical Reports Server (NTRS)

Berkery, E. A.; Krausz, A.

1974-01-01

The first phase of the Multi-kw dc Power Distribution Technology Program is reported and involves the test and evaluation of a technology breadboard in a specifically designed test facility according to design concepts developed in a previous study on space vehicle electrical power processing, distribution, and control. The static and dynamic performance, fault isolation, reliability, electromagnetic interference characterisitics, and operability factors of high distribution systems were studied in order to gain a technology base for the use of high voltage dc systems in future aerospace vehicles. Detailed technical descriptions are presented and include data for the following: (1) dynamic interactions due to operation of solid state and electromechanical switchgear; (2) multiplexed and computer controlled supervision and checkout methods; (3) pulse width modulator design; and (4) cable design factors.

Development of a robust framework for controlling high performance turbofan engines

NASA Astrophysics Data System (ADS)

Miklosovic, Robert

This research involves the development of a robust framework for controlling complex and uncertain multivariable systems. Where mathematical modeling is often tedious or inaccurate, the new method uses an extended state observer (ESO) to estimate and cancel dynamic information in real time and dynamically decouple the system. As a result, controller design and tuning become transparent as the number of required model parameters is reduced. Much research has been devoted towards the application of modern multivariable control techniques on aircraft engines. However, few, if any, have been implemented on an operational aircraft, partially due to the difficulty in tuning the controller for satisfactory performance. The new technique is applied to a modern two-spool, high-pressure ratio, low-bypass turbofan with mixed-flow afterburning. A realistic Modular Aero-Propulsion System Simulation (MAPSS) package, developed by NASA, is used to demonstrate the new design process and compare its performance with that of a supplied nominal controller. This approach is expected to reduce gain scheduling over the full operating envelope of the engine and allow a controller to be tuned for engine-to-engine variations.

Corruption dynamics model

NASA Astrophysics Data System (ADS)

Malafeyev, O. A.; Nemnyugin, S. A.; Rylow, D.; Kolpak, E. P.; Awasthi, Achal

2017-07-01

The corruption dynamics is analyzed by means of the lattice model which is similar to the three-dimensional Ising model. Agents placed at nodes of the corrupt network periodically choose to perfom or not to perform the act of corruption at gain or loss while making decisions based on the process history. The gain value and its dynamics are defined by means of the Markov stochastic process modelling with parameters established in accordance with the influence of external and individual factors on the agent's gain. The model is formulated algorithmically and is studied by means of the computer simulation. Numerical results are obtained which demonstrate asymptotic behaviour of the corruption network under various conditions.

Development and Operation of an Automatic Rotor Trim Control System for the UH-60 Individual Blade Control Wind Tunnel Test

NASA Technical Reports Server (NTRS)

Theodore, Colin R.; Tischler, Mark B.

2010-01-01

An automatic rotor trim control system was developed and successfully used during a wind tunnel test of a full-scale UH-60 rotor system with Individual Blade Control (IBC) actuators. The trim control system allowed rotor trim to be set more quickly, precisely and repeatably than in previous wind tunnel tests. This control system also allowed the rotor trim state to be maintained during transients and drift in wind tunnel flow, and through changes in IBC actuation. The ability to maintain a consistent rotor trim state was key to quickly and accurately evaluating the effect of IBC on rotor performance, vibration, noise and loads. This paper presents details of the design and implementation of the trim control system including the rotor system hardware, trim control requirements, and trim control hardware and software implementation. Results are presented showing the effect of IBC on rotor trim and dynamic response, a validation of the rotor dynamic simulation used to calculate the initial control gains and tuning of the control system, and the overall performance of the trim control system during the wind tunnel test.

Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unmodeled dynamics.

PubMed

Tong, Shaocheng; Wang, Tong; Li, Yongming; Zhang, Huaguang

2014-06-01

This paper discusses the problem of adaptive neural network output feedback control for a class of stochastic nonlinear strict-feedback systems. The concerned systems have certain characteristics, such as unknown nonlinear uncertainties, unknown dead-zones, unmodeled dynamics and without the direct measurements of state variables. In this paper, the neural networks (NNs) are employed to approximate the unknown nonlinear uncertainties, and then by representing the dead-zone as a time-varying system with a bounded disturbance. An NN state observer is designed to estimate the unmeasured states. Based on both backstepping design technique and a stochastic small-gain theorem, a robust adaptive NN output feedback control scheme is developed. It is proved that all the variables involved in the closed-loop system are input-state-practically stable in probability, and also have robustness to the unmodeled dynamics. Meanwhile, the observer errors and the output of the system can be regulated to a small neighborhood of the origin by selecting appropriate design parameters. Simulation examples are also provided to illustrate the effectiveness of the proposed approach.

Design, analysis and control of a novel tendon-driven magnetic resonance-guided robotic system for minimally invasive breast surgery.

PubMed

Jiang, Shan; Lou, Jinlong; Yang, Zhiyong; Dai, Jiansheng; Yu, Yan

2015-09-01

Biopsy and brachytherapy for small core breast cancer are always difficult medical problems in the field of cancer treatment. This research mainly develops a magnetic resonance imaging-guided high-precision robotic system for breast puncture treatment. First, a 5-degree-of-freedom tendon-based surgical robotic system is introduced in detail. What follows are the kinematic analysis and dynamical modeling of the robotic system, where a mathematic dynamic model is established using the Lagrange method and a lumped parameter tendon model is used to identify the nonlinear gain of the tendon-sheath transmission system. Based on the dynamical models, an adaptive proportional-integral-derivative controller with friction compensation is proposed for accurate position control. Through simulations using different sinusoidal input signals, we observe that the sinusoidal tracking error at 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment. © IMechE 2015.

In-line metrology for roll-to-roll UV assisted nanoimprint lithography using diffractometry

NASA Astrophysics Data System (ADS)

Kreuzer, Martin; Whitworth, Guy L.; Francone, Achille; Gomis-Bresco, Jordi; Kehagias, Nikolaos; Sotomayor-Torres, Clivia M.

2018-05-01

We describe and discuss the optical design of a diffractometer to carry out in-line quality control during roll-to-roll nanoimprinting. The tool measures diffractograms in reflection geometry, through an aspheric lens to gain fast, non-invasive information of any changes to the critical dimensions of target grating structures. A stepwise tapered linear grating with constant period was fabricated in order to detect the variation in grating linewidth through diffractometry. The minimum feature change detected was ˜40 nm to a precision of 10 nm. The diffractometer was then integrated with a roll-to-roll UV assisted nanoimprint lithography machine to gain dynamic measurements in situ.

Robust consensus control with guaranteed rate of convergence using second-order Hurwitz polynomials

NASA Astrophysics Data System (ADS)

Fruhnert, Michael; Corless, Martin

2017-10-01

This paper considers homogeneous networks of general, linear time-invariant, second-order systems. We consider linear feedback controllers and require that the directed graph associated with the network contains a spanning tree and systems are stabilisable. We show that consensus with a guaranteed rate of convergence can always be achieved using linear state feedback. To achieve this, we provide a new and simple derivation of the conditions for a second-order polynomial with complex coefficients to be Hurwitz. We apply this result to obtain necessary and sufficient conditions to achieve consensus with networks whose graph Laplacian matrix may have complex eigenvalues. Based on the conditions found, methods to compute feedback gains are proposed. We show that gains can be chosen such that consensus is achieved robustly over a variety of communication structures and system dynamics. We also consider the use of static output feedback.

Modelling and strategy optimisation for a kind of networked evolutionary games with memories under the bankruptcy mechanism

NASA Astrophysics Data System (ADS)

Fu, Shihua; Li, Haitao; Zhao, Guodong

2018-05-01

This paper investigates the evolutionary dynamic and strategy optimisation for a kind of networked evolutionary games whose strategy updating rules incorporate 'bankruptcy' mechanism, and the situation that each player's bankruptcy is due to the previous continuous low profits gaining from the game is considered. First, by using semi-tensor product of matrices method, the evolutionary dynamic of this kind of games is expressed as a higher order logical dynamic system and then converted into its algebraic form, based on which, the evolutionary dynamic of the given games can be discussed. Second, the strategy optimisation problem is investigated, and some free-type control sequences are designed to maximise the total payoff of the whole game. Finally, an illustrative example is given to show that our new results are very effective.

A two-phase control algorithm for gear-shifting in a novel multi-speed transmission for electric vehicles

NASA Astrophysics Data System (ADS)

Roozegar, M.; Angeles, J.

2018-05-01

In light of the current low energy-storage capacity of electric batteries, multi-speed transmissions (MSTs) are being considered for applications in electric vehicles (EVs), since MSTs decrease the energy consumption of the EV via gear-shifting. Nonetheless, swiftness and seamlessness are the major concerns in gear-shifting. This study focuses on developing a gear-shifting control scheme for a novel MST designed for EVs. The main advantages of the proposed MST are simplicity and modularity. Firstly, the dynamics model of the transmission is formulated. Then, a two-phase algorithm is proposed for shifting between each two gear ratios, which guarantees a smooth and swift shift. In other words, a separate control set is applied for shifting between each gear pair, which includes two independent PID controllers, tuned using trial-and-error and a genetic algorithm (GA), for the two steps of the algorithm and a switch. A supervisory controller is also employed to choose the proper PID gains, called PID gain-scheduling. Simulation results for various controllers and conditions are reported and compared, indicating that the proposed scheme is highly promising for a desired gear-shifting even in the presence of an unknown external disturbance.

Consensus of satellite cluster flight using an energy-matching optimal control method

NASA Astrophysics Data System (ADS)

Luo, Jianjun; Zhou, Liang; Zhang, Bo

2017-11-01

This paper presents an optimal control method for consensus of satellite cluster flight under a kind of energy matching condition. Firstly, the relation between energy matching and satellite periodically bounded relative motion is analyzed, and the satellite energy matching principle is applied to configure the initial conditions. Then, period-delayed errors are adopted as state variables to establish the period-delayed errors dynamics models of a single satellite and the cluster. Next a novel satellite cluster feedback control protocol with coupling gain is designed, so that the satellite cluster periodically bounded relative motion consensus problem (period-delayed errors state consensus problem) is transformed to the stability of a set of matrices with the same low dimension. Based on the consensus region theory in the research of multi-agent system consensus issues, the coupling gain can be obtained to satisfy the requirement of consensus region and decouple the satellite cluster information topology and the feedback control gain matrix, which can be determined by Linear quadratic regulator (LQR) optimal method. This method can realize the consensus of satellite cluster period-delayed errors, leading to the consistency of semi-major axes (SMA) and the energy-matching of satellite cluster. Then satellites can emerge the global coordinative cluster behavior. Finally the feasibility and effectiveness of the present energy-matching optimal consensus for satellite cluster flight is verified through numerical simulations.

Development of a digital automatic control law for steep glideslope capture and flare

NASA Technical Reports Server (NTRS)

Halyo, N.

1977-01-01

A longitudinal digital guidance and control law for steep glideslopes using MLS (Microwave Landing System) data is developed for CTOL aircraft using modern estimation and control techniques. The control law covers the final approach phases of glideslope capture, glideslope tracking, and flare to touchdown for automatic landings under adverse weather conditions. The control law uses a constant gain Kalman filter to process MLS and body-mounted accelerometer data to form estimates of flight path errors and wind velocities including wind shear. The flight path error estimates and wind estimates are used for feedback in generating control surface commands. Results of a digital simulation of the aircraft dynamics and the guidance and control law are presented for various wind conditions.

Preliminary design for a Zero Gravity Test Facility (ZGTF). Volume 1: Technical

NASA Technical Reports Server (NTRS)

Germain, A.

1981-01-01

The functional requirements and best conceptual design of a test facility that simulates weightless operating conditions for a high gain antenna systems (HGAS), that will broadcast to the Tracking Data Relay Satellites were defined. The typical HGAS defined is mounted on a low Earth orbiting satellite, and consists of an antenna with a double gimbal pointing system mounted on a 13 foot long mast. Typically, the gimbals are driven by pulse modulated dc motors or stepper motors. These drivers produce torques on the mast, with jitter that excites the satellite and may cause disturbances to sensitive experiments. The dynamic properties of the antenna support structure (mast), including flexible mode characteristics were defined. The torque profile induced on the spacecraft by motion of the high gain antenna was estimated. Gain and phase margins of the servo control loop of the gimbal drive electronics was also verified.

Correction of contaminated yaw rate signal and estimation of sensor bias for an electric vehicle under normal driving conditions

NASA Astrophysics Data System (ADS)

Zhang, Guoguang; Yu, Zitian; Wang, Junmin

2017-03-01

Yaw rate is a crucial signal for the motion control systems of ground vehicles. Yet it may be contaminated by sensor bias. In order to correct the contaminated yaw rate signal and estimate the sensor bias, a robust gain-scheduling observer is proposed in this paper. First of all, a two-degree-of-freedom (2DOF) vehicle lateral and yaw dynamic model is presented, and then a Luenberger-like observer is proposed. To make the observer more applicable to real vehicle driving operations, a 2DOF vehicle model with uncertainties on the coefficients of tire cornering stiffness is employed. Further, a gain-scheduling approach and a robustness enhancement are introduced, leading to a robust gain-scheduling observer. Sensor bias detection mechanism is also designed. Case studies are conducted using an electric ground vehicle to assess the performance of signal correction and sensor bias estimation under difference scenarios.

Feedback coupling in dynamical systems

NASA Astrophysics Data System (ADS)

Trimper, Steffen; Zabrocki, Knud

2003-05-01

Different evolution models are considered with feedback-couplings. In particular, we study the Lotka-Volterra system under the influence of a cumulative term, the Ginzburg-Landau model with a convolution memory term and chemical rate equations with time delay. The memory leads to a modified dynamical behavior. In case of a positive coupling the generalized Lotka-Volterra system exhibits a maximum gain achieved after a finite time, but the population will die out in the long time limit. In the opposite case, the time evolution is terminated in a crash. Due to the nonlinear feedback coupling the two branches of a bistable model are controlled by the the strength and the sign of the memory. For a negative coupling the system is able to switch over between both branches of the stationary solution. The dynamics of the system is further controlled by the initial condition. The diffusion-limited reaction is likewise studied in case the reacting entities are not available simultaneously. Whereas for an external feedback the dynamics is altered, but the stationary solution remain unchanged, a self-organized internal feedback leads to a time persistent solution.

Engineering information on an Analog Signal to Discrete Time Interval Converter (ASDT-IC)

NASA Technical Reports Server (NTRS)

Schwarz, F. C.

1974-01-01

An electronic control system for nondissipative dc power converters is presented which improves (1) the routinely attainable static output voltage accuracy to the order of + or - 1% for ambient temperatures from -55 to 100 C and (2) the dynamic stability by utilizing approximately one tenth of the feedback gain needed otherwise. Performance is due to a functional philosophy of deterministic pulse modulation based on pulse area control and to an autocompensated signal processing principle. The system can be implemented with commercially available unselected components.

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.

A Sarsa(λ)-Based Control Model for Real-Time Traffic Light Coordination

PubMed Central

Zhu, Fei; Liu, Quan; Fu, Yuchen; Huang, Wei

2014-01-01

Traffic problems often occur due to the traffic demands by the outnumbered vehicles on road. Maximizing traffic flow and minimizing the average waiting time are the goals of intelligent traffic control. Each junction wants to get larger traffic flow. During the course, junctions form a policy of coordination as well as constraints for adjacent junctions to maximize their own interests. A good traffic signal timing policy is helpful to solve the problem. However, as there are so many factors that can affect the traffic control model, it is difficult to find the optimal solution. The disability of traffic light controllers to learn from past experiences caused them to be unable to adaptively fit dynamic changes of traffic flow. Considering dynamic characteristics of the actual traffic environment, reinforcement learning algorithm based traffic control approach can be applied to get optimal scheduling policy. The proposed Sarsa(λ)-based real-time traffic control optimization model can maintain the traffic signal timing policy more effectively. The Sarsa(λ)-based model gains traffic cost of the vehicle, which considers delay time, the number of waiting vehicles, and the integrated saturation from its experiences to learn and determine the optimal actions. The experiment results show an inspiring improvement in traffic control, indicating the proposed model is capable of facilitating real-time dynamic traffic control. PMID:24592183

Wavelet-based system identification of short-term dynamic characteristics of arterial baroreflex.

PubMed

Kashihara, Koji; Kawada, Toru; Sugimachi, Masaru; Sunagawa, Kenji

2009-01-01

The assessment of arterial baroreflex function in cardiovascular diseases requires quantitative evaluation of dynamic and static baroreflex properties because of the frequent modulation of baroreflex properties with unstable hemodynamics. The purpose of this study was to identify the dynamic baroreflex properties from transient changes of step pressure inputs with background noise during a short-duration baroreflex test in anesthetized rabbits with isolated carotid sinuses, using a modified wavelet-based time-frequency analysis. The proposed analysis was able to identify the transfer function of baroreflex as well as static properties from the transient input-output responses under normal [gain at 0.04 Hz from carotid sinus pressure (CSP) to arterial pressure (n = 8); 0.29 +/- 0.05 at low (40-60 mmHg), 1.28 +/- 0.12 at middle (80-100 mmHg), and 0.38 +/- 0.07 at high (120-140 mmHg) CSP changes] and pathophysiological [gain in control vs. phenylbiguanide (n = 8); 0.32 +/- 0.07 vs. 0.39 +/- 0.09 at low, 1.39 +/- 0.15 vs. 0.59 +/- 0.09 (p < 0.01) at middle, and 0.35 +/- 0.04 vs. 0.15 +/- 0.02 (p < 0.01) at high CSP changes] conditions. Subsequently, we tested the proposed wavelet-based method under closed-loop baroreflex responses; the simulation study indicates that it may be applicable to clinical situations for accurate assessment of dynamic baroreflex function. In conclusion, the dynamic baroreflex property to various pressure inputs could be simultaneously extracted from the step responses with background noise.

Collaboration processes and perceived effectiveness of integrated care projects in primary care: a longitudinal mixed-methods study.

PubMed

Valentijn, Pim P; Ruwaard, Dirk; Vrijhoef, Hubertus J M; de Bont, Antoinette; Arends, Rosa Y; Bruijnzeels, Marc A

2015-10-09

Collaborative partnerships are considered an essential strategy for integrating local disjointed health and social services. Currently, little evidence is available on how integrated care arrangements between professionals and organisations are achieved through the evolution of collaboration processes over time. The first aim was to develop a typology of integrated care projects (ICPs) based on the final degree of integration as perceived by multiple stakeholders. The second aim was to study how types of integration differ in changes of collaboration processes over time and final perceived effectiveness. A longitudinal mixed-methods study design based on two data sources (surveys and interviews) was used to identify the perceived degree of integration and patterns in collaboration among 42 ICPs in primary care in The Netherlands. We used cluster analysis to identify distinct subgroups of ICPs based on the final perceived degree of integration from a professional, organisational and system perspective. With the use of ANOVAs, the subgroups were contrasted based on: 1) changes in collaboration processes over time (shared ambition, interests and mutual gains, relationship dynamics, organisational dynamics and process management) and 2) final perceived effectiveness (i.e. rated success) at the professional, organisational and system levels. The ICPs were classified into three subgroups with: 'United Integration Perspectives (UIP)', 'Disunited Integration Perspectives (DIP)' and 'Professional-oriented Integration Perspectives (PIP)'. ICPs within the UIP subgroup made the strongest increase in trust-based (mutual gains and relationship dynamics) as well as control-based (organisational dynamics and process management) collaboration processes and had the highest overall effectiveness rates. On the other hand, ICPs with the DIP subgroup decreased on collaboration processes and had the lowest overall effectiveness rates. ICPs within the PIP subgroup increased in control-based collaboration processes (organisational dynamics and process management) and had the highest effectiveness rates at the professional level. The differences across the three subgroups in terms of the development of collaboration processes and the final perceived effectiveness provide evidence that united stakeholders' perspectives are achieved through a constructive collaboration process over time. Disunited perspectives at the professional, organisation and system levels can be aligned by both trust-based and control-based collaboration processes.

Carrier-envelope offset stabilization of a GHz repetition rate femtosecond laser using opto-optical modulation of a SESAM.

PubMed

Hakobyan, Sargis; Wittwer, Valentin J; Gürel, Kutan; Mayer, Aline S; Schilt, Stéphane; Südmeyer, Thomas

2017-11-15

We demonstrate, to the best of our knowledge, the first carrier-envelope offset (CEO) frequency stabilization of a GHz femtosecond laser based on opto-optical modulation (OOM) of a semiconductor saturable absorber mirror (SESAM). The 1.05-GHz laser is based on a Yb:CALGO gain crystal and emits sub-100-fs pulses with 2.1-W average power at a center wavelength of 1055 nm. The SESAM plays two key roles: it starts and stabilizes the mode-locking operation and is simultaneously used as an actuator to control the CEO frequency. This second functionality is implemented by pumping the SESAM with a continuous-wave 980-nm laser diode in order to slightly modify its nonlinear reflectivity. We use the standard f-to-2f method for detection of the CEO frequency, which is stabilized by applying a feedback signal to the current of the SESAM pump diode. We compare the SESAM-OOM stabilization with the traditional method of gain modulation via control of the pump power of the Yb:CALGO gain crystal. While the bandwidth for gain modulation is intrinsically limited to ∼250  kHz by the laser cavity dynamics, we show that the OOM provides a feedback bandwidth above 500 kHz. Hence, we were able to obtain a residual integrated phase noise of 430 mrad for the stabilized CEO beat, which represents an improvement of more than 30% compared to gain modulation stabilization.

Novel approaches to pin cluster synchronization on complex dynamical networks in Lur'e forms

NASA Astrophysics Data System (ADS)

Tang, Ze; Park, Ju H.; Feng, Jianwen

2018-04-01

This paper investigates the cluster synchronization of complex dynamical networks consisted of identical or nonidentical Lur'e systems. Due to the special topology structure of the complex networks and the existence of stochastic perturbations, a kind of randomly occurring pinning controller is designed which not only synchronizes all Lur'e systems in the same cluster but also decreases the negative influence among different clusters. Firstly, based on an extended integral inequality, the convex combination theorem and S-procedure, the conditions for cluster synchronization of identical Lur'e networks are derived in a convex domain. Secondly, randomly occurring adaptive pinning controllers with two independent Bernoulli stochastic variables are designed and then sufficient conditions are obtained for the cluster synchronization on complex networks consisted of nonidentical Lur'e systems. In addition, suitable control gains for successful cluster synchronization of nonidentical Lur'e networks are acquired by designing some adaptive updating laws. Finally, we present two numerical examples to demonstrate the validity of the control scheme and the theoretical analysis.

Results of solar electric thrust vector control system design, development and tests

NASA Technical Reports Server (NTRS)

Fleischer, G. E.

1973-01-01

Efforts to develop and test a thrust vector control system TVCS for a solar-energy-powered ion engine array are described. The results of solar electric propulsion system technology (SEPST) III real-time tests of present versions of TVCS hardware in combination with computer-simulated attitude dynamics of a solar electric multi-mission spacecraft (SEMMS) Phase A-type spacecraft configuration are summarized. Work on an improved solar electric TVCS, based on the use of a state estimator, is described. SEPST III tests of TVCS hardware have generally proved successful and dynamic response of the system is close to predictions. It appears that, if TVCS electronic hardware can be effectively replaced by control computer software, a significant advantage in control capability and flexibility can be gained in future developmental testing, with practical implications for flight systems as well. Finally, it is concluded from computer simulations that TVCS stabilization using rate estimation promises a substantial performance improvement over the present design.

Bifurcation Analysis of a DC-DC Bidirectional Power Converter Operating with Constant Power Loads

NASA Astrophysics Data System (ADS)

Cristiano, Rony; Pagano, Daniel J.; Benadero, Luis; Ponce, Enrique

Direct current (DC) microgrids (MGs) are an emergent option to satisfy new demands for power quality and integration of renewable resources in electrical distribution systems. This work addresses the large-signal stability analysis of a DC-DC bidirectional converter (DBC) connected to a storage device in an islanding MG. This converter is responsible for controlling the balance of power (load demand and generation) under constant power loads (CPLs). In order to control the DC bus voltage through a DBC, we propose a robust sliding mode control (SMC) based on a washout filter. Dynamical systems techniques are exploited to assess the quality of this switching control strategy. In this sense, a bifurcation analysis is performed to study the nonlinear stability of a reduced model of this system. The appearance of different bifurcations when load parameters and control gains are changed is studied in detail. In the specific case of Teixeira Singularity (TS) bifurcation, some experimental results are provided, confirming the mathematical predictions. Both a deeper insight in the dynamic behavior of the controlled system and valuable design criteria are obtained.

Kill operation requires thorough analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Abel, L.W.

1995-05-15

Full control of a blowout well requires a properly designed post-capping kill operation because failures in regaining well control usually occur during the kill operation, not during capping. Capping (the installation of pressure control or diverter equipment on the wellhead) is generally very reliable in gaining control of a blowout well. The following techniques are some of the viable means of killing blowout wells once the capping assemblies are in place: direct shut in of the flow; bullheading; momentum kill; volumetric control for migration of fluids or lubrication after migration ceases; and dynamic kills (friction-based dynamic kills or mass flowmore » rate kills) The objective of most post-capping operations is to stop the flow and put the well under hydrostatic control. The means of killing a blowout once capping assemblies are in place should be chosen with care to avoid problems such as cratering, equipment failure, and underground blowouts. The particular circumstances and well integrity will dictate which kill method will be the most viable. Each of these five methods are explained.« less

Preliminary Assessment of Optimal Longitudinal-Mode Control for Drag Reduction through Distributed Aeroelastic Shaping

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Nguyen, Nhan; Lohn, Jason; Dolan, John

2014-01-01

The emergence of advanced lightweight materials is resulting in a new generation of lighter, flexible, more-efficient airframes that are enabling concepts for active aeroelastic wing-shape control to achieve greater flight efficiency and increased safety margins. These elastically shaped aircraft concepts require non-traditional methods for large-scale multi-objective flight control that simultaneously seek to gain aerodynamic efficiency in terms of drag reduction while performing traditional command-tracking tasks as part of a complete guidance and navigation solution. This paper presents results from a preliminary study of a notional multi-objective control law for an aeroelastic flexible-wing aircraft controlled through distributed continuous leading and trailing edge control surface actuators. This preliminary study develops and analyzes a multi-objective control law derived from optimal linear quadratic methods on a longitudinal vehicle dynamics model with coupled aeroelastic dynamics. The controller tracks commanded attack-angle while minimizing drag and controlling wing twist and bend. This paper presents an overview of the elastic aircraft concept, outlines the coupled vehicle model, presents the preliminary control law formulation and implementation, presents results from simulation, provides analysis, and concludes by identifying possible future areas for research

An energy-efficient rate adaptive media access protocol (RA-MAC) for long-lived sensor networks.

PubMed

Hu, Wen; Chen, Quanjun; Corke, Peter; O'Rourke, Damien

2010-01-01

We introduce an energy-efficient Rate Adaptive Media Access Control (RA-MAC) algorithm for long-lived Wireless Sensor Networks (WSNs). Previous research shows that the dynamic and lossy nature of wireless communications is one of the major challenges to reliable data delivery in WSNs. RA-MAC achieves high link reliability in such situations by dynamically trading off data rate for channel gain. The extra gain that can be achieved reduces the packet loss rate which contributes to reduced energy expenditure through a reduced numbers of retransmissions. We achieve this at the expense of raw bit rate which generally far exceeds the application's link requirement. To minimize communication energy consumption, RA-MAC selects the optimal data rate based on the estimated link quality at each data rate and an analytical model of the energy consumption. Our model shows how the selected data rate depends on different channel conditions in order to minimize energy consumption. We have implemented RA-MAC in TinyOS for an off-the-shelf sensor platform (the TinyNode) on top of a state-of-the-art WSN Media Access Control Protocol, SCP-MAC, and evaluated its performance by comparing our implementation with the original SCP-MAC using both simulation and experiment.

Dynamic Divisive Normalization Predicts Time-Varying Value Coding in Decision-Related Circuits

PubMed Central

LoFaro, Thomas; Webb, Ryan; Glimcher, Paul W.

2014-01-01

Normalization is a widespread neural computation, mediating divisive gain control in sensory processing and implementing a context-dependent value code in decision-related frontal and parietal cortices. Although decision-making is a dynamic process with complex temporal characteristics, most models of normalization are time-independent and little is known about the dynamic interaction of normalization and choice. Here, we show that a simple differential equation model of normalization explains the characteristic phasic-sustained pattern of cortical decision activity and predicts specific normalization dynamics: value coding during initial transients, time-varying value modulation, and delayed onset of contextual information. Empirically, we observe these predicted dynamics in saccade-related neurons in monkey lateral intraparietal cortex. Furthermore, such models naturally incorporate a time-weighted average of past activity, implementing an intrinsic reference-dependence in value coding. These results suggest that a single network mechanism can explain both transient and sustained decision activity, emphasizing the importance of a dynamic view of normalization in neural coding. PMID:25429145

Pilot-Induced Oscillations and Human Dynamic Behavior

NASA Technical Reports Server (NTRS)

McRuer, Duane T.

1995-01-01

This is an in-depth survey and study of pilot-induced oscillations (PIO's) as interactions between human pilot and vehicle dynamics; it includes a broad and comprehensive theory of PIO's. A historical perspective provides examples of the diversity of PIO's in terms of control axes and oscillation frequencies. The constituents involved in PIO phenomena, including effective aircraft dynamics, human pilot dynamic behavior patterns, and triggering precursor events, are examined in detail as the structural elements interacting to produce severe pilot-induced oscillations. The great diversity of human pilot response patterns, excessive lags and/or inappropriate gain in effective aircraft dynamics, and transitions in either the human or effective aircraft dynamics are among the key sources implicated as factors in severe PIO's. The great variety of interactions which may result in severe PIO's is illustrated by examples drawn from famous PIO's. These are generalized under a pilot-behavior-theory-based set of categories proposed as a classification scheme pertinent to a theory of PIO's. Finally, a series of interim prescriptions to avoid PIO is provided.

Gain control through divisive inhibition prevents abrupt transition to chaos in a neural mass model.

PubMed

Papasavvas, Christoforos A; Wang, Yujiang; Trevelyan, Andrew J; Kaiser, Marcus

2015-09-01

Experimental results suggest that there are two distinct mechanisms of inhibition in cortical neuronal networks: subtractive and divisive inhibition. They modulate the input-output function of their target neurons either by increasing the input that is needed to reach maximum output or by reducing the gain and the value of maximum output itself, respectively. However, the role of these mechanisms on the dynamics of the network is poorly understood. We introduce a novel population model and numerically investigate the influence of divisive inhibition on network dynamics. Specifically, we focus on the transitions from a state of regular oscillations to a state of chaotic dynamics via period-doubling bifurcations. The model with divisive inhibition exhibits a universal transition rate to chaos (Feigenbaum behavior). In contrast, in an equivalent model without divisive inhibition, transition rates to chaos are not bounded by the universal constant (non-Feigenbaum behavior). This non-Feigenbaum behavior, when only subtractive inhibition is present, is linked to the interaction of bifurcation curves in the parameter space. Indeed, searching the parameter space showed that such interactions are impossible when divisive inhibition is included. Therefore, divisive inhibition prevents non-Feigenbaum behavior and, consequently, any abrupt transition to chaos. The results suggest that the divisive inhibition in neuronal networks could play a crucial role in keeping the states of order and chaos well separated and in preventing the onset of pathological neural dynamics.

Spacecraft Formation Flying Maneuvers Using Linear Quadratic Regulation With No Radial Axis Inputs

NASA Technical Reports Server (NTRS)

Starin, Scott R.; Yedavalli, R. K.; Sparks, Andrew G.; Bauer, Frank H. (Technical Monitor)

2001-01-01

Regarding multiple spacecraft formation flying, the observation has been made that control thrust need only be applied coplanar to the local horizon to achieve complete controllability of a two-satellite (leader-follower) formation. A formulation of orbital dynamics using the state of one satellite relative to another is used. Without the need for thrust along the radial (zenith-nadir) axis of the relative reference frame, propulsion system simplifications and weight reduction may be accomplished. This work focuses on the validation of this control system on its own merits, and in comparison to a related system which does provide thrust along the radial axis of the relative frame. Maneuver simulations are performed using commercial ODE solvers to propagate the Keplerian dynamics of a controlled satellite relative to an uncontrolled leader. These short maneuver simulations demonstrate the capacity of the controller to perform changes from one formation geometry to another. Control algorithm performance is evaluated based on measures such as the fuel required to complete a maneuver and the maximum acceleration required by the controller. Based on this evaluation, the exclusion of the radial axis of control still allows enough control authority to use Linear Quadratic Regulator (LQR) techniques to design a gain matrix of adequate performance over finite maneuvers. Additional simulations are conducted including perturbations and using no radial control inputs. A major conclusion presented is that control inputs along the three axes have significantly different relationships to the governing orbital dynamics that may be exploited using LQR.

Safety assurance of non-deterministic flight controllers in aircraft applications

NASA Astrophysics Data System (ADS)

Noriega, Alfonso

Loss of control is a serious problem in aviation that primarily affects General Aviation. Technological advancements can help mitigate the problem, but the FAA certification process makes certain solutions economically unfeasible. This investigation presents the design of a generic adaptive autopilot that could potentially lead to a single certification for use in several makes and models of aircraft. The autopilot consists of a conventional controller connected in series with a robust direct adaptive model reference controller. In this architecture, the conventional controller is tuned once to provide outer-loop guidance and navigation to a reference model. The adaptive controller makes unknown aircraft behave like the reference model, allowing the conventional controller to successfully provide navigation without the need for retuning. A strong theoretical foundation is presented as an argument for the safety and stability of the controller. The stability proof of direct adaptive controllers require that the plant being controlled has no unstable transmission zeros and has a nonzero high frequency gain. Because most conventional aircraft do not readily meet these requirements, a process known as sensor blending was used. Sensor blending consists of using a linear combination of the plant's outputs that has no unstable transmission zeros and has a nonzero high frequency gain to drive the adaptive controller. Although this method does not present a problem for regulators, it can lead to a steady state error in tracking applications. The sensor blending theory was expanded to take advantage of the system's dynamics to allow for zero steady state error tracking. This method does not need knowledge of the specific system's dynamics, but instead uses the structure of the A and B matrices to perform the blending for the general case. The generic adaptive autopilot was tested in two high-fidelity nonlinear simulators of two typical General Aviation aircraft. The results show that the autopilot was able to adapt appropriately to the different aircraft and was able to perform three-dimensional navigation and an ILS approach, without any modification to the controller. The autopilot was tested in moderate atmospheric turbulence, using consumer-grade sensors and actuators currently available in General Aviation aircraft. The generic adaptive autopilot was shown to be robust to atmospheric turbulence and sensor and actuator random noise. In both aircraft simulators, the autopilot adapted successfully to changes in airspeed, altitude, and configuration. This investigation proves the feasibility of a generic autopilot using direct adaptive controller. The autopilot does not need a priori information of the specific aircraft's dynamics to maintain its safety and stability arguments. Real-time parameter estimation of the aircraft dynamics are not needed. Recommendations for future work are provided.

CALORIC: A readout chip for high granularity calorimeter

DOE Office of Scientific and Technical Information (OSTI.GOV)

Royer, L.; Bonnard, J.; Manen, S.

2011-07-01

A very-front-end electronics has been developed to fulfil requirements for the next generation of electromagnetic calorimeters. The compactness of this kind of detector and its large number of channels (up to several millions) impose a drastic limitation of the power consumption and a high level of integration. The electronic channel proposed is first of all composed of a low-noise Charge Sensitive Amplifier (CSA) able to amplify the charge delivered by a silicon diode up to 10 pC. Next, a two-gain shaping, based on a Gated Integration (G.I.), is implemented to cover the 15 bits dynamic range required: a high gainmore » shaper processes signals from 4 fC (charge corresponding to the MIP) up to 1 pC, and a low gain filter handles charges up to 10 pC. The G.I. performs also the analog memorization of the signal until it is digitalized. Hence, the analog-to-digital conversion is carried out through a low-power 12-bit cyclic ADC. If the signal overloads the high-gain channel dynamic range, a comparator selects the low-gain channel instead. Moreover, an auto-trigger channel has been implemented in order to select and store a valid event over the noise. The timing sequence of the channel is managed by a digital IP. It controls the G.I. switches, generates all needed clocks, drives the ADC and delivers the final result over 12 bits. The whole readout channel is power controlled, which permits to reduce the consumption according to the duty cycle of the beam collider. Simulations have been performed with Spectre simulator on the prototype chip designed with the 0.35 {mu}m CMOS technology from Austriamicrosystems. Results show a non-linearity better than 0.1% for the high-gain channel, and a non-linearity limited to 1% for the low-gain channel. The Equivalent Noise Charge referred to the input of the channel is evaluated to 0.4 fC complying with the MIP/10 limit. With the timing sequence of the International Linear Collider, which presents a duty cycle of 1%, the power consumption of the complete channel is limited to 43 {mu}W thanks to the power pulsing. The total area of the channel is 1.2 mm{sup 2} with an analog memory depth of 16. (authors)« less

A 1-channel 3-band wide dynamic range compression chip for vibration transducer of implantable hearing aids.

PubMed

Kim, Dongwook; Seong, Kiwoong; Kim, Myoungnam; Cho, Jinho; Lee, Jyunghyun

2014-01-01

In this paper, a digital audio processing chip which uses a wide dynamic range compression (WDRC) algorithm is designed and implemented for implantable hearing aids system. The designed chip operates at a single voltage of 3.3V and drives a 16 bit parallel input and output at 32 kHz sample. The designed chip has 1-channel 3-band WDRC composed of a FIR filter bank, a level detector, and a compression part. To verify the performance of the designed chip, we measured the frequency separations of bands and compression gain control to reflect the hearing threshold level.

Recent progress of erbium-doped fiber amplifiers and their components

NASA Astrophysics Data System (ADS)

Fukushima, Masaru; Miura, Jutaro

2007-09-01

The Erbium-doped fiber amplifiers (EDFA) are widely available in a today's commercial market, and are deployed in various optical transmission applications from terrestrial system to undersea system. Broad gain spectrum over 9 THz enabled huge growth of bandwidth usage in 1550nm region aimed at broadband Internet, and its broad gain characteristics triggered bandwidth competition on dense wavelength division multiplex (DWDM) network these ten years. At first, we briefly review the evolutional history of EDFA with previous achievements. And we will explain the primary and important key devices which compose EDFA. We will discuss design parameters, and recent trend and achievements of the devices, which cover Erbium-doped fibers (EDF), 980-nm laser diodes (LD), and gain flattening filters (GFFs). The chip structure of 980-nm LD is explained to achieve high power and to realize high reliability. These key devices enabled EDFA to prevail in commercial area. After the discussion of key components, we will introduce recent achievements of gain controlled EDFAs which are applied in conjunction with Re-configurable Optical Add/Drop Multiplexer (ROADM). We will report the transient gain dynamics of the cascaded EDFAs with a recirculating loop experiment.

Pattern Recognition Control Design

NASA Technical Reports Server (NTRS)

Gambone, Elisabeth A.

2018-01-01

Spacecraft control algorithms must know the expected vehicle response to any command to the available control effectors, such as reaction thrusters or torque devices. Spacecraft control system design approaches have traditionally relied on the estimated vehicle mass properties to determine the desired force and moment, as well as knowledge of the effector performance to efficiently control the spacecraft. A pattern recognition approach was used to investigate the relationship between the control effector commands and spacecraft responses. Instead of supplying the approximated vehicle properties and the thruster performance characteristics, a database of information relating the thruster ring commands and the desired vehicle response was used for closed-loop control. A Monte Carlo simulation data set of the spacecraft dynamic response to effector commands was analyzed to establish the influence a command has on the behavior of the spacecraft. A tool developed at NASA Johnson Space Center to analyze flight dynamics Monte Carlo data sets through pattern recognition methods was used to perform this analysis. Once a comprehensive data set relating spacecraft responses with commands was established, it was used in place of traditional control methods and gains set. This pattern recognition approach was compared with traditional control algorithms to determine the potential benefits and uses.

Affect Dynamics, Affective Forecasting, and Aging

PubMed Central

Nielsen, Lisbeth; Knutson, Brian; Carstensen, Laura L.

2008-01-01

Affective forecasting, experienced affect, and recalled affect were compared in younger and older adults during a task in which participants worked to win and avoid losing small monetary sums. Dynamic changes in affect were measured along valence and arousal dimensions, with probes during both anticipatory and consummatory task phases. Older and younger adults displayed distinct patterns of affect dynamics. Younger adults reported increased negative arousal during loss anticipation and positive arousal during gain anticipation. In contrast, older adults reported increased positive arousal during gain anticipation but showed no increase in negative arousal on trials involving loss anticipation. Additionally, younger adults reported large increases in valence after avoiding an anticipated loss, but older adults did not. Younger, but not older, adults exhibited forecasting errors on the arousal dimension, underestimating increases in arousal during anticipation of gains and losses and overestimating increases in arousal in response to gain outcomes. Overall, the findings are consistent with a growing literature suggesting that older people experience less negative emotion than their younger counterparts and further suggest that they may better predict dynamic changes in affect. PMID:18540748

State-Dependent Riccati Equation Regulation of Systems with State and Control Nonlinearities

NASA Technical Reports Server (NTRS)

Beeler, Scott C.; Cox, David E. (Technical Monitor)

2004-01-01

The state-dependent Riccati equations (SDRE) is the basis of a technique for suboptimal feedback control of a nonlinear quadratic regulator (NQR) problem. It is an extension of the Riccati equation used for feedback control of linear problems, with the addition of nonlinearities in the state dynamics of the system resulting in a state-dependent gain matrix as the solution of the equation. In this paper several variations on the SDRE-based method will be considered for the feedback control problem with control nonlinearities. The control nonlinearities may result in complications in the numerical implementation of the control, which the different versions of the SDRE method must try to overcome. The control methods will be applied to three test problems and their resulting performance analyzed.

Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

NASA Astrophysics Data System (ADS)

Kladis, Georgios P.; Menon, Prathyush P.; Edwards, Christopher

2016-12-01

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi-Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.

Sliding Mode Control of a Slewing Flexible Beam

NASA Technical Reports Server (NTRS)

Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

1997-01-01

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Computational methods for optimal linear-quadratic compensators for infinite dimensional discrete-time systems

NASA Technical Reports Server (NTRS)

Gibson, J. S.; Rosen, I. G.

1986-01-01

An abstract approximation theory and computational methods are developed for the determination of optimal linear-quadratic feedback control, observers and compensators for infinite dimensional discrete-time systems. Particular attention is paid to systems whose open-loop dynamics are described by semigroups of operators on Hilbert spaces. The approach taken is based on the finite dimensional approximation of the infinite dimensional operator Riccati equations which characterize the optimal feedback control and observer gains. Theoretical convergence results are presented and discussed. Numerical results for an example involving a heat equation with boundary control are presented and used to demonstrate the feasibility of the method.

Sliding Mode Control of the X-33 with an Engine Failure

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Hall, Charles E.

2000-01-01

Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

The Design of the Longitudinal Autopilot for the LSU-05 Unmanned Aerial Surveillance Vehicle

NASA Astrophysics Data System (ADS)

Fajar, Muhammad; Arifianto, Ony

2018-04-01

Longitudinal autopilot design for the LAPAN Surveillance Vehicle LSU-05 will be described in this paper. The LSU-05 is the most recent Unmanned Aerial Vehicle (UAV) project of the Aeronautics Technology Center (Pusat Teknologi Penerbangan – Pustekbang), LAPAN. This UAV is expected to be able to carry 30 kg of payload, four surveillance purposes. The longitudinal autopilot described in this paper consists of four modes, those are Pitch damper, Pitch Attitude Hold, Altitude Hold, and Speed Hold. The Autopilot of the UAV will be designed at four operating speeds, namely 15 m/s, 20 m/s, 25 m/s, and 30 m/. The Athena Vortex Lattice software is used to generate the aerodynamic model of the LSU-05. Non-linear longitudinal aircraft dynamics model is then developed in MATLAB/SIMULINK environment. Linearization of the non-linear model is performed using the linearization tool of SIMULINK. The controller is designed, based on the linear model of the aircraft in the state space form. A Proportional-Integral-Derivative (PID) controller structure is chosen, using root locus method to determine mainly the proportional (P) gain. Integral (I) and derivative (D) gain will only be used if the proportional gain can not achieve the desired target or if an overshoot / undershoot reduction is required. The overshoot/undershoot should not exceed 5% and settling time is less than 20 seconds. The controller designed is simulated using MATLAB and SIMULINK. Preliminary analysis of the controller performance shows that the controller can be used to stabilize the aircraft and to automatize the speed and altitude control throughout the considered speed range.

Cholinergic and serotonergic modulation of visual information processing in monkey V1.

PubMed

Shimegi, Satoshi; Kimura, Akihiro; Sato, Akinori; Aoyama, Chisa; Mizuyama, Ryo; Tsunoda, Keisuke; Ueda, Fuyuki; Araki, Sera; Goya, Ryoma; Sato, Hiromichi

2016-09-01

The brain dynamically changes its input-output relationship depending on the behavioral state and context in order to optimize information processing. At the molecular level, cholinergic/monoaminergic transmitters have been extensively studied as key players for the state/context-dependent modulation of brain function. In this paper, we review how cortical visual information processing in the primary visual cortex (V1) of macaque monkey, which has a highly differentiated laminar structure, is optimized by serotonergic and cholinergic systems by examining anatomical and in vivo electrophysiological aspects to highlight their similarities and distinctions. We show that these two systems have a similar layer bias for axonal fiber innervation and receptor distribution. The common target sites are the geniculorecipient layers and geniculocortical fibers, where the appropriate gain control is established through a geniculocortical signal transformation. Both systems exert activity-dependent response gain control across layers, but in a manner consistent with the receptor subtype. The serotonergic receptors 5-HT1B and 5HT2A modulate the contrast-response curve in a manner consistent with bi-directional response gain control, where the sign (facilitation/suppression) is switched according to the firing rate and is complementary to the other. On the other hand, cholinergic nicotinic/muscarinic receptors exert mono-directional response gain control without a sign reversal. Nicotinic receptors increase the response magnitude in a multiplicative manner, while muscarinic receptors exert both suppressive and facilitative effects. We discuss the implications of the two neuromodulator systems in hierarchical visual signal processing in V1 on the basis of the developed laminar structure. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Evolutionary Design of Controlled Structures

NASA Technical Reports Server (NTRS)

Masters, Brett P.; Crawley, Edward F.

1997-01-01

Basic physical concepts of structural delay and transmissibility are provided for simple rod and beam structures. Investigations show the sensitivity of these concepts to differing controlled-structures variables, and to rational system modeling effects. An evolutionary controls/structures design method is developed. The basis of the method is an accurate model formulation for dynamic compensator optimization and Genetic Algorithm based updating of sensor/actuator placement and structural attributes. One and three dimensional examples from the literature are used to validate the method. Frequency domain interpretation of these controlled structure systems provide physical insight as to how the objective is optimized and consequently what is important in the objective. Several disturbance rejection type controls-structures systems are optimized for a stellar interferometer spacecraft application. The interferometric designs include closed loop tracking optics. Designs are generated for differing structural aspect ratios, differing disturbance attributes, and differing sensor selections. Physical limitations in achieving performance are given in terms of average system transfer function gains and system phase loss. A spacecraft-like optical interferometry system is investigated experimentally over several different optimized controlled structures configurations. Configurations represent common and not-so-common approaches to mitigating pathlength errors induced by disturbances of two different spectra. Results show that an optimized controlled structure for low frequency broadband disturbances achieves modest performance gains over a mass equivalent regular structure, while an optimized structure for high frequency narrow band disturbances is four times better in terms of root-mean-square pathlength. These results are predictable given the nature of the physical system and the optimization design variables. Fundamental limits on controlled performance are discussed based on the measured and fit average system transfer function gains and system phase loss.

The effect of vestibulo-ocular reflex deficits and covert saccades on dynamic vision in opioid-induced vestibular dysfunction.

PubMed

Ramaioli, Cecilia; Colagiorgio, Paolo; Sağlam, Murat; Heuser, Fabian; Schneider, Erich; Ramat, Stefano; Lehnen, Nadine

2014-01-01

Patients with bilateral vestibular dysfunction cannot fully compensate passive head rotations with eye movements, and experience disturbing oscillopsia. To compensate for the deficient vestibulo-ocular reflex (VOR), they have to rely on re-fixation saccades. Some can trigger "covert" saccades while the head still moves; others only initiate saccades afterwards. Due to their shorter latency, it has been hypothesized that covert saccades are particularly beneficial to improve dynamic visual acuity, reducing oscillopsia. Here, we investigate the combined effect of covert saccades and the VOR on clear vision, using the Head Impulse Testing Device-Functional Test (HITD-FT), which quantifies reading ability during passive high-acceleration head movements. To reversibly decrease VOR function, fourteen healthy men (median age 26 years, range 21-31) were continuously administrated the opioid remifentanil intravenously (0.15 µg/kg/min). VOR gain was assessed with the video head-impulse test, functional performance (i.e. reading) with the HITD-FT. Before opioid application, VOR and dynamic reading were intact (head-impulse gain: 0.87±0.08, mean±SD; HITD-FT rate of correct answers: 90±9%). Remifentanil induced impairment in dynamic reading (HITD-FT 26±15%) in 12/14 subjects, with transient bilateral vestibular dysfunction (head-impulse gain 0.63±0.19). HITD-FT score correlated with head-impulse gain (R = 0.63, p = 0.03) and with gain difference (before/with remifentanil, R = -0.64, p = 0.02). One subject had a non-pathological head-impulse gain (0.82±0.03) and a high HITD-FT score (92%). One subject triggered covert saccades in 60% of the head movements and could read during passive head movements (HITD-FT 93%) despite a pathological head-impulse gain (0.59±0.03) whereas none of the 12 subjects without covert saccades reached such high performance. In summary, early catch-up saccades may improve dynamic visual function. HITD-FT is an appropriate method to assess the combined gaze stabilization effect of both VOR and covert saccades (overall dynamic vision), e.g., to document performance and progress during vestibular rehabilitation.

Ultrafast direct electron transfer at organic semiconductor and metal interfaces.

PubMed

Xiang, Bo; Li, Yingmin; Pham, C Huy; Paesani, Francesco; Xiong, Wei

2017-11-01

The ability to control direct electron transfer can facilitate the development of new molecular electronics, light-harvesting materials, and photocatalysis. However, control of direct electron transfer has been rarely reported, and the molecular conformation-electron dynamics relationships remain unclear. We describe direct electron transfer at buried interfaces between an organic polymer semiconductor film and a gold substrate by observing the first dynamical electric field-induced vibrational sum frequency generation (VSFG). In transient electric field-induced VSFG measurements on this system, we observe dynamical responses (<150 fs) that depend on photon energy and polarization, demonstrating that electrons are directly transferred from the Fermi level of gold to the lowest unoccupied molecular orbital of organic semiconductor. Transient spectra further reveal that, although the interfaces are prepared without deliberate alignment control, a subensemble of surface molecules can adopt conformations for direct electron transfer. Density functional theory calculations support the experimental results and ascribe the observed electron transfer to a flat-lying polymer configuration in which electronic orbitals are found to be delocalized across the interface. The present observation of direct electron transfer at complex interfaces and the insights gained into the relationship between molecular conformations and electron dynamics will have implications for implementing novel direct electron transfer in energy materials.

Quantitative Microscopic Analysis of Plasma Membrane Receptor Dynamics in Living Plant Cells.

PubMed

Luo, Yu; Russinova, Eugenia

2017-01-01

Plasma membrane-localized receptors are essential for cellular communication and signal transduction. In Arabidopsis thaliana, BRASSINOSTEROID INSENSITIVE1 (BRI1) is one of the receptors that is activated by binding to its ligand, the brassinosteroid (BR) hormone, at the cell surface to regulate diverse plant developmental processes. The availability of BRI1 in the plasma membrane is related to its signaling output and is known to be controlled by the dynamic endomembrane trafficking. Advances in fluorescence labeling and confocal microscopy techniques enabled us to gain a better understanding of plasma membrane receptor dynamics in living cells. Here we describe different quantitative microscopy methods to monitor the relative steady-state levels of the BRI1 protein in the plasma membrane of root epidermal cells and its relative exocytosis and recycling rates. The methods can be applied also to analyze similar dynamics of other plasma membrane-localized receptors.

Dynamic analysis of process reactors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shadle, L.J.; Lawson, L.O.; Noel, S.D.

1995-06-01

The approach and methodology of conducting a dynamic analysis is presented in this poster session in order to describe how this type of analysis can be used to evaluate the operation and control of process reactors. Dynamic analysis of the PyGas{trademark} gasification process is used to illustrate the utility of this approach. PyGas{trademark} is the gasifier being developed for the Gasification Product Improvement Facility (GPIF) by Jacobs-Siffine Engineering and Riley Stoker. In the first step of the analysis, process models are used to calculate the steady-state conditions and associated sensitivities for the process. For the PyGas{trademark} gasifier, the process modelsmore » are non-linear mechanistic models of the jetting fluidized-bed pyrolyzer and the fixed-bed gasifier. These process sensitivities are key input, in the form of gain parameters or transfer functions, to the dynamic engineering models.« less

Dynamic defense and network randomization for computer systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chavez, Adrian R.; Stout, William M. S.; Hamlet, Jason R.

The various technologies presented herein relate to determining a network attack is taking place, and further to adjust one or more network parameters such that the network becomes dynamically configured. A plurality of machine learning algorithms are configured to recognize an active attack pattern. Notification of the attack can be generated, and knowledge gained from the detected attack pattern can be utilized to improve the knowledge of the algorithms to detect a subsequent attack vector(s). Further, network settings and application communications can be dynamically randomized, wherein artificial diversity converts control systems into moving targets that help mitigate the early reconnaissancemore » stages of an attack. An attack(s) based upon a known static address(es) of a critical infrastructure network device(s) can be mitigated by the dynamic randomization. Network parameters that can be randomized include IP addresses, application port numbers, paths data packets navigate through the network, application randomization, etc.« less

Determinants of age at natural menopause in the Isparta Menopause and Health Study: premenopausal body mass index gain rate and episodic weight loss.

PubMed

Aydin, Zeynep D

2010-01-01

The influence of body weight and weight change on age at natural menopause (ANM) is controversial. We aimed to explore these associations by overcoming two possible reasons for inconsistent findings: (1) a lack of information on weight change from a fixed time point up until menopause and (2) a possibility of capturing a spurious association between later ANM and greater weight gain because of a longer time span. Cross-sectionally, we evaluated static (body mass index [BMI] at age 25 y and height) and dynamic (history of premenopausal episodic weight loss and BMI gain rate) anthropometric indicators as predictors of ANM in Cox proportional hazards models. BMI gain rate was calculated based on weight change from age 25 y to menopause (or to current age in premenopausal women). Of 1,106 women, 46% were postmenopausal. Dynamic anthropometric indicators were stronger determinants of ANM compared with static indicators. Being in the higher quartile of BMI gain rate and having a history of episodic weight loss of more than 5 kg were independently associated with later ANM (hazard ratio [95% CI], 0.832 [0.765-0.905] and 0.433 [0.344-0.546], respectively). After controlling for history of episodic weight loss of more than 5 kg, smoking and premenopausal type 2 diabetes emerged as time-dependent predictors of ANM (hazard ratio [95% CI], 1.371 [1.093-1.720] and 1.640 [1.141-2.356], respectively). Premenopausal BMI gain rate and premenopausal history of episodic weight loss of more than 5 kg are independently associated with later ANM. Smoking predicts an earlier menopause after the age of initiation and type 2 diabetes predicts an earlier menopause after the age of diagnosis. The latter two associations are significant only after adjusting for a history of episodic weight loss of more than 5 kg.

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

NASA Technical Reports Server (NTRS)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Predictive IP controller for robust position control of linear servo system.

PubMed

Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

2016-07-01

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Simultaneous fault detection and control design for switched systems with two quantized signals.

PubMed

Li, Jian; Park, Ju H; Ye, Dan

2017-01-01

The problem of simultaneous fault detection and control design for switched systems with two quantized signals is presented in this paper. Dynamic quantizers are employed, respectively, before the output is passed to fault detector, and before the control input is transmitted to the switched system. Taking the quantized errors into account, the robust performance for this kind of system is given. Furthermore, sufficient conditions for the existence of fault detector/controller are presented in the framework of linear matrix inequalities, and fault detector/controller gains and the supremum of quantizer range are derived by a convex optimized method. Finally, two illustrative examples demonstrate the effectiveness of the proposed method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A real-time digital computer program for the simulation of automatic spacecraft reentries

NASA Technical Reports Server (NTRS)

Kaylor, J. T.; Powell, L. F.; Powell, R. W.

1977-01-01

The automatic reentry flight dynamics simulator, a nonlinear, six-degree-of-freedom simulation, digital computer program, has been developed. The program includes a rotating, oblate earth model for accurate navigation calculations and contains adjustable gains on the aerodynamic stability and control parameters. This program uses a real-time simulation system and is designed to examine entries of vehicles which have constant mass properties whose attitudes are controlled by both aerodynamic surfaces and reaction control thrusters, and which have automatic guidance and control systems. The program has been used to study the space shuttle orbiter entry. This report includes descriptions of the equations of motion used, the control and guidance schemes that were implemented, the program flow and operation, and the hardware involved.

Decentralised output feedback control of Markovian jump interconnected systems with unknown interconnections

NASA Astrophysics Data System (ADS)

Li, Li-Wei; Yang, Guang-Hong

2017-07-01

The problem of decentralised output feedback control is addressed for Markovian jump interconnected systems with unknown interconnections and general transition rates (TRs) allowed to be unknown or known with uncertainties. A class of decentralised dynamic output feedback controllers are constructed, and a cyclic-small-gain condition is exploited to dispose the unknown interconnections so that the resultant closed-loop system is stochastically stable and satisfies an H∞ performance. With slack matrices to cope with the nonlinearities incurred by unknown and uncertain TRs in control synthesis, a novel controller design condition is developed in linear matrix inequality formalism. Compared with the existing works, the proposed approach leads to less conservatism. Finally, two examples are used to illustrate the effectiveness of the new results.

Attitude Control System Design for the Solar Dynamics Observatory

NASA Technical Reports Server (NTRS)

Starin, Scott R.; Bourkland, Kristin L.; Kuo-Chia, Liu; Mason, Paul A. C.; Vess, Melissa F.; Andrews, Stephen F.; Morgenstern, Wendy M.

2005-01-01

The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

Closed-loop analysis and control of a non-inverting buck-boost converter

NASA Astrophysics Data System (ADS)

Chen, Zengshi; Hu, Jiangang; Gao, Wenzhong

2010-11-01

In this article, a cascade controller is designed and analysed for a non-inverting buck-boost converter. The fast inner current loop uses sliding mode control. The slow outer voltage loop uses the proportional-integral (PI) control. Stability analysis and selection of PI gains are based on the nonlinear closed-loop error dynamics incorporating both the inner and outer loop controllers. The closed-loop system is proven to have a nonminimum phase structure. The voltage transient due to step changes of input voltage or resistance is predictable. The operating range of the reference voltage is discussed. The controller is validated by a simulation circuit. The simulation results show that the reference output voltage is well-tracked under system uncertainties or disturbances, confirming the validity of the proposed controller.

Stabilizing detached Bridgman melt crystal growth: Model-based nonlinear feedback control

NASA Astrophysics Data System (ADS)

Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey J.

2012-12-01

The dynamics and operability limits of a nonlinear-proportional-integral controller designed to stabilize detached vertical Bridgman crystal growth are studied. The manipulated variable is the pressure difference between upper and lower vapor spaces, and the controlled variable is the gap width at the triple-phase line. The controller consists of a model-based nonlinear component coupled with a standard proportional-integral controller. The nonlinear component is based on a capillary model of shape stability. Perturbations to gap width, pressure difference, wetting angle, and growth angle are studied under both shape stable and shape unstable conditions. The nonlinear-PI controller allows a wider operating range of gain than a standard PI controller used alone, is easier to tune, and eliminates solution multiplicity from closed-loop operation.

Robust adaptive vibration control of a flexible structure.

PubMed

Khoshnood, A M; Moradi, H M

2014-07-01

Different types of L1 adaptive control systems show that using robust theories with adaptive control approaches has produced high performance controllers. In this study, a model reference adaptive control scheme considering robust theories is used to propose a practical control system for vibration suppression of a flexible launch vehicle (FLV). In this method, control input of the system is shaped from the dynamic model of the vehicle and components of the control input are adaptively constructed by estimating the undesirable vibration frequencies. Robust stability of the adaptive vibration control system is guaranteed by using the L1 small gain theorem. Simulation results of the robust adaptive vibration control strategy confirm that the effects of vibration on the vehicle performance considerably decrease without the loss of the phase margin of the system. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Coherent Path Beamformer Front End for High Performance Acoustic Modems

DTIC Science & Technology

1999-09-30

transmission underwater. This knowledge will be used to develop a test model for evaluating under water acoustic modem and other shallow water sonar ...rates can be achieved, as shown in the following two sections. WORK COMPLETED Two systems have been developed in the Sonar Laboratory of Ocean...2) More performant variable gain preamplifiers have been installed and the software updated for a better control of the dynamic range. 3) An

Reduced-Order Structure-Preserving Model for Parallel-Connected Three-Phase Grid-Tied Inverters

DOE Office of Scientific and Technical Information (OSTI.GOV)

Johnson, Brian B; Purba, Victor; Jafarpour, Saber

Next-generation power networks will contain large numbers of grid-connected inverters satisfying a significant fraction of system load. Since each inverter model has a relatively large number of dynamic states, it is impractical to analyze complex system models where the full dynamics of each inverter are retained. To address this challenge, we derive a reduced-order structure-preserving model for parallel-connected grid-tied three-phase inverters. Here, each inverter in the system is assumed to have a full-bridge topology, LCL filter at the point of common coupling, and the control architecture for each inverter includes a current controller, a power controller, and a phase-locked loopmore » for grid synchronization. We outline a structure-preserving reduced-order inverter model with lumped parameters for the setting where the parallel inverters are each designed such that the filter components and controller gains scale linearly with the power rating. By structure preserving, we mean that the reduced-order three-phase inverter model is also composed of an LCL filter, a power controller, current controller, and PLL. We show that the system of parallel inverters can be modeled exactly as one aggregated inverter unit and this equivalent model has the same number of dynamical states as any individual inverter in the system. Numerical simulations validate the reduced-order model.« less

Environmental controls in the water use patterns of a tropical cloud forest tree species, Drimys brasiliensis (Winteraceae).

PubMed

Eller, Cleiton B; Burgess, Stephen S O; Oliveira, Rafael S

2015-04-01

Trees from tropical montane cloud forest (TMCF) display very dynamic patterns of water use. They are capable of downwards water transport towards the soil during leaf-wetting events, likely a consequence of foliar water uptake (FWU), as well as high rates of night-time transpiration (Enight) during drier nights. These two processes might represent important sources of water losses and gains to the plant, but little is known about the environmental factors controlling these water fluxes. We evaluated how contrasting atmospheric and soil water conditions control diurnal, nocturnal and seasonal dynamics of sap flow in Drimys brasiliensis (Miers), a common Neotropical cloud forest species. We monitored the seasonal variation of soil water content, micrometeorological conditions and sap flow of D. brasiliensis trees in the field during wet and dry seasons. We also conducted a greenhouse experiment exposing D. brasiliensis saplings under contrasting soil water conditions to deuterium-labelled fog water. We found that during the night D. brasiliensis possesses heightened stomatal sensitivity to soil drought and vapour pressure deficit, which reduces night-time water loss. Leaf-wetting events had a strong suppressive effect on tree transpiration (E). Foliar water uptake increased in magnitude with drier soil and during longer leaf-wetting events. The difference between diurnal and nocturnal stomatal behaviour in D. brasiliensis could be attributed to an optimization of carbon gain when leaves are dry, as well as minimization of nocturnal water loss. The leaf-wetting events on the other hand seem important to D. brasiliensis water balance, especially during soil droughts, both by suppressing tree transpiration (E) and as a small additional water supply through FWU. Our results suggest that decreases in leaf-wetting events in TMCF might increase D. brasiliensis water loss and decrease its water gains, which could compromise its ecophysiological performance and survival during dry periods. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Wave-mixing-induced transparency with zero phase shift in atomic vapors

NASA Astrophysics Data System (ADS)

Zhou, F.; Zhu, C. J.; Li, Y.

2017-12-01

We present a wave-mixing induced transparency that can lead to a hyper-Raman gain-clamping effect. This new type of transparency is originated from a dynamic gain cancellation effect in a multiphoton process where a highly efficient light field of new frequency is generated and amplified. We further show that this novel dynamic gain cancellation effect not only makes the medium transparent to a probe light field at appropriate frequency but also eliminates the probe field propagation phase shift. This gain-cancellation-based induced transparency holds for many potential applications on optical communication and may lead to effective suppression of parasitic Raman/hyper-Raman noise field generated in high intensity optical fiber transmissions.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, David M.

1996-01-01

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, D.M.

1996-11-05

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit. 5 figs.

Phase-space dynamics of opposition control in wall-bounded turbulent flows

NASA Astrophysics Data System (ADS)

Hwang, Yongyun; Ibrahim, Joseph; Yang, Qiang; Doohan, Patrick

2017-11-01

The phase-space dynamics of wall-bounded shear flow in the presence of opposition control is explored by examining the behaviours of a pair of nonlinear equilibrium solutions (exact coherent structures), edge state and life time of turbulence at low Reynolds numbers. While the control modifies statistics and phase-space location of the edge state and the lower-branch equilibrium solution very little, it is also found to regularise the periodic orbit on the edge state by reverting a period-doubling bifurcation. Only the upper-branch equilibrium solution and mean turbulent state are significantly modified by the control, and, in phase space, they gradually approach the edge state on increasing the control gain. It is found that this behaviour results in a significant reduction of the life time of turbulence, indicating that the opposition control significantly increases the probability that the turbulent solution trajectory passes through the edge state. Finally, it is shown that the opposition control increases the critical Reynolds number of the onset of the equilibrium solutions, indicating its capability of transition delay. This work is sponsored by the Engineering and Physical Sciences Research Council (EPSRC) in the UK (EP/N019342/1).

Quantum and classical dynamics of water dissociation on Ni(111): A test of the site-averaging model in dissociative chemisorption of polyatomic molecules

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jiang, Bin; Department of Chemical Physics, University of Science and Technology of China, Hefei 230026; Guo, Hua, E-mail: hguo@unm.edu

Recently, we reported the first highly accurate nine-dimensional global potential energy surface (PES) for water interacting with a rigid Ni(111) surface, built on a large number of density functional theory points [B. Jiang and H. Guo, Phys. Rev. Lett. 114, 166101 (2015)]. Here, we investigate site-specific reaction probabilities on this PES using a quasi-seven-dimensional quantum dynamical model. It is shown that the site-specific reactivity is largely controlled by the topography of the PES instead of the barrier height alone, underscoring the importance of multidimensional dynamics. In addition, the full-dimensional dissociation probability is estimated by averaging fixed-site reaction probabilities with appropriatemore » weights. To validate this model and gain insights into the dynamics, additional quasi-classical trajectory calculations in both full and reduced dimensions have also been performed and important dynamical factors such as the steering effect are discussed.« less

Dynamics of a distributed drill string system: Characteristic parameters and stability maps

NASA Astrophysics Data System (ADS)

Aarsnes, Ulf Jakob F.; van de Wouw, Nathan

2018-03-01

This paper involves the dynamic (stability) analysis of distributed drill-string systems. A minimal set of parameters characterizing the linearized, axial-torsional dynamics of a distributed drill string coupled through the bit-rock interaction is derived. This is found to correspond to five parameters for a simple drill string and eight parameters for a two-sectioned drill-string (e.g., corresponding to the pipe and collar sections of a drilling system). These dynamic characterizations are used to plot the inverse gain margin of the system, parametrized in the non-dimensional parameters, effectively creating a stability map covering the full range of realistic physical parameters. This analysis reveals a complex spectrum of dynamics not evident in stability analysis with lumped models, thus indicating the importance of analysis using distributed models. Moreover, it reveals trends concerning stability properties depending on key system parameters useful in the context of system and control design aiming at the mitigation of vibrations.

Analytical investigation of the dynamics of tethered constellations in Earth orbit, phase 2

NASA Technical Reports Server (NTRS)

Lorenzini, Enrico C.; Gullahorn, Gordon E.; Cosmo, Mario L.; Estes, Robert D.; Grossi, Mario D.

1994-01-01

This final report covers nine years of research on future tether applications and on the actual flights of the Small Expendable Deployment System (SEDS). Topics covered include: (1) a description of numerical codes used to simulate the orbital and attitude dynamics of tethered systems during station keeping and deployment maneuvers; (2) a comparison of various tethered system simulators; (3) dynamics analysis, conceptual design, potential applications and propagation of disturbances and isolation from noise of a variable gravity/microgravity laboratory tethered to the Space Station; (4) stability of a tethered space centrifuge; (5) various proposed two-dimensional tethered structures for low Earth orbit for use as planar array antennas; (6) tethered high gain antennas; (7) numerical calculation of the electromagnetic wave field on the Earth's surface on an electrodynamically tethered satellite; (8) reentry of tethered capsules; (9) deployment dynamics of SEDS-1; (10) analysis of SEDS-1 flight data; and (11) dynamics and control of SEDS-2.

Adaptive piezoelectric sensoriactuator

NASA Technical Reports Server (NTRS)

Clark, Jr., Robert L. (Inventor); Vipperman, Jeffrey S. (Inventor); Cole, Daniel G. (Inventor)

1996-01-01

An adaptive algorithm implemented in digital or analog form is used in conjunction with a voltage controlled amplifier to compensate for the feedthrough capacitance of piezoelectric sensoriactuator. The mechanical response of the piezoelectric sensoriactuator is resolved from the electrical response by adaptively altering the gain imposed on the electrical circuit used for compensation. For wideband, stochastic input disturbances, the feedthrough capacitance of the sensoriactuator can be identified on-line, providing a means of implementing direct-rate-feedback control in analog hardware. The device is capable of on-line system health monitoring since a quasi-stable dynamic capacitance is indicative of sustained health of the piezoelectric element.

Users manual for the Variable dimension Automatic Synthesis Program (VASP)

NASA Technical Reports Server (NTRS)

White, J. S.; Lee, H. Q.

1971-01-01

A dictionary and some problems for the Variable Automatic Synthesis Program VASP are submitted. The dictionary contains a description of each subroutine and instructions on its use. The example problems give the user a better perspective on the use of VASP for solving problems in modern control theory. These example problems include dynamic response, optimal control gain, solution of the sampled data matrix Ricatti equation, matrix decomposition, and pseudo inverse of a matrix. Listings of all subroutines are also included. The VASP program has been adapted to run in the conversational mode on the Ames 360/67 computer.

Lynx1 Limits Dendritic Spine Turnover in the Adult Visual Cortex

PubMed Central

Sajo, Mari

2016-01-01

Dendritic spine turnover becomes limited in the adult cerebral cortex. Identification of specific aspects of spine dynamics that can be unmasked in adulthood and its regulatory molecular mechanisms could provide novel therapeutic targets for inducing plasticity at both the functional and structural levels for robust recovery from brain disorders and injuries in adults. Lynx1, an endogenous inhibitor of nicotinic acetylcholine receptors, was previously shown to increase its expression in adulthood and thus to limit functional ocular dominance plasticity in adult primary visual cortex (V1). However, the role of this “brake” on spine dynamics is not known. We examined the contribution of Lynx1 on dendritic spine turnover before and after monocular deprivation (MD) in adult V1 with chronic in vivo imaging using two-photon microscopy and determined the spine turnover rate of apical dendrites of layer 5 (L5) and L2/3 pyramidal neurons in adult V1 of Lynx1 knock-out (KO) mice. We found that the deletion of Lynx1 doubled the baseline spine turnover rate, suggesting that the spine dynamics in the adult cortex is actively limited by the presence of Lynx1. After MD, adult Lynx1-KO mice selectively exhibit higher rate of spine loss with no difference in gain rate in L5 neurons compared with control wild-type counterparts, revealing a key signature of spine dynamics associated with robust functional plasticity in adult V1. Overall, Lynx1 could be a promising therapeutic target to induce not only functional, but also structural plasticity at the level of spine dynamics in the adult brain. SIGNIFICANCE STATEMENT Dendritic spine turnover becomes limited in the adult cortex. In mouse visual cortex, a premier model of experience-dependent plasticity, we found that the deletion of Lynx1, a nicotinic “brake” for functional plasticity, doubled the baseline spine turnover in adulthood, suggesting that the spine dynamics in the adult cortex is actively limited by Lynx1. After visual deprivation, spine loss, but not gain rate, remains higher in adult Lynx1 knock-out mice than in control wild-type mice, revealing a key signature of spine dynamics associated with robust functional plasticity. Lynx1 would be a promising target to induce not only functional, but also structural plasticity at the level of spine dynamics in adulthood. PMID:27605620

Thaumarchaeal amoA and nirK Gene Abundance Patterns Reveal Spatiotemporal Dynamics of Ammonia-oxidizing Archaeal Populations in Monterey Bay, CA

NASA Astrophysics Data System (ADS)

Tolar, B. B.; Reji, L.; Smith, J. M.; Chavez, F.; Francis, C.

2016-12-01

Thaumarchaeaota are among the most abundant microorganisms on the planet, and are significant players in the global nitrogen cycle. All cultivated members of the phylum are capable of performing the first and rate-limiting step of nitrification - the aerobic oxidation of ammonia to nitrite. In marine environments, ammonia-oxidizing archaea (AOA) have been found to greatly outnumber their bacterial counterparts. However, much about their ecology remains largely unknown. Monterey Bay, a non-estuarine embayment on the central California coast, is an ideal site for studying the dynamics of natural thaumarchaeal assemblages, given the highly dynamic nature of the Bay waters with seasonal upwelling episodes and the associated steep gradients in environmental variables. In the present study, we examined thaumarchaeal population dynamics in the upper Monterey Bay water column (0-500 m) using multiple molecular markers. Following high-resolution spatiotemporal sampling (i.e., up to 10 depths sampled monthly over a period of 2 years) at two stations in the Bay, we quantified thaumarchaeal functional genes - the ammonia monooxygenase (amoA) gene and its `shallow' and `deep' marine ecotypes, and variants of the marine nitrite reductase (nirK) gene. The abundances of both genes were regressed against environmental variables to gain insights into factors shaping their spatiotemporal dynamics in the Bay. Gene abundances at both stations varied with depth and season, with winter months generally having several orders of magnitude greater abundances. Statistical analyses point to differential controls on the gene abundances, with depth and temperature potentially being the major environmental determinants of thaumarchaeal population size. Our results also highlight the importance of employing multiple marker genes to gain a more highly resolved picture of thaumarchaeal population dynamics in complex environmental systems such as the coastal ocean.

Active control of acoustic pressure fields using smart material technologies

NASA Technical Reports Server (NTRS)

Banks, H. T.; Smith, R. C.

1993-01-01

An overview describing the use of piezoceramic patches in reducing noise in a structural acoustics setting is presented. The passive and active contributions due to patches which are bonded to an Euler-Bernoulli beam or thin shell are briefly discussed and the results are incorporated into a 2-D structural acoustics model. In this model, an exterior noise source causes structural vibrations which in turn lead to interior noise as a result of nonlinear fluid/structure coupling mechanism. Interior sound pressure levels are reduced via patches bonded to the flexible boundary (a beam in this case) which generate pure bending moments when an out-of-phase voltage is applied. Well-posedness results for the infinite dimensional system are discussed and a Galerkin scheme for approximating the system dynamics is outlined. Control is implemented by using linear quadratic regulator (LQR) optimal control theory to calculate gains for the linearized system and then feeding these gains back into the nonlinear system of interest. The effectiveness of this strategy for this problem is illustrated in an example.

Smart wing wind tunnel test results

NASA Astrophysics Data System (ADS)

Scherer, Lewis B.; Martin, Christopher A.; Appa, Kari; Kudva, Jayanth N.; West, Mark N.

1997-05-01

The use of smart materials technologies can provide unique capabilities in improving aircraft aerodynamic performance. Northrop Grumman built and tested a 16% scale semi-span wind tunnel model of the F/A-18 E/F for the on-going DARPA/WL Smart Materials and Structures-Smart Wing Program. Aerodynamic performance gains to be validated included increase in the lift to drag ratio, increased pitching moment (Cm), increased rolling moment (Cl) and improved pressure distribution. These performance gains were obtained using hingeless, contoured trailing edge control surfaces with embedded shape memory alloy (SMA) wires and spanwise wing twist via a SMA torque tube and are compared to a conventional wind tunnel model with hinged control surfaces. This paper presents an overview of the results from the first wind tunnel test performed at the NASA Langley's 16 ft Transonic Dynamic Tunnel. Among the benefits demonstrated are 8 - 12% increase in rolling moment due to wing twist, a 10 - 15% increase in rolling moment due to contoured aileron, and approximately 8% increase in lift due to contoured flap, and improved pressure distribution due to trailing edge control surface contouring.

Facing the Future: Effects of Short-Term Climate Extremes on Isoprene-Emitting and Nonemitting Poplar1

PubMed Central

Vanzo, Elisa; Jud, Werner; Li, Ziru; Albert, Andreas; Domagalska, Malgorzata A.; Ghirardo, Andrea; Niederbacher, Bishu; Frenzel, Juliane; Beemster, Gerrit T.S.; Asard, Han; Rennenberg, Heinz; Sharkey, Thomas D.; Hansel, Armin; Schnitzler, Jörg-Peter

2015-01-01

Isoprene emissions from poplar (Populus spp.) plantations can influence atmospheric chemistry and regional climate. These emissions respond strongly to temperature, [CO2], and drought, but the superimposed effect of these three climate change factors are, for the most part, unknown. Performing predicted climate change scenario simulations (periodic and chronic heat and drought spells [HDSs] applied under elevated [CO2]), we analyzed volatile organic compound emissions, photosynthetic performance, leaf growth, and overall carbon (C) gain of poplar genotypes emitting (IE) and nonemitting (NE) isoprene. We aimed (1) to evaluate the proposed beneficial effect of isoprene emission on plant stress mitigation and recovery capacity and (2) to estimate the cumulative net C gain under the projected future climate. During HDSs, the chloroplastidic electron transport rate of NE plants became impaired, while IE plants maintained high values similar to unstressed controls. During recovery from HDS episodes, IE plants reached higher daily net CO2 assimilation rates compared with NE genotypes. Irrespective of the genotype, plants undergoing chronic HDSs showed the lowest cumulative C gain. Under control conditions simulating ambient [CO2], the C gain was lower in the IE plants than in the NE plants. In summary, the data on the overall C gain and plant growth suggest that the beneficial function of isoprene emission in poplar might be of minor importance to mitigate predicted short-term climate extremes under elevated [CO2]. Moreover, we demonstrate that an analysis of the canopy-scale dynamics of isoprene emission and photosynthetic performance under multiple stresses is essential to understand the overall performance under proposed future conditions. PMID:26162427

Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer.

PubMed

He, Wei; Yan, Zichen; Sun, Changyin; Chen, Yunan

2017-10-01

The research of this paper works out the attitude and position control of the flapping wing micro aerial vehicle (FWMAV). Neural network control with full state and output feedback are designed to deal with uncertainties in this complex nonlinear FWMAV dynamic system and enhance the system robustness. Meanwhile, we design disturbance observers which are exerted into the FWMAV system via feedforward loops to counteract the bad influence of disturbances. Then, a Lyapunov function is proposed to prove the closed-loop system stability and the semi-global uniform ultimate boundedness of all state variables. Finally, a series of simulation results indicate that proposed controllers can track desired trajectories well via selecting appropriate control gains. And the designed controllers possess potential applications in FWMAVs.

Adaptive non-predictor control of lower triangular uncertain nonlinear systems with an unknown time-varying delay in the input

NASA Astrophysics Data System (ADS)

Koo, Min-Sung; Choi, Ho-Lim

2018-01-01

In this paper, we consider a control problem for a class of uncertain nonlinear systems in which there exists an unknown time-varying delay in the input and lower triangular nonlinearities. Usually, in the existing results, input delays have been coupled with feedforward (or upper triangular) nonlinearities; in other words, the combination of lower triangular nonlinearities and input delay has been rare. Motivated by the existing controller for input-delayed chain of integrators with nonlinearity, we show that the control of input-delayed nonlinear systems with two particular types of lower triangular nonlinearities can be done. As a control solution, we propose a newly designed feedback controller whose main features are its dynamic gain and non-predictor approach. Three examples are given for illustration.

Control of dynamical self-assembly of strongly Brownian nanoparticles through convective forces induced by ultrafast laser

NASA Astrophysics Data System (ADS)

Ilday, Serim; Akguc, Gursoy B.; Tokel, Onur; Makey, Ghaith; Yavuz, Ozgun; Yavuz, Koray; Pavlov, Ihor; Ilday, F. Omer; Gulseren, Oguz

We report a new dynamical self-assembly mechanism, where judicious use of convective and strong Brownian forces enables effective patterning of colloidal nanoparticles that are almost two orders of magnitude smaller than the laser beam. Optical trapping or tweezing effects are not involved, but the laser is used to create steep thermal gradients through multi-photon absorption, and thereby guide the colloids through convective forces. Convective forces can be thought as a positive feedback mechanism that helps to form and reinforce pattern, while Brownian motion act as a competing negative feedback mechanism to limit the growth of the pattern, as well as to increase the possibilities of bifurcation into different patterns, analogous to the competition observed in reaction-diffusion systems. By steering stochastic processes through these forces, we are able to gain control over the emergent pattern such as to form-deform-reform of a pattern, to change its shape and transport it spatially within seconds. This enables us to dynamically initiate and control large patterns comprised of hundreds of colloids. Further, by not relying on any specific chemical, optical or magnetic interaction, this new method is, in principle, completely independent of the material type being assembled.

Wind-Tunnel Investigation of a 1/5-Scale Model of the Ryan XF2R Airplane

NASA Technical Reports Server (NTRS)

Wong, Park Y.

1947-01-01

Wind-tunnel tests on a 1/5-scale model of the Ryan XF2R airplane were conducted to determine the aerodynamic characteristics of the air intake for the front power plant, a General Electric TG-100 gas turbine, and to determine the stability and control characteristics of the airplane. The results indicated low-dynamic-pressure recover3- for the air intake to the TG-100 gas turbine rith the standard propeller in operation. Propeller cuffs were designed and tested for the purpose of impoving the dynamic-pressure recovery. Data obtained with the cuffs installed and the gap between the spinner an& the cuff sealed indicated a substantial gain in dynamic pressure recovery over that obtained with the standard propeller and with the cuffed propeller unsealed. Stability and control tests were conducted with the sealed cuffs installed on the propeller. The data from these tests indicated the following unsatisfactory characteristics for the airplane: 1. Marginal static longitudinal stability. 2. Inadequate directional stability and control. 3. Rudder-pedal-force reversal in the climb condition. 4. Negative dihedral effect in the power-on approach and wave-off conditions.

A closed-loop photon beam control study for the Advanced Light Source

DOE Office of Scientific and Technical Information (OSTI.GOV)

Portmann, G.; Bengtsson, J.

1993-05-01

The third generation Advanced Light Source (ALS) will produce extremely bright photon beams using undulators and wigglers. In order to position the photon beams accurate to the micron level, a closed-loop feedback system is being developed. Using photon position monitors and dipole corrector magnets, a closed-loop system can automatically compensate for modeling uncertainties and exogenous disturbances. The following paper will present a dynamics model for the perturbations of the closed orbit of the electron beam in the ALS storage ring including the vacuum chamber magnetic field penetration effects. Using this reference model, two closed-loop feedback algorithms will be compared --more » a classical PI controller and a two degree-of-freedom approach. The two degree-of-freedom method provides superior disturbance rejection while maintaining the desired performance goals. Both methods will address the need to gain schedule the controller due to the time varying dynamics introduced by changing field strengths when scanning the insertion devices.« less

Dynamic and Tunable Threshold Voltage in Organic Electrochemical Transistors.

PubMed

Doris, Sean E; Pierre, Adrien; Street, Robert A

2018-04-01

In recent years, organic electrochemical transistors (OECTs) have found applications in chemical and biological sensing and interfacing, neuromorphic computing, digital logic, and printed electronics. However, the incorporation of OECTs in practical electronic circuits is limited by the relative lack of control over their threshold voltage, which is important for controlling the power consumption and noise margin in complementary and unipolar circuits. Here, the threshold voltage of OECTs is precisely tuned over a range of more than 1 V by chemically controlling the electrochemical potential at the gate electrode. This threshold voltage tunability is exploited to prepare inverters and amplifiers with improved noise margin and gain, respectively. By coupling the gate electrode with an electrochemical oscillator, single-transistor oscillators based on OECTs with dynamic time-varying threshold voltages are prepared. This work highlights the importance of electrochemistry at the gate electrode in determining the electrical properties of OECTs, and opens a path toward the system-level design of low-power OECT-based electronics. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dynamics of a Flywheel Energy Storage System Supporting a Wind Turbine Generator in a Microgrid

NASA Astrophysics Data System (ADS)

Nair S, Gayathri; Senroy, Nilanjan

2016-02-01

Integration of an induction machine based flywheel energy storage system with a wind energy conversion system is implemented in this paper. The nonlinear and linearized models of the flywheel are studied, compared and a reduced order model of the same simulated to analyze the influence of the flywheel inertia and control in system response during a wind power change. A quantification of the relation between the inertia of the flywheel and the controller gain is obtained which allows the system to be considered as a reduced order model that is more controllable in nature. A microgrid setup comprising of the flywheel energy storage system, a two mass model of a DFIG based wind turbine generator and a reduced order model of a diesel generator is utilized to analyse the microgrid dynamics accurately in the event of frequency variations arising due to wind power change. The response of the microgrid with and without the flywheel is studied.

A nonlinear optimal control approach to stabilization of a macroeconomic development model

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.

2017-11-01

A nonlinear optimal (H-infinity) control approach is proposed for the problem of stabilization of the dynamics of a macroeconomic development model that is known as the Grossman-Helpman model of endogenous product cycles. The dynamics of the macroeconomic development model is divided in two parts. The first one describes economic activities in a developed country and the second part describes variation of economic activities in a country under development which tries to modify its production so as to serve the needs of the developed country. The article shows that through control of the macroeconomic model of the developed country, one can finally control the dynamics of the economy in the country under development. The control method through which this is achieved is the nonlinear H-infinity control. The macroeconomic model for the country under development undergoes approximate linearization round a temporary operating point. This is defined at each time instant by the present value of the system's state vector and the last value of the control input vector that was exerted on it. The linearization is based on Taylor series expansion and the computation of the associated Jacobian matrices. For the linearized model an H-infinity feedback controller is computed. The controller's gain is calculated by solving an algebraic Riccati equation at each iteration of the control method. The asymptotic stability of the control approach is proven through Lyapunov analysis. This assures that the state variables of the macroeconomic model of the country under development will finally converge to the designated reference values.

ISS method for coordination control of nonlinear dynamical agents under directed topology.

PubMed

Wang, Xiangke; Qin, Jiahu; Yu, Changbin

2014-10-01

The problems of coordination of multiagent systems with second-order locally Lipschitz continuous nonlinear dynamics under directed interaction topology are investigated in this paper. A completely nonlinear input-to-state stability (ISS)-based framework, drawing on ISS methods, with the aid of results from graph theory, matrix theory, and the ISS cyclic-small-gain theorem, is proposed for the coordination problem under directed topology, which can effectively tackle the technical challenges caused by locally Lipschitz continuous dynamics. Two coordination problems, i.e., flocking with a virtual leader and containment control, are considered. For both problems, it is assumed that only a portion of the agents can obtain the information from the leader(s). For the first problem, the proposed strategy is shown effective in driving a group of nonlinear dynamical agents reach the prespecified geometric pattern under the condition that at least one agent in each strongly connected component of the information-interconnection digraph with zero in-degree has access to the state information of the virtual leader; and the strategy proposed for the second problem can guarantee the nonlinear dynamical agents moving to the convex hull spanned by the positions of multiple leaders under the condition that for each agent there exists at least one leader that has a directed path to this agent.

Organic Micro/Nanoscale Lasers.

PubMed

Zhang, Wei; Yao, Jiannian; Zhao, Yong Sheng

2016-09-20

Micro/nanoscale lasers that can deliver intense coherent light signals at (sub)wavelength scale have recently captured broad research interest because of their potential applications ranging from on-chip information processing to high-throughput sensing. Organic molecular materials are a promising kind of ideal platform to construct high-performance microlasers, mainly because of their superiority in abundant excited-state processes with large active cross sections for high gain emissions and flexibly assembled structures for high-quality microcavities. In recent years, ever-increasing efforts have been dedicated to developing such organic microlasers toward low threshold, multicolor output, broadband tunability, and easy integration. Therefore, it is increasingly important to summarize this research field and give deep insight into the structure-property relationships of organic microlasers to accelerate the future development. In this Account, we will review the recent advances in organic miniaturized lasers, with an emphasis on tunable laser performances based on the tailorable microcavity structures and controlled excited-state gain processes of organic materials toward integrated photonic applications. Organic π-conjugated molecules with weak intermolecular interactions readily assemble into regular nanostructures that can serve as high-quality optical microcavities for the strong confinement of photons. On the basis of rational material design, a series of optical microcavities with different structures have been controllably synthesized. These microcavity nanostructures can be endowed with effective four-level dynamic gain processes, such as excited-state intramolecular charge transfer, excited-state intramolecular proton transfer, and excimer processes, that exhibit large dipole optical transitions for strongly active gain behaviors. By tailoring these excited-state processes with molecular/crystal engineering and external stimuli, people have effectively modulated the performances of organic micro/nanolasers. Furthermore, by means of controlled assembly and tunable laser performances, efficient outcoupling of microlasers has been successfully achieved in various organic hybrid microstructures, showing considerable potential for the integrated photonic applications. This Account starts by presenting an overview of the research evolution of organic microlasers in terms of microcavity resonators and energy-level gain. Then a series of strategies to tailor the microcavity structures and excited-state dynamics of organic nanomaterials for the modulation of lasing performances are highlighted. In the following part, we introduce the construction and advanced photonic functionalities of organic-microlaser-based hybrid structures and their applications in integrated nanophotonics. Finally, we provide our outlook on the current challenges as well as the future development of organic microlasers. It is anticipated that this Account will provide inspiration for the development of miniaturized lasers with desired performances by tailoring of excited-state processes and microcavity structures toward integrated photonic applications.

Column-parallel correlated multiple sampling circuits for CMOS image sensors and their noise reduction effects.

PubMed

Suh, Sungho; Itoh, Shinya; Aoyama, Satoshi; Kawahito, Shoji

2010-01-01

For low-noise complementary metal-oxide-semiconductor (CMOS) image sensors, the reduction of pixel source follower noises is becoming very important. Column-parallel high-gain readout circuits are useful for low-noise CMOS image sensors. This paper presents column-parallel high-gain signal readout circuits, correlated multiple sampling (CMS) circuits and their noise reduction effects. In the CMS, the gain of the noise cancelling is controlled by the number of samplings. It has a similar effect to that of an amplified CDS for the thermal noise but is a little more effective for 1/f and RTS noises. Two types of the CMS with simple integration and folding integration are proposed. In the folding integration, the output signal swing is suppressed by a negative feedback using a comparator and one-bit D-to-A converter. The CMS circuit using the folding integration technique allows to realize a very low-noise level while maintaining a wide dynamic range. The noise reduction effects of their circuits have been investigated with a noise analysis and an implementation of a 1Mpixel pinned photodiode CMOS image sensor. Using 16 samplings, dynamic range of 59.4 dB and noise level of 1.9 e(-) for the simple integration CMS and 75 dB and 2.2 e(-) for the folding integration CMS, respectively, are obtained.

Optimal rotation sequences for active perception

NASA Astrophysics Data System (ADS)

Nakath, David; Rachuy, Carsten; Clemens, Joachim; Schill, Kerstin

2016-05-01

One major objective of autonomous systems navigating in dynamic environments is gathering information needed for self localization, decision making, and path planning. To account for this, such systems are usually equipped with multiple types of sensors. As these sensors often have a limited field of view and a fixed orientation, the task of active perception breaks down to the problem of calculating alignment sequences which maximize the information gain regarding expected measurements. Action sequences that rotate the system according to the calculated optimal patterns then have to be generated. In this paper we present an approach for calculating these sequences for an autonomous system equipped with multiple sensors. We use a particle filter for multi- sensor fusion and state estimation. The planning task is modeled as a Markov decision process (MDP), where the system decides in each step, what actions to perform next. The optimal control policy, which provides the best action depending on the current estimated state, maximizes the expected cumulative reward. The latter is computed from the expected information gain of all sensors over time using value iteration. The algorithm is applied to a manifold representation of the joint space of rotation and time. We show the performance of the approach in a spacecraft navigation scenario where the information gain is changing over time, caused by the dynamic environment and the continuous movement of the spacecraft

Retrieval Property of Attractor Network with Synaptic Depression

NASA Astrophysics Data System (ADS)

Matsumoto, Narihisa; Ide, Daisuke; Watanabe, Masataka; Okada, Masato

2007-08-01

Synaptic connections are known to change dynamically. High-frequency presynaptic inputs induce decrease of synaptic weights. This process is known as short-term synaptic depression. The synaptic depression controls a gain for presynaptic inputs. However, it remains a controversial issue what are functional roles of this gain control. We propose a new hypothesis that one of the functional roles is to enlarge basins of attraction. To verify this hypothesis, we employ a binary discrete-time associative memory model which consists of excitatory and inhibitory neurons. It is known that the excitatory-inhibitory balance controls an overall activity of the network. The synaptic depression might incorporate an activity control mechanism. Using a mean-field theory and computer simulations, we find that the synaptic depression enlarges the basins at a small loading rate while the excitatory-inhibitory balance enlarges them at a large loading rate. Furthermore the synaptic depression does not affect the steady state of the network if a threshold is set at an appropriate value. These results suggest that the synaptic depression works in addition to the effect of the excitatory-inhibitory balance, and it might improve an error-correcting ability in cortical circuits.

Are Covert Saccade Functionally Relevant in Vestibular Hypofunction?

PubMed

Hermann, R; Pelisson, D; Dumas, O; Urquizar, Ch; Truy, E; Tilikete, C

2018-06-01

The vestibulo-ocular reflex maintains gaze stabilization during angular or linear head accelerations, allowing adequate dynamic visual acuity. In case of bilateral vestibular hypofunction, patients use saccades to compensate for the reduced vestibulo-ocular reflex function, with covert saccades occurring even during the head displacement. In this study, we questioned whether covert saccades help maintain dynamic visual acuity, and evaluated which characteristic of these saccades are the most relevant to improve visual function. We prospectively included 18 patients with chronic bilateral vestibular hypofunction. Subjects underwent evaluation of dynamic visual acuity in the horizontal plane as well as video recording of their head and eye positions during horizontal head impulse tests in both directions (36 ears tested). Frequency, latency, consistency of covert saccade initiation, and gain of covert saccades as well as residual vestibulo-ocular reflex gain were calculated. We found no correlation between residual vestibulo-ocular reflex gain and dynamic visual acuity. Dynamic visual acuity performance was however positively correlated with the frequency and gain of covert saccades and negatively correlated with covert saccade latency. There was no correlation between consistency of covert saccade initiation and dynamic visual acuity. Even though gaze stabilization in space during covert saccades might be of very short duration, these refixation saccades seem to improve vision in patients with bilateral vestibular hypofunction during angular head impulses. These findings emphasize the need for specific rehabilitation technics that favor the triggering of covert saccades. The physiological origin of covert saccades is discussed.

Influence of sympathoexcitation at high altitude on cerebrovascular function and ventilatory control in humans.

PubMed

Ainslie, P N; Lucas, S J E; Fan, J-L; Thomas, K N; Cotter, J D; Tzeng, Y C; Burgess, Keith R

2012-10-01

We sought to determine the influence of sympathoexcitation on dynamic cerebral autoregulation (CA), cerebrovascular reactivity, and ventilatory control in humans at high altitude (HA). At sea level (SL) and following 3-10 days at HA (5,050 m), we measured arterial blood gases, ventilation, arterial pressure, and middle cerebral blood velocity (MCAv) before and after combined α- and β-adrenergic blockade. Dynamic CA was quantified using transfer function analysis. Cerebrovascular reactivity was assessed using hypocapnia and hyperoxic hypercapnia. Ventilatory control was assessed from the hypercapnia and during isocapnic hypoxia. Arterial Pco(2) and ventilation and its control were unaltered following blockade at both SL and HA. At HA, mean arterial pressure (MAP) was elevated (P < 0.01 vs. SL), but MCAv remained unchanged. Blockade reduced MAP more at HA than at SL (26 vs. 15%, P = 0.048). At HA, gain and coherence in the very-low-frequency (VLF) range (0.02-0.07 Hz) increased, and phase lead was reduced (all P < 0.05 vs. SL). Following blockade at SL, coherence was unchanged, whereas VLF phase lead was reduced (-40 ± 23%; P < 0.01). In contrast, blockade at HA reduced low-frequency coherence (-26 ± 20%; P = 0.01 vs. baseline) and elevated VLF phase lead (by 177 ± 238%; P < 0.01 vs. baseline), fully restoring these parameters back to SL values. Irrespective of this elevation in VLF gain at HA (P < 0.01), blockade increased it comparably at SL and HA (∼43-68%; P < 0.01). Despite elevations in MCAv reactivity to hypercapnia at HA, blockade reduced (P < 0.05) it comparably at SL and HA, effects we attributed to the hypotension and/or abolition of the hypercapnic-induced increase in MAP. With the exception of dynamic CA, we provide evidence of a redundant role of sympathetic nerve activity as a direct mechanism underlying changes in cerebrovascular reactivity and ventilatory control following partial acclimatization to HA. These findings have implications for our understanding of CBF function in the context of pathologies associated with sympathoexcitation and hypoxemia.

All-fiber dynamic gain equalizer based on a twisted long-period grating written by high-frequency CO2 laser pulses.

PubMed

Zhu, T; Rao, Y J; Wang, J L

2007-01-20

A novel dynamic gain equalizer for flattening Er-doped fiber amplifiers based on a twisted long-period fiber grating (LPFG) induced by high-frequency CO(2) laser pulses is reported for the first time to our knowledge. Experimental results show that its transverse-load sensitivity is up to 0.34 dB/(g.mm(-1)), while the twist ratio of the twisted LPFG is approximately 20 rad/m, which is 7 times higher than that of a torsion-free LPFG. In addition, it is found that the strong orientation dependence of the transverse-load sensitivity of the torsion-free LPFG reported previously has been weakened considerably. Therefore such a dynamic gain equalizer based on the unique transverse-load characteristics of the twisted LPFG provides a much larger adjustable range and makes packaging of the gain equalizer much easier. A demonstration has been carried out to flatten an Er-doped fiber amplifier to +/-0.5 dB over a 32 nm bandwidth.

Optimization of control gain by operator adjustment

NASA Technical Reports Server (NTRS)

Kruse, W.; Rothbauer, G.

1973-01-01

An optimal gain was established by measuring errors at 5 discrete control gain settings in an experimental set-up consisting of a 2-dimensional, first-order pursuit tracking task performed by subjects (S's). No significant experience effect on optimum gain setting was found in the first experiment. During the second experiment, in which control gain was continuously adjustable, high experienced S's tended to reach the previously determined optimum gain quite accurately and quickly. Less experienced S's tended to select a marginally optimum gain either below or above the experimentally determined optimum depending on initial control gain setting, although mean settings of both groups were equal. This quick and simple method is recommended for selecting control gains for different control systems and forcing functions.

Consensus Algorithms for Networks of Systems with Second- and Higher-Order Dynamics

NASA Astrophysics Data System (ADS)

Fruhnert, Michael

This thesis considers homogeneous networks of linear systems. We consider linear feedback controllers and require that the directed graph associated with the network contains a spanning tree and systems are stabilizable. We show that, in continuous-time, consensus with a guaranteed rate of convergence can always be achieved using linear state feedback. For networks of continuous-time second-order systems, we provide a new and simple derivation of the conditions for a second-order polynomials with complex coefficients to be Hurwitz. We apply this result to obtain necessary and sufficient conditions to achieve consensus with networks whose graph Laplacian matrix may have complex eigenvalues. Based on the conditions found, methods to compute feedback gains are proposed. We show that gains can be chosen such that consensus is achieved robustly over a variety of communication structures and system dynamics. We also consider the use of static output feedback. For networks of discrete-time second-order systems, we provide a new and simple derivation of the conditions for a second-order polynomials with complex coefficients to be Schur. We apply this result to obtain necessary and sufficient conditions to achieve consensus with networks whose graph Laplacian matrix may have complex eigenvalues. We show that consensus can always be achieved for marginally stable systems and discretized systems. Simple conditions for consensus achieving controllers are obtained when the Laplacian eigenvalues are all real. For networks of continuous-time time-variant higher-order systems, we show that uniform consensus can always be achieved if systems are quadratically stabilizable. In this case, we provide a simple condition to obtain a linear feedback control. For networks of discrete-time higher-order systems, we show that constant gains can be chosen such that consensus is achieved for a variety of network topologies. First, we develop simple results for networks of time-invariant systems and networks of time-variant systems that are given in controllable canonical form. Second, we formulate the problem in terms of Linear Matrix Inequalities (LMIs). The condition found simplifies the design process and avoids the parallel solution of multiple LMIs. The result yields a modified Algebraic Riccati Equation (ARE) for which we present an equivalent LMI condition.

Gain control through divisive inhibition prevents abrupt transition to chaos in a neural mass model

PubMed Central

Papasavvas, Christoforos A.; Wang, Yujiang; Trevelyan, Andrew J.; Kaiser, Marcus

2016-01-01

Experimental results suggest that there are two distinct mechanisms of inhibition in cortical neuronal networks: subtractive and divisive inhibition. They modulate the input-output function of their target neurons either by increasing the input that is needed to reach maximum output or by reducing the gain and the value of maximum output itself, respectively. However, the role of these mechanisms on the dynamics of the network is poorly understood. We introduce a novel population model and numerically investigate the influence of divisive inhibition on network dynamics. Specifically, we focus on the transitions from a state of regular oscillations to a state of chaotic dynamics via period-doubling bifurcations. The model with divisive inhibition exhibits a universal transition rate to chaos (Feigenbaum behavior). In contrast, in an equivalent model without divisive inhibition, transition rates to chaos are not bounded by the universal constant (non-Feigenbaum behavior). This non-Feigenbaum behavior, when only subtractive inhibition is present, is linked to the interaction of bifurcation curves in the parameter space. Indeed, searching the parameter space showed that such interactions are impossible when divisive inhibition is included. Therefore, divisive inhibition prevents non-Feigenbaum behavior and, consequently, any abrupt transition to chaos. The results suggest that the divisive inhibition in neuronal networks could play a crucial role in keeping the states of order and chaos well separated and in preventing the onset of pathological neural dynamics. PMID:26465514

DC Microgrids–Part I: A Review of Control Strategies and Stabilization Techniques

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dragicevic, Tomislav; Lu, Xiaonan; Vasquez, Juan

2015-01-01

This paper presents a review of control strategies, stability analysis, and stabilization techniques for dc microgrids (MGs). Overall control is systematically classified into local and coordinated control levels according to respective functionalities in each level. As opposed to local control, which relies only on local measurements, some line of communication between units needs to be made available in order to achieve the coordinated control. Depending on the communication method, three basic coordinated control strategies can be distinguished, i.e., decentralized, centralized, and distributed control. Decentralized control can be regarded as an extension of the local control since it is also basedmore » exclusively on local measurements. In contrast, centralized and distributed control strategies rely on digital communication technologies. A number of approaches using these three coordinated control strategies to achieve various control objectives are reviewed in this paper. Moreover, properties of dc MG dynamics and stability are discussed. This paper illustrates that tightly regulated point-of-load converters tend to reduce the stability margins of the system since they introduce negative impedances, which can potentially oscillate with lightly damped power supply input filters. It is also demonstrated that how the stability of the whole system is defined by the relationship of the source and load impedances, referred to as the minor loop gain. Several prominent specifications for the minor loop gain are reviewed. Finally, a number of active stabilization techniques are presented.« less

Effects of Instantaneous Multiband Dynamic Compression on Speech Intelligibility

NASA Astrophysics Data System (ADS)

Herzke, Tobias; Hohmann, Volker

2005-12-01

The recruitment phenomenon, that is, the reduced dynamic range between threshold and uncomfortable level, is attributed to the loss of instantaneous dynamic compression on the basilar membrane. Despite this, hearing aids commonly use slow-acting dynamic compression for its compensation, because this was found to be the most successful strategy in terms of speech quality and intelligibility rehabilitation. Former attempts to use fast-acting compression gave ambiguous results, raising the question as to whether auditory-based recruitment compensation by instantaneous compression is in principle applicable in hearing aids. This study thus investigates instantaneous multiband dynamic compression based on an auditory filterbank. Instantaneous envelope compression is performed in each frequency band of a gammatone filterbank, which provides a combination of time and frequency resolution comparable to the normal healthy cochlea. The gain characteristics used for dynamic compression are deduced from categorical loudness scaling. In speech intelligibility tests, the instantaneous dynamic compression scheme was compared against a linear amplification scheme, which used the same filterbank for frequency analysis, but employed constant gain factors that restored the sound level for medium perceived loudness in each frequency band. In subjective comparisons, five of nine subjects preferred the linear amplification scheme and would not accept the instantaneous dynamic compression in hearing aids. Four of nine subjects did not perceive any quality differences. A sentence intelligibility test in noise (Oldenburg sentence test) showed little to no negative effects of the instantaneous dynamic compression, compared to linear amplification. A word intelligibility test in quiet (one-syllable rhyme test) showed that the subjects benefit from the larger amplification at low levels provided by instantaneous dynamic compression. Further analysis showed that the increase in intelligibility resulting from a gain provided by instantaneous compression is as high as from a gain provided by linear amplification. No negative effects of the distortions introduced by the instantaneous compression scheme in terms of speech recognition are observed.

An optimal control framework for dynamic induction control of wind farms and their interaction with the atmospheric boundary layer.

PubMed

Munters, W; Meyers, J

2017-04-13

Complex turbine wake interactions play an important role in overall energy extraction in large wind farms. Current control strategies optimize individual turbine power, and lead to significant energy losses in wind farms compared with lone-standing wind turbines. In recent work, an optimal coordinated control framework was introduced (Goit & Meyers 2015 J. Fluid Mech. 768 , 5-50 (doi:10.1017/jfm.2015.70)). Here, we further elaborate on this framework, quantify the influence of optimization parameters and introduce new simulation results for which gains in power production of up to 21% are observed.This article is part of the themed issue 'Wind energy in complex terrains'. © 2017 The Authors.

An optimal control framework for dynamic induction control of wind farms and their interaction with the atmospheric boundary layer

PubMed Central

Munters, W.

2017-01-01

Complex turbine wake interactions play an important role in overall energy extraction in large wind farms. Current control strategies optimize individual turbine power, and lead to significant energy losses in wind farms compared with lone-standing wind turbines. In recent work, an optimal coordinated control framework was introduced (Goit & Meyers 2015 J. Fluid Mech. 768, 5–50 (doi:10.1017/jfm.2015.70)). Here, we further elaborate on this framework, quantify the influence of optimization parameters and introduce new simulation results for which gains in power production of up to 21% are observed. This article is part of the themed issue ‘Wind energy in complex terrains’. PMID:28265024

Optimal feedback scheme and universal time scaling for Hamiltonian parameter estimation.

PubMed

Yuan, Haidong; Fung, Chi-Hang Fred

2015-09-11

Time is a valuable resource and it is expected that a longer time period should lead to better precision in Hamiltonian parameter estimation. However, recent studies in quantum metrology have shown that in certain cases more time may even lead to worse estimations, which puts this intuition into question. In this Letter we show that by including feedback controls this intuition can be restored. By deriving asymptotically optimal feedback controls we quantify the maximal improvement feedback controls can provide in Hamiltonian parameter estimation and show a universal time scaling for the precision limit under the optimal feedback scheme. Our study reveals an intriguing connection between noncommutativity in the dynamics and the gain of feedback controls in Hamiltonian parameter estimation.

Locomotor sensory organization test: a novel paradigm for the assessment of sensory contributions in gait.

PubMed

Chien, Jung Hung; Eikema, Diderik-Jan Anthony; Mukherjee, Mukul; Stergiou, Nicholas

2014-12-01

Feedback based balance control requires the integration of visual, proprioceptive and vestibular input to detect the body's movement within the environment. When the accuracy of sensory signals is compromised, the system reorganizes the relative contributions through a process of sensory recalibration, for upright postural stability to be maintained. Whereas this process has been studied extensively in standing using the Sensory Organization Test (SOT), less is known about these processes in more dynamic tasks such as locomotion. In the present study, ten healthy young adults performed the six conditions of the traditional SOT to quantify standing postural control when exposed to sensory conflict. The same subjects performed these six conditions using a novel experimental paradigm, the Locomotor SOT (LSOT), to study dynamic postural control during walking under similar types of sensory conflict. To quantify postural control during walking, the net Center of Pressure sway variability was used. This corresponds to the Performance Index of the center of pressure trajectory, which is used to quantify postural control during standing. Our results indicate that dynamic balance control during locomotion in healthy individuals is affected by the systematic manipulation of multisensory inputs. The sway variability patterns observed during locomotion reflect similar balance performance with standing posture, indicating that similar feedback processes may be involved. However, the contribution of visual input is significantly increased during locomotion, compared to standing in similar sensory conflict conditions. The increased visual gain in the LSOT conditions reflects the importance of visual input for the control of locomotion. Since balance perturbations tend to occur in dynamic tasks and in response to environmental constraints not present during the SOT, the LSOT may provide additional information for clinical evaluation on healthy and deficient sensory processing.

Effects of exercise pressor reflex activation on carotid baroreflex function during exercise in humans

NASA Technical Reports Server (NTRS)

Gallagher, K. M.; Fadel, P. J.; Stromstad, M.; Ide, K.; Smith, S. A.; Querry, R. G.; Raven, P. B.; Secher, N. H.

2001-01-01

1. This investigation was designed to determine the contribution of the exercise pressor reflex to the resetting of the carotid baroreflex during exercise. 2. Ten subjects performed 3.5 min of static one-legged exercise (20 % maximal voluntary contraction) and 7 min dynamic cycling (20 % maximal oxygen uptake) under two conditions: control (no intervention) and with the application of medical anti-shock (MAS) trousers inflated to 100 mmHg (to activate the exercise pressor reflex). Carotid baroreflex function was determined at rest and during exercise using a rapid neck pressure/neck suction technique. 3. During exercise, the application of MAS trousers (MAS condition) increased mean arterial pressure (MAP), plasma noradrenaline concentration (dynamic exercise only) and perceived exertion (dynamic exercise only) when compared to control (P < 0.05). No effect of the MAS condition was evident at rest. The MAS condition had no effect on heart rate (HR), plasma lactate and adrenaline concentrations or oxygen uptake at rest and during exercise. The carotid baroreflex stimulus-response curve was reset upward on the response arm and rightward to a higher operating pressure by control exercise without alterations in gain. Activation of the exercise pressor reflex by MAS trousers further reset carotid baroreflex control of MAP, as indicated by the upward and rightward relocation of the curve. However, carotid baroreflex control of HR was only shifted rightward to higher operating pressures by MAS trousers. The sensitivity of the carotid baroreflex was unaltered by exercise pressor reflex activation. 4. These findings suggest that during dynamic and static exercise the exercise pressor reflex is capable of actively resetting carotid baroreflex control of mean arterial pressure; however, it would appear only to modulate carotid baroreflex control of heart rate.

New LMI based gain-scheduling control for recovering contact-free operation of a magnetically levitated rotor

NASA Astrophysics Data System (ADS)

Wang, M.; Cole, M. O. T.; Keogh, P. S.

2017-11-01

A new approach for the recovery of contact-free levitation of a rotor supported by active magnetic bearings (AMB) is assessed through control strategy design, system modelling and experimental verification. The rotor is considered to make contact with a touchdown bearing (TDB), which may lead to entrapment in a bi-stable nonlinear response. A linear matrix inequality (LMI) based gain-scheduling H∞ control technique is introduced to recover the rotor to a contact-free state. The controller formulation involves a time-varying effective stiffness parameter, which can be evaluated in terms of forces transmitted through the TDB. Rather than measuring these forces directly, an observer is introduced with a model of the base structure to transform base acceleration signals using polytopic coordinates for controller adjustment. Force transmission to the supporting base structure will occur either through an AMB alone without contact, or through the AMB and TDB with contact and this must be accounted for in the observer design. The controller is verified experimentally in terms of (a) non-contact robust stability and vibration suppression performance; (b) control action for contact-free recovery at typical running speeds with various unbalance and TDB misalignment conditions; and (c) coast-down experimental tests. The results demonstrate the effectiveness of the AMB control action whenever it operates within its dynamic load capacity.

High Dynamic Imaging for Photometry and Graphic Arts Evaluation

NASA Astrophysics Data System (ADS)

T. S., Sudheer Kumar; Kurian, Ciji Pearl; Shama, Kumara; K. R., Shailesh

2018-05-01

High Dynamic Range Imaging (HDRI) techniques for luminance measurement is gaining importance in recent years. This paper presents the application of the HDRI system for obtaining the photometric characteristics of lighting fixtures as well to assess the quality of lighting in colour viewing booth of a printing press. The process of quality control of prints in a printing press is known as graphic arts evaluation. This light booth plays a major role in the quality control of prints. In this work, Nikon D5100 camera was used to obtain the photometric characteristics of narrow beam spotlight. The results of this experiment are in agreement with photometric characteristics obtained from a standard industry grade Gonio-photometer. Similarly, Canon 60D camera was used to assess the quality of spatial luminance distribution of light in the colour viewing booth. This work demonstrates the usefulness of HDRI technology for photometric measurements and luminance distributions of illuminated interiors.

Dynamics of animal movement in an ecological context: dragonfly wing damage reduces flight performance and predation success.

PubMed

Combes, S A; Crall, J D; Mukherjee, S

2010-06-23

Much of our understanding of the control and dynamics of animal movement derives from controlled laboratory experiments. While many aspects of animal movement can be probed only in these settings, a more complete understanding of animal locomotion may be gained by linking experiments on relatively simple motions in the laboratory to studies of more complex behaviours in natural settings. To demonstrate the utility of this approach, we examined the effects of wing damage on dragonfly flight performance in both a laboratory drop-escape response and the more natural context of aerial predation. The laboratory experiment shows that hindwing area loss reduces vertical acceleration and average flight velocity, and the predation experiment demonstrates that this type of wing damage results in a significant decline in capture success. Taken together, these results suggest that wing damage may take a serious toll on wild dragonflies, potentially reducing both reproductive success and survival.

A Human-in-the Loop Exploration of the Dynamic Airspace Configuration Concept

NASA Technical Reports Server (NTRS)

Homola, Jeffrey; Lee, Paul U.; Prevot, Thomas; Lee, Hwasoo; Kessell, Angela; Brasil, Connie; Smith, Nancy

2010-01-01

An exploratory human-in-the-loop study was conducted to better understand the impact of Dynamic Airspace Configuration (DAC) on air traffic controllers. To do so, a range of three progressively more aggressive algorithmic approaches to sectorizations were chosen. Sectorizations from these algorithms were used to test and quantify the range of impact on the controller and traffic. Results show that traffic count was more equitably distributed between the four test sectors and duration of counts over MAP were progressively lower as the magnitude of boundary change increased. However, taskload and workload were also shown to increase with the increase in aggressiveness and acceptability of the boundary changes decreased. Overall, simulated operations of the DAC concept did not appear to compromise safety. Feedback from the participants highlighted the importance of limiting some aspects of boundary changes such as amount of volume gained or lost and the extent of change relative to the initial airspace design.

Asymmetrical booster guidance and control system design study. Volume 3: Space shuttle vehicle SRB actuator failure study. [space shuttle development

NASA Technical Reports Server (NTRS)

Williams, F. E.; Lemon, R. S.

1974-01-01

The investigation of single actuator failures on the space shuttle solid rocket booster required the analysis of both square pattern and diamond pattern actuator configurations. It was determined that for failures occuring near or prior to the region of maximum dynamic pressure, control gain adjustments can be used to achieve virtually nominal mid-boost vehicle behavior. A distinct worst case failure condition was established near staging that could significantly delay staging. It is recommended that the square pattern be retained as a viable alternative to the baseline diamond pattern because the staging transient is better controlled resulting in earlier staging.

The Galileo attitude and articulation control system - A radiation-hard, high precision, state-of-the-art control system

NASA Technical Reports Server (NTRS)

Stephenson, R. Rhoads

1985-01-01

The Galileo mission and spacecraft, consisting of a Jupiter-orbiter and an atmospheric entry probe, are discussed. Components will include: magnetometers and plasma-wave antennas on a boom, high-gain antenna, probe vehicle, two different bus electronics packages, and a radioisotope thermoelectric generator. Instruments, investigators and objectives are tabulated for both probe science and orbiter science investigations. Requirements in the design of the attitude and articulation control system are very stringent because of the complex dynamics, flexible body effects, the need for autonomy, and the severe radiation environment in the Jupiter nighborhood. Galileo was intended to be ready for launch via Space Shuttle in May of 1986.

Ride comfort control in large flexible aircraft. M.S. Thesis

NASA Technical Reports Server (NTRS)

Warren, M. E.

1971-01-01

The problem of ameliorating the discomfort of passengers on a large air transport subject to flight disturbances is examined. The longitudinal dynamics of the aircraft, including effects of body flexing, are developed in terms of linear, constant coefficient differential equations in state variables. A cost functional, penalizing the rigid body displacements and flexure accelerations over the surface of the aircraft is formulated as a quadratic form. The resulting control problem, to minimize the cost subject to the state equation constraints, is of a class whose solutions are well known. The feedback gains for the optimal controller are calculated digitally, and the resulting autopilot is simulated on an analog computer and its performance evaluated.

A parametric LQ approach to multiobjective control system design

NASA Technical Reports Server (NTRS)

Kyr, Douglas E.; Buchner, Marc

1988-01-01

The synthesis of a constant parameter output feedback control law of constrained structure is set in a multiple objective linear quadratic regulator (MOLQR) framework. The use of intuitive objective functions such as model-following ability and closed-loop trajectory sensitivity, allow multiple objective decision making techniques, such as the surrogate worth tradeoff method, to be applied. For the continuous-time deterministic problem with an infinite time horizon, dynamic compensators as well as static output feedback controllers can be synthesized using a descent Anderson-Moore algorithm modified to impose linear equality constraints on the feedback gains by moving in feasible directions. Results of three different examples are presented, including a unique reformulation of the sensitivity reduction problem.

Enhancement tuning and control for high dynamic range images in multi-scale locally adaptive contrast enhancement algorithms

NASA Astrophysics Data System (ADS)

Cvetkovic, Sascha D.; Schirris, Johan; de With, Peter H. N.

2009-01-01

For real-time imaging in surveillance applications, visibility of details is of primary importance to ensure customer confidence. If we display High Dynamic-Range (HDR) scenes whose contrast spans four or more orders of magnitude on a conventional monitor without additional processing, results are unacceptable. Compression of the dynamic range is therefore a compulsory part of any high-end video processing chain because standard monitors are inherently Low- Dynamic Range (LDR) devices with maximally two orders of display dynamic range. In real-time camera processing, many complex scenes are improved with local contrast enhancements, bringing details to the best possible visibility. In this paper, we show how a multi-scale high-frequency enhancement scheme, in which gain is a non-linear function of the detail energy, can be used for the dynamic range compression of HDR real-time video camera signals. We also show the connection of our enhancement scheme to the processing way of the Human Visual System (HVS). Our algorithm simultaneously controls perceived sharpness, ringing ("halo") artifacts (contrast) and noise, resulting in a good balance between visibility of details and non-disturbance of artifacts. The overall quality enhancement, suitable for both HDR and LDR scenes, is based on a careful selection of the filter types for the multi-band decomposition and a detailed analysis of the signal per frequency band.

Vortex spin-torque oscillator stabilized by phase locked loop using integrated circuits

NASA Astrophysics Data System (ADS)

Kreissig, Martin; Lebrun, R.; Protze, F.; Merazzo-Jaimes, K.; Hem, J.; Vila, L.; Ferreira, R.; Cyrille, M.-C.; Ellinger, F.; Cros, V.; Ebels, U.; Bortolotti, P.

2017-05-01

Spin-torque nano-oscillators (STO) are candidates for the next technological implementation of spintronic devices in commercial electronic systems. For use in microwave applications, improving the noise figures by efficient control of their phase dynamics is a mandatory requirement. In order to achieve this, we developed a compact phase locked loop (PLL) based on custom integrated circuits (ICs) and demonstrate that it represents an efficient way to reduce the phase noise level of a vortex based STO. The advantage of our approach to phase stabilize STOs is that our compact system is highly reconfigurable e.g. in terms of the frequency divider ratio N, RF gain and loop gain. This makes it robust against device to device variations and at the same time compatible with a large range of STOs. Moreover, by taking advantage of the natural highly non-isochronous nature of the STO, the STO frequency can be easily controlled by e.g. changing the divider ratio N.

Advances in adaptive control theory: Gradient- and derivative-free approaches

NASA Astrophysics Data System (ADS)

Yucelen, Tansel

In this dissertation, we present new approaches to improve standard designs in adaptive control theory, and novel adaptive control architectures. We first present a novel Kalman filter based approach for approximately enforcing a linear constraint in standard adaptive control design. One application is that this leads to alternative forms for well known modification terms such as e-modification. In addition, it leads to smaller tracking errors without incurring significant oscillations in the system response and without requiring high modification gain. We derive alternative forms of e- and adaptive loop recovery (ALR-) modifications. Next, we show how to use Kalman filter optimization to derive a novel adaptation law. This results in an optimization-based time-varying adaptation gain that reduces the need for adaptation gain tuning. A second major contribution of this dissertation is the development of a novel derivative-free, delayed weight update law for adaptive control. The assumption of constant unknown ideal weights is relaxed to the existence of time-varying weights, such that fast and possibly discontinuous variation in weights are allowed. This approach is particulary advantageous for applications to systems that can undergo a sudden change in dynamics, such as might be due to reconfiguration, deployment of a payload, docking, or structural damage, and for rejection of external disturbance processes. As a third and final contribution, we develop a novel approach for extending all the methods developed in this dissertation to the case of output feedback. The approach is developed only for the case of derivative-free adaptive control, and the extension of the other approaches developed previously for the state feedback case to output feedback is left as a future research topic. The proposed approaches of this dissertation are illustrated in both simulation and flight test.

A robust momentum management and attitude control system for the space station

NASA Technical Reports Server (NTRS)

Speyer, J. L.; Rhee, Ihnseok

1991-01-01

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very assurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Robust momentum management and attitude control system for the Space Station

NASA Technical Reports Server (NTRS)

Rhee, Ihnseok; Speyer, Jason L.

1992-01-01

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very accurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Adaptive dynamic programming approach to experience-based systems identification and control.

PubMed

Lendaris, George G

2009-01-01

Humans have the ability to make use of experience while selecting their control actions for distinct and changing situations, and their process speeds up and have enhanced effectiveness as more experience is gained. In contrast, current technological implementations slow down as more knowledge is stored. A novel way of employing Approximate (or Adaptive) Dynamic Programming (ADP) is described that shifts the underlying Adaptive Critic type of Reinforcement Learning method "up a level", away from designing individual (optimal) controllers to that of developing on-line algorithms that efficiently and effectively select designs from a repository of existing controller solutions (perhaps previously developed via application of ADP methods). The resulting approach is called Higher-Level Learning Algorithm. The approach and its rationale are described and some examples of its application are given. The notions of context and context discernment are important to understanding the human abilities noted above. These are first defined, in a manner appropriate to controls and system-identification, and as a foundation relating to the application arena, a historical view of the various phases during development of the controls field is given, organized by how the notion 'context' was, or was not, involved in each phase.

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.

Knob manager (KM) operators guide

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

1993-10-08

KM, Knob Manager, is a tool which enables the user to use the SUNDIALS knob box to adjust the settings of the control system. The followings are some features of KM: dynamic knob assignments with the user friendly interface; user-defined gain for individual knob; graphical displays for operating range and status of each process variable is assigned; backup and restore one or multiple process variable; save current settings to a file and recall the settings from that file in future.

Information sensitivity functions to assess parameter information gain and identifiability of dynamical systems.

PubMed

Pant, Sanjay

2018-05-01

A new class of functions, called the 'information sensitivity functions' (ISFs), which quantify the information gain about the parameters through the measurements/observables of a dynamical system are presented. These functions can be easily computed through classical sensitivity functions alone and are based on Bayesian and information-theoretic approaches. While marginal information gain is quantified by decrease in differential entropy, correlations between arbitrary sets of parameters are assessed through mutual information. For individual parameters, these information gains are also presented as marginal posterior variances, and, to assess the effect of correlations, as conditional variances when other parameters are given. The easy to interpret ISFs can be used to (a) identify time intervals or regions in dynamical system behaviour where information about the parameters is concentrated; (b) assess the effect of measurement noise on the information gain for the parameters; (c) assess whether sufficient information in an experimental protocol (input, measurements and their frequency) is available to identify the parameters; (d) assess correlation in the posterior distribution of the parameters to identify the sets of parameters that are likely to be indistinguishable; and (e) assess identifiability problems for particular sets of parameters. © 2018 The Authors.

Linear-Quadratic-Gaussian Regulator Developed for a Magnetic Bearing

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.

2002-01-01

Linear-Quadratic-Gaussian (LQG) control is a modern state-space technique for designing optimal dynamic regulators. It enables us to trade off regulation performance and control effort, and to take into account process and measurement noise. The Structural Mechanics and Dynamics Branch at the NASA Glenn Research Center has developed an LQG control for a fault-tolerant magnetic bearing suspension rig to optimize system performance and to reduce the sensor and processing noise. The LQG regulator consists of an optimal state-feedback gain and a Kalman state estimator. The first design step is to seek a state-feedback law that minimizes the cost function of regulation performance, which is measured by a quadratic performance criterion with user-specified weighting matrices, and to define the tradeoff between regulation performance and control effort. The next design step is to derive a state estimator using a Kalman filter because the optimal state feedback cannot be implemented without full state measurement. Since the Kalman filter is an optimal estimator when dealing with Gaussian white noise, it minimizes the asymptotic covariance of the estimation error.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

Dynamic divisive normalization predicts time-varying value coding in decision-related circuits.

PubMed

Louie, Kenway; LoFaro, Thomas; Webb, Ryan; Glimcher, Paul W

2014-11-26

Normalization is a widespread neural computation, mediating divisive gain control in sensory processing and implementing a context-dependent value code in decision-related frontal and parietal cortices. Although decision-making is a dynamic process with complex temporal characteristics, most models of normalization are time-independent and little is known about the dynamic interaction of normalization and choice. Here, we show that a simple differential equation model of normalization explains the characteristic phasic-sustained pattern of cortical decision activity and predicts specific normalization dynamics: value coding during initial transients, time-varying value modulation, and delayed onset of contextual information. Empirically, we observe these predicted dynamics in saccade-related neurons in monkey lateral intraparietal cortex. Furthermore, such models naturally incorporate a time-weighted average of past activity, implementing an intrinsic reference-dependence in value coding. These results suggest that a single network mechanism can explain both transient and sustained decision activity, emphasizing the importance of a dynamic view of normalization in neural coding. Copyright © 2014 the authors 0270-6474/14/3416046-12$15.00/0.

Dynamically Coupled Residues within the SH2 Domain of FYN Are Key to Unlocking Its Activity.

PubMed

Huculeci, Radu; Cilia, Elisa; Lyczek, Agatha; Buts, Lieven; Houben, Klaartje; Seeliger, Markus A; van Nuland, Nico; Lenaerts, Tom

2016-11-01

Src kinase activity is controlled by various mechanisms involving a coordinated movement of kinase and regulatory domains. Notwithstanding the extensive knowledge related to the backbone dynamics, little is known about the more subtle side-chain dynamics within the regulatory domains and their role in the activation process. Here, we show through experimental methyl dynamic results and predicted changes in side-chain conformational couplings that the SH2 structure of Fyn contains a dynamic network capable of propagating binding information. We reveal that binding the phosphorylated tail of Fyn perturbs a residue cluster near the linker connecting the SH2 and SH3 domains of Fyn, which is known to be relevant in the regulation of the activity of Fyn. Biochemical perturbation experiments validate that those residues are essential for inhibition of Fyn, leading to a gain of function upon mutation. These findings reveal how side-chain dynamics may facilitate the allosteric regulation of the different members of the Src kinase family. Copyright © 2016 Elsevier Ltd. All rights reserved.

In-Flight Suppression of an Unstable F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.; Gilligan, Eric T.; Wall, John H.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

2015-01-01

NASA's Space Launch System (SLS) Flight Control System (FCS) includes an Adaptive Augmenting Control (AAC) component which employs a multiplicative gain update law to enhance the performance and robustness of the baseline control system for extreme off-nominal scenarios. The SLS FCS algorithm including AAC has been flight tested utilizing a specially outfitted F/A-18 fighter jet in which the pitch axis control of the aircraft was performed by a Non-linear Dynamic Inversion (NDI) controller, SLS reference models, and the SLS flight software prototype. This paper describes test cases from the research flight campaign in which the fundamental F/A-18 airframe structural mode was identified using post-flight frequency-domain reconstruction, amplified to result in closed loop instability, and suppressed in-flight by the SLS adaptive control system.

Real-Time Feedback Control of Flow-Induced Cavity Tones. Part 1; Fixed-Gain Control

NASA Technical Reports Server (NTRS)

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

2006-01-01

A generalized predictive control (GPC) algorithm was formulated and applied to the cavity flow-tone problem. The control algorithm demonstrated multiple Rossiter-mode suppression at fixed Mach numbers ranging from 0.275 to 0.38. Controller performance was evaluated with a measure of output disturbance rejection and an input sensitivity transfer function. The results suggest that disturbances entering the cavity flow are collocated with the control input at the cavity leading edge. In that case, only tonal components of the cavity wall-pressure fluctuations can be suppressed and arbitrary broadband pressure reduction is not possible with the present sensor/actuator arrangement. In the control-algorithm development, the cavity dynamics were treated as linear and time invariant (LTI) for a fixed Mach number. The experimental results lend support to that treatment.

Bilinearization of the generalized coupled nonlinear Schrödinger equation with variable coefficients and gain and dark-bright pair soliton solutions.

PubMed

Chakraborty, Sushmita; Nandy, Sudipta; Barthakur, Abhijit

2015-02-01

We investigate coupled nonlinear Schrödinger equations (NLSEs) with variable coefficients and gain. The coupled NLSE is a model equation for optical soliton propagation and their interaction in a multimode fiber medium or in a fiber array. By using Hirota's bilinear method, we obtain the bright-bright, dark-bright combinations of a one-soliton solution (1SS) and two-soliton solutions (2SS) for an n-coupled NLSE with variable coefficients and gain. Crucial properties of two-soliton (dark-bright pair) interactions, such as elastic and inelastic interactions and the dynamics of soliton bound states, are studied using asymptotic analysis and graphical analysis. We show that a bright 2-soliton, in addition to elastic interactions, also exhibits multiple inelastic interactions. A dark 2-soliton, on the other hand, exhibits only elastic interactions. We also observe a breatherlike structure of a bright 2-soliton, a feature that become prominent with gain and disappears as the amplitude acquires a minimum value, and after that the solitons remain parallel. The dark 2-soliton, however, remains parallel irrespective of the gain. The results found by us might be useful for applications in soliton control, a fiber amplifier, all optical switching, and optical computing.

Novel Estimation of Pilot Performance Characteristics

NASA Technical Reports Server (NTRS)

Bachelder, Edward N.; Aponso, Bimal

2017-01-01

Two mechanisms internal to the pilot that affect performance during a tracking task are: 1) Pilot equalization (i.e. lead/lag); and 2) Pilot gain (i.e. sensitivity to the error signal). For some applications McRuer's Crossover Model can be used to anticipate what equalization will be employed to control a vehicle's dynamics. McRuer also established approximate time delays associated with different types of equalization - the more cognitive processing that is required due to equalization difficulty, the larger the time delay. However, the Crossover Model does not predict what the pilot gain will be. A nonlinear pilot control technique, observed and coined by the authors as 'amplitude clipping', is shown to improve stability, performance, and reduce workload when employed with vehicle dynamics that require high lead compensation by the pilot. Combining linear and nonlinear methods a novel approach is used to measure the pilot control parameters when amplitude clipping is present, allowing precise measurement in real time of key pilot control parameters. Based on the results of an experiment which was designed to probe workload primary drivers, a method is developed that estimates pilot spare capacity from readily observable measures and is tested for generality using multi-axis flight data. This paper documents the initial steps to developing a novel, simple objective metric for assessing pilot workload and its variation over time across a wide variety of tasks. Additionally, it offers a tangible, easily implementable methodology for anticipating a pilot's operating parameters and workload, and an effective design tool. The model shows promise in being able to precisely predict the actual pilot settings and workload, and observed tolerance of pilot parameter variation over the course of operation. Finally, an approach is proposed for generating Cooper-Harper ratings based on the workload and parameter estimation methodology.

Pattern Recognition Control Design

NASA Technical Reports Server (NTRS)

Gambone, Elisabeth

2016-01-01

Spacecraft control algorithms must know the expected spacecraft response to any command to the available control effectors, such as reaction thrusters or torque devices. Spacecraft control system design approaches have traditionally relied on the estimated vehicle mass properties to determine the desired force and moment, as well as knowledge of the effector performance to efficiently control the spacecraft. A pattern recognition approach can be used to investigate the relationship between the control effector commands and the spacecraft responses. Instead of supplying the approximated vehicle properties and the effector performance characteristics, a database of information relating the effector commands and the desired vehicle response can be used for closed-loop control. A Monte Carlo simulation data set of the spacecraft dynamic response to effector commands can be analyzed to establish the influence a command has on the behavior of the spacecraft. A tool developed at NASA Johnson Space Center (Ref. 1) to analyze flight dynamics Monte Carlo data sets through pattern recognition methods can be used to perform this analysis. Once a comprehensive data set relating spacecraft responses with commands is established, it can be used in place of traditional control laws and gains set. This pattern recognition approach can be compared with traditional control algorithms to determine the potential benefits and uses.

An adaptive control scheme for a flexible manipulator

NASA Technical Reports Server (NTRS)

Yang, T. C.; Yang, J. C. S.; Kudva, P.

1987-01-01

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Stochastic Gain in Population Dynamics

NASA Astrophysics Data System (ADS)

Traulsen, Arne; Röhl, Torsten; Schuster, Heinz Georg

2004-07-01

We introduce an extension of the usual replicator dynamics to adaptive learning rates. We show that a population with a dynamic learning rate can gain an increased average payoff in transient phases and can also exploit external noise, leading the system away from the Nash equilibrium, in a resonancelike fashion. The payoff versus noise curve resembles the signal to noise ratio curve in stochastic resonance. Seen in this broad context, we introduce another mechanism that exploits fluctuations in order to improve properties of the system. Such a mechanism could be of particular interest in economic systems.

Variable gain for a wind turbine pitch control

NASA Technical Reports Server (NTRS)

Seidel, R. C.; Birchenough, A. G.

1981-01-01

The gain variation is made in the software logic of the pitch angle controller. The gain level is changed depending upon the level of power error. The control uses low gain for low pitch activity the majority of the time. If the power exceeds ten percent offset above rated, the gain is increased to a higher gain to more effectively limit power. A variable gain control functioned well in tests on the Mod-0 wind turbine.

Linear dynamic range enhancement in a CMOS imager

NASA Technical Reports Server (NTRS)

Pain, Bedabrata (Inventor)

2008-01-01

A CMOS imager with increased linear dynamic range but without degradation in noise, responsivity, linearity, fixed-pattern noise, or photometric calibration comprises a linear calibrated dual gain pixel in which the gain is reduced after a pre-defined threshold level by switching in an additional capacitance. The pixel may include a novel on-pixel latch circuit that is used to switch in the additional capacitance.

Affect and Therapeutic Process in Groups for Chronically Mentally Ill Persons

PubMed Central

Stone, Walter N.

1998-01-01

A dynamic group treatment model for chronically ill persons allowing them to determine the frequency of attendance empowers the members and potentiates group development. This format respects patients' needs for space as represented by missed meetings. In this context, absences are formulated as self-protective and self-stabilizing acts rather than as resistance. In an accepting, supportive environment, members can be helped to explore affects and gain insight into their behaviors. A clinical example illustrates patients' examination of the meaning of missing and attending sessions, with particular focus on intensity of involvement, autonomy, and control. In the process of testing the therapist and group, members show capacity to gain insight into recent in-group and extra-group behaviors.(The Journal of Psychotherapy Practice and Research 1998; 7:208–216) PMID:9631342

Dynamic Fluid in a Porous Transducer-Based Angular Accelerometer

PubMed Central

Cheng, Siyuan; Fu, Mengyin; Wang, Meiling; Ming, Li; Fu, Huijin; Wang, Tonglei

2017-01-01

This paper presents a theoretical model of the dynamics of liquid flow in an angular accelerometer comprising a porous transducer in a circular tube of liquid. Wave speed and dynamic permeability of the transducer are considered to describe the relation between angular acceleration and the differential pressure on the transducer. The permeability and streaming potential coupling coefficient of the transducer are determined in the experiments, and special prototypes are utilized to validate the theoretical model in both the frequency and time domains. The model is applied to analyze the influence of structural parameters on the frequency response and the transient response of the fluidic system. It is shown that the radius of the circular tube and the wave speed affect the low frequency gain, as well as the bandwidth of the sensor. The hydrodynamic resistance of the transducer and the cross-section radius of the circular tube can be used to control the transient performance. The proposed model provides the basic techniques to achieve the optimization of the angular accelerometer together with the methodology to control the wave speed and the hydrodynamic resistance of the transducer. PMID:28230793

Analysis of spacecraft battery charger systems

NASA Astrophysics Data System (ADS)

Kim, Seong J.; Cho, Bo H.

In spacecraft battery charger systems, switching regulators are widely used for bus voltage regulation, charge current regulation, and peak power tracking. Small-signal dynamic characteristics of the battery charging subsystem of direct energy transfer (DET) and peak power tracking (PPT) systems are analyzed to facilitate design of the control loop for optimum performance and stability. Control loop designs of the charger in various modes of operation are discussed. Analyses are verified through simulations. It is shown that when the charger operates in the bus voltage regulation mode, the control-to-voltage transfer function has a negative DC gain and two LHP zeros in both the DET and PPT systems. The control-to-inductor current transfer function also has a negative DC gain and a RHP zero. Thus, in the current-mode control, the current loop can no longer be used to stabilize the system. When the system operates in the charge current regulation mode, the charger operates with a fixed duty cycle which is determined by the regulated bus voltage and the battery voltage. Without an input filter, the converter becomes a first-order system. When the peak power tracker is inactive, the operating point of the solar array output moves to the voltage source region. Thus, the solar array behaves as a stiff voltage source to a constant power load.

Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach

NASA Technical Reports Server (NTRS)

Pei, Jing; Newsome, Jerry R.

2015-01-01

Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.

The effects of Mat Pilates and Reformer Pilates in patients with Multiple Sclerosis: A randomized controlled study.

PubMed

Bulguroglu, I; Guclu-Gunduz, A; Yazici, G; Ozkul, C; Irkec, C; Nazliel, B; Batur-Caglayan, H Z

2017-01-01

Pilates is an exercise method which increases strength and endurance of core muscles and improves flexibility, dynamic postural control and balance. To analyze and compare the effects of Mat and Reformer Pilates methods in Patients with Multiple Sclerosis (MS). Thirty-eight patients with MS were included in the study. Participants were randomly divided into 3 groups as Mat Pilates, Reformer Pilates and control groups. The subjects in the Pilates groups did Mat or Reformer Pilates for 8 weeks, 2 days a week. The control group did breathing and relaxation exercises at home. Balance, functional mobility, core stability, fatigue severity and quality of life were evaluated. Balance, functional mobility, core stability, fatigue severity and quality of life improved after Pilates in Mat and Reformer Pilates groups (p < 0.05). On the other hand, we could not find any changing in the control group (p > 0.05). When the gain obtained in the Pilates groups is compared, it has been observed that progress has been more in trunk flexor muscle strength in the Reformer Pilates group (p < 0.05) and that the gain has been similar in the other parameters (p > 0.05). As a result, patients with MS have seen similar benefits in Reformer Pilates and Mat Pilates methods.

A new decentralised controller design method for a class of strongly interconnected systems

NASA Astrophysics Data System (ADS)

Duan, Zhisheng; Jiang, Zhong-Ping; Huang, Lin

2017-02-01

In this paper, two interconnected structures are first discussed, under which some closed-loop subsystems must be unstable to make the whole interconnected system stable, which can be viewed as a kind of strongly interconnected systems. Then, comparisons with small gain theorem are discussed and large gain interconnected characteristics are shown. A new approach for the design of decentralised controllers is presented by determining the Lyapunov function structure previously, which allows the existence of unstable subsystems. By fully utilising the orthogonal space information of input matrix, some new understandings are presented for the construction of Lyapunov matrix. This new method can deal with decentralised state feedback, static output feedback and dynamic output feedback controllers in a unified framework. Furthermore, in order to reduce the design conservativeness and deal with robustness, a new robust decentralised controller design method is given by combining with the parameter-dependent Lyapunov function method. Some basic rules are provided for the choice of initial variables in Lyapunov matrix or new introduced slack matrices. As byproducts, some linear matrix inequality based sufficient conditions are established for centralised static output feedback stabilisation. Effects of unstable subsystems in nonlinear Lur'e systems are further discussed. The corresponding decentralised controller design method is presented for absolute stability. The examples illustrate that the new method is significantly effective.

Dynamic model of Italy`s Progetto Energia cogeneration plants aims to better predict plant performance, cut start-up costs

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

1996-12-31

Over the next four years, the Progetto Energia project will be building several cogeneration plants to help satisfy the increasing demands of Italy`s industrial users and the country`s demand for electrical power. Located at six different sites within Italy, these combined-cycle cogeneration plants will supply a total of 500 MW of electricity and 100 tons/hr of process steam to Italian industries and residences. To ensure project success, a dynamic model of the 50-MW base unit was developed. The goal established for the model was to predict the dynamic behavior of the complex thermodynamic system in order to assess equipment performancemore » and control system effectiveness for normal operation and, more importantly, abrupt load changes. In addition to fulfilling its goals, the dynamic study guided modifications to controller logic that significantly improved steam drum pressure control and bypassed steam desuperheating performance simulations of normal and abrupt transient events allowed engineers to define optimum controller gain coefficients. The dynamic study will undoubtedly reduce the associated plant start-up costs and contribute to a smooth commercial plant acceptance. As a result of the work, the control system has already been through its check-out and performance evaluation, usually performed during the plant start-up phase. Field engineers will directly benefit from this effort to identify and resolve control system {open_quotes}bugs{close_quotes} before the equipment reaches the field. High thermal efficiency, rapid dispatch and high plant availability were key reasons why the natural gas combined-cycle plant was chosen. Other favorable attributes of the combined-cycle plant contributing to the decision were: Minimal environmental impact; a simple and effective process and control philosophy to result in safe and easy plant operation; a choice of technologies and equipment proven in a large number of applications.« less

Temporal dynamics of the gut microbiota in people sharing a confined environment, a 520-day ground-based space simulation, MARS500.

PubMed

Turroni, Silvia; Rampelli, Simone; Biagi, Elena; Consolandi, Clarissa; Severgnini, Marco; Peano, Clelia; Quercia, Sara; Soverini, Matteo; Carbonero, Franck G; Bianconi, Giovanna; Rettberg, Petra; Canganella, Francesco; Brigidi, Patrizia; Candela, Marco

2017-03-24

The intestinal microbial communities and their temporal dynamics are gaining increasing interest due to the significant implications for human health. Recent studies have shown the dynamic behavior of the gut microbiota in free-living, healthy persons. To date, it is not known whether these dynamics are applicable during prolonged life sharing in a confined and controlled environment. The MARS500 project, the longest ground-based space simulation ever, provided us with a unique opportunity to trace the crew microbiota over 520 days of isolated confinement, such as that faced by astronauts in real long-term interplanetary space flights, and after returning to regular life, for a total of 2 years. According to our data, even under the strictly controlled conditions of an enclosed environment, the human gut microbiota is inherently dynamic, capable of shifting between different steady states, typically with rearrangements of autochthonous members. Notwithstanding a strong individuality in the overall gut microbiota trajectory, some key microbial components showed conserved temporal dynamics, with potential implications for the maintenance of a health-promoting, mutualistic microbiota configuration. Sharing life in a confined habitat does not affect the resilience of the individual gut microbial ecosystem, even in the long term. However, the temporal dynamics of certain microbiota components should be monitored when programming future mission simulations and real space flights, to prevent breakdowns in the metabolic and immunological homeostasis of the crewmembers.

Adaptive control of robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Robust, Practical Adaptive Control for Launch Vehicles

NASA Technical Reports Server (NTRS)

Orr, Jeb. S.; VanZwieten, Tannen S.

2012-01-01

A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.

Augmented baroreflex heart rate gain after moderate-intensity, dynamic exercise

NASA Technical Reports Server (NTRS)

Halliwill, J. R.; Taylor, J. A.; Hartwig, T. D.; Eckberg, D. L.

1996-01-01

The occurrence of a sustained vasodilation and hypotension after acute, dynamic exercise suggests that exercise may alter arterial baroreflex mechanisms. Therefore, we assessed systemic hemodynamics, baroreflex regulation of heart rate, and cardiac vagal tone after 60 min of cycling at 60% peak oxygen consumption in 12 healthy, untrained men and women (ages 21-28 yr). We derived sigmoidal carotid-cardiac baroreflex relations by measurement of R-R interval changes induced by ramped, stepwise, R-wave-triggered changes in external neck pressure from 40 to -65 mmHg. We estimated tonic cardiac vagal control with power spectral analysis of R-R interval variability in the respiratory frequency band (0.2-0.3 Hz) during frequency- and tidal volume-controlled breathing. Both mean arterial pressure and total peripheral resistance were reduced postexercise [pressure: from 86 +/- 2 (mean +/- SE) to 81 +/- 2 mmHg; resistance: from 23 +/- 2 to 16 +/- 1 units; both P < 0.05]. Cardiac output was increased postexercise (from 3.9 +/- 0.3 to 5.5 +/- 0.5 l/min, P < 0.05). Both slope and range of the carotid-cardiac baroreflex relation were increased postexercise (slope: from 4.7 +/- 0.7 to 6.1 +/- 0.9 ms/mmHg; range: from 186 +/- 23 to 238 +/- 30 ms, P < 0.05). Respiratory R-R interval variability (cardiac vagal tone) was not changed at any time after exercise, whereas heart rate and plasma norepinephrine levels were elevated. Thus moderate-intensity, dynamic exercise increases heart rate and cardiac output, reduces peripheral vascular resistance, and augments baroreflex responsiveness. Our data suggest that augmented baroreflex heart rate gain restrains rather than contributes to postexercise hypotension, which appears to be mediated predominately by vasodilation.

Adaptive Optimal Control Using Frequency Selective Information of the System Uncertainty With Application to Unmanned Aircraft.

PubMed

Maity, Arnab; Hocht, Leonhard; Heise, Christian; Holzapfel, Florian

2018-01-01

A new efficient adaptive optimal control approach is presented in this paper based on the indirect model reference adaptive control (MRAC) architecture for improvement of adaptation and tracking performance of the uncertain system. The system accounts here for both matched and unmatched unknown uncertainties that can act as plant as well as input effectiveness failures or damages. For adaptation of the unknown parameters of these uncertainties, the frequency selective learning approach is used. Its idea is to compute a filtered expression of the system uncertainty using multiple filters based on online instantaneous information, which is used for augmentation of the update law. It is capable of adjusting a sudden change in system dynamics without depending on high adaptation gains and can satisfy exponential parameter error convergence under certain conditions in the presence of structured matched and unmatched uncertainties as well. Additionally, the controller of the MRAC system is designed using a new optimal control method. This method is a new linear quadratic regulator-based optimal control formulation for both output regulation and command tracking problems. It provides a closed-form control solution. The proposed overall approach is applied in a control of lateral dynamics of an unmanned aircraft problem to show its effectiveness.

A variable-gain output feedback control design methodology

NASA Technical Reports Server (NTRS)

Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

1989-01-01

A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

Stability boundaries for command augmentation systems

NASA Technical Reports Server (NTRS)

Shrivastava, P. C.

1987-01-01

The Stability Augmentation System (SAS) is a special case of the Command Augmentation System (CAS). Control saturation imposes bounds on achievable commands. The state equilibrium depends only on the open loop dynamics and control deflection. The control magnitude to achieve a desired command equilibrium is independent of the feedback gain. A feedback controller provides the desired response, maintains the system equilibrium under disturbances, but it does not affect the equilibrium values of states and control. The saturation boundaries change with commands, but the location of the equilibrium points in the saturated region remains unchanged. Nonzero command vectors yield saturation boundaries that are asymmetric with respect to the state equilibrium. Except for the saddle point case with MCE control law, the stability boundaries change with commands. For the cases of saddle point and unstable nodes, the region of stability decreases with increasing command magnitudes.

A dynamic gain equalizer based on holographic polymer dispersed liquid crystal gratings

NASA Astrophysics Data System (ADS)

Xin, Zhaohui; Cai, Jiguang; Shen, Guotu; Yang, Baocheng; Zheng, Jihong; Gu, Lingjuan; Zhuang, Songlin

2006-12-01

The dynamic gain equalizer consisting of gratings made of holographic polymer dispersed liquid crystal is explored and the structure and principle presented. The properties of the holographic polymer dispersed liquid crystal grating are analyzed in light of the rigorous coupled-wave theory. Experimental study is also conducted in which a beam of infrared laser was incident to the grating sample and an alternating current electric field applied. The electro-optical properties of the grating and the influence of the applied field were observed. The results of the experiment agree with that of the theory quite well. The design method of the dynamic gain equalizer with the help of numerical simulation is presented too. The study shows that holographic polymer dispersed liquid crystal gratings have great potential to play a role in fiber optics communication.

Reduced-Order Structure-Preserving Model for Parallel-Connected Three-Phase Grid-Tied Inverters: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Johnson, Brian B; Purba, Victor; Jafarpour, Saber

Given that next-generation infrastructures will contain large numbers of grid-connected inverters and these interfaces will be satisfying a growing fraction of system load, it is imperative to analyze the impacts of power electronics on such systems. However, since each inverter model has a relatively large number of dynamic states, it would be impractical to execute complex system models where the full dynamics of each inverter are retained. To address this challenge, we derive a reduced-order structure-preserving model for parallel-connected grid-tied three-phase inverters. Here, each inverter in the system is assumed to have a full-bridge topology, LCL filter at the pointmore » of common coupling, and the control architecture for each inverter includes a current controller, a power controller, and a phase-locked loop for grid synchronization. We outline a structure-preserving reduced-order inverter model for the setting where the parallel inverters are each designed such that the filter components and controller gains scale linearly with the power rating. By structure preserving, we mean that the reduced-order three-phase inverter model is also composed of an LCL filter, a power controller, current controller, and PLL. That is, we show that the system of parallel inverters can be modeled exactly as one aggregated inverter unit and this equivalent model has the same number of dynamical states as an individual inverter in the paralleled system. Numerical simulations validate the reduced-order models.« less

Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems

NASA Technical Reports Server (NTRS)

Wells, Scott R.

2002-01-01

Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. A comprehensive overview of reconfigurable flight control is given, including, a review of the current state-of-the-art within the subdisciplines of fault detection, parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears very promising due its property of invariance to matched uncertainty. An overview of sliding mode control is given and its remarkable properties are demonstrated by example. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer in the feedback path. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate a SISO pitch rate tracking controller. It is also used to demonstrate a MIMO lateral-directional roll rate tracking controller. The last application is a full linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.

Dynamics of Charge Carriers in Silicon Nanowire Photoconductors Revealed by Photo Hall Effect Measurements.

PubMed

Chen, Kaixiang; Zhao, Xiaolong; Mesli, Abdelmadjid; He, Yongning; Dan, Yaping

2018-04-24

Photoconductors have extraordinarily high gain in quantum efficiency, but the origin of the gain has remained in dispute for decades. In this work, we employ photo Hall effect to reveal the gain mechanisms by probing the dynamics of photogenerated charge carriers in silicon nanowire photoconductors. The results reveal that a large number of photogenerated minority electrons are localized in the surface depletion region and surface trap states. The same number of excess hole counterparts is left in the nanowire conduction channel, resulting in the fact that excess holes outnumber the excess electrons in the nanowire conduction channel by orders of magnitude. The accumulation of the excess holes broadens the conduction channel by narrowing down the depletion region, which leads to the experimentally observed high photo gain.

Exercise training augments the dynamic heart rate response to vagal but not sympathetic stimulation in rats.

PubMed

Mizuno, Masaki; Kawada, Toru; Kamiya, Atsunori; Miyamoto, Tadayoshi; Shimizu, Shuji; Shishido, Toshiaki; Smith, Scott A; Sugimachi, Masaru

2011-04-01

We examined the transfer function of autonomic heart rate (HR) control in anesthetized sedentary and exercise-trained (16 wk, treadmill for 1 h, 5 times/wk at 15 m/min and 15-degree grade) rats for comparison to HR variability assessed in the conscious resting state. The transfer function from sympathetic stimulation to HR response was similar between groups (gain, 4.2 ± 1.5 vs. 4.5 ± 1.5 beats·min(-1)·Hz(-1); natural frequency, 0.07 ± 0.01 vs. 0.08 ± 0.01 Hz; damping coefficient, 1.96 ± 0.55 vs. 1.69 ± 0.15; and lag time, 0.7 ± 0.1 vs. 0.6 ± 0.1 s; sedentary vs. exercise trained, respectively, means ± SD). The transfer gain from vagal stimulation to HR response was 6.1 ± 3.0 in the sedentary and 9.7 ± 5.1 beats·min(-1)·Hz(-1) in the exercise-trained group (P = 0.06). The corner frequency (0.11 ± 0.05 vs. 0.17 ± 0.09 Hz) and lag time (0.1 ± 0.1 vs. 0.2 ± 0.1 s) did not differ between groups. When the sympathetic transfer gain was averaged for very-low-frequency and low-frequency bands, no significant group effect was observed. In contrast, when the vagal transfer gain was averaged for very-low-frequency, low-frequency, and high-frequency bands, exercise training produced a significant group effect (P < 0.05 by two-way, repeated-measures ANOVA). These findings suggest that, in the frequency domain, exercise training augments the dynamic HR response to vagal stimulation but not sympathetic stimulation, regardless of the frequency bands.

Optimization of Easy Atomic Force Microscope (ezAFM) Controls for Semiconductor Nanostructure Profiling

DTIC Science & Technology

2017-09-01

in the vertical (z) directions. There are several instruments controls like proportional, integral , and derivative (PID) gain as well as tip force...the PID control, where P stands for proportional gain, I stands for integral gain, and D stands for derivative gain. An additional parameter that...contributes to the scanned image quality is set point. Proportional gain is multiplied by the error to adjust controller output and integral gain sums

Modeling, simulation and control for a cryogenic fluid management facility, preliminary report

NASA Technical Reports Server (NTRS)

Turner, Max A.; Vanbuskirk, P. D.

1986-01-01

The synthesis of a control system for a cryogenic fluid management facility was studied. The severe demand for reliability as well as instrumentation and control unique to the Space Station environment are prime considerations. Realizing that the effective control system depends heavily on quantitative description of the facility dynamics, a methodology for process identification and parameter estimation is postulated. A block diagram of the associated control system is also produced. Finally, an on-line adaptive control strategy is developed utilizing optimization of the velocity form control parameters (proportional gains, integration and derivative time constants) in appropriate difference equations for direct digital control. Of special concern are the communications, software and hardware supporting interaction between the ground and orbital systems. It is visualized that specialist in the OSI/ISO utilizing the Ada programming language will influence further development, testing and validation of the simplistic models presented here for adaptation to the actual flight environment.

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.

Cluster flight control for fractionated spacecraft on an elliptic orbit

NASA Astrophysics Data System (ADS)

Xu, Ming; Liang, Yuying; Tan, Tian; Wei, Lixin

2016-08-01

This paper deals with the stabilization of cluster flight on an elliptic reference orbit by the Hamiltonian structure-preserving control using the relative position measurement only. The linearized Melton's relative equation is utilized to derive the controller and then the full nonlinear relative dynamics are employed to numerically evaluate the controller's performance. In this paper, the hyperbolic and elliptic eigenvalues and their manifolds are treated without distinction notations. This new treatment not only contributes to solving the difficulty in feedback of the unfixed-dimensional manifolds, but also allows more opportunities to set the controlled frequencies of foundational motions or to optimize control gains. Any initial condition can be stabilized on a Kolmogorov-Arnold-Moser torus near a controlled elliptic equilibrium. The motions are stabilized around the natural relative trajectories rather than track a reference relative configuration. In addition, the bounded quasi-periodic trajectories generated by the controller have advantages in rapid reconfiguration and unpredictable evolution.

Dynamic Cerebral Autoregulation in Asymptomatic Patients With Unilateral Middle Cerebral Artery Stenosis

PubMed Central

Wang, Shuang; Guo, Zhen-Ni; Xing, Yingqi; Ma, Hongyin; Jin, Hang; Liu, Jia; Yang, Yi

2015-01-01

Abstract The aim of the study was to assess the capacity of dynamic cerebral autoregulation (dCA) in asymptomatic patients with unilateral middle cerebral artery (MCA) stenosis. Fifty-seven patients with asymptomatic mild, moderate, and severe unilateral MCA stenosis and 8 patients with symptomatic severe unilateral MCA stenosis diagnosed by transcranial Doppler were enrolled. Twenty-four healthy volunteers served as controls. The noninvasive continuous cerebral blood flow velocity and arterial blood pressure were recorded simultaneously from each subject in the supine position. Transfer function analysis was applied to determine the autoregulatory parameters (phase difference [PD] and gain). The PD values in the severe stenosis groups were significantly lower than those of the control group (60.71 ± 18.63°), the asymptomatic severe stenosis group was impaired ipsilaterally (28.94 ± 27.43°, P < 0.001), and the symptomatic severe stenosis group was impaired bilaterally (13.74 ± 19.21°, P < 0.001; 19.68 ± 14.50°, P = 0.006, respectively). The PD values in the mild and moderate stenosis groups were not significantly different than the controls (44.49 ± 27.93°; 48.65 ± 25.49°, respectively). The gain values in the mild and moderate groups were higher than in the controls (1.00 ± 0.58 cm/s/mm Hg vs 0.86 ± 0.34 cm/s/mm Hg, and 1.20 ± 0.59 cm/s/mm Hg vs 0.86 ± 0.34 cm/s/mm Hg, respectively). The gain values in the severe stenosis groups were significantly lower than that in the control group: the asymptomatic severe stenosis group was lower bilaterally (0.56 ± 0.32 cm/s/mm Hg, P = 0.003; 0.60 ± 0.32 cm/s/mm Hg, P < 0.05, respectively), whereas the symptomatic severe group was lower unilaterally (on the contralateral side) (0.53 ± 0.43 cm/s/mm Hg, P < 0.05). In asymptomatic patients with unilateral MCA stenosis, only the dCA of the severe stenosis was ipsilaterally impaired. Acute stroke may aggravate the impaired dCA and even spread contralaterally. PMID:26717363

The temporal representation of the delay of dynamic iterated rippled noise with positive and negative gain by single units in the ventral cochlear nucleus.

PubMed

Sayles, Mark; Winter, Ian Michael

2007-09-26

Spike trains were recorded from single units in the ventral cochlear nucleus of the anaesthetised guinea-pig in response to dynamic iterated rippled noise with positive and negative gain. The short-term running waveform autocorrelation functions of these stimuli show peaks at integer multiples of the time-varying delay when the gain is +1, and troughs at odd-integer multiples and peaks at even-integer multiples of the time-varying delay when the gain is -1. In contrast, the short-term autocorrelation of the Hilbert envelope shows peaks at integer multiples of the time-varying delay for both positive and negative gain stimuli. A running short-term all-order interspike interval analysis demonstrates the ability of single units to represent the modulated pitch contour in their short-term interval statistics. For units with low best frequency (approximate < or = 1.1 kHz) the temporal discharge pattern reflected the waveform fine structure regardless of unit classification (Primary-like, Chopper). For higher best frequency units the pattern of response varied according to unit type. Chopper units with best frequency approximate > or = 1.1 kHz responded to envelope modulation; showing no difference between their response to stimuli with positive and negative gain. Primary-like units with best frequencies in the range 1-3 kHz were still able to represent the difference in the temporal fine structure between dynamic rippled noise with positive and negative gain. No unit with a best frequency above 3 kHz showed a response to the temporal fine structure. Chopper units in this high frequency group showed significantly greater representation of envelope modulation relative to primary-like units with the same range of best frequencies. These results show that at the level of the cochlear nucleus there exists sufficient information in the time domain to represent the time-varying pitch associated with dynamic iterated rippled noise.

Beta-band activity and connectivity in sensorimotor and parietal cortex are important for accurate motor performance.

PubMed

Chung, Jae W; Ofori, Edward; Misra, Gaurav; Hess, Christopher W; Vaillancourt, David E

2017-01-01

Accurate motor performance may depend on the scaling of distinct oscillatory activity within the motor cortex and effective neural communication between the motor cortex and other brain areas. Oscillatory activity within the beta-band (13-30Hz) has been suggested to provide distinct functional roles for attention and sensorimotor control, yet it remains unclear how beta-band and other oscillatory activity within and between cortical regions is coordinated to enhance motor performance. We explore this open issue by simultaneously measuring high-density cortical activity and elbow flexor and extensor neuromuscular activity during ballistic movements, and manipulating error using high and low visual gain across three target distances. Compared with low visual gain, high visual gain decreased movement errors at each distance. Group analyses in 3D source-space revealed increased theta-, alpha-, and beta-band desynchronization of the contralateral motor cortex and medial parietal cortex in high visual gain conditions and this corresponded to reduced movement error. Dynamic causal modeling was used to compute connectivity between motor cortex and parietal cortex. Analyses revealed that gain affected the directionally-specific connectivity across broadband frequencies from parietal to sensorimotor cortex but not from sensorimotor cortex to parietal cortex. These new findings provide support for the interpretation that broad-band oscillations in theta, alpha, and beta frequency bands within sensorimotor and parietal cortex coordinate to facilitate accurate upper limb movement. Our findings establish a link between sensorimotor oscillations in the context of online motor performance in common source space across subjects. Specifically, the extent and distinct role of medial parietal cortex to sensorimotor beta connectivity and local domain broadband activity combine in a time and frequency manner to assist ballistic movements. These findings can serve as a model to examine whether similar source space EEG dynamics exhibit different time-frequency changes in individuals with neurological disorders that cause movement errors. Copyright © 2016 Elsevier Inc. All rights reserved.

Examining the Accuracy and Justification of Geometric Constructions Made by Pre-Service Teachers with Dynamic Geometry Software and the Awareness They Gained throughout the Process

ERIC Educational Resources Information Center

Bozkurt, Ali

2018-01-01

This study examined pre-service teachers' accuracy for geometric constructions with dynamic geometry software, their justification for the accuracy of geometric figures, and their awareness they gained throughout the process. The data come from a sample of 71 elementary grade pre-service teachers activity form completed as a part of geometry…

Optimal dynamic remapping of parallel computations

NASA Technical Reports Server (NTRS)

Nicol, David M.; Reynolds, Paul F., Jr.

1987-01-01

A large class of computations are characterized by a sequence of phases, with phase changes occurring unpredictably. The decision problem was considered regarding the remapping of workload to processors in a parallel computation when the utility of remapping and the future behavior of the workload is uncertain, and phases exhibit stable execution requirements during a given phase, but requirements may change radically between phases. For these problems a workload assignment generated for one phase may hinder performance during the next phase. This problem is treated formally for a probabilistic model of computation with at most two phases. The fundamental problem of balancing the expected remapping performance gain against the delay cost was addressed. Stochastic dynamic programming is used to show that the remapping decision policy minimizing the expected running time of the computation has an extremely simple structure. Because the gain may not be predictable, the performance of a heuristic policy that does not require estimnation of the gain is examined. The heuristic method's feasibility is demonstrated by its use on an adaptive fluid dynamics code on a multiprocessor. The results suggest that except in extreme cases, the remapping decision problem is essentially that of dynamically determining whether gain can be achieved by remapping after a phase change. The results also suggest that this heuristic is applicable to computations with more than two phases.

Stochastic gain in finite populations

NASA Astrophysics Data System (ADS)

Röhl, Torsten; Traulsen, Arne; Claussen, Jens Christian; Schuster, Heinz Georg

2008-08-01

Flexible learning rates can lead to increased payoffs under the influence of noise. In a previous paper [Traulsen , Phys. Rev. Lett. 93, 028701 (2004)], we have demonstrated this effect based on a replicator dynamics model which is subject to external noise. Here, we utilize recent advances on finite population dynamics and their connection to the replicator equation to extend our findings and demonstrate the stochastic gain effect in finite population systems. Finite population dynamics is inherently stochastic, depending on the population size and the intensity of selection, which measures the balance between the deterministic and the stochastic parts of the dynamics. This internal noise can be exploited by a population using an appropriate microscopic update process, even if learning rates are constant.

Strategic planning to reduce the burden of stroke among veterans: using simulation modeling to inform decision making.

PubMed

Lich, Kristen Hassmiller; Tian, Yuan; Beadles, Christopher A; Williams, Linda S; Bravata, Dawn M; Cheng, Eric M; Bosworth, Hayden B; Homer, Jack B; Matchar, David B

2014-07-01

Reducing the burden of stroke is a priority for the Veterans Affairs Health System, reflected by the creation of the Veterans Affairs Stroke Quality Enhancement Research Initiative. To inform the initiative's strategic planning, we estimated the relative population-level impact and efficiency of distinct approaches to improving stroke care in the US Veteran population to inform policy and practice. A System Dynamics stroke model of the Veteran population was constructed to evaluate the relative impact of 15 intervention scenarios including both broad and targeted primary and secondary prevention and acute care/rehabilitation on cumulative (20 years) outcomes including quality-adjusted life years (QALYs) gained, strokes prevented, stroke fatalities prevented, and the number-needed-to-treat per QALY gained. At the population level, a broad hypertension control effort yielded the largest increase in QALYs (35,517), followed by targeted prevention addressing hypertension and anticoagulation among Veterans with prior cardiovascular disease (27,856) and hypertension control among diabetics (23,100). Adjusting QALYs gained by the number of Veterans needed to treat, thrombolytic therapy with tissue-type plasminogen activator was most efficient, needing 3.1 Veterans to be treated per QALY gained. This was followed by rehabilitation (3.9) and targeted prevention addressing hypertension and anticoagulation among those with prior cardiovascular disease (5.1). Probabilistic sensitivity analysis showed that the ranking of interventions was robust to uncertainty in input parameter values. Prevention strategies tend to have larger population impacts, though interventions targeting specific high-risk groups tend to be more efficient in terms of number-needed-to-treat per QALY gained. © 2014 American Heart Association, Inc.

Facing the Future: Effects of Short-Term Climate Extremes on Isoprene-Emitting and Nonemitting Poplar.

PubMed

Vanzo, Elisa; Jud, Werner; Li, Ziru; Albert, Andreas; Domagalska, Malgorzata A; Ghirardo, Andrea; Niederbacher, Bishu; Frenzel, Juliane; Beemster, Gerrit T S; Asard, Han; Rennenberg, Heinz; Sharkey, Thomas D; Hansel, Armin; Schnitzler, Jörg-Peter

2015-09-01

Isoprene emissions from poplar (Populus spp.) plantations can influence atmospheric chemistry and regional climate. These emissions respond strongly to temperature, [CO2], and drought, but the superimposed effect of these three climate change factors are, for the most part, unknown. Performing predicted climate change scenario simulations (periodic and chronic heat and drought spells [HDSs] applied under elevated [CO2]), we analyzed volatile organic compound emissions, photosynthetic performance, leaf growth, and overall carbon (C) gain of poplar genotypes emitting (IE) and nonemitting (NE) isoprene. We aimed (1) to evaluate the proposed beneficial effect of isoprene emission on plant stress mitigation and recovery capacity and (2) to estimate the cumulative net C gain under the projected future climate. During HDSs, the chloroplastidic electron transport rate of NE plants became impaired, while IE plants maintained high values similar to unstressed controls. During recovery from HDS episodes, IE plants reached higher daily net CO2 assimilation rates compared with NE genotypes. Irrespective of the genotype, plants undergoing chronic HDSs showed the lowest cumulative C gain. Under control conditions simulating ambient [CO2], the C gain was lower in the IE plants than in the NE plants. In summary, the data on the overall C gain and plant growth suggest that the beneficial function of isoprene emission in poplar might be of minor importance to mitigate predicted short-term climate extremes under elevated [CO2]. Moreover, we demonstrate that an analysis of the canopy-scale dynamics of isoprene emission and photosynthetic performance under multiple stresses is essential to understand the overall performance under proposed future conditions. © 2015 American Society of Plant Biologists. All Rights Reserved.

Strategic Planning to Reduce the Burden of Stroke among Veterans: Using Simulation Modeling to Inform Decision Making

PubMed Central

Lich, Kristen Hassmiller; Tian, Yuan; Beadles, Christopher A.; Williams, Linda S.; Bravata, Dawn M.; Cheng, Eric M.; Bosworth, Hayden B.; Homer, Jack B.; Matchar, David B.

2014-01-01

Background and Purpose Reducing the burden of stroke is a priority for the Veterans Affairs (VA) Health System, reflected by the creation of the VA Stroke Quality Enhancement Research Initiative (QUERI). To inform the initiative's strategic planning, we estimated the relative population-level impact and efficiency of distinct approaches to improving stroke care in the United States Veteran population to inform policy and practice. Methods A System Dynamics stroke model of the Veteran population was constructed to evaluate the relative impact of 15 intervention scenarios including both broad and targeted primary and secondary prevention and acute care/rehabilitation on cumulative (20-year) outcomes including quality-adjusted life years (QALYs) gained, strokes prevented, stroke fatalities prevented and the number-needed-to-treat (NNT) per QALY gained. Results At the population level, a broad hypertension control effort yielded the largest increase in QALYs (35,517), followed by targeted prevention addressing hypertension and anticoagulation among Veterans with prior cardiovascular disease (27,856) and hypertension control among diabetics (23,100). Adjusting QALYs gained by the number of Veterans needed to treat, thrombolytic therapy with tissue plasminogen activator was most efficient, needing 3.1 Veterans to be treated per QALY gained. This was followed by rehabilitation (3.9) and targeted prevention addressing hypertension and anticoagulation among those with prior cardiovascular disease (5.1). Probabilistic sensitivity analysis showed that the ranking of interventions was robust to uncertainty in input parameter values. Conclusions Prevention strategies tend to have larger population impacts, though interventions targeting specific high-risk groups tend to be more efficient in terms of NNT per QALY gained. PMID:24923722

A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

2018-01-01

To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

Global Stability and Control Analysis of Aircraft at High Angles-of-Attack.

DTIC Science & Technology

1977-06-30

500 deg/sec to 500 deg/sec and com - puting the eigenvalues of the linearized system around different equilibrium points for 6e = 2°. It is noticed...SYSTEMS, INC. 0" -114- 2 Ä»" • + + + + + _+ + + + + + + + + M I o o o a i i 8 8 in 8 8 XNXX * x x» x x x< x...history com - parisons show significant improvement in dynamic response and performance using the BACTM ARI gain, as opposed to nulling the rudder