VERSATILE TWO-AXIS OPEN-LOOP SOLAR TRACKER CONTROLLER*
Ward, Christina D; Maxey, L Curt; Evans III, Boyd Mccutchen; Lapsa, Melissa Voss
2008-01-01
A versatile single-board controller for two-axis solar tracking applications has been developed and tested on operating solar tracking systems with over two years of field experience. The operating experience gained from the two systems and associated modifications are discussed as representative examples of the practical issues associated with implementing a new two-axis solar tracker design. In this research, open and closed loop control methods were evaluated; however, only the open loop method met the 0.125 tracking accuracy requirement and the requirement to maintain pointing accuracy in hazy and scattered cloudy skies. The open loop algorithm was finally implemented in a microcontroller-based tracking system. Methods of applying this controller hardware to different tracker geometries and hardware are discussed along with the experience gained to date.
Modeling and open-loop control of IPMC actuators under changing ambient temperature
NASA Astrophysics Data System (ADS)
Dong, Roy; Tan, Xiaobo
2012-06-01
Because of the cost and complexity associated with sensory feedback, open-loop control of ionic polymer-metal composite (IPMC) actuators is of interest in many biomedical and robotic applications. However, the performance of an open-loop controller is sensitive to the change in IPMC dynamics, which is influenced heavily by ambient environmental conditions including the temperature. In this paper we propose a novel approach to the modeling and open-loop control of temperature-dependent IPMC actuation dynamics. An IPMC actuator is modeled empirically with a transfer function, the zeros and poles of which are functions of the temperature. With auxiliary temperature measurement, open-loop control is realized by inverting the model at the current ambient temperature. We use a stable but noncausal algorithm to deal with non-minimum-phase zeros in the system that would prevent directly inverting the dynamics. Experimental results are presented to show the effectiveness of the proposed approach in open-loop tracking control of IPMC actuators.
A sliding mode control proposal for open-loop unstable processes.
Rojas, Rubén; Camacho, Oscar; González, Luis
2004-04-01
This papers presents a sliding mode controller based on a first-order-plus-dead-time model of the process for controlling open-loop unstable systems. The proposed controller has a simple and fixed structure with a set of tuning equations as a function of the desired performance. Both linear and nonlinear models were used to study the controller performance by computer simulations.
Open-loop versus closed-loop control of MEMS devices: choices and issues
NASA Astrophysics Data System (ADS)
Borovic, B.; Liu, A. Q.; Popa, D.; Cai, H.; Lewis, F. L.
2005-10-01
From a controls point of view, micro electromechanical systems (MEMS) can be driven in an open-loop and closed-loop fashion. Commonly, these devices are driven open-loop by applying simple input signals. If these input signals become more complex by being derived from the system dynamics, we call such control techniques pre-shaped open-loop driving. The ultimate step for improving precision and speed of response is the introduction of feedback, e.g. closed-loop control. Unlike macro mechanical systems, where the implementation of the feedback is relatively simple, in the MEMS case the feedback design is quite problematic, due to the limited availability of sensor data, the presence of sensor dynamics and noise, and the typically fast actuator dynamics. Furthermore, a performance comparison between open-loop and closed-loop control strategies has not been properly explored for MEMS devices. The purpose of this paper is to present experimental results obtained using both open- and closed-loop strategies and to address the comparative issues of driving and control for MEMS devices. An optical MEMS switching device is used for this study. Based on these experimental results, as well as computer simulations, we point out advantages and disadvantages of the different control strategies, address the problems that distinguish MEMS driving systems from their macro counterparts, and discuss criteria to choose a suitable control driving strategy.
Open-loop quantum control as a resource for secure communications
NASA Astrophysics Data System (ADS)
Pastorello, Davide
2016-05-01
Properties of unitary time evolution of quantum systems can be applied to define quantum cryptographic protocols. Dynamics of a qubit can be exploited as a data encryption/decryption procedure by means of timed measurements, implementation of an open-loop control scheme over a qubit increases robustness of a protocol employing this principle.
Multiple Model-Informed Open-Loop Control of Uncertain Intracellular Signaling Dynamics
Perley, Jeffrey P.; Mikolajczak, Judith; Harrison, Marietta L.; Buzzard, Gregery T.; Rundell, Ann E.
2014-01-01
Computational approaches to tune the activation of intracellular signal transduction pathways both predictably and selectively will enable researchers to explore and interrogate cell biology with unprecedented precision. Techniques to control complex nonlinear systems typically involve the application of control theory to a descriptive mathematical model. For cellular processes, however, measurement assays tend to be too time consuming for real-time feedback control and models offer rough approximations of the biological reality, thus limiting their utility when considered in isolation. We overcome these problems by combining nonlinear model predictive control with a novel adaptive weighting algorithm that blends predictions from multiple models to derive a compromise open-loop control sequence. The proposed strategy uses weight maps to inform the controller of the tendency for models to differ in their ability to accurately reproduce the system dynamics under different experimental perturbations (i.e. control inputs). These maps, which characterize the changing model likelihoods over the admissible control input space, are constructed using preexisting experimental data and used to produce a model-based open-loop control framework. In effect, the proposed method designs a sequence of control inputs that force the signaling dynamics along a predefined temporal response without measurement feedback while mitigating the effects of model uncertainty. We demonstrate this technique on the well-known Erk/MAPK signaling pathway in T cells. In silico assessment demonstrates that this approach successfully reduces target tracking error by 52% or better when compared with single model-based controllers and non-adaptive multiple model-based controllers. In vitro implementation of the proposed approach in Jurkat cells confirms a 63% reduction in tracking error when compared with the best of the single-model controllers. This study provides an experimentally
Multiple model-informed open-loop control of uncertain intracellular signaling dynamics.
Perley, Jeffrey P; Mikolajczak, Judith; Harrison, Marietta L; Buzzard, Gregery T; Rundell, Ann E
2014-04-01
Computational approaches to tune the activation of intracellular signal transduction pathways both predictably and selectively will enable researchers to explore and interrogate cell biology with unprecedented precision. Techniques to control complex nonlinear systems typically involve the application of control theory to a descriptive mathematical model. For cellular processes, however, measurement assays tend to be too time consuming for real-time feedback control and models offer rough approximations of the biological reality, thus limiting their utility when considered in isolation. We overcome these problems by combining nonlinear model predictive control with a novel adaptive weighting algorithm that blends predictions from multiple models to derive a compromise open-loop control sequence. The proposed strategy uses weight maps to inform the controller of the tendency for models to differ in their ability to accurately reproduce the system dynamics under different experimental perturbations (i.e. control inputs). These maps, which characterize the changing model likelihoods over the admissible control input space, are constructed using preexisting experimental data and used to produce a model-based open-loop control framework. In effect, the proposed method designs a sequence of control inputs that force the signaling dynamics along a predefined temporal response without measurement feedback while mitigating the effects of model uncertainty. We demonstrate this technique on the well-known Erk/MAPK signaling pathway in T cells. In silico assessment demonstrates that this approach successfully reduces target tracking error by 52% or better when compared with single model-based controllers and non-adaptive multiple model-based controllers. In vitro implementation of the proposed approach in Jurkat cells confirms a 63% reduction in tracking error when compared with the best of the single-model controllers. This study provides an experimentally
Robustness study of the pseudo open-loop controller for multiconjugate adaptive optics.
Piatrou, Piotr; Gilles, Luc
2005-02-20
Robustness of the recently proposed "pseudo open-loop control" algorithm against various system errors has been investigated for the representative example of the Gemini-South 8-m telescope multiconjugate adaptive-optics system. The existing model to represent the adaptive-optics system with pseudo open-loop control has been modified to account for misalignments, noise and calibration errors in deformable mirrors, and wave-front sensors. Comparison with the conventional least-squares control model has been done. We show with the aid of both transfer-function pole-placement analysis and Monte Carlo simulations that POLC remains remarkably stable and robust against very large levels of system errors and outperforms in this respect least-squares control. Approximate stability margins as well as performance metrics such as Strehl ratios and rms wave-front residuals averaged over a 1-arc min field of view have been computed for different types and levels of system errors to quantify the expected performance degradation.
On Sequence Learning Models: Open-loop Control Not Strictly Guided by Hick's Law.
Pavão, Rodrigo; Savietto, Joice P; Sato, João R; Xavier, Gilberto F; Helene, André F
2016-03-15
According to the Hick's law, reaction times increase linearly with the uncertainty of target stimuli. We tested the generality of this law by measuring reaction times in a human sequence learning protocol involving serial target locations which differed in transition probability and global entropy. Our results showed that sigmoid functions better describe the relationship between reaction times and uncertainty when compared to linear functions. Sequence predictability was estimated by distinct statistical predictors: conditional probability, conditional entropy, joint probability and joint entropy measures. Conditional predictors relate to closed-loop control models describing that performance is guided by on-line access to past sequence structure to predict next location. Differently, joint predictors relate to open-loop control models assuming global access of sequence structure, requiring no constant monitoring. We tested which of these predictors better describe performance on the sequence learning protocol. Results suggest that joint predictors are more accurate than conditional predictors to track performance. In conclusion, sequence learning is better described as an open-loop process which is not precisely predicted by Hick's law.
General Transfer-Function Approach to Noise Filtering in Open-Loop Quantum Control
NASA Astrophysics Data System (ADS)
Paz-Silva, Gerardo A.; Viola, Lorenza
2014-12-01
We present a general transfer-function approach to noise filtering in open-loop Hamiltonian engineering protocols for open quantum systems. We show how to identify a computationally tractable set of fundamental filter functions, out of which arbitrary transfer filter functions may be assembled up to arbitrary high order in principle. Besides avoiding the infinite recursive hierarchy of filter functions that arises in general control scenarios, this fundamental filter-function set suffices to characterize the error suppression capabilities of the control protocol in both the time and the frequency domain. We prove that the resulting notion of filtering order reveals conceptually distinct, albeit complementary, features of the controlled dynamics as compared to the order of error cancellation, traditionally defined in the Magnus sense. Examples and implications are discussed.
Open-Loop HIRF Experiments Performed on a Fault Tolerant Flight Control Computer
NASA Technical Reports Server (NTRS)
Koppen, Daniel M.
1997-01-01
During the third quarter of 1996, the Closed-Loop Systems Laboratory was established at the NASA Langley Research Center (LaRC) to study the effects of High Intensity Radiated Fields on complex avionic systems and control system components. This new facility provided a link and expanded upon the existing capabilities of the High Intensity Radiated Fields Laboratory at LaRC that were constructed and certified during 1995-96. The scope of the Closed-Loop Systems Laboratory is to place highly integrated avionics instrumentation into a high intensity radiated field environment, interface the avionics to a real-time flight simulation that incorporates aircraft dynamics, engines, sensors, actuators and atmospheric turbulence, and collect, analyze, and model aircraft performance. This paper describes the layout and functionality of the Closed-Loop Systems Laboratory, and the open-loop calibration experiments that led up to the commencement of closed-loop real-time flight experiments.
A general transfer-function approach to noise filtering in open-loop quantum control
NASA Astrophysics Data System (ADS)
Viola, Lorenza
2015-03-01
Hamiltonian engineering via unitary open-loop quantum control provides a versatile and experimentally validated framework for manipulating a broad class of non-Markovian open quantum systems of interest, with applications ranging from dynamical decoupling and dynamically corrected quantum gates, to noise spectroscopy and quantum simulation. In this context, transfer-function techniques directly motivated by control engineering have proved invaluable for obtaining a transparent picture of the controlled dynamics in the frequency domain and for quantitatively analyzing performance. In this talk, I will show how to identify a computationally tractable set of ``fundamental filter functions,'' out of which arbitrary filter functions may be assembled up to arbitrary high order in principle. Besides avoiding the infinite recursive hierarchy of filter functions that arises in general control scenarios, this fundamental set suffices to characterize the error suppression capabilities of the control protocol in both the time and frequency domain. I will show, in particular, how the resulting notion of ``filtering order'' reveals conceptually distinct, albeit complementary, features of the controlled dynamics as compared to the ``cancellation order,'' traditionally defined in the Magnus sense. Implications for current quantum control experiments will be discussed. Work supported by the U.S. Army Research Office under Contract No. W911NF-14-1-0682.
Experimental evaluation of open-loop UpLink Power Control using ACTS
NASA Technical Reports Server (NTRS)
Dissanayake, Asoka
1995-01-01
The present investigation deals with the implementation of open-loop up-link power control using a beacon signal in the down-link frequency band as the control parameter. A power control system was developed and tested using the ACTS satellite. ACTS carries beacon signals in both up- and down-link bands with which the relationship between the up- and down-link fading can be established. A power controlled carrier was transmitted to the ACTS satellite from a NASA operated ground station and the transponded signal was received at COMSAT Laboratories using a terminal that was routinely used to monitor the two ACTS beacon signals. The experiment ran for a period of approximately six months and the collected data were used to evaluate the performance of the power control system. A brief review of propagation factors involved in estimating the up-link fade using a beacon signal in the down-link band are presented. The power controller design and the experiment configuration are discussed. Results of the experiment are discussed.
On the modeling, and open loop control of a rotating thin flexible beam
NASA Astrophysics Data System (ADS)
Choura, Slim; Jayasuriya, Suhada; Medick, Matthew A.
1989-12-01
A set of governing differential equations is derived for the inplane motion of a rotating thin flexible beam. The beam is assumed to be linearly elastic and is connected to a rigid hub driven by a torque motor. Both flexural and extensional effects are included in the derivation. This coupling due to flexure and extension is usually neglected in studies dealing with the control of such a system. Models for typical control studies are often derived by utilizing an assumed mode approach where the mode shapes are obtained by solving the Euler-Bernoulli beam equation for flexural vibrations, with clamped-free or pinned-free boundary conditions. The coupled equations developed in this paper are used to demonstrate that typical models in control studies give satisfactory results up to a critical rotational speed. For the case where these coupled equations are specialized to simple flexure only, valid for low angular speeds, a unique feedforward control strategy can be derived. This is an open loop control strategy that enables total elimination of an a priori specified vibratory mode from the gross motion in a finite critical time.
High Performance Open Loop Control of Scanning with a Small Cylindrical Cantilever Beam.
Kundrat, Matthew J; Reinhall, Per G; Lee, Cameron M; Seibel, Eric J
2011-04-11
The steady state response motion of a base excited cantilever beam with circular cross-section excited by a unidirectional displacement will fall along a straight line. However, achieving straight-line motion with a real cantilever beam of circular cross-section is difficult to accomplish. This is due to the fact that nonlinear effects, small deviations from circularity, asymmetric boundary conditions, and actuator cross coupling can induce whirling. The vast majority of previous work on cantilever beam whirling has focused on the effects of system nonlinearities. We show that whirling is a much broader problem in the design of resonant beam scanners in that the onset of whirling does not depend on large amplitude of motion. Rather, whirling is the norm in real systems due to small system asymmetries and actuator cross coupling. It is therefore necessary to control the growth of the whirling motion when a unidirectional beam motion is desired. We have developed a novel technique to identify the two eigen directions of the beam. Base excitation generated by virtual electrodes along these orthogonal eigen axes of the cantilever beam system generates tip vibration without whirl. This leads to accurate open loop control of the motion of the beam through the combined actuation of two pairs of orthogonally placed actuator electrodes.
Open-loop control of combustion instabilities in a model gas turbine combustor*
NASA Astrophysics Data System (ADS)
Stone, Christopher; Menon, Suresh
2003-05-01
The effect of premixer-induced inlet swirl on the stability of a model swirl-stabilized, lean-premixed gas turbine combustor has been numerically investigated using the large-eddy simulation methodology. The unsteady vortex-flame and acoustic-flame interactions are captured in this study using a thin-flame model that includes an ability to account for the variation in inlet equivalence ratio. Comparisons are made, based on fluid particle trajectories, between the structure of the recirculation regions. It is shown that only for high swirl does a region of flow recirculation, often called vortex breakdown(VB), occur in the centreline region of the dump combustor. This VB region helps to stabilize the flame and results in significant attenuation of the fluctuating pressure amplitudes, p'. The reduced p' amplitudes are accompanied by reduced longitudinal flame-front oscillations and reduced coherence in the shed vortices. A methodology for open-loop control based on the modulation of incoming fuel-air equivalence ratio is investigated. It is demonstrated that combustor pressure fluctuations respond much more rapidly to these changes compared to earlier studies of inlet swirl number modulation. The impact of these changes on flame stability and overall dynamics is analysed and discussed. Finally, the impact of imperfect mixedness in the incoming fuel-air mixture is also analysed and it is shown that the pressure oscillation amplitude is actually reduced under these conditions.
Open-loop control of noise amplification in a separated boundary layer flow
Boujo, E. Gallaire, F.; Ehrenstein, U.
2013-12-15
Linear optimal gains are computed for the subcritical two-dimensional separated boundary-layer flow past a bump. Very large optimal gain values are found, making it possible for small-amplitude noise to be strongly amplified and to destabilize the flow. The optimal forcing is located close to the summit of the bump, while the optimal response is the largest in the shear layer. The largest amplification occurs at frequencies corresponding to eigenvalues which first become unstable at higher Reynolds number. Nonlinear direct numerical simulations show that a low level of noise is indeed sufficient to trigger random flow unsteadiness, characterized here by large-scale vortex shedding. Next, a variational technique is used to compute efficiently the sensitivity of optimal gains to steady control (through source of momentum in the flow, or blowing/suction at the wall). A systematic analysis at several frequencies identifies the bump summit as the most sensitive region for control with wall actuation. Based on these results, a simple open-loop control strategy is designed, with steady wall suction at the bump summit. Linear calculations on controlled base flows confirm that optimal gains can be drastically reduced at all frequencies. Nonlinear direct numerical simulations also show that this control allows the flow to withstand a higher level of stochastic noise without becoming nonlinearly unstable, thereby postponing bypass transition. In the supercritical regime, sensitivity analysis of eigenvalues supports the choice of this control design. Full restabilization of the flow is obtained, as evidenced by direct numerical simulations and linear stability analysis.
A new driving method for piezo deformable mirrors: open loop control and MOAO made easy
NASA Astrophysics Data System (ADS)
Ouattara, Issa; Gach, Jean-Luc; Amram, Philippe
2016-07-01
This paper presents the design and the realisation of a technique to attenuate the hysteresis nonlinear phenomenon of piezoelectric actuators. Piezoelectric actuator are widely utilised for deformable mirrors used for MOAO and power laser beam shaping techniques. The nonlinearities of piezo are usually iteratively compensa- ted using closed-loop set-ups. In open-loop control, the hysteresis and the creep of the piezo cannot be corrected, thus this nonlinearities must be removed or at least minimised. The concept has been demonstrated on high displacement Amplified Piezoelectric Actuators (APA) mounted in a Fabry-Perot interferometer. The hysteresis attenuation technique aims to assist the Fabry-Perots nano-positioning control system to attain its main scientific specification. In such system, each APA has a maximum stroke of 270 μm within a 170 V (-20 V to +150 V) range and is used to position a high reflective mirror plate. The Fabry-Perots nano-positioning control system is specified to limit the APAs positioning steady-state noise to 3nm rms, but the hysteresis limits the positioning accuracy. In order to attenuate hysteresis, a hybrid amplifier circuit built with a high power operational amplifier has been designed and applied for each APA. The experiments results show that the hysteresis effect has almost been eliminated, and consequently the positioning steady-state noise can significantly been reduced. Because of the excellent results of this hybrid amplifier, a patent application has been introduced in June 12, 2015 under number No.1555381 and is being reviewed now.
An open-loop controlled active lung simulator for preterm infants.
Cecchini, Stefano; Schena, Emiliano; Silvestri, Sergio
2011-01-01
We describe the underlying theory, design and experimental evaluation of an electromechanical analogue infant lung to simulate spontaneous breathing patterns of preterm infants. The aim of this work is to test the possibility to obtain breathing patterns of preterm infants by taking into consideration the air compressibility. Respiratory volume function represents the actuation pattern, and pulmonary pressure and flow-rate waveforms are mathematically obtained through the application of the perfect gas and adiabatic laws. The mathematical model reduces the simulation interval into a step shorter than 1 ms, allowing to consider an entire respiratory act as composed of a large number of almost instantaneous adiabatic transformations. The device consists of a spherical chamber where the air is compressed by four cylinder-pistons, moved by stepper motors, and flows through a fluid-dynamic resistance, which also works as flow-rate sensor. Specifically designed software generates the actuators motion, based on the desired ventilation parameters, without controlling the gas pneumatic parameters with a closed-loop. The system is able to simulate tidal volumes from 3 to 8 ml, breathing frequencies from 60 to 120 bpm and functional residual capacities from 25 to 80 ml. The simulated waveforms appear very close to the measured ones. Percentage differences on the tidal volume waveform vary from 7% for the tidal volume of 3 ml, down to 2.2-3.5% for tidal volumes in the range of 4-7 ml, and 1.3% for the tidal volume equal to 8 ml in the whole breathing frequency and functional residual capacity ranges. The open-loop electromechanical simulator shows that gas compressibility can be theoretically assessed in the typical pneumatic variable range of preterm infant respiratory mechanics.
Pradhan, Ranjan K; Feigl, Eric O; Gorman, Mark W; Brengelmann, George L; Beard, Daniel A
2016-06-01
A control system model was developed to analyze data on in vivo coronary blood flow regulation and to probe how different mechanisms work together to control coronary flow from rest to exercise, and under a variety of experimental conditions, including cardiac pacing and with changes in coronary arterial pressure (autoregulation). In the model coronary flow is determined by the combined action of a feedback pathway signal that is determined by the level of plasma ATP in coronary venous blood, an adrenergic open-loop (feed-forward) signal that increases with exercise, and a contribution of pressure-mediated myogenic control. The model was identified based on data from exercise experiments where myocardial oxygen extraction, coronary flow, cardiac interstitial norepinephrine concentration, and arterial and coronary venous plasma ATP concentrations were measured during control and during adrenergic and purinergic receptor blockade conditions. The identified model was used to quantify the relative contributions of open-loop and feedback pathways and to illustrate the degree of redundancy in the control of coronary flow. The results indicate that the adrenergic open-loop control component is responsible for most of the increase in coronary blood flow that occurs during high levels of exercise. However, the adenine nucleotide-mediated metabolic feedback control component is essential. The model was evaluated by predicting coronary flow in cardiac pacing and autoregulation experiments with reasonable fits to the data. The analysis shows that a model in which coronary venous plasma adenine nucleotides are a signal in local metabolic feedback control of coronary flow is consistent with the available data.
Open loop pneumatic control of a Lysholm engine or turbine exhaust pressure
Plonski, B.A.
1981-07-17
A Lysholm engine, or helical screw expander, is currently being evaluated at the University of California, Berkeley for staging with a conventional turbine in geothermal energy conversion. A pneumatic closed loop, proportional-integral control system was implemented to control the Lysholm engine's exhaust pressure for performance testing of the engine at constant inlet/outlet pressure ratios. The control system will also be used to control the exhaust pressure of the conventional turbine during future testing of the staged Lysholm-turbine system. Analytical modeling of the control system was performed and successful tuning was achieved by applying Ziegler-Nichol's tuning method. Stable control and quick response, of approximately 1 minute, was demonstrated for load and set point changes in desired exhaust pressures.
Interleaved DC-DC Converter with Discrete Duty Cycle and Open Loop Control
NASA Astrophysics Data System (ADS)
Kroics, K.; Sokolovs, A.
2016-08-01
The authors present the control principle of the multiphase interleaved DC-DC converter that can be used to vastly reduce output current ripple of the converter. The control algorithm can be easily implemented by using microcontroller without current loop in each phase. The converter works in discontinuous conduction mode (DCM) but close to boundary conduction mode (BCM). The DC-DC converter with such a control algorithm is useful in applications that do not require precise current adjustment. The prototype of the converter has been built. The experimental results of the current ripple are presented in the paper.
Collins, J J; De Luca, C J; Pavlik, A E; Roy, S H; Emley, M S
1995-01-01
Stabilogram-diffusion analysis was used to examine how prolonged periods in microgravity affect the open-loop and closed-loop postural control mechanisms. It was hypothesized that following spaceflight: (1) the effective stochastic activity of the open-loop postural control schemes in astronauts is increased; (2) the effective stochastic activity and uncorrelated behavior, respectively, of the closed-loop postural control mechanisms in astronauts are increased; and (3) astronauts utilized open-loop postural controls schemes for shorter time intervals and smaller displacements. Four crew members and two alternates from the 14-day Spacelab Life Sciences 2 Mission were included in the study. Each subject was tested under eyes-open, quiet-standing conditions on multiple preflight and postflight days. The subjects' center-of-pressure trajectories were measured with a force platform and analyzed according to stabilogram-diffusion analysis. It was found that the effective stochastic activity of the open-loop postural control schemes in three of the four crew members was increased following spaceflight. This result is interpreted as an indication that there may be in-flight adaptations to higher-level descending postural control pathways, e.g., a postflight increase in the tonic activation of postural muscles. This change may also be the consequence of a compensatory (e.g., "stiffening") postural control strategy that is adopted by astronauts to account for general feeling of postflight unsteadiness. The crew members, as a group, did not exhibit any consistent preflight/postflight differences in the steady-state behavior of their closed-loop postural control mechanisms or in the functional interaction of their open-loop and closed-loop postural control mechanisms. These results are interpreted as indications that although there may be in-flight adaptations to the vestibular system and/or proprioceptive system, input from the visual system can compensate for such changes
NASA Technical Reports Server (NTRS)
Collins, J. J.; De Luca, C. J.; Pavlik, A. E.; Roy, S. H.; Emley, M. S.; Young, L. R. (Principal Investigator)
1995-01-01
Stabilogram-diffusion analysis was used to examine how prolonged periods in microgravity affect the open-loop and closed-loop postural control mechanisms. It was hypothesized that following spaceflight: (1) the effective stochastic activity of the open-loop postural control schemes in astronauts is increased; (2) the effective stochastic activity and uncorrelated behavior, respectively, of the closed-loop postural control mechanisms in astronauts are increased; and (3) astronauts utilized open-loop postural controls schemes for shorter time intervals and smaller displacements. Four crew members and two alternates from the 14-day Spacelab Life Sciences 2 Mission were included in the study. Each subject was tested under eyes-open, quiet-standing conditions on multiple preflight and postflight days. The subjects' center-of-pressure trajectories were measured with a force platform and analyzed according to stabilogram-diffusion analysis. It was found that the effective stochastic activity of the open-loop postural control schemes in three of the four crew members was increased following spaceflight. This result is interpreted as an indication that there may be in-flight adaptations to higher-level descending postural control pathways, e.g., a postflight increase in the tonic activation of postural muscles. This change may also be the consequence of a compensatory (e.g., "stiffening") postural control strategy that is adopted by astronauts to account for general feeling of postflight unsteadiness. The crew members, as a group, did not exhibit any consistent preflight/postflight differences in the steady-state behavior of their closed-loop postural control mechanisms or in the functional interaction of their open-loop and closed-loop postural control mechanisms. These results are interpreted as indications that although there may be in-flight adaptations to the vestibular system and/or proprioceptive system, input from the visual system can compensate for such changes
Coupled rotor-flexible fuselage vibration reduction using open loop higher harmonic control
NASA Technical Reports Server (NTRS)
Papavassiliou, I.; Friedmann, P. P.; Venkatesan, C.
1991-01-01
A fundamental study of vibration prediction and vibration reduction in helicopters using active controls was performed. The nonlinear equations of motion for a coupled rotor/flexible fuselage system have been derived using computer algebra on a special purpose symbolic computer facility. The trim state and vibratory response of the helicopter are obtained in a single pass by applying the harmonic balance technique and simultaneously satisfying the trim and the vibratory response of the helicopter for all rotor and fuselage degrees of freedom. The influence of the fuselage flexibility on the vibratory response is studied. It is shown that the conventional single frequency higher harmonic control is capable of reducing either the hub loads or only the fuselage vibrations but not both simultaneously. It is demonstrated that for simultaneous reduction of hub shears and fuselae vibrations a new scheme called multiple higher harmonic control is required.
Brydges, Ryan; Dubrowski, Adam
2009-10-01
Grasping behaviour involves the integration of current and historical knowledge about an object, a process that can be influenced by sensory uncertainty. In the present study, participants simultaneously interacted with a visual cue and a haptic cue before reaching to grasp a target object. The visual cue was either congruent (equal in size to haptic cue and target) or incongruent (larger than haptic cue and target). To enhance sensory uncertainty, we manipulated the proportion of congruent trials to be either 80 or 20%. We compared grasp kinematics and forces between congruent and incongruent trials and between the 20 and 80% proportion congruency groups. We also studied the effects of trial history by comparing the performance of congruent and incongruent trials preceded by either the same or opposite trial type. Proportion congruency did not affect temporal kinematics but did affect maximum grip aperture (MGA) as the 80% proportion congruency group used a greater MGA, regardless of trial type. For grasping forces, an interaction effect showed that the 20% proportion congruency group used a greater peak load force on congruent trials. Incongruent trials that followed congruent trials had decreased movement time, increased MGA and increased grasping forces, relative to those that followed incongruent trials. We interpret the data to suggest that the grasp control system integrates multisensory information using flexible, yet specific criteria regarding task constraints. The prevention of collision error (i.e., an inadequate MGA when contacting the target) may be one guiding principle in the control process.
Perez-Peña, Fernando; Morgado-Estevez, Arturo; Linares-Barranco, Alejandro; Jimenez-Fernandez, Angel; Gomez-Rodriguez, Francisco; Jimenez-Moreno, Gabriel; Lopez-Coronado, Juan
2013-01-01
In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation. PMID:24264330
Perez-Peña, Fernando; Morgado-Estevez, Arturo; Linares-Barranco, Alejandro; Jimenez-Fernandez, Angel; Gomez-Rodriguez, Francisco; Jimenez-Moreno, Gabriel; Lopez-Coronado, Juan
2013-11-20
In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation.
NASA Astrophysics Data System (ADS)
Mettot, Clément; Renac, Florent; Sipp, Denis
2014-07-01
A fully discrete formalism is introduced to perform stability analysis of a turbulent compressible flow whose dynamics is modeled with the Reynolds-Averaged Navier-Stokes (RANS) equations. The discrete equations are linearized using finite differences and the Jacobian is computed using repeated evaluation of the residuals. Stability of the flow is assessed solving an eigenvalue problem. The sensitivity gradients which indicate regions of the flow where a passive control device could stabilize the unstable eigenvalues are defined within this fully discrete framework. The second order finite differences are applied to the discrete residual to compute the gradients. In particular, the sensitivity gradients are shown to be linked to the Hessian of the RANS equations. The introduced formalism and linearization method are generic: the code used to evaluate the residual of the RANS equations can be used in a black box manner, and the complex linearization of the Hessian is avoided. The method is tested on a two dimensional deep cavity case, the flow is turbulent with a Reynolds number equal to 860 000 and compressible with a Mach number of 0.8. Several turbulence models and numerical schemes are used to validate the method. Physical features of the flow are recovered, such as the fundamental frequency of the natural flow as well as acoustic mechanisms, suggesting the validity of the method. The sensitivity gradients are then computed and validated, the error in predicting the eigenvalue variation being found less than 3%. Control maps using a small steady control device are finally obtained, indicating that the control area should be chosen in the vicinity of the leading edge of the cavity.
NASA Astrophysics Data System (ADS)
He, Jiayuan; Zhang, Dingguo; Jiang, Ning; Sheng, Xinjun; Farina, Dario; Zhu, Xiangyang
2015-08-01
Objective. Recent studies have reported that the classification performance of electromyographic (EMG) signals degrades over time without proper classification retraining. This problem is relevant for the applications of EMG pattern recognition in the control of active prostheses. Approach. In this study we investigated the changes in EMG classification performance over 11 consecutive days in eight able-bodied subjects and two amputees. Main results. It was observed that, when the classifier was trained on data from one day and tested on data from the following day, the classification error decreased exponentially but plateaued after four days for able-bodied subjects and six to nine days for amputees. The between-day performance became gradually closer to the corresponding within-day performance. Significance. These results indicate that the relative changes in EMG signal features over time become progressively smaller when the number of days during which the subjects perform the pre-defined motions are increased. The performance of the motor tasks is thus more consistent over time, resulting in more repeatable EMG patterns, even if the subjects do not have any external feedback on their performance. The learning curves for both able-bodied subjects and subjects with limb deficiencies could be modeled as an exponential function. These results provide important insights into the user adaptation characteristics during practical long-term myoelectric control applications, with implications for the design of an adaptive pattern recognition system.
Open loop distribution system design
Glamocanin, V. ); Filipovic, V. . Elektrotechnicki fakulet)
1993-10-01
The ability to supply consumers of an urban area, with minimum interruption during a feeder segment or substation transformer outage, is assured by a uniform cable size of the feeder segments along the entire loop. Based on the criterion of the uniform cable size, a loop configuration is obtained first by minimizing the installation costs, and then an open loop solution is found by minimizing the power losses. Heuristic rules are proposed and used to obtain an initial solution, as well as to improve current solutions.
Wang, Yuan-Jay
2014-03-01
This paper proposes a novel alternative method to graphically compute all feasible gain and phase margin specifications-oriented robust PID controllers for open-loop unstable plus time delay (OLUPTD) processes. This method is applicable to general OLUPTD processes without constraint on system order. To retain robustness for OLUPTD processes subject to positive or negative gain variations, the downward gain margin (GM(down)), upward gain margin (GM(up)), and phase margin (PM) are considered. A virtual gain-phase margin tester compensator is incorporated to guarantee the concerned system satisfies certain robust safety margins. In addition, the stability equation method and the parameter plane method are exploited to portray the stability boundary and the constant gain margin (GM) boundary as well as the constant PM boundary. The overlapping region of these boundaries is graphically determined and denotes the GM and PM specifications-oriented region (GPMSOR). Alternatively, the GPMSOR characterizes all feasible robust PID controllers which achieve the pre-specified safety margins. In particular, to achieve optimal gain tuning, the controller gains are searched within the GPMSOR to minimize the integral of the absolute error (IAE) or the integral of the squared error (ISE) performance criterion. Thus, an optimal PID controller gain set is successfully found within the GPMSOR and guarantees the OLUPTD processes with a pre-specified GM and PM as well as a minimum IAE or ISE. Consequently, both robustness and performance can be simultaneously assured. Further, the design procedures are summarized as an algorithm to help rapidly locate the GPMSOR and search an optimal PID gain set. Finally, three highly cited examples are provided to illustrate the design process and to demonstrate the effectiveness of the proposed method.
Human-like Running Can Be Open-Loop Stable
NASA Astrophysics Data System (ADS)
Mombaur, Katja
This paper addresses the question if running motions of a human-like robot can be stable without feedback. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future, We investigate a two-dimensional simulation model of running with 9 bodies (trunk, thighs, shanks, feet, and arms) powered by torques at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine torque inputs and spring-damper parameters that lead to fully open-loop stable running motions.
TeGrotenhuis, Ward Evan
2013-11-05
A drying apparatus is disclosed that includes a drum and an open-loop airflow pathway originating at an ambient air inlet, passing through the drum, and terminating at an exhaust outlet. A passive heat exchanger is included for passively transferring heat from air flowing from the drum toward the exhaust outlet to air flowing from the ambient air inlet toward the drum. A heat pump is also included for actively transferring heat from air flowing from the passive heat exchanger toward the exhaust outlet to air flowing from the passive heat exchanger toward the drum. A heating element is also included for further heating air flowing from the heat pump toward the drum.
Open-Loop Pitch Table Optimization for the Maximum Dynamic Pressure Orion Abort Flight Test
NASA Technical Reports Server (NTRS)
Stillwater, Ryan A.
2009-01-01
NASA has scheduled the retirement of the space shuttle orbiter fleet at the end of 2010. The Constellation program was created to develop the next generation of human spaceflight vehicles and launch vehicles, known as Orion and Ares respectively. The Orion vehicle is a return to the capsule configuration that was used in the Mercury, Gemini, and Apollo programs. This configuration allows for the inclusion of an abort system that safely removes the capsule from the booster in the event of a failure on launch. The Flight Test Office at NASA's Dryden Flight Research Center has been tasked with the flight testing of the abort system to ensure proper functionality and safety. The abort system will be tested in various scenarios to approximate the conditions encountered during an actual Orion launch. Every abort will have a closed-loop controller with an open-loop backup that will direct the vehicle during the abort. In order to provide the best fit for the desired total angle of attack profile with the open-loop pitch table, the table is tuned using simulated abort trajectories. A pitch table optimization program was created to tune the trajectories in an automated fashion. The program development was divided into three phases. Phase 1 used only the simulated nominal run to tune the open-loop pitch table. Phase 2 used the simulated nominal and three simulated off nominal runs to tune the open-loop pitch table. Phase 3 used the simulated nominal and sixteen simulated off nominal runs to tune the open-loop pitch table. The optimization program allowed for a quicker and more accurate fit to the desired profile as well as allowing for expanded resolution of the pitch table.
Deformable mirrors for open-loop adaptive optics
NASA Astrophysics Data System (ADS)
Kellerer, A.; Vidal, F.; Gendron, E.; Hubert, Z.; Perret, D.; Rousset, G.
2012-07-01
We characterize the performance of deformable mirrors for use in open-loop regimes. This is especially relevant for Multi Object Adaptive Optics (MOAO), or for closed-loop schemes that require improved accuracies. Deformable mirrors are usually characterized by standard parameters, such as influence functions, linearity, hysteresis, etc. We show that these parameters are insufficient for characterizing open-loop performance and that a deeper analysis of the mirror's behavior is then required. The measurements on the deformable mirrors were performed in 2007 on the AO test bench of the Meudon observatory, SESAME.
Maneuver reconstruction techniques for open-loop spin-stabilized spacecraft
NASA Technical Reports Server (NTRS)
Frauenholz, R. B.
1980-01-01
The Pioneer missions were supported by spin-stabilized spacecraft designs using open-loop control and blow-down propulsion subsystems. Reliable estimates of the ever-changing performance inherent to these subsystems were needed to effectively design and reconstruct trajectory correction maneuver (TCM) strategies. These performance updates were obtained by adjusting model parameters to match independent telemetric and radiometric observations to define the simultaneous changes in attitude, velocity, and spin rate during a maneuver sequence.
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.
Sufficient and Necessary Open-Loop Stackelberg Strategy for Two-Player Game With Time Delay.
Xu, Juanjuan; Zhang, Huanshui
2016-02-01
This paper is concerned with both difference and differential leader-follower games with time delay. The problem remains challenging although the leader-follower game for delay-free system has been well studied in the past decades. The main obstacle encountered is the noncausality of strategy design caused by the delay. The key technique developed to overcome the difficulty is the introduction of the new co-states which capture the future information of the control and the new state which contains the past effects. The novel contributions of this paper are as follows. First, the sufficient and necessary solvability condition is given to ensure the existence of a unique open-loop Stackelberg strategy for the difference game. Second, the open-loop strategy is explicitly obtained in terms of decoupled and symmetric Riccati equations. Last but not least, a unique strategy for continuous time systems is also given by applying the techniques developed in this paper.
Improved Speech Coding Based on Open-Loop Parameter Estimation
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Chen, Ya-Chin; Longman, Richard W.
2000-01-01
A nonlinear optimization algorithm for linear predictive speech coding was developed early that not only optimizes the linear model coefficients for the open loop predictor, but does the optimization including the effects of quantization of the transmitted residual. It also simultaneously optimizes the quantization levels used for each speech segment. In this paper, we present an improved method for initialization of this nonlinear algorithm, and demonstrate substantial improvements in performance. In addition, the new procedure produces monotonically improving speech quality with increasing numbers of bits used in the transmitted error residual. Examples of speech encoding and decoding are given for 8 speech segments and signal to noise levels as high as 47 dB are produced. As in typical linear predictive coding, the optimization is done on the open loop speech analysis model. Here we demonstrate that minimizing the error of the closed loop speech reconstruction, instead of the simpler open loop optimization, is likely to produce negligible improvement in speech quality. The examples suggest that the algorithm here is close to giving the best performance obtainable from a linear model, for the chosen order with the chosen number of bits for the codebook.
Environmental impacts of open loop geothermal system on groundwater
NASA Astrophysics Data System (ADS)
Kwon, Koo-Sang; Park, Youngyun; Yun, Sang Woong; Lee, Jin-Yong
2013-04-01
Application of renewable energies such as sunlight, wind, rain, tides, waves and geothermal heat has gradually increased to reduce emission of CO2 which is supplied from combustion of fossil fuel. The geothermal energy of various renewable energies has benefit to be used to cooling and heating systems and has good energy efficiency compared with other renewable energies. However, open loop system of geothermal heat pump system has possibility that various environmental problems are induced because the system directly uses groundwater to exchange heat. This study was performed to collect data from many documents such as papers and reports and to summarize environmental impacts for application of open loop system. The environmental impacts are classified into change of hydrogeological factors such as water temperature, redox condition, EC, change of microbial species, well contamination and depletion of groundwater. The change of hydrogeological factors can induce new geological processes such as dissolution and precipitation of some minerals. For examples, increase of water temperature can change pH and Eh. These variations can change saturation index of some minerals. Therefore, dissolution and precipitation of some minerals such as quartz and carbonate species and compounds including Fe and Mn can induce a collapse and a clogging of well. The well contamination and depletion of groundwater can reduce available groundwater resources. These environmental impacts will be different in each region because hydrogeological properties and scale, operation period and kind of the system. Therefore, appropriate responses will be considered for each environmental impact. Also, sufficient study will be conducted to reduce the environmental impacts and to improve geothermal energy efficiency during the period that a open loop system is operated. This work was supported by the Energy Efficiency and Resources of the Korea Institute of Energy Technology Evaluation and Planning
NASA Technical Reports Server (NTRS)
Groom, Nelson J.; Britcher, Colin P.
1992-01-01
The open-loop characteristics of a Large-Gap Magnetic Suspension System (LGMSS) were studied and numerical results are presented. The LGMSS considered provides five-degree-of-freedom control. The suspended element is a cylinder that contains a core composed of permanent magnet material. The magnetic actuators are air core electromagnets mounted in a planar array. Configurations utilizing five, six, seven, and eight electromagnets were investigated and all configurations were found to be controllable from coil currents and observable from suspended element positions. Results indicate that increasing the number of coils has an insignificant effect on mode shapes and frequencies.
Dassau, Eyal; Brown, Sue A.; Basu, Ananda; Pinsker, Jordan E.; Kudva, Yogish C.; Gondhalekar, Ravi; Patek, Steve; Lv, Dayu; Schiavon, Michele; Lee, Joon Bok; Dalla Man, Chiara; Hinshaw, Ling; Castorino, Kristin; Mallad, Ashwini; Dadlani, Vikash; McCrady-Spitzer, Shelly K.; McElwee-Malloy, Molly; Wakeman, Christian A.; Bevier, Wendy C.; Bradley, Paige K.; Kovatchev, Boris; Cobelli, Claudio; Zisser, Howard C.
2015-01-01
Context: Closed-loop control (CLC) relies on an individual's open-loop insulin pump settings to initialize the system. Optimizing open-loop settings before using CLC usually requires significant time and effort. Objective: The objective was to investigate the effects of a one-time algorithmic adjustment of basal rate and insulin to carbohydrate ratio open-loop settings on the performance of CLC. Design: This study reports a multicenter, outpatient, randomized, crossover clinical trial. Patients: Thirty-seven adults with type 1 diabetes were enrolled at three clinical sites. Interventions: Each subject's insulin pump settings were subject to a one-time algorithmic adjustment based on 1 week of open-loop (i.e., home care) data collection. Subjects then underwent two 27-hour periods of CLC in random order with either unchanged (control) or algorithmic adjusted basal rate and carbohydrate ratio settings (adjusted) used to initialize the zone-model predictive control artificial pancreas controller. Subject's followed their usual meal-plan and had an unannounced exercise session. Main Outcomes and Measures: Time in the glucose range was 80–140 mg/dL, compared between both arms. Results: Thirty-two subjects completed the protocol. Median time in CLC was 25.3 hours. The median time in the 80–140 mg/dl range was similar in both groups (39.7% control, 44.2% adjusted). Subjects in both arms of CLC showed minimal time spent less than 70 mg/dl (median 1.34% and 1.37%, respectively). There were no significant differences more than 140 mg/dL. Conclusions: A one-time algorithmic adjustment of open-loop settings did not alter glucose control in a relatively short duration outpatient closed-loop study. The CLC system proved very robust and adaptable, with minimal (<2%) time spent in the hypoglycemic range in either arm. PMID:26204135
Use of an open-loop system to increase physical activity.
Roemmich, James N; Lobarinas, Christina L; Barkley, Jacob E; White, Tressa M; Paluch, Rocco; Epstein, Leonard H
2012-08-01
This study evaluated the effectiveness of an open-loop system that reinforces physical activity with TV watching to increase children's physical activity. Nonoverweight, sedentary boys and girls (8-12 y) were randomized to a group that received feedback of activity counts + reinforcement for physical activity by providing access to television (F+R, n = 20); or to feedback, no reinforcement (Feedback, n = 20) or no feedback, no reinforcement control (Control, n = 21) groups. Children wore an accelerometer with a count display for 4-months with a 1-year follow-up. F+R reduced TV by 68 min/day and TV time was lower than the Feedback (p < .005) and Control (p < .002) groups. TV time of F+R remained 31 min lower (p < .02) than baseline at 1-year. F+R had a 44% increase in physical activity, which was greater than the feedback (p < .04) and control (p < .01) groups. An open-loop system decreases TV viewing and increases physical activity of children for 4-months. TV of the F+R group remained lower at 12 months, suggesting a reduction in screen-time habits.
Study of the open loop and closed loop oscillator techniques
Baker, Benjamin; Riley, Tony; Langbehn, Adam; Imel, George R.; Benzerga, M. Lamine; Aryal, Harishchandra
2015-07-01
This paper presents some aspects of a five year study undertaken at Idaho State University of the measurement of very small worth reactivity samples comparing open and closed loop oscillator techniques. The study conclusively demonstrated the equivalency of the two techniques with regard to uncertainties in reactivity values, i.e., limited by reactor noise. As those results are thoroughly documented in recent publications, in this paper we will concentrate on the support work that was necessary. For example, we describe in some detail the construction and calibration of a pilot rod for the closed loop system. We discuss the campaign to measure the required reactor parameters necessary for inverse-kinetics. Finally, we briefly discuss the transfer of the open loop technique to other reactor systems. (authors)
Laser Safety Method For Duplex Open Loop Parallel Optical Link
Baumgartner, Steven John; Hedin, Daniel Scott; Paschal, Matthew James
2003-12-02
A method and apparatus are provided to ensure that laser optical power does not exceed a "safe" level in an open loop parallel optical link in the event that a fiber optic ribbon cable is broken or otherwise severed. A duplex parallel optical link includes a transmitter and receiver pair and a fiber optic ribbon that includes a designated number of channels that cannot be split. The duplex transceiver includes a corresponding transmitter and receiver that are physically attached to each other and cannot be detached therefrom, so as to ensure safe, laser optical power in the event that the fiber optic ribbon cable is broken or severed. Safe optical power is ensured by redundant current and voltage safety checks.
Study of the Open Loop and Closed Loop Oscillator Techniques
Imel, George R.; Baker, Benjamin; Riley, Tony; Langbehn, Adam; Aryal, Harishchandra; Benzerga, M. Lamine
2015-04-11
This report presents the progress and completion of a five-year study undertaken at Idaho State University of the measurement of very small worth reactivity samples comparing open and closed loop oscillator techniques.The study conclusively demonstrated the equivalency of the two techniques with regard to uncertainties in reactivity values, i.e., limited by reactor noise. As those results are thoroughly documented in recent publications, in this report we will concentrate on the support work that was necessary. For example, we describe in some detail the construction and calibration of a pilot rod for the closed loop system. We discuss the campaign to measure the required reactor parameters necessary for inverse-kinetics. Finally, we briefly discuss the transfer of the open loop technique to other reactor systems.
Optimization of the open-loop liquid crystal adaptive optics retinal imaging system
NASA Astrophysics Data System (ADS)
Kong, Ningning; Li, Chao; Xia, Mingliang; Li, Dayu; Qi, Yue; Xuan, Li
2012-02-01
An open-loop adaptive optics (AO) system for retinal imaging was constructed using a liquid crystal spatial light modulator (LC-SLM) as the wavefront compensator. Due to the dispersion of the LC-SLM, there was only one illumination source for both aberration detection and retinal imaging in this system. To increase the field of view (FOV) for retinal imaging, a modified mechanical shutter was integrated into the illumination channel to control the size of the illumination spot on the fundus. The AO loop was operated in a pulsing mode, and the fundus was illuminated twice by two laser impulses in a single AO correction loop. As a result, the FOV for retinal imaging was increased to 1.7-deg without compromising the aberration detection accuracy. The correction precision of the open-loop AO system was evaluated in a closed-loop configuration; the residual error is approximately 0.0909λ (root-mean-square, RMS), and the Strehl ratio ranges to 0.7217. Two subjects with differing rates of myopia (-3D and -5D) were tested. High-resolution images of capillaries and photoreceptors were obtained.
Optimization of the open-loop liquid crystal adaptive optics retinal imaging system.
Kong, Ningning; Li, Chao; Xia, Mingliang; Li, Dayu; Qi, Yue; Xuan, Li
2012-02-01
An open-loop adaptive optics (AO) system for retinal imaging was constructed using a liquid crystal spatial light modulator (LC-SLM) as the wavefront compensator. Due to the dispersion of the LC-SLM, there was only one illumination source for both aberration detection and retinal imaging in this system. To increase the field of view (FOV) for retinal imaging, a modified mechanical shutter was integrated into the illumination channel to control the size of the illumination spot on the fundus. The AO loop was operated in a pulsing mode, and the fundus was illuminated twice by two laser impulses in a single AO correction loop. As a result, the FOV for retinal imaging was increased to 1.7-deg without compromising the aberration detection accuracy. The correction precision of the open-loop AO system was evaluated in a closed-loop configuration; the residual error is approximately 0.0909λ (root-mean-square, RMS), and the Strehl ratio ranges to 0.7217. Two subjects with differing rates of myopia (-3D and -5D) were tested. High-resolution images of capillaries and photoreceptors were obtained.
Weigenand, Arne; Mölle, Matthias; Werner, Friederike; Martinetz, Thomas; Marshall, Lisa
2016-09-01
The application of auditory clicks during non-rapid eye movement (NREM) sleep phase-locked to the up state of the slow oscillation (closed-loop stimulation) has previously been shown to enhance the consolidation of declarative memories. We designed and applied sequences of three clicks during deep NREM sleep to achieve a quasi-phase-dependent open-loop stimulation. This stimulation was successful in eliciting slow oscillation power in the stimulation period. Although fast and slow spindle power were markedly decreased during the stimulation period, memory consolidation did not differ from control. During putative up states fast spindle power remained, however, at control levels. We conclude that concurrence of slow oscillations and fast spindles suffices to maintain memory consolidation at control levels despite an overall decreased spindle activity.
Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing
NASA Technical Reports Server (NTRS)
Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Restrepo, Carolina I.
2017-01-01
A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.
Micromechanical torsional digital-to-analog converter for open-loop angular positioning applications
NASA Astrophysics Data System (ADS)
Zhou, Guangya; Tay, Francis E. H.; Chau, Fook Siong; Zhao, Yi; Logeeswaran, VJ
2004-05-01
This paper reports a novel micromechanical torsional digital-to-analog converter (MTDAC), operated in open-loop with digitally controlled precise multi-level tilt angles. The MTDAC mechanism presented is analogous to that of an electrical binary-weighted-input digital-to-analog converter (DAC). It consists of a rigid tunable platform, an array of torsional microactuators, each operating in a two-state (on/off) mode, and a set of connection beams with binary-weighted torsional stiffnesses that connect the actuators to the platform. The feasibility of the proposed MTDAC mechanism was verified numerically by finite element simulations and experimentally with a commercial optical phase-shifting interferometric system. A prototype 2-bit MTDAC was implemented using the poly-MUMPS process achieving a full-scale output tilt angle of 1.92° with a rotation step of 0.64°. This mechanism can be configured for many promising applications, particularly in beam steering-based OXC switches.
Analysis of open-loop conical scan pointing error and variance estimators
NASA Technical Reports Server (NTRS)
Alvarez, L. S.
1993-01-01
General pointing error and variance estimators for an open-loop conical scan (conscan) system are derived and analyzed. The conscan algorithm is modeled as a weighted least-squares estimator whose inputs are samples of receiver carrier power and its associated measurement uncertainty. When the assumptions of constant measurement noise and zero pointing error estimation are applied, the variance equation is then strictly a function of the carrier power to uncertainty ratio and the operator selectable radius and period input to the algorithm. The performance equation is applied to a 34-m mirror-based beam-waveguide conscan system interfaced with the Block V Receiver Subsystem tracking a Ka-band (32-GHz) downlink. It is shown that for a carrier-to-noise power ratio greater than or equal to 30 dB-Hz, the conscan period for Ka-band operation may be chosen well below the current DSN minimum of 32 sec. The analysis presented forms the basis of future conscan work in both research and development as well as for the upcoming DSN antenna controller upgrade for the new DSS-24 34-m beam-waveguide antenna.
Unscented Kalman filter with open-loop compensation for high dynamic GNSS carrier tracking
NASA Astrophysics Data System (ADS)
Wang, Wen-Jing; Chen, Xi; Han, Shuai; Meng, Wei-Xiao; Zhang, Yi
2009-12-01
Because of the limit of the loop-band, traditional carrier tracking loop of GNSS receiver can't work in high dynamic conditions with large Doppler frequency, for which an open-loop carrier tracking method based on UKF is proposed. Upon this new tracking loop, the four-dimensionality UKF phase estimator and a compensator is designed to modify the estimative values. By simulating the high dynamic trace of the plat of GNSS receiver, this new method is compared to the closed loop mainly in the aspects of tracking errors, compensation effects and unlocking probability. Simulations show that (1) the proposed open-loop compensation method can give attention to the precision and the dynamics better, with high stability, (2) compared with the closed loop, the open-loop carrier tracking method can improve the tracking precision, with 50% decrease of the tracking errors; and (3) the convergence of this new method is much better, leading to lower unlocking probability.
Efficiency Evaluation of Open-Loop GHPS Operation Under Various Hydrogeological Conditions
NASA Astrophysics Data System (ADS)
Lee, S.; Kim, S.; Bae, G.; Lee, K.
2008-12-01
Geothermal heat pump system (GHPS) can be cost-effective renewable energy sources. In order to develop the GHPS which has certain hydrogeological characteristics, understanding the thermohydraulic process of an aquifer is necessary for effective usage of open-loop GHPS. Experimental and numerical tests are performed for two concepts of open-loop GHPS: simple open-loop and energy storage concept. In simple open-loop sets, tests were performed fixing the locations of pumping and injection wells. In contrast, tests in energy storage sets were conducted by changing the locations of wells in a seasonal cycle. Experimental test using sand tank was performed only for the simple open-loop concept, while numerical tests were performed for the both concepts. Numerical modeling results using FEFLOW were compatible with the experimental results. In the simple open-loop sets, the temporal temperature change in a pumping well was measured. Effective operation conditions are obtained with high hydraulic conductivity (3X10-3 m/s) and long distance (60 cm) between wells on hydraulic gradient 0.025 because the effect of injected water temperature must be minimized. In the energy storage sets, thermal recovery factors (R) under various conditions were calculated to evaluate the efficiency. Low hydraulic conductivity (3X10-5 m/s), hydraulic gradient 0.0 and long well distance (more than 20 m) are the best conditions for operation efficiency (R=37.92) because faster groundwater flow lead to advection or down-gradient `drift' of stored energy beyond potential recovery regions. In the case of two-layered aquifer, the porosity and groundwater flow characteristics of each layer sensitively affected the migration of thermal plume. Two-layered aquifer with the top-layer of low hydraulic conductivity (3X10-5 m/s) and porosity (0.2) is profitable for the effective open-loop GHPS operation under hydraulic gradient 0.0 and well distance (20 m). The results from experimental and numerical tests
A Novel Open-Loop Tracking Strategy for Photovoltaic Systems
Alexandru, Cătălin
2013-01-01
This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system. PMID:24327803
A novel open-loop tracking strategy for photovoltaic systems.
Alexandru, Cătălin
2013-01-01
This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system.
Use of an open-loop system to increase physical activity
Technology Transfer Automated Retrieval System (TEKTRAN)
This study evaluated the effectiveness of an open-loop system that reinforces physical activity with TV watching to increase children’s physical activity. Non-overweight, sedentary boys and girls (8-12 y) were randomized to a group that received feedback of activity counts + reinforcement for physic...
NASA Astrophysics Data System (ADS)
Darestani Farahani, N.; Abbasi Davani, F.
2016-02-01
The formulation of a multi-input single-output closed-loop subspace method for system identification has been employed for the purpose of obtaining control-relevant model of the open loop response for plasma vertical movement in the Damavand tokamak. Such a model is particularly well suited for the robust controller design. The method described in this paper is a kind of worst-case identification technique, aiming to minimize the error between the identified model and the true plant. The accuracy of the estimation of the plant dynamics has been tested by different experiments. The fitness of the identified model around the defined operating point has been more than 90%, and compared to the physical-based model, it has better root mean squared error (RMSE) measure of the goodness of fitting.
NASA Astrophysics Data System (ADS)
Lo Russo, S.; Taddia, G.; Gnavi, L.
2012-04-01
KEY WORDS: Open-loop ground water heat pump; Feflow; Low-enthalpy; Thermal Affected Zone; Turin; Italy The increasing diffusion of low-enthalpy geothermal open-loop Groundwater Heat Pumps (GWHP) providing buildings air conditioning requires a careful assessment of the overall effects on groundwater system, especially in the urban areas where several plants can be close together and interfere. One of the fundamental aspects in the realization of an open loop low-enthalpy geothermal system is therefore the capacity to forecast the effects of thermal alteration produced in the ground, induced by the geothermal system itself. The impact on the groundwater temperature in the surrounding area of the re-injection well (Thermal Affected Zone - TAZ) is directly linked to the aquifer properties. The transient dynamic of groundwater discharge and temperature variations should be also considered to assess the subsurface environmental effects of the plant. The experimental groundwater heat pump system used in this study is installed at the "Politecnico di Torino" (NW Italy, Piedmont Region). This plant provides summer cooling needs for the university buildings. This system is composed by a pumping well, a downgradient injection well and a control piezometer. The system is constantly monitored by multiparameter probes measuring the dynamic of groundwater temperature. A finite element subsurface flow and transport simulator (FEFLOW) was used to investigate the thermal aquifer alteration. Simulations were continuously performed during May-October 2010 (cooling period). The numerical simulation of the heat transport in the aquifer was solved with transient conditions. The simulation was performed by considering only the heat transfer within the saturated aquifer, without any heat dispersion above or below the saturated zone due to the lack of detailed information regarding the unsaturated zone. Model results were compared with experimental temperature data derived from groundwater
NASA Technical Reports Server (NTRS)
Keymeulen, Didier; Ferguson, Michael I.; Fink, Wolfgang; Oks, Boris; Peay, Chris; Terrile, Richard; Cheng, Yen; Kim, Dennis; MacDonald, Eric; Foor, David
2005-01-01
We propose a tuning method for MEMS gyroscopes based on evolutionary computation to efficiently increase the sensitivity of MEMS gyroscopes through tuning. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation. We also report on the development of a hardware platform for integrated tuning and closed loop operation of MEMS gyroscopes. The control of this device is implemented through a digital design on a Field Programmable Gate Array (FPGA). The hardware platform easily transitions to an embedded solution that allows for the miniaturization of the system to a single chip.
NASA Astrophysics Data System (ADS)
Militaru, Nicolae
2016-12-01
The paper presents a study of the electromagnetic couplings between planar open-loop triangular-shaped resonators. Based on the proposed single-mode resonator, various couplings schemes are considered: between a single microstrip resonator and its 50Ω feeding line, between two identical triangular-shaped resonators designed in microstrip technology, and between pairs of synchronously-tuned resonators located on different metallization layers, in a multilayer configuration. In this last case, properly located slots, cut out in the common ground plane, ensure and control the coupling between resonators. The results shown in the paper can be used in the design of different miniature planar band-pass filters, including filters with cross-coupled resonators, in microstrip and in multilayer technologies.
High-resolution retinal imaging through open-loop adaptive optics.
Li, Chao; Xia, Mingliang; Li, Dayu; Mu, Quanquan; Xuan, Li
2010-01-01
Using the liquid crystal spatial light modulator (LC-SLM) as the wavefront corrector, an open-loop adaptive optics (AO) system for fundus imaging in vivo is constructed. Compared with the LC-SLM closed-loop AO system, the light energy efficiency is increased by a factor of 2, which is helpful for the safety of fundus illumination in vivo. In our experiment, the subjective accommodation method is used to precorrect the defocus aberration, and three subjects with different myopia 0, -3, and -5 D are tested. Although the residual wavefront error after correction cannot to detected, the fundus images adequately demonstrate that the imaging system reaches the resolution of a single photoreceptor cell through the open-loop correction. Without dilating and cyclopleging the eye, the continuous imaging for 8 s is recorded for one of the subjects.
High-resolution retinal imaging through open-loop adaptive optics
NASA Astrophysics Data System (ADS)
Li, Chao; Xia, Mingliang; Li, Dayu; Mu, Quanquan; Xuan, Li
2010-07-01
Using the liquid crystal spatial light modulator (LC-SLM) as the wavefront corrector, an open-loop adaptive optics (AO) system for fundus imaging in vivo is constructed. Compared with the LC-SLM closed-loop AO system, the light energy efficiency is increased by a factor of 2, which is helpful for the safety of fundus illumination in vivo. In our experiment, the subjective accommodation method is used to precorrect the defocus aberration, and three subjects with different myopia 0, -3, and -5 D are tested. Although the residual wavefront error after correction cannot to detected, the fundus images adequately demonstrate that the imaging system reaches the resolution of a single photoreceptor cell through the open-loop correction. Without dilating and cyclopleging the eye, the continuous imaging for 8 s is recorded for one of the subjects.
A Nonlinear Study of Open Loop Dynamic Stability of Submersible Vehicles in the Dive Plane
1994-03-01
Submsersible Vehicles in the Dive Plane by Harilaos I. Papadimitriou March, 1994 Thesis Advisor: Fotis A. Papoulias Approved for public release...Engineers Thesis 4. TITLE AND SUBTITLE * A NONLINEAR STUDY OF OPEN LOOP 5. FUNDING NUMBERS DYNAMIC STABILITY OF SUBMERSIBLE VEHICLES IN THE DIVE PLANE...SUPPLEMENTARY NOTES The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of
Tuning of MEMS Devices using Evolutionary Computation and Open-loop Frequency Response
NASA Technical Reports Server (NTRS)
Keymeulen, Didier; Fink, Wolfgang; Ferguson, Michael I.; Peay, Chris; Oks, Boris; Terrile, Richard; Yee, Karl
2005-01-01
We propose a tuning method for MEMS gyroscopes based on evolutionary computation that has the capacity to efficiently increase the sensitivity of MEMS gyroscopes through tuning and, furthermore, to find the optimally tuned configuration for this state of increased sensitivity. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation.
Economics of spray-dryer FGD system: the two-stage open-loop processes
Burnett, T.A.; O'Brien, W.E.
1981-06-01
Preliminary economics of the Rockwell International Corporation - Wheelabrator Frye, Inc., (RI/WF) two-stage open-loop flue gas desulfurization (FGD) process were determined for both lime and soda ash absorbents. This two-stage open-loop process is a throwaway system in which the alkali raw material (as a solution or slurry) is sprayed into the flue gas stream, dried by the latent heat in the hot flue gas, and collected as dry particulate matter in a baghouse. The fly ash is also collected in the baghouse as an inherent part of the process. An economic evaluation of a limestone slurry FGD process with an electrostatic precipitator (ESP) for particulate matter removal was included for comparison. The basis was a 500-MW power plant burning 3.5% sulfur, 16% ash coal with 90% SO/sub 2/ removal and 0.1 lb/MBtu particulate matter emission. The economic evaluations were made using both TVA and Electric Power Research Institute (EPRI) economic premises. Cost differences between the two-stage open-loop lime and soda ash versions are largely the result of different waste disposal and raw material costs. Both RI/WF versions are more economical than limestone in most process elements except raw material costs. Cost differences between the TVA- and EPRI-based estimates are the result of different methods of estimating indirect costs, levelizing operating costs, and different raw material costs.
NASA Astrophysics Data System (ADS)
Larsen, T.; Doll, J. C.; Loizeau, F.; Hosseini, N.; Peng, A. W.; Fantner, G. E.; Ricci, A. J.; Pruitt, B. L.
2017-04-01
Electrothermal actuators have many advantages compared to other actuators used in micro-electro-mechanical systems (MEMS). They are simple to design, easy to fabricate and provide large displacements at low voltages. Low voltages enable less stringent passivation requirements for operation in liquid. Despite these advantages, thermal actuation is typically limited to a few kHz bandwidth when using step inputs due to its intrinsic thermal time constant. However, the use of pre-shaped input signals offers a route for reducing the rise time of these actuators by orders of magnitude. We started with an electrothermally actuated cantilever having an initial 10–90% rise time of 85 μs in air and 234 μs in water for a standard open-loop step input. We experimentally characterized the linearity and frequency response of the cantilever when operated in air and water, allowing us to obtain transfer functions for the two cases. We used these transfer functions, along with functions describing desired reduced rise-time system responses, to numerically simulate the required input signals. Using these pre-shaped input signals, we improved the open-loop 10–90% rise time from 85 μs to 3 μs in air and from 234 μs to 5 μs in water, an improvement by a factor of 28 and 47, respectively. Using this simple control strategy for MEMS electrothermal actuators makes them an attractive alternative to other high speed micromechanical actuators such as piezoelectric stacks or electrostatic comb structures which are more complex to design, fabricate, or operate.
Optimal energy-splitting method for an open-loop liquid crystal adaptive optics system.
Cao, Zhaoliang; Mu, Quanquan; Hu, Lifa; Liu, Yonggang; Peng, Zenghui; Yang, Qingyun; Meng, Haoran; Yao, Lishuang; Xuan, Li
2012-08-13
A waveband-splitting method is proposed for open-loop liquid crystal adaptive optics systems (LC AOSs). The proposed method extends the working waveband, splits energy flexibly, and improves detection capability. Simulated analysis is performed for a waveband in the range of 350 nm to 950 nm. The results show that the optimal energy split is 7:3 for the wavefront sensor (WFS) and for the imaging camera with the waveband split into 350 nm to 700 nm and 700 nm to 950 nm, respectively. A validation experiment is conducted by measuring the signal-to-noise ratio (SNR) of the WFS and the imaging camera. The results indicate that for the waveband-splitting method, the SNR of WFS is approximately equal to that of the imaging camera with a variation in the intensity. On the other hand, the SNR of the WFS is significantly different from that of the imaging camera for the polarized beam splitter energy splitting scheme. Therefore, the waveband-splitting method is more suitable for an open-loop LC AOS. An adaptive correction experiment is also performed on a 1.2-meter telescope. A star with a visual magnitude of 4.45 is observed and corrected and an angular resolution ability of 0.31″ is achieved. A double star with a combined visual magnitude of 4.3 is observed as well, and its two components are resolved after correction. The results indicate that the proposed method can significantly improve the detection capability of an open-loop LC AOS.
Ruan, Hang; Li, Jian; Zhang, Lei; Long, Teng
2015-08-28
For vehicle positioning with Global Navigation Satellite System (GNSS) in urban areas, open-loop tracking shows better performance because of its high sensitivity and superior robustness against multipath. However, no previous study has focused on the effects of the code search grid size on the code phase measurement accuracy of open-loop tracking. Traditional open-loop tracking methods are performed by the batch correlators with fixed correlation space. The code search grid size, which is the correlation space, is a constant empirical value and the code phase measuring accuracy will be largely degraded due to the improper grid size, especially when the signal carrier-to-noise density ratio (C/N₀) varies. In this study, the Adaptive Correlation Space Adjusted Open-Loop Tracking Approach (ACSA-OLTA) is proposed to improve the code phase measurement dependent pseudo range accuracy. In ACSA-OLTA, the correlation space is adjusted according to the signal C/N₀. The novel Equivalent Weighted Pseudo Range Error (EWPRE) is raised to obtain the optimal code search grid sizes for different C/N₀. The code phase measuring errors of different measurement calculation methods are analyzed for the first time. The measurement calculation strategy of ACSA-OLTA is derived from the analysis to further improve the accuracy but reduce the correlator consumption. Performance simulation and real tests confirm that the pseudo range and positioning accuracy of ASCA-OLTA are better than the traditional open-loop tracking methods in the usual scenarios of urban area.
NASA Technical Reports Server (NTRS)
Purdy, K. R.; Ventrice, M. B.; Fang, J.
1972-01-01
Analytical and experimental studies were initiated to determine if the response of a constant temperature hot wire anemometer to acoustic oscillations could serve as an analog to the response of the drop vaporization burning rate process to acoustic oscillations, and, perhaps, also as an analog to any Reynolds number dependent process. The motivation behind this study was a recent analytical study which showed that distorted acoustic oscillations could amplify the open-loop response of vaporization limited combustion. This type of amplification may be the cause of unstable combustion in liquid propellant rocket engines. The analytical results obtained for the constant temperature anemometer are similar in nature to those previously obtained for vaporization limited combustion and indicate that the response is dependent on the amount and type of distortion as well as other factors, such as sound pressure level, Mach number and hot wire temperature. Preliminary results indicate qualitative agreement between theory and experiment.
NASA Astrophysics Data System (ADS)
Fan, Shangchun; Wang, Yijun
2006-11-01
As a core component for open-loop characteristics testing system of micro-sensor, quality of signal source influences the integer performances of testing system directly. The method to generate special signal of open-loop testing system of resonant micro-sensor are discussed in this paper, and a method of direct digital frequency synthesize (DDS) to develop the special signal source of the testing system is proposed. A designation approach based on DSP and FPGA in the realization of DDS is advocated. Finally a simulation is made using the MATLAB. The principle of DDS is also introduced.
All-digital signal-processing open-loop fiber-optic gyroscope with enlarged dynamic range.
Wang, Qin; Yang, Chuanchuan; Wang, Xinyue; Wang, Ziyu
2013-12-15
We propose and realize a new open-loop fiber-optic gyroscope (FOG) with an all-digital signal-processing (DSP) system where an all-digital phase-locked loop is employed for digital demodulation to eliminate the variation of the source intensity and suppress the bias drift. A Sagnac phase-shift tracking method is proposed to enlarge the dynamic range, and, with its aid, a new open-loop FOG, which can achieve a large dynamic range and high sensitivity at the same time, is realized. The experimental results show that compared with the conventional open-loop FOG with the same fiber coil and optical devices, the proposed FOG reduces the bias instability from 0.259 to 0.018 deg/h, and the angle random walk from 0.031 to 0.006 deg/h(1/2), moreover, enlarges the dynamic range to ±360 deg/s, exceeding the maximum dynamic range ±63 deg/s of the conventional open-loop FOG.
Ruan, Hang; Li, Jian; Zhang, Lei; Long, Teng
2015-01-01
For vehicle positioning with Global Navigation Satellite System (GNSS) in urban areas, open-loop tracking shows better performance because of its high sensitivity and superior robustness against multipath. However, no previous study has focused on the effects of the code search grid size on the code phase measurement accuracy of open-loop tracking. Traditional open-loop tracking methods are performed by the batch correlators with fixed correlation space. The code search grid size, which is the correlation space, is a constant empirical value and the code phase measuring accuracy will be largely degraded due to the improper grid size, especially when the signal carrier-to-noise density ratio (C/N0) varies. In this study, the Adaptive Correlation Space Adjusted Open-Loop Tracking Approach (ACSA-OLTA) is proposed to improve the code phase measurement dependent pseudo range accuracy. In ACSA-OLTA, the correlation space is adjusted according to the signal C/N0. The novel Equivalent Weighted Pseudo Range Error (EWPRE) is raised to obtain the optimal code search grid sizes for different C/N0. The code phase measuring errors of different measurement calculation methods are analyzed for the first time. The measurement calculation strategy of ACSA-OLTA is derived from the analysis to further improve the accuracy but reduce the correlator consumption. Performance simulation and real tests confirm that the pseudo range and positioning accuracy of ASCA-OLTA are better than the traditional open-loop tracking methods in the usual scenarios of urban area. PMID:26343683
Open-loop correction for an eddy current dominated beam-switching magnet
Koseki, K. Nakayama, H.; Tawada, M.
2014-04-15
A beam-switching magnet and the pulsed power supply it requires have been developed for the Japan Proton Accelerator Research Complex. To switch bunched proton beams, the dipole magnetic field must reach its maximum value within 40 ms. In addition, the field flatness should be less than 5 × 10{sup −4} to guide each bunched beam to the designed orbit. From a magnetic field measurement by using a long search coil, it was found that an eddy current in the thick endplates and laminated core disturbs the rise of the magnetic field. The eddy current also deteriorates the field flatness over the required flat-top period. The measured field flatness was 5 × 10{sup −3}. By using a double-exponential equation to approximate the measured magnetic field, a compensation pattern for the eddy current was calculated. The integrated magnetic field was measured while using the newly developed open-loop compensation system. A field flatness of less than 5 × 10{sup −4}, which is an acceptable value, was achieved.
Bacurau, Rodrigo M; Spengler, Anderson W; Dante, Alex; Morais, Flávio J O; Duarte, Luis F C; Ribeiro, Luiz E B; Ferreira, Elnatan C
2016-11-15
A technique to eliminate the offset drift in the demodulator circuitry of open-loop interferometric fiber optic gyroscopes is presented. This technique employs a demodulation scheme that uses the area of the negative half-cycles of the output signal of a sinusoidally modulated gyroscope to obtain the angular velocity. We propose an electronic circuitry that periodically reverses the demodulator input, allowing for the acquisition of two samples of the gyroscope signal with the same magnitude and opposite polarities. The angular velocity is obtained from the subtraction of these two samples, suppressing the electronic offset. Experiments showed that the proposed method reduces the demodulator offset drift from 4.4 μV/°C to about 14 nV/°C, which is equivalent to a reduction, from 0.2 deg/h/°C to about 0.0006 deg/h/°C in the tested gyroscope. The proposed technique improved the bias stability of the tested gyroscope from 0.0162 to 0.0071 deg/h.
Performance enhancement of open loop gas recovery process by centrifugal separation of gases
NASA Astrophysics Data System (ADS)
Kalmani, S. D.; Joshi, A. V.; Bhattacharya, S.; Hunagund, P. V.
2016-11-01
The proposed INO-ICAL detector [1] is going to be instrumented with 28800 RPCs (Resistive Plate Chamber). These RPCs (2 × 2 m2 size) will consist of two glass electrodes separated by 2 mm and will use a gas mixture of Freon R134a, isobutane and sulphur hexafluoride (in the ratio of 95.3:4.5:0.2). An Open Ended System (OES), in which the gas mixture is vented to the atmosphere after a single passage through the detector, is most commonly used for small detector setups. However, OES cannot be used with the INO-ICAL detector due to reasons of cost and pollution. It is necessary, therefore, to recirculate the gas mixture in a closed loop. In a Closed Loop gas System (CLS) [2] the gas mixture is purified and recirculated after flowing through the RPC. The impurities which get accumulated in the gas mixture due to leaks or formation of radicals are removed by suitable filters. The Open Loop System (OLS) [3] is based on the separation and recovery of major gas components after passage of the gas mixture through the RPCs. and has the advantage that it does not need filters for removal of impurities. However a CLS is found to be more efficient than OLS in the recovery of gases in the mixture. In this paper we discuss centrifugal separation [4] as a technique to extract major gas constituents and use this technique to improve the efficiency of OLS. Results from preliminary trial runs are reported.
Albumin dialysis in artificial liver support systems: open-loop or closed-loop dialysis mode?
Pei, Yingying; Sun, Yize; Sun, Sijie; Gao, Dayong; Ding, Weiping
2015-01-01
In artificial liver support systems, the open-loop albumin dialysis mode (OLM) is usually used to remove protein-bound toxins from the blood of patients with liver failure. However, there is still interest in the closed-loop albumin dialysis mode (CLM) because this mode may enable not only the regeneration and reuse of albumin but also the miniaturization of artificial liver systems. In this article, we compared the two modes under a fixed amount of albumin in dialysate experimentally and theoretically. The results show that according to the detoxification efficiency in the 3 hour dialysis for removing albumin-bound bilirubin, CLM is better than OLM. The usage efficiency of albumin in CLM is also higher. Moreover, the advantage of CLM is more significant when the concentration of bilirubin in blood is lower. Under a given amount of albumin in dialysate, if the concentration of bilirubin in blood is high, one may further increase the performance of CLM by means of increasing the flow rate of the albumin dialysate or using the highly concentrated albumin dialysate.
Open Loop Heat Pipe Radiator Having a Free-Piston for Wiping Condensed Working Fluid
NASA Technical Reports Server (NTRS)
Weinstein, Leonard M. (Inventor)
2015-01-01
An open loop heat pipe radiator comprises a radiator tube and a free-piston. The radiator tube has a first end, a second end, and a tube wall, and the tube wall has an inner surface and an outer surface. The free-piston is enclosed within the radiator tube and is capable of movement within the radiator tube between the first and second ends. The free-piston defines a first space between the free-piston, the first end, and the tube wall, and further defines a second space between the free-piston, the second end, and the tube wall. A gaseous-state working fluid, which was evaporated to remove waste heat, alternately enters the first and second spaces, and the free-piston wipes condensed working fluid from the inner surface of the tube wall as the free-piston alternately moves between the first and second ends. The condensed working fluid is then pumped back to the heat source.
An open-loop RFOG based on harmonic division technique to suppress LD's intensity modulation noise
NASA Astrophysics Data System (ADS)
Ying, Diqing; Wang, Zeyu; Mao, Jianmin; Jin, Zhonghe
2016-11-01
A harmonic division technique is proposed for an open-loop resonator fiber optic gyro (RFOG) to suppress semiconductor laser diode's (LD's) intensity modulation noise. The theoretical study indicates the RFOG with this technique is immune to the intensity noise. The simulation and experimental results show this technique would lead to a diminished linear region, which still could be acceptable for an RFOG applied to low rotation rate detection. The tests for the gyro output signal are carried out with/without noise suppressing methods, including the harmonic division technique and previously proposed signal compensation technique. With the harmonic division technique at the rotation rate of 10 deg/s, the stability of gyro output signal is improved from 1.07 deg/s to 0.0361 deg/s, whose noise suppressing ratio is more than 3 times as that of the signal compensation technique. And especially, a 3.12 deg/s signal jump is significantly removed with the harmonic division technique; in contrast, a residual 0.36 deg/s signal jump still exists with the signal compensation technique. It is concluded the harmonic division technique does work in intensity noise suppressing under dynamic condition, and it is superior to the signal compensation technique.
Perception can influence the vergence responses associated with open-loop gaze shifts in 3D
Sheliga, B. M.; Miles, F. A.
2006-01-01
We sought to determine if perceived depth can elicit vergence eye movements independent of binocular disparity. A flat surface in the frontal plane appears slanted about a vertical axis when the image in one eye is vertically compressed relative to the image in the other eye: the induced size effect (Ogle, 1938). We show that vergence eye movements accompany horizontal gaze shifts across such surfaces, consistent with the direction of the perceived slant, despite the absence of a horizontal disparity gradient. All images were extinguished during the gaze shifts so that eye movements were executed open-loop. We also used vertical compression of one eye’s image to null the perceived slant resulting from prior horizontal compression of that image, and show that this reduces the vergence accompanying horizontal gaze shifts across the surface, even though the horizontal disparity is unchanged. When this last experiment was repeated using vertical expansions in place of the vertical compressions, the perceived slant was increased and so too was the vergence accompanying horizontal gaze shifts, although the horizontal disparity again remained unchanged. We estimate that the perceived depth accounted, on average, for 15–41% of the vergence in our experiments depending on the conditions. PMID:14765951
The Impact of an Open Loop Geothermal System with Multiple Wells on Groundwater Temperature
NASA Astrophysics Data System (ADS)
Susanto, S.
2015-12-01
As the demand of groundwater as a source of energy has increased in recent years, the Upper Carbonate Aquifer beneath the City of Winnipeg is heavily utilized for cooling and heating. Majority open loop systems discharge thermal wastewater into the aquifer and increase the groundwater temperature. A numerical model was developed to study the impact of a geothermal system with multiple wells located in the Tuxedo area on groundwater temperature. Analysis was performed using SEAWAT with GUI Visual MODFLOW. Surface elevation, model boundary and wells locations were developed using ArcGIS. The model was run in steady state flow for static water level calibration and in transient mode for calibration using data of a pumping test. Preliminary investigation with three years simulation predicts a 600 m by 660 m area of temperature increase. Groundwater temperature in production wells will increase 0.5°C within 2 years and 1°C within 3 years. Factors that influence the temperature changes and its distribution in the groundwater are production flow rate, recharge flow rate, groundwater flow, return water distribution into recharge wells, distance between production wells and recharge wells, spacing between recharge wells, and layout of geothermal pumping wells. The simulated and observed temperature increase is mainly caused by higher production rate for cooling than for heating. The result from this study will strongly contribute knowledge in the development of a 3D numerical model of the Upper Carbonate Aquifer beneath the City of Winnipeg to investigate the impact of geothermal systems to the groundwater temperature.
NASA Astrophysics Data System (ADS)
Park, D. K.; Bae, G. O.; Lee, K. K.
2014-12-01
The open-loop geothermal system directly uses a relatively stable temperature of groundwater for cooling and heating in buildings and thus has been known as an eco-friendly, energy-saving, and cost-efficient technique. The facility for this system was installed at a site located near Paldang-dam in Han-river, Korea. Because of the well-developed alluvium, the site might be appropriate to application of this system requiring extraction and injection of a large amount of groundwater. A simple numerical experiment assuming various hydrogeologic conditions demonstrated that regional groundwater flow direction was the most important factor for efficient operation of facility in this site having a highly permeable layer. However, a comparison of river stage data and groundwater level measurements showed that the daily and seasonal controls of water level at Paldang-dam have had a critical influence on the regional groundwater flow in the site. Moreover, nitrate concentrations measured in the monitoring wells gave indication of the effect of agricultural activities around the facility on the groundwater quality. The facility operation, such as extraction and injection of groundwater, will obviously affect transport of the agricultural contaminant and, maybe, it will even cause serious problems in the normal operation. Particularly, the high-permeable layer in this aquifer must be a preferential path for quick spreadings of thermal and contaminant plumes. The objective of this study was to find an efficient, safe and stable operation plan of the open-loop geothermal system installed in this site having the complicated conditions of highly permeable layer, variable regional groundwater flow, and agricultural contamination. Numerical simulations for groundwater flow, heat and solute transport were carried out to analyze all the changes in groundwater level and flow, temperature, and quality according to the operation, respectively. Results showed that an operation plan for
Open-loop frequency acquisition for suppressed-carrier biphase signals using one-pole arm filters
NASA Technical Reports Server (NTRS)
Shah, B.; Holmes, J. K.
1991-01-01
Open loop frequency acquisition performance is discussed for suppressed carrier binary phase shift keyed signals in terms of the probability of detecting the carrier frequency offset when the arms of the Costas loop detector have one pole filters. The approach, which does not require symbol timing, uses fast Fourier transforms (FFTs) to detect the carrier frequency offset. The detection probability, which depends on both the 3 dB arm filter bandwidth and the received symbol signal to noise ratio, is derived and is shown to be independent of symbol timing. It is shown that the performance of this technique is slightly better that other open loop acquisition techniques which use integrators in the arms and whose detection performance varies with symbol timing.
Flow characteristics of continuous-flow left ventricular assist devices in a novel open-loop system.
Stanfield, J Ryan; Selzman, Craig H; Pardyjak, Eric R; Bamberg, Stacy
2012-01-01
Fluid-pumping technology is a mature engineering subject area with a well-documented knowledge base. However, the pump design optimization techniques accepted in industry are geared toward steady-state constant-flow conditions. In contrast, the implantation of a continuous-flow pump to aid the output of the human left ventricle subjects the device to perpetual variation. This study measures pressure-flow performance characteristics for both axial- and centrifugal continuous-flow rotary blood pumps across a wide range of pressure differential values under uniform conditions by means of a novel open-loop flow system. The axial-flow devices show lower hydraulic efficiency. All pumps yield best efficiency point at a head to flow coefficient ratio of approximately 1.7. The open-loop flow system accounts for the dynamic changes associated with human heart physiology and allows for more precise characterization of existing heart pumps and those in development.
MaTrace: tracing the fate of materials over time and across products in open-loop recycling.
Nakamura, Shinichiro; Kondo, Yasushi; Kagawa, Shigemi; Matsubae, Kazuyo; Nakajima, Kenichi; Nagasaka, Tetsuya
2014-07-01
Even for metals, open-loop recycling is more common than closed-loop recycling due, among other factors, to the degradation of quality in the end-of-life (EoL) phase. Open-loop recycling is subject to loss of functionality of original materials, dissipation in forms that are difficult to recover, and recovered metals might need dilution with primary metals to meet quality requirements. Sustainable management of metal resources calls for the minimization of these losses. Imperative to this is quantitative tracking of the fate of materials across different stages, products, and losses. A new input-output analysis (IO) based model of dynamic material flow analysis (MFA) is presented that can trace the fate of materials over time and across products in open-loop recycling taking explicit consideration of losses and the quality of scrap into account. Application to car steel recovered from EoL vehicles (ELV) showed that after 50 years around 80% of the steel is used in products, mostly buildings and civil engineering (infrastructure), with the rest mostly resided in unrecovered obsolete infrastructure and refinery losses. Sensitivity analysis was conducted to evaluate the effects of changes in product lifespan, and the quality of scrap.
Open-loop GPS signal tracking at low elevation angles from a ground-based observation site
NASA Astrophysics Data System (ADS)
Beyerle, Georg; Zus, Florian
2017-01-01
A 1-year data set of ground-based GPS signal observations aiming at geometric elevation angles below +2° is analysed. Within the "GLESER" measurement campaign about 2600 validated setting events were recorded by the "OpenGPS" open-loop tracking receiver at an observation site located at 52.3808° N, 13.0642° E between January and December 2014. The measurements confirm the feasibility of open-loop signal tracking down to geometric elevation angles of -1 to -1.5° extending the corresponding closed-loop tracking range by up to 1°. The study is based on the premise that observations of low-elevation events by a ground-based receiver may serve as test cases for space-based radio occultation measurements, even if the latter proceed at a significantly faster temporal scale. The results support the conclusion that the open-loop Doppler model has negligible influence on the derived carrier frequency profile for strong signal-to-noise density ratios above about 30 dB Hz. At lower signal levels, however, the OpenGPS receiver's dual-channel design, which tracks the same signal using two Doppler models differing by 10 Hz, uncovers a notable bias. The repeat patterns of the GPS orbit traces in terms of azimuth angle reveal characteristic signatures in both signal amplitude and Doppler frequency with respect to the topography close to the observation site. Mean vertical refractivity gradients, extracted from ECMWF meteorological fields, correlate weakly to moderately with observed signal amplitude fluctuations at geometric elevation angles between +1 and +2°. Results from multiple phase screen simulations support the interpretation that these fluctuations are at least partly produced by atmospheric multipath; at negative elevation angles diffraction at the ground surface seems to contribute.
Akimoto, Toshinari; Sugawara, Jun; Ichikawa, Daisuke; Terada, Nobuyuki; Fadel, Paul J; Ogoh, Shigehiko
2011-11-01
The neural interaction between the cardiopulmonary and arterial baroreflex may be critical for the regulation of blood pressure during orthostatic stress. However, studies have reported conflicting results: some indicate increases and others decreases in cardiac baroreflex sensitivity (i.e., gain) with cardiopulmonary unloading. Thus the effect of orthostatic stress-induced central hypovolemia on regulation of heart rate via the arterial baroreflex remains unclear. We sought to comprehensively assess baroreflex function during orthostatic stress by identifying and comparing open- and closed-loop dynamic cardiac baroreflex gains at supine rest and during 60° head-up tilt (HUT) in 10 healthy men. Closed-loop dynamic "spontaneous" cardiac baroreflex sensitivities were calculated by the sequence technique and transfer function and compared with two open-loop carotid-cardiac baroreflex measures using the neck chamber system: 1) a binary white-noise method and 2) a rapid-pulse neck pressure-neck suction technique. The gain from the sequence technique was decreased from -1.19 ± 0.14 beats·min(-1)·mmHg(-1) at rest to -0.78 ± 0.10 beats·min(-1)·mmHg(-1) during HUT (P = 0.005). Similarly, closed-loop low-frequency baroreflex transfer function gain was reduced during HUT (P = 0.033). In contrast, open-loop low-frequency transfer function gain between estimated carotid sinus pressure and heart rate during white-noise stimulation was augmented during HUT (P = 0.01). This result was consistent with the maximal gain of the carotid-cardiac baroreflex stimulus-response curve (from 0.47 ± 0.15 beats·min(-1)·mmHg(-1) at rest to 0.60 ± 0.20 beats·min(-1)·mmHg(-1) at HUT, P = 0.037). These findings suggest that open-loop cardiac baroreflex gain was enhanced during HUT. Moreover, under closed-loop conditions, spontaneous baroreflex analyses without external stimulation may not represent open-loop cardiac baroreflex characteristics during orthostatic stress.
A LabVIEW model incorporating an open-loop arterial impedance and a closed-loop circulatory system.
Cole, R T; Lucas, C L; Cascio, W E; Johnson, T A
2005-11-01
While numerous computer models exist for the circulatory system, many are limited in scope, contain unwanted features or incorporate complex components specific to unique experimental situations. Our purpose was to develop a basic, yet multifaceted, computer model of the left heart and systemic circulation in LabVIEW having universal appeal without sacrificing crucial physiologic features. The program we developed employs Windkessel-type impedance models in several open-loop configurations and a closed-loop model coupling a lumped impedance and ventricular pressure source. The open-loop impedance models demonstrate afterload effects on arbitrary aortic pressure/flow inputs. The closed-loop model catalogs the major circulatory waveforms with changes in afterload, preload, and left heart properties. Our model provides an avenue for expanding the use of the ventricular equations through closed-loop coupling that includes a basic coronary circuit. Tested values used for the afterload components and the effects of afterload parameter changes on various waveforms are consistent with published data. We conclude that this model offers the ability to alter several circulatory factors and digitally catalog the most salient features of the pressure/flow waveforms employing a user-friendly platform. These features make the model a useful instructional tool for students as well as a simple experimental tool for cardiovascular research.
NASA Technical Reports Server (NTRS)
Ventrice, M. B.; Purdy, K. R.
1974-01-01
The response of a constant-temperature hot-wire anemometer to sinusoidal and distorted sinusoidal acoustic oscillations is examined. The output of the anemometer is dependent upon the Reynolds number of the flow over the wire. The response is a measure of the interaction between the anemometer output and the acoustic pressure in the neighborhood of the wire. It is an open-loop prediction of the characteristics of actual closed-loop operation of a system. If the open-loop response is large enough, unstable closed-loop operation is predicted. The study was motivated by a need to investigate the stability limits of liquid-propellant rockets when perturbed by pressure oscillations. The sinusoidal and distorted sinusoidal acoustic oscillations used for this study are the same as those characteristic of unstable rocket combustion. Qualitatively, the results are similar--the response of the system to pure sinusoidal acoustic vibration of the fluid surrounding the wire is small, even when the magnitude of the acoustic pressure is quite large; but the response can be increased by as much as an order of magnitude with respect to the sinusoidal case by the addition of distortion. The amplitude and phase of the distortion component, relative to the fundamental component, are the dominant factors in the increase in the response.
Open-loop GPS signal tracking at low elevation angles from a ground-based observation site
NASA Astrophysics Data System (ADS)
Beyerle, Georg; Zus, Florian
2016-04-01
For more than a decade space-based global navigation satellite system (GNSS) radio occultation (RO) observations are used by meteorological services world-wide for their numerical weather prediction models. In addition, climate studies increasingly rely on validated GNSS-RO data sets of atmospheric parameters. GNSS-RO profiles typically cover an altitude range from the boundary layer up to the upper stratosphere; their highest accuracy and precision, however, are attained at the tropopause level. In the lower troposphere, multipath ray propagation tend to induce signal amplitude and frequency fluctuations which lead to the development and implementation of open-loop signal tracking methods in GNSS-RO receiver firmwares. In open-loop mode the feed-back values for the carrier tracking loop are derived not from measured data, but from a Doppler frequency model which usually is extracted from an atmospheric climatology. In order to ensure that this receiver-internal parameter set, does not bias the carrier phase path observables, dual-channel open-loop GNSS-RO signal tracking was suggested. Following this proposal the ground-based "GLESER" (GPS low-elevation setting event recorder) campaign was established. Its objective was to disproof the existence of model-induced frequency biases using ground-based GPS observations at very low elevation angles. Between January and December 2014 about 2600 validated setting events, starting at geometric elevation angles of +2° and extending to -1°… - 1.5°, were recorded by the single frequency "OpenGPS" GPS receiver at a measurement site located close to Potsdam, Germany (52.3808°N, 13.0642°E). The study is based on the assumption that these ground-based observations may be used as proxies for space-based RO measurements, even if the latter occur on a one order of magnitude faster temporal scale. The "GLESER" data analysis shows that the open-loop Doppler model has negligible influence on the derived frequency profile
NASA Astrophysics Data System (ADS)
de La Bernardie, Jérôme; de Dreuzy, Jean-Raynald; Bour, Olivier; Thierion, Charlotte; Ausseur, Jean-Yves; Lesuer, Hervé; Le Borgne, Tanguy
2016-04-01
Geothermal energy is a renewable energy source particularly attractive due to associated low greenhouse gas emission rates. Crystalline rocks are in general considered of poor interest for geothermal applications at shallow depths (< 100m), because of the low permeability of the medium. In some cases, fractures may enhance permeability, but thermal energy storage at these shallow depths is still remaining very challenging because of the complexity of fractured media. The purpose of this study is to test the possibility of efficient thermal energy storage in shallow fractured rocks with a single well semi open loop heat exchanger (standing column well). For doing so, a simplified numerical model of fractured media is considered with few fractures. Here we present the different steps for building the model and for achieving the sensitivity analysis. First, an analytical and dimensional study on the equations has been achieved to highlight the main parameters that control the optimization of the system. In a second step, multiphysics software COMSOL was used to achieve numerical simulations in a very simplified model of fractured media. The objective was to test the efficiency of such a system to store and recover thermal energy depending on i) the few parameters controlling fracture network geometry (size and number of fractures) and ii) the frequency of cycles used to store and recover thermal energy. The results have then been compared to reference shallow geothermal systems already set up for porous media. Through this study, relationships between structure, heat exchanges and storage may be highlighted.
NASA Astrophysics Data System (ADS)
Choi, Junil; Love, David J.; Bidigare, Patrick
2014-10-01
The concept of deploying a large number of antennas at the base station, often called massive multiple-input multiple-output (MIMO), has drawn considerable interest because of its potential ability to revolutionize current wireless communication systems. Most literature on massive MIMO systems assumes time division duplexing (TDD), although frequency division duplexing (FDD) dominates current cellular systems. Due to the large number of transmit antennas at the base station, currently standardized approaches would require a large percentage of the precious downlink and uplink resources in FDD massive MIMO be used for training signal transmissions and channel state information (CSI) feedback. To reduce the overhead of the downlink training phase, we propose practical open-loop and closed-loop training frameworks in this paper. We assume the base station and the user share a common set of training signals in advance. In open-loop training, the base station transmits training signals in a round-robin manner, and the user successively estimates the current channel using long-term channel statistics such as temporal and spatial correlations and previous channel estimates. In closed-loop training, the user feeds back the best training signal to be sent in the future based on channel prediction and the previously received training signals. With a small amount of feedback from the user to the base station, closed-loop training offers better performance in the data communication phase, especially when the signal-to-noise ratio is low, the number of transmit antennas is large, or prior channel estimates are not accurate at the beginning of the communication setup, all of which would be mostly beneficial for massive MIMO systems.
New numerical methods for open-loop and feedback solutions to dynamic optimization problems
NASA Astrophysics Data System (ADS)
Ghosh, Pradipto
The topic of the first part of this research is trajectory optimization of dynamical systems via computational swarm intelligence. Particle swarm optimization is a nature-inspired heuristic search method that relies on a group of potential solutions to explore the fitness landscape. Conceptually, each particle in the swarm uses its own memory as well as the knowledge accumulated by the entire swarm to iteratively converge on an optimal or near-optimal solution. It is relatively straightforward to implement and unlike gradient-based solvers, does not require an initial guess or continuity in the problem definition. Although particle swarm optimization has been successfully employed in solving static optimization problems, its application in dynamic optimization, as posed in optimal control theory, is still relatively new. In the first half of this thesis particle swarm optimization is used to generate near-optimal solutions to several nontrivial trajectory optimization problems including thrust programming for minimum fuel, multi-burn spacecraft orbit transfer, and computing minimum-time rest-to-rest trajectories for a robotic manipulator. A distinct feature of the particle swarm optimization implementation in this work is the runtime selection of the optimal solution structure. Optimal trajectories are generated by solving instances of constrained nonlinear mixed-integer programming problems with the swarming technique. For each solved optimal programming problem, the particle swarm optimization result is compared with a nearly exact solution found via a direct method using nonlinear programming. Numerical experiments indicate that swarm search can locate solutions to very great accuracy. The second half of this research develops a new extremal-field approach for synthesizing nearly optimal feedback controllers for optimal control and two-player pursuit-evasion games described by general nonlinear differential equations. A notable revelation from this development
NASA Astrophysics Data System (ADS)
Fossoul, F.; Orban, P.; Dassargues, A.; Hydrogeology; Environmental Geology
2011-12-01
Innovative and efficient strategies for energy use become a priority, especially in civil engineering. Geothermal open-loop systems (geothermal wells) are not so developed in Belgium contrary to close-loop systems. This is generally due to the lack of relevant dimensioning and impact study that must be foreseen during the planning phases of the building. However, as shallow groundwater is widely available, geothermal wells potential is significant. Using both experimental and numerical tools, our aim is to develop a rigorous methodology to design heating and cooling shallow geothermal wells (pumping/reinjection), with a detailed hydrogeological characterization coupled to feasibility, environmental impact assessment, dimensioning, and system sustainability. Concerning numerical modeling, Groundwater flow and heat transfer is computed using different codes (HydroGeoSphere, MT3DMS and SHEMAT) for a comparative sensitivity analysis on a typical case. Coupling and temperature non linearities of hydro-thermal parameters values are checked accurately. As shown previously, small temperature variations (temperatures ranging from 12 to 25 °C) allow to use conventional solute transport codes for modeling heat transfer in groundwater taking benefits of the similarities between solute transport and heat transfer equations. When numerical codes are used as dimensioning tools for long-term simulations, reliable values for hydro-thermal properties of the aquifer are essential. As very few experimental values are available in the literature, field experiments are needed to determine more accurately the local values in different geological/hydrogeological conditions. Apart from thermal response tests (TRT) usually performed for designing a close-loop system within a borehole considered in static groundwater conditions, there is no standard procedure for geothermal wells systems. In an open-loop system, groundwater movement induced by the pumping is responsible for a major heat
Advanced Hybrid Spacesuit Concept Featuring Integrated Open Loop and Closed Loop Ventilation Systems
NASA Technical Reports Server (NTRS)
Daniel, Brian A.; Fitzpatrick, Garret R.; Gohmert, Dustin M.; Ybarra, Rick M.; Dub, Mark O.
2013-01-01
A document discusses the design and prototype of an advanced spacesuit concept that integrates the capability to function seamlessly with multiple ventilation system approaches. Traditionally, spacesuits are designed to operate both dependently and independently of a host vehicle environment control and life support system (ECLSS). Spacesuits that operate independent of vehicle-provided ECLSS services must do so with equipment selfcontained within or on the spacesuit. Suits that are dependent on vehicle-provided consumables must remain physically connected to and integrated with the vehicle to operate properly. This innovation is the design and prototype of a hybrid spacesuit approach that configures the spacesuit to seamlessly interface and integrate with either type of vehicular systems, while still maintaining the ability to function completely independent of the vehicle. An existing Advanced Crew Escape Suit (ACES) was utilized as the platform from which to develop the innovation. The ACES was retrofitted with selected components and one-off items to achieve the objective. The ventilation system concept was developed and prototyped/retrofitted to an existing ACES. Components were selected to provide suit connectors, hoses/umbilicals, internal breathing system ducting/ conduits, etc. The concept utilizes a lowpressure- drop, high-flow ventilation system that serves as a conduit from the vehicle supply into the suit, up through a neck seal, into the breathing helmet cavity, back down through the neck seal, out of the suit, and returned to the vehicle. The concept also utilizes a modified demand-based breathing system configured to function seamlessly with the low-pressure-drop closed-loop ventilation system.
NASA Astrophysics Data System (ADS)
Ying, Diqing; Mao, Jianmin; Li, Qiang; Jin, Zhonghe
2016-01-01
A miniaturized compact open-loop resonator fiber optic gyro (RFOG) prototype with main body size of about 10.4 cm×10.4 cm×5.2 cm is reported, and a demodulation signal compensation technique is proposed, aiming to suppress the drift arising from accompanying intensity modulation induced by semiconductor laser diode (LD). The scheme of how to establish this miniaturized RFOG prototype is specifically stated. The linear relationship between the first-harmonic and second-harmonic demodulated signals respectively for the two counter propagating beams in the resonator is verified by theory and experiment, and based on this relationship, the demodulation signal compensation technique by monitoring the second-harmonic demodulated signal is described in detail. With this compensation technique, the gyro output stability under 1°/s rotation rate is effectively improved from 0.12°/s to 0.03°/s, and especially, an about 0.36°/s peak-to-peak fluctuation due to tuning current reset is significantly suppressed. A long term bias stability of about 4.5°/h in 1 h for such a small-sized RFOG prototype is demonstrated, which is of the same magnitude as that of currently reported large-sized RFOG systems utilizing LD as the laser source as well.
NASA Astrophysics Data System (ADS)
You, Seung-Han; Cho, Young Man; Hahn, Jin-Oh
2013-04-01
This study presents a component-level failure detection and identification (FDI) algorithm for a cascade mechanical system subsuming a plant driven by an actuator unit. The novelty of the FDI algorithm presented in this study is that it is able to discriminate failure occurring in the actuator unit, the sensor measuring the output of the actuator unit, and the plant driven by the actuator unit. The proposed FDI algorithm exploits the measurement of the actuator unit output together with its estimates generated by open-loop (OL) and closed-loop (CL) estimators to enable FDI at the component's level. In this study, the OL estimator is designed based on the system identification of the actuator unit. The CL estimator, which is guaranteed to be stable against variations in the plant, is synthesized based on the dynamics of the entire cascade system. The viability of the proposed algorithm is demonstrated using a hardware-in-the-loop simulation (HILS), which shows that it can detect and identify target failures reliably in the presence of plant uncertainties.
A new open-loop fiber optic gyro error compensation method based on angular velocity error modeling.
Zhang, Yanshun; Guo, Yajing; Li, Chunyu; Wang, Yixin; Wang, Zhanqing
2015-02-27
With the open-loop fiber optic gyro (OFOG) model, output voltage and angular velocity can effectively compensate OFOG errors. However, the model cannot reflect the characteristics of OFOG errors well when it comes to pretty large dynamic angular velocities. This paper puts forward a modeling scheme with OFOG output voltage u and temperature T as the input variables and angular velocity error Δω as the output variable. Firstly, the angular velocity error Δω is extracted from OFOG output signals, and then the output voltage u, temperature T and angular velocity error Δω are used as the learning samples to train a Radial-Basis-Function (RBF) neural network model. Then the nonlinear mapping model over T, u and Δω is established and thus Δω can be calculated automatically to compensate OFOG errors according to T and u. The results of the experiments show that the established model can be used to compensate the nonlinear OFOG errors. The maximum, the minimum and the mean square error of OFOG angular velocity are decreased by 97.0%, 97.1% and 96.5% relative to their initial values, respectively. Compared with the direct modeling of gyro angular velocity, which we researched before, the experimental results of the compensating method proposed in this paper are further reduced by 1.6%, 1.4% and 1.42%, respectively, so the performance of this method is better than that of the direct modeling for gyro angular velocity.
Zhu, Zhaoyi; Mu, Quanquan; Li, Dayu; Yang, Chengliang; Cao, Zhaoliang; Hu, Lifa; Xuan, Li
2016-10-17
The centroid-based Shack-Hartmann wavefront sensor (SHWFS) treats the sampled wavefronts in the sub-apertures as planes, and the slopes of the sub-wavefronts are used to reconstruct the whole pupil wavefront. The problem is that the centroid method may fail to sense the high-order modes for strong turbulences, decreasing the precision of the whole pupil wavefront reconstruction. To solve this problem, we propose a sub-wavefront estimation method for SHWFS based on the focal plane sensing technique, by which more Zernike modes than the two slopes can be sensed in each sub-aperture. In this paper, the effects on the sub-wavefront estimation method of the related parameters, such as the spot size, the phase offset with its set amplitude and the pixels number in each sub-aperture, are analyzed and these parameters are optimized to achieve high efficiency. After the optimization, open-loop measurement is realized. For the sub-wavefront sensing, we achieve a large linearity range of 3.0 rad RMS for Zernike modes Z2 and Z3, and 2.0 rad RMS for Zernike modes Z4 to Z6 when the pixel number does not exceed 8 × 8 in each sub-aperture. The whole pupil wavefront reconstruction with the modified SHWFS is realized to analyze the improvements brought by the optimized sub-wavefront estimation method. Sixty-five Zernike modes can be reconstructed with a modified SHWFS containing only 7 × 7 sub-apertures, which could reconstruct only 35 modes by the centroid method, and the mean RMS errors of the residual phases are less than 0.2 rad^{2}, which is lower than the 0.35 rad^{2} by the centroid method.
Sahoo, Deepti; Andersson, Jonatan; Mattiasson, Bo
2009-06-01
Open-loop simulated moving bed (SMB) has been used for immobilized metal affinity chromatographic (IMAC) purification of his-tagged beta-glucosidase expressed in E. coli. A simplified approach based on an optimized single column protocol is used to design the open-loop SMB. A set of columns in the SMB represent one step in the chromatographic cycle i.e. there will be one set each of columns for load, wash, elution etc within the SMB. Only the wash and elution are operated with columns in sequence. The beta-glucosidase was purified to almost single band purity with a purification factor of 15 and a recovery of 91%. SMB-performance showed reduced buffer consumption, higher purification fold, a better yield and higher productivity.
NASA Technical Reports Server (NTRS)
Callier, F. M.; Desoer, C. A.
1974-01-01
The loop transformation technique (Sandberg, 1965; Zames, 1966, Willems, 1971), and the fixed point theorem (Schwartz, 1970) are used to derive the L(superscript-p) stability for a class of multivariable nonlinear time-varying feedback systems which are open-loop unstable. The application of the fixed point theorem in L(superscript-p) shows that the nonlinear feedback system has one and only one solution for any pair of inputs in L(superscript-p), that the solutions are continuously dependent on the inputs, and that the closed loop system is L(superscript-p)-stable for any p ranging from 1 to infinity.
NASA Astrophysics Data System (ADS)
Haase, J. S.; Murphy, B.; Wang, K. N.; Garrison, J. L.; Adhikari, L.; Xie, F.
2015-12-01
The development of hurricane Karl in 2010 was investigated with dropsonde and airborne radio occultation (ARO) measurements from the stage of tropical disturbance within an easterly wave through to genesis of the tropical storm. Infrared imagery showed deep convection with extensive cold cloud tops on 11 September however the storm failed to develop until 3 days later. One possible explanation is the horizontal offset of the mid and lower level circulation centers. We illustrate with airborne radio occultation measurements additional information on the moisture distribution during this stage of development that indicates that average mid-level moisture was lower the following day and then increased again over the next two days prior to development. High sample rate RF data recorded by the GNSS instrument system for multistatic and occultation sensing (GISMOS) was analyzed with a version of the Purdue Software Receiver that has open-loop tracking implemented. Open loop tracking eliminates the feedback loop of conventional receivers that fails in the complex signal propagation environment typical of atmosphere with sharp moisture gradients. The open-loop excess phase profiles routinely sample below 4 km, with half of the profiles extending below 2 km. We retrieve slanted vertical profiles of atmospheric refractivity that can be considered a proxy for moisture in this tropical environment. We illustrate that in the mid to upper troposphere, ARO refractivity profiles sampling different areas within the tropical wave showed characteristics that were consistent with (~150 to 200 km scale) horizontal moisture gradients present in the NWP model representation of the developing tropical storm. Variation in refractivity preceding the development of the pre-Karl system is consistent with increasing moisture near the storm center. The ARO observations almost double the amount of thermodynamic data over that provided by the dropsondes. They provide interesting complementary
Chong, Kok-Keong; Wong, Chee-Woon; Siaw, Fei-Lu; Yew, Tiong-Keat; Ng, See-Seng; Liang, Meng-Suan; Lim, Yun-Seng; Lau, Sing-Liong
2009-01-01
A novel on-axis general sun-tracking formula has been integrated in the algorithm of an open-loop sun-tracking system in order to track the sun accurately and cost effectively. Sun-tracking errors due to installation defects of the 25 m2 prototype solar concentrator have been analyzed from recorded solar images with the use of a CCD camera. With the recorded data, misaligned angles from ideal azimuth-elevation axes have been determined and corrected by a straightforward changing of the parameters' values in the general formula of the tracking algorithm to improve the tracking accuracy to 2.99 mrad, which falls below the encoder resolution limit of 4.13 mrad. PMID:22408483
Dynamic optimization of open-loop input signals for ramp-up current profiles in tokamak plasmas
NASA Astrophysics Data System (ADS)
Ren, Zhigang; Xu, Chao; Lin, Qun; Loxton, Ryan; Teo, Kok Lay
2016-03-01
Establishing a good current spatial profile in tokamak fusion reactors is crucial to effective steady-state operation. The evolution of the current spatial profile is related to the evolution of the poloidal magnetic flux, which can be modeled in the normalized cylindrical coordinates using a parabolic partial differential equation (PDE) called the magnetic diffusion equation. In this paper, we consider the dynamic optimization problem of attaining the best possible current spatial profile during the ramp-up phase of the tokamak. We first use the Galerkin method to obtain a finite-dimensional ordinary differential equation (ODE) model based on the original magnetic diffusion PDE. Then, we combine the control parameterization method with a novel time-scaling transformation to obtain an approximate optimal parameter selection problem, which can be solved using gradient-based optimization techniques such as sequential quadratic programming (SQP). This control parameterization approach involves approximating the tokamak input signals by piecewise-linear functions whose slopes and break-points are decision variables to be optimized. We show that the gradient of the objective function with respect to the decision variables can be computed by solving an auxiliary dynamic system governing the state sensitivity matrix. Finally, we conclude the paper with simulation results for an example problem based on experimental data from the DIII-D tokamak in San Diego, California.
Origin and control of instability in SCR/triac three-phase motor controllers
NASA Technical Reports Server (NTRS)
Dearth, J. J.
1982-01-01
The energy savings and reactive power reduction functions initiated by the power factor controller (PFC) are discussed. A three-phase PFC with soft start is examined analytically and experimentally to determine how well it controls the open loop instability and other possible modes of instability. The detailed mechanism of the open loop instability is determined and shown to impose design constraints on the closed loop system. The design is shown to meet those constraints.
NASA Astrophysics Data System (ADS)
Rahman, Md. Lutfor; Afrose, Tonima; Tahmina, Halima Khatun; Rinky, Rumana Parvin; Ali, Mohammad
2016-07-01
Pulsating heat pipe (PHP) is a new innovation in the modern era of miniaturizes thermal management system for its higher heating and cooling capacity. The objective of this experiment is to observe the performance of open loop pulsating heat pipe using two fluids at different filling ratios. This OLPHP is a copper capillary tube of 2.5mm outer diameter and 2mm inner diameter. It consists of 8 loops where the evaporative section is 50mm, adiabatic section is 120mm and condensation section is 80mm. The experiment is conducted with distilled water and acetone at 40%, 50%, 60%, and 70% filling ratios where 0° (vertical) is considered as definite angle of inclination. Distilled water and acetone are selected as working fluids considering their different latent heat of vaporization and surface tension. It is found that acetone shows lower thermal resistance than water at all heat inputs. Best performance of acetone is attained at 70% filling ratio. Water displays better heat transfer capability at 50% filling ratio.
Freedman, Vicky L.; Mackley, Rob D.; Waichler, Scott R.; Horner, Jacob A.
2013-09-26
In an open-loop groundwater heat pump (GHP) system, groundwater is extracted, run through a heat exchanger, and injected back into the ground, resulting in no mass balance changes to the flow system. Although the groundwater use is non-consumptive, the withdrawal and injection of groundwater may cause negative hydraulic and thermal impacts to the flow system. Because GHP is a relatively new technology and regulatory guidelines for determining environmental impacts for GHPs may not exist, consumptive use metrics may need to be used for permit applications. For consumptive use permits, a radius of influence is often used, which is defined as the radius beyond which hydraulic impacts to the system are considered negligible. In this paper, the hydraulic radius of influence concept was examined using analytical and numerical methods for a non-consumptive GHP system in southeastern Washington State. At this location, the primary hydraulic concerns were impacts to nearby contaminant plumes and a water supply well field. The results of this study showed that the analytical techniques with idealized radial flow were generally unsuited because they over predicted the influence of the well system. The numerical techniques yielded more reasonable results because they could account for aquifer heterogeneities and flow boundaries. In particular, the use of a capture zone analysis was identified as the best method for determining potential changes in current contaminant plume trajectories. The capture zone analysis is a more quantitative and reliable tool for determining the radius of influence with a greater accuracy and better insight for a non-consumptive GHP assessment.
2011-03-01
ix List of Figures Figure 1: Series hybrid configuration [12... Electromotive Force (V) Um Electric Motor Open Circuit Voltage (V) u Clutch Displacement Angle (rad) Vbat Battery Voltage (V) Vd Cylinder Displacement...of three areas: series hybrid, parallel hybrid, and the power-split hybrid. A great number of these designs incorporate the gasoline internal
Iterative LQG Controller Design Through Closed-Loop Identification
NASA Technical Reports Server (NTRS)
Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.
1996-01-01
This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.
2011-04-28
flight profiles, racetrack and cruise. These are used to characterize system performance during two distinct aircraft mission profiles. The... racetrack data (Fig. 2) simulates an aircraft in a holding pattern over a target area. The cruise data simulates an aircraft performing steady, level...flight Figure 2 . Racetrack raw and filtered spectra for roll, pitch, and yaw. C. Control system analysis To define the control law, the derived
Multivariable Control System Design for a Submarine,
1984-05-01
Open Loop Singular Values for the 5 and 1S Knot Linear Modelo *~~* b % % V’ , * % ~ .%~ C 9 ~ V. --.- V. V.-.--.--46..- S. 77’ Model S20R5 20- 10- -0...Control, Addison-Wesley, 1976, pp 65-86. 14. Kevin Boettcher, Analysis of Multivariable Control Systems with Structured Uncertainty, Area Examination
NASA Astrophysics Data System (ADS)
Clementina Caputo, Maria; Masciale, Rita; Masciopinto, Costantino; De Carlo, Lorenzo
2016-04-01
The high cost and scarcity of fossil fuels have promoted the increased use of natural heat for a number of direct applications. Just as for fossil fuels, the exploitation of geothermal energy should consider its environmental impact and sustainability. Particular attention deserves the so-called open loop geothermal groundwater heat pump (GWHP) system, which uses groundwater as geothermal fluid. From an economic point of view, the implementation of this kind of geothermal system is particularly attractive in coastal areas, which have generally shallow aquifers. Anyway the potential problem of seawater intrusion has led to laws that restrict the use of groundwater. The scarcity of freshwater could be a major impediment for the utilization of geothermal resources. In this study a new methodology has been proposed. It was based on an experimental approach to characterize a coastal area in order to exploit the low-enthalpy geothermal resource. The coastal karst and fractured aquifer near Bari, in Southern Italy, was selected for this purpose. For the purpose of investigating the influence of an open-loop GWHP system on the seawater intrusion, a long-term pumping test was performed. The test simulated the effects of a prolonged withdrawal on the chemical-physical groundwater characteristics of the studied aquifer portion. The duration of the test was programmed in 16 days, and it was performed with a constant pumping flowrate of 50 m3/h. The extracted water was outflowed into an adjacent artificial channel, by means of a piping system. Water depth, temperature and electrical conductivity of the pumped water were monitored for 37 days, including also some days before and after the pumping duration. The monitored parameters, collected in the pumping and in five observation wells placed 160 m down-gradient with respect to the groundwater flow direction, have been used to estimate different scenarios of the impact of the GWHP system on the seawater intrusion by mean of a
NASA Technical Reports Server (NTRS)
Bundick, W. Thomas; Middleton, David B.; Poole, William L.
1990-01-01
An experimental magnetic leader cable (MLC) system designed to measure aircraft lateral displacement from centerline and heading relative to centerline during rollout, turnoff, and taxi was tested at NASA's Wallops Flight Facility using NASA's Transport System Research Vehicle (TSRV), a modified B-737. The MLC system consisted of ground equipment that produced a magnetic field about a wire along runway centerline and airborne equipment that detected the strength and direction of this field and computed displacement and heading. Results of these tests indicate that estimates of aircraft displacement from centerline produced by the magnetic leader cable system using either of the two algorithms appear to be adequate for use by an automatic control system during rollout, turnoff, and taxi. Estimates of heading, however, are not sufficiently accurate for use, probably because of distortion of the magnetic field by the metal aircraft.
Feedback control of waiting times
NASA Astrophysics Data System (ADS)
Brandes, Tobias; Emary, Clive
2016-04-01
Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting-time distribution, under active and passive feedback conditions. We develop a general formalism and then specify to the simple unidirectional transport model, where we compare costs of open-loop and feedback control and use methods from optimal control theory to optimize waiting-time distributions.
INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS
George Danko
2006-04-01
This report describes the results of the 2nd year of a research project on the implementation of a novel human-robot control system for hydraulic machinery. Sensor and valve re-calibration experiments were conducted to improve open loop machine control. A Cartesian control example was tested both in simulation and on the machine; the results are discussed in detail. The machine tests included open-loop as well as closed-loop motion control. Both methods worked reasonably well, due to the high-quality electro-hydraulic valves used on the experimental machine. Experiments on 3-D analysis of the bucket trajectory using marker tracking software are also presented with the results obtained. Open-loop control is robustly stable and free of short-term dynamic problems, but it allows for drifting away from the desired motion kinematics of the machine. A novel, closed-loop control adjustment provides a remedy, while retaining much of the advantages of the open-loop control based on kinematics transformation. Additional analysis of previously recorded, three-dimensional working trajectories of the bucket of large mine shovels was completed. The motion patterns, when transformed into a family of curves, serve as the basis for software-controlled machine kinematics transformation in the new human-robot control system.
Open-loop digital frequency multiplier
NASA Technical Reports Server (NTRS)
Moore, R. C.
1977-01-01
Monostable multivibrator is implemented by using digital integrated circuits where multiplier constant is too large for conventional phase-locked-loop integrated circuit. A 400 Hz clock is generated by divide-by-N counter from 1 Hz timing reference.
Multivariable PID control by decoupling
NASA Astrophysics Data System (ADS)
Garrido, Juan; Vázquez, Francisco; Morilla, Fernando
2016-04-01
This paper presents a new methodology to design multivariable proportional-integral-derivative (PID) controllers based on decoupling control. The method is presented for general n × n processes. In the design procedure, an ideal decoupling control with integral action is designed to minimise interactions. It depends on the desired open-loop processes that are specified according to realisability conditions and desired closed-loop performance specifications. These realisability conditions are stated and three common cases to define the open-loop processes are studied and proposed. Then, controller elements are approximated to PID structure. From a practical point of view, the wind-up problem is also considered and a new anti-wind-up scheme for multivariable PID controller is proposed. Comparisons with other works demonstrate the effectiveness of the methodology through the use of several simulation examples and an experimental lab process.
Active Control of Open Cavities
NASA Technical Reports Server (NTRS)
UKeiley, Lawrence
2010-01-01
Open loop edge blowing was demonstrated as an effective method for reducing the broad band and tonal components of the fluctuating surface pressure in open cavities. Closed loop has been successfully applied to low Mach number open cavities. Need to push actuators that are viable for closed loop control in bandwidth and output. Need a better understanding of the effects of control on the flow through detailed measurements so better actuation strategies can be developed.
Floating-point system quantization errors in digital control systems
NASA Technical Reports Server (NTRS)
Phillips, C. L.; Vallely, D. P.
1978-01-01
This paper considers digital controllers (filters) operating in floating-point arithmetic in either open-loop or closed-loop systems. A quantization error analysis technique is developed, and is implemented by a digital computer program that is based on a digital simulation of the system. The program can be integrated into existing digital simulations of a system.
PID Controller Settings Based on a Transient Response Experiment
ERIC Educational Resources Information Center
Silva, Carlos M.; Lito, Patricia F.; Neves, Patricia S.; Da Silva, Francisco A.
2008-01-01
An experimental work on controller tuning for chemical engineering undergraduate students is proposed using a small heat exchange unit. Based upon process reaction curves in open-loop configuration, system gain and time constant are determined for first order model with time delay with excellent accuracy. Afterwards students calculate PID…
Space Shuttle flight control system
NASA Technical Reports Server (NTRS)
Klinar, W. J.; Kubiak, E. T.; Peters, W. H.; Saldana, R. L.; Smith, E. E., Jr.; Stegall, H. W.
1975-01-01
The Space Shuttle is a control stabilized vehicle with control provided by an all digital, fly-by-wire flight control system. This paper gives a description of the several modes of flight control which correspond to the Shuttle mission phases. These modes are ascent flight control (including open loop first stage steering, the use of four computers operating in parallel and inertial guidance sensors), on-orbit flight control (with a discussion of reaction control, phase plane switching logic, jet selection logic, state estimator logic and OMS thrust vector control), entry flight control and TAEM (terminal area energy management to landing). Also discussed are redundancy management and backup flight control.
Two-Step Design Method of Engine Control System Based on Generalized Predictive Control
NASA Astrophysics Data System (ADS)
Hashimoto, Seiji; Okuda, Hiroyuki; Okada, Yasushi; Adachi, Shuichi; Niwa, Shinji; Kajitani, Mitsunobu
Conservation of the environment has become critical to the automotive industry. Recently, requirements for on-board diagnostic and engine control systems have been strictly enforced. In the present paper, in order to meet the requirements for a low-emissions vehicle, a novel construction method of the air-fuel ratio (A/F) control system is proposed. The construction method of the system is divided into two steps. The first step is to design the A/F control system for the engine based on an open loop design. The second step is to design the A/F control system for the catalyst system. The design method is based on the generalized predictive control in order to satisfy the robustness to open loop control as well as model uncertainty. The effectiveness of the proposed A/F control system is verified through experiments using full-scale products.
Feedback control of bimodal wake dynamics
NASA Astrophysics Data System (ADS)
Li, Ruiying; Barros, Diogo; Borée, Jacques; Cadot, Olivier; Noack, Bernd R.; Cordier, Laurent
2016-10-01
Feedback control is applied to symmetrize the bimodal dynamics of a turbulent blunt body wake. The flow is actuated with two lateral slit jets and monitored with pressure sensors at the rear surface. The physics-based controller is inferred from preliminary open-loop tests and is capable of symmetrizing the wake. A slight pressure recovery is achieved due to the net balance between the favourable effect of wake symmetrization and adverse effect of shear-layer mixing and vortex shedding amplification.
Optimal control concepts in design sensitivity analysis
NASA Technical Reports Server (NTRS)
Belegundu, Ashok D.
1987-01-01
A close link is established between open loop optimal control theory and optimal design by noting certain similarities in the gradient calculations. The resulting benefits include a unified approach, together with physical insights in design sensitivity analysis, and an efficient approach for simultaneous optimal control and design. Both matrix displacement and matrix force methods are considered, and results are presented for dynamic systems, structures, and elasticity problems.
Action Control: Independent Effects of Memory and Monocular Viewing on Reaching Accuracy
ERIC Educational Resources Information Center
Westwood, D.A.; Robertson, C.; Heath, M.
2005-01-01
Evidence suggests that perceptual networks in the ventral visual pathway are necessary for action control when targets are viewed with only one eye, or when the target must be stored in memory. We tested whether memory-linked (i.e., open-loop versus memory-guided actions) and monocular-linked effects (i.e., binocular versus monocular actions) on…
Improvements and applications of entrainment control for nonlinear dynamical systems.
Liu, Fang; Song, Qiang; Cao, Jinde
2008-12-01
This paper improves the existing entrainment control approaches and develops unified schemes to chaos control and generalized (lag, anticipated, and complete) synchronization of nonlinear dynamical systems. By introducing impulsive effects to the open-loop control method, we completely remove its restrictions on goal dynamics and initial conditions, and derive a sufficient condition to estimate the upper bound of impulsive intervals to ensure the global asymptotic stability. We then propose two effective ways to implement the entrainment strategy which combine open-loop and closed-loop control, and we prove that the feedback gains can be chosen according to a lower bound or be tuned with an adaptive control law. Numerical examples are given to verify the theoretical results and to illustrate their applications.
Power semiconductor controlled drives
NASA Astrophysics Data System (ADS)
Dubey, Gopal K.
This book presents power semiconductor controlled drives employing dc motors, induction motors, and synchronous motors. The dynamics of motor and load systems are covered. Open-loop and closed-loop drives are considered, and thyristor, power transistor, and GTO converters are discussed. In-depth coverage is given to ac drives, particularly those fed by voltage and current source inverters and cycloconverters. Full coverage is given to brushless and commutatorless dc drives, including load-commuted synchronous motor drives. Rectifier-controlled dc drives are presented in detail.
Development of a hybrid margin angle controller for HVDC continuous operation
Sato, M.; Yamaji, K.; Sekita, M.; Amano, M.; Nishimura, M.; Konishi, H.; Oomori, T.
1996-11-01
The objective of this paper is to present a new hybrid margin angle control method for HVDC continuous operation under AC system fault conditions. For stable continuous operation of HVDC systems, the margin angle controller must be designed to maintain the necessary margin angle to avoid commutation failures. The proposed method uses the open loop margin angle controller (MAC) as the basic controller, and adds output from the closed loop MAC to correct the control angle. A fast voltage detection algorithm is used for open loop control, and margin angle reference correction using harmonics detection for closed loop control are also developed. The combination of open and closed loop control provides quick responses when faults occur with stable and speedy recovery after fault clearance. The effectiveness of the developed controller is confirmed through EMTP digital simulations and also with the experiments using an analogue simulator.
Generalized Momentum Control of the Spin-Stabilized Magnetospheric Multiscale (MMS) Formation
NASA Technical Reports Server (NTRS)
Benegalrao, Suyog; Queen, Steven; Shah, Neerav; Blackman, Kathleen
2015-01-01
Angular momentum control maneuvers required to keep spin-axis in science box. Traditional approach uses de-coupled modes for pointing, spin, nutation Impractical for MMS Frequency and Number of maneuvers (Orbit Control, Pointing, Nutation, Spin, four observatories, every 2-4 weeks). Difficult to implement de-coupled open-loop control with flexible wire booms. Desire a unified angular momentum controller. Comprehensively control pointing, spin, and nutation.
Multi-mode ultrasonic welding control and optimization
Tang, Jason C.H.; Cai, Wayne W
2013-05-28
A system and method for providing multi-mode control of an ultrasonic welding system. In one embodiment, the control modes include the energy of the weld, the time of the welding process and the compression displacement of the parts being welded during the welding process. The method includes providing thresholds for each of the modes, and terminating the welding process after the threshold for each mode has been reached, the threshold for more than one mode has been reached or the threshold for one of the modes has been reached. The welding control can be either open-loop or closed-loop, where the open-loop process provides the mode thresholds and once one or more of those thresholds is reached the welding process is terminated. The closed-loop control provides feedback of the weld energy and/or the compression displacement so that the weld power and/or weld pressure can be increased or decreased accordingly.
Robustified time-optimal control of uncertain structural dynamic systems
NASA Technical Reports Server (NTRS)
Liu, Qiang; Wie, Bong
1991-01-01
A new approach for computing open-loop time-optimal control inputs for uncertain linear dynamical systems is developed. In particular, the single-axis, rest-to-rest maneuvering problem of flexible spacecraft in the presence of uncertainty in model parameters is considered. Robustified time-optimal control inputs are obtained by solving a parameter optimization problem subject to robustness constraints. A simple dynamical system with a rigid-body mode and one flexible mode is used to illustrate the concept.
Simmons, Roger W.; Nguyen, Tanya T.; Thomas, Jennifer D.; Riley, Edward P.
2015-01-01
Background Many daily functional activities involve goal-directed responses based on open-loop and closed-loop motor control, yet little is known about how children with heavy prenatal alcohol-exposure organize and regulate these two types of control systems when completing a goal-directed force response. Methods Children with (n = 19) or without (n = 23) heavy prenatal alcohol exposure were required to match a target force (25% and 50% of maximum voluntary force) in a specified target time (200 ms, 800 ms, and 2000 ms). Target force and produced force were visually displayed on a computer monitor. The analog force-time record was parsed into two segments: the period beginning from force initiation to the first reversal in force was designated the open-loop phase, and the remainder of the response was the closed-loop phase. Results Compared to controls, alcohol-exposed children produced a significantly shorter duration of open-loop control, a higher open-loop phase rate of force development, a shorter time to reach maximum force during the closed-loop phase and greater absolute target force error. Increasing target force magnitude did not differentially alter the performance of the clinical group. Conclusions The results indicate that alcohol-exposed children experience deficits in completing goal-directed force responses that likely stem from an alcohol related insult to the CNS. Therapeutic exercises should be designed to re-calibrate internal timing systems and improve visuomotor integration. PMID:26248225
Attitude-Control Algorithm for Minimizing Maneuver Execution Errors
NASA Technical Reports Server (NTRS)
Acikmese, Behcet
2008-01-01
A G-RAC attitude-control algorithm is used to minimize maneuver execution error in a spacecraft with a flexible appendage when said spacecraft must induce translational momentum by firing (in open loop) large thrusters along a desired direction for a given period of time. The controller is dynamic with two integrators and requires measurement of only the angular position and velocity of the spacecraft. The global stability of the closed-loop system is guaranteed without having access to the states describing the dynamics of the appendage and with severe saturation in the available torque. Spacecraft apply open-loop thruster firings to induce a desired translational momentum with an extended appendage. This control algorithm will assist this maneuver by stabilizing the attitude dynamics around a desired orientation, and consequently minimize the maneuver execution errors.
Neuromuscular control: introduction and overview.
van Leeuwen, J L
1999-01-01
This paper introduces some basic concepts of the interdisciplinary field of neuromuscular control, without the intention to be complete. The complexity and multifaceted nature of neuromuscular control systems is briefly addressed. Principles of stability and planning of motion trajectories are discussed. Closed-loop and open-loop control are considered, together with the inherent stability properties of muscles and the geometrical design of animal bodies. Various modelling approaches, as used by several authors in the Philosophical Transactions of the Royal Society of London, Series B, May 1999 issue, such as inverse and forward dynamics are outlined. An introductory overview is presented of the other contributions in that issue. PMID:10382220
Computational alternatives to obtain time optimal jet engine control. M.S. Thesis
NASA Technical Reports Server (NTRS)
Basso, R. J.; Leake, R. J.
1976-01-01
Two computational methods to determine an open loop time optimal control sequence for a simple single spool turbojet engine are described by a set of nonlinear differential equations. Both methods are modifications of widely accepted algorithms which can solve fixed time unconstrained optimal control problems with a free right end. Constrained problems to be considered have fixed right ends and free time. Dynamic programming is defined on a standard problem and it yields a successive approximation solution to the time optimal problem of interest. A feedback control law is obtained and it is then used to determine the corresponding open loop control sequence. The Fletcher-Reeves conjugate gradient method has been selected for adaptation to solve a nonlinear optimal control problem with state variable and control constraints.
Oscillatory neural networks for robotic yo-yo control.
Jin, Hui-Liang; Zacksenhouse, M
2003-01-01
Different networks of coupled oscillators were developed for open-loop control of periodic motion. However, some tasks, like yo-yo playing, are open-loop unstable and require proper phase locking to stabilize. Given the phase-locking property of coupled oscillators, we investigate their application to closed-loop control of open-loop unstable systems, concentrating on the challenging task of yo-yo control. In particular, we focus on pulse-coupling, where the yo-yo sends a feedback upon reaching the bottom of the string and the onset of the oscillatory cycle is used to trigger the movement. Four networks involving either a stand-alone or a circuit level oscillator with either excitatory or inhibitory couplings are considered. Working curve analysis indicates that three of the networks cannot stabilize the yo-yo. The fourth network, which is based on a circuit-level oscillator, is analyzed using the return map and the region of stability is determined and verified by simulations. The resulting pulse-coupled oscillatory control provides a model-free control strategy that operates with an easy-to-measure low-rate feedback.
Modeling and simulation of control system for 3-phase variable-reluctance stepper motor
NASA Astrophysics Data System (ADS)
Liu, Lihua; Li, Hong
2010-12-01
In this paper, firstly, we establish the mode of the VR stepper motor on open-loop system of the stepper motor. Secondly, we control the exciting model, realize simulation of the circuit of unipolar driver and chop constant current control. Finally, we analyze the simulation results. And the results shows that these control methods can be applied to the actual motion of the system, which can improve the characteristics of the motion system of the stepper motor.
An optimal PID controller via LQR for standard second order plus time delay systems.
Srivastava, Saurabh; Misra, Anuraag; Thakur, S K; Pandit, V S
2016-01-01
An improved tuning methodology of PID controller for standard second order plus time delay systems (SOPTD) is developed using the approach of Linear Quadratic Regulator (LQR) and pole placement technique to obtain the desired performance measures. The pole placement method together with LQR is ingeniously used for SOPTD systems where the time delay part is handled in the controller output equation instead of characteristic equation. The effectiveness of the proposed methodology has been demonstrated via simulation of stable open loop oscillatory, over damped, critical damped and unstable open loop systems. Results show improved closed loop time response over the existing LQR based PI/PID tuning methods with less control effort. The effect of non-dominant pole on the stability and robustness of the controller has also been discussed.
Application of orthogonal eigenstructure control to flight control design
NASA Astrophysics Data System (ADS)
Rastgaar Aagaah, M. A.; Ahmadian, M.; Southward, S. C.
2008-03-01
Orthogonal eigenstructure control is used for designing a control law that decouples the dynamic modes of a flying vehicle. Orthogonal eigenstructure control is a feedback control method for linear time invariant multi-input multi-output systems. This method has been recently developed by authors. The advantage of this control method over eigenstructure assignment methods is that there is no need for defining the closed-loop poles or shaping the closed-loop eigenvectors. This method eliminates the error due to the difference between achievable and desirable eigenvectors, by finding vectors orthogonal to the open-loop eigenvectors within the achievable eigenvectors set and replacing the open-loop eigenvectors with them. This method is also applicable to the systems with non-collocated actuators and sensors. Application of this method for designing a flight control law for the lateral directional dynamics of an F-18 HARV is presented, and compared to the results of an eigenstructure assignment method. In this case study, the actuators and sensors are not collocated. It is shown that the application of the orthogonal eigenstructure control results in a more significant dynamic modes decoupling in comparison to the application of the eigenstructure assignment technique.
NASA Astrophysics Data System (ADS)
Balas, Valentina E.; Balas, Marius M.
2009-04-01
The paper is discussing the measures able to reject the instability that may unexpectedly appear in particular conditions, in switching controllers applications. The switching controllers' effect is explained by the combined effects of the unsuitable choice of the switching moments (in the first or third quadrants of the phase trajectory of the switching error) and of the temporal aliasing that can distort the digital control systems when the sampling rate is close to the frequency of the oscillations that are produced by the commutation. The correct switching moments are located into the second and fourth quadrants of the phase trajectory of the switching error, but an active preparation of the commutation may be simply achieved by using a tracking controller, that is driving the output of open loop controller to follow the output of the close loop controller, permanently minimizing the switching error. Simulations issued from a dc driver speed controller and from an aircraft are provided.
Algorithms for Robust Identification and Control of Large Space Structures. Phase 1.
1988-05-14
there is performance degradation. MPC will efficiently generate stabilizing control commands for plants which are open-loop unstable and/or nonminimum...larger beam models were analyzed with basically zero damping, and stabilizing control was achieved. For a sufficient level of input noise and also for...problem discussed above. , ’ . System damping remains an effective means of reducing the system’s internal energy / .and with it, the stabilizing
2009-02-27
exchanged by means of line-of-sight sensors that experience periodic communication dropouts due to agent motion. Variation in network topology in...respiratory, and cardiovascular function by man- ual control based on the clinician’s experience and intuition. Open-loop control by clinical personnel can be...to ap- pear. [29] W. M. Haddad and J. M. Bailey, "Closed-Loop Control for Intensive Care Unit Seda- tion," Best Prac. Res. Clinical Anaesthesiology
NASA Astrophysics Data System (ADS)
Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava
2012-09-01
A novel conformal mapping based fractional order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PIλDμ) controller have been approximated in this paper vis-à-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PIλDμ controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.
Lessons Learned and Flight Results from the F15 Intelligent Flight Control System Project
NASA Technical Reports Server (NTRS)
Bosworth, John
2006-01-01
A viewgraph presentation on the lessons learned and flight results from the F15 Intelligent Flight Control System (IFCS) project is shown. The topics include: 1) F-15 IFCS Project Goals; 2) Motivation; 3) IFCS Approach; 4) NASA F-15 #837 Aircraft Description; 5) Flight Envelope; 6) Limited Authority System; 7) NN Floating Limiter; 8) Flight Experiment; 9) Adaptation Goals; 10) Handling Qualities Performance Metric; 11) Project Phases; 12) Indirect Adaptive Control Architecture; 13) Indirect Adaptive Experience and Lessons Learned; 14) Gen II Direct Adaptive Control Architecture; 15) Current Status; 16) Effect of Canard Multiplier; 17) Simulated Canard Failure Stab Open Loop; 18) Canard Multiplier Effect Closed Loop Freq. Resp.; 19) Simulated Canard Failure Stab Open Loop with Adaptation; 20) Canard Multiplier Effect Closed Loop with Adaptation; 21) Gen 2 NN Wts from Simulation; 22) Direct Adaptive Experience and Lessons Learned; and 23) Conclusions
Delayed state feedback and chaos control for time-periodic systems via a symbolic approach
NASA Astrophysics Data System (ADS)
Ma, Haitao; Deshmukh, Venkatesh; Butcher, Eric; Averina, Victoria
2005-08-01
This paper presents a symbolic method for a delayed state feedback controller (DSFC) design for linear time-periodic delay (LTPD) systems that are open loop unstable and its extension to incorporate regulation and tracking of nonlinear time-periodic delay (NTPD) systems exhibiting chaos. By using shifted Chebyshev polynomials, the closed loop monodromy matrix of the LTPD system (or the linearized error dynamics of the NTPD system) is obtained symbolically in terms of controller parameters. The symbolic closed loop monodromy matrix, which is a finite dimensional approximation of an infinite dimensional operator, is used in conjunction with the Routh-Hurwitz criterion to design a DSFC to asymptotically stabilize the unstable dynamic system. Two controllers designs are presented. The first design is a constant gain DSFC and the second one is a periodic gain DSFC. The periodic gain DSFC has a larger region of stability in the parameter space than the constant gain DSFC. The asymptotic stability of the LTPD system obtained by the proposed method is illustrated by asymptotically stabilizing an open loop unstable delayed Mathieu equation. Control of a chaotic nonlinear system to any desired periodic orbit is achieved by rendering asymptotic stability to the error dynamics system. To accommodate large initial conditions, an open loop controller is also designed. This open loop controller is used first to control the error trajectories close to zero states and then the DSFC is switched on to achieve asymptotic stability of error states and consequently tracking of the original system states. The methodology is illustrated by two examples.
The dynamics and control of large flexible space structures, 8
NASA Technical Reports Server (NTRS)
Bainum, P. M.; Reddy, A. S. S. R.; Diarra, C. M.; Ananthakrishnan, S.
1985-01-01
A development of the in plane open loop rotational equations of motion for the proposed Spacecraft Control Laboratory Experiment (SCOLE) in orbit configuration is presented based on an Eulerian formulation. The mast is considered to be a flexible beam connected to the (rigid) shuttle and the reflector. Frequencies and mode shapes are obtained for the mast vibrational appendage modes (assumed to be decoupled) for different boundary conditions based on continuum approaches and also preliminary results are obtained using a finite element representation of the mast reflector system. The linearized rotational in plane equation is characterized by periodic coefficients and open loop system stability can be examined with an application of the Floquet theorem. Numerical results are presented to illustrate the potential instability associated with actuator time delays even for delays which represent only a small fraction of the natural period of oscillation of the modes contained in the open loop model of the system. When plant and measurement noise effects are added to the previously designed deterministic model of the hoop column system, it is seen that both the system transient and steady state performance are degraded. Mission requirements can be satisfied by appropriate assignment of cost function weighting elements and changes in the ratio of plant noise to measurement noise.
Modal Filtering for Control of Flexible Aircraft
NASA Technical Reports Server (NTRS)
Suh, Peter M.; Mavris, Dimitri N.
2013-01-01
Modal regulators and deformation trackers are designed for an open-loop fluttering wing model. The regulators are designed with modal coordinate and accelerometer inputs respectively. The modal coordinates are estimated with simulated fiber optics. The robust stability of the closed-loop systems is compared in a structured singular-value vector analysis. Performance is evaluated and compared in a gust alleviation and flutter suppression simulation. For the same wing and flight condition two wing-shape-tracking control architectures are presented, which achieve deformation control at any point on the wing.
A platform for dynamic simulation and control of movement based on OpenSim and MATLAB.
Mansouri, Misagh; Reinbolt, Jeffrey A
2012-05-11
Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB's variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1s (OpenSim) to 2.9s (MATLAB). For the closed-loop case, a proportional-integral-derivative controller was used to successfully balance a pole on model's hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions.
A platform for dynamic simulation and control of movement based on OpenSim and MATLAB
Mansouri, Misagh; Reinbolt, Jeffrey A.
2013-01-01
Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB’s variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1 s (OpenSim) to 2.9 s (MATLAB). For the closed-loop case, a proportional–integral–derivative controller was used to successfully balance a pole on model’s hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions. PMID:22464351
Robust fuel- and time-optimal control of uncertain flexible space structures
NASA Technical Reports Server (NTRS)
Wie, Bong; Sinha, Ravi; Sunkel, John; Cox, Ken
1993-01-01
The problem of computing open-loop, fuel- and time-optimal control inputs for flexible space structures in the face of modeling uncertainty is investigated. Robustified, fuel- and time-optimal pulse sequences are obtained by solving a constrained optimization problem subject to robustness constraints. It is shown that 'bang-off-bang' pulse sequences with a finite number of switchings provide a practical tradeoff among the maneuvering time, fuel consumption, and performance robustness of uncertain flexible space structures.
Brochard, F.; Bonhomme, G.; Gravier, E.; Oldenbuerger, S.; Philipp, M.
2006-05-15
An open-loop spatiotemporal synchronization method is applied to flute modes in a cylindrical magnetized plasma. It is demonstrated that synchronization can be achieved only if the exciter signal rotates in the same direction as the propagating mode. Moreover, the efficiency of the synchronization is shown to depend on the radial properties of the instability under consideration. It is also demonstrated that the control disposition can alternatively be used to produce strongly developed turbulence of drift waves or flute instabilities.
Experimental investigation of an actively controlled three-dimensional turret wake
NASA Astrophysics Data System (ADS)
Shea, Patrick R.
Hemispherical turrets are bluff bodies commonly used to house optical systems on airborne platforms. These bluff bodies develop complex, three-dimensional flow fields that introduce high mean and fluctuating loads to the turret as well as the airframe support structure which reduce the performance of both the optical systems and the aircraft. An experimental investigation of the wake of a three-dimensional, non-conformal turret was performed in a low-speed wind tunnel at Syracuse University to develop a better understanding of the fundamental flow physics associated with the turret wake. The flow field was studied at a diameter based Reynolds number of 550,000 using stereoscopic particle image velocimetry and dynamic pressure measurements both with and without active flow control. Pressure measurements were simultaneously sampled with the PIV measurements and taken on the surrounding boundary layer plate and at several locations on the turret geometry. Active flow control of the turret wake was performed around the leading edge of the turret aperture using dynamic suction in steady open-loop, unsteady open-loop, and simple closed-loop configurations. Analysis of the uncontrolled wake provided insight into the complex three-dimensional wake when evaluated spatially using PIV measurements and temporally using spectral analysis of the pressure measurements. Steady open-loop suction was found to significantly alter the spatial and temporal nature of the turret wake despite the control being applied locally to the aperture region of the turret. Unsteady open-loop and simple closed-loop control were found to provide similar levels of control to the steady open-loop forcing with a 45% reduction in the control input as calculated using the jet momentum coefficient. The data set collected provides unique information regarding the development of the baseline three-dimensional wake and the wake with three different active flow control configurations. These data can be used to
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.
Adaptive optics control system for segmented MEMS deformable mirrors
NASA Astrophysics Data System (ADS)
Kempf, Carl J.; Helmbrecht, Michael A.; Besse, Marc
2010-02-01
Iris AO has developed a full closed-loop control system for control of segmented MEMS deformable mirrors. It is based on a combination of matched wavefront sensing, modal wavefront estimation, and well-calibrated open-loop characteristics. This assures closed-loop operation free of problems related to co-phasing segments or undetectable waffle patterns. This controller strategy results in relatively simple on-line computations which are suitable for implementation on low cost digital signal processors. It has been successfully implemented on Iris AO's 111 actuator (37 segment) deformable mirrors used in test-beds and research systems.
Optimization of an Aeroservoelastic Wing with Distributed Multiple Control Surfaces
NASA Technical Reports Server (NTRS)
Stanford, Bret K.
2015-01-01
This paper considers the aeroelastic optimization of a subsonic transport wingbox under a variety of static and dynamic aeroelastic constraints. Three types of design variables are utilized: structural variables (skin thickness, stiffener details), the quasi-steady deflection scheduling of a series of control surfaces distributed along the trailing edge for maneuver load alleviation and trim attainment, and the design details of an LQR controller, which commands oscillatory hinge moments into those same control surfaces. Optimization problems are solved where a closed loop flutter constraint is forced to satisfy the required flight margin, and mass reduction benefits are realized by relaxing the open loop flutter requirements.
On-sky demonstration of optimal control for adaptive optics at Palomar Observatory.
Tesch, Jonathan; Truong, Tuan; Burruss, Rick; Gibson, Steve
2015-04-01
High-order adaptive optics systems often suffer from significant computational latency, which ultimately limits the temporal error rejection bandwidth when classical controllers are employed. This Letter presents results from an on-sky, real-time implementation of an optimal controller on the PALM-3000 adaptive optics system at Palomar Observatory. The optimal controller is computed directly from open-loop wavefront measurements using a multichannel subspace system identification algorithm, and mitigates latency by explicitly predicting incident turbulence. Experimental results show a significant reduction in the residual wavefront error over the controlled spatial modes, illustrating the superior performance of the optimal control approach versus the nominal integral control architecture.
Active control of smart structures with optimal actuator and sensor locations
NASA Astrophysics Data System (ADS)
Liu, Pengxiang; Rao, Vittal S.; Derriso, Mark M.
2002-07-01
Sensors and actuators used in active control of smart structures have to be located appropriately in order to ensure maximum control and measurement effectiveness. Many placement techniques are based on the structure itself and overlook the effects of the applied control law. The optimal locations determined from open-loop system can not guarantee the best performance of the closed-loop system because the performance is closely related with the design requirements and applied controller. In this paper, we presented a method of obtaining the optimal locations of actuators/sensors by combining the open-loop and closed-loop optimal criterions. First, for open-loop system, location indices of the controlled modes are calculated on the basis of modal controllability and observability. The controlled modes are weighted based on the controller design requirements. To reduce the spill-over effect of uncontrolled modes, the location index values of uncontrolled modes are added as penalty terms. Locations with high index values are chosen as candidate locations of actuator/sensor for the next determining step on the closed-loop system. Three control techniques, optimal H2, H(infinity ) norms and optimal pole-placement, are utilized for two different control objectives, disturbance rejection and damping property enhancement. Linear matrix inequality (LMI) techniques are utilized to formulate the control problems and synthesize the controllers. For each candidate location of actuator/sensor, a controller is designed and the obtained performance is taken as location index. By solving the location problem in two steps, we reduced the computational burden and ensured good control performance of the closed-loop system. The proposed method is tested on a clamped plate with piezoelectric actuators and sensors.
Robust control for large space antennas
NASA Technical Reports Server (NTRS)
Barrett, M. F.
1987-01-01
A brief description of program objectives and the space based radar application is given. General characteristics of the 100 m diameter reflector spacecraft are described along with the intended mission and associated requirements, and dynamic characteristics relevant to that mission. Preliminary control analyses are carried out for the critical rapid slew and settle maneuver to establish feedback control requirements and fundamental limitations in meeting those requirements with control hardware for a baseline reaction control system (RCS) jet placement assumed for the open loop bang-bang slew limitations. Control moment gyros (CMGs), angular position sensors, and linear translation sensors are placed for feedback control. Control laws are designed for the improved sensor and actuator placement and evaluated for performance and robustness to unstructured model uncertainty. The robustness of the control design is assessed with respect to modal parameter uncertainty. Results of the control designs analyses are summarized, conclusions are drawn, and recommendations made for future studies.
Low Bandwidth Robust Controllers for Flight
NASA Technical Reports Server (NTRS)
Biezad, Daniel J.; Chou, Hwei-Lan
1993-01-01
Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.
Low bandwidth robust controllers for flight
NASA Technical Reports Server (NTRS)
Biezad, Daniel J.; Chou, Hwei-Lan
1993-01-01
Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.
Transform methods for precision continuum and control models of flexible space structures
NASA Technical Reports Server (NTRS)
Lupi, Victor D.; Turner, James D.; Chun, Hon M.
1991-01-01
An open loop optimal control algorithm is developed for general flexible structures, based on Laplace transform methods. A distributed parameter model of the structure is first presented, followed by a derivation of the optimal control algorithm. The control inputs are expressed in terms of their Fourier series expansions, so that a numerical solution can be easily obtained. The algorithm deals directly with the transcendental transfer functions from control inputs to outputs of interest, and structural deformation penalties, as well as penalties on control effort, are included in the formulation. The algorithm is applied to several structures of increasing complexity to show its generality.
Model Development and Model-Based Control Design for Nonlinear Smart Composite Systems
2011-11-22
kpe(t)− kI ∫ t 0 e(s)ds, 7 0 0.002 0.004 0.006 0.008 0.01!50 0 50 100 Time (s) Di sp la ce m en t ( µm ) Reference Displacement PI Control Nonlinear...trajectory and experimental tracking performance obtained with PI control , optimal open loop control and perturbation control at 1000 Hz. (b...significant improvement over PI control at this frequency while operating in a highly hysteretic and nonlinear regime. Further details are provided in
Load limiting parachute inflation control
Redmond, J.; Hinnerichs, T.; Parker, G.
1994-01-01
Excessive deceleration forces experienced during high speed deployment of parachute systems can cause damage to the payload and the canopy fabric. Conventional reefing lines offer limited relief by temporarily restricting canopy inflation and limiting the peak deceleration load. However, the open-loop control provided by existing reefing devices restrict their use to a specific set of deployment conditions. In this paper, the sensing, processing, and actuation that are characteristic of adaptive structures form the basis of three concepts for active control of parachute inflation. These active control concepts are incorporated into a computer simulation of parachute inflation. Initial investigations indicate that these concepts promise enhanced performance as compared to conventional techniques for a nominal release. Furthermore, the ability of each controller to adapt to off-nominal release conditions is examined.
Diagonal dominance using function minimization algorithms. [multivariable control system design
NASA Technical Reports Server (NTRS)
Leininger, G. G.
1977-01-01
A new approach to the design of multivariable control systems using the inverse Nyquist array method is proposed. The technique utilizes a conjugate direction function minimization algorithm to achieve dominance over a specified frequency range by minimizing the ratio of the moduli of the off-diagonal terms to the moduli of the diagonal term of the inverse open loop transfer function matrix. The technique is easily implemented in either a batch or interactive computer mode and will yield diagonalization when previously suggested methods fail. The proposed method has been successfully applied to design a control system for a sixteenth order state model of the F-100 turbofan engine with three inputs.
Game Theoretic Approach to Post-Docked Satellite Control
NASA Technical Reports Server (NTRS)
Hiramatsu, Takashi; Fitz-Coy, Norman G.
2007-01-01
This paper studies the interaction between two satellites after docking. In order to maintain the docked state with uncertainty in the motion of the target vehicle, a game theoretic controller with Stackelberg strategy to minimize the interaction between the satellites is considered. The small perturbation approximation leads to LQ differential game scheme, which is validated to address the docking interactions between a service vehicle and a target vehicle. The open-loop solution are compared with Nash strategy, and it is shown that less control efforts are obtained with Stackelberg strategy.
Optimization-based design of control systems for flexible structures
NASA Technical Reports Server (NTRS)
Polak, E.; Baker, T. E.; Wuu, T-L.; Harn, Y-P.
1988-01-01
The purpose of this presentation is to show that it is possible to use nonsmooth optimization algorithms to design both closed-loop finite dimensional compensators and open-loop optimal controls for flexible structures modeled by partial differential equations. An important feature of our approach is that it does not require modal decomposition and hence is immune to instabilities caused by spillover effects. Furthermore, it can be used to design control systems for structures that are modeled by mixed systems of coupled ordinary and partial differential equations.
Characterization of an Actively Controlled Three-Dimensional Turret Wake
NASA Astrophysics Data System (ADS)
Shea, Patrick; Glauser, Mark
2012-11-01
Three-dimensional turrets are commonly used for housing optical systems on airborne platforms. As bluff bodies, these geometries generate highly turbulent wakes that decrease the performance of the optical systems and the aircraft. The current experimental study looked to use dynamic suction in both open and closed-loop control configurations to actively control the turret wake. The flow field was characterized using dynamic pressure and stereoscopic PIV measurements in the wake of the turret. Results showed that the suction system was able to manipulate the wake region of the turret and could alter not only the spatial structure of the wake, but also the temporal behavior of the wake flow field. Closed-loop, feedback control techniques were used to determine a more optimal control input for the flow control. Similar control effects were seen for both the steady open-loop control case and the closed-loop feedback control configuration with a 45% reduction in the suction levels when comparing the closed-loop to the open-loop case. These results provide unique information regarding the development of the baseline three-dimensional wake and the wake with three different active flow control configurations.
Optimal magnetic attitude control of small spacecraft
NASA Astrophysics Data System (ADS)
Liang, Jinsong
Spacecraft attitude control, using only magnetic coils, suffers from being unable to apply a torque about the axis defined by the magnetic field of the earth. This lack of controllability results in marginal stability, slow slew maneuvering and convergence to equilibrium positions. Currently available control schemes typically require one or more orbits to finish a large angle attitude maneuver, which severely restricts the application of magnetic control in projects requiring fast attitude maneuvers. In this dissertation, the open-loop time-optimal magnetic control is first presented to show the potential performance increase of the magnetic attitude control method. Nonlinear time-varying models with constrained inputs are considered instead of the linearized model generally used. The results show that time-optimal magnetic attitude control can be considerably faster, than the current available control schemes. The inherent weakness of the open-loop method is its lack of robustness; specifically, its response is sensitive to small changes in the system. Two methods, model predictive control and continuous optimization approach, are presented as closed-loop control strategies to increase the robustness of the time-optimal approach. Simulation results show that these two feedback control schemes effectively improve the robustness of the control system. Finally, magnetic attitude regulation after the time-optimal magnetic control is discussed. The main contribution of this work shows that magnetic attitude control is not necessarily slow, as commonly believed, as long as an appropriate control algorithm is applied. The different time-optimal controllers presented show considerable convergence time reduction for large angle attitude maneuvers; which enables magnetic attitude control to be applied to more time-critical applications.
Optimal control of circular cylinder wakes using long control horizons
NASA Astrophysics Data System (ADS)
Flinois, Thibault L. B.; Colonius, Tim
2015-08-01
The classical problem of suppressing vortex shedding in the wake of a circular cylinder by using body rotation is revisited in an adjoint-based optimal control framework. The cylinder's unsteady and fully unconstrained rotation rate is optimized at Reynolds numbers between 75 and 200 and over horizons that are longer than in previous studies, where they are typically of the order of a vortex shedding period or shorter. In the best configuration, the drag is reduced by 19%, the vortex shedding is effectively suppressed, and this low drag state is maintained with minimal cylinder rotation after transients. Unlike open-loop control, the optimal control is shown to maintain a specific phase relationship between the actuation and the shedding in order to stabilize the wake. A comparison is also given between the performance of optimizations for different Reynolds numbers, cost functions, and horizon lengths. It is shown that the long horizons used are necessary in order to stabilize the vortex shedding efficiently.
Feed forward and feedback control for over-ground locomotion in anaesthetized cats
NASA Astrophysics Data System (ADS)
Mazurek, K. A.; Holinski, B. J.; Everaert, D. G.; Stein, R. B.; Etienne-Cummings, R.; Mushahwar, V. K.
2012-04-01
The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.
Space Digital Controller for Improved Motor Control
NASA Astrophysics Data System (ADS)
Alves-Nunes, Samuel; Daras, Gaetan; Dehez, Bruno; Maillard, Christophe; Bekemans, Marc; Michel, Raymond
2014-08-01
Performing digital motor control into space equipment is a new challenge. The new DPC (Digital Programmable Controller) is the first chip that we can use as a micro-controller, allowing us to drive motors with digital control schemes. In this paper, the digital control of hybrid stepper motors is considered. This kind of motor is used for solar array rotation and antenna actuation. New digital control technology brings a lot of advantages, allowing an important reduction of thermal losses inside the motor, and a reduction of thermal constraints on power drive electronic components. The opportunity to drive motors with a digital controller also brings many new functionalities like post-failure torque analysis, micro- vibrations and cogging torque reduction, or electro- mechanical damping of solar array oscillations. To evaluate the performance of the system, Field-Oriented Control (FOC) is implemented on a hybrid stepper motor. A test-bench, made of an active load, has been made to emulate the mechanical behaviour of the solar array, by the use of a torsionally-compliant model. The experimental results show that we can drastically reduce electrical power consumption, compared with the currently used open-loop control scheme.
NASA Technical Reports Server (NTRS)
Brown, T. J.; Mccloud, J. L., III
1980-01-01
Weighted multiple linear regression is used to establish a transfer function matrix relationship between higher harmonic control inputs and transducer vibration outputs for a controllable twist rotor. Data used in the regression were taken from the test of a KAMAN controllable twist rotor conducted in the Ames Research Center's 40- by 80-Foot Wind Tunnel in June 1977. Optimal controls to minimize fixed system vibrational levels are calculated using linear quadratic regulatory theory with a control deflection penalty included in the performance criteria. Control sensitivity to changes in control travel, forward speed, and lift and propulsive forces is examined. It is found that the linear transfer matrix is a strong function of forward speed and a weak function of lift and propulsive force. An open-loop strategy is proposed for systems with limited control travel.
A study of simplified methods for longitudinal control decoupling
NASA Technical Reports Server (NTRS)
Joslin, R.; Ohmiya, H.; Ellis, D. R.
1977-01-01
Using an inflight simulator, a simple longitudinal decoupling concept was compared with conventional airplane characteristics for the approach and landing tasks. The decoupling system allowed the pilot to command flight path angle changes with the stick with little or no accompanying speed change; likewise, speed changes with only small accompanying flight path changes could be made with throttle only. The unique feature of the concept is that it is an open loop (that is, nonfeedback) control system. Results indicate that in calm air and up to moderate levels of turbulence the decoupling system provides a substantial reduction in pilot workload.
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.
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.
NASA Technical Reports Server (NTRS)
Balas, M. J.; Kaufman, H.; Wen, J.
1985-01-01
A command generator tracker approach to model following contol of linear distributed parameter systems (DPS) whose dynamics are described on infinite dimensional Hilbert spaces is presented. This method generates finite dimensional controllers capable of exponentially stable tracking of the reference trajectories when certain ideal trajectories are known to exist for the open loop DPS; we present conditions for the existence of these ideal trajectories. An adaptive version of this type of controller is also presented and shown to achieve (in some cases, asymptotically) stable finite dimensional control of the infinite dimensional DPS.
Vreck, D; Gernaey, K V; Rosen, C; Jeppsson, U
2006-01-01
In this paper, implementation of the Benchmark Simulation Model No 2 (BSM2) within Matlab-Simulink is presented. The BSM2 is developed for plant-wide WWTP control strategy evaluation on a long-term basis. It consists of a pre-treatment process, an activated sludge process and sludge treatment processes. Extended evaluation criteria are proposed for plant-wide control strategy assessment. Default open-loop and closed-loop strategies are also proposed to be used as references with which to compare other control strategies. Simulations indicate that the BM2 is an appropriate tool for plant-wide control strategy evaluation.
Control of neural synchrony using channelrhodopsin-2: a computational study.
Talathi, Sachin S; Carney, Paul R; Khargonekar, Pramod P
2011-08-01
In this paper, we present an optical stimulation based approach to induce 1:1 in-phase synchrony in a network of coupled interneurons wherein each interneuron expresses the light sensitive protein channelrhodopsin-2 (ChR2). We begin with a transition rate model for the channel kinetics of ChR2 in response to light stimulation. We then define "functional optical time response curve (fOTRC)" as a measure of the response of a periodically firing interneuron (transfected with ChR2 ion channel) to a periodic light pulse stimulation. We specifically consider the case of unidirectionally coupled (UCI) network and propose an open loop control architecture that uses light as an actuation signal to induce 1:1 in-phase synchrony in the UCI network. Using general properties of the spike time response curves (STRCs) for Type-1 neuron model (Ermentrout, Neural Comput 8:979-1001, 1996) and fOTRC, we estimate the (open loop) optimal actuation signal parameters required to induce 1:1 in-phase synchrony. We then propose a closed loop controller architecture and a controller algorithm to robustly sustain stable 1:1 in-phase synchrony in the presence of unknown deviations in the network parameters. Finally, we test the performance of this closed-loop controller in a network of mutually coupled (MCI) interneurons.
Control and structural optimization for maneuvering large spacecraft
NASA Technical Reports Server (NTRS)
Chun, H. M.; Turner, J. D.; Yu, C. C.
1990-01-01
Presented here are the results of an advanced control design as well as a discussion of the requirements for automating both the structures and control design efforts for maneuvering a large spacecraft. The advanced control application addresses a general three dimensional slewing problem, and is applied to a large geostationary platform. The platform consists of two flexible antennas attached to the ends of a flexible truss. The control strategy involves an open-loop rigid body control profile which is derived from a nonlinear optimal control problem and provides the main control effort. A perturbation feedback control reduces the response due to the flexibility of the structure. Results are shown which demonstrate the usefulness of the approach. Software issues are considered for developing an integrated structures and control design environment.
Design of feedforward controllers for multivariable plants
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
Simple methods for the design of feedforward controllers to achieve steady-state disturbance rejection and command tracking in stable multivariable plants are developed in this paper. The controllers are represented by simple and low-order transfer functions and are not based on reconstruction of the states of the commands and disturbances. For unstable plants, it is shown that the present method can be applied directly when an additional feedback controller is employed to stabilize the plant. The feedback and feedforward controllers do not affect each other and can be designed independently based on the open-loop plant to achieve stability, disturbance rejection and command tracking, respectivley. Numerical examples are given for illustration.
Structural Damage Detection Using Virtual Passive Controllers
NASA Technical Reports Server (NTRS)
Lew, Jiann-Shiun; Juang, Jer-Nan
2001-01-01
This paper presents novel approaches for structural damage detection which uses the virtual passive controllers attached to structures, where passive controllers are energy dissipative devices and thus guarantee the closed-loop stability. The use of the identified parameters of various closed-loop systems can solve the problem that reliable identified parameters, such as natural frequencies of the open-loop system may not provide enough information for damage detection. Only a small number of sensors are required for the proposed approaches. The identified natural frequencies, which are generally much less sensitive to noise and more reliable than the identified natural frequencies, are used for damage detection. Two damage detection techniques are presented. One technique is based on the structures with direct output feedback controllers while the other technique uses the second-order dynamic feedback controllers. A least-squares technique, which is based on the sensitivity of natural frequencies to damage variables, is used for accurately identifying the damage variables.
Cooperative controls with intermittent communication
NASA Astrophysics Data System (ADS)
Shen, Dan; Chen, Genshe; Cruz, Jose B., Jr.; Pham, Khanh; Blasch, Erik; Lynch, Robert
2010-04-01
In this paper, we propose a solution to the cooperative path planning with limited communication problem in two phases. In the first (offline) phase, a Pareto-optimal path problem is formulated to find a reference path and the graph cuts minimization method is used to speedily calculate the optimal solution. In the second (online) phase, a foraging algorithm is used to dynamically refine the reference path to meet the dynamic constraints of unmanned aerial vehicle (UAVs), during which an open-loop feedback optimal (OLFO) controller is used to estimate the states which may be unavailable due to infrequent battlefield information updates. Furthermore, an adaptive Markov decision process is proposed to deal with intermittent asynchronous information flow. The method is demonstrated in a simulation for a swarm of Unmanned Air Vehicle (UAV) teams with various communication ranges.
Shoemaker, Adam; Grange, Robert W.; Abaid, Nicole; Leonessa, Alexander
2017-01-01
Functional Electrical Stimulation is a promising approach to treat patients by stimulating the peripheral nerves and their corresponding motor neurons using electrical current. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is to control muscle contractions from FES via three different algorithms and assess the most appropriate controller providing effective stimulation of the muscle. An open-loop system and a closed-loop system with three types of model-free feedback controllers were assessed for tracking control of skeletal muscle contractions: a Proportional-Integral (PI) controller, a Model Reference Adaptive Control algorithm, and an Adaptive Augmented PI system. Furthermore, a mathematical model of a muscle-mass-spring system was implemented in simulation to test the open-loop case and closed-loop controllers. These simulations were carried out and then validated through experiments ex vivo. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the Adaptive Augmented PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection. PMID:28273101
Optimal actuator location of minimum norm controls for heat equation with general controlled domain
NASA Astrophysics Data System (ADS)
Guo, Bao-Zhu; Xu, Yashan; Yang, Dong-Hui
2016-09-01
In this paper, we study optimal actuator location of the minimum norm controls for a multi-dimensional heat equation with control defined in the space L2 (Ω × (0 , T)). The actuator domain is time-varying in the sense that it is only required to have a prescribed Lebesgue measure for any moment. We select an optimal actuator location so that the optimal control takes its minimal norm over all possible actuator domains. We build a framework of finding the Nash equilibrium so that we can develop a sufficient and necessary condition to characterize the optimal relaxed solutions for both actuator location and corresponding optimal control of the open-loop system. The existence and uniqueness of the optimal classical solutions are therefore concluded. As a result, we synthesize both optimal actuator location and corresponding optimal control into a time-varying feedbacks.
Maneuvering and control of flexible space robots
NASA Technical Reports Server (NTRS)
Meirovitch, Leonard; Lim, Seungchul
1994-01-01
This paper is concerned with a flexible space robot capable of maneuvering payloads. The robot is assumed to consist of two hinge-connected flexible arms and a rigid end-effector holding a payload; the robot is mounted on a rigid platform floating in space. The equations of motion are nonlinear and of high order. Based on the assumption that the maneuvering motions are one order of magnitude larger than the elastic vibrations, a perturbation approach permits design of controls for the two types of motion separately. The rigid-body maneuvering is carried out open loop, but the elastic motions are controlled closed loop, by means of discrete-time linear quadratic regulator theory with prescribed degree of stability. A numerical example demonstrates the approach. In the example, the controls derived by the perturbation approach are applied to the original nonlinear system and errors are found to be relatively small.
System/observer/controller identification toolbox
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Horta, Lucas G.; Phan, Minh
1992-01-01
System Identification is the process of constructing a mathematical model from input and output data for a system under testing, and characterizing the system uncertainties and measurement noises. The mathematical model structure can take various forms depending upon the intended use. The SYSTEM/OBSERVER/CONTROLLER IDENTIFICATION TOOLBOX (SOCIT) is a collection of functions, written in MATLAB language and expressed in M-files, that implements a variety of modern system identification techniques. For an open loop system, the central features of the SOCIT are functions for identification of a system model and its corresponding forward and backward observers directly from input and output data. The system and observers are represented by a discrete model. The identified model and observers may be used for controller design of linear systems as well as identification of modal parameters such as dampings, frequencies, and mode shapes. For a closed-loop system, an observer and its corresponding controller gain directly from input and output data.
Motion and force control for multiple cooperative manipulators
NASA Technical Reports Server (NTRS)
Wen, John T.; Kreutz, Kenneth
1989-01-01
The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.
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.
A multidisciplinary approach to optimization of controlled space structures
NASA Technical Reports Server (NTRS)
Woodard, Stanley E.; Padula, Sharon L.; Graves, Philip C.; James, Benjamin B.
1990-01-01
A fundamental problem facing controls-structures analysts is a means of determining the trade-offs between structural design parameters and control design parameters in meeting some particular performance criteria. Developing a general optimization-based design methodology integrating the disciplines of structural dynamics and controls is a logical approach. The objective of this study is to develop such a method. Classical design methodology involves three phases. The first is structural optimization, wherein structural member sizes are varied to minimize structural mass, subject to open-loop frequency constraints. The next phase integrates control and structure design with control gains as additional design variables. The final phase is analysis of the 'optimal' integrated design phase considering 'real' actuators and 'standard' member sizes. The control gains could be further optimized for fixed structure, and actuator saturation constraints could be imposed. However, such an approach does not take full advantage of opportunities to tailor the structure and control system design as one system.
NASA Technical Reports Server (NTRS)
Callier, F. M.; Desoer, C. A.
1973-01-01
A class of multivariable, nonlinear time-varying feedback systems with an unstable convolution subsystem as feedforward and a time-varying nonlinear gain as feedback was considered. The impulse response of the convolution subsystem is the sum of a finite number of increasing exponentials multiplied by nonnegative powers of the time t, a term that is absolutely integrable and an infinite series of delayed impulses. The main result is a theorem. It essentially states that if the unstable convolution subsystem can be stabilized by a constant feedback gain F and if incremental gain of the difference between the nonlinear gain function and F is sufficiently small, then the nonlinear system is L(p)-stable for any p between one and infinity. Furthermore, the solutions of the nonlinear system depend continuously on the inputs in any L(p)-norm. The fixed point theorem is crucial in deriving the above theorem.
Behavioural system identification of visual flight speed control in Drosophila melanogaster
Rohrseitz, Nicola; Fry, Steven N.
2011-01-01
Behavioural control in many animals involves complex mechanisms with intricate sensory-motor feedback loops. Modelling allows functional aspects to be captured without relying on a description of the underlying complex, and often unknown, mechanisms. A wide range of engineering techniques are available for modelling, but their ability to describe time-continuous processes is rarely exploited to describe sensory-motor control mechanisms in biological systems. We performed a system identification of visual flight speed control in the fruitfly Drosophila, based on an extensive dataset of open-loop responses previously measured under free flight conditions. We identified a second-order under-damped control model with just six free parameters that well describes both the transient and steady-state characteristics of the open-loop data. We then used the identified control model to predict flight speed responses after a visual perturbation under closed-loop conditions and validated the model with behavioural measurements performed in free-flying flies under the same closed-loop conditions. Our system identification of the fruitfly's flight speed response uncovers the high-level control strategy of a fundamental flight control reflex without depending on assumptions about the underlying physiological mechanisms. The results are relevant for future investigations of the underlying neuromotor processing mechanisms, as well as for the design of biomimetic robots, such as micro-air vehicles. PMID:20525744
Behavioural system identification of visual flight speed control in Drosophila melanogaster.
Rohrseitz, Nicola; Fry, Steven N
2011-02-06
Behavioural control in many animals involves complex mechanisms with intricate sensory-motor feedback loops. Modelling allows functional aspects to be captured without relying on a description of the underlying complex, and often unknown, mechanisms. A wide range of engineering techniques are available for modelling, but their ability to describe time-continuous processes is rarely exploited to describe sensory-motor control mechanisms in biological systems. We performed a system identification of visual flight speed control in the fruitfly Drosophila, based on an extensive dataset of open-loop responses previously measured under free flight conditions. We identified a second-order under-damped control model with just six free parameters that well describes both the transient and steady-state characteristics of the open-loop data. We then used the identified control model to predict flight speed responses after a visual perturbation under closed-loop conditions and validated the model with behavioural measurements performed in free-flying flies under the same closed-loop conditions. Our system identification of the fruitfly's flight speed response uncovers the high-level control strategy of a fundamental flight control reflex without depending on assumptions about the underlying physiological mechanisms. The results are relevant for future investigations of the underlying neuromotor processing mechanisms, as well as for the design of biomimetic robots, such as micro-air vehicles.
Detecting air traffic controller interventions in recorded air transportation system data
NASA Astrophysics Data System (ADS)
Kwon, Yul
In this study, I propose a systematic method of detecting aircraft deviation due to air traffic controller (ATC) intervention. The aircraft deviations associated with ATC interventions are detected using a heuristic algorithm developed from analyzing the actual positions of an aircraft to its filed flight plan when the aircraft trajectories were identified as having an encounter in a loss-of-separation incident. An actual (closed-loop) flight trajectory of the Cleveland Air Route Traffic Control Center (ZOB ARTCC) was collected from the FlightAware database. This was compared with the corresponding planned (open-loop) trajectory dataset generated by the Microsoft(c) Flight Simulator X (FSX). I implemented a conflict-detection algorithm in Matlab to identify open-loop flight trajectories that encounters in loss-of-separation. I analyzed the differences between the closed-loop and open-loop flight trajectories of aircrafts that were identified to have encounters in loss of separation. The analysis identified operationally significant deviations in the closed-loop trajectory data with respect to the horizontal paths of the aircrafts. I then developed and validated a heuristic algorithm, the ATC intervention detection algorithm, based on the findings from the analysis. When used with a test dataset to validate the algorithm, it achieved an 85.7% detection rate in detecting horizontal deviations made by the ATC in resolving identified conflicts, and a false-alarm rate of 68%. In addition to the ATC intervention detection algorithm, I present in this paper an analysis of deviated flight trajectories in an effort to display how the presented methodology can be utilized to provide insight into air traffic controller resolution strategies.
NASA Technical Reports Server (NTRS)
Wie, Bong; Liu, Qiang
1992-01-01
Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.
NASA Technical Reports Server (NTRS)
Dwyer Cianciolo, Alicia; Powell, Richard W.
2017-01-01
Precision landing on Mars is a challenge. All Mars lander missions prior to the 2012 Mars Science Laboratory (MSL) had landing location uncertainty ellipses on the order of hundreds of kilometers. Sending humans to the surface of Mars will likely require multiple landers delivered in close proximity, which will in turn require orders of magnitude improvement in landing accuracy. MSL was the first Mars mission to use an Apollo-derived bank angle guidance to reduce the size of the landing ellipse. It utilized commanded bank angle magnitude to control total range and bank angle reversals to control cross range. A shortcoming of this bank angle guidance is that the open loop phase of flight created by use of bank reversals increases targeting errors. This paper presents a comparison of entry, descent and landing performance for a vehicle with a low lift-to-drag ratio using both bank angle control and an alternative guidance called Direct Force Control (DFC). DFC eliminates the open loop flight errors by directly controlling two forces independently, lift and side force. This permits independent control of down range and cross range. Performance results, evaluated using the Program to Optimize Simulated Trajectories (POST2), including propellant use and landing accuracy, are presented.
Guerrero, Javier; Guisasola, Albert; Baeza, Juan A
2014-01-01
This work shows the development and the in silico evaluation of a novel control strategy aiming at successful biological phosphorus removal in a wastewater treatment plant operating in an A(2)/O configuration with carbon-limited influent. The principle of this novel approach is that the phosphorus in the effluent can be controlled with the nitrate setpoint in the anoxic reactor as manipulated variable. The theoretical background behind this control strategy is that reducing nitrate entrance to the anoxic reactor would result in more organic matter available for biological phosphorus removal. Thus, phosphorus removal would be enhanced at the expense of increasing nitrate in the effluent (but always below legal limits). The work shows the control development, tuning and performance in comparison to open-loop conditions and to two other conventional control strategies for phosphorus removal based on organic matter and metal addition. It is shown that the novel proposed strategy achieves positive nutrient removal results with similar operational costs to the other control strategies and open-loop operation.
Durability investigation on torque control of a magneto-rheological brake: experimental work
NASA Astrophysics Data System (ADS)
Kim, Wan Ho; Park, Jhin Ha; Kim, Gi-Woo; Shin, Cheol Soo; Choi, Seung-Bok
2017-03-01
This study experimentally investigates the torque control durability of a disc brake featuring a magneto-rheological (MR) fluid. An appropriate size of MR disc brake is designed based on a mathematical model, and a prototype is manufactured. A small-scale laboratory-scale test bed is then developed using a DC motor, in-line torque sensor, and the MR brake. S45C and S20C steels are inserted into a tapered hole on the surface of the brake disc. After 105 cycles of operation in shear mode, the wear properties of the MR brake are characterized by average surface roughness measurements, scanning electron microscope images, and energy dispersive x-ray spectra. The torque control performances before and after the operation cycles are examined using open-loop control and closed-loop proportional-integral-derivative control. As expected, the control performance degraded after 105 cycles of operation in the open-loop case, but not in the closed-loop case. This aspect is demonstrated by the sinusoidal torque-tacking control performance before and after the operation cycles.
Control of Magnetic Bearings for Rotor Unbalance With Plug-In Time-Varying Resonators
Kang, Christopher; Tsao, Tsu-Chin
2016-01-01
Rotor unbalance, common phenomenon of rotational systems, manifests itself as a periodic disturbance synchronized with the rotor's angular velocity. In active magnetic bearing (AMB) systems, feedback control is required to stabilize the open-loop unstable electromagnetic levitation. Further, feedback action can be added to suppress the repeatable runout but maintain closed-loop stability. In this paper, a plug-in time-varying resonator is designed by inverting cascaded notch filters. This formulation allows flexibility in designing the internal model for appropriate disturbance rejection. The plug-in structure ensures that stability can be maintained for varying rotor speeds. Experimental results of an AMB–rotor system are presented. PMID:27222600
Sensorless Control of Permanent Magnet Machine for NASA Flywheel Technology Development
NASA Technical Reports Server (NTRS)
Kenny, Barbara H.; Kascak, Peter E.
2002-01-01
This paper describes the position sensorless algorithms presently used in the motor control for the NASA "in-house" development work of the flywheel energy storage system. At zero and low speeds a signal injection technique, the self-sensing method, is used to determine rotor position. At higher speeds, an open loop estimate of the back EMF of the machine is made to determine the rotor position. At start up, the rotor is set to a known position by commanding dc into one of the phase windings. Experimental results up to 52,000 rpm are presented.
NASA Technical Reports Server (NTRS)
Mcruer, D. T.; Myers, T. T.; Thompson, P. M.
1986-01-01
It is proposed that frequency-domain multivariable robustness techniques, when combined with classical multivariable procedures, can offer an additional means of evaluating FCS designs. A lateral-directional FCS for an advanced fighter is used as an example. Robustness to unstructured aircraft-input uncertainties is assessed using purely numerical singular-value procedures. Literal approximations for the singular values of the open-loop plant and controller and for the inverse return difference are shown to provide a means of decomposing and diagnosing robustness problems that are insoluble via purely numerical methods.
Environmental control and life support system selection for the first Lunar outpost habitat
NASA Technical Reports Server (NTRS)
Adams, Alan
1993-01-01
The planning for and feasibility study of an early human return mission to the lunar surface has been undertaken. The First Lunar Outpost (FLO) Mission philosophy is to use existing or near-term technology to achieve a human landing on the lunar surface in the year 2000. To support the crew the lunar habitat for the FLO mission incorporates an environmental control/life support system (ECLSS) design which meets the mission requirements and balances fixed mass and consumable mass. This tradeoff becomes one of regenerable life support systems versus open-loop systems.
Control of Magnetic Bearings for Rotor Unbalance With Plug-In Time-Varying Resonators.
Kang, Christopher; Tsao, Tsu-Chin
2016-01-01
Rotor unbalance, common phenomenon of rotational systems, manifests itself as a periodic disturbance synchronized with the rotor's angular velocity. In active magnetic bearing (AMB) systems, feedback control is required to stabilize the open-loop unstable electromagnetic levitation. Further, feedback action can be added to suppress the repeatable runout but maintain closed-loop stability. In this paper, a plug-in time-varying resonator is designed by inverting cascaded notch filters. This formulation allows flexibility in designing the internal model for appropriate disturbance rejection. The plug-in structure ensures that stability can be maintained for varying rotor speeds. Experimental results of an AMB-rotor system are presented.
On-Orbit Model Refinement for Controller Redesign
NASA Technical Reports Server (NTRS)
Whorton, Mark S.; Calise, Anthony J.
1998-01-01
High performance control design for a flexible space structure is challenging since high fidelity plant models are difficult to obtain a priori. Uncertainty in the control design models typically require a very robust, low performance control design which must be tuned on-orbit to achieve the required performance. A new procedure for refining a multivariable open loop plant model based on closed-loop response data is presented. Using a minimal representation of the state space dynamics, a least squares prediction error method is employed to estimate the plant parameters. This control-relevant system identification procedure stresses the joint nature of the system identification and control design problem by seeking to obtain a model that minimizes the difference between the predicted and actual closed-loop performance. This paper presents an algorithm for iterative closed-loop system identification and controller redesign along with illustrative examples.
Distributed control for COFS 1
NASA Technical Reports Server (NTRS)
Montgomery, R. C.; Sulla, Jeff; Lindner, D. K.
1986-01-01
An overview is given of the work being done at NASA LaRC on developing the Control of Flexible Structures (COFS) 1 Flight Experiment Baseline Control Law. This control law currently evolving to a generic control system software package designed to supply many, but not all, guest investigators. A system simulator is also described. It is currently being developed for COFS-1 and will be used to develop the Baseline Control Law and to evaluate guest investigator control schemes. It will be available for use whether or not control schemes fall into the category of the Baseline Control Law. First, the hardware configuration for control experiments is described. This is followed by a description of the simulation software. Open-loop sinusoid excitation time histories are next presented both with and without a local controller for the Linear DC Motor (LDCM) actuators currently planned for the flight. The generic control law follows and algorithm processing requirements are cited for a nominal case of interest. Finally, a closed-loop simulation study is presented, and the state of the work is summarized in the concluding remarks.
Metrics of Balance Control for Use in Screening Tests of Vestibular Function
NASA Technical Reports Server (NTRS)
Fiedler, Matthew; Cohen, Helen; Mulavara, Ajitkumar; Peters, Brian; Miller, Chris; Bloomberg, Jacob
2011-01-01
Decrements in balance control have been documented in astronauts after space flight. Reliable measures of balance control are needed for use in postflight field tests at remote landing sites. Diffusion analysis (DA) is a statistical mechanical tool that shows the average difference of the dependent variable on varying time scales. These techniques have been shown to measure differences in open-loop and closed-loop postural control in astronauts and elderly subjects. The goal of this study was to investigate the reliability of these measures of balance control. Eleven subjects were tested using the Clinical Test of Sensory Interaction on Balance: the subject stood with feet together and arms crossed on a stable or compliant surface, with eyes open or closed and with or without head movements in the pitch or yaw plane. Subjects were instrumented with inertial motion sensors attached to their trunk segment. The DA curves for linear acceleration measures were characterized by linear fits measuring open- (Ds) and closed-loop (Dl) control, and their intersection point (X-int, Y-int). Ds and Y-int showed significant differences between the test conditions. Additionally, Ds was correlated with the root mean square (RMS) of the signal, indicating that RMS was dominated by open-loop events (< 0.5 seconds). The Y-int was found to be correlated with the average linear velocity of trunk movements. Thus DA measures could be applied to derive reliable metrics of balance stability during field tests.
Active load control during rolling maneuvers. [performed in the Langley Transonic Dynamics Tunnel
NASA Technical Reports Server (NTRS)
Woods-Vedeler, Jessica A.; Pototzky, Anthony S.; Hoadley, Sherwood T.
1994-01-01
A rolling maneuver load alleviation (RMLA) system has been demonstrated on the active flexible wing (AFW) wind tunnel model in the Langley Transonic Dynamics Tunnel (TDT). The objective was to develop a systematic approach for designing active control laws to alleviate wing loads during rolling maneuvers. Two RMLA control laws were developed that utilized outboard control-surface pairs (leading and trailing edge) to counteract the loads and that used inboard trailing-edge control-surface pairs to maintain roll performance. Rolling maneuver load tests were performed in the TDT at several dynamic pressures that included two below and one 11 percent above open-loop flutter dynamic pressure. The RMLA system was operated simultaneously with an active flutter suppression system above open-loop flutter dynamic pressure. At all dynamic pressures for which baseline results were obtained, torsion-moment loads were reduced for both RMLA control laws. Results for bending-moment load reductions were mixed; however, design equations developed in this study provided conservative estimates of load reduction in all cases.
Miyamoto, Tadayoshi; Nakahara, Hidehiro; Ueda, Shinya; Manabe, Kou; Kawai, Eriko; Inagaki, Masashi; Kawada, Toru; Sugimachi, Masaru
2015-01-01
OBJECTIVE The respiratory operating point is determined by the interplay between the controller and plant subsystem elements within the respiratory chemoreflex feedback system. This study aimed to establish the methodological basis for quantitative analysis of the open-loop dynamic properties of the human respiratory control system and to apply the results to explore detailed mechanisms of the regulation of respiration and the possible mechanism of periodic breathing in chronic heart failure. METHODS AND RESULTS In healthy volunteers, we measured arterial CO2 partial pressure (PaCO2) and minute ventilation (V˙E) to estimate the dynamic properties of the controller ( PaCO2→V˙E relation) and plant ( V˙E→PaCO2 relation). The dynamic properties of the controller and plant approximated first- and second-order exponential models, respectively, and were described using parameters including gain, time constant, and lag time. We then used the open-loop transfer functions to simulate the closed-loop respiratory response to an exogenous disturbance, while manipulating the parameter values to deviate from normal values but within physiological ranges. By increasing both the product of gains of the two subsystem elements (total loop gain) and the lag time, the condition of system oscillation (onset of periodic breathing) was satisfied. CONCLUSION When abnormality occurs in a part of the respiratory chemoreflex system, instability of the control system is amplified and may result in the manifestation of respiratory abnormalities such as periodic breathing. PMID:26561001
Method for spinning up a three-axis controlled spacecraft
NASA Technical Reports Server (NTRS)
Vorlicek, Preston L. (Inventor)
1988-01-01
A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).
Circadian Phase Resetting via Single and Multiple Control Targets
Bagheri, Neda; Stelling, Jörg; Doyle, Francis J.
2008-01-01
Circadian entrainment is necessary for rhythmic physiological functions to be appropriately timed over the 24-hour day. Disruption of circadian rhythms has been associated with sleep and neuro-behavioral impairments as well as cancer. To date, light is widely accepted to be the most powerful circadian synchronizer, motivating its use as a key control input for phase resetting. Through sensitivity analysis, we identify additional control targets whose individual and simultaneous manipulation (via a model predictive control algorithm) out-perform the open-loop light-based phase recovery dynamics by nearly 3-fold. We further demonstrate the robustness of phase resetting by synchronizing short- and long-period mutant phenotypes to the 24-hour environment; the control algorithm is robust in the presence of model mismatch. These studies prove the efficacy and immediate application of model predictive control in experimental studies and medicine. In particular, maintaining proper circadian regulation may significantly decrease the chance of acquiring chronic illness. PMID:18795146
REAL-TIME MODEL-BASED ELECTRICAL POWERED WHEELCHAIR CONTROL
Wang, Hongwu; Salatin, Benjamin; Grindle, Garrett G.; Ding, Dan; Cooper, Rory A.
2009-01-01
The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel-slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3-D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds. PMID:19733494
Variable structure control of nonlinear systems through simplified uncertain models
NASA Technical Reports Server (NTRS)
Sira-Ramirez, Hebertt
1986-01-01
A variable structure control approach is presented for the robust stabilization of feedback equivalent nonlinear systems whose proposed model lies in the same structural orbit of a linear system in Brunovsky's canonical form. An attempt to linearize exactly the nonlinear plant on the basis of the feedback control law derived for the available model results in a nonlinearly perturbed canonical system for the expanded class of possible equivalent control functions. Conservatism tends to grow as modeling errors become larger. In order to preserve the internal controllability structure of the plant, it is proposed that model simplification be carried out on the open-loop-transformed system. As an example, a controller is developed for a single link manipulator with an elastic joint.
Real-time model based electrical powered wheelchair control.
Wang, Hongwu; Salatin, Benjamin; Grindle, Garrett G; Ding, Dan; Cooper, Rory A
2009-12-01
The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds.
Distributed Parameter Control of Selective Catalytic Reduction (SCR) for Diesel-Powered Vehicles
NASA Astrophysics Data System (ADS)
Pakravesh, Hallas
The main scope of this work is to design a distributed parameter control for SCR, which is modelled by using coupled hyperbolic and parabolic partial differential equations (PDEs). This is a boundary control problem where the control objectives are to reduce the amount of NOx emissions and ammonia slip as far as possible. Two strategies are used to control SCR. The first strategy includes using the direct transcription (DT) as the open-loop control technique. The second strategy includes the design of a closed-loop control technique that uses a new numerical method developed in this work, which combines the method of characteristics and spectral decomposition, and the characteristic-based nonlinear model predictive control (CBNMPC) as the control algorithm. The results show that the designed advanced controllers are able to achieve very high control performance in terms of NOx and ammonia slip reduction.
Luijf, Yoeri M.; Koebrugge, Rob; Koops, Robin; Hoekstra, Joost B.L.; DeVries, J. Hans
2014-01-01
Abstract Background: This study assessed the feasibility of a portable bihormonal closed-loop system at home. Subjects and Methods: Sixteen pump-treated patients with type 1 diabetes received 48 h of closed-loop therapy with a telemonitored insulin- and glucagon-delivering closed-loop system and 48 h of patient-managed open-loop therapy. Results: Owing to technical problems in five cases, only 11 patients could be analyzed. Whereas median (interquartile range) glucose levels were not significantly different during Day 1 of open-loop control (OL1) from closed-loop control (CL1) (8.27 [0.83] mmol/L vs. 8.84 [1.47] mmol/L; P=0.206), they were significantly lower during Day 2 of closed-loop control (CL2) versus open-loop control (OL2) (7.70 [2.29] mmol/L vs. 8.84 [0.87] mmol/L; P=0.027). Time spent in euglycemia (3.9–10 mmol/L) was comparable with 67.2% (38.5%) in OL1 versus 79.2% (16.9%) in CL1 (P=0.189) and 66.0% (29.8%) in OL2 versus 76.5% (23.9%) in CL2 (P=0.162). Time spent in hypoglycemia (<3.9 mmol/L) was comparable on Day 1 of control (OL1, 0.68% [8.68%]; CL1, 2.08% [7.61%]; P=0.593) but significantly higher during Day 2 of control (OL2, 0.00% [11.07%]; CL2, 2.8% [9.8%]; P=0.0172) (P=0.017). Conclusions: Bihormonal closed-loop control is feasible at home, with comparable time in euglycemia to open-loop control and significantly lower median glucose levels on Day 2 of control at the expense of more time in hypoglycemia, albeit still at a very low percentage of time. PMID:24224750
Macuga, Kristen L.; Frey, Scott H.
2016-01-01
Damage to the superior and/or inferior parietal lobules (SPL, IPL) (Sirigu et al., 1996) or cerebellum (Grealy and Lee, 2011) can selectively disrupt motor imagery, motivating the hypothesis that these regions participate in predictive (i.e., feedforward) control. If so, then the SPL, IPL, and cerebellum should show greater activity as the demands on feedforward control increase from visually-guided execution (closed-loop) to execution without visual feedback (open-loop) to motor imagery. Using fMRI and a Fitts’ reciprocal aiming task with tools directed at targets in far space, we found that the SPL and cerebellum exhibited greater activity during closed-loop control. Conversely, open-loop and imagery conditions were associated with increased activity within the IPL and prefrontal areas. These results are consistent with a superior-to-inferior gradient in the representation of feedback-to-feedforward control within the posterior parietal cortex. Additionally, the anterior SPL displayed greater activity when aiming movements were performed with a stick vs. laser pointer. This may suggest that it is involved in the remapping of far into near (reachable) space (Maravita and Iriki, 2004), or in distalization of the end-effector from hand to stick (Arbib et al., 2009). PMID:24473100
Periodic-disturbance accommodating control of the space station for asymptotic momentum management
NASA Technical Reports Server (NTRS)
Warren, Wayne; Wie, Bong; Geller, David
1989-01-01
Periodic-disturbance accommodating control is investigated for asymptotic momentum management of control moment gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. The quaternion feedback controller designed using the linear-quadratic regulator synthesis technique is shown to be robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.
Periodic-disturbance accommodating control of the space station for asymptotic momentum management
NASA Technical Reports Server (NTRS)
Warren, Wayne; Wie, Bong
1989-01-01
Periodic maneuvering control is developed for asymptotic momentum management of control gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. It is shown that the quaternion feedback controller is very robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.
Real-time Adaptive Control Using Neural Generalized Predictive Control
NASA Technical Reports Server (NTRS)
Haley, Pam; Soloway, Don; Gold, Brian
1999-01-01
The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.
Direct digital control of air washer cooling system
Elben, T.; Roseblock, R.; Lawler, R.; McCord, J.
1990-01-01
The purpose of this project was to make a practical evaluation of using new technology to extend the life of obsolete HVAC mechanical equipment. The specific exercises in this project involved the application of software driven control algorithms to operate and manage open loop air washer cooling systems in the air handling units located in the Municipal Auditorium in Kansas City, Missouri. The specific opportunity evaluated in this project involved eight air handling units at the Municipal Auditorium. The air handling systems utilize outdated air washer cooling systems that provide air conditioning and dehumidification to the areas they serve. We utilized direct digital control to assume total control of the operation of the air handling units. We also found it necessary to upgrade some components of the air handling units in order to allow the new control applications to execute their functions. This report describes the plan used to execute the project and the results. 20 tabs.
Controller design via structural reduced modeling by FETM
NASA Technical Reports Server (NTRS)
Yousuff, Ajmal
1987-01-01
The Finite Element-Transfer Matrix (FETM) method has been developed to reduce the computations involved in analysis of structures. This widely accepted method, however, has certain limitations, and does not address the issues of control design. To overcome these, a modification of the FETM method has been developed. The new method easily produces reduced models tailored toward subsequent control design. Other features of this method are its ability to: (1) extract open loop frequencies and mode shapes with less computations, (2) overcome limitations of the original FETM method, and (3) simplify the design procedures for output feedback, constrained compensation, and decentralized control. This report presents the development of the new method, generation of reduced models by this method, their properties, and the role of these reduced models in control design. Examples are included to illustrate the methodology.
Controller strategy for a 6 DOF piezoelectric translation stage
Buice, E S; Yang, H; Smith, S T; Hocken, R J; Trumper, D L; Otten, D; Seugling, R M
2006-03-22
A controller for the third generation, 6 degree-of-freedom (DOF) piezoelectric translation stage shown in Figure 1 is presented. This was tested by monitoring all six coordinate motions using an orthogonal array of six, high-resolution capacitance gages. The full 6 DOF matrix transformations and controller block diagrams for this system have been measured and the system operated under closed loop control. Results of early experiments to determine the 21 open loop response functions as well as preliminary results showing the closed loop response for the 3 linear translations are presented in this abstract. The ultimate goal of this project is to incorporate this 6 DOF stage within a long range X-Y scanning system for nanometer pick-and-place capability over an area of 50 x 50 mm. The control strategy and early results from this system will be presented.
Magnetic suspension system for an Annular Momentum Control Device (AMCD)
NASA Technical Reports Server (NTRS)
1979-01-01
A technique to control a rim suspended in a magnetic field was developed. A complete system was developed, incorporating a support structure, magnetic actuators, a rim drive mechanism, an emergency fail-safe system, servo control system, and control electronics. Open loop and closed loop response of the system at zero speed and at 500 revolutions per minute (r/min) of the rim was obtained and analyzed. The rim was then dynamically balanced and a rim speed of 725 r/min was achieved. An analog simulation of the hardware was developed and tested with the actual control electronics connected to the analog computer. The system under development is stable at rim speeds below 700 r/min. Test results indicate that the rim under test is not rigid. The rim has a warp and a number of binding modes which prevented achievement of higher speeds. Further development efforts are required to achieve higher rim speeds.
NASA Technical Reports Server (NTRS)
Morelli, Eugene A.
1995-01-01
Flight test maneuvers are specified for the F-18 High Alpha Research Vehicle (HARV). The maneuvers were designed for open loop parameter identification purposes, specifically for optimal input design validation at 5 degrees angle of attack, identification of individual strake effectiveness at 40 and 50 degrees angle of attack, and study of lateral dynamics and lateral control effectiveness at 40 and 50 degrees angle of attack. Each maneuver is to be realized by applying square wave inputs to specific control effectors using the On-Board Excitation System (OBES). Maneuver descriptions and complete specifications of the time/amplitude points define each input are included, along with plots of the input time histories.
NASA Astrophysics Data System (ADS)
Rohlfing, J.; Gardonio, P.; Thompson, D. J.
2011-02-01
Theoretical and experimental work is presented to compare the effect of decentralised velocity feedback control on thin homogeneous and sandwich panels. The decentralised control system consists of five control units, which are composed of a proof-mass electrodynamic actuator with an accelerometer underneath its footprint and an analogue controller. The stability of the feedback loops is analysed by considering the sensor-actuator open-loop frequency response function of each control unit and the eigenvalues of the fully populated matrix of open-loop frequency response functions between the five sensors and five actuators. The control performance is then analysed in terms of the time-averaged total kinetic energy and total sound power radiated by the two panels. The results show that for a stiff sandwich panel higher stable feedback gains can be implemented than on a thin homogeneous panel of comparable weight per unit area. Moreover the implementation of decentralised velocity feedback can offset some of the undesirable sound transmission properties of lightweight sandwich structures by efficiently reducing structural vibration and sound power radiation in the mid audio frequency range.
NASA Technical Reports Server (NTRS)
Stewart, E. C.; Brown, P. W.
1985-01-01
An automatic trim system for reducing the control forces after an engine failure on a light twin has been investigated on the Langley General Aviation Simulator. The system schedules open-loop trim tab deflections as a function of differential propeller slipstream dynamic pressure and freestream dynamic pressure. The system is described and the airplane-system static and dynamic characteristics are documented. Three NASA research pilots evaluated the effectiveness of the system for takeoff and landing maneuvers. A variety of off-nominal system characteristics were studied. The system was judged to be generally beneficial, providing a 2 to 3 point improvement in pilot rating for the tasks used in the evaluations.
A Piloted Evaluation of Damage Accommodating Flight Control Using a Remotely Piloted Vehicle
NASA Technical Reports Server (NTRS)
Cunningham, Kevin; Cox, David E.; Murri, Daniel G.; Riddick, Stephen E.
2011-01-01
Toward the goal of reducing the fatal accident rate of large transport airplanes due to loss of control, the NASA Aviation Safety Program has conducted research into flight control technologies that can provide resilient control of airplanes under adverse flight conditions, including damage and failure. As part of the safety program s Integrated Resilient Aircraft Control Project, the NASA Airborne Subscale Transport Aircraft Research system was designed to address the challenges associated with the safe and efficient subscale flight testing of research control laws under adverse flight conditions. This paper presents the results of a series of pilot evaluations of several flight control algorithms used during an offset-to-landing task conducted at altitude. The purpose of this investigation was to assess the ability of various flight control technologies to prevent loss of control as stability and control characteristics were degraded. During the course of 8 research flights, data were recorded while one task was repeatedly executed by a single evaluation pilot. Two generic failures, which degraded stability and control characteristics, were simulated inflight for each of the 9 different flight control laws that were tested. The flight control laws included three different adaptive control methodologies, several linear multivariable designs, a linear robust design, a linear stability augmentation system, and a direct open-loop control mode. Based on pilot Cooper-Harper Ratings obtained for this test, the adaptive flight control laws provided the greatest overall benefit for the stability and control degradation scenarios that were considered. Also, all controllers tested provided a significant improvement in handling qualities over the direct open-loop control mode.
Shape and vibration control of active laminated plates for RF and optical applications
NASA Astrophysics Data System (ADS)
Punhani, Amitesh; Washington, Gregory N.
2006-03-01
Active shape and vibration control of large structures have long been desired for many practical applications. PVDF being one of the most suitable materials for these applications due to its strong piezoelectric properties and availability in thin sheets has been the focal point of most researchers in this area. Most of the research has been done to find an open loop solution, which would be able to shape the structure as per the desired requirements in an ideal atmosphere. Unmodeled dynamics and external disturbances prevent the open loop (no feedback) solution from achieving the desired shape. This research develops a dynamic model of a laminated plate consisting of two layers of PVDF film joined with a layer of epoxy. The orthotropic properties of PVDF have been modeled and the epoxy layer is considered to be isotropic. A general control model is developed, which would work for most boundary conditions and developed for a simply supported beam with patch actuators. The methodology is then extended for a simply supported laminated plate. This model could be used for real time dynamic disturbance rejection and shape and vibration control of the structure.
Effect of a fluid layer on the sound radiation of a plate and its active control
NASA Astrophysics Data System (ADS)
Sun, Yao; Pan, Jie; Yang, Tiejun
2015-11-01
In this paper, a baffled plate facing a layer of fluid is used to investigate the effects of the radiating environment on the plate's sound radiation and its active control. By varying the thickness of the fluid layer, different radiation environments are presented to the plate, resulting in a variation in the efficiencies and shapes of the radiation modes of the plate. As the design of feed-forward control of the radiated sound power and of feedback control of the vibration velocity or volume velocity is limited by the properties of the secondary control path (an open-loop frequency response function), the performance of the control system may be deteriorated if a controller optimally designed for one radiation environment is used for a different environment. The effects of radiation environment on the properties of the secondary control path and performance of active control are investigated.
Design of feedback control systems for unstable plants with saturating actuators
NASA Technical Reports Server (NTRS)
Kapasouris, Petros; Athans, Michael; Stein, Gunter
1988-01-01
A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.
Coherent feedback control of a single qubit in diamond
NASA Astrophysics Data System (ADS)
Hirose, Masashi; Cappellaro, Paola
2016-04-01
Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation
Postural control model interpretation of stabilogram diffusion analysis
NASA Technical Reports Server (NTRS)
Peterka, R. J.
2000-01-01
Collins and De Luca [Collins JJ. De Luca CJ (1993) Exp Brain Res 95: 308-318] introduced a new method known as stabilogram diffusion analysis that provides a quantitative statistical measure of the apparently random variations of center-of-pressure (COP) trajectories recorded during quiet upright stance in humans. This analysis generates a stabilogram diffusion function (SDF) that summarizes the mean square COP displacement as a function of the time interval between COP comparisons. SDFs have a characteristic two-part form that suggests the presence of two different control regimes: a short-term open-loop control behavior and a longer-term closed-loop behavior. This paper demonstrates that a very simple closed-loop control model of upright stance can generate realistic SDFs. The model consists of an inverted pendulum body with torque applied at the ankle joint. This torque includes a random disturbance torque and a control torque. The control torque is a function of the deviation (error signal) between the desired upright body position and the actual body position, and is generated in proportion to the error signal, the derivative of the error signal, and the integral of the error signal [i.e. a proportional, integral and derivative (PID) neural controller]. The control torque is applied with a time delay representing conduction, processing, and muscle activation delays. Variations in the PID parameters and the time delay generate variations in SDFs that mimic real experimental SDFs. This model analysis allows one to interpret experimentally observed changes in SDFs in terms of variations in neural controller and time delay parameters rather than in terms of open-loop versus closed-loop behavior.
NASA Astrophysics Data System (ADS)
Brackston, Rowan D.; Wynn, Andrew; Morrison, Jonathan F.
2016-10-01
Feedback control of fluid flows presents a challenging problem due to nonlinear dynamics and unknown optimal operating conditions. Extremum seeking control presents a suitable method for many flow control situations but involves its own challenges. In this paper, we provide a brief analysis of the extremum seeking method, with attention to modifications that we find to be advantageous. In particular, we present an adaptation for optimisation of the frequency of a harmonic input signal, a common scenario for open-loop flow control systems. We then present results from the experimental implementation of our modified method to the open-loop control system of Oxlade et al. (J Fluid Mech 770:305-318, 2015), an axisymmetric bluff-body wake, forced by a pulsed jet. We find that the system is able to achieve optimal operating conditions in both the amplitude and frequency of the harmonic input signal, and is able to largely reject the disturbances arising from measurements of a highly turbulent flow. We finally show the ability of the extremum seeking system to adapt to changing conditions.
NASA Technical Reports Server (NTRS)
Sandford, M. C.; Abel, I.; Gray, D. L.
1975-01-01
The application of active control technology to suppress flutter was demonstrated successfully in the transonic dynamics tunnel with a delta-wing model. The model was a simplified version of a proposed supersonic transport wing design. An active flutter suppression method based on an aerodynamic energy criterion was verified by using three different control laws. The first two control laws utilized both leading-edge and trailing-edge active control surfaces, whereas the third control law required only a single trailing-edge active control surface. At a Mach number of 0.9 the experimental results demonstrated increases in the flutter dynamic pressure from 12.5 percent to 30 percent with active controls. Analytical methods were developed to predict both open-loop and closed-loop stability, and the results agreed reasonably well with the experimental results.
A nonlinear post impact path controller based on optimised brake sequences
NASA Astrophysics Data System (ADS)
Yang, Derong; Gordon, Timothy J.; Jacobson, Bengt; Jonasson, Mats
2012-01-01
This paper investigates brake-based path control of a passenger vehicle, aimed at reducing secondary collision risk following an initial impact in a traffic accident. Previous results from numerical optimisation showed that, at varying severity levels of post-impact states, there exist three identifiable components within the optimal control strategy so as to reduce the lateral deviation. The paper presents a path controller, based on nonlinear optimal control theory, that incorporates the three components. It is shown that friction adaptation may be implemented in a very efficient manner; the controller deals with different levels of road friction by scaling the dynamic variables from a fixed reference level. The approach provides an algorithm for adapting switching thresholds between the different components of the controller. In this study it is verified that the controller can deal with a wide range of kinematic conditions, and compares favorably with previous results of open-loop trajectory optimisation.
Modeling and Control of a Double-effect Absorption Refrigerating Machine
NASA Astrophysics Data System (ADS)
Hihara, Eiji; Yamamoto, Yuuji; Saito, Takamoto; Nagaoka, Yoshikazu; Nishiyama, Noriyuki
Because the heat capacity of absorption refrigerating machines is large compared with vapor compression refrigerating machines, the dynamic characteristics at the change in cooling load conditions are problems to be improved. The control method of energy input and of weak solution flow rate following cooling load variations was investigated. As the changes in cooling load and cooling capacity are moderate, the optimal operation conditions corresponding to the cooling load can be estimated with steady state characteristics. If the relation between the cooling load and the optimal operation conditions is well known, a feed forward control can be employed. In this report a new control algorithm, which is called MOL (Multi-variable Open Loop) control, is proposed. Comparing the MOL control with the conventional chilled water outlet temperature proportional control, the MOL control enables the smooth changes in cooling capacity and the reduction in fuel consumption.
Control system estimation and design for aerospace vehicles with time delay
NASA Technical Reports Server (NTRS)
Allgaier, G. R.; Williams, T. L.
1972-01-01
The problems of estimation and control of discrete, linear, time-varying systems are considered. Previous solutions to these problems involved either approximate techniques, open-loop control solutions, or results which required excessive computation. The estimation problem is solved by two different methods, both of which yield the identical algorithm for determining the optimal filter. The partitioned results achieve a substantial reduction in computation time and storage requirements over the expanded solution, however. The results reduce to the Kalman filter when no delays are present in the system. The control problem is also solved by two different methods, both of which yield identical algorithms for determining the optimal control gains. The stochastic control is shown to be identical to the deterministic control, thus extending the separation principle to time delay systems. The results obtained reduce to the familiar optimal control solution when no time delays are present in the system.
A Nonlinear Physics-Based Optimal Control Method for Magnetostrictive Actuators
NASA Technical Reports Server (NTRS)
Smith, Ralph C.
1998-01-01
This paper addresses the development of a nonlinear optimal control methodology for magnetostrictive actuators. At moderate to high drive levels, the output from these actuators is highly nonlinear and contains significant magnetic and magnetomechanical hysteresis. These dynamics must be accommodated by models and control laws to utilize the full capabilities of the actuators. A characterization based upon ferromagnetic mean field theory provides a model which accurately quantifies both transient and steady state actuator dynamics under a variety of operating conditions. The control method consists of a linear perturbation feedback law used in combination with an optimal open loop nonlinear control. The nonlinear control incorporates the hysteresis and nonlinearities inherent to the transducer and can be computed offline. The feedback control is constructed through linearization of the perturbed system about the optimal system and is efficient for online implementation. As demonstrated through numerical examples, the combined hybrid control is robust and can be readily implemented in linear PDE-based structural models.
NASA Technical Reports Server (NTRS)
Smith, G. A.; Meyer, G.
1980-01-01
The results of a simulation study of an alternative design concept for an automatic landing control system are presented. The alternative design concept for an automatic landing control system is described. The design concept is the total aircraft flight control system (TAFCOS). TAFCOS is an open loop, feed forward system that commands the proper instantaneous thrust, angle of attack, and roll angle to achieve the forces required to follow the desired trajector. These dynamic trim conditions are determined by an inversion of the aircraft nonlinear force characteristics. The concept was applied to an A-7E aircraft approaching an aircraft carrier. The implementation details with an airborne digital computer are discussed. The automatic carrier landing situation is described. The simulation results are presented for a carrier approach with atmospheric disturbances, an approach with no disturbances, and for tailwind and headwind gusts.
Optimal Control of Distributed Energy Resources using Model Predictive Control
Mayhorn, Ebony T.; Kalsi, Karanjit; Elizondo, Marcelo A.; Zhang, Wei; Lu, Shuai; Samaan, Nader A.; Butler-Purry, Karen
2012-07-22
In an isolated power system (rural microgrid), Distributed Energy Resources (DERs) such as renewable energy resources (wind, solar), energy storage and demand response can be used to complement fossil fueled generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation. The problem is formulated as a multi-objective optimization problem with the goals of minimizing fuel costs and changes in power output of diesel generators, minimizing costs associated with low battery life of energy storage and maintaining system frequency at the nominal operating value. Two control modes are considered for controlling the energy storage to compensate either net load variability or wind variability. Model predictive control (MPC) is used to solve the aforementioned problem and the performance is compared to an open-loop look-ahead dispatch problem. Simulation studies using high and low wind profiles, as well as, different MPC prediction horizons demonstrate the efficacy of the closed-loop MPC in compensating for uncertainties in wind and demand.
NASA Astrophysics Data System (ADS)
Torghabeh, A. A.; Tousi, A. M.
2007-08-01
This paper presents Fuzzy Logic and Neural Networks approach to Gas Turbine Fuel schedules. Modeling of non-linear system using feed forward artificial Neural Networks using data generated by a simulated gas turbine program is introduced. Two artificial Neural Networks are used , depicting the non-linear relationship between gas generator speed and fuel flow, and turbine inlet temperature and fuel flow respectively . Off-line fast simulations are used for engine controller design for turbojet engine based on repeated simulation. The Mamdani and Sugeno models are used to expression the Fuzzy system . The linguistic Fuzzy rules and membership functions are presents and a Fuzzy controller will be proposed to provide an Open-Loop control for the gas turbine engine during acceleration and deceleration . MATLAB Simulink was used to apply the Fuzzy Logic and Neural Networks analysis. Both systems were able to approximate functions characterizing the acceleration and deceleration schedules . Surge and Flame-out avoidance during acceleration and deceleration phases are then checked . Turbine Inlet Temperature also checked and controls by Neural Networks controller. This Fuzzy Logic and Neural Network Controllers output results are validated and evaluated by GSP software . The validation results are used to evaluate the generalization ability of these artificial Neural Networks and Fuzzy Logic controllers.
Simulation of a Controlled Airfoil with Jets
NASA Technical Reports Server (NTRS)
Allan, Brian G.; Holt, Maurice; Packard, Andrew
1997-01-01
Numerical simulations of a two-dimensional airfoil, controlled by an applied moment in pitch and an airfoil controlled by jets, were investigated. These simulations couple the Reynolds-averaged Navier-Stokes equations and Euler's equations of rigid body motion, with an active control system. Controllers for both systems were designed to track altitude commands and were evaluated by simulating a closed-loop altitude step response using the coupled system. The airfoil controlled by a pitching moment used an optimal state feedback controller. A closed-loop simulation, of the airfoil with an applied moment, showed that the trajectories compared very well with quasi-steady aerodynamic theory, providing a measure of validation. The airfoil with jets used a controller designed by robust control methods. A linear plant model for this system was identified using open-loop data generated by the nonlinear coupled system. A closed-loop simulation of the airfoil with jets, showed good tracking of an altitude command. This simulation also showed oscillations in the control input as a result of dynamics not accounted for in the control design. This research work demonstrates how computational fluid dynamics, coupled with rigid body dynamics, and a control law can be used to prototype control systems in problematic nonlinear flight regimes.
NASA Technical Reports Server (NTRS)
Carson, John M., III; Ackmese, A. Behcet
2005-01-01
The guidance and control (G&C) algorithms for enabling small-body proximity operations are developed by using a model predictive control approach along with a convexification of the governing dynamics, control constraints, and trajectory/state constraints. The open-loop guidance is solved ahead of time or in a resolvable, real-time manner through the use of PWG (Pseudo Way-point Generation), a technique developed in this research. The PWG scheme ensures required thruster silent times during trajectory maneuvers. The feedback control is implemented to track the PWG trajectories in a manner that guarantees the resolvability for the open-loop problem, enabling the ability to update the G&C in a model-predictive manner. The schemes incorporate gravity models and thruster ring times into discrete dynamics that are solved as a optimal control problem to minimize fuel consumption or thruster energy expenditure. The optimal control problem is cast as an LMI (Linear Matrix Inequality) and then solved through Semi-Definite Programming techniques in a computationally efficient manner that provides convergence and constraint guarantees.
Modeling and Simulation of Resistive Wall Mode Control In DIII-D
NASA Astrophysics Data System (ADS)
Walker, M. L.; Humphreys, D. A.; Jensen, T. H.; Leuer, J. A.; Nerem, A.; Strait, E. J.; Garofalo, A. M.
2001-10-01
Detailed dynamic response models have been developed for all relevant subsystems comprising the DIII-D resistive wall mode (RWM) closed loop control system. These include the switching power amplifiers (SPA), digital plasma control system (PCS), acquisition and control circuitry, and a fully toroidal model of plasma/vessel dynamics based on specification of the marginal wall position from stability codes such as GATO and DCON. These models have been validated with experimental data, including open-loop excitation of the SPA, PCS, and vacuum vessel dynamic responses, and measurement of the growth rate and mode structure of the unstable plasma. These models are incorporated into a closed-loop control simulation to investigate the control limitations which are due to realistic power supply responses. Consequences of and approaches to the intrinsically multivariable RWM control problem are also investigated.
Design of PID controllers in double feedback loops for SISO systems with set-point filters.
Vijayan, V; Panda, Rames C
2012-07-01
A PID controller is widely used to control industrial processes that are mostly open loop stable or unstable. Selection of proper feedback structure and controller tuning helps to improve the performance of the loop. In this paper a double-feedback loop/method is used to achieve stability and better performance of the process. The internal feedback is used for stabilizing the process and the outer loop is used for good setpoint tracking. An internal model controller (IMC) based PID method is used for tuning the outer loop controller. Autotuning based on relay feedback or the Ziegler-Nichols method can be used for tuning an inner loop controller. A tuning parameter (λ) that is used to tune IMC-PID is used as a time constant of a setpoint filter that is used for reducing the peak overshoot. The method has been tested successfully on many low order processes.
NASA Astrophysics Data System (ADS)
Lin, Yiing-Yuh; Lin, Gern-Liang
1992-08-01
In this research, the dynamics and control of a rigid spacecraft with flexible structures were studied for the case of optimal simultaneous multiaxis reorientation. A model spacecraft consisting of a rigid hub in the middle and two solid bodies symmetrically connected to either side of the hub through uniformly distributed flexible beams is considered for the dynamic analysis and control simulation. To optimally reorienting the spacecraft, an optimal nominal control trajectory is found first through an iterative procedure. Linear flexural deformations are assumed for the beam structures and the assumed modes method is applied to find the vibration control law of the beams. The system overall optimal attitude control is achieved by following the open loop optimal reference control trajectory with an stabilizing guidance law.
Active Noise Control of Radiated Noise from Jets Originating NASA
NASA Technical Reports Server (NTRS)
Doty, Michael J.; Fuller, Christopher R.; Schiller, Noah H.; Turner, Travis L.
2013-01-01
The reduction of jet noise using a closed-loop active noise control system with highbandwidth active chevrons was investigated. The high frequency energy introduced by piezoelectrically-driven chevrons was demonstrated to achieve a broadband reduction of jet noise, presumably due to the suppression of large-scale turbulence. For a nozzle with one active chevron, benefits of up to 0.8 dB overall sound pressure level (OASPL) were observed compared to a static chevron nozzle near the maximum noise emission angle, and benefits of up to 1.9 dB OASPL were observed compared to a baseline nozzle with no chevrons. The closed-loop actuation system was able to effectively reduce noise at select frequencies by 1-3 dB. However, integrated OASPL did not indicate further reduction beyond the open-loop benefits, most likely due to the preliminary controller design, which was focused on narrowband performance.
Floating-point system quantization errors in digital control systems
NASA Technical Reports Server (NTRS)
Phillips, C. L.
1973-01-01
The results are reported of research into the effects on system operation of signal quantization in a digital control system. The investigation considered digital controllers (filters) operating in floating-point arithmetic in either open-loop or closed-loop systems. An error analysis technique is developed, and is implemented by a digital computer program that is based on a digital simulation of the system. As an output the program gives the programing form required for minimum system quantization errors (either maximum of rms errors), and the maximum and rms errors that appear in the system output for a given bit configuration. The program can be integrated into existing digital simulations of a system.
Compensated control loops for a 30-cm ion thruster
NASA Technical Reports Server (NTRS)
Robson, R. R.
1976-01-01
The vaporizer dynamic control characteristics of a 30-cm diameter mercury ion thruster were determined by operating the thruster in an open loop steady state mode and then introducing a small sinusoidal signal on the main, cathode, or neutralizer vaporizer current and observing the response of the beam current, discharge voltage, and neutralizer keeper voltage, respectively. This was done over a range of frequencies and operating conditions. From these data, Bode plots for gain and phase were made and mathematical models were obtained. The Bode plots and mathematical models were analyzed for stability and appropriate compensation networks determined. The compensated control loops were incorporated into a power processor and operated with a thruster. The time responses of the compensated loops to changes in set points and recovery from arc conditions are presented.
A control theoretic model of driver steering behavior
NASA Technical Reports Server (NTRS)
Donges, E.
1977-01-01
A quantitative description of driver steering behavior such as a mathematical model is presented. The steering task is divided into two levels: (1) the guidance level involving the perception of the instantaneous and future course of the forcing function provided by the forward view of the road, and the response to it in an anticipatory open-loop control mode; (2) the stabilization level whereby any occuring deviations from the forcing function are compensated for in a closed-loop control mode. This concept of the duality of the driver's steering activity led to a newly developed two-level model of driver steering behavior. Its parameters are identified on the basis of data measured in driving simulator experiments. The parameter estimates of both levels of the model show significant dependence on the experimental situation which can be characterized by variables such as vehicle speed and desired path curvature.
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.
Application of infinite model predictive control methodology to other advanced controllers.
Abu-Ayyad, M; Dubay, R; Hernandez, J M
2009-01-01
This paper presents an application of most recent developed predictive control algorithm an infinite model predictive control (IMPC) to other advanced control schemes. The IMPC strategy was derived for systems with different degrees of nonlinearity on the process gain and time constant. Also, it was shown that IMPC structure uses nonlinear open-loop modeling which is conducted while closed-loop control is executed every sampling instant. The main objective of this work is to demonstrate that the methodology of IMPC can be applied to other advanced control strategies making the methodology generic. The IMPC strategy was implemented on several advanced controllers such as PI controller using Smith-Predictor, Dahlin controller, simplified predictive control (SPC), dynamic matrix control (DMC), and shifted dynamic matrix (m-DMC). Experimental work using these approaches combined with IMPC was conducted on both single-input-single-output (SISO) and multi-input-multi-output (MIMO) systems and compared with the original forms of these advanced controllers. Computer simulations were performed on nonlinear plants demonstrating that the IMPC strategy can be readily implemented on other advanced control schemes providing improved control performance. Practical work included real-time control applications on a DC motor, plastic injection molding machine and a MIMO three zone thermal system.
NASA Technical Reports Server (NTRS)
1985-01-01
The primary objective of the Test Active Control Technology (ACT) System laboratory tests was to verify and validate the system concept, hardware, and software. The initial lab tests were open loop hardware tests of the Test ACT System as designed and built. During the course of the testing, minor problems were uncovered and corrected. Major software tests were run. The initial software testing was also open loop. These tests examined pitch control laws, wing load alleviation, signal selection/fault detection (SSFD), and output management. The Test ACT System was modified to interface with the direct drive valve (DDV) modules. The initial testing identified problem areas with DDV nonlinearities, valve friction induced limit cycling, DDV control loop instability, and channel command mismatch. The other DDV issue investigated was the ability to detect and isolate failures. Some simple schemes for failure detection were tested but were not completely satisfactory. The Test ACT System architecture continues to appear promising for ACT/FBW applications in systems that must be immune to worst case generic digital faults, and be able to tolerate two sequential nongeneric faults with no reduction in performance. The challenge in such an implementation would be to keep the analog element sufficiently simple to achieve the necessary reliability.
Comparison of Five System Identification Algorithms for Rotorcraft Higher Harmonic Control
NASA Technical Reports Server (NTRS)
Jacklin, Stephen A.
1998-01-01
This report presents an analysis and performance comparison of five system identification algorithms. The methods are presented in the context of identifying a frequency-domain transfer matrix for the higher harmonic control (HHC) of helicopter vibration. The five system identification algorithms include three previously proposed methods: (1) the weighted-least- squares-error approach (in moving-block format), (2) the Kalman filter method, and (3) the least-mean-squares (LMS) filter method. In addition there are two new ones: (4) a generalized Kalman filter method and (5) a generalized LMS filter method. The generalized Kalman filter method and the generalized LMS filter method were derived as extensions of the classic methods to permit identification by using more than one measurement per identification cycle. Simulation results are presented for conditions ranging from the ideal case of a stationary transfer matrix and no measurement noise to the more complex cases involving both measurement noise and transfer-matrix variation. Both open-loop identification and closed- loop identification were simulated. Closed-loop mode identification was more challenging than open-loop identification because of the decreasing signal-to-noise ratio as the vibration became reduced. The closed-loop simulation considered both local-model identification, with measured vibration feedback and global-model identification with feedback of the identified uncontrolled vibration. The algorithms were evaluated in terms of their accuracy, stability, convergence properties, computation speeds, and relative ease of implementation.
A Review of Control Strategies in Closed-Loop Neuroprosthetic Systems
Wright, James; Macefield, Vaughan G.; van Schaik, André; Tapson, Jonathan C.
2016-01-01
It has been widely recognized that closed-loop neuroprosthetic systems achieve more favorable outcomes for users then equivalent open-loop devices. Improved performance of tasks, better usability, and greater embodiment have all been reported in systems utilizing some form of feedback. However, the interdisciplinary work on neuroprosthetic systems can lead to miscommunication due to similarities in well-established nomenclature in different fields. Here we present a review of control strategies in existing experimental, investigational and clinical neuroprosthetic systems in order to establish a baseline and promote a common understanding of different feedback modes and closed-loop controllers. The first section provides a brief discussion of feedback control and control theory. The second section reviews the control strategies of recent Brain Machine Interfaces, neuromodulatory implants, neuroprosthetic systems, and assistive neurorobotic devices. The final section examines the different approaches to feedback in current neuroprosthetic and neurorobotic systems. PMID:27462202
Application of modern control design methodology to oblique wing research aircraft
NASA Technical Reports Server (NTRS)
Vincent, James H.
1991-01-01
A Linear Quadratic Regulator synthesis technique was used to design an explicit model following control system for the Oblique Wing Research Aircraft (OWRA). The forward path model (Maneuver Command Generator) was designed to incorporate the desired flying qualities and response decoupling. The LQR synthesis was based on the use of generalized controls, and it was structured to provide a proportional/integral error regulator with feedforward compensation. An unexpected consequence of this design approach was the ability to decouple the control synthesis into separate longitudinal and lateral directional designs. Longitudinal and lateral directional control laws were generated for each of the nine design flight conditions, and gain scheduling requirements were addressed. A fully coupled 6 degree of freedom open loop model of the OWRA along with the longitudinal and lateral directional control laws was used to assess the closed loop performance of the design. Evaluations were performed for each of the nine design flight conditions.
A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems
NASA Technical Reports Server (NTRS)
Jackson, Mark; Zimpfer, Doug; Adams, Neil; Lindsey, K. L. (Technical Monitor)
2000-01-01
Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.
Combined input shaping and feedback control for double-pendulum systems
NASA Astrophysics Data System (ADS)
Mar, Robert; Goyal, Anurag; Nguyen, Vinh; Yang, Tianle; Singhose, William
2017-02-01
A control system combining input shaping and feedback is developed for double-pendulum systems subjected to external disturbances. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections during the motion of the system, and disturbance-induced residual swing using the feedback control. Effects of parameter variations such as the mass ratio of the double pendulum, the suspension length ratio, and the move distance were studied via numerical simulation. The most important results were also verified with experiments on a small-scale crane. The controller effectively suppresses the disturbances and is robust to modelling uncertainties and task variations.
Effects of displacement and rate saturation on the control of statically unstable aircraft
NASA Technical Reports Server (NTRS)
Hanson, G. D.; Stengel, R. F.
1981-01-01
Methodologies are presented for the analysis and design of stability augmentation control laws for aircraft in which 'hard' displacement and rate limiting are significant. Candidate control laws are derived using the linear-quadratic (LQ) regulator. Analytical and computational estimates of the stability limits imposed by control saturation are presented using state trajectories with control limiting, as well as describing functions and eigenvalue computation. Analysis also includes an investigation of the interaction of the state-space saturation and stability boundaries for various choices of LQ weighting matrices. For minimum-energy control, the saturation and stability boundaries are shown to be parallel. In this case, there is a direct relation between the solution to the matrix Riccati equation and the aircraft's open-loop dynamics.
Luan, Xiaoli; Chen, Qiang; Liu, Fei
2014-09-01
This article presents a new scheme to design full matrix controller for high dimensional multivariable processes based on equivalent transfer function (ETF). Differing from existing ETF method, the proposed ETF is derived directly by exploiting the relationship between the equivalent closed-loop transfer function and the inverse of open-loop transfer function. Based on the obtained ETF, the full matrix controller is designed utilizing the existing PI tuning rules. The new proposed ETF model can more accurately represent the original processes. Furthermore, the full matrix centralized controller design method proposed in this paper is applicable to high dimensional multivariable systems with satisfactory performance. Comparison with other multivariable controllers shows that the designed ETF based controller is superior with respect to design-complexity and obtained performance.
NASA Astrophysics Data System (ADS)
Zhou, Bin; Hou, Ming-Zhe; Duan, Guang-Ren
2013-04-01
This article is concerned with L ∞ and L 2 semi-global stabilisation of continuous-time periodic linear systems with bounded controls. Two problems, namely L ∞ semi-global stabilisation with controls having bounded magnitude and L 2 semi-global stabilisation with controls having bounded energy, are solved based on solutions to a class of periodic Lyapunov differential equations (PLDEs) resulting from the problem of minimal energy control with guaranteed convergence rate. Under the assumption that the open-loop system is (asymptotically) null controllable with constrained controls, periodic feedback are established to solve the concerned problems. The proposed PLDE-based approaches possess the advantage that the resulting controllers are easy to implement since the designers need only to solve a linear differential equation. A numerical example is worked out to illustrate the effectiveness of the proposed approach.
Randomized controlled trial of anterior-chamber intraocular lenses in Nepal: long-term follow-up.
Evans, J. R.; Henning, A.; Pradhan, D.; Foster, A.; Lagnado, R.; Poulson, A.; Johnson, G. J.; Wormald, R. P.
2000-01-01
Most of the estimated 20 million people who are blind with cataracts live in rural areas of developing countries, where expert surgical resources are scarce. We have studied the use of multiflex open-loop anterior-chamber intraocular lenses (ACIOL) in high-volume low-cost surgery. Between 1992 and 1995, a total of 2000 people attending Lahan Eye Hospital, Nepal, with bilateral cataracts reducing vision to < or = 6/36 were randomly allocated to receive intracapsular extraction (ICCE) with aphakic spectacles, or ICCE with an ACIOL. We re-examined the cohort (1305/2000, 65%) between November 1996 and April 1997 and report the findings in this article. There were 13 new cases of poor visual outcome (best corrected vision < 6/60) arising after one year: 9 in the ACIOL group and 4 in the control group; odds ratio 2.1 (95% confidence interval, 0.59-9.55). The causes of poor outcome were as follows: ACIOL group--retinal detachment (4 cases), cystoid macular oedema (2), epiretinal membrane (1), age-related macular degeneration (1), and late endophthalmitis (1); control group--retinal detachment (2 cases), late endophthalmitis (1), and primary open-angle glaucoma with age-related macular degeneration (1). In rural areas of developing countries, well-manufactured multiflex open-loop ACIOLs can be implanted safely by experienced ophthalmologists after routine ICCE, avoiding the disadvantages of aphakic spectacle correction. PMID:10812737
Current Profile Control in DIII-D
NASA Astrophysics Data System (ADS)
Schuster, E. M.; Barton, J. E.; Boyer, M. D.; Wehner, W. P.; Ferron, J. R.; Humphreys, D. A.; Hyatt, A. W.; Jackson, G. L.; Luce, T. C.; Walker, M. L.
2014-10-01
Experimental results successfully demonstrate the potential of physics-model-based control for systematic attainment of desired q profiles, with the subsequent benefit of enabling exploration and reproducibility. The control scheme is constructed by embedding a nonlinear, control-oriented, physics-based model of the plasma dynamics into the control design process. This modeling approach combines first-principles laws with empirical correlations obtained from physical observations, which leads to PDE models capturing the high-dimensionality and nonlinearity of the plasma response. Model-based control design includes not only the synthesis of feedback controllers for robust regulation or tracking, but also the determination of optimal feedforward actuator trajectories for a systematic approach to scenario planning. Feedforward+feedback (closed loop) control experiments in DIII-D consistently demonstrate improved current-profile control performance relative to feedforward (open loop) control alone. Supported by the US Department of Energy under DE-SC0001334, DE-SC0010661 and DE-FC02-04ER54698.
NASA Technical Reports Server (NTRS)
Grose, D. L.
1979-01-01
The development of the DAST I (drones for aerodynamic and structural testing) remotely piloted research vehicle is described. The DAST I is a highly modified BQM-34E/F Firebee II Supersonic Aerial Target incorporating a swept supercritical wing designed to flutter within the vehicle's flight envelope. The predicted flutter and rigid body characteristics are presented. A description of the analysis and design of an active flutter suppression control system (FSS) designed to increase the flutter boundary of the DAST wing (ARW-1) by a factor of 20% is given. The design and development of the digital remotely augmented primary flight control system and on-board analog backup control system is presented. An evaluation of the near real-time flight flutter testing methods is made by comparing results of five flutter testing techniques on simulated DAST I flutter data. The development of the DAST ARW-1 state variable model used to generate time histories of simulated accelerometer responses is presented. This model uses control surface commands and a Dryden model gust as inputs. The feasibility of the concept of extracting open loop flutter characteristics from closed loop FSS responses was examined. It was shown that open loop characteristics can be determined very well from closed loop subcritical responses.
Gilles, Luc
2005-02-20
Recent progress has been made to compute efficiently the open-loop minimum-variance reconstructor (MVR) for multiconjugate adaptive optics systems by a combination of sparse matrix and iterative techniques. Using spectral analysis, I show that a closed-loop laser guide star multiconjugate adaptive optics control algorithm consisting of MVR cascaded with an integrator control law is unstable. Tosolve this problem, a computationally efficient pseudo-open-loop control (POLC) method was recently proposed. I give a theoretical proof of the stability of this method and demonstrate its superior performance and robustness against misregistration errors compared with conventional least-squares control. This can be accounted for by the fact that POLC incorporates turbulence statistics through its regularization term that can be interpreted as spatial filtering, yielding increased robustness to misregistration. For the Gemini-South 8-m telescope multiconjugate system and for median Cerro Pachon seeing, the performance of POLC in terms of rms wave-front error averaged over a 1-arc min field of view is approximately three times superior to that of a least-squares reconstructor. Performance degradation due to 30% translational misregistration on all three mirrors is approximately a 30% increased rms wave-front error, whereas a least-squares reconstructor is unstable at such a misregistration level.
Feasibility of Outpatient Fully Integrated Closed-Loop Control
Kovatchev, Boris P.; Renard, Eric; Cobelli, Claudio; Zisser, Howard C.; Keith-Hynes, Patrick; Anderson, Stacey M.; Brown, Sue A.; Chernavvsky, Daniel R.; Breton, Marc D.; Farret, Anne; Pelletier, Marie-Josée; Place, Jérôme; Bruttomesso, Daniela; Del Favero, Simone; Visentin, Roberto; Filippi, Alessio; Scotton, Rachele; Avogaro, Angelo; Doyle, Francis J.
2013-01-01
OBJECTIVE To evaluate the feasibility of a wearable artificial pancreas system, the Diabetes Assistant (DiAs), which uses a smart phone as a closed-loop control platform. RESEARCH DESIGN AND METHODS Twenty patients with type 1 diabetes were enrolled at the Universities of Padova, Montpellier, and Virginia and at Sansum Diabetes Research Institute. Each trial continued for 42 h. The United States studies were conducted entirely in outpatient setting (e.g., hotel or guest house); studies in Italy and France were hybrid hospital–hotel admissions. A continuous glucose monitoring/pump system (Dexcom Seven Plus/Omnipod) was placed on the subject and was connected to DiAs. The patient operated the system via the DiAs user interface in open-loop mode (first 14 h of study), switching to closed-loop for the remaining 28 h. Study personnel monitored remotely via 3G or WiFi connection to DiAs and were available on site for assistance. RESULTS The total duration of proper system communication functioning was 807.5 h (274 h in open-loop and 533.5 h in closed-loop), which represented 97.7% of the total possible time from admission to discharge. This exceeded the predetermined primary end point of 80% system functionality. CONCLUSIONS This study demonstrated that a contemporary smart phone is capable of running outpatient closed-loop control and introduced a prototype system (DiAs) for further investigation. Following this proof of concept, future steps should include equipping insulin pumps and sensors with wireless capabilities, as well as studies focusing on control efficacy and patient-oriented clinical outcomes. PMID:23801798
Mina, Petros; Tsaneva-Atanasova, Krasimira; Bernardo, Mario di
2016-07-15
We extend a spatially explicit agent based model (ABM) developed previously to investigate entrainment and control of the emergent behavior of a population of synchronized oscillating cells in a microfluidic chamber. Unlike most of the work in models of control of cellular systems which focus on temporal changes, we model individual cells with spatial dependencies which may contribute to certain behavioral responses. We use the model to investigate the response of both open loop and closed loop strategies, such as proportional control (P-control), proportional-integral control (PI-control) and proportional-integral-derivative control (PID-control), to heterogeinities and growth in the cell population, variations of the control parameters and spatial effects such as diffusion in the spatially explicit setting of a microfluidic chamber setup. We show that, as expected from the theory of phase locking in dynamical systems, open loop control can only entrain the cell population in a subset of forcing periods, with a wide variety of dynamical behaviors obtained outside these regions of entrainment. Closed-loop control is shown instead to guarantee entrainment in a much wider region of control parameter space although presenting limitations when the population size increases over a certain threshold. In silico tracking experiments are also performed to validate the ability of classical control approaches to achieve other reference behaviors such as a desired constant output or a linearly varying one. All simulations are carried out in BSim, an advanced agent-based simulator of microbial population which is here extended ad hoc to include the effects of control strategies acting onto the population.
NASA Astrophysics Data System (ADS)
Wang, Chenglei; Tang, Hui; Yu, Simon C. M.; Duan, Fei
2016-05-01
This paper studies the control of two-dimensional vortex-induced vibrations (VIVs) of a single circular cylinder at a Reynolds number of 100 using a novel windward-suction-leeward-blowing (WSLB) concept. A lattice Boltzmann method based numerical framework is adopted for this study. Both open-loop and closed-loop controls are implemented. In the open-loop control, three types of actuation arrangements, including the pure suction on the windward side of the cylinder, the pure blowing on the leeward side, and the general WSLB on both sides, are implemented and compared. It is found that the general WSLB is the most effective, whereas the pure suction is the least effective. In the closed-loop control, the proportional (P), integral (I), and proportional-integral (PI) control schemes are applied to adjust the WSLB velocities according to the flow information obtained from a sensor. The effects of four key control parameters including the proportional gain constant, the integral gain constant, the length of data history used for the feedback, and the location of the sensor are investigated. It is found that the use of only P control fails to completely suppress the VIV, the use of only I control can achieve the complete suppression, and the PI control performs the best in terms of both the control effectiveness and efficiency. In the PI control, there exists an optimal length of data history for the feedback, at which the VIV control is the most efficient. There also exist the minimum required WSLB velocities for the VIV suppression, independent of the control schemes. Moreover, it is found that the VIV control is independent of the sensor location.
Shaped Gaussian Dictionaries for Quantized Networked Control Systems With Correlated Dropouts
NASA Astrophysics Data System (ADS)
Peters, Edwin G. W.; Quevedo, Daniel E.; Ostergaard, Jan
2016-01-01
This paper studies fixed rate vector quantisation for noisy networked control systems (NCSs) with correlated packet dropouts. In particular, a discrete-time linear time invariant system is to be controlled over an error-prone digital channel. The controller uses (quantized) packetized predictive control to reduce the impact of packet losses. The proposed vector quantizer is based on sparse regression codes (SPARC), which have recently been shown to be efficient in open-loop systems when coding white Gaussian sources. The dictionaries in existing design of SPARCs consist of independent and identically distributed (i.i.d.) Gaussian entries. However, we show that a significant gain can be achieved by using Gaussian dictionaries that are shaped according to the second-order statistics of the NCS in question. Furthermore, to avoid training of the dictionaries, we provide closed-form expressions for the required second-order statistics in the absence of quantization.
Fractional order phase shaper design with Bode's integral for iso-damped control system.
Saha, Suman; Das, Saptarshi; Ghosh, Ratna; Goswami, Bhaswati; Balasubramanian, R; Chandra, A K; Das, Shantanu; Gupta, Amitava
2010-04-01
The phase curve of an open loop system is flat in nature if the derivative of its phase with respect to frequency is zero. With a flat-phase curve, the corresponding closed loop system exhibits an iso-damped property i.e. maintains constant overshoot with the change of gain. This implies enhanced parametric robustness e.g. to variation in system gain. In the recent past, fractional order (FO) phase shapers have been proposed by contemporary researchers to achieve enhanced parametric robustness. In this paper, a simple methodology is proposed to design an appropriate FO phase shaper to achieve phase flattening in a control loop, comprising a plant controlled by a classical Proportional Integral Derivative (PID) controller. The methodology is demonstrated with MATLAB simulation of representative plants and accompanying PID controllers.
Application handbook for a Standardized Control Module (SCM) for DC-DC converters, volume 1
NASA Technical Reports Server (NTRS)
Lee, F. C.; Mahmoud, M. F.; Yu, Y.
1980-01-01
The standardized control module (SCM) was developed for application in the buck, boost and buck/boost DC-DC converters. The SCM used multiple feedback loops to provide improved input line and output load regulation, stable feedback control system, good dynamic transient response and adaptive compensation of the control loop for changes in open loop gain and output filter time constraints. The necessary modeling and analysis tools to aid the design engineer in the application of the SCM to DC-DC Converters were developed. The SCM functional block diagram and the different analysis techniques were examined. The average time domain analysis technique was chosen as the basic analytical tool. The power stage transfer functions were developed for the buck, boost and buck/boost converters. The analog signal and digital signal processor transfer functions were developed for the three DC-DC Converter types using the constant on time, constant off time and constant frequency control laws.
Neuro-estimator based GMC control of a batch reactive distillation.
Prakash, K J Jithin; Patle, Dipesh S; Jana, Amiya K
2011-07-01
In this paper, an artificial neural network (ANN)-based nonlinear control algorithm is proposed for a simulated batch reactive distillation (RD) column. In the homogeneously catalyzed reactive process, an esterification reaction takes place for the production of ethyl acetate. The fundamental model has been derived incorporating the reaction term in the model structure of the nonreactive distillation process. The process operation is simulated at the startup phase under total reflux conditions. The open-loop process dynamics is also addressed running the batch process at the production phase under partial reflux conditions. In this study, a neuro-estimator based generic model controller (GMC), which consists of an ANN-based state predictor and the GMC law, has been synthesized. Finally, this proposed control law has been tested on the representative batch reactive distillation comparing with a gain-scheduled proportional integral (GSPI) controller and with its ideal performance (ideal GMC).
A modified Finite Element-Transfer Matrix for control design of space structures
NASA Technical Reports Server (NTRS)
Tan, T.-M.; Yousuff, A.; Bahar, L. Y.; Konstandinidis, M.
1990-01-01
The Finite Element-Transfer Matrix (FETM) method was developed for reducing the computational efforts involved in structural analysis. While being widely used by structural analysts, this method does, however, have certain limitations, particularly when used for the control design of large flexible structures. In this paper, a new formulation based on the FETM method is presented. The new method effectively overcomes the limitations in the original FETM method, and also allows an easy construction of reduced models that are tailored for the control design. Other advantages of this new method include the ability to extract open loop frequencies and mode shapes with less computation, and simplification of the design procedures for output feedback, constrained compensation, and decentralized control. The development of this new method and the procedures for generating reduced models using this method are described in detail and the role of the reduced models in control design is discussed through an illustrative example.
Aerodynamic flow control of a high lift system with dual synthetic jet arrays
NASA Astrophysics Data System (ADS)
Alstrom, Robert Bruce
Implementing flow control systems will mitigate the vibration and aeroacoustic issues associated with weapons bays; enhance the performance of the latest generation aircraft by reducing their fuel consumption and improving their high angle-of-attack handling qualities; facilitate steep climb out profiles for military transport aircraft. Experimental research is performed on a NACA 0015 airfoil with a simple flap at angle of attack of 16o in both clean and high lift configurations. The results of the active control phase of the project will be discussed. Three different experiments were conducted; they are Amplitude Modulated Dual Location Open Loop Control, Adaptive Control with Amplitude Modulation using Direct Sensor Feedback and Adaptive Control with Amplitude Modulation using Extremum Seeking Control. All the closed loop experiments are dual location. The analysis presented uses the spatial variation of the root mean square pressure fluctuations, power spectral density estimates, Fast Fourier Transforms (FFTs), and time frequency analysis which consists of the application of the Morlet and Mexican Hat wavelets. Additionally, during the course of high speed testing in the wind tunnel, some aeroacoustic phenomena were uncovered; those results will also be presented. A cross section of the results shows that the shape of the RMS pressure distributions is sensitive to forcing frequency. The application of broadband excitation in the case adaptive control causes the flow to select a frequency to lock in to. Additionally, open loop control results in global synchronization via switching between two stable states and closed loop control inhibits the switching phenomena, but rather synchronizes the flow about multiple stable shedding frequencies.
Toward rational design of electrical stimulation strategies for epilepsy control
Sunderam, Sridhar; Gluckman, Bruce; Reato, Davide; Bikson, Marom
2009-01-01
Electrical stimulation is emerging as a viable alternative for epilepsy patients whose seizures are not alleviated by drugs or surgery. Its attractions are temporal and spatial specificity of action, flexibility of waveform parameters and timing, and the perception that its effects are reversible unlike resective surgery. However, despite significant advances in our understanding of mechanisms of neural electrical stimulation, clinical electrotherapy for seizures relies heavily on empirical tuning of parameters and protocols. We highlight concurrent treatment goals with potentially conflicting design constraints that must be resolved when formulating rational strategies for epilepsy electrotherapy: namely seizure reduction versus cognitive impairment, stimulation efficacy versus tissue safety, and mechanistic insight versus clinical pragmatism. First, treatment markers, objectives, and metrics relevant to electrical stimulation for epilepsy are discussed from a clinical perspective. Then the experimental perspective is presented, with the biophysical mechanisms and modalities of open-loop electrical stimulation, and the potential benefits of closed-loop control for epilepsy. PMID:19926525
Operator in-the-loop control of rotary cranes
Parker, G.G.; Robinett, R.D.; Driessen, B.J.; Dohrmann, C.R.
1996-03-01
An open-loop control method is presented for reducing the oscillatory motion of rotary crane payloads during operator commanded maneuvers. A typical rotary crane consists of a multiple degree-of-freedom platform for positioning a spherical pendulum with an attached payload. The crane operator positions the Payload by issuing a combination of translational and rotational commands to the platform as well as load-line length changes. Frequently, these pendulum modes are time-varying and exhibit low natural frequencies. Maneuvers are therefore performed at rates sufficiently slow so as not to excite oscillation. The strategy presented here generates crane commands which suppress vibration of the payload without a priori knowledge of the desired maneuver. Results are presented for operator in-the-loop positioning using a real-time dynamics simulation of a three-axis rotary crane where the residual sway magnitude is reduced in excess of 4OdB.
Feedback-controlled laser fabrication of micromirror substrates.
Petrak, Benjamin; Konthasinghe, Kumarasiri; Perez, Sonia; Muller, Andreas
2011-12-01
Short (40-200 μs) single focused CO(2) laser pulses of energy ≳100 μJ were used to fabricate high quality concave micromirror templates on silica and fluoride glass. The ablated features have diameters of ≈20-100 μm and average root-mean-square (RMS) surface microroughness near their center of less than 0.2 nm. Temporally monitoring the fabrication process revealed that it proceeds on a time scale shorter than the laser pulse duration. We implement a fast feedback control loop (≈20 kHz bandwidth) based on the light emitted by the sample that ensures an RMS size dispersion of less than 5% in arrays on chips or in individually fabricated features on an optical fiber tip, a significant improvement over previous approaches using longer pulses and open loop operation.
Interactive medical image segmentation using PDE control of active contours.
Karasev, Peter; Kolesov, Ivan; Fritscher, Karl; Vela, Patricio; Mitchell, Phillip; Tannenbaum, Allen
2013-11-01
Segmentation of injured or unusual anatomic structures in medical imagery is a problem that has continued to elude fully automated solutions. In this paper, the goal of easy-to-use and consistent interactive segmentation is transformed into a control synthesis problem. A nominal level set partial differential equation (PDE) is assumed to be given; this open-loop system achieves correct segmentation under ideal conditions, but does not agree with a human expert's ideal boundary for real image data. Perturbing the state and dynamics of a level set PDE via the accumulated user input and an observer-like system leads to desirable closed-loop behavior. The input structure is designed such that a user can stabilize the boundary in some desired state without needing to understand any mathematical parameters. Effectiveness of the technique is illustrated with applications to the challenging segmentations of a patellar tendon in magnetic resonance and a shattered femur in computed tomography.
Interactive Medical Image Segmentation using PDE Control of Active Contours
Karasev, Peter; Kolesov, Ivan; Fritscher, Karl; Vela, Patricio; Mitchell, Phillip; Tannenbaum, Allen
2014-01-01
Segmentation of injured or unusual anatomic structures in medical imagery is a problem that has continued to elude fully automated solutions. In this paper, the goal of easy-to-use and consistent interactive segmentation is transformed into a control synthesis problem. A nominal level set PDE is assumed to be given; this open-loop system achieves correct segmentation under ideal conditions, but does not agree with a human expert's ideal boundary for real image data. Perturbing the state and dynamics of a level set PDE via the accumulated user input and an observer-like system leads to desirable closed-loop behavior. The input structure is designed such that a user can stabilize the boundary in some desired state without needing to understand any mathematical parameters. Effectiveness of the technique is illustrated with applications to the challenging segmentations of a patellar tendon in MR and a shattered femur in CT. PMID:23893712
Design study for LANDSAT-D attitude control system
NASA Technical Reports Server (NTRS)
Iwens, R. P.; Bernier, G. E.; Hofstadter, R. F.; Mayo, R. A.; Nakano, H.
1977-01-01
The gimballed Ku-band antenna system for communication with TDRS was studied. By means of an error analysis it was demonstrated that the antenna cannot be open loop pointed to TDRS by an onboard programmer, but that an autotrack system was required. After some tradeoffs, a two-axis, azimuth-elevation type gimbal configuration was recommended for the antenna. It is shown that gimbal lock only occurs when LANDSAT-D is over water where a temporary loss of the communication link to TDRS is of no consequence. A preliminary gimbal control system design is also presented. A digital computer program was written that computes antenna gimbal angle profiles, assesses percent antenna beam interference with the solar array, and determines whether the spacecraft is over land or water, a lighted earth or a dark earth, and whether the spacecraft is in eclipse.
A Robust Design Methodology for Optimal Microscale Secondary Flow Control in Compact Inlet Diffusers
NASA Technical Reports Server (NTRS)
Anderson, Bernhard H.; Keller, Dennis J.
2001-01-01
It is the purpose of this study to develop an economical Robust design methodology for microscale secondary flow control in compact inlet diffusers. To illustrate the potential of economical Robust Design methodology, two different mission strategies were considered for the subject inlet, namely Maximum Performance and Maximum HCF Life Expectancy. The Maximum Performance mission maximized total pressure recovery while the Maximum HCF Life Expectancy mission minimized the mean of the first five Fourier harmonic amplitudes, i.e., 'collectively' reduced all the harmonic 1/2 amplitudes of engine face distortion. Each of the mission strategies was subject to a low engine face distortion constraint, i.e., DC60<0.10, which is a level acceptable for commercial engines. For each of these missions strategies, an 'Optimal Robust' (open loop control) and an 'Optimal Adaptive' (closed loop control) installation was designed over a twenty degree angle-of-incidence range. The Optimal Robust installation used economical Robust Design methodology to arrive at a single design which operated over the entire angle-of-incident range (open loop control). The Optimal Adaptive installation optimized all the design parameters at each angle-of-incidence. Thus, the Optimal Adaptive installation would require a closed loop control system to sense a proper signal for each effector and modify that effector device, whether mechanical or fluidic, for optimal inlet performance. In general, the performance differences between the Optimal Adaptive and Optimal Robust installation designs were found to be marginal. This suggests, however, that Optimal Robust open loop installation designs can be very competitive with Optimal Adaptive close loop designs. Secondary flow control in inlets is inherently robust, provided it is optimally designed. Therefore, the new methodology presented in this paper, combined array 'Lower Order' approach to Robust DOE, offers the aerodynamicist a very viable and
Rolling maneuver load alleviation using active controls
NASA Technical Reports Server (NTRS)
Woods-Vedeler, Jessica A.; Pototzky, Anthony S.
1992-01-01
Rolling Maneuver Load Alleviation (RMLA) was demonstrated on the Active Flexible Wing (AFW) wind tunnel model in the LaRC Transonic Dynamics Tunnel. The design objective was to develop a systematic approach for developing active control laws to alleviate wing incremental loads during roll maneuvers. Using linear load models for the AFW wind-tunnel model which were based on experimental measurements, two RMLA control laws were developed based on a single-degree-of-freedom roll model. The RMLA control laws utilized actuation of outboard control surface pairs to counteract incremental loads generated during rolling maneuvers and roll performance. To evaluate the RMLA control laws, roll maneuvers were performed in the wind tunnel at dynamic pressures of 150, 200, and 250 psf and Mach numbers of .33, .38, and .44, respectively. Loads obtained during these maneuvers were compared to baseline maneuver loads. For both RMLA controllers, the incremental torsion moments were reduced by up to 60 percent at all dynamic pressures and performance times. Results for bending moment load reductions during roll maneuvers varied. In addition, in a multiple function test, RMLA and flutter suppression system control laws were operated simultaneously during roll maneuvers at dynamic pressures 11 percent above the open-loop flutter dynamic pressure.
Modular control of fusion power heating applications
Demers, D. R.
2012-08-24
This work is motivated by the growing demand for auxiliary heating on small and large machines worldwide. Numerous present and planned RF experiments (EBW, Lower Hybrid, ICRF, and ECH) are increasingly complex systems. The operational challenges are indicative of a need for components of real-time control that can be implemented with a moderate amount of effort in a time- and cost-effective fashion. Such a system will improve experimental efficiency, enhance experimental quality, and expedite technological advancements. The modular architecture of this control-suite serves multiple purposes. It facilitates construction on various scales from single to multiple controller systems. It enables expandability of control from basic to complex via the addition of modules with varying functionalities. It simplifies the control implementation process by reducing layers of software and electronic development. While conceived with fusion applications in mind, this suite has the potential to serve a broad range of scientific and industrial applications. During the Phase-I research effort we established the overall feasibility of this modular control-suite concept. We developed the fundamental modules needed to implement open-loop active-control and demonstrated their use on a microwave power deposition experiment.
Jin, Q B; Liu, Q; Huang, B
2016-03-01
This paper considers the problem of determining all the robust PID (proportional-integral-derivative) controllers in terms of the gain and phase margins (GPM) for open-loop unstable first order plus time delay (UFOPTD) processes. It is the first time that the feasible ranges of the GPM specifications provided by a PID controller are given for UFOPTD processes. A gain and phase margin tester is used to modify the original model, and the ranges of the margin specifications are derived such that the modified model can be stabilized by a stabilizing PID controller based on Hermite-Biehlers Theorem. Furthermore, we obtain all the controllers satisfying a given margin specification. Simulation studies show how to use the results to design a robust PID controller.
NASA Astrophysics Data System (ADS)
Chen, Hui; Chen, Albert; Jie Sun, Wei; Sun, Zhen Dong; Yeow, John TW
2016-01-01
This article presents the development and implementation of a robust nonlinear control scheme for a 2-D micromirror-based laser scanning microscope system. The presented control scheme, built around sliding mode control approach and augmented an adaptive algorithm, is proposed to improve the tracking accuracy in presence of cross-axis effect. The closed-loop controlled imaging system is developed through integrating a 2-D micromirror with sidewall electrodes (SW), a laser source, NI field-programmable gate array (FPGA) hardware, the optics, position sensing detector (PSD) and photo detector (PD). The experimental results demonstrated that the proposed scheme is able to achieve accurate tracking of a reference triangular signal. Compared with open-loop control, the scanning performance is significantly improved, and a better 2-D image is obtained using the micromirror with the proposed scheme.
Dynamics and control of spacecraft hovering using the geomagnetic Lorentz force
NASA Astrophysics Data System (ADS)
Huang, Xu; Yan, Ye; Zhou, Yang
2014-02-01
To achieve hovering, a spacecraft thrusts continuously to induce an equilibrium state at a desired position. Due to the constraints on the quantity of propellant onboard, long-time hovering around low-Earth orbits (LEO) is hardly achievable using traditional chemical propulsion. The Lorentz force, acting on an electrostatically charged spacecraft as it moves through a planetary magnetic field, provides a new propellantless method for orbital maneuvers. This paper investigates the feasibility of using the induced Lorentz force as an auxiliary means of propulsion for spacecraft hovering. Assuming that the Earth's magnetic field is a dipole that rotates with the Earth, a dynamical model that characterizes the relative motion of Lorentz spacecraft is derived to analyze the required open-loop control acceleration for hovering. Based on this dynamical model, we first present the hovering configurations that could achieve propellantless hovering and the corresponding required specific charge of a Lorentz spacecraft. For other configurations, optimal open-loop control laws that minimize the control energy consumption are designed. Likewise, the optimal trajectories of required specific charge and control acceleration are both presented. The effect of orbital inclination on the expenditure of control energy is also analyzed. Further, we also develop a closed-loop control approach for propellantless hovering. Numerical results prove the validity of proposed control methods for hovering and show that hovering around low-Earth orbits would be achievable if the required specific charge of a Lorentz spacecraft becomes feasible in the future. Typically, hovering radially several kilometers above a target in LEO requires specific charges on the order of 0.1 C/kg.
NASA Technical Reports Server (NTRS)
Jacklin, Stephen A.
1988-01-01
This paper presents the results of a computer simulation comparing the performance of five system identification techniques currently proposed for use with helicopter, frequency domain, higher harmonic vibration control algorithms. The system identification techniques studied were: (1) the weighted least squares method in moving block format, (2) the classical Kalman filter, (3) a generalized Kalman filter, (4) the classical least mean square (LMS) filter, and (5) a generalized LMS filter. The generalized Kalman and LMS filters were derived by allowing for multistep operation, rather than the single-step update approach used by their classical versions. Both open-loop and closed-loop (vibration control mode) identification results are presented in the paper. The algorithms are evaluated in terms of their accuracy, stability, convergence properties, computation speeds, and the relative ease with which these techniques may be directly applied to the helicopter vibration control problem.
Recovery of Dynamics and Function in Spiking Neural Networks with Closed-Loop Control
Vlachos, Ioannis; Deniz, Taşkin; Aertsen, Ad; Kumar, Arvind
2016-01-01
There is a growing interest in developing novel brain stimulation methods to control disease-related aberrant neural activity and to address basic neuroscience questions. Conventional methods for manipulating brain activity rely on open-loop approaches that usually lead to excessive stimulation and, crucially, do not restore the original computations performed by the network. Thus, they are often accompanied by undesired side-effects. Here, we introduce delayed feedback control (DFC), a conceptually simple but effective method, to control pathological oscillations in spiking neural networks (SNNs). Using mathematical analysis and numerical simulations we show that DFC can restore a wide range of aberrant network dynamics either by suppressing or enhancing synchronous irregular activity. Importantly, DFC, besides steering the system back to a healthy state, also recovers the computations performed by the underlying network. Finally, using our theory we identify the role of single neuron and synapse properties in determining the stability of the closed-loop system. PMID:26829673
Recovery of Dynamics and Function in Spiking Neural Networks with Closed-Loop Control.
Vlachos, Ioannis; Deniz, Taşkin; Aertsen, Ad; Kumar, Arvind
2016-02-01
There is a growing interest in developing novel brain stimulation methods to control disease-related aberrant neural activity and to address basic neuroscience questions. Conventional methods for manipulating brain activity rely on open-loop approaches that usually lead to excessive stimulation and, crucially, do not restore the original computations performed by the network. Thus, they are often accompanied by undesired side-effects. Here, we introduce delayed feedback control (DFC), a conceptually simple but effective method, to control pathological oscillations in spiking neural networks (SNNs). Using mathematical analysis and numerical simulations we show that DFC can restore a wide range of aberrant network dynamics either by suppressing or enhancing synchronous irregular activity. Importantly, DFC, besides steering the system back to a healthy state, also recovers the computations performed by the underlying network. Finally, using our theory we identify the role of single neuron and synapse properties in determining the stability of the closed-loop system.
A unified perspective on robot control - The energy Lyapunov function approach
NASA Technical Reports Server (NTRS)
Wen, John T.
1990-01-01
A unified framework for the stability analysis of robot tracking control is presented. By using an energy-motivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete nonlinear dynamics, or linearized or nonlinear dynamics with parameter adaptation. As result, the dichotomous approaches to the robot control problem based on the open-loop linearization and nonlinear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a prior model information are derived.
Novel sensors to enable closed-loop active clearance control in gas turbine engines
NASA Astrophysics Data System (ADS)
Geisheimer, Jonathan; Holst, Tom
2014-06-01
Active clearance control within the turbine section of gas turbine engines presents and opportunity within aerospace and industrial applications to improve operating efficiencies and the life of downstream components. Open loop clearance control is currently employed during the development of all new large core aerospace engines; however, the ability to measure the gap between the blades and the case and close down the clearance further presents as opportunity to gain even greater efficiencies. The turbine area is one of the harshest environments for long term placement of a sensor in addition to the extreme accuracy requirements required to enable closed loop clearance control. This paper gives an overview of the challenges of clearance measurements within the turbine as well as discusses the latest developments of a microwave sensor designed for this application.
Model Predictive Control-based Optimal Coordination of Distributed Energy Resources
Mayhorn, Ebony T.; Kalsi, Karanjit; Lian, Jianming; Elizondo, Marcelo A.
2013-01-07
Distributed energy resources, such as renewable energy resources (wind, solar), energy storage and demand response, can be used to complement conventional generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging, especially in isolated systems. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation performance. The goals of the optimization problem are to minimize fuel costs and maximize the utilization of wind while considering equipment life of generators and energy storage. Model predictive control (MPC) is used to solve a look-ahead dispatch optimization problem and the performance is compared to an open loop look-ahead dispatch problem. Simulation studies are performed to demonstrate the efficacy of the closed loop MPC in compensating for uncertainties and variability caused in the system.
Model Predictive Control-based Optimal Coordination of Distributed Energy Resources
Mayhorn, Ebony T.; Kalsi, Karanjit; Lian, Jianming; Elizondo, Marcelo A.
2013-04-03
Distributed energy resources, such as renewable energy resources (wind, solar), energy storage and demand response, can be used to complement conventional generators. The uncertainty and variability due to high penetration of wind makes reliable system operations and controls challenging, especially in isolated systems. In this paper, an optimal control strategy is proposed to coordinate energy storage and diesel generators to maximize wind penetration while maintaining system economics and normal operation performance. The goals of the optimization problem are to minimize fuel costs and maximize the utilization of wind while considering equipment life of generators and energy storage. Model predictive control (MPC) is used to solve a look-ahead dispatch optimization problem and the performance is compared to an open loop look-ahead dispatch problem. Simulation studies are performed to demonstrate the efficacy of the closed loop MPC in compensating for uncertainties and variability caused in the system.
NASA Technical Reports Server (NTRS)
Frew, A. M.; Eisenhut, D. F.; Farrenkopf, R. L.; Gates, R. F.; Iwens, R. P.; Kirby, D. K.; Mann, R. J.; Spencer, D. J.; Tsou, H. S.; Zaremba, J. G.
1972-01-01
The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.
Pulse Compression Degradation Due to Open Loop Adaptive Cancellation. Part 3.
1991-08-23
An exact expression for the perturbed range sidelobe level of a compressed pulse that has been preprocessed through an adaptive canceller is derived...good approximate expression is also obtained for evaluating the perturbed range sidelobe level. This report derives the number of independent samples per...channel (main and auxiliaries) necessary so that the average adaptive range sidelobe level is within 3 dB of the quiescent range sidelobe level
Pulse compression degradation due to open loop adaptive cancellation, part 3
NASA Astrophysics Data System (ADS)
Gerlach, Karl
1991-08-01
An exact expression for the perturbed range sidelobe level of a compressed pulse that has been preprocessed through an adaptive canceller is derived. This result is a generalization of past research (parts 1 and 2, NRL Reports 9107 and 9309) where the signal was assumed to be completely contained within the canceller's processing batch. In this report, we allow the signal to extend over an arbitrary number of canceller processing batches. A good approximate expression is also obtained for evaluating the perturbed range sidelobe level. This report derives the number of independent samples per channel (main and auxiliaries) necessary so that the average adaptive range sidelobe level is within 3 dB of the quiescent range sidelobe level. Furthermore, the same analysis is used to predict the canceller noise power level that is induced by the desired signal's presence in the canceller weight calculation. Placement of the pulse compressor before or after the canceller is also considered. It Is shown that if the desired waveform's code length L is less than or equal to the canceller's processing batch width K, it is desirable to place the pulse compression after the adaptive canceller. If L greater than K, then the issue is not so clear-cut, and a trade-off study is necessary.
Pulse Compression Degradation Due to Open Loop Adaptive Cancellation. Part 2.
1991-08-23
compreosed sidelobe level after adaptive cancellation -of the Ith range sidelobe (sidelobes are numbered :h1, I = 1, 2, ... , these can be related...sidelobe level at a specific range sidelobe 1 is at most 3 1,1#0 dB above the maximum quiescent sidelobe level). It is straightforward to-show that K...SL, (K,N) T Ilsc(1)lI2 (43) ’Jmin, and 6 = max ((). 44) One normally desires 6 :5 1, otherwise the desired signal generates more range sidelobe power
A open loop guidance architecture for navigationally robust on-orbit docking
NASA Technical Reports Server (NTRS)
Chern, Hung-Sheng
1995-01-01
The development of an open-hop guidance architecture is outlined for autonomous rendezvous and docking (AR&D) missions to determine whether the Global Positioning System (GPS) can be used in place of optical sensors for relative initial position determination of the chase vehicle. Feasible command trajectories for one, two, and three impulse AR&D maneuvers are determined using constrained trajectory optimization. Early AR&D command trajectory results suggest that docking accuracies are most sensitive to vertical position errors at the initial conduction of the chase vehicle. Thus, a feasible command trajectory is based on maximizing the size of the locus of initial vertical positions for which a fixed sequence of impulses will translate the chase vehicle into the target while satisfying docking accuracy requirements. Documented accuracies are used to determine whether relative GPS can achieve the vertical position error requirements of the impulsive command trajectories. Preliminary development of a thruster management system for the Cargo Transfer Vehicle (CTV) based on optimal throttle settings is presented to complete the guidance architecture. Results show that a guidance architecture based on a two impulse maneuvers generated the best performance in terms of initial position error and total velocity change for the chase vehicle.
Spatial awareness in immersive virtual environments revealed in open-loop walking
NASA Astrophysics Data System (ADS)
Turano, Kathleen A.; Chaudhury, Sidhartha
2005-03-01
People are able to walk without vision to previously viewed targets in the real world. This ability to update one"s position in space has been attributed to a path integration system that uses internally generated self-motion signals together with the perceived object-to-self distance of the target. In a previous study using an immersive virtual environment (VE), we found that many subjects were unable to walk without vision to a previously viewed target located 4 m away. Their walking paths were influenced by the room structure that varied trial to trial. In this study we investigated whether the phenomenon is specific to a VE by testing subjects in a real world and a VE. The real world was viewed with field restricting goggles and via cameras using the same head-mounted display as in the VE. The results showed that only in the VE were walking paths influenced by the room structure. Women were more affected than men, and the effect decreased over trials and after subjects performed the task in the real world. The results also showed that a brief (<0.5 s) exposure to the visual scene during self-motion was sufficient to reduce the influence of the room structure on walking paths. The results are consistent with the idea that without visual experience within the VE, the path integration system is unable to effectively update one"s spatial position. As a result, people rely on other cues to define their position in space. Women, unlike men, choose to use visual cues about environmental structure to reorient.
Cyclic modulation of semi-active controllable dampers for tonal vibration isolation
NASA Astrophysics Data System (ADS)
Anusonti-Inthra, P.; Gandhi, F.
2004-08-01
The present study examines the potential of using a semi-active controllable damper, whose damping coefficient can be modulated in real time, for tonal vibration isolation applications. A frequency-domain control algorithm is developed for determining the damping coefficient variation (at twice the disturbance frequency) that minimizes the force transmitted to the support at the disturbance frequency. The effectiveness of open-loop, closed-loop, and adaptive controllers in rejecting the transmitted disturbances are evaluated. The results of the study indicate that when limits in damping coefficient variation are considered, the support force could be reduced by about an additional 30%, beyond the levels due to the passive isolation characteristics (no cyclic damping modulation). When the disturbance phase changes during operation, the effectiveness of the open-loop controller is rapidly degraded. While the closed-loop controller (with inputs based on current levels of force transmitted to the support) performed better, there was still some degradation in performance, and transmitted support forces were not reduced to levels prior to the change in disturbance phase. The results show that for the semi-active system to retain its effectiveness in rejecting disturbances, a closed-loop, adaptive controller (with on-line system identification) is required; even when there is only a change in disturbance, and no change in basic system properties. An explanation for this phenomenon, related to the bi-linear nature of the semi-active system, is provided. Cyclic modulations in the damping coefficient were more effective in reducing the transmitted forces at the disturbance frequency than simply reducing the baseline damping coefficient (to improve the passive isolation characteristics).
NASA Astrophysics Data System (ADS)
Vanavil, B.; Krishna Chaitanya, K.; Seshagiri Rao, A.
2015-06-01
In this paper, a proportional-integral-derivative controller in series with a lead-lag filter is designed for control of the open-loop unstable processes with time delay based on direct synthesis method. Study of the performance of the designed controllers has been carried out on various unstable processes. Set-point weighting is considered to reduce the undesirable overshoot. The proposed scheme consists of only one tuning parameter, and systematic guidelines are provided for selection of the tuning parameter based on the peak value of the sensitivity function (Ms). Robustness analysis has been carried out based on sensitivity and complementary sensitivity functions. Nominal and robust control performances are achieved with the proposed method and improved closed-loop performances are obtained when compared to the recently reported methods in the literature.
Motion and force control of multiple robotic manipulators
NASA Technical Reports Server (NTRS)
Wen, John T.; Kreutz-Delgado, Kenneth
1992-01-01
This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.
NASA Astrophysics Data System (ADS)
Stefanski, Frederik; Minorowicz, Bartosz; Persson, Johan; Plummer, Andrew; Bowen, Chris
2017-01-01
The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.
Guidance and Control strategies for aerospace vehicles
NASA Technical Reports Server (NTRS)
Hibey, J. L.; Naidu, D. S.; Charalambous, C. D.
1989-01-01
A neighboring optimal guidance scheme was devised for a nonlinear dynamic system with stochastic inputs and perfect measurements as applicable to fuel optimal control of an aeroassisted orbital transfer vehicle. For the deterministic nonlinear dynamic system describing the atmospheric maneuver, a nominal trajectory was determined. Then, a neighboring, optimal guidance scheme was obtained for open loop and closed loop control configurations. Taking modelling uncertainties into account, a linear, stochastic, neighboring optimal guidance scheme was devised. Finally, the optimal trajectory was approximated as the sum of the deterministic nominal trajectory and the stochastic neighboring optimal solution. Numerical results are presented for a typical vehicle. A fuel-optimal control problem in aeroassisted noncoplanar orbital transfer is also addressed. The equations of motion for the atmospheric maneuver are nonlinear and the optimal (nominal) trajectory and control are obtained. In order to follow the nominal trajectory under actual conditions, a neighboring optimum guidance scheme is designed using linear quadratic regulator theory for onboard real-time implementation. One of the state variables is used as the independent variable in reference to the time. The weighting matrices in the performance index are chosen by a combination of a heuristic method and an optimal modal approach. The necessary feedback control law is obtained in order to minimize the deviations from the nominal conditions.
O the Use of Modern Control Theory for Active Structural Acoustic Control.
NASA Astrophysics Data System (ADS)
Saunders, William Richard
A modern control theory formulation of Active Structural Acoustic Control (ASAC) of simple structures radiating acoustic energy into light or heavy fluid mediums is discussed in this dissertation. ASAC of a baffled, simply-supported plate subject to mechanical disturbances is investigated. For the case of light fluid loading, a finite element modelling approach is used to extend previous ASAC design methods. Vibration and acoustic controllers are designed for the plate. Comparison of the controller performance shows distinct advantages of the ASAC method for minimizing radiated acoustic power. A novel approach to the modelling of the heavy fluid-loaded plate is developed here. Augmenting structural and acoustic dynamics using state vector formalism allows the design of both vibration and ASAC controllers for the fluid-loaded plate. This modern control approach to active structural acoustic control is unique in its ability to suppress both persistent and transient disturbances on a plate in a heavy fluid. Numerical simulations of the open-loop and closed-loop plate response are provided to support the theoretical developments.
On the Origins and Control of Community Types in the Human Microbiome
Cao, Hong-Tai; Weiss, Scott T.; Liu, Yang-Yu
2016-01-01
Microbiome-based stratification of healthy individuals into compositional categories, referred to as “enterotypes” or “community types”, holds promise for drastically improving personalized medicine. Despite this potential, the existence of community types and the degree of their distinctness have been highly debated. Here we adopted a dynamic systems approach and found that heterogeneity in the interspecific interactions or the presence of strongly interacting species is sufficient to explain community types, independent of the topology of the underlying ecological network. By controlling the presence or absence of these strongly interacting species we can steer the microbial ecosystem to any desired community type. This open-loop control strategy still holds even when the community types are not distinct but appear as dense regions within a continuous gradient. This finding can be used to develop viable therapeutic strategies for shifting the microbial composition to a healthy configuration. PMID:26866806
A cerebellar neural network model for adaptative control of saccades implemented with MATLAB.
Rodriguez Campos, Francisco A; Enderle, John
2003-01-01
This paper describes the implementation of a neural network for the adaptative control of the saccadic system. The model shows the cerebellum plays an important role in the adaptive control of the saccadic gain. Using only eye position input through the granule cells, the cerebellum projects this signal to the other cerebellar structures and then to motor neurons responsible for the saccade. The generation of an adjustment signal occurs in the inferior olive as a result of the error sensory signal created by the open loop saccade system from propioceptive position inputs from the last eye movement generated by the network until the movement towards the target is completed. In addition, a memory component has been defined in the error system to achieve the adaptation. This neural network involves only the horizontal saccade component modeled with Matrix Laboratory language (MATLAB), in conjunction with the Simulink tool.
Development of Plasma Equilibrium Response Model for Optimized Plasma Control of KSTAR tokamak
NASA Astrophysics Data System (ADS)
Jeon, Youngmu; Park, Jong-Kyu; Park, Young-Seok; Hwang, Y. S.
2004-11-01
Plasma equilibrium response models for an optimized control system design are developed with KSTAR tokamak configurations. In a simple filament model, plasma column is assumed as a single ring filament with rigid displacements, and constitutes circuits with external conductors (coils, passive plate, and vacuum vessel segments). Perturbed equilibrium response model, based on CREATE-L deformable plasma response model [1], assumes that the plasma evolves through a sequence of MHD equilibria. Prediction characteristics of both models are described in terms of open loop characteristics of vertical motion of plasma, and validated by comparison with TSC (Tokamak Simulation Code) simulations. Additionally, applications of the plasma equilibrium response models to design of optimal plasma controllers are described. [1] R. Albanese, and F. Villone, Nucl. Fusion 38 723 (1998)
Towards autonomous neuroprosthetic control using Hebbian reinforcement learning
NASA Astrophysics Data System (ADS)
Mahmoudi, Babak; Pohlmeyer, Eric A.; Prins, Noeline W.; Geng, Shijia; Sanchez, Justin C.
2013-12-01
Objective. Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Approach. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. Main results. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. Significance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.
The Design of the Plasma Control System in KTX
NASA Astrophysics Data System (ADS)
Zhang, Yong; Xiao, Bingjia; Yuan, Qiping; Zhang, Ruirui; Yang, Fei; Li, Shi; Li, Hong; Liu, Ahdi; Liu, Wandong
2015-04-01
KTX (Keda Torus for eXperiment) is a new reversed field pinch device. The KTX plasma control system (PCS) can provide real-time, stable, flexible plasma control which is designed by ASIPP (Institute of Plasma Physics, Chinese Academy of Sciences), based on the Linux cluster system and EPICS (Experimental Physics and Industrial Control System) framework, and developed from DIII-D (Doublet III-D) PCS. The control of the equilibrium field in KTX uses a PID (Proportional-Integral-Derivative) feedback controller. The control of the gas injection is an open loop control. The plasma control simulation system is one part of the plasma control system, which is used to test the plasma control algorithm if it is revised and updated. The KTX PCS has been successfully tested using HT-7 (Hefei Torus 7) experiment data in simulation mode. In the next phase, an error field feedback control and KTX simulator will be added to the KTX PCS, and the KTX PCS will be applied in experiments in the future. supported by the External Cooperation Program of BIC, Chinese Academy of Sciences (No. GJHZ201303), the National Magnetic Confinement Fusion Research Program of China (Nos. 2014GB10300, 2012GB105000 and 2011GB10600), National Natural Science Foundation of China (No. 11205200), the Anhui Provincial Science Foundation for Outstanding Young Talent of China (No. 2012SQRL265)
Real-Time Feedback Control of Flow-Induced Cavity Tones. Part 2; Adaptive Control
NASA Technical Reports Server (NTRS)
Kegerise, M. A.; Cabell, R. H.; Cattafesta, L. N., III
2006-01-01
An adaptive generalized predictive control (GPC) algorithm was formulated and applied to the cavity flow-tone problem. The algorithm employs gradient descent to update the GPC coefficients at each time step. Past input-output data and an estimate of the open-loop pulse response sequence are all that is needed to implement the algorithm for application at fixed Mach numbers. Transient measurements made during controller adaptation revealed that the controller coefficients converged to a steady state in the mean, and this implies that adaptation can be turned off at some point with no degradation in control performance. When converged, the control algorithm demonstrated multiple Rossiter mode suppression at fixed Mach numbers ranging from 0.275 to 0.38. However, as in the case of fixed-gain GPC, the adaptive GPC performance was limited by spillover in sidebands around the suppressed Rossiter modes. The algorithm was also able to maintain suppression of multiple cavity tones as the freestream Mach number was varied over a modest range (0.275 to 0.29). Beyond this range, stable operation of the control algorithm was not possible due to the fixed plant model in the algorithm.
Features of control systems analysis with discrete control devices using mathematical packages
NASA Astrophysics Data System (ADS)
Yakovleva, E. M.; Faerman, V. A.
2017-02-01
The article contains presentation of basic provisions of the theory of automatic pulse control systems as well as methods of analysis of such systems using the mathematical software widespread in the academic environment. The pulse systems under research are considered as analogues systems interacting among themselves, including sensors, amplifiers, controlled objects, and discrete parts. To describe such systems, one uses a mathematical apparatus of difference equations as well as discrete transfer functions. To obtain a transfer function of the open-loop system, being important from the point of view of the analysis of control systems, one uses mathematical packages Mathcad and Matlab. Despite identity of the obtained result, the way of its achievement from the point of view of user’s action is various for the specified means. In particular, Matlab uses a structural model of the control system while Mathcad allows only execution of a chain of operator transforms. It is worth noting that distinctions taking place allow considering transformation of signals during interaction of the linear and continuous parts of the control system from different sides. The latter can be used in an educational process for the best assimilation of the course of the control system theory by students.
An integrated multivariable artificial pancreas control system.
Turksoy, Kamuran; Quinn, Lauretta T; Littlejohn, Elizabeth; Cinar, Ali
2014-05-01
The objective was to develop a closed-loop (CL) artificial pancreas (AP) control system that uses continuous measurements of glucose concentration and physiological variables, integrated with a hypoglycemia early alarm module to regulate glucose concentration and prevent hypoglycemia. Eleven open-loop (OL) and 9 CL experiments were performed. A multivariable adaptive artificial pancreas (MAAP) system was used for the first 6 CL experiments. An integrated multivariable adaptive artificial pancreas (IMAAP) system consisting of MAAP augmented with a hypoglycemia early alarm system was used during the last 3 CL experiments. Glucose values and physical activity information were measured and transferred to the controller every 10 minutes and insulin suggestions were entered to the pump manually. All experiments were designed to be close to real-life conditions. Severe hypoglycemic episodes were seen several times during the OL experiments. With the MAAP system, the occurrence of severe hypoglycemia was decreased significantly (P < .01). No hypoglycemia was seen with the IMAAP system. There was also a significant difference (P < .01) between OL and CL experiments with regard to percentage of glucose concentration (54% vs 58%) that remained within target range (70-180 mg/dl). Integration of an adaptive control and hypoglycemia early alarm system was able to keep glucose concentration values in target range in patients with type 1 diabetes. Postprandial hypoglycemia and exercise-induced hypoglycemia did not occur when this system was used. Physical activity information improved estimation of the blood glucose concentration and effectiveness of the control system.
Bio-Inspired Controller on an FPGA Applied to Closed-Loop Diaphragmatic Stimulation
Zbrzeski, Adeline; Bornat, Yannick; Hillen, Brian; Siu, Ricardo; Abbas, James; Jung, Ranu; Renaud, Sylvie
2016-01-01
Cervical spinal cord injury can disrupt connections between the brain respiratory network and the respiratory muscles which can lead to partial or complete loss of ventilatory control and require ventilatory assistance. Unlike current open-loop technology, a closed-loop diaphragmatic pacing system could overcome the drawbacks of manual titration as well as respond to changing ventilation requirements. We present an original bio-inspired assistive technology for real-time ventilation assistance, implemented in a digital configurable Field Programmable Gate Array (FPGA). The bio-inspired controller, which is a spiking neural network (SNN) inspired by the medullary respiratory network, is as robust as a classic controller while having a flexible, low-power and low-cost hardware design. The system was simulated in MATLAB with FPGA-specific constraints and tested with a computational model of rat breathing; the model reproduced experimentally collected respiratory data in eupneic animals. The open-loop version of the bio-inspired controller was implemented on the FPGA. Electrical test bench characterizations confirmed the system functionality. Open and closed-loop paradigm simulations were simulated to test the FPGA system real-time behavior using the rat computational model. The closed-loop system monitors breathing and changes in respiratory demands to drive diaphragmatic stimulation. The simulated results inform future acute animal experiments and constitute the first step toward the development of a neuromorphic, adaptive, compact, low-power, implantable device. The bio-inspired hardware design optimizes the FPGA resource and time costs while harnessing the computational power of spike-based neuromorphic hardware. Its real-time feature makes it suitable for in vivo applications. PMID:27378844
Bio-Inspired Controller on an FPGA Applied to Closed-Loop Diaphragmatic Stimulation.
Zbrzeski, Adeline; Bornat, Yannick; Hillen, Brian; Siu, Ricardo; Abbas, James; Jung, Ranu; Renaud, Sylvie
2016-01-01
Cervical spinal cord injury can disrupt connections between the brain respiratory network and the respiratory muscles which can lead to partial or complete loss of ventilatory control and require ventilatory assistance. Unlike current open-loop technology, a closed-loop diaphragmatic pacing system could overcome the drawbacks of manual titration as well as respond to changing ventilation requirements. We present an original bio-inspired assistive technology for real-time ventilation assistance, implemented in a digital configurable Field Programmable Gate Array (FPGA). The bio-inspired controller, which is a spiking neural network (SNN) inspired by the medullary respiratory network, is as robust as a classic controller while having a flexible, low-power and low-cost hardware design. The system was simulated in MATLAB with FPGA-specific constraints and tested with a computational model of rat breathing; the model reproduced experimentally collected respiratory data in eupneic animals. The open-loop version of the bio-inspired controller was implemented on the FPGA. Electrical test bench characterizations confirmed the system functionality. Open and closed-loop paradigm simulations were simulated to test the FPGA system real-time behavior using the rat computational model. The closed-loop system monitors breathing and changes in respiratory demands to drive diaphragmatic stimulation. The simulated results inform future acute animal experiments and constitute the first step toward the development of a neuromorphic, adaptive, compact, low-power, implantable device. The bio-inspired hardware design optimizes the FPGA resource and time costs while harnessing the computational power of spike-based neuromorphic hardware. Its real-time feature makes it suitable for in vivo applications.
Load-following control of an IGCC plant with CO2 capture
Bhattacharyya, D.; Turton, R.; Zitney, S.
2011-01-01
In this paper, a decentralized control strategy is considered for load-following control of an integrated gasification combined cycle (IGCC) plant with CO2 capture without flaring the syngas. The control strategy considered is gas turbine (GT) lead with gasifier follow. In this strategy, the GT controls the power load by manipulating its firing rate while the slurry feed flow to the gasifier is manipulated to control the syngas pressure at the GT inlet. However, the syngas pressure control is an integrating process with significant timedelay. In this work, a modified proportional-integral-derivative (PID) control is considered for syngas pressure control given that conventional PID controllers show poor control performance for integrating processes with large time delays. The conventional PID control is augmented with an internal feedback loop. The P-controller used in this internal loop converts the integrating process to an open-loop stable process. The resulting secondorder plus time delay model uses a PID controller where the tuning parameters are found by minimizing the integral time-weighted absolute error (ITAE) for disturbance rejection. A plant model with single integrator and time delay is identified by a P-control method. When a ramp change is introduced in the set-point of the load controller, the performance of both the load and pressure controllers with the modified PID control strategy is found to be superior to that using a traditional PID controller. Key
Dual scheduling and quantised control for networked control systems with communication constraints
NASA Astrophysics Data System (ADS)
Lu, Hui; Zhou, Chuan
2016-07-01
A novel integrated design scheme of average dwell time scheduling strategy, dynamic bandwidth allocation policy and quantised control for a collection of networked control systems (NCSs) with time delay and communication constraints is proposed in this paper. A scheduling policy is presented to accommodate the limitation of communication capacity which depends on the convergence rate of closed-loop system and divergence rate of open-loop plant. Linear programming technique is adopted to dynamically allocate bit rate for each node and the strategy is used to make trade-offs between the network utilisation and the control performance which provides an effective way of optimising the quality of control (QoC) and the quality of service (QoS) for NCSs. Mid-tread uniform quantisers update the quantisation rules according to the assignment of the bit rate and convert the quantised state into a kind of input saturation with bounded disturbances. Taking into account the effect of dual scheduling strategy and quantisation, the NCSs are modelled as discrete-time switched systems with bounded disturbances. Furthermore, a scheduling and quantised feedback control co-design procedure is proposed for the simultaneous stabilisation of the collection of networked subsystems. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.
Scalar control on speed drive for ac motor
NASA Astrophysics Data System (ADS)
Barsoum, Nader
2012-11-01
This paper aims to investigate the performance of ABB ACS800 variable speed drive operating under Scalar Control mode, and eventually develop a set of experimental procedures for undergraduate laboratory purposes. Scalar Control is the most widespread form of ac drive, for its low cost and simplicity especially implemented in the open loop mode. Scalar control is achieved by controlling the stator voltage and frequency, thus maintaining the motor's air-gap flux at a constant value. To illustrate the control method, the ac drive is configured according to the wiring diagram in the firmware manual that the drive control location can be both local and external. The drive is selected to operate under Factory application macro, whereby either ordinary speed control applications or constant speeds applications may be used. Under ordinary speed control, frequency reference signals are provided to the drive through the analogue input AI1. The drive will operate at the given frequency reference value throughout the operation regardless of any changes in the load. The torque speed curve moves along the speed axis with no changes to the shape as the supply frequencies changes. On the other hand, the drive allows three preset constant speed through digital inputs DI5 and DI6. The drive operate at a constant speed value over a time period, and only switch from one constant speed to another constant speed by triggering the two input switches. Scalar control is most suitable for applications not required high precision, such as blowers, fans and pumps.
Robust on-off pulse control of flexible space vehicles
NASA Technical Reports Server (NTRS)
Wie, Bong; Sinha, Ravi
1993-01-01
The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.
Closed-loop response properties of a visual interneuron involved in fly optomotor control.
Ejaz, Naveed; Krapp, Holger G; Tanaka, Reiko J
2013-01-01
Due to methodological limitations neural function is mostly studied under open-loop conditions. Normally, however, nervous systems operate in closed-loop where sensory input is processed to generate behavioral outputs, which again change the sensory input. Here, we investigate the closed-loop responses of an identified visual interneuron, the blowfly H1-cell, that is part of a neural circuit involved in optomotor flight and gaze control. Those behaviors may be triggered by attitude changes during flight in turbulent air. The fly analyses the resulting retinal image shifts and performs compensatory body and head rotations to regain its default attitude. We developed a fly robot interface to study H1-cell responses in a 1 degree-of-freedom image stabilization task. Image shifts, induced by externally forced rotations, modulate the cell's spike rate that controls counter rotations of a mobile robot to minimize relative motion between the robot and its visual surroundings. A feedback controller closed the loop between neural activity and the rotation of the robot. Under these conditions we found the following H1-cell response properties: (i) the peak spike rate decreases when the mean image velocity is increased, (ii) the relationship between spike rate and image velocity depends on the standard deviation of the image velocities suggesting adaptive scaling of the cell's signaling range, and (iii) the cell's gain decreases linearly with increasing image accelerations. Our results reveal a remarkable qualitative similarity between the response dynamics of the H1-cell under closed-loop conditions with those obtained in previous open-loop experiments. Finally, we show that the adaptive scaling of the H1-cell's responses, while maximizing information on image velocity, decreases the cell's sensitivity to image accelerations. Understanding such trade-offs in biological vision systems may advance the design of smart vision sensors for autonomous robots.
EDITORIAL: Special issue on quantum control
NASA Astrophysics Data System (ADS)
Mancini, Stefano; Man'ko, Vladimir I.; Wiseman, Howard M.
2005-10-01
Controlling the dynamics or measurement of quantum systems via the manipulation of external parameters is a most important phenomenon that lies at the heart of several fields including atomic and optical physics, molecular chemistry and quantum information. As quantum technologies have matured, a host of practical applications of quantum control have been realized in quantum optics, cavity QED, atomic spin ensembles, ion trapping, and Bose--Einstein condensation. As a result, quantum control theory is a rapidly growing research field. The aim of this special issue is to give an idea of the present status of research in quantum control, and to stimulate further activity. The papers chosen cover a great variety of ideas in this field. To aid the reader, we have divided the papers into four broad sections: quantum filtering and feedback control; open-loop control; quantum information applications; optical and related applications. Of course there are many papers that cross the boundaries between the categories we have identified, so we encourage readers to peruse the whole issue. While some may quibble with our classification scheme, we think it will be useful, especially to those who are new to the area. In each section the papers are ordered by date of submission. The first section is on quantum filtering and feedback control. Quantum filtering means determining estimates for some (or all) observables of the system from classical measurement results obtained gradually over time from the output of the quantum system. The conditioned quantum state is one way to generate such estimates. This filtering of the measurement results is useful for feedback control (also known as closed-loop control), because those estimates can be used as the basis for varying the external control parameters. This section begins with a review article (the one exception to the ordering of papers by submission date). The second section is on open-loop control in the broad sense. This is
Process control of large-scale finite element simulation software
Spence, P.A.; Weingarten, L.I.; Schroder, K.; Tung, D.M.; Sheaffer, D.A.
1996-02-01
We have developed a methodology for coupling large-scale numerical codes with process control algorithms. Closed-loop simulations were demonstrated using the Sandia-developed finite element thermal code TACO and the commercially available finite element thermal-mechanical code ABAQUS. This new capability enables us to use computational simulations for designing and prototyping advanced process-control systems. By testing control algorithms on simulators before building and testing hardware, enormous time and cost savings can be realized. The need for a closed-loop simulation capability was demonstrated in a detailed design study of a rapid-thermal-processing reactor under development by CVC Products Inc. Using a thermal model of the RTP system as a surrogate for the actual hardware, we were able to generate response data needed for controller design. We then evaluated the performance of both the controller design and the hardware design by using the controller to drive the finite element model. The controlled simulations provided data on wafer temperature uniformity as a function of ramp rate, temperature sensor locations, and controller gain. This information, which is critical to reactor design, cannot be obtained from typical open-loop simulations.
NASA Astrophysics Data System (ADS)
Sen, Osman Taha; Dreyer, Jason T.; Singh, Rajendra
2014-12-01
In this article, a feasibility study of controlling the low frequency torque response of a disc brake system with modulated actuation pressure (in the open loop mode) is conducted. First, a quasi-linear model of the torsional system is introduced, and analytical solutions are proposed to incorporate the modulation effect. Tractable expressions for three different modulation schemes are obtained, and conditions that would lead to a reduction in the oscillatory amplitudes are identified. Second, these conditions are evaluated with a numerical model of the torsional system with clearance nonlinearity, and analytical solutions are verified in terms of the trends observed. Finally, a laboratory experiment with a solenoid valve is built to modulate actuation pressure with a constant duty cycle, and time-frequency domain data are acquired. Measurements are utilized to assess analytical observations, and all methods show that the speed-dependent brake torque amplitudes can be altered with an appropriate modulation of actuation pressure.
Multiple-Probe Excitation and Control of Low-Frequency Fluctuations in a Laboratory Magnetosphere
NASA Astrophysics Data System (ADS)
Battey, Alexander; Abler, Melissa C.; Mauel, Michael; Collisionless Terella Experiment Team
2015-11-01
Plasma confined by a magnetic dipole have both astrophysical and laboratory applications and exhibit complex flute-like low-frequency turbulence. In this poster, we present new experiments, conducted with the Collisionless Terella Experiment (CTX), where both single and dual electrodes are used to inject currents and drive electrostatic potentials. These probes are driven either open-loop, to excite waves, or closed-loop, to implement multiple-point feedback control of the plasma's interchange turbulence. Our measurements of interchange turbulence show that two probes with a 90 degree spatial separation are able to manipulate the interchange modes differently than a system using only one probe. Supported by NSF-DOE Partnership for Plasma Science Grants DOE-DE-FG02-00ER54585 and NSF-PHY-1201896.
NASA Technical Reports Server (NTRS)
Ostroff, Aaron J.
1998-01-01
This paper contains a study of two methods for use in a generic nonlinear simulation tool that could be used to determine achievable control dynamics and control power requirements while performing perfect tracking maneuvers over the entire flight envelope. The two methods are NDI (nonlinear dynamic inversion) and the SOFFT(Stochastic Optimal Feedforward and Feedback Technology) feedforward control structure. Equivalent discrete and continuous SOFFT feedforward controllers have been developed. These equivalent forms clearly show that the closed-loop plant model loop is a plant inversion and is the same as the NDI formulation. The main difference is that the NDI formulation has a closed-loop controller structure whereas SOFFT uses an open-loop command model. Continuous, discrete, and hybrid controller structures have been developed and integrated into the formulation. Linear simulation results show that seven different configurations all give essentially the same response, with the NDI hybrid being slightly different. The SOFFT controller gave better tracking performance compared to the NDI controller when a nonlinear saturation element was added. Future plans include evaluation using a nonlinear simulation.
NASA Astrophysics Data System (ADS)
Siettos, C. I.; Gear, C. W.; Kevrekidis, I. G.
2012-08-01
We show how the equation-free approach can be exploited to enable agent-based simulators to perform system-level computations such as bifurcation, stability analysis and controller design. We illustrate these tasks through an event-driven agent-based model describing the dynamic behaviour of many interacting investors in the presence of mimesis. Using short bursts of appropriately initialized runs of the detailed, agent-based simulator, we construct the coarse-grained bifurcation diagram of the (expected) density of agents and investigate the stability of its multiple solution branches. When the mimetic coupling between agents becomes strong enough, the stable stationary state loses its stability at a coarse turning point bifurcation. We also demonstrate how the framework can be used to design a wash-out dynamic controller that stabilizes open-loop unstable stationary states even under model uncertainty.
NASA Technical Reports Server (NTRS)
Anderson, Bernhard H.; Keller, Dennis J.
2002-01-01
The purpose of this study on micro-scale secondary flow control (MSFC) is to study the aerodynamic behavior of micro-vane effectors through their factor (i.e., the design variable) interactions and to demonstrate how these statistical interactions, when brought together in an optimal manner, determine design robustness. The term micro-scale indicates the vane effectors are small in comparison to the local boundary layer height. Robustness in this situation means that it is possible to design fixed MSFC robust installation (i.e.. open loop) which operates well over the range of mission variables and is only marginally different from adaptive (i.e., closed loop) installation design, which would require a control system. The inherent robustness of MSFC micro-vane effector installation designs comes about because of their natural aerodynamic characteristics and the manner in which these characteristics are brought together in an optimal manner through a structured Response Surface Methodology design process.
NASA Astrophysics Data System (ADS)
Panetsos, Fivos; Sanchez-Jimenez, Abel; Torets, Carlos; Largo, Carla; Micera, Silvestro
2011-08-01
In this work we address the use of realtime cortical recordings for the generation of coherent, reliable and robust motor activity in spinal-lesioned animals through selective intraspinal microstimulation (ISMS). The spinal cord of adult rats was hemisectioned and groups of multielectrodes were implanted in both the central nervous system (CNS) and the spinal cord below the lesion level to establish a neural system interface (NSI). To test the reliability of this new NSI connection, highly repeatable neural responses recorded from the CNS were used as a pattern generator of an open-loop control strategy for selective ISMS of the spinal motoneurons. Our experimental procedure avoided the spontaneous non-controlled and non-repeatable neural activity that could have generated spurious ISMS and the consequent undesired muscle contractions. Combinations of complex CNS patterns generated precisely coordinated, reliable and robust motor actions.
Panetsos, Fivos; Sanchez-Jimenez, Abel; Torets, Carlos; Largo, Carla; Micera, Silvestro
2011-08-01
In this work we address the use of realtime cortical recordings for the generation of coherent, reliable and robust motor activity in spinal-lesioned animals through selective intraspinal microstimulation (ISMS). The spinal cord of adult rats was hemisectioned and groups of multielectrodes were implanted in both the central nervous system (CNS) and the spinal cord below the lesion level to establish a neural system interface (NSI). To test the reliability of this new NSI connection, highly repeatable neural responses recorded from the CNS were used as a pattern generator of an open-loop control strategy for selective ISMS of the spinal motoneurons. Our experimental procedure avoided the spontaneous non-controlled and non-repeatable neural activity that could have generated spurious ISMS and the consequent undesired muscle contractions. Combinations of complex CNS patterns generated precisely coordinated, reliable and robust motor actions.
An Investigation of Nonlinear Controller for Propulsion Controlled Aircraft
NASA Technical Reports Server (NTRS)
Lu, Ping
1997-01-01
Aircraft control systems are usually very reliable because of redundancy and multiple control surfaces. However, there are rare occasions when potentially disastrous flight control system failures do occur. At such times, the use of appropriate modulation of engine thrust to stabilize the aircraft may be the only chance of survival for the people aboard. In several cases where complete loss of control systems has occurred in multi-engine aircraft, pilots used the propulsion system to regain limited control of the aircraft with various degrees of success. In order to evaluate the feasibility of using only engine thrust modulation for emergency backup flight control, the NASA Dryden Flight Research Center has been conducting a series of analytical studies and flight tests on several different types of aircraft in a propulsion controlled aircraft (PCA) program. Simulation studies have included B-720, B-727, MD-11, C-402, C-17, F-18, and F-15, and flight tests have included B-747, B-777, MD-11, T-39, Lear 24, F-18, F-15, T-38, and PA-30. One objective was to determine the degree of control available with manual manipulation (open-loop) of the engine throttles. Flight tests and simulations soon showed that a closed loop controller could improve the chances of making a safe runway landing. The major work to date has concentrated on three aircraft (F-15, F-18, and the MD-11). Successful landings using PCA controllers were performed on the F-15 and MD-11 without the use of control surfaces. During the course of the research, some unique challenges have been identified. Compared to the conventional flight control surfaces, the engines are slow and have limited control effectiveness. Hence the ability of the system to promptly respond to aerodynamic changes is limited. Consequently, many nonlinear effects, which are easily accommodated by a conventional flight control system, become significant issues in the design of an effective controller when the engines are used as the
Development of perioperative glycemic control using an artificial endocrine pancreas.
Hanazaki, Kazuhiro; Namikawa, Tsutomu
2013-01-01
It is well known that tight glycemic control (TGC) in patients with diabetes mellitus is the most important to reduce complications, such as nephropathy, neuropathy, and retinopathy. Also, surgical stress induced hyperglycemia leading to glucose toxicity is the main cause of infectious complications after surgery. Recently perioperative TGC has been proven an effective method to reduce postoperative infectious complications and accelerate enhanced recovery after surgery (ERAS), with the main purpose of short staying hospital. However, conventional TGC with open-loop glycemic control system is likely to induce not only occurrence of hypoglycemia but also unstable glycemic control. To solve these problems, we have involved introduction of novel glycemic control using an artificial pancreas (AP) with closed-loop glycemic control system since 2006. To date, this novel perioperative glycemic control was performed in more than 400 surgical patients. As a result, we established stable and safe TGC using an AP to improve surgical outcomes without hypoglycemia. In this paper, we report current scientific evidence focusing on perioperative glycemic control using an AP.
Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics
NASA Astrophysics Data System (ADS)
Belavkin, V. P.
2009-02-01
A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.
Optimization of control laws for damage detection in smart structures
NASA Astrophysics Data System (ADS)
Ray, Laura R.; Marini, Solomon
2000-06-01
A prevalent method of damage detection is based on identifying changes in modal characteristics due to damage induced variations in stiffness or mass along a structure. It is known that modal frequencies can be insensitive to damage, and the open-loop sensitivity itself depends on modal properties and damage location. Here, we develop methods of designing control laws that enhance the sensitivity of modal characteristics to damage. Sensitivity enhancing control exploits the relationship between control gains and closed-loop dynamics in order to increase the observability of damage. The design methods are based on optimization of cost functions that involve the dependence of classic measures of sensitivity on design variables, which include placement of sensors and actuators and state feedback control gains. Due to the size of the design space and the unknown nature of the cost surface, genetic algorithms are used to find control laws that maximize sensitivity to specific damage types subject to control effort and stability constraints. Optimized control laws designed for sensitivity enhancement of stiffness damage in a cantilevered beam are demonstrated by numerical simulation.
Tollmien-Schlichting wave cancellation by feedback control
NASA Astrophysics Data System (ADS)
Vemuri, Hari; Morrison, Jonathan; Kerrigan, Eric
2015-11-01
Tollmien-Schlichting (TS) waves are primary instabilities in the boundary layer and, by actively interfering with their growth, the transition process can be delayed. In this study the experimental results of both open-loop and real-time feedback control will be shown for 3D TS waves excited within a flat-plate boundary layer. They are excited at a 0.75mm pin-hole source driven by a speaker. A 0.75 mm thin, dual slot geometry is used for actuation by another speaker and a wall hot-wire sensor manufactured in-house is used as the sensor for feedback control. The spatial transfer function models between the source and sensor (Gs) and the actuator and sensor (Ga) obtained by classic frequency sweep techniques are used to synthesize various types of robust, stabilizing controllers (K). The transfer function Gs determines the unstable range of frequencies whereas Ga together with K determines the stability of the closed-loop. A second traversing hot-wire is used to record the performance of the controller downstream. It is shown that the experimental transfer functions agree remarkably well with numerical calculations as do the predicted results from feedback control. Preliminary experimental feedback control results for various other actuator configurations will also be presented. This work is supported by EADS (support agreement number IW203591) and LFC-UK.
The Benchmark Active Controls Technology Model Aerodynamic Data
NASA Technical Reports Server (NTRS)
Scott, Robert C.; Hoadley, Sherwood T.; Wieseman, Carol D.; Durham, Michael H.
1997-01-01
The Benchmark Active Controls Technology (BACT) model is a part of the Benchmark Models Program (BMP). The BMP is a NASA Langley Research Center program that includes a series of models which were used to study different aeroelastic phenomena and to validate computational fluid dynamics codes. The primary objective of BACT testing was to obtain steady and unsteady loads, accelerations, and aerodynamic pressures due to control surface activity in order to calibrate unsteady CFD codes and active control design tools. Three wind-tunnel tests in the Transonic Dynamics Tunnel (TDT) have been completed. The first and parts of the second and third tests focused on collecting open-loop data to define the model's aeroservoelastic characteristics, including the flutter boundary across the Mach range. It is this data that is being presented in this paper. An extensive database of over 3000 data sets was obtained. This database includes steady and unsteady control surface effectiveness data, including pressure distributions, control surface hinge moments, and overall model loads due to deflections of a trailing edge control surface and upper and lower surface
Multivariable shape control development on the DIII-D tokamak
Walker, M.L.; Humphreys, D.A.; Ferron, J.R.
1997-11-01
In this paper, the authors describe recent work on plasma shape and position control at DIII-D. This control consists of two equally challenging problems--the problem of identifying what the plasma actually looks like in real time, i.e. measuring the parameters to be controlled, and the task of determining the feedback algorithm which best controls these plasma parameters in a multiple input-output system. Recent implementation of the EFIT plasma equilibrium reconstruction algorithm in real time code which produces a new equilibrium estimate every 1.5 ms seems to solve the longstanding problem of obtaining sufficiently accurate plasma shape and position estimation. Stabilization of the open-loop unstable vertical motion is also viewed as a solved problem. The primary remaining problem appears to be how best to command the power supplies to achieve a desired shaping control response. They will describe the effort to understand and apply linearized models of plasma evolution to development and implementation of multivariable plasma controllers.
A nonlinear regression model-based predictive control algorithm.
Dubay, R; Abu-Ayyad, M; Hernandez, J M
2009-04-01
This paper presents a unique approach for designing a nonlinear regression model-based predictive controller (NRPC) for single-input-single-output (SISO) and multi-input-multi-output (MIMO) processes that are common in industrial applications. The innovation of this strategy is that the controller structure allows nonlinear open-loop modeling to be conducted while closed-loop control is executed every sampling instant. Consequently, the system matrix is regenerated every sampling instant using a continuous function providing a more accurate prediction of the plant. Computer simulations are carried out on nonlinear plants, demonstrating that the new approach is easily implemented and provides tight control. Also, the proposed algorithm is implemented on two real time SISO applications; a DC motor, a plastic injection molding machine and a nonlinear MIMO thermal system comprising three temperature zones to be controlled with interacting effects. The experimental closed-loop responses of the proposed algorithm were compared to a multi-model dynamic matrix controller (MPC) with improved results for various set point trajectories. Good disturbance rejection was attained, resulting in improved tracking of multi-set point profiles in comparison to multi-model MPC.
A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm
NASA Astrophysics Data System (ADS)
Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew
2016-04-01
The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.
NASA Astrophysics Data System (ADS)
Yingping, Chen; Zhiqian, Li
2015-05-01
A 5.0-V 2.0-A flyback power supply controller providing constant-voltage (CV) and constant-current (CC) output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35-μm 40-V BCD process, and the active chip area is 1.5 × 1.0 mm2. The total error of the output voltage due to line and load variations is less than ±1.7%.
Flight control design using a blend of modern nonlinear adaptive and robust techniques
NASA Astrophysics Data System (ADS)
Yang, Xiaolong
In this dissertation, the modern control techniques of feedback linearization, mu synthesis, and neural network based adaptation are used to design novel control laws for two specific applications: F/A-18 flight control and reusable launch vehicle (an X-33 derivative) entry guidance. For both applications, the performance of the controllers is assessed. As a part of a NASA Dryden program to develop and flight test experimental controllers for an F/A-18 aircraft, a novel method of combining mu synthesis and feedback linearization is developed to design longitudinal and lateral-directional controllers. First of all, the open-loop and closed-loop dynamics of F/A-18 are investigated. The production F/A-18 controller as well as the control distribution mechanism are studied. The open-loop and closed-loop handling qualities of the F/A-18 are evaluated using low order transfer functions. Based on this information, a blend of robust mu synthesis and feedback linearization is used to design controllers for a low dynamic pressure envelope of flight conditions. For both the longitudinal and the lateral-directional axes, a robust linear controller is designed for a trim point in the center of the envelope. Then by including terms to cancel kinematic nonlinearities and variations in the aerodynamic forces and moments over the flight envelope, a complete nonlinear controller is developed. In addition, to compensate for the model uncertainty, linearization error and variations between operating points, neural network based adaptation is added to the designed longitudinal controller. The nonlinear simulations, robustness and handling qualities analysis indicate that the performance is similar to or better than that for the production F/A-18 controllers. When the dynamic pressure is very low, the performance of both the experimental and the production flight controllers is degraded, but Level I handling qualities are still achieved. A new generation of Reusable Launch Vehicles
Fuzzy control structure for an anaerobic fluidised bed
NASA Astrophysics Data System (ADS)
Hernández, Salvador Carlos; Sanchez, Edgar N.; Béteau, Jean-François
2012-12-01
This article deals with the design of a fuzzy control strategy for a fluidised bed reactor, which is used for anaerobic wastewater treatment. This strategy is composed of a supervisor system and two PI L/A controllers. In addition, a biomass observer, designed on the basis of the Takagi-Sugeno approach considering a principal component analysis, is used with supervision proposals. The supervisor is also designed following the Takagi-Sugeno methodology; it detects the process state, selects and applies the most adequate control action in order to avoid the washout region. On the other side, two control actions are designed for bicarbonate regulation using the PI/LA technique: adding a base and dilution rate. These control actions, as well as the open loop operation, are selected by the supervisor in order to reject disturbances on the substrate influent allowing at the same time a high methane production. The applicability of the proposed structure in a fluidised bed reactor is illustrated via simulations.
Closed-loop Separation Control Using Oscillatory Flow Excitation
NASA Technical Reports Server (NTRS)
Allan, Brian G.; Juang, Jer-Nan; Raney, David L.; Seifert, Avi; Pack, latunia G.; Brown, Donald E.
2000-01-01
Design and implementation of a digital feedback controller for a flow control experiment was performed. The experiment was conducted in a cryogenic pressurized wind tunnel on a generic separated configuration at a chord Reynolds number of 16 million and a Mach number of 0.25. The model simulates the upper surface of a 20% thick airfoil at zero angle-of-attack. A moderate favorable pressure gradient, up to 55% of the chord, is followed by a severe adverse pressure gradient which is relaxed towards the trailing edge. The turbulent separation bubble, behind the adverse pressure gradient, is then reduced by introducing oscillatory flow excitation just upstream of the point of flow separation. The degree of reduction in the separation region can be controlled by the amplitude of the oscillatory excitation. A feedback controller was designed to track a given trajectory for the desired degree of flow reattachment and to improve the transient behavior of the flow system. Closed-loop experiments demonstrated that the feedback controller was able to track step input commands and improve the transient behavior of the open-loop response.
Model-based feedback control of a microfluidic electroporation system
NASA Astrophysics Data System (ADS)
Ghadami, M.; Mahjoob, M. J.; Shagoshtasbi, H.; Lee, Y.-K.
2013-12-01
This paper describes new model-based feedback control method used for a single-cell microfluidic electroporation (EP) system. For this purpose, a new four-state nonlinear model has been developed to describe dynamics of a micro-channel electroporation system. EP measured current response is then used to verify the efficiency of the proposed new EP model. Consequently, two feedback control methods, namely, proportional-integral-derivative controller and model predictive controller have been applied to regulate the key states (i.e. transmembrane voltage (Vm) and nano-electropore radius (r)) in the EP model. Numerical simulations of static and dynamic responses of the two critical states, Vm and r, show that feedback control can improve the cell viability and EP efficiency compared to the open-loop system. In the experimental phase, a fabricated micro-EP chip with integrated Coulter counter is used to define the cell-size-dependent parameters of the EP model and electroporation of HeLa cells. In this phase, the EP model is also inserted into LabView software's environment to estimate the value of transmembrane voltage during the experiment. Variation of the external applied voltage derived from experimental result was in good adaptation with its equivalent theoretical values.
Precision Attitude Control for the BETTII Balloon-Borne Interferometer
NASA Technical Reports Server (NTRS)
Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen
2012-01-01
The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.
Optimal control law for classical and multiconjugate adaptive optics.
Le Roux, Brice; Conan, Jean-Marc; Kulcsár, Caroline; Raynaud, Henri-François; Mugnier, Laurent M; Fusco, Thierry
2004-07-01
Classical adaptive optics (AO) is now a widespread technique for high-resolution imaging with astronomical ground-based telescopes. It generally uses simple and efficient control algorithms. Multiconjugate adaptive optics (MCAO) is a more recent and very promising technique that should extend the corrected field of view. This technique has not yet been experimentally validated, but simulations already show its high potential. The importance for MCAO of an optimal reconstruction using turbulence spatial statistics has already been demonstrated through open-loop simulations. We propose an optimal closed-loop control law that accounts for both spatial and temporal statistics. The prior information on the turbulence, as well as on the wave-front sensing noise, is expressed in a state-space model. The optimal phase estimation is then given by a Kalman filter. The equations describing the system are given and the underlying assumptions explained. The control law is then derived. The gain brought by this approach is demonstrated through MCAO numerical simulations representative of astronomical observation on a 8-m-class telescope in the near infrared. We also discuss the application of this control approach to classical AO. Even in classical AO, the technique could be relevant especially for future extreme AO systems.
Data-glove-based fuzzy control of piezoelectric forceps actuator
NASA Astrophysics Data System (ADS)
Susanto, Ken; Yang, Bingen
2004-07-01
This paper discusses a novel concept idea of utilizing smart structure in biomedical, minimum invasive surgery (MIS), MEMS manufacturing assembly line and also as a miniature robotic gripper system. The proposed prototype of a miniature piezoelectric forceps actuator (PFA) is composed of two symmetric slightly curved composite beams which each bonded with piezoelectric ceramic layer. The PFA is an innovative forceps actuator that comes with a data glove. The data glove is simply a custom-made glove with two embedded resistance-bending sensors located on thumb and index fingers. Any users can control opening and closing of the PFA by just wearing the data glove. A thin curved beam theory bonded with piezoelectric ceramic will be derived based on Hamilton's principle and its deflection behavior will be simulated based on distributed transfer function method (DTFM). A feasibility study of simulation open loop data glove-based fuzzy logic controller allows the user to open and close the PFA remotely. The bending movement of the thumb and index finger will be formulated in a table of rules based to produce the necessary output controller gain to control the PFA.
Decoherence control in open quantum systems via classical feedback
NASA Astrophysics Data System (ADS)
Ganesan, Narayan; Tarn, Tzyh-Jong
2007-03-01
In this work we propose a strategy using techniques from systems theory to completely eliminate decoherence and also provide conditions under which it can be done. A construction employing an auxiliary system, the bait, which is instrumental to decoupling the system from the environment is presented. Our approach to decoherence control in contrast to other approaches in the literature involves the bilinear input affine model of quantum control system which lends itself to various techniques from classical control theory, but with nontrivial modifications to the quantum regime. The elegance of this approach yields interesting results on open loop decouplability and decoherence free subspaces. Additionally, the feedback control of decoherence may be related to disturbance decoupling for classical input affine systems, which entails careful application of the methods by avoiding all the quantum mechanical pitfalls. In the process of calculating a suitable feedback the system must be restructured due to its tensorial nature of interaction with the environment, which is unique to quantum systems. In the subsequent section we discuss a general information extraction scheme to gain knowledge of the state and the amount of decoherence based on indirect continuous measurement. The analysis of continuous measurement on a decohering quantum system has not been extensively studied before. Finally, a methodology to synthesize feedback parameters itself is given, that technology permitting, could be implemented for practical 2-qubit systems to perform decoherence free quantum computing. The results obtained are qualitatively different and superior to the ones obtained via master equations.
NASA Astrophysics Data System (ADS)
Sniders, A.; Laizans, A.; Komass, T.
2016-06-01
The paper considers a survey of the research procedures and results due to invariant control method application perspective for operation quality advancement in several technological plants (wastewater biological treatment tanks and water steam production boilers), which operate under influence of organised and random disturbances. A specified subject of research is the simulation model of the multi-link invariant control system for steam pressure stabilisation in a steam boiler by preemptive compensation of steam load and feed water flow impact on output parameter (steam pressure), developed in MATLAB/SIMULINK. Simulation block-diagram of the steam boiler invariant control system, containing closed loop PID control circuit and open loop DPC circuit, has been composed on the basis of the designed mathematical model of the system components, disturbance compensation algorithms, and operational equation of the invariant control system. Comparative response of the steam boiler, operating under influence of fluctuating disturbances, with conventional PID control and using PID-DPC control with disturbance compensation controller DPC, has been investigated. Simulation results of invariant PID - DPC control system show that output parameter of the steam boiler - pressure remains practically constant under fluctuating disturbances due to a high-speed response of DPC controller.
Sensor and sensorless fault tolerant control for induction motors using a wavelet index.
Gaeid, Khalaf Salloum; Ping, Hew Wooi; Khalid, Mustafa; Masaoud, Ammar
2012-01-01
Fault Tolerant Control (FTC) systems are crucial in industry to ensure safe and reliable operation, especially of motor drives. This paper proposes the use of multiple controllers for a FTC system of an induction motor drive, selected based on a switching mechanism. The system switches between sensor vector control, sensorless vector control, closed-loop voltage by frequency (V/f) control and open loop V/f control. Vector control offers high performance, while V/f is a simple, low cost strategy with high speed and satisfactory performance. The faults dealt with are speed sensor failures, stator winding open circuits, shorts and minimum voltage faults. In the event of compound faults, a protection unit halts motor operation. The faults are detected using a wavelet index. For the sensorless vector control, a novel Boosted Model Reference Adaptive System (BMRAS) to estimate the motor speed is presented, which reduces tuning time. Both simulation results and experimental results with an induction motor drive show the scheme to be a fast and effective one for fault detection, while the control methods transition smoothly and ensure the effectiveness of the FTC system. The system is also shown to be flexible, reverting rapidly back to the dominant controller if the motor returns to a healthy state.
Sensor and Sensorless Fault Tolerant Control for Induction Motors Using a Wavelet Index
Gaeid, Khalaf Salloum; Ping, Hew Wooi; Khalid, Mustafa; Masaoud, Ammar
2012-01-01
Fault Tolerant Control (FTC) systems are crucial in industry to ensure safe and reliable operation, especially of motor drives. This paper proposes the use of multiple controllers for a FTC system of an induction motor drive, selected based on a switching mechanism. The system switches between sensor vector control, sensorless vector control, closed-loop voltage by frequency (V/f) control and open loop V/f control. Vector control offers high performance, while V/f is a simple, low cost strategy with high speed and satisfactory performance. The faults dealt with are speed sensor failures, stator winding open circuits, shorts and minimum voltage faults. In the event of compound faults, a protection unit halts motor operation. The faults are detected using a wavelet index. For the sensorless vector control, a novel Boosted Model Reference Adaptive System (BMRAS) to estimate the motor speed is presented, which reduces tuning time. Both simulation results and experimental results with an induction motor drive show the scheme to be a fast and effective one for fault detection, while the control methods transition smoothly and ensure the effectiveness of the FTC system. The system is also shown to be flexible, reverting rapidly back to the dominant controller if the motor returns to a healthy state. PMID:22666016
Nonlinear model identification and adaptive model predictive control using neural networks.
Akpan, Vincent A; Hassapis, George D
2011-04-01
This paper presents two new adaptive model predictive control algorithms, both consisting of an on-line process identification part and a predictive control part. Both parts are executed at each sampling instant. The predictive control part of the first algorithm is the Nonlinear Model Predictive Control strategy and the control part of the second algorithm is the Generalized Predictive Control strategy. In the identification parts of both algorithms the process model is approximated by a series-parallel neural network structure which is trained by a recursive least squares (ARLS) method. The two control algorithms have been applied to: 1) the temperature control of a fluidized bed furnace reactor (FBFR) of a pilot plant and 2) the auto-pilot control of an F-16 aircraft. The training and validation data of the neural network are obtained from the open-loop simulation of the FBFR and the nonlinear F-16 aircraft models. The identification and control simulation results show that the first algorithm outperforms the second one at the expense of extra computation time.
Zambrano, J A; Gil-Martinez, M; Garcia-Sanz, M; Irizar, I
2009-01-01
Autothermal Thermophilic Aerobic Digestion (ATAD technology) is a promising alternative to conventional digestion systems. Aeration is a key factor in the performance of these kinds of reactors, in relation to effluent quality and operating costs. At present, the realisation of automatic control in ATADs is in its infancy. Additionally, the lack of robust sensors also makes the control of these processes difficult: only redox potential and temperature sensors are reliable for operation in full-scale plants. Based as it is on the existing simulation protocols for benchmarking of control strategies for wastewater treatment plants (WWTP), this paper presents the definition and implementation of a similar protocol but specifically adapted to the needs of ATAD technology. The implemented simulation protocol has been used to validate two different control strategies for aeration (ST1 and ST2). In comparison to an open-loop operation for the ATAD, simulation results showed that the ST1 strategy was able to save aeration costs of around 2-4%. Unlike ST1, ST2 achieved maximum sludge stabilisation but at the expense of higher aeration costs.
NASA Technical Reports Server (NTRS)
Kucuk, Senol
1988-01-01
Importance of the role of human operator in control systems has led to the particular area of manual control theory. Human describing functions were developed to model human behavior for manual control studies to take advantage of the successful and safe human operations. A single variable approach is presented that can be extended for multi-variable tasks where a low order human response model is used together with its rules, to adapt the model on-line, being capable of responding to the changes in the controlled element dynamics. Basic control theory concepts are used to combine the model, constrained with the physical observations, particularly, for the case of aircraft control. Pilot experience is represented as the initial model parameters. An adaptive root-locus method is presented as the adaptation law of the model where the closed loop bandwidth of the system is to be preserved in a stable manner with the adjustments of the pilot handling qualities which relate the latter to the closed loop bandwidth and damping of the closed loop pilot aircraft combination. A Kalman filter parameter estimator is presented as the controlled element identifier of the adaptive model where any discrepancies of the open loop dynamics from the presented one, are sensed to be compensated.
Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan
2014-01-01
As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Long term dynamics and optimal control of nano-satellite deorbit using a short electrodynamic tether
NASA Astrophysics Data System (ADS)
Zhong, R.; Zhu, Z. H.
2013-10-01
This paper studies the long term dynamics and optimal control of a nano-satellite deorbit by a short electrodynamic tether. The long term deorbit process is discretized into intervals and within each interval a two-phase optimal control law is proposed to achieve libration stability and fast deorbit simultaneously. The first-phase formulates an open-loop fast-deorbit control trajectory by a simplified model that assumes the slow-varying orbital elements of electrodynamic tethered system as constant and ignores perturbation forces other than the electrodynamic force. The second phase tracks the optimal trajectory derived in the first phase by a finite receding horizon control method while considering a full dynamic model of electrodynamic tether system. Both optimal control problems are solved by direct collocation method base on the Hermite-Simpson discretization schemes with coincident nodes. The resulting piecewise nonlinear programing problems in the sequential intervals reduces the problem size and improve the computational efficiency, which enable an on-orbit control application. Numerical results for deorbit control of a short electrodynamic tethered nano-satellite system in both equatorial and highly inclined orbits demonstrate the efficiency of the proposed control method. An optimal balance between the libration stability and a fast deorbit of satellite with minimum control efforts is achieved.
Mejias, Jorge F.; Payeur, Alexandre; Selin, Erik; Maler, Leonard; Longtin, André
2014-01-01
The control of input-to-output mappings, or gain control, is one of the main strategies used by neural networks for the processing and gating of information. Using a spiking neural network model, we studied the gain control induced by a form of inhibitory feedforward circuitry—also known as “open-loop feedback”—, which has been experimentally observed in a cerebellum-like structure in weakly electric fish. We found, both analytically and numerically, that this network displays three different regimes of gain control: subtractive, divisive, and non-monotonic. Subtractive gain control was obtained when noise is very low in the network. Also, it was possible to change from divisive to non-monotonic gain control by simply modulating the strength of the feedforward inhibition, which may be achieved via long-term synaptic plasticity. The particular case of divisive gain control has been previously observed in vivo in weakly electric fish. These gain control regimes were robust to the presence of temporal delays in the inhibitory feedforward pathway, which were found to linearize the input-to-output mappings (or f-I curves) via a novel variability-increasing mechanism. Our findings highlight the feedforward-induced gain control analyzed here as a highly versatile mechanism of information gating in the brain. PMID:24616694
Shao, Xingling; Wang, Honglun
2015-01-01
This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.
Real time MHD mode control using ECCD in KSTAR: Plan and requirements
NASA Astrophysics Data System (ADS)
Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L.; Namkung, W.; Park, H.; Cho, M. H.; Kim, M. H.; Kim, K. J.; Na, Y. S.; Hosea, J.; Ellis, R.
2014-02-01
For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.
Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System
NASA Technical Reports Server (NTRS)
Williams-Hayes, Peggy S.
2004-01-01
The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.
Real time MHD mode control using ECCD in KSTAR: Plan and requirements
Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L.; Namkung, W.; Park, H.; Cho, M. H.; Kim, M. H.; Kim, K. J.; Na, Y. S.; Hosea, J.; Ellis, R.
2014-02-12
For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.
Edge state preparation in a one-dimensional lattice by quantum Lyapunov control
NASA Astrophysics Data System (ADS)
Zhao, X. L.; Shi, Z. C.; Qin, M.; Yi, X. X.
2017-01-01
Quantum Lyapunov control uses a feedback control methodology to determine control fields applied to control quantum systems in an open-loop way. In this work, we employ two Lyapunov control schemes to prepare an edge state for a fermionic chain consisting of cold atoms loaded in an optical lattice. Such a chain can be described by the Harper model. Corresponding to the two schemes, two types of quantum Lyapunov functions are considered. The results show that both the schemes are effective at preparing the edge state within a wide range of parameters. We found that the edge state can be prepared with high fidelity even if there are moderate fluctuations of on-site or hopping potentials. Both control schemes can be extended to similar chains (3m + d, d = 2) of different lengths. Since a regular amplitude control field is easier to apply in practice, an amplitude-modulated control field is used to replace the unmodulated one. Such control approaches provide tools to explore the edge states of one-dimensional topological materials.
Zhang, Bitao; Pi, YouGuo
2013-07-01
The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation.
Comparison of advanced distillation control methods. Second annual report
1996-11-01
Detailed dynamic simulations of three industrial distillation columns (a propylene/propane splitter, a xylene/toluene column, and a depropanizer) have been used to study the issue of configuration selection for diagonal PI dual composition controls. ATV identification with on-line detuning was used for tuning the diagonal PI composition controllers. Each configuration was evaluated with respect to steady-state RGA values, sensitivity to feed composition changes, and open loop dynamic performance. Each configuration was tuned using setpoint changes over a wider range of operation for robustness and tested for feed composition upsets. Overall, configuration selection was shown to have a dominant effect upon control performance. Configuration analysis tools (e.g., RGA, condition number, disturbance sensitivity), were found to reject configuration choices that are obviously poor choices, but were unable to critically differentiate between the remaining viable choices. Configuration selection guidelines are given although it is demonstrated that the most reliable configuration selection approach is based upon testing the viable configurations using dynamic column simulators.
Comparison of advanced distillation control methods. Second annual report
Riggs, J.B.
1996-11-01
Detailed dynamic simulations of two industrial distillation columns (a propylene/propane splitter and a xylene/toluene column) have been used to study the issue of configuration selection for diagonal PI dual composition controls. Auto Tune Variation (ATV) identification with on-line detuning was used for tuning the diagonal proportional integral (PI) composition controls. Each configuration was evaluated with respect to steady-state relative gain array (RGA) values, sensitivity to feed composition changes, and open loop dynamic performance. Each configuration was tuned using setpoint changes over a wider range of operation for robustness and tested for feed composition upsets. Overall, configuration selection was shown to have a dominant effect upon control performance. Configuration analysis tools (e.g., RGA, condition number, disturbance sensitivity) were found to reject configuration choices that are obviously poor choices, but were unable to critically differentiate between the remaining viable choices. Configuration selection guidelines are given although it is demonstrated that the most reliable configuration selection approach is based upon testing the viable configurations using dynamic column simulators.
Robust time and frequency domain estimation methods in adaptive control
NASA Technical Reports Server (NTRS)
Lamaire, Richard Orville
1987-01-01
A robust identification method was developed for use in an adaptive control system. The type of estimator is called the robust estimator, since it is robust to the effects of both unmodeled dynamics and an unmeasurable disturbance. The development of the robust estimator was motivated by a need to provide guarantees in the identification part of an adaptive controller. To enable the design of a robust control system, a nominal model as well as a frequency-domain bounding function on the modeling uncertainty associated with this nominal model must be provided. Two estimation methods are presented for finding parameter estimates, and, hence, a nominal model. One of these methods is based on the well developed field of time-domain parameter estimation. In a second method of finding parameter estimates, a type of weighted least-squares fitting to a frequency-domain estimated model is used. The frequency-domain estimator is shown to perform better, in general, than the time-domain parameter estimator. In addition, a methodology for finding a frequency-domain bounding function on the disturbance is used to compute a frequency-domain bounding function on the additive modeling error due to the effects of the disturbance and the use of finite-length data. The performance of the robust estimator in both open-loop and closed-loop situations is examined through the use of simulations.
Active deformable sheets: prototype implementation, modeling, and control
NASA Astrophysics Data System (ADS)
Lind, Robert J.; Johnson, Norbert; Doumanidis, Charalabos C.
2000-06-01
Active deformable sheets are integrated smart planar sheet structures performing off-plane deformations under computer actuation and control, to take up a desired dynamic morphology specified in CAD software or obtained by 3-D scanning of a solid surface. The sheet prototypes are implemented in the laboratory by elastic neoprene foil layers with embedded asymmetric grids of SMA wires (Nitinol), which upon electrical contraction bend the sheet to the necessary local curvature distribution. An analytical model of such prototypes, consisting of an electrical, a thermal, a material and a mechanical module, as well as a more complex finite element thermomechanical simulation of the sheet structure have been developed and validated experimentally. Besides open-loop control of the sheet curvatures by modulation of the SMA wire actuation current, a closed-loop control system has been implemented, using feedback of the wire electrical resistance measurements in real time, correlating to the material transformation state. The active deformable sheets are intended for applications such as reconfigurable airfoils and aerospace structures, variable focal length optics and electromagnetic reflectors, flexible and rapid tooling and microrobotics.
Zone Model Predictive Control: A Strategy to Minimize Hyper- and Hypoglycemic Events
Grosman, Benyamin; Dassau, Eyal; Zisser, Howard C.; Jovanoviĉ, Lois; Doyle, Francis J.
2010-01-01
Background Development of an artificial pancreas based on an automatic closed-loop algorithm that uses a subcutaneous insulin pump and continuous glucose sensor is a goal for biomedical engineering research. However, closing the loop for the artificial pancreas still presents many challenges, including model identification and design of a control algorithm that will keep the type 1 diabetes mellitus subject in normoglycemia for the longest duration and under maximal safety considerations. Method An artificial pancreatic β-cell based on zone model predictive control (zone-MPC) that is tuned automatically has been evaluated on the University of Virginia/University of Padova Food and Drug Administration-accepted metabolic simulator. Zone-MPC is applied when a fixed set point is not defined and the control variable objective can be expressed as a zone. Because euglycemia is usually defined as a range, zone-MPC is a natural control strategy for the artificial pancreatic β-cell. Clinical data usually include discrete information about insulin delivery and meals, which can be used to generate personalized models. It is argued that mapping clinical insulin administration and meal history through two different second-order transfer functions improves the identification accuracy of these models. Moreover, using mapped insulin as an additional state in zone-MPC enriches information about past control moves, thereby reducing the probability of overdosing. In this study, zone-MPC is tested in three different modes using unannounced and announced meals at their nominal value and with 40% uncertainty. Ten adult in silico subjects were evaluated following a scenario of mixed meals with 75, 75, and 50 grams of carbohydrates (CHOs) consumed at 7 am, 1 pm, and 8 pm, respectively. Zone-MPC results are compared to those of the “optimal” open-loop preadjusted treatment. Results Zone-MPC succeeds in maintaining glycemic responses closer to euglycemia compared to the
Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit
2012-11-15
A novel manufacturing strategy based on continuous processing integrated with online monitoring tools coupled with efficient automatic feedback control system is highly desired for efficient Quality by Design (QbD) based manufacturing of the next generation of pharmaceutical products with optimal consumption of time, space and resources. In this manuscript, an efficient plant-wide control strategy for an integrated continuous pharmaceutical tablet manufacturing process via roller compaction has been designed in silico. The designed control system consists of five cascade control loops and three single control loops resulting in 42 controller tuning parameters. An effective controller parameter tuning strategy involving an ITAE method coupled with an optimization strategy has been proposed and the designed control system has been implemented in a first principle model-based flowsheet that was simulated in gPROMS (Process System Enterprise). The advanced techniques (e.g. anti-windup) have been employed to improve the performance of the control system. The ability of the control system to reject the unknown disturbances as well as to track the set point has been analyzed. Results demonstrated enhanced performance of critical quality attributes (CQAs) under closed-loop control compared to open-loop operation thus illustrating the potential of closed-loop feedback control in improving pharmaceutical manufacturing operations.
Geometric control of quantum mechanical and nonlinear classical systems
NASA Astrophysics Data System (ADS)
Nelson, Richard Joseph
1999-10-01
Geometric control refers to the judicious use of the non- commuting nature of inputs and natural dynamics as the basis for control. The last few decades in control system theory have seen the application of differential geometry in proving several important properties of systems, including controllability and observability. Until recently, however, the results of this mathematical geometry have rarely been used as the basis for designing and implementing an actual controller. This thesis demonstrates the application of a judicious selection of inputs, so that if the system is proven to be controllable using geometric methods, one can design input sequences using the same geometry. A demonstration of this method is shown in simulating the attitude control of a satellite: a highly non-linear, non- holonomic control problem. Although not a practical method for large re-orientations of a typical satellite, the approach can be applied to other nonlinear systems. The method is also applied to the closed-loop performance of a quantum mechanical system to demonstrate the feasibility of coherent quantum feedback-something impossible using a conventional controller. Finally, the method is applied in the open-loop control of a quantum mechanical system: in this case, the creation of Greenberger-Horne-Zeilinger correlations among the nuclei of an ensemble of alanine molecules in a nuclear magnetic resonance spectrometer. In each case, the data demonstrate the usefulness of a geometric approach to control. In addition to demonstrations of geometric control in practice, the quantum mechanical experiments also demonstrate for the first time peculiar quantum correlations, including GHZ correlations, that have no classical analog. The quantum experiments further establish nuclear magnetic resonance as a viable and accessible testbed of quantum predictions and processes. (Copies available exclusively from MIT Libraries, Rm. 14- 0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax
Application of programmable logic controller to pump regulation system for supplying water
NASA Astrophysics Data System (ADS)
Ye, Dao-Yi; Yang, Yong-Bin; Lu, Zong-Qi
This paper describes a pump regulation system for supplying-water. The controlled variable is the output water pressure for supplying-water pumps. The reference input signal is given in PLC. The water pressure for supplying-water pump output is fed back by a A/D converter to CPU in PLC. The output of Programmable Logic Controller Controls a frequency converter. The frequency converter controls three groups of motor-pump. The water from the three pumps enters the same pipe. Programmable Logic Controller (PLC) uses Ladder-shaped diagram software to implement logical control and proportional-plus-integral control. The method for automatic tuning of regulator of the PID type is based on a simple identification method which gives one point on the Nyquist curve of the open loop transfer function. The key idea is a scheme which provides automatic excitation of the process which is nearly optimal for estimating the desired process characteristics. Only a frequency converter controls several groups of motor pumps, therefore, the cost of the system is decreased. This system has electrically breaking off protection function and automatically restoring software. Through a long time operation, the system can work well.
Cluster-based control of a separating flow over a smoothly contoured ramp
NASA Astrophysics Data System (ADS)
Kaiser, Eurika; Noack, Bernd R.; Spohn, Andreas; Cattafesta, Louis N.; Morzyński, Marek
2017-01-01
The ability to manipulate and control fluid flows is of great importance in many scientific and engineering applications. The proposed closed-loop control framework addresses a key issue of model-based control: The actuation effect often results from slow dynamics of strongly nonlinear interactions which the flow reveals at timescales much longer than the prediction horizon of any model. Hence, we employ a probabilistic approach based on a cluster-based discretization of the Liouville equation for the evolution of the probability distribution. The proposed methodology frames high-dimensional, nonlinear dynamics into low-dimensional, probabilistic, linear dynamics which considerably simplifies the optimal control problem while preserving nonlinear actuation mechanisms. The data-driven approach builds upon a state space discretization using a clustering algorithm which groups kinematically similar flow states into a low number of clusters. The temporal evolution of the probability distribution on this set of clusters is then described by a control-dependent Markov model. This Markov model can be used as predictor for the ergodic probability distribution for a particular control law. This probability distribution approximates the long-term behavior of the original system on which basis the optimal control law is determined. We examine how the approach can be used to improve the open-loop actuation in a separating flow dominated by Kelvin-Helmholtz shedding. For this purpose, the feature space, in which the model is learned, and the admissible control inputs are tailored to strongly oscillatory flows.
NASA Astrophysics Data System (ADS)
Yuan, H.; Zhu, H.
2016-10-01
It is well known that backward motion control of an articulated vehicle is difficult because it is an open loop unstable system and such motion is also dangerous due to 'jackknifing'. In this paper, an anti-jackknife reverse tracking control strategy for autonomous articulated vehicles is proposed based on the combined longitudinal and lateral control scheme. In the proposed lateral-longitudinal control scheme, the major task is to control the reverse heading of the trailer by automatic steering strategies that observe both the anti-jackknife condition and input limitations. The main contribution of this paper is the development of globally asymptotic anti-jackknife stabilising and tracking controls of heading angles with both state and input constraints considered a priori. The proposed control inherently has an anti-windup mechanism that prevents the hitch angle from going beyond any specified critical value to avoid jackknifing, during which time, the steering angle remains at its limit. Stability of the controller is theoretically proven via the Lyapunov argument. Effectiveness of the proposed approach is demonstrated by CarSim and Simulink joint simulations.
Modeling and path-following control of a vector-driven stratospheric satellite
NASA Astrophysics Data System (ADS)
Zheng, Zewei; Chen, Tian; Xu, Ming; Zhu, Ming
2016-05-01
The stratospheric satellite driven by steady prevailing winds in the stratosphere must be controlled in its longitudinal excursion to keep a latitudinal orbital flight. In a reliable and high-precision control system, an available system model must come first. In this paper, we study the 6 degree-of-freedom (DOF) modeling and path-following problem of a novel stratospheric satellite which consists of a high-altitude helium balloon, a truss and two vector-motor-driven propellers. To keep a latitudinal flight orbit, an algorithm for accurate latitudinal path following is proposed based on the theories of vector field and sliding mode control. Moreover, a forward velocity controller is added to the control algorithm to maintain a constant velocity. Finally, a series of open-loop control simulations are completed to verify the effectiveness of the model in the performance of the stratospheric satellite dynamics, and path-following control simulation results demonstrate the effectiveness of the proposed control algorithm.
NASA Technical Reports Server (NTRS)
Smith, John W.; Montgomery, Terry
1996-01-01
During rapid rolling maneuvers, the F-16 XL aircraft exhibits a 2.5 Hz lightly damped roll oscillation, perceived and described as 'roll ratcheting.' This phenomenon is common with fly-by-wire control systems, particularly when primary control is derived through a pedestal-mounted side-arm controller. Analytical studies have been conducted to model the nature of the integrated control characteristics. The analytical results complement the flight observations. A three-degree-of-freedom linearized set of aerodynamic matrices was assembled to simulate the aircraft plant. The lateral-directional control system was modeled as a linear system. A combination of two second-order transfer functions was derived to couple the lateral acceleration feed through effect of the operator's arm and controller to the roll stick force input. From the combined systems, open-loop frequency responses and a time history were derived, describing and predicting an analogous in-flight situation. This report describes the primary control, aircraft angular rate, and position time responses of the F-16 XL-2 aircraft during subsonic and high-dynamic-pressure rolling maneuvers. The analytical description of the pilot's arm and controller can be applied to other aircraft or simulations to assess roll ratcheting susceptibility.
Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O
2006-02-01
This paper presents a switching fuzzy controller design for a class of nonlinear systems. A switching fuzzy model is employed to represent the dynamics of a nonlinear system. In our previous papers, we proposed the switching fuzzy model and a switching Lyapunov function and derived stability conditions for open-loop systems. In this paper, we design a switching fuzzy controller. We firstly show that switching fuzzy controller design conditions based on the switching Lyapunov function are given in terms of bilinear matrix inequalities, which is difficult to design the controller numerically. Then, we propose a new controller design approach utilizing an augmented system. By introducing the augmented system which consists of the switching fuzzy model and a stable linear system, the controller design conditions based on the switching Lyapunov function are given in terms of linear matrix inequalities (LMIs). Therefore, we can effectively design the switching fuzzy controller via LMI-based approach. A design example illustrates the utility of this approach. Moreover, we show that the approach proposed in this paper is available in the research area of piecewise linear control.
Optimal V/f control of super high-speed PMSM and its application
NASA Astrophysics Data System (ADS)
Bian, Chunyuan; Ren, Shuangyan; Yan, Shijie; Man, Yongkui; Wang, Zhiqiang
2006-11-01
Due to the features such as high efficiency, small volume and high power density, super high-speed permanent magnet synchronous motor (PMSM) are becoming attractive in many fields such as high-speed micro-turbine generators, centrifugal compressors and pumps. V/f control is flexible and easy to be realized, moreover, voltage utilization ratio of SVPWM modulation is high, so the plan combined with V/f control and SVPWM modulation can be adopted for PMSM. The effects of the stator resistance and the dead-time on the control are generally neglected in traditional V/f control, which leads to that the low-speed performance is poor and the system is not stable at high speed. Based on considering the effects of stator resistance and dead-time, an optimal V/f control of the super high-speed PMSM is presented. Combined with the optimal V/f control and SVPWM modulation, soft starting and operating experiments for PMSM generator (105Kw, 61000rpm) are successfully implemented in the designed system of super high-speed gas micro-turbine based on DSP 320F2407A. The experiment results shows that this optimal V/f control is virtual and feasible for super high-speed PMSM. The proposed scheme provided dynamic stability and high performance of the super high-speed PMSM with an open-loop control.
Dynamics and control of high precision magnetically levitated vibration isolation systems
NASA Technical Reports Server (NTRS)
Youcef-Toumi, K.; Yeh, T-J.
1992-01-01
Vibration control of flexible structures has received a great deal of interest in recent years. Several authors have investigated this topic in the areas of robot manipulators, space structures, and flexible rotors. Key issues associated with the dynamics and control of vibration isolation systems are addressed. Among other important issues to consider in the control of such systems, the location and number of actuators and sensors are essential to effectively control and suppress vibration. We first address the selection of proper actuator and sensor locations leading to a controllable and observable system. The Rayleigh-Ritz modal analysis method is used to develop a lumped-parameter model of a flexible vibration isolation table top. This model is then used to investigate the system's controllability and observability including the coupling effects introduced by the magnetic bearing. This analysis results in necessary and sufficient conditions for proper selection of actuator and sensor locations. These locations are also important for both controller system's complexity and stability of point of views. A favorable pole-zero plot of the open loop transfer functions is presented. Necessary and sufficient conditions for reducing the controller complexity are derived. The results are illustrated by examples using approximate mode shape functions.
Velocity control with disturbance observer for pedal-assisted electric bikes
NASA Astrophysics Data System (ADS)
Chang, Shyue-Bin; Chen, Pang-Chia; Chuang, Hung-Shiang; Hsiao, Chih-Ching
2012-11-01
This paper proposes a velocity control approach for light electric bicycles with human power assistance. A disturbance observer mechanism is used to estimate the sum of the human torque and resistance torques. The resulting vehicle velocity control provides better battery energy efficiency by knowledge of the instantaneous human torque assistance and better speed control by knowledge of the instantaneous resistive torque. The disturbance observer is tuned in terms of the DC gain of a low-passed Q-filter for both open-loop and closed-loop schemes. Assuming that the slow varying nature of the disturbance has been properly estimated and compensated, the torque control law is designed via an optimal control approach to achieve multi-objective performances regarding the external disturbance input, control signal magnitude, and velocity tracking error. The three main parameters of the electric bike, including the moment of inertia, the radius of tyre and the vehicle weight are allowed to be variational. Specifically, the deviation of the inertia moment and deviation of the tyre radius are addressed during the controller design in terms of linear matrix inequalities. On the other hand, the effect of vehicle weight deviation on the system behaviour is evaluated when the vehicle is implemented with the constructed control law. Based on the parameters and specifications of the EL-168 electric bike produced by KENTFA Advanced Technology, Taiwan, the design results are verified through time-response simulations.
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.
NASA Technical Reports Server (NTRS)
Kapasouris, Petros
1988-01-01
A systematic control design methodology is introduced for multi-input/multi-output systems with multiple saturations. The methodology can be applied to stable and unstable open loop plants with magnitude and/or rate control saturations and to systems in which state limitations are desired. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated by numerous simulations, including the multivariable longitudinal control of modified models of the F-8 (stable) and F-16 (unstable) aircraft.
Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots
Li, Mengfan
2015-01-01
In this paper, we evaluate the control performance of SSVEP (steady-state visual evoked potential)- and P300-based models using Cerebot—a mind-controlled humanoid robot platform. Seven subjects with diverse experience participated in experiments concerning the open-loop and closed-loop control of a humanoid robot via brain signals. The visual stimuli of both the SSVEP- and P300- based models were implemented on a LCD computer monitor with a refresh frequency of 60 Hz. Considering the operation safety, we set the classification accuracy of a model over 90.0% as the most important mandatory for the telepresence control of the humanoid robot. The open-loop experiments demonstrated that the SSVEP model with at most four stimulus targets achieved the average accurate rate about 90%, whereas the P300 model with the six or more stimulus targets under five repetitions per trial was able to achieve the accurate rates over 90.0%. Therefore, the four SSVEP stimuli were used to control four types of robot behavior; while the six P300 stimuli were chosen to control six types of robot behavior. Both of the 4-class SSVEP and 6-class P300 models achieved the average success rates of 90.3% and 91.3%, the average response times of 3.65 s and 6.6 s, and the average information transfer rates (ITR) of 24.7 bits/min 18.8 bits/min, respectively. The closed-loop experiments addressed the telepresence control of the robot; the objective was to cause the robot to walk along a white lane marked in an office environment using live video feedback. Comparative studies reveal that the SSVEP model yielded faster response to the subject’s mental activity with less reliance on channel selection, whereas the P300 model was found to be suitable for more classifiable targets and required less training. To conclude, we discuss the existing SSVEP and P300 models for the control of humanoid robots, including the models proposed in this paper. PMID:26562524
NASA Astrophysics Data System (ADS)
Dores, Delfim Zambujo Das
2005-11-01
Engineering research over the last few years has successfully demonstrated the potential of thrust vector control using counterflow at conditions up to Mach 2. Flow configurations that include the pitch vectoring of rectangular jets and multi-axis vector control in diamond and axisymmetric nozzle geometries have been studied. Although bistable (on-off) fluid-based control has been around for some time, the present counterflow thrust vector control is unique because proportional and continuous jet response can be achieved in the absence of moving parts, while avoiding jet attachment, which renders most fluidic approaches unacceptable for aircraft and missile control applications. However, before this study, research had been limited to open-loop studies of counterflow thrust vectoring. For practical implementation it was vital that the counterflow scheme be used in conjunction with feedback control. Hence, the focus of this research was to develop and experimentally demonstrate a feedback control design methodology for counterflow thrust vectoring. This research focused on 2-D (pitch) thrust vectoring and addresses four key modeling issues. The first issue is to determine the measured variable to be commanded since the thrust vector angle is not measurable in real time. The second related issue is to determine the static mapping from the thrust vector angle to this measured variable. The third issue is to determine the dynamic relationship between the measured variable and the thrust vector angle. The fourth issue is to develop dynamic models with uncertainty characterizations. The final and main goal was the design and implementation of robust controllers that yield closed-loop systems with fast response times, and avoid overshoot in order to aid in the avoidance of attachment. These controllers should be simple and easy to implement in real applications. Hence, PID design has been chosen. Robust control design is accomplished by using ℓ1 control theory in
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths
Hauser, Kris; Alterovitz, Ron; Chentanez, Nuttapong; Okamura, Allison; Goldberg, Ken
2010-01-01
Bevel-tip steerable needles are a promising new technology for improving accuracy and accessibility in minimally invasive medical procedures. As yet, 3D needle steering has not been demonstrated in the presence of tissue deformation and uncertainty, despite the application of progressively more sophisticated planning algorithms. This paper presents a feedback controller that steers a needle along 3D helical paths, and varies the helix radius to correct for perturbations. It achieves high accuracy for targets sufficiently far from the needle insertion point; this is counterintuitive because the system is highly under-actuated and not locally controllable. The controller uses a model predictive control framework that chooses a needle twist rate such that the predicted helical trajectory minimizes the distance to the target. Fast branch and bound techniques enable execution at kilohertz rates on a 2GHz PC. We evaluate the controller under a variety of simulated perturbations, including imaging noise, needle deflections, and curvature estimation errors. We also test the controller in a 3D finite element simulator that incorporates deformation in the tissue as well as the needle. In deformable tissue examples, the controller reduced targeting error by up to 88% compared to open-loop execution. PMID:21179401
Low-cost feedback-controlled syringe pressure pumps for microfluidics applications.
Lake, John R; Heyde, Keith C; Ruder, Warren C
2017-01-01
Microfluidics are widely used in research ranging from bioengineering and biomedical disciplines to chemistry and nanotechnology. As such, there are a large number of options for the devices used to drive and control flow through microfluidic channels. Commercially available syringe pumps are probably the most commonly used instruments for this purpose, but are relatively high-cost and have inherent limitations due to their flow profiles when they are run open-loop. Here, we present a low-cost ($110) syringe pressure pump that uses feedback control to regulate the pressure into microfluidic chips. Using an open-source microcontroller board (Arduino), we demonstrate an easily operated and programmable syringe pump that can be run using either a PID or bang-bang control method. Through feedback control of the pressure at the inlets of two microfluidic geometries, we have shown stability of our device to within ±1% of the set point using a PID control method and within ±5% of the set point using a bang-bang control method with response times of less than 1 second. This device offers a low-cost option to drive and control well-regulated pressure-driven flow through microfluidic chips.
Low-cost feedback-controlled syringe pressure pumps for microfluidics applications
Lake, John R.; Heyde, Keith C.
2017-01-01
Microfluidics are widely used in research ranging from bioengineering and biomedical disciplines to chemistry and nanotechnology. As such, there are a large number of options for the devices used to drive and control flow through microfluidic channels. Commercially available syringe pumps are probably the most commonly used instruments for this purpose, but are relatively high-cost and have inherent limitations due to their flow profiles when they are run open-loop. Here, we present a low-cost ($110) syringe pressure pump that uses feedback control to regulate the pressure into microfluidic chips. Using an open-source microcontroller board (Arduino), we demonstrate an easily operated and programmable syringe pump that can be run using either a PID or bang-bang control method. Through feedback control of the pressure at the inlets of two microfluidic geometries, we have shown stability of our device to within ±1% of the set point using a PID control method and within ±5% of the set point using a bang-bang control method with response times of less than 1 second. This device offers a low-cost option to drive and control well-regulated pressure-driven flow through microfluidic chips. PMID:28369134
Proportional-Integral-Derivative (PID) Control of Secreted Factors for Blood Stem Cell Culture
Caldwell, Julia; Wang, Weijia; Zandstra, Peter W.
2015-01-01
Clinical use of umbilical cord blood has typically been limited by the need to expand hematopoietic stem and progenitor cells (HSPC) ex vivo. This expansion is challenging due to the accumulation of secreted signaling factors in the culture that have a negative regulatory effect on HSPC output. Strategies for global regulation of these factors through dilution have been developed, but do not accommodate the dynamic nature or inherent variability of hematopoietic cell culture. We have developed a mathematical model to simulate the impact of feedback control on in vitro hematopoiesis, and used it to design a proportional-integral-derivative (PID) control algorithm. This algorithm was implemented with a fed-batch bioreactor to regulate the concentrations of secreted factors. Controlling the concentration of a key target factor, TGF-β1, through dilution limited the negative effect it had on HSPCs, and allowed global control of other similarly-produced inhibitory endogenous factors. The PID control algorithm effectively maintained the target soluble factor at the target concentration. We show that feedback controlled dilution is predicted to be a more cost effective dilution strategy compared to other open-loop strategies, and can enhance HSPC expansion in short term culture. This study demonstrates the utility of secreted factor process control strategies to optimize stem cell culture systems, and motivates the development of multi-analyte protein sensors to automate the manufacturing of cell therapies. PMID:26348930
Design of feedback control systems for stable plants with saturating actuators
NASA Technical Reports Server (NTRS)
Kapasouris, Petros; Athans, Michael; Stein, Gunter
1988-01-01
A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way as to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of the methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.
Design of feedback control systems for stable plants with saturating actuators
NASA Technical Reports Server (NTRS)
Kapasouris, Petros; Athans, Michael; Stein, Gunther
1988-01-01
A systematic control design methodology is introduced for multi-input/multi-output stable open-loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way as to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed-loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.
Using Fast-Steering Mirror Control to Reduce Instrument Pointing Errors Caused by Spacecraft Jitter
NASA Technical Reports Server (NTRS)
Antol, Jeffery; Holtz, Ted M.; Cuda, Vince; Johnson, Thomas A.
1996-01-01
The scope of this study was to investigate the benefit of using feedback control of a Fast Steering Mirror (FSM) to reduce instrument pointing errors. Initially, the study identified FSM control technologies and categorized them according to their use, range of applicability, and physical requirements. Candidate payloads were then evaluated according to their relevance in use of fast steering minor control technologies. This leads to the mission and instrument selection which served as the candidate mission for numerical modeling. A standard SmallSat was designed in order to accommodate the payload requirements (weight, size, power, etc.). This included sizing the SmallSat bus, sizing the solar array, choosing appropriate antennas, and identifying an attitude control system (ACS). A feedback control system for the FSM compensation was then designed, and the instrument pointing error and SmallSat jitter environment for open-loop and closed-loop FSM control were evaluated for typical SmallSat disturbances. The results were then compared to determine the effectiveness of the FSM feedback control system.
Feedback shape control for deployable mesh reflectors using gain scheduling method
NASA Astrophysics Data System (ADS)
Xie, Yangmin; Shi, Hang; Alleyne, Andrew; Yang, Bingen
2016-04-01
This paper presents a theoretical study on the dynamic shape control problem of deployable mesh reflectors (DMRs) via feedback approaches. The reflector structure is simplified from a nonlinear model to be quasi-static with respect to temperature variations but dynamic with respect to mechanical vibrations. The orbital cycle is segmented into multiple temperature zones, and an H∞ robust state feedback controller is designed for each zone to guarantee the local stability of the system under the model uncertainty caused by thermal effects and to reject external force disturbances. At the same time, gain scheduling control method is adopted to compensate thermal distortions and to ensure smooth transition response when switching among the local robust controllers. A DMR model is considered in the case study to show the effectiveness of the control approach. The structural vibrations caused by external force disturbances can be sufficiently suppressed in a much shorter time. The closed loop response of the DMR structure shows that much higher surface accuracy is obtained during the orbiting mission compared to the open-loop configuration, and transient focal length and transient de-focus of the reflector are well controlled within the satisfactory bounds, demonstrating the numerical feasibility of the proposed method to solve the dynamic shape control problem of DMRs.
Integrated Robot-Human Control in Mining Operations
George Danko
2007-09-30
This report contains a detailed description of the work conducted for the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of 'software machine kinematics' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. The human operator retains the master control of the main motion parameters, while the computer coordinates the repetitive movement patterns of the machine links. These repetitive movements may be selected from a pre-defined family of trajectories with different transformations. The operator can make adjustments to this pattern in real time, as needed, to accommodate rapidly-changing environmental conditions. A working prototype has been developed using a Bobcat 435 excavator. The machine is operational with or without the computer control system depending on whether the computer interface is on or off. In preparation for emulated mining tasks tests, typical, repetitive tool trajectories during surface mining operations were recorded at the Newmont Mining Corporation's 'Lone Tree' mine in Nevada. Analysis of these working trajectories has been completed. The motion patterns, when transformed into a family of curves, may serve as the basis for software-controlled machine kinematics transformation in the new human-robot control system. A Cartesian control example has been developed and tested both in simulation and on the experimental excavator. Open-loop control is robustly stable and free of short-term dynamic problems, but it allows for drifting away from the desired motion kinematics of the machine. A novel, closed
Control of a free-flying robot manipulator system
NASA Technical Reports Server (NTRS)
Alexander, H.; Cannon, R. H., Jr.
1985-01-01
The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.
Status of the Fiber Optic Control System Integration (FOCSI) program
NASA Technical Reports Server (NTRS)
Baumbick, Robert J.
1993-01-01
This report presents a discussion of the progress made in the NASA/NAVY Fiber Optic Control System Integration (FOCSI) program. This program will culminate in open-loop flight tests of passive optical sensors and associated electro-optics on an F-18 aircraft. Currently, the program is in the final stages of hardware fabrication and environmental testing of the passive optical sensors and electro-optics. This program is a foundation for future Fly-by-Light (FBL) programs. The term Fly-by-Light is used to describe the utilization of passive optical sensors and fiber optic data links for monitoring and control of aircraft in which sensor and actuation signals are transmitted optically. The benefits of this technology for advanced aircraft include the following: improved reliability and reduced certification cost due to greater immunity to EME (electromagnetic effects); reduced harness volume and weight; elimination of short circuits and sparking in wiring due to insulation deterioration; lower maintenance costs (fewer components); greater flexibility in data bus protocol and architecture; absence of ground loops; and higher operating temperatures for electrically passive optical sensors.
GNOCIS -- 1999 update on the generic NOx control intelligent system
Hollinden, G.; Sorge, J.; Slatsky, M.; Noblett, J.; Warriner, G.
1999-07-01
The Generic NOx Control Intelligent System (GNOCIS) is an on-line enhancement to digital control systems and plant information systems targeted at improving unit performance parameters such as heat rate, boiler efficiency, NOx emissions, and fly ash carbon levels. The GNOCIS methodology utilizes a neural network model of the boiler combustion process and when applicable, other plant processes. The software applies an optimizing procedure to identify the best set points for the plant, which are implemented automatically without operator intervention (closed-loop), or, at the plant's discretion, conveyed to the plant operators for implementation (open-loop). GNOCIS development was funded by the Electric Power Research Institute, PowerGen, Radian International, Southern Company, U.K. Department of Trade and Industry, and U. S. Department of Energy. As of January 1999, there were over 50 active or planned GNOCIS installations representing greater than 25,000 MW of generation. This paper will highlight several of the active GNOCIS projects, discussing implementation issues and results.
Closed-Loop Control of a Neuroprosthetic Hand by Magnetoencephalographic Signals
Fukuma, Ryohei; Yanagisawa, Takufumi; Yorifuji, Shiro; Kato, Ryu; Yokoi, Hiroshi; Hirata, Masayuki; Saitoh, Youichi; Kishima, Haruhiko; Kamitani, Yukiyasu; Yoshimine, Toshiki
2015-01-01
Objective A neuroprosthesis using a brain–machine interface (BMI) is a promising therapeutic option for severely paralyzed patients, but the ability to control it may vary among individual patients and needs to be evaluated before any invasive procedure is undertaken. We have developed a neuroprosthetic hand that can be controlled by magnetoencephalographic (MEG) signals to noninvasively evaluate subjects’ ability to control a neuroprosthesis. Method Six nonparalyzed subjects performed grasping or opening movements of their right hand while the slow components of the MEG signals (SMFs) were recorded in an open-loop condition. The SMFs were used to train two decoders to infer the timing and types of movement by support vector machine and Gaussian process regression. The SMFs were also used to calculate estimated slow cortical potentials (eSCPs) to identify the origin of motor information. Finally, using the trained decoders, the subjects controlled a neuroprosthetic hand in a closed-loop condition. Results The SMFs in the open-loop condition revealed movement-related cortical field characteristics and successfully inferred the movement type with an accuracy of 75.0 ± 12.9% (mean ± SD). In particular, the eSCPs in the sensorimotor cortex contralateral to the moved hand varied significantly enough among the movement types to be decoded with an accuracy of 76.5 ± 10.6%, which was significantly higher than the accuracy associated with eSCPs in the ipsilateral sensorimotor cortex (58.1 ± 13.7%; p = 0.0072, paired two-tailed Student’s t-test). Moreover, another decoder using SMFs successfully inferred when the accuracy was the greatest. Combining these two decoders allowed the neuroprosthetic hand to be controlled in a closed-loop condition. Conclusions Use of real-time MEG signals was shown to successfully control the neuroprosthetic hand. The developed system may be useful for evaluating movement-related slow cortical potentials of severely paralyzed patients
Power and Performance Management in Nonlinear Virtualized Computing Systems via Predictive Control.
Wen, Chengjian; Mu, Yifen
2015-01-01
The problem of power and performance management captures growing research interest in both academic and industrial field. Virtulization, as an advanced technology to conserve energy, has become basic architecture for most data centers. Accordingly, more sophisticated and finer control are desired in virtualized computing systems, where multiple types of control actions exist as well as time delay effect, which make it complicated to formulate and solve the problem. Furthermore, because of improvement on chips and reduction of idle power, power consumption in modern machines shows significant nonlinearity, making linear power models(which is commonly adopted in previous work) no longer suitable. To deal with this, we build a discrete system state model, in which all control actions and time delay effect are included by state transition and performance and power can be defined on each state. Then, we design the predictive controller, via which the quadratic cost function integrating performance and power can be dynamically optimized. Experiment results show the effectiveness of the controller. By choosing a moderate weight, a good balance can be achieved between performance and power: 99.76% requirements can be dealt with and power consumption can be saved by 33% comparing to the case with open loop controller.
Power and Performance Management in Nonlinear Virtualized Computing Systems via Predictive Control
Wen, Chengjian; Mu, Yifen
2015-01-01
The problem of power and performance management captures growing research interest in both academic and industrial field. Virtulization, as an advanced technology to conserve energy, has become basic architecture for most data centers. Accordingly, more sophisticated and finer control are desired in virtualized computing systems, where multiple types of control actions exist as well as time delay effect, which make it complicated to formulate and solve the problem. Furthermore, because of improvement on chips and reduction of idle power, power consumption in modern machines shows significant nonlinearity, making linear power models(which is commonly adopted in previous work) no longer suitable. To deal with this, we build a discrete system state model, in which all control actions and time delay effect are included by state transition and performance and power can be defined on each state. Then, we design the predictive controller, via which the quadratic cost function integrating performance and power can be dynamically optimized. Experiment results show the effectiveness of the controller. By choosing a moderate weight, a good balance can be achieved between performance and power: 99.76% requirements can be dealt with and power consumption can be saved by 33% comparing to the case with open loop controller. PMID:26225769
NASA Technical Reports Server (NTRS)
Gawronski, W.
2004-01-01
Wind gusts are the main disturbances that depreciate tracking precision of microwave antennas and radiotelescopes. The linear-quadratic-Gaussian (LQG) controllers - as compared with the proportional-and-integral (PI) controllers significantly improve the tracking precision in wind disturbances. However, their properties have not been satisfactorily understood; consequently, their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller model and the selection of weights of the LQG performance index. This article analyzes properties of an open- and closed-loop antenna. It shows that the proper choice of coordinates of the open-loop model simplifies the shaping of the closed-loop performance. The closed-loop properties are influenced by the LQG weights. The article shows the impact of the weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. The bandwidth and the disturbance rejection characterize the antenna performance, while the acceleration represents the performance limit set by the antenna hardware (motors). The article presents the controller tuning procedure, based on the coordinate selection and the weight properties. The procedure rationally shapes the closed-loop performance, as an alternative to the trial-and-error approach.
Space Weather Influence on Relative Motion Control using the Touchless Electrostatic Tractor
NASA Astrophysics Data System (ADS)
Hogan, Erik A.; Schaub, Hanspeter
2016-09-01
With recent interest in the use of electrostatic forces for contactless tugging and attitude control of noncooperative objects for orbital servicing and active debris mitigation, the need for a method of remote charge control arises. In this paper, the use of a directed electron beam for remote charge control is considered in conjunction with the relative motion control. A tug vehicle emits an electron beam onto a deputy object, charging it negatively. At the same time, the tug is charged positively due to beam emission, resulting in an attractive electrostatic force. The relative position feedback control between the tug and the passive debris object is studied subject to the charging being created through an electron beam. Employing the nominal variations of the GEO space weather conditions across longitude slots, two electrostatic tugging strategies are considered. First, the electron beam current is adjusted throughout the orbit in order to maximize this resulting electrostatic force. This open-loop control strategy compensates for changes in the nominally expected local space weather environment in the GEO region to adjust for fluctuations in the local plasma return currents. Second, the performance impact of using a fixed electron beam current on the electrostatic tractor is studied if the same natural space weather variations are assumed. The fixed electron beam current shows a minor performance penalty (<5 %) while providing a much simpler implementation that does not require any knowledge of local space weather conditions.
Aggregate modeling of fast-acting demand response and control under real-time pricing
Chassin, David P.; Rondeau, Daniel
2016-08-24
This paper develops and assesses the performance of a short-term demand response (DR) model for utility load control with applications to resource planning and control design. Long term response models tend to underestimate short-term demand response when induced by prices. This has two important consequences. First, planning studies tend to undervalue DR and often overlook its benefits in utility demand management program development. Second, when DR is not overlooked, the open-loop DR control gain estimate may be too low. This can result in overuse of load resources, control instability and excessive price volatility. Our objective is therefore to develop amore » more accurate and better performing short-term demand response model. We construct the model from first principles about the nature of thermostatic load control and show that the resulting formulation corresponds exactly to the Random Utility Model employed in economics to study consumer choice. The model is tested against empirical data collected from field demonstration projects and is shown to perform better than alternative models commonly used to forecast demand in normal operating conditions. Finally, the results suggest that (1) existing utility tariffs appear to be inadequate to incentivize demand response, particularly in the presence of high renewables, and (2) existing load control systems run the risk of becoming unstable if utilities close the loop on real-time prices.« less
Aggregate modeling of fast-acting demand response and control under real-time pricing
Chassin, David P.; Rondeau, Daniel
2016-08-24
This paper develops and assesses the performance of a short-term demand response (DR) model for utility load control with applications to resource planning and control design. Long term response models tend to underestimate short-term demand response when induced by prices. This has two important consequences. First, planning studies tend to undervalue DR and often overlook its benefits in utility demand management program development. Second, when DR is not overlooked, the open-loop DR control gain estimate may be too low. This can result in overuse of load resources, control instability and excessive price volatility. Our objective is therefore to develop a more accurate and better performing short-term demand response model. We construct the model from first principles about the nature of thermostatic load control and show that the resulting formulation corresponds exactly to the Random Utility Model employed in economics to study consumer choice. The model is tested against empirical data collected from field demonstration projects and is shown to perform better than alternative models commonly used to forecast demand in normal operating conditions. Finally, the results suggest that (1) existing utility tariffs appear to be inadequate to incentivize demand response, particularly in the presence of high renewables, and (2) existing load control systems run the risk of becoming unstable if utilities close the loop on real-time prices.
Distributed optimization and flight control using collectives
NASA Astrophysics Data System (ADS)
Bieniawski, Stefan Richard
flight control system. These controllers increased the flight vehicle stability by 85% and alleviated gust loads by 78%, when compared with open loop. This work demonstrates the use of collectives for the range of optimization problems of interest in aerospace systems, provides the mathematical foundations and implementation details, and focuses on applications to nonlinear, robust, distributed control. The two successful experiments validate both the collectives approach and the use of MiTEs for the control of flight vehicles.
Closed-loop control of flow-induced cavity oscillations
NASA Astrophysics Data System (ADS)
Song, Qi
Flow-induced cavity oscillations are a coupled flow-acoustic problem in which the inherent closed-loop system dynamics can lead to large unsteady pressure levels in and around the cavity, resulting in both broadband noise and discrete tones. This problem exists in many practical environments, such as landing gear bays and weapon delivery systems on aircraft, and automobile sunroofs and windows. Researchers in both fluid dynamics and controls have been working on this problem for more than fifty years. This is because not only is the physical nature of this problem rich and complex, but also it has become a standard test bed for controller deign and implementation in flow control. The ultimate goal of this research is to minimize the cavity acoustic tones and the broadband noise level over a range of freestream Mach numbers. Although open-loop and closed-loop control methodologies have been explored extensively in recent years, there are still some issues that need to be studied further. For example, a low-order theoretical model suitable for controller design does not exist. Most recent flow-induced cavity models are based either on Rossiter's semi-expirical formula or a proper orthogonal decomposition (POD) based models. These models cannot be implemented in adaptive controller design directly. In addition, closed-loop control of high subsonic and supersonic flows remains an unexplored area. In order to achieve these objectives, an analytical system model is first developed in this research. This analytical model is a transfer function based model and it can be used as a potential model for controller design. Then, a MIMO system identification algorithm is derived and combined with the generalized prediction control (GPC) algorithm. The resultant integration of adaptive system ID and GPC algorithms can potentially track nonstationary cavity dynamics and reduce the flow-induced oscillations. A novel piezoelectric-driven synthetic jet actuator array is designed for
Tang, Hsin-Yi Jean; Vitiello, Michael V; Perlis, Michael; Riegel, Barbara
2015-09-01
This pilot study tested the efficacy of a 30-min audio-visual stimulation (AVS) program for the treatment of chronic insomnia in older adults. Chronic insomnia has been conceptualized as entailing increased cortical high frequency EEG activity at sleep onset and during NREM sleep. We hypothesized that an AVS program gradually descending from 8 to 1 Hz would potentially reduce the excessive cortical activation that is thought to contribute to difficulties with initiating and maintaining sleep. Accordingly, we conducted an intervention study of AVS using a pre-post design. Eight older adults (88 ± 8.7 years) complaining of chronic insomnia self-administered a 30-min AVS program nightly at bedtime for one month. Sleep was assessed at baseline and throughout the 4-week intervention. After using AVS for 4 weeks, significant improvement was reported in insomnia symptoms (ISI, p = 0.002) and sleep quality (PSQI, p = 0.004); with moderate to large effect sizes (Partial Eta2: 0.20-0.55)(Cohen's d: 0.7-2.3). The training effect (self-reported sleep improvement) was observed at the end of week one and persisted through the 1-month intervention. The results from this pilot study suggest that further exploration of AVS as a treatment for insomnia is warranted.
The GBT precision telescope control system
NASA Astrophysics Data System (ADS)
Prestage, Richard M.; Constantikes, Kim T.; Balser, Dana S.; Condon, James J.
2004-10-01
The NRAO Robert C. Byrd Green Bank Telescope (GBT) is a 100m diameter advanced single dish radio telescope designed for a wide range of astronomical projects with special emphasis on precision imaging. Open-loop adjustments of the active surface, and real-time corrections to pointing and focus on the basis of structural temperatures already allow observations at frequencies up to 50GHz. Our ultimate goal is to extend the observing frequency limit up to 115GHz; this will require a two dimensional tracking error better than 1.3", and an rms surface accuracy better than 210μm. The Precision Telescope Control System project has two main components. One aspect is the continued deployment of appropriate metrology systems, including temperature sensors, inclinometers, laser rangefinders and other devices. An improved control system architecture will harness this measurement capability with the existing servo systems, to deliver the precision operation required. The second aspect is the execution of a series of experiments to identify, understand and correct the residual pointing and surface accuracy errors. These can have multiple causes, many of which depend on variable environmental conditions. A particularly novel approach is to solve simultaneously for gravitational, thermal and wind effects in the development of the telescope pointing and focus tracking models. Our precision temperature sensor system has already allowed us to compensate for thermal gradients in the antenna, which were previously responsible for the largest "non-repeatable" pointing and focus tracking errors. We are currently targetting the effects of wind as the next, currently uncompensated, source of error.
NASA Astrophysics Data System (ADS)
Taoka, Hidekazu; Morimoto, Akihito; Kawai, Hiroyuki; Higuchi, Kenichi; Sawahashi, Mamoru
This paper presents the best transmit diversity schemes for three types of common/shared control signals from the viewpoint of the block error rate (BLER) performance in the Evolved UTRA downlink employing OFDM radio access. This paper also presents the coverage performance of the common/shared control signals using transmit diversity with respect to the outage probability that satisfies the required BLER performance, which is a major factor determining the cell configuration. Simulation results clarify that Space-Frequency Block Code (SFBC) and the combination of SFBC and Frequency Switched Transmit Diversity (FSTD) are the best transmit diversity schemes among the open-loop type transmit diversity candidates for two-antenna and four-antenna transmission cases, respectively. Furthermore, we show through system-level simulations that SFBC is very effective in reducing the outage probability at the required BLER for the physical broadcast channel (PBCH), for the common control signal with resource block (RB)-level assignment such as the dynamic broadcast channel (D-BCH) and paging channel (PCH), and in increasing the number of accommodated L1/L2 control signals over one transmission time interval duration, using mini-control channel element (CCE)-level assignment.
Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT
NASA Technical Reports Server (NTRS)
Polutchko, Robert J.
1989-01-01
A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.
Multi-loop Control System Design for Biodiesel Process using Waste Cooking Oil
NASA Astrophysics Data System (ADS)
Patle, Dipesh S.; Z, Ahmad; Rangaiah, G. P.
2015-06-01
Biodiesel is one of the promising liquid fuels for future due to its advantages such as renewability and eco-friendliness. This manuscript describes the development of a multi-loop control system design for a comprehensive biodiesel process using waste cooking oil. Method for controlled variable-manipulated variable (CV-MV) pairings are vital for the stable, effective and economical operation of the process. Liquid recycles, product quality requirements and effective inventory control pose tough challenges to the safe operation of the biodiesel process. A simple and easy to apply effective RGA method [Xiong Q, Cai W J and He M J 2005 A practical loop pairing criterion for multivariable processes Journal of Process Control vol. 15 pp 741-747.] is applied to determine CV-MV pairings i.e. control configuration design for the bioprocess. This method uses steady state gain as well as bandwidth information of the process open loop transfer function to determine input-output pairings.
A servo-control system for open- and closed-loop blood pressure regulation.
Nafz, B; Persson, P B; Ehmke, H; Kirchheim, H R
1992-02-01
An electropneumatic servo-control system is described that can reduce and control arterial blood pressure in experimental animals. The device has been proved useful in the analysis of pressure-dependent physiological processes and allows the following two modes of operation: 1) a conventional open-loop setting that will reduce arterial pressure to a preselected set point and 2) a closed-loop mode that enables an adjustment to a dynamic pressure set point (i.e., the controlled pressure is reduced to a constant value below a reference pressure). A pneumatic servo-control mechanism was chosen to provide minimal control latency. The accuracy of the system under physiological conditions is well within +/- 1 mmHg. The device can be useful in a number of studies demanding a precise regulation of local arterial pressure, such as experiments on blood flow autoregulation, arterial baroreceptor reflexes, and all experiments involving the study of pressure-dependent excretory and incretory functions of the kidney. The closed-loop setting is useful for studying physiological feedback systems.
Nonlinear Numerical Modeling of Shape Control in IGNITOR in the Presence of 3D Structures
NASA Astrophysics Data System (ADS)
Albanese, R.; Ambrosino, G.; de Tommasi, G.; Pironti, A.; Rubinacci, G.; Villone, F.; Ramogida, G.; Coppi, B.
2014-10-01
IGNITOR is a high field compact machine designed for the investigation of fusion burning plasmas at or close to ignition. The integrated plasma position, shape and current control plays an important role in its safe operation. The analysis of its behavior taking into account nonlinear and 3D effects can be of great interest for assessing its performances. In fact, the system was designed on the basis of an axisymmetric linearized model. To this purpose, we use a computational tool, called CarMa0NL, with the unprecedented capability of simultaneously considering three-dimensional effects of conductors surrounding the plasma and the inherent nonlinearity of the plasma behaviour itself, in the presence of the complex set of circuit equations describing the control system. Preliminary results already lead to the conclusion that the vertical position response is not much influenced by nonlinear and 3D effects, as the vertical stabilization controller is able to ``hide'' the differences in open-loop models. Here we assess the performance of the shape controller, by coupling the nonlinear plasma evolution in the presence of the 3D vessel with ports to the complex circuit dynamics simulating the integrated closed loop control system.
Finite state control of a variable impedance hybrid neuroprosthesis for locomotion after paralysis.
Bulea, Thomas C; Kobetic, Rudi; Audu, Musa L; Schnellenberger, John R; Triolo, Ronald J
2013-01-01
We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%.
Self-optimising control for a class of continuous bioreactor via variable-structure feedback
NASA Astrophysics Data System (ADS)
Lara-Cisneros, Gerardo; Alvarez-Ramírez, José; Femat, Ricardo
2016-04-01
A self-optimising controller is designed for stabilisation of a class of bioreactor exploiting sliding-mode techniques. The stability analysis for the class of bioreactor, in open-loop configuration, suggests that the optimal behaviour, respect to maximal biomass production, occurs in an unstable region (structurally unstable). In this contribution, a variable-structure controller is designed, exploiting the inhibitory effect of substrate concentration under the biomass growth rate, such that the closed-loop system reaches the optimal manifold where the effect induced by the growth rate gradient is compensated (favouring the maximum growth rate). The self-optimising comprises an uncertainty estimator which computes the unknown terms for increasing the robustness issues of the sliding-mode scheme. Numerical experiments illustrate the performance and execution of the control strategy considering different parameter values for biomass growth rate. The robustness and fragility of the proposed controller are also discussed with respect to the modelling uncertainty and small changes in the controller gains, respectively.
Closed-loop separation control over a sharp edge ramp using genetic programming
NASA Astrophysics Data System (ADS)
Debien, Antoine; von Krbek, Kai A. F. F.; Mazellier, Nicolas; Duriez, Thomas; Cordier, Laurent; Noack, Bernd R.; Abel, Markus W.; Kourta, Azeddine
2016-03-01
We experimentally perform open and closed-loop control of a separating turbulent boundary layer downstream from a sharp edge ramp. The turbulent boundary layer just above the separation point has a Reynolds number Re_{θ }≈ 3500 based on momentum thickness. The goal of the control is to mitigate separation and early re-attachment. The forcing employs a spanwise array of active vortex generators. The flow state is monitored with skin-friction sensors downstream of the actuators. The feedback control law is obtained using model-free genetic programming control (GPC) (Gautier et al. in J Fluid Mech 770:442-457, 2015). The resulting flow is assessed using the momentum coefficient, pressure distribution and skin friction over the ramp and stereo PIV. The PIV yields vector field statistics, e.g. shear layer growth, the back-flow area and vortex region. GPC is benchmarked against the best periodic forcing. While open-loop control achieves separation reduction by locking-on the shedding mode, GPC gives rise to similar benefits by accelerating the shear layer growth. Moreover, GPC uses less actuation energy.
Optimal control of FES-assisted standing up in paraplegia using genetic algorithms.
Davoodi, R; Andrews, B J
1999-11-01
A practical system for Functional Electrical Stimulation (FES) assisted standing up in paraplegia should involve only a minimum of manual set up and tuning. An improved tuning method, using a genetic algorithm (GA) is proposed and demonstrated using computer simulation. Specifically, the GA adjusts the parameters of fuzzy logic (FL) and gain-scheduling proportional integral derivative (GS-PID) controllers that electrically stimulate the hip and knee musculature during the sit-stand maneuver. These new GA designed controllers were found to be effective in coordinating volitional and FES control according to formulated criteria. The latter was based on the deviations from a desired trajectory of the knee and hip joints and the magnitude of the voluntary upper body forces. The magnitude of the average arm forces were slightly higher when compared with the open-loop maximal stimulation of the hip and knee musculature; however, the terminal knee velocities were significantly reduced to less than 10 degrees /s. For practical implementation, the number of trials required to optimize the FL and GS-PID controllers can be reduced by a proposed pre-training procedure using a computer model scaled to the individual. The GA designed controllers remain near optimal provided the model-subject mismatch is small.
Wind tunnel test of a smart rotor with individual blade twist control
NASA Astrophysics Data System (ADS)
Chen, Peter C.; Chopra, Inderjit
1997-06-01
The objective of this research is to develop a smart rotor with active control of blade twist using embedded piezoceramic elements as sensors and actuators to minimize rotor vibrations. A 1/8-th Froude-scale (dynamically-scaled) bearingless helicopter rotor model was built with banks of torsional actuators capable of manipulating blade twist at frequencies from 5 to 100 Hz. To assess the effectiveness of the torsional actuators and vibration suppression capabilities, systematic wind tunnel testing was conducted in the Glenn L. Martin Wind Tunnel. Using accelerometers embedded in the blade tip, the oscillatory blade twist response was measured. The changes in rotor vibratory loads due to piezo- induced twist were determined using a rotating hub balance located at the rotor hub. Experimental test results show that tip twist amplitudes on the order of 0.5 deg are attainable by the current actuator configurations in forward flight. Although these amplitudes were less than the target value (1 - 2 deg for complete vibration suppression control), test results show that partial vibration reduction is possible. Using open-loop phase shift control of blade twist at the first four rotor harmonics, changes in rotor thrust of up to 9% of the steady-state values were measured, resulting in up to 3 and 8% reductions in rotor pitching and rolling moments, respectively. It is expected that the hub load control authority of the smart rotor can be improved in future models with refined actuator configurations and implementation of closed-loop feedback controls.
ORACLS: A system for linear-quadratic-Gaussian control law design
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1978-01-01
A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.
Real-time closed-loop control for micro mirrors with quasistatic comb drives
NASA Astrophysics Data System (ADS)
Schroedter, Richard; Sandner, Thilo; Janschek, Klaus; Roth, Matthias; Hruschka, Clemens
2016-03-01
This paper presents the application of a real-time closed-loop control for the quasistatic axis of electrostatic micro scanning mirrors. In comparison to resonantly driven mirrors, the quasistatic comb drive allows arbitrary motion profiles with frequencies up to its eigenfrequency. A current mirror setup at Fraunhofer IPMS is manufactured with a staggered vertical comb (SVC) drive and equipped with an integrated piezo-resistive deflection sensor, which can potentially be used as position feedback sensor. The control design is accomplished based on a nonlinear mechatronic system model and the preliminary parameter characterization. In previous papers [1, 2] we have shown that jerk-limited trajectories, calculated offline, provide a suitable method for parametric trajectory design, taking into account physical limitations given by the electrostatic comb and thus decreasing the dynamic requirements. The open-loop control shows in general unfavorable residual eigenfrequency oscillations leading to considerable tracking errors for desired triangle trajectories [3]. With real-time closed-loop control, implemented on a dSPACE system using an optical feedback, we can significantly reduce these errors and stabilize the mirror motion against external disturbances. In this paper we compare linear and different nonlinear closed-loop control strategies as well as two observer variants for state estimation. Finally, we evaluate the simulation and experimental results in terms of steady state accuracy and the concept feasibility for a low-cost realization.
Finite State Control of a Variable Impedance Hybrid Neuroprosthesis for Locomotion after Paralysis
Bulea, Thomas C.; Kobetic, R.; Audu, M.L.; Schnellenberger, J.; Triolo, R.J.
2013-01-01
We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation (FNS) alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%. PMID:23193320
MHD control experiments in the Extrap T2R Reversed Field Pinch
NASA Astrophysics Data System (ADS)
Marrelli, L.; Bolzonella, T.; Brunsell, P.; Cecconello, M.; Drake, J.; Franz, P.; Gregoratto, D.; Manduchi, G.; Martin, P.; Ortolani, S.; Paccagnella, R.; Piovesan, P.; Spizzo, G.; Yadikin, D.; Zanca, P.
2004-11-01
We report here on MHD active control experiments performed in the Extrap T2R device, which has been recently equipped with a set of 32 feedback controlled saddle coils couples. Experiments aiming at selectively exciting a resonant resistive instability in order to actively induce Quasi Single Helicity states will be presented. Open loop experiments have in fact shown that a spectrum with one dominant mode can be excited in a high aspect ratio device like T2R. In addition, evidences of controlled braking of tearing modes, which spontaneously rotate in T2R, have been gathered, allowing the determination of a threshold for mode wall locking. Different feedback control schemes have been implemented. In particular, mode suppression schemes proved successful in delaying resistive wall modes growth and in increasing the discharge duration: this suggests a hybrid mode control scenario, in which RWM are suppressed and QSH is induced. Radiation imaging and internal magnetic field reconstructions performed with the ORBIT code will be presented.
Integration of Online Parameter Identification and Neural Network for In-Flight Adaptive Control
NASA Technical Reports Server (NTRS)
Hageman, Jacob J.; Smith, Mark S.; Stachowiak, Susan
2003-01-01
An indirect adaptive system has been constructed for robust control of an aircraft with uncertain aerodynamic characteristics. This system consists of a multilayer perceptron pre-trained neural network, online stability and control derivative identification, a dynamic cell structure online learning neural network, and a model following control system based on the stochastic optimal feedforward and feedback technique. The pre-trained neural network and model following control system have been flight-tested, but the online parameter identification and online learning neural network are new additions used for in-flight adaptation of the control system model. A description of the modification and integration of these two stand-alone software packages into the complete system in preparation for initial flight tests is presented. Open-loop results using both simulation and flight data, as well as closed-loop performance of the complete system in a nonlinear, six-degree-of-freedom, flight validated simulation, are analyzed. Results show that this online learning system, in contrast to the nonlearning system, has the ability to adapt to changes in aerodynamic characteristics in a real-time, closed-loop, piloted simulation, resulting in improved flying qualities.
Design of Robust Adaptive Unbalance Response Controllers for Rotors with Magnetic Bearings
NASA Technical Reports Server (NTRS)
Knospe, Carl R.; Tamer, Samir M.; Fedigan, Stephen J.
1996-01-01
Experimental results have recently demonstrated that an adaptive open loop control strategy can be highly effective in the suppression of unbalance induced vibration on rotors supported in active magnetic bearings. This algorithm, however, relies upon a predetermined gain matrix. Typically, this matrix is determined by an optimal control formulation resulting in the choice of the pseudo-inverse of the nominal influence coefficient matrix as the gain matrix. This solution may result in problems with stability and performance robustness since the estimated influence coefficient matrix is not equal to the actual influence coefficient matrix. Recently, analysis tools have been developed to examine the robustness of this control algorithm with respect to structured uncertainty. Herein, these tools are extended to produce a design procedure for determining the adaptive law's gain matrix. The resulting control algorithm has a guaranteed convergence rate and steady state performance in spite of the uncertainty in the rotor system. Several examples are presented which demonstrate the effectiveness of this approach and its advantages over the standard optimal control formulation.
In Silico Magnetic Nanocontainers Navigation in Blood Vessels: A Feedback Control Approach.
Do, Ton Duc; Noh, Yeongil; Kim, Myeong Ok; Yoon, Jungwon
2016-06-01
Magnetic nanoparticles (MNPs) are recently used in a drug delivery system to pass the blood brain barrier. However, because the magnetic force acting on particles is proportional to their volumes, as the size of particles is small, the large magnetic field is required to produce enough magnetic force for overcoming the hydrodynamic drag force as well as other forces in blood vessels. Other difficulties for controlling MNPs are the complicated behavior of hydrodynamic drag force and uncertain factors in their dynamics. Therefore, open-loop control methods cannot guarantee guiding every MNP to the correct location. Considering these challenges, this paper introduces a feedback control approach for magnetic nanoparticles (MNPs) in blood vessels. To the best of our knowledge, this is the first time feedback controller that is designed for MNPs without aggregation. Simulation studies in MATLAB and real-time verifications on a physical model in COMSOL-MATLAB interface are performed to prove the feasibility of the proposed approach. It is shown that the proposed control scheme can accurately and effectively navigate the MNP to the correct path with feasible hardware supports.
A simple method of tuning parallel cascade controllers for unstable FOPTD systems.
Santosh, Simi; Chidambaram, M
2016-11-01
A simple method is proposed to design parallel cascade controllers for open loop unstable processes. A proportional (P)controller is considered for the secondary loop and a proportional integral (PI) controller is considered for the primary loop (P/PI control configuration). Coefficients of the corresponding powers of s (Laplace variable), in the numerator is matched with the coefficients of the corresponding powers of s in the denominator of a closed loop transfer function for a servo problem. Three simulation case studies are considered in this paper. The first case involves a stable secondary loop process and an unstable primary process, the second case involves both unstable primary and secondary processes and the third one, a simulation application to a nonlinear bioreactor model equations. For comparison purposes, P/PI controller design is also carried out by improved simultaneous relay autotuning method, synthesis method and minimizing ISE criterion method. It is found that the proposed method gives a better performance. Robust stability analysis using the complimentary sensitivity function is carried out. The present method is found to be more robust.
Control design for the SISO system with the unknown order and the unknown relative degree.
Zhao, Chunzhe; Li, Donghai
2014-07-01
For the uncertain system whose order, relative degree and parameters are unknown in the control design, new research is still in need on the parameter tuning and close-loop stability. During the last 10 years, much progress is made in the application and theory research of the active disturbance rejection control (ADRC) for the uncertain system. In this study, the necessary and sufficient conditions are established for building the ADRC for the minimum-phase system and the open-loop stable system when the plant parameters, orders and relative degrees are unknown, the corresponding ideal dynamics are analyzed, and the theoretical results are verified by the simulations. Considering the wide application and the long history of the PID/PI controller, a method is given to design ADRC quickly based on the existing (generalized or conventional) PID/PI controller. A plenty of simulations are made to illustrate this PID/PI-based design method and the corresponding close-loop performances. The simulation examples include the minimum/nonminimum-phase plants, the stable/integrating plants, the high/low-order plant, and the plants with time delays. Such plants are from a wider scope than the theoretical result, and representative of many kinds of the industrial processes. That leads to a new way to simplify the ADRC design via absorbing the engineering experience in designing the PID/PI controller.
NASA Technical Reports Server (NTRS)
Hoadley, Sherwood T.; Mcgraw, Sandra M.
1992-01-01
A real time multiple-function digital controller system was developed for the Active Flexible Wing (AFW) Program. The digital controller system (DCS) allowed simultaneous execution of two control laws: flutter suppression and either roll trim or a rolling maneuver load control. The DCS operated within, but independently of, a slower host operating system environment, at regulated speeds up to 200 Hz. It also coordinated the acquisition, storage, and transfer of data for near real time controller performance evaluation and both open- and closed-loop plant estimation. It synchronized the operation of four different processing units, allowing flexibility in the number, form, functionality, and order of control laws, and variability in the selection of the sensors and actuators employed. Most importantly, the DCS allowed for the successful demonstration of active flutter suppression to conditions approximately 26 percent (in dynamic pressure) above the open-loop boundary in cases when the model was fixed in roll and up to 23 percent when it was free to roll. Aggressive roll maneuvers with load control were achieved above the flutter boundary. The purpose here is to present the development, validation, and wind tunnel testing of this multiple-function digital controller system.
NASA Technical Reports Server (NTRS)
Balas, Mark J.
1989-01-01
Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.
Controlled locomotion of robots driven by a vibrating surface
NASA Astrophysics Data System (ADS)
Umbanhowar, Paul; Lynch, Kevin M.
Robots typically derive their powers of movement from onboard actuators and power sources, but other scenarios are possible where the external environment provides part or all of the necessary forcing and control. I will discuss details of a system where the ``robots'' are just planar solid objects and the requisite driving forces originate from frictional sliding-interactions with a periodically oscillated and nominally horizontal surface. For the robots to move, the temporal symmetry of the frictional forces must be broken, which is achieved here by modulating the normal force using vertical acceleration of the surface. Independent of the initial conditions and vibration waveform, a sliding locomotor reaches a unique velocity limit cycle at a given position. Its resulting motion can be described in terms of velocity fields which specify the robot's cycle-averaged velocity as a function of position. Velocity fields with non-zero spatial divergence can be generated by combining translational and rotational surface motions; this allows the simultaneous and open-loop collection, dispersal, and transport of multiple robots. Fields and field sequences can simultaneously move multiple robots between arbitrary positions and, potentially, along arbitrary trajectories. Supported by NSF CMMI #0700537.
Adaptive Control of Non-Minimum Phase Modal Systems Using Residual Mode Filters2. Parts 1 and 2
NASA Technical Reports Server (NTRS)
Balas, Mark J.; Frost, Susan
2011-01-01
Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. This paper will be divided into two parts. Here in Part I we will review the basic adaptive control approach and introduce the primary ideas. In Part II, we will present the RMF methodology and complete the proofs of all our results. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.
NASA Astrophysics Data System (ADS)
Na, Xiaoxiang; Cole, David J.
2013-02-01
This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy.
NASA Astrophysics Data System (ADS)
Gauthier, Philippe-Aubert; Berry, Alain; Woszczyk, Wieslaw
2005-09-01
Sound field reproduction finds applications in listening to prerecorded music or in synthesizing virtual acoustics. The objective is to recreate a sound field in a listening environment. Wave field synthesis (WFS) is a known open-loop technology which assumes that the reproduction environment is anechoic. Classical WFS, therefore, does not perform well in a real reproduction space such as room. Previous work has suggested that it is physically possible to reproduce a progressive wave field in-room situation using active control approaches. In this paper, a formulation of adaptive wave field synthesis (AWFS) introduces practical possibilities for an adaptive sound field reproduction combining WFS and active control (with WFS departure penalization) with a limited number of error sensors. AWFS includes WFS and closed-loop ``Ambisonics'' as limiting cases. This leads to the modification of the multichannel filtered-reference least-mean-square (FXLMS) and the filtered-error LMS (FELMS) adaptive algorithms for AWFS. Decentralization of AWFS for sound field reproduction is introduced on the basis of sources' and sensors' radiation modes. Such decoupling may lead to decentralized control of source strength distributions and may reduce computational burden of the FXLMS and the FELMS algorithms used for AWFS. [Work funded by NSERC, NATEQ, Université de Sherbrooke and VRQ.] Ultrasound/Bioresponse to
Simple robust autotuning rules for 2-DoF PI controllers.
Vilanova, R; Alfaro, V M; Arrieta, O
2012-01-01
This paper addresses the problem of providing simple tuning rules for a Two-Degree-of-Freedom (2-DoF) PI controller (PI(2)) with robustness considerations. The introduction of robustness as a matter of primary concern is by now well established among the control community. Among the different ways of introducing a robustness constraint into the design stage, the purpose of this paper is to use the maximum sensitivity value as the design parameter. In order to deal with the well known performance/robustness tradeoff, an analysis is conducted first that allows the determination of the lowest closed-loop time constant that guarantees a desired robustness. From that point, an analytical design is conducted for the assignment of the load-disturbance dynamics followed by the tuning of the set-point weight factor in order to match, as much as possible, the set-point-to-output dynamics according to a first-order-plus-dead-time dynamics. Simple tuning rules are generated by considering specific values for the maximum sensitivity value. These tuning rules, provide all the controller parameters parameterized in terms of the open-loop normalized dead-time allowing the user to select a high/medium/low robust closed-loop control system. The proposed autotuning expressions are therefore compared with other well known tuning rules also conceived by using the same robustness measure, showing that the proposed approach is able to guarantee the same robustness level and improve the system time performance.
Dynamics, stability, and control analyses of flapping wing micro-air vehicles
NASA Astrophysics Data System (ADS)
Orlowski, Christopher T.; Girard, Anouck R.
2012-05-01
The paper presents an overview of the various analyses of flight dynamics, stability, and control of flapping wing micro-air vehicles available in the literature. The potential benefits of flapping wing micro-air vehicles for civil, military, and search and rescue operations are numerous. The majority of the flight dynamics research involves the standard aircraft (6DOF) equations of motion, although a growth is evident in examining the multibody flight dynamics models of flapping wing micro-air vehicles. The stability of flapping wing micro-air vehicles is largely studied in the vicinity of hover and forward flight. The majority of stability studies focus on linear, time-invariant stability in the vicinity of reference flight conditions, such as hover or forward flight. The consistent result is that flapping wing micro-air vehicles are unstable in an open loop setting. The unstable result is based on linear and nonlinear stability analyses. Control has been demonstrated for hovering and forward flight through various methods, both linear and nonlinear in nature. The entirety of reported research into the stability and control of flapping wing micro-air vehicles has neglected the mass effects of the wings on the position and orientation of the central body. Successful control of a flapping wing micro-air vehicle, with the wings' mass effects included, is still an open research area.
Exploratory Studies in Generalized Predictive Control for Active Gust Load Alleviation
NASA Technical Reports Server (NTRS)
Kvaternik, Raymond G.; Eure, Kenneth W.; Juang, Jer-Nan
2006-01-01
The results of numerical simulations aimed at assessing the efficacy of Generalized Predictive Control (GPC) for active gust load alleviation using trailing- and leading-edge control surfaces are presented. The equations underlying the method are presented and discussed, including system identification, calculation of control law matrices, and calculation of commands applied to the control effectors. Both embedded and explicit feedforward paths for inclusion of disturbance effects are addressed. Results from two types of simulations are shown. The first used a 3-DOF math model of a mass-spring-dashpot system subject to user-defined external disturbances. The second used open-loop data from a wind-tunnel test in which a wing model was excited by sinusoidal vertical gusts; closed-loop behavior was simulated in post-test calculations. Results obtained from these simulations have been decidedly positive. In particular, results of closed-loop simulations for the wing model showed reductions in root moments by factors as high as 1000, depending on whether the excitation is from a constant- or variable-frequency gust and on the direction of the response.
Active Control of High Frequency Combustion Instability in Aircraft Gas-Turbine Engines
NASA Technical Reports Server (NTRS)
Corrigan, Bob (Technical Monitor); DeLaat, John C.; Chang, Clarence T.
2003-01-01
Active control of high-frequency (greater than 500 Hz) combustion instability has been demonstrated in the NASA single-nozzle combustor rig at United Technologies Research Center. The combustor rig emulates an actual engine instability and has many of the complexities of a real engine combustor (i.e. actual fuel nozzle and swirler, dilution cooling, etc.) In order to demonstrate control, a high-frequency fuel valve capable of modulating the fuel flow at up to 1kHz was developed. Characterization of the fuel delivery system was accomplished in a custom dynamic flow rig developed for that purpose. Two instability control methods, one model-based and one based on adaptive phase-shifting, were developed and evaluated against reduced order models and a Sectored-1-dimensional model of the combustor rig. Open-loop fuel modulation testing in the rig demonstrated sufficient fuel modulation authority to proceed with closed-loop testing. During closed-loop testing, both control methods were able to identify the instability from the background noise and were shown to reduce the pressure oscillations at the instability frequency by 30%. This is the first known successful demonstration of high-frequency combustion instability suppression in a realistic aero-engine environment. Future plans are to carry these technologies forward to demonstration on an advanced low-emission combustor.
Reduction of Helicopter BVI Noise, Vibration, and Power Consumption Through Individual Blade Control
NASA Technical Reports Server (NTRS)
Jacklin, Stephen A.; Blaas, Achim; Teves, Dietrich; Kube, Roland; Warmbrodt, William (Technical Monitor)
1994-01-01
A wind tunnel test was conducted with a full-scale BO 105 helicopter rotor to evaluate the potential of open-loop individual blade control (IBC) to improve rotor performance, to reduce blade vortex interaction (BVI) noise, and to alleviate helicopter vibrations. The wind tunnel test was an international collaborative effort between NASA/U.S. Army AFDD, ZF Luftfahrttechnik, Eurocopter Deutschland, and the German Aerospace Laboratory (DLR) and was conducted under the auspices of the U.S./German MOU on Rotorcraft Aeromechanics. In this test the normal blade pitch links of the rotor were replaced by servo-actuators so that the pitch of each blade could be controlled independently of the other blades. The specially designed servoactuators and IBC control system were designed and manufactured by ZF Luftfahrttechnik, GmbH. The wind tunnel test was conducted in the 40- by 80-Foot Wind Tunnel at the NASA Ames Research Center. An extensive amount of measurement information was acquired for each IBC data point. These data include rotor performance, static and dynamic hub forces and moments, rotor loads, control loads, inboard and outboard blade pitch motion, and BVI noise data. The data indicated very significant (80 percent) simultaneous reductions in both BVI noise and hub vibrations could be obtained using multi-harmonic input at the critical descent (terminal approach) condition. The data also showed that performance improvements of up to 7 percent could be obtained using 2P input at high-speed forward flight conditions.
The dynamics and control of large flexible space structures-V
NASA Technical Reports Server (NTRS)
Bainum, P. M.; Reddy, A. S. S. R.; Diarra, C. M.; Kumar, V. K.
1982-01-01
A general survey of the progress made in the areas of mathematical modelling of the system dynamics, structural analysis, development of control algorithms, and simulation of environmental disturbances is presented. The use of graph theory techniques is employed to examine the effects of inherent damping associated with LSST systems on the number and locations of the required control actuators. A mathematical model of the forces and moments induced on a flexible orbiting beam due to solar radiation pressure is developed and typical steady state open loop responses obtained for the case when rotations and vibrations are limited to occur within the orbit plane. A preliminary controls analysis based on a truncated (13 mode) finite element model of the 122m. Hoop/Column antenna indicates that a minimum of six appropriately placed actuators is required for controllability. An algorithm to evaluate the coefficients which describe coupling between the rigid rotational and flexible modes and also intramodal coupling was developed and numerical evaluation based on the finite element model of Hoop/Column system is currently in progress.
NASA Technical Reports Server (NTRS)
Rose, R. E.; Wynn, T. M.; Smith, G. A.; Merrill, G. L.
1972-01-01
A bidirectional jet flap device called the variable deflection thruster (VDT) has been investigated for possible application to helicopter rotors. This investigation included the development and testing of a fluidic lift control system for the VDT-blade model making use of the test result that VDT-blade lift can be sensed from the differential pressure at midchord. This study constitutes a long-range program to develop blown control techniques for stabilizing the higher harmonic modes of helicopter rotors. Wind tunnel tests were conducted using a three-sectioned, two-dimensional VDT-blade model having individually controlled VDT jet flaps in each section. Steady-state tests were conducted without the fluidic lift controller (open loop) for both full-span blowing and for the model center section blowing only. Steady-state tests were conducted with the center section blowing only using the fluidic lift controller (close-loop) to control the lift on the model center section. Dynamic tests were conducted using the complete model with the VDT jet in the model center section oscillating at various frequencies and also using the model center section alone on a single endplate to obtain finite-aspect-ratio effects. Fair agreement was obtained between theory and experimental results.
Bruns, Tim M; Wagenaar, Joost B; Bauman, Matthew J; Gaunt, Robert A; Weber, Douglas J
2013-01-01
Objective Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability. PMID:23503062
NASA Astrophysics Data System (ADS)
Bruns, Tim M.; Wagenaar, Joost B.; Bauman, Matthew J.; Gaunt, Robert A.; Weber, Douglas J.
2013-04-01
Objective. Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach. We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results. Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance. This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability.
Closed-loop control of zebrafish response using a bioinspired robotic-fish in a preference test.
Kopman, Vladislav; Laut, Jeffrey; Polverino, Giovanni; Porfiri, Maurizio
2013-01-06
In this paper, we study the response of zebrafish to a robotic-fish whose morphology and colour pattern are inspired by zebrafish. Experiments are conducted in a three-chambered instrumented water tank where a robotic-fish is juxtaposed with an empty compartment, and the preference of live subjects is scored as the mean time spent in the vicinity of the tank's two lateral sides. The tail-beating of the robotic-fish is controlled in real-time based on feedback from fish motion to explore a spectrum of closed-loop systems, including proportional and integral controllers. Closed-loop control systems are complemented by open-loop strategies, wherein the tail-beat of the robotic-fish is independent of the fish motion. The preference space and the locomotory patterns of fish for each experimental condition are analysed and compared to understand the influence of real-time closed-loop control on zebrafish response. The results of this study show that zebrafish respond differently to the pattern of tail-beating motion executed by the robotic-fish. Specifically, the preference and behaviour of zebrafish depend on whether the robotic-fish tail-beating frequency is controlled as a function of fish motion and how such closed-loop control is implemented.
NASA Astrophysics Data System (ADS)
Moreau, D.; Artaud, J. F.; Ferron, J. R.; Holcomb, C. T.; Humphreys, D. A.; Liu, F.; Luce, T. C.; Park, J. M.; Prater, R.; Turco, F.; Walker, M. L.
2015-06-01
This paper shows that semi-empirical data-driven models based on a two-time-scale approximation for the magnetic and kinetic control of advanced tokamak (AT) scenarios can be advantageously identified from simulated rather than real data, and used for control design. The method is applied to the combined control of the safety factor profile, q(x), and normalized pressure parameter, βN, using DIII-D parameters and actuators (on-axis co-current neutral beam injection (NBI) power, off-axis co-current NBI power, electron cyclotron current drive power, and ohmic coil). The approximate plasma response model was identified from simulated open-loop data obtained using a rapidly converging plasma transport code, METIS, which includes an MHD equilibrium and current diffusion solver, and combines plasma transport nonlinearity with 0D scaling laws and 1.5D ordinary differential equations. The paper discusses the results of closed-loop METIS simulations, using the near-optimal ARTAEMIS control algorithm (Moreau D et al 2013 Nucl. Fusion 53 063020) for steady state AT operation. With feedforward plus feedback control, the steady state target q-profile and βN are satisfactorily tracked with a time scale of about 10 s, despite large disturbances applied to the feedforward powers and plasma parameters. The robustness of the control algorithm with respect to disturbances of the H&CD actuators and of plasma parameters such as the H-factor, plasma density and effective charge, is also shown.
Semi-active control of helicopter vibration using controllable stiffness and damping devices
NASA Astrophysics Data System (ADS)
Anusonti-Inthra, Phuriwat
, represented by a lumped mass under harmonic force excitation, is supported by a spring and a parallel damper on the fuselage (assumed to have infinite mass). Properties of the spring or damper can then be controlled to reduce transmission of the force into the fuselage or the support structure. This semi-active isolation concept can produce additional 30% vibration reduction beyond the level achieved by a passive isolator. Different control schemes (i.e. open-loop, closed-loop, and closed-loop adaptive schemes) are developed and evaluated to control transmission of vibratory loads to the support structure (fuselage), and it is seen that a closed-loop adaptive controller is required to retain vibration reduction effectiveness when there is a change in operating condition. (Abstract shortened by UMI.)
Control of decoherence in open quantum systems using feedback
NASA Astrophysics Data System (ADS)
Ganesan, Narayan
Decoherence, which is caused due to the interaction of a quantum system with its environment plagues all quantum systems and leads to the loss of quantum properties that are vital for quantum computation and quantum information processing. In this work we propose a novel strategy using techniques from systems theory to completely eliminate decoherence and also provide conditions under which it can be done so. A novel construction employing an auxiliary system, the bait, which is instrumental to decoupling the system from the environment is presented. Almost all the earlier work on decoherence control employ density matrix and stochastic master equations to analyze the problem. Our approach to decoherence control involves the bilinear input affine model of quantum control system which lends itself to various techniques from classical control theory, but with non-trivial modifications to the quantum regime. The elegance of this approach yields interesting results on open loop decouplability and Decoherence Free Subspaces (DFS). Additionally, the feedback control of decoherence may be related to disturbance decoupling for classical input affine systems, which entails careful application of the methods by avoiding all the quantum mechanical pitfalls. The two concepts are contrasted and an improved theory of disturbance decoupling for general input affine systems is developed. In the process of calculating a suitable feedback the system has to be restructured due to its tensorial nature of interaction with the environment, which is unique to quantum systems. Finally the results are also shown to be superior to the ones obtained via master equations. In order to apply feedback a reliable information extraction scheme is presented that employs continuous indirect measurements with the help of a quantum probe. Finally, a methodology to synthesize feedback parameters itself is given, that technology permitting, could be implemented for practical 2-qubit systems to perform
OPTICON: Pro-Matlab software for large order controlled structure design
NASA Technical Reports Server (NTRS)
Peterson, Lee D.
1989-01-01
A software package for large order controlled structure design is described and demonstrated. The primary program, called OPTICAN, uses both Pro-Matlab M-file routines and selected compiled FORTRAN routines linked into the Pro-Matlab structure. The program accepts structural model information in the form of state-space matrices and performs three basic design functions on the model: (1) open loop analyses; (2) closed loop reduced order controller synthesis; and (3) closed loop stability and performance assessment. The current controller synthesis methods which were implemented in this software are based on the Generalized Linear Quadratic Gaussian theory of Bernstein. In particular, a reduced order Optimal Projection synthesis algorithm based on a homotopy solution method was successfully applied to an experimental truss structure using a 58-state dynamic model. These results are presented and discussed. Current plans to expand the practical size of the design model to several hundred states and the intention to interface Pro-Matlab to a supercomputing environment are discussed.
Numerical magnitude affects online execution, and not planning of visuomotor control.
Namdar, Gal; Ganel, Tzvi
2017-01-20
Recent literature has established a directional influence of irrelevant numerical magnitude on actions performed toward neutral objects. For example, fingers' aperture during grasping is larger when associated with large compared with small numerical digits. This interaction between symbolic magnitude and visuomotor control has been attributed to the planning stage of the action prior to motor execution. However, this assumption has not been directly tested. In two experiments, we tested whether the effects of numerical magnitude on grasping derive from action planning or from action execution. Participants were asked to grasp an object following a short visual (Experiment 1) or auditory (Experiment 2) presentation of small (1/2) or large (8/9) digits. Grasping was performed under either closed-loop (CL) or open-loop (OL) visuomotor control, for which online vision was prevented during action execution. Digit magnitude affected grip apertures in the CL condition, when online vision was allowed. However, magnitude had no effects on grip aperture in the OL condition. This pattern of results strongly suggests that the processing of numerical magnitude originates from interactions between numerical magnitude and real object size during online motor execution. Unlike previously assumed, the findings also suggest that the effect of magnitude on visuomotor control is not likely to be attributed to the motor planning stage prior to action initiation.
DSP-based control of a high frequency three cell flying capacitor inverter
NASA Astrophysics Data System (ADS)
Flores-Fuentes, A. A.; Rossano-Díaz, I. O.; Peña-Eguiluz, R.; López-Callejas, R.; Mercado-Cabrera, A.; de la Piedad-Beneitez, A.; Barocio, S. R.; Valencia, R.
2010-03-01
The design, instrumentation and early operation results of a digitally controlled voltage source inverter (VSI) are described. This inverter has been structured from a three cell flying capacitor inverter (TCFCI). Two different inverter control modes - open-loop and closed-loop - are applied by a digital system based on a Texas Instrument TMS320C6713 digital signal processor (DSP) board. The VSI is able to generate AC voltage signals up to 120 V amplitudes at a maximal 6 A current, from ∼9 kHz to ∼60 kHz in ∼900 Hz steps in both controls by varying the signal period through the square-wave command strategy. The multi-cell structure of the inverter provides an output frequency nearly three times that of the TCFCI semiconductor commutation. The power output of the TCFCI can drive a high frequency step-up transformer which, in turn, is associated with a cylindrical reactor where dielectric barrier discharges (DBD) are conducted.
Compliance and control characteristics of an additive manufactured-flexure stage
NASA Astrophysics Data System (ADS)
Lee, ChaBum; Tarbutton, Joshua A.
2015-04-01
This paper presents a compliance and positioning control characteristics of additive manufactured-nanopositioning system consisted of the flexure mechanism and voice coil motor (VCM). The double compound notch type flexure stage was designed to utilize the elastic deformation of two symmetrical four-bar mechanisms to provide a millimeter-level working range. Additive manufacturing (AM) process, stereolithography, was used to fabricate the flexure stage. The AM stage was inspected by using 3D X-ray computerized tomography scanner: air-voids and shape irregularity. The compliance, open-loop resonance peak, and damping ratio of the AM stage were measured 0.317 mm/N, 80 Hz, and 0.19, respectively. The AM stage was proportional-integral-derivative positioning feedback-controlled and the capacitive type sensor was used to measure the displacement. As a result, the AM flexure mechanism was successfully 25 nm positioning controlled within 500 μm range. The resonance peak was found approximately at 280 Hz in closed-loop. This research showed that the AM flexure mechanism and the VCM can provide millimeter range with high precision and can be a good alternative to an expensive metal-based flexure mechanism and piezoelectric transducer.
Simulink-Based Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV)
NASA Technical Reports Server (NTRS)
Christhilf, David m.; Bacon, Barton J.
2006-01-01
The Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV) is a Simulink-based approach to providing an engineering quality desktop simulation capability for finding trim solutions, extracting linear models for vehicle analysis and control law development, and generating open-loop and closed-loop time history responses for control system evaluation. It represents a useful level of maturity rather than a finished product. The layout is hierarchical and supports concurrent component development and validation, with support from the Concurrent Versions System (CVS) software management tool. Real Time Workshop (RTW) is used to generate pre-compiled code for substantial component modules, and templates permit switching seamlessly between original Simulink and code compiled for various platforms. Two previous limitations are addressed. Turn around time for incorporating tabular model components was improved through auto-generation of required Simulink diagrams based on data received in XML format. The layout was modified to exploit a Simulink "compile once, evaluate multiple times" capability for zero elapsed time for use in trimming and linearizing. Trim is achieved through a Graphical User Interface (GUI) with a narrow, script definable interface to the vehicle model which facilitates incorporating new models.
On the decentralized control of large-scale systems. Ph.D. Thesis
NASA Technical Reports Server (NTRS)
Chong, C.
1973-01-01
The decentralized control of stochastic large scale systems was considered. Particular emphasis was given to control strategies which utilize decentralized information and can be computed in a decentralized manner. The deterministic constrained optimization problem is generalized to the stochastic case when each decision variable depends on different information and the constraint is only required to be satisfied on the average. For problems with a particular structure, a hierarchical decomposition is obtained. For the stochastic control of dynamic systems with different information sets, a new kind of optimality is proposed which exploits the coupled nature of the dynamic system. The subsystems are assumed to be uncoupled and then certain constraints are required to be satisfied, either in a off-line or on-line fashion. For off-line coordination, a hierarchical approach of solving the problem is obtained. The lower level problems are all uncoupled. For on-line coordination, distinction is made between open loop feedback optimal coordination and closed loop optimal coordination.
NASA Technical Reports Server (NTRS)
1986-01-01
This report summarizes the Integrated Application of Active Controls (IAAC) Technology to an Advanced Subsonic Transport Project, established as one element of the NASA/Boeing Energy Efficient Transport Technology Program. The performance assessment showed that incorporating ACT into an airplane designed to fly approximately 200 passengers approximately 2,000 nmi could yield block fuel savings from 6 to 10 percent at the design range. The principal risks associated with incorporating these active control functions into a commercial airplane are those involved with the ACT system implementation. The Test and Evaluation phase of the IAAC Project focused on the design, fabrication, and test of a system that implemented pitch axis fly-by-wire, pitch axis augmentation, and wing load alleviation. The system was built to be flight worthy, and was planned to be experimentally flown on the 757. The system was installed in the Boeing Digital Avionics Flight Controls Laboratory (DAFCL), where open loop hardware and software tests, and a brief examination of a direct drive valve (DDV) actuation concept were accomplished. The IAAC Project has shown that ACT can be beneficially incorporated into a commercial transport airplane. Based on the results achieved during the testing phase, there appears to be no fundamental reason(s) that would preclude the commercial application of ACT, assuming an appropriate development effort is included.
Comparison of frequency-domain and time-domain rotorcraft vibration control methods
NASA Technical Reports Server (NTRS)
Gupta, N. K.
1984-01-01
Active control of rotor-induced vibration in rotorcraft has received significant attention recently. Two classes of techniques have been proposed. The more developed approach works with harmonic analysis of measured time histories and is called the frequency-domain approach. The more recent approach computes the control input directly using the measured time history data and is called the time-domain approach. The report summarizes the results of a theoretical investigation to compare the two approaches. Five specific areas were addressed: (1) techniques to derive models needed for control design (system identification methods), (2) robustness with respect to errors, (3) transient response, (4) susceptibility to noise, and (5) implementation difficulties. The system identification methods are more difficult for the time-domain models. The time-domain approach is more robust (e.g., has higher gain and phase margins) than the frequency-domain approach. It might thus be possible to avoid doing real-time system identification in the time-domain approach by storing models at a number of flight conditions. The most significant error source is the variation in open-loop vibrations caused by pilot inputs, maneuvers or gusts. The implementation requirements are similar except that the time-domain approach can be much simpler to implement if real-time system identification were not necessary.
Active control of vortex shedding: an explanation of the gain window.
Illingworth, Simon J; Naito, Hiroshi; Fukagata, Koji
2014-10-01
This paper explains the gain window phenomenon seen in early experimental and computational studies on active, closed-loop control of vortex shedding, whereby shedding is completely suppressed only if the feedback gain lies within some narrow window of stabilizing gains. Using two-dimensional direct numerical simulations and reduced-order modeling techniques, a low-order, linear model of the cylinder wake is formed at a Reynolds number of 60. This model is used to reproduce and to explain the gain window seen in previous studies. It is shown that the gain window is not caused by the destabilization of a higher mode but rather is determined entirely by the behavior of the open-loop unstable mode under the action of the closed-loop controller. It is demonstrated that the time taken for actuated fluid to convect to the sensor location plays an important part in explaining this gain window. A similar analysis at a higher Reynolds number of 80 reveals that the wake remains unstable for all choices of the feedback gain. The study illustrates the limitations of closed-loop suppression of vortex shedding when a very simple control strategy is used.
Compliance and control characteristics of an additive manufactured-flexure stage
Lee, ChaBum; Tarbutton, Joshua A.
2015-04-15
This paper presents a compliance and positioning control characteristics of additive manufactured-nanopositioning system consisted of the flexure mechanism and voice coil motor (VCM). The double compound notch type flexure stage was designed to utilize the elastic deformation of two symmetrical four-bar mechanisms to provide a millimeter-level working range. Additive manufacturing (AM) process, stereolithography, was used to fabricate the flexure stage. The AM stage was inspected by using 3D X-ray computerized tomography scanner: air-voids and shape irregularity. The compliance, open-loop resonance peak, and damping ratio of the AM stage were measured 0.317 mm/N, 80 Hz, and 0.19, respectively. The AM stage was proportional-integral-derivative positioning feedback-controlled and the capacitive type sensor was used to measure the displacement. As a result, the AM flexure mechanism was successfully 25 nm positioning controlled within 500 μm range. The resonance peak was found approximately at 280 Hz in closed-loop. This research showed that the AM flexure mechanism and the VCM can provide millimeter range with high precision and can be a good alternative to an expensive metal-based flexure mechanism and piezoelectric transducer.
Reduction of blade-vortex interaction noise using higher harmonic pitch control
NASA Technical Reports Server (NTRS)
Brooks, Thomas F.; Booth, Earl R., Jr.; Jolly, J. Ralph, Jr.; Yeager, William T., Jr.; Wilbur, Matthew L.
1989-01-01
An acoustics test using an aeroelastically scaled rotor was conducted to examine the effectiveness of higher harmonic blade pitch control for the reduction of impulsive blade-vortex interaction (BVI) noise. A four-bladed, 110 in. diameter, articulated rotor model was tested in a heavy gas (Freon-12) medium in Langley's Transonic Dynamics Tunnel. Noise and vibration measurements were made for a range of matched flight conditions, where prescribed (open-loop) higher harmonic pitch was superimposed on the normal (baseline) collective and cyclic trim pitch. For the inflow-microphone noise measurements, advantage was taken of the reverberance in the hard walled tunnel by using a sound power determination approach. Initial findings from on-line data processing for three of the test microphones are reported for a 4/rev (4P) collective pitch control for a range of input amplitudes and phases. By comparing these results to corresponding baseline (no control) conditions, significant noise reductions (4 to 5 dB) were found for low-speed descent conditions, where helicopter BVI noise is most intense. For other rotor flight conditions, the overall noise was found to increase. All cases show increased vibration levels.
Reduction of blade-vortex interaction noise through higher harmonic pitch control
NASA Technical Reports Server (NTRS)
Brooks, Thomas F.; Booth, Earl R., Jr.; Jolly, J. Ralph, Jr.; Yeager, William T., Jr.; Wilbur, Matthew L.
1990-01-01
An acoustics test using an aeroelastically scaled rotor was conducted to examine the effectiveness of higher harmonic blade pitch control for the reduction of impulsive blade-vortex interaction (BVI) noise. A four-bladed, 110 in. diameter, articulated rotor model was tested in a heavy gas (Freon-12) medium in Langley's Transonic Dynamics Tunnel. Noise and vibration measurements were made for a range of matched flight conditions, where prescribed (open-loop) higher harmonic pitch was superimposed on the normal (baseline) collective and cyclic trim pitch. For the inflow-microphone noise measurements, advantage was taken of the reverberance in the hard walled tunnel by using a sound power determination approach. Initial findings from on-line data processing for three of the test microphones are reported for a 4/rev (4P) collective pitch control for a range of input amplitudes and phases. By comparing these results to corresponding baseline (no control) conditions, significant noise reductions (4 to 5 dB) were found for low-speed descent conditions, where helicopter BVI noise is most intense. For other rotor flight conditions, the overall noise was found to increase. All cases show increased vibration levels.
Gong, Jian; Kim, Chang-Jin C J
2008-06-01
Electrowetting-on-dielectric (EWOD) actuation enables digital (or droplet) microfluidics where small packets of liquids are manipulated on a two-dimensional surface. Due to its mechanical simplicity and low energy consumption, EWOD holds particular promise for portable systems. To improve volume precision of the droplets, which is desired for quantitative applications such as biochemical assays, existing practices would require near-perfect device fabrication and operation conditions unless the droplets are generated under feedback control by an extra pump setup off of the chip. In this paper, we develop an all-electronic (i.e., no ancillary pumping) real-time feedback control of on-chip droplet generation. A fast voltage modulation, capacitance sensing, and discrete-time PID feedback controller are integrated on the operating electronic board. A significant improvement is obtained in the droplet volume uniformity, compared with an open loop control as well as the previous feedback control employing an external pump. Furthermore, this new capability empowers users to prescribe the droplet volume even below the previously considered minimum, allowing, for example, 1 : x (x < 1) mixing, in comparison to the previously considered n : m mixing (i.e., n and m unit droplets).
Gong, Jian; Kim, Chang-Jin “CJ”
2009-01-01
Electrowetting-on-dielectric (EWOD) actuation enables digital (or droplet) microfluidics where small packets of liquids are manipulated on a two-dimensional surface. Due to its mechanical simplicity and low energy consumption, EWOD holds particular promise for portable systems. To improve volume precision of the droplets, which is desired for quantitative applications such as biochemical assays, existing practices would require near-perfect device fabricaion and operation conditions unless the droplets are generated under feedback control by an extra pump setup off of the chip. In this paper, we develop an all-electronic (i.e., no ancillary pumping) real-time feedback control of on-chip droplet generation. A fast voltage modulation, capacitance sensing, and discrete-time PID feedback controller are integrated on the operating electronic board. A significant improvement is obtained in the droplet volume uniformity, compared with an open loop control as well as the previous feedback control employing an external pump. Furthermore, this new capability empowers users to prescribe the droplet volume even below the previously considered minimum, allowing, for example, 1:x (x < 1) mixing, in comparison to the previously considered n:m mixing (i.e., n and m unit droplets). PMID:18497909
Adsorption Processes in Spacecraft Environmental Control and Life Support Systems
NASA Technical Reports Server (NTRS)
Bauman, Liese Dall; Finn, John E.; Kliss, Mark (Technical Monitor)
1998-01-01
The environmental control and life support system on a spacecraft must maintain a safe and comfortable environment in which the crew can live and work. The system's functions include supplying the crew with oxygen and water as well as removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used in the past, logistics and safety factors of current and future missions in space make near-complete recycling of the cabin's air and water imperative. The recycling process may include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and other processes. Several of these operations can be performed totally or in part by adsorption processes. These processes are frequently good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relatively high energy efficiency, design flexibility, technological maturity, and regenerability. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. This article focuses on three current spacecraft life support applications that often use adsorption technology: gas-phase trace contaminant control, carbon dioxide removal from cabin air, and potable water recovery from waste streams. In each application, adsorption technology has been selected for use on the International Space Station. The requirements, science, and hardware for each of these applications are discussed. Eventually, human space exploration may lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different requirements and resources available to them, such as gases present in the planetary atmosphere. Adsorption separation and
NASA Astrophysics Data System (ADS)
Zhou, Hua; Chen, Yinglong; Zhang, Zengmeng; Yang, Huayong
2012-05-01
Water-assisted injection molding (WAIM), a newly developed fluid-assisted injection molding technology has drawn more and more attentions for the energy saving, short cooling circle time and high quality of products. Existing research for the process of WAIM has shown that the pressure control of the injecting water is mostly important for the WAIM. However, the proportional pressure control for the WAIM system is quite complex due to the existence of nonlinearities in the water hydraulic system. In order to achieve better pressure control performance of the injecting water to meet the requirements of the WAIM, the proportional pressure control of the WAIM system is investigated both numerically and experimentally. A newly designed water hydraulic system for WAIM is first modeled in AMEsim environment, the load characteristics and the nonlinearities of water hydraulic system are both considered, then the main factors affecting the injecting pressure and load flow rate are extensively studied. Meanwhile, an open-loop model-based compensation control strategy is employed to regulate the water injection pressure and a feedback proportional integrator controller is further adopted to achieve better control performance. In order to verify the AMEsim simulation results WAIM experiment for particular Acrylonitrile Butadiene Styrene (ABS) parts is implemented and the measured experimental data including injecting pressure and flow rate results are compared with the simulation. The good coincidence between experiment and simulation shows that the AMEsim model is accurate, and the tracking performance of the load pressure indicates that the proposed control strategy is effective for the proportional pressure control of the nonlinear WAIM system. The proposed proportional pressure control strategy and the conclusions drawn from simulation and experiment contribute to the application of water hydraulic proportional control and WAIM technology.
Algorithm research and realization of the turning control system for heavy transportation vehicle
NASA Astrophysics Data System (ADS)
Mi, Hanguang; Yuan, Haiwen; Wang, Qiusheng; Zhao, Jingpo
2012-05-01
The dynamics of turning system which is a nonlinear system normally has great impact on the transportation speed of the vehicle having heavy load and large size. The dynamics of turning system depends on control algorithm and its implementation, but the existing control algorithms which having high dynamics in the application of heavy transportation vehicle are complex for realization and high hardware requirement. So, the nonlinear turning system is analyzed for improving its dynamics by researching new efficient control algorithm. The models of electromagnetic valve, hydraulic cylinder and turning mechanical part are built individually to get the open-loop model of the turning system following characteristics analyzed. According to the model, a new control algorithm for heavy transportation vehicle which combined PID with Bang-Bang control is presented. Then the close-loop model of turning system is obtained under Matlab/Simulink environment. By comparing the step response of different control algorithms in the same conditions, the new algorithm's validity is verified. On the basis of the analysis results, the algorithm is adopted to implement the turning control system by using CAN field bus and PLC controllers. Furthermore, the turning control system has been applied in one type of heavy transportation vehicle. It reduces the response time of turning system from seconds level to 250 ms, and the speed of heavy transportation vehicle increases from 5 km/h to 30 km/h. The application result shows that the algorithm and turning control system have met all the turning requirements. This new type of turning control algorithm proposed is simple in implementation for fast response of nonlinear and large-scale turning system of heavy transportation vehicle.
NASA Astrophysics Data System (ADS)
Gorzelic, P.; Schiff, S. J.; Sinha, A.
2013-04-01
Objective. To explore the use of classical feedback control methods to achieve an improved deep brain stimulation (DBS) algorithm for application to Parkinson's disease (PD). Approach. A computational model of PD dynamics was employed to develop model-based rational feedback controller design. The restoration of thalamocortical relay capabilities to patients suffering from PD is formulated as a feedback control problem with the DBS waveform serving as the control input. Two high-level control strategies are tested: one that is driven by an online estimate of thalamic reliability, and another that acts to eliminate substantial decreases in the inhibition from the globus pallidus interna (GPi) to the thalamus. Control laws inspired by traditional proportional-integral-derivative (PID) methodology are prescribed for each strategy and simulated on this computational model of the basal ganglia network. Main Results. For control based upon thalamic reliability, a strategy of frequency proportional control with proportional bias delivered the optimal control achieved for a given energy expenditure. In comparison, control based upon synaptic inhibitory output from the GPi performed very well in comparison with those of reliability-based control, with considerable further reduction in energy expenditure relative to that of open-loop DBS. The best controller performance was amplitude proportional with derivative control and integral bias, which is full PID control. We demonstrated how optimizing the three components of PID control is feasible in this setting, although the complexity of these optimization functions argues for adaptive methods in implementation. Significance. Our findings point to the potential value of model-based rational design of feedback controllers for Parkinson's disease.
Design, optimization, and control of tensegrity structures
NASA Astrophysics Data System (ADS)
Masic, Milenko
The contributions of this dissertation may be divided into four categories. The first category involves developing a systematic form-finding method for general and symmetric tensegrity structures. As an extension of the available results, different shape constraints are incorporated in the problem. Methods for treatment of these constraints are considered and proposed. A systematic formulation of the form-finding problem for symmetric tensegrity structures is introduced, and it uses the symmetry to reduce both the number of equations and the number of variables in the problem. The equilibrium analysis of modular tensegrities exploits their peculiar symmetry. The tensegrity similarity transformation completes the contributions in the area of enabling tools for tensegrity form-finding. The second group of contributions develops the methods for optimal mass-to-stiffness-ratio design of tensegrity structures. This technique represents the state-of-the-art for the static design of tensegrity structures. It is an extension of the results available for the topology optimization of truss structures. Besides guaranteeing that the final design satisfies the tensegrity paradigm, the problem constrains the structure from different modes of failure, which makes it very general. The open-loop control of the shape of modular tensegrities is the third contribution of the dissertation. This analytical result offers a closed form solution for the control of the reconfiguration of modular structures. Applications range from the deployment and stowing of large-scale space structures to the locomotion-inducing control for biologically inspired structures. The control algorithm is applicable regardless of the size of the structures, and it represents a very general result for a large class of tensegrities. Controlled deployments of large-scale tensegrity plates and tensegrity towers are shown as examples that demonstrate the full potential of this reconfiguration strategy. The last
NASA Astrophysics Data System (ADS)
Li, Ying-Min; Cha, Sung-Su; Jang, Ji-Ho; Kwon, Hyeok-Jung; Song, Young-Gi; Kim, Han-Sung; Seol, Kyung-Tae; Cho, Yong-Sub; Trinh, Tu-Anh
2013-11-01
The Proton Engineering Frontier Project developed a 13-MHz pulsed, RF cavity for heavy-ion implanter applications. Typically, slow changes in the room temperature and the mechanical vibrations of the vacuum device may be primary sources of disturbances, and the accelerating cavity of the implanter may not be able to operate at the resonance frequency owing to disturbance effects. We need a voltage-controlled oscillator phased-locked loop circuit to make a control system that could suppress the disturbance effects; thus, the accelerating gradient of the cavity always reached a peak level for a given input power and coupling. An analog-circuit-based RF-frequency-tracking system was developed. Next, we obtained the optimal control parameters for the key control components. Finally, we measured the system performance between an open loop and a closed loop. The key point of the system design is to control the driving frequency that is used to operate the RF source by keeping the phase at around 0 degrees with respect to the resonance peak of the cavity. The experimental results showed that the fluctuations of the control loop error signal were suppressed by about a factor of 10. The presented feedback loop is implemented as a standard proportional controller. The loop p-gain is 120 k.
Morgans, Aimee S.
2016-01-01
Combustion instabilities arise owing to a two-way coupling between acoustic waves and unsteady heat release. Oscillation amplitudes successively grow, until nonlinear effects cause saturation into limit cycle oscillations. Feedback control, in which an actuator modifies some combustor input in response to a sensor measurement, can suppress combustion instabilities. Linear feedback controllers are typically designed, using linear combustor models. However, when activated from within limit cycle, the linear model is invalid, and such controllers are not guaranteed to stabilize. This work develops a feedback control strategy guaranteed to stabilize from within limit cycle oscillations. A low-order model of a simple combustor, exhibiting the essential features of more complex systems, is presented. Linear plane acoustic wave modelling is combined with a weakly nonlinear describing function for the flame. The latter is determined numerically using a level set approach. Its implication is that the open-loop transfer function (OLTF) needed for controller design varies with oscillation level. The difference between the mean and the rest of the OLTFs is characterized using the ν-gap metric, providing the minimum required ‘robustness margin’ for an H∞ loop-shaping controller. Such controllers are designed and achieve stability both for linear fluctuations and from within limit cycle oscillations. PMID:27493558
Metabolic Control With the Bio-inspired Artificial Pancreas in Adults With Type 1 Diabetes
Reddy, Monika; Herrero, Pau; Sharkawy, Mohamed El; Pesl, Peter; Jugnee, Narvada; Pavitt, Darrell; Godsland, Ian F.; Alberti, George; Toumazou, Christofer; Johnston, Desmond G.; Georgiou, Pantelis; Oliver, Nick S.
2015-01-01
Background: The Bio-inspired Artificial Pancreas (BiAP) is a closed-loop insulin delivery system based on a mathematical model of beta-cell physiology and implemented in a microchip within a low-powered handheld device. We aimed to evaluate the safety and efficacy of the BiAP over 24 hours, followed by a substudy assessing the safety of the algorithm without and with partial meal announcement. Changes in lactate and 3-hydroxybutyrate concentrations were investigated for the first time during closed-loop. Methods: This is a prospective randomized controlled open-label crossover study. Participants were randomly assigned to attend either a 24-hour closed-loop visit connected to the BiAP system or a 24-hour open-loop visit (standard insulin pump therapy). The primary outcome was percentage time spent in target range (3.9-10 mmol/l) measured by sensor glucose. Secondary outcomes included percentage time in hypoglycemia (<3.9 mmol/l) and hyperglycemia (>10 mmol/l). Participants were invited to attend for an additional visit to assess the BiAP without and with partial meal announcements. Results: A total of 12 adults with type 1 diabetes completed the study (58% female, mean [SD] age 45 [10] years, BMI 25 [4] kg/m2, duration of diabetes 22 [12] years and HbA1c 7.4 [0.7]% [58 (8) mmol/mol]). The median (IQR) percentage time in target did not differ between closed-loop and open-loop (71% vs 66.9%, P = .9). Closed-loop reduced time spent in hypoglycemia from 17.9% to 3.0% (P < .01), but increased time was spent in hyperglycemia (10% vs 28.9%, P = .01). The percentage time in target was higher when all meals were announced during closed-loop compared to no or partial meal announcement (65.7% [53.6-80.5] vs 45.5% [38.2-68.3], P = .12). Conclusions: The BiAP is safe and achieved equivalent time in target as measured by sensor glucose, with improvement in hypoglycemia, when compared to standard pump therapy. PMID:26581881
Morales, Ricardo; Badesa, Francisco J.; García-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose María
2012-01-01
This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much as possible in order to install it inside a Schuko socket. Moreover, the electronic Schuko socket (electronic microdevice + Schuko socket) has the feature of communicating with a central unit and with other microdevices over the existing powerlines. Using the existing power lines, the proposed device can be installed in new buildings or in old ones. The main use of this device is to monitor, control and manage electric loads to save energy and prevent accidents produced by different kind of devices (e.g., iron) used in domestic tasks. The developed smart device is based on a single phase multifunction energy meter manufactured by Analog Devices (ADE7753) to measure the consumption of electrical energy and then to transmit it using a serial interface. To provide current measurement information to the ADE7753, an ultra flat SMD open loop integrated circuit current transducer based on the Hall effect principle manufactured by Lem (FHS-40P/SP600) has been used. Moreover, each smart device has a PL-3120 smart transceiver manufactured by LonWorks to execute the user's program, to communicate with the ADE7753 via serial interface and to transmit information to the central unit via powerline communication. Experimental results show the exactitude of the measurements made using the developed smart device. PMID:22778581
Maere, Thomas; Verrecht, Bart; Moerenhout, Stefanie; Judd, Simon; Nopens, Ingmar
2011-03-01
A benchmark simulation model for membrane bioreactors (BSM-MBR) was developed to evaluate operational and control strategies in terms of effluent quality and operational costs. The configuration of the existing BSM1 for conventional wastewater treatment plants was adapted using reactor volumes, pumped sludge flows and membrane filtration for the water-sludge separation. The BSM1 performance criteria were extended for an MBR taking into account additional pumping requirements for permeate production and aeration requirements for membrane fouling prevention. To incorporate the effects of elevated sludge concentrations on aeration efficiency and costs a dedicated aeration model was adopted. Steady-state and dynamic simulations revealed BSM-MBR, as expected, to out-perform BSM1 for effluent quality, mainly due to complete retention of solids and improved ammonium removal from extensive aeration combined with higher biomass levels. However, this was at the expense of significantly higher operational costs. A comparison with three large-scale MBRs showed BSM-MBR energy costs to be realistic. The membrane aeration costs for the open loop simulations were rather high, attributed to non-optimization of BSM-MBR. As proof of concept two closed loop simulations were run to demonstrate the usefulness of BSM-MBR for identifying control strategies to lower operational costs without compromising effluent quality.
A motor-driven ventricular assist device controlled with an optical encoder system.
Nakamura, T; Hayashi, K; Yamane, H
1993-01-01
An electric motor-driven ventricular assist device has been developed for long-term use inside the body. The system is composed of a pusher-plate-type blood pump and an actuator consisting of an electrical motor and a ball screw. Cyclic change of the direction of motor rotation makes a back-and-forth axial movement of the ball screw shaft. The shaft, which is detached from the pump diaphragm, pushes the diaphragm via a pusher plate to eject blood during systole; blood is sucked by the diaphragm resilience during diastole. Using the output signals from a newly designed, incremental-type, miniature optical rotary encoder mounted inside the actuator, the input voltage of the motor is optimally controlled referring to the phase difference between the current position of the moving rotor and the electrical reference signal of the rotation generated by a microprocessor-based controller. In vitro performance tests indicated that the system fulfills required specifications. The maximum efficiency was 11%, which was about twice as high as that obtained with the previous open-loop prototype system. In the air, the surface temperature of the actuator elevated to 20 degrees C above the room temperature. An acute in vivo test showed its feasibility as a left ventricular assist device. Analysis of the energy loss in each component of the system indicated that redesign and precise assembly of the mechanical parts could increase the system efficiency.
Control theory-based regulation of hippocampal CA1 nonlinear dynamics.
Hsiao, Min-Chi; Song, Dong; Berger, Theodore W
2008-01-01
We are developing a biomimetic electronic neural prosthesis to replace regions of the hippocampal brain area that have been damaged by disease or insult. Our previous study has shown that the VLSI implementation of a CA3 nonlinear dynamic model can functionally replace the CA3 subregion of the hippocampal slice. As a result, the propagation of temporal patterns of activity from DG-->VLSI-->CA1 reproduces the activity observed experimentally in the biological DG-->CA3-->CA1 circuit. In this project, we incorporate an open-loop controller to optimize the output (CA1) response. Specifically, we seek to optimize the stimulation signal to CA1 using a predictive dentate gyrus (DG)-CA1 nonlinear model (i.e., DG-CA1 trajectory model) and a CA1 input-output model (i.e., CA1 plant model), such that the ultimate CA1 response (i.e., desired output) can be first predicted by the DG-CA1 trajectory model and then transformed to the desired stimulation through the inversed CA1 plant model. Lastly, the desired CA1 output is evoked by the estimated optimal stimulation. This study will be the first stage of formulating an integrated modeling-control strategy for the hippocampal neural prosthetic system.
Stability and control of a supersonic transport airplane during landing approach
NASA Technical Reports Server (NTRS)
Oehman, W. I.
1983-01-01
Modal control theory was applied to determine feedback gains that provide desirable stability characteristics and satisfactory transient response to aileron deflection input. However, the peak value of lateral acceleration at the pilot's station does not satisfy a proposed criterion during a rolling maneuver. Optimal regulator theory does not provide a significant reduction of the peak lateral acceleration. The weighting matrices in the performance index were given an extreme variation, but the effect on lateral acceleration remained insignificant. Open loop control provided the desired bank angle (30 deg) with the desired roll rate (10 deg/sec), and provided a satisfactory level of lateral acceleration. However, a large adverse sideslip angle was required. In addition, the yawing velocity was negative for about two seconds and lateral acceleration changed sign during the maneuver. The problem persists and perhaps relaxed criteria must be proposed. The criteria could allow any combination of a lower average rolling velocity, a larger adverse sideslip angle excursion, and a higher peak lateral acceleration at the pilot's station.
NASA Astrophysics Data System (ADS)
Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.
2011-10-01
Locomotion in mammals is controlled by a spinal central pattern generator (CPG) coupled to a biomechanical limb system, with afferent feedback to the spinal circuits and CPG closing the control loop. We have considered a simplified model of this system, in which the CPG establishes a rhythm when a supra-spinal activating drive is present and afferent signals from a single-joint limb feed back to affect CPG operation. Using dynamical system methods, in a series of two papers we analyze the mechanisms by which this model produces oscillations, and the characteristics of these oscillations, in the closed- and open-loop regimes. In this first paper, we analyze the phase transition mechanisms operating within the CPG and use the results to explain how afferent feedback allows oscillations to occur at a wider range of drive values to the CPG than the range over which oscillations occur in the CPG without feedback, and then to comment on why stronger feedback leads to faster oscillations. Linking these transitions to structures in the phase plane associated with the limb segment clarifies how increased weights of afferent feedback to the CPG can restore locomotion after removal of supra-spinal drive to simulate spinal cord injury.
A smooth multimode waveform command shaping control with selectable command length
NASA Astrophysics Data System (ADS)
Masoud, Ziyad N.; Alhazza, Khaled A.
2017-06-01
Input and command shapers are great open-loop control strategies in reducing residual vibration in rest-to-rest maneuvers. The generation of such command usually contains multiple impulses and jerks. Multiple impulses usually degrade the performance due to actuation delay and mismatch timing while jerks reduce the life expectancy of actuator and increase maintenance. In this work, a smooth single multimode command shaping control is proposed and tested numerically and experimentally to eliminate residual vibration in rest-to-rest maneuvers. The advantages of the technique are summarized as, the proposed technique has an adjustable maneuvering time, can eliminate all vibration modes regardless of the number, the required parameters are found analytically which eliminate the need of complex or lengthy calculation needed for most multimode shaper, smooth command profile to eliminate jerks i.e. inrush current, and it is continuous with single actuation to eliminate inaccurate timing and delay. The technique performance is validated numerically and experimentally. Numerical simulations prove that the shaped commands are capable of completely eliminating residual vibrations of multimode systems. Furthermore, the proposed technique is utilized to reduce the sensitivity of the shaper to modeling errors. Unlike other shaper the proposed reduction in the sensitivity can be implemented for all modes with no added complexity.
NASA Technical Reports Server (NTRS)
Hablani, H. B.
1985-01-01
Real disturbances and real sensors have finite bandwidths. The first objective of this paper is to incorporate this finiteness in the 'open-loop modal cost analysis' as applied to a flexible spacecraft. Analysis based on residue calculus shows that among other factors, significance of a mode depends on the power spectral density of disturbances and the response spectral density of sensors at the modal frequency. The second objective of this article is to compare performances of an optimal and a suboptimal output feedback controller, the latter based on 'minimum error excitation' of Kosut. Both the performances are found to be nearly the same, leading us to favor the latter technique because it entails only linear computations. Our final objective is to detect an instability due to truncated modes by representing them as a multiplicative and an additive perturbation in a nominal transfer function. In an example problem it is found that this procedure leads to a narrow range of permissible controller gains, and that it labels a wrong mode as a cause of instability. A free beam is used to illustrate the analysis in this work.
Morales, Ricardo; Badesa, Francisco J; García-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose María
2012-01-01
This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much as possible in order to install it inside a Schuko socket. Moreover, the electronic Schuko socket (electronic microdevice + Schuko socket) has the feature of communicating with a central unit and with other microdevices over the existing powerlines. Using the existing power lines, the proposed device can be installed in new buildings or in old ones. The main use of this device is to monitor, control and manage electric loads to save energy and prevent accidents produced by different kind of devices (e.g., iron) used in domestic tasks. The developed smart device is based on a single phase multifunction energy meter manufactured by Analog Devices (ADE7753) to measure the consumption of electrical energy and then to transmit it using a serial interface. To provide current measurement information to the ADE7753, an ultra flat SMD open loop integrated circuit current transducer based on the Hall effect principle manufactured by Lem (FHS-40P/SP600) has been used. Moreover, each smart device has a PL-3120 smart transceiver manufactured by LonWorks to execute the user's program, to communicate with the ADE7753 via serial interface and to transmit information to the central unit via powerline communication. Experimental results show the exactitude of the measurements made using the developed smart device.
NASA Technical Reports Server (NTRS)
Vanaken, Johannes M.
1991-01-01
The feasibility of using active controls to delay the onset of whirl-flutter on a joined-wing tilt rotor aircraft was investigated. The CAMRAD/JA code was used to obtain a set of linear differential equations which describe the motion of the joined-wing tilt-rotor aircraft. The hub motions due to wing/body motion is a standard input to CAMRAD/JA and were obtained from a structural dynamics model of a representative joined-wing tilt-rotor aircraft. The CAMRAD/JA output, consisting of the open-loop system matrices, and the airframe free vibration motion were input to a separate program which performed the closed-loop, active control calculations. An eigenvalue analysis was performed to determine the flutter stability of both open- and closed-loop systems. Sensor models, based upon the feedback of pure state variables and based upon hub-mounted sensors, providing physically measurable accelerations, were evaluated. It was shown that the onset of tilt-rotor whirl-flutter could be delayed from 240 to above 270 knots by feeding back vertical and span-wise accelerations, measured at the rotor hub, to the longitudinal cyclic pitch. Time response calculations at a 270-knot cruise condition showed an active cyclic pitch control level of 0.009 deg, which equates to a very acceptable 9 pound active-control force applied at the rotor hub.
NASA Astrophysics Data System (ADS)
Nanda, S.; Sengupta, M.; Sengupta, A.
2014-01-01
Using a suitable combination of some of the basic converter topologies representing the Buck, the Boost and the Buck-Boost converters, one may obtain some other useful dc-to-dc converters. A typical example is the cascade connection of the Boost and the Buck converter which produces the well known Cuk converter. This work emphasises on the modelling, real-time simulations, fabrication and closed-loop control of a Cuk converter. For the modelling and real time simulation, FPGA platform has been used. Small signal modelling and conventional control aspects (compensator) of Cuk converter are discussed. A 200W, 10kHz Cuk converter is designed, fabricated and tested in the laboratory. The converter model is of fourth order. The transfer function being a non-minimum phase one with two right-half plane zeroes, a limited work has been done on this. For such systems, conventional control methods are demonstrated to fail. Pole placement technique, which is envisaged to be a suitable control technique for a higher order non-minimum phase system has been adopted. Excellent correlation between off-line and real-time simulation results establishes the accuracy of the work. Agreement between open-loop results obtained from the experimental set-up under steady state vis-a-vis those obtained from simulation is also a major highlight of the paper.
NASA Astrophysics Data System (ADS)
Mirzaei, Mahmood; Tibaldi, Carlo; Hansen, Morten H.
2016-09-01
PI/PID controllers are the most common wind turbine controllers. Normally a first tuning is obtained using methods such as pole-placement or Ziegler-Nichols and then extensive aeroelastic simulations are used to obtain the best tuning in terms of regulation of the outputs and reduction of the loads. In the traditional tuning approaches, the properties of different open loop and closed loop transfer functions of the system are not normally considered. In this paper, an assessment of the pole-placement tuning method is presented based on robustness measures. Then a constrained optimization setup is suggested to automatically tune the wind turbine controller subject to robustness constraints. The properties of the system such as the maximum sensitivity and complementary sensitivity functions (Ms and Mt ), along with some of the responses of the system, are used to investigate the controller performance and formulate the optimization problem. The cost function is the integral absolute error (IAE) of the rotational speed from a disturbance modeled as a step in wind speed. Linearized model of the DTU 10-MW reference wind turbine is obtained using HAWCStab2. Thereafter, the model is reduced with model order reduction. The trade-off curves are given to assess the tunings of the poles- placement method and a constrained optimization problem is solved to find the best tuning.
Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System
NASA Technical Reports Server (NTRS)
Williams, Peggy S.
2004-01-01
The NASA F-15 Intelligent Flight Control System project team has developed a series of flight control concepts designed to demonstrate the benefits of a neural network-based adaptive controller. The objective of the team is to develop and flight-test control systems that use neural network technology to optimize the performance of the aircraft under nominal conditions as well as stabilize the aircraft under failure conditions. Failure conditions include locked or failed control surfaces as well as unforeseen damage that might occur to the aircraft in flight. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to the baseline aerodynamic derivatives in flight. This set of open-loop flight tests was performed in preparation for a future phase of flights in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed a pitch frequency sweep and an automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. An examination of flight data shows that addition of the flight-identified aerodynamic derivative increments into the simulation improved the pitch handling qualities of the aircraft.
Adsorption processes in spacecraft environmental control and life support systems
NASA Technical Reports Server (NTRS)
DallBauman, L. A.; Finn, J. E.
1999-01-01
The environmental control and life support system on a spacecraft maintains a safe and comfortable environment in which the crew can live and work by supplying oxygen and water and by removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used successfully in the past for short-duration missions, the economics of current and future long-duration missions in space will make nearly complete recycling of air and water imperative. A variety of operations will be necessary to achieve the goal of nearly complete recycling. These include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and others. Several of these can be performed totally or in part by adsorption processes. These processes are good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relative high energy efficiency, design flexibility, technological maturity, and regenerative nature. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. Among the life support applications that can be achieved through use of adsorption technology are removal of trace contaminants and carbon dioxide from cabin air and recovery of potable water from waste streams. In each of these cases adsorption technology has been selected for use onboard the International Space Station. The requirements, science, and hardware for these applications are discussed. Human space exploration may eventually lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different resources available to them, such as gases present in the planetary atmosphere. Separation and purification processes based on
Adsorption processes in spacecraft environmental control and life support systems.
DallBauman, L A; Finn, J E
1999-01-01
The environmental control and life support system on a spacecraft maintains a safe and comfortable environment in which the crew can live and work by supplying oxygen and water and by removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used successfully in the past for short-duration missions, the economics of current and future long-duration missions in space will make nearly complete recycling of air and water imperative. A variety of operations will be necessary to achieve the goal of nearly complete recycling. These include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and others. Several of these can be performed totally or in part by adsorption processes. These processes are good candidates to perform separations and purifications in space due to their gravity independence, high reliability, relative high energy efficiency, design flexibility, technological maturity, and regenerative nature. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. Among the life support applications that can be achieved through use of adsorption technology are removal of trace contaminants and carbon dioxide from cabin air and recovery of potable water from waste streams. In each of these cases adsorption technology has been selected for use onboard the International Space Station. The requirements, science, and hardware for these applications are discussed. Human space exploration may eventually lead to construction of planetary habitats. These habitats may provide additional opportunities for use of adsorption processes, such as control of greenhouse gas composition, and may have different resources available to them, such as gases present in the planetary atmosphere. Separation and purification processes based on
NASA Astrophysics Data System (ADS)
Felici, Federico; Sauter, Olivier; Goodman, Timothy; Paley, James
2010-11-01
Control of the plasma current density and safety factor profile evolution in a tokamak is crucial for accessing advanced regimes. The evolution of the current density profile is steered by a combination of inductive voltage and auxiliary current drive actuators, and is nonlinearly coupled to the evolution of the (ion/electron) temperature and density profiles. Using appropriate simplifications, a model has been obtained which can be simulated on time scales faster than the tokamak discharge itself, but still retains the essential physics describing the nonlinear coupling between the profiles. This model, dubbed RAPTOR (Rapid Plasma Transport simulatOR) has been implemented in the new real-time control system on the TCV tokamak at CRPP, and can be used for real-time reconstruction and model-based control of the q profile. It can also be used off-line to determine optimal actuator trajectories in open loop simulations to steer the plasma profiles towards their required steady-state shapes while remaining within a constrained set of allowable profiles.
NASA Astrophysics Data System (ADS)
Farina, Francesco; Bojoi, Radu; Tenconi, Alberto; Profumo, Francesco
A Direct Torque Control (DTC) strategy for dual-three phase induction motor drives is discussed in this paper. The induction machine has two sets of stator three-phase windings spatially shifted by 30 electrical degrees with isolated neutral points. The proposed control strategy is based on Proportional Integral (PI) regulators implemented in the stator flux synchronous reference frame. To improve the flux estimation, an Adaptive Stator Flux Observer (ASFO) has been used. Doing so, besides a better flux estimation in contrast to open-loop flux estimators, it is possible to use the observed currents to compensate the inverter non-linear behavior (such as dead-time effects), improving the drive performance at low speed. This is particularly important for low voltage/high current applications, as the drive considered in this paper. The advantages of the discussed control strategy are: constant inverter switching frequency, good transient and steady-state performance and less distorted machine currents in contrast to DTC schemes with variable switching frequency. Experimental results are presented for a 10kW dual three-phase induction motor drive prototype.
NASA Astrophysics Data System (ADS)
Qi, Hai-bing; Wei, Shu-hua; Wei, Chen
2013-03-01
A high-precision wavelength controller is presented in this paper. It is necessary to find out the difference between the central wavelength of a tunable fiber Fabry-Perot (FFP) filter and that of the input laser, while the wavelength controller operates at the states of wavelength-scanning and wavelength-locking modes. Firstly, a dynamic simulation model of tunable FFP filter is established, and the dynamic characteristic of tunable FFP filter modulated by an alternating current (AC) signal is simulated. Then the measuring time at wavelength-scanning mode compared with the theory time is discussed, and this time difference shows the difference between the central wavelength of a tunable FFP filter and that of the input laser. At last, the effects on wavelength-locking precision of time delays, including the time delay of opened-loop circuit, the time constant of the closed-loop circuit and the intrinsic hysteresis of piezoelectric (PZT) element, are analyzed. A wavelength controller of tunable FFP filter is designed and prepared. The experimental results at wavelength-locking mode show that a high locking precision is obtained.
Albertsen, Inke Marie; Temprado, Jean Jacques; Berton, Eric; Heuer, Herbert
2014-08-01
Standing postural control is known to be altered during aging, but age-related changes in sitting postural control have scarcely been explored. The present experiment studied the roles of visual and haptic information in a sitting task in both young and older adults. Fifteen young and fifteen older adults participated in this study. Six experimental conditions were performed with eyes open and eyes closed: quiet sitting, rocker-board sitting, and 4 conditions of haptic supplementation, provided by a hand-held pen, during rocker-board sitting. Classical variables were extracted from the center of pressure (COP) and pen trajectories, and the stabilogram diffusion analysis was performed on the COP data. Three-way ANOVAs (Group×Vision×Condition) were carried out. Postural instability was strongly attenuated by haptic supplementation in both age groups. Furthermore, instability due to visual deprivation was compensated by haptic supplementation. Long- and short-term diffusion coefficients were smaller in conditions of haptic supplementation. The present study confirmed the effect of haptic supplementation on both open-loop and closed-loop mechanisms of postural control and extended it to unstable sitting in young and older adults despite the complex biomechanical systems involved in sitting postural tasks.
NASA Astrophysics Data System (ADS)
Barton, J. E.; Schuster, E.; Walker, M. L.; Humphreys, D. A.
2013-10-01
Simulation and experimental results in DIII-D are presented to demonstrate the potential of integrated physics-model-based q profile and internal energy control algorithms for systematic attainment and repeatability of discharges. Both simulations and experiments demonstrate improved profile control accuracy relative to open loop (feedforward) control alone, by using a combined feedforward + feedback scheme. The scheme is constructed by embedding a nonlinear, first-principles-driven, physics-based model of the plasma dynamics into the control design process. Firstly, a tool to numerically design actuator trajectories that steer the plasma to a desired operating state (feedforward) is developed with the objective of supporting the traditional trial-and-error experimental process of advanced scenario planning. Secondly, an algorithm to track a desired q profile and internal energy evolution (feedback) is developed with the goal of adding robustness to the control scheme. Supported by the US Department of Energy under DE-FG02-09ER55064, DE-FG02-92ER54141 and DE-FC02-04ER54698.
Investigation of Combustion Control in a Dump Combustor Using the Feedback Free Fluidic Oscillator
NASA Technical Reports Server (NTRS)
Meier, Eric J.; Casiano, Matthew J.; Anderson, William E.; Heister, Stephen D.
2015-01-01
A feedback free fluidic oscillator was designed and integrated into a single element rocket combustor with the goal of suppressing longitudinal combustion instabilities. The fluidic oscillator uses internal fluid dynamics to create an unsteady outlet jet at a specific frequency. An array of nine fluidic oscillators was tested to mimic modulated secondary oxidizer injection into the combustor dump plane. The combustor has a coaxial injector that uses gaseous methane and decomposed hydrogen peroxide with an overall O/F ratio of 11.7. A sonic choke plate on an actuator arm allows for continuous adjustment of the oxidizer post acoustics enabling the study of a variety of instability magnitudes. The fluidic oscillator unsteady outlet jet performance is compared against equivalent steady jet injection and a baseline design with no secondary oxidizer injection. At the most unstable operating conditions, the unsteady outlet jet saw a 67% reduction in the instability pressure oscillation magnitude when compared to the steady jet and baseline data. Additionally, computational fluid dynamics analysis of the combustor gives insight into the flow field interaction of the fluidic oscillators. The results indicate that open loop high frequency propellant modulation for combustion control can be achieved through fluidic devices that require no moving parts or electrical power to operate.
Ship Compliance in Emission Control Areas: Technology Costs and Policy Instruments.
Carr, Edward W; Corbett, James J
2015-08-18
This paper explores whether a Panama Canal Authority pollution tax could be an effective economic instrument to achieve Emission Control Area (ECA)-like reductions in emissions from ships transiting the Panama Canal. This tariff-based policy action, whereby vessels in compliance with International Maritime Organisation (IMO) ECA standards pay a lower transit tariff than noncompliant vessels, could be a feasible alternative to petitioning for a Panamanian ECA through the IMO. A $4.06/container fuel tax could incentivize ECA-compliant emissions reductions for nearly two-thirds of Panama Canal container vessels, mainly through fuel switching; if the vessel(s) also operate in IMO-defined ECAs, exhaust-gas treatment technologies may be cost-effective. The RATES model presented here compares current abatement technologies based on hours of operation within an ECA, computing costs for a container vessel to comply with ECA standards in addition to computing the Canal tax that would reduce emissions in Panama. Retrofitted open-loop scrubbers are cost-effective only for vessels operating within an ECA for more than 4500 h annually. Fuel switching is the least-cost option to industry for vessels that operate mostly outside of ECA regions, whereas vessels operating entirely within an ECA region could reduce compliance cost with exhaust-gas treatment technology (scrubbers).
Integrated active and passive control design methodology for the LaRC CSI evolutionary model
NASA Technical Reports Server (NTRS)
Voth, Christopher T.; Richards, Kenneth E., Jr.; Schmitz, Eric; Gehling, Russel N.; Morgenthaler, Daniel R.
1994-01-01
A general design methodology to integrate active control with passive damping was demonstrated on the NASA LaRC CSI Evolutionary Model (CEM), a ground testbed for future large, flexible spacecraft. Vibration suppression controllers designed for Line-of Sight (LOS) minimization were successfully implemented on the CEM. A frequency-shaped H2 methodology was developed, allowing the designer to specify the roll-off of the MIMO compensator. A closed loop bandwidth of 4 Hz, including the six rigid body modes and the first three dominant elastic modes of the CEM was achieved. Good agreement was demonstrated between experimental data and analytical predictions for the closed loop frequency response and random tests. Using the Modal Strain Energy (MSE) method, a passive damping treatment consisting of 60 viscoelastically damped struts was designed, fabricated and implemented on the CEM. Damping levels for the targeted modes were more than an order of magnitude larger than for the undamped structure. Using measured loss and stiffness data for the individual damped struts, analytical predictions of the damping levels were very close to the experimental values in the (1-10) Hz frequency range where the open loop model matched the experimental data. An integrated active/passive controller was successfully implemented on the CEM and was evaluated against an active-only controller. A two-fold increase in the effective control bandwidth and further reductions of 30 percent to 50 percent in the LOS RMS outputs were achieved compared to an active-only controller. Superior performance was also obtained compared to a High-Authority/Low-Authority (HAC/LAC) controller.
Robust gain-scheduling energy-to-peak control of vehicle lateral dynamics stabilisation
NASA Astrophysics Data System (ADS)
Zhang, Hui; Zhang, Xinjie; Wang, Junmin
2014-03-01
In this paper, we investigate the vehicle lateral dynamics stabilisation problem to enhance vehicle handling by considering time-varying longitudinal velocity. The longitudinal velocity is described by a polytope with finite vertices and a novel technique is proposed to reduce the number of vertices. Since the tyre dynamics is nonlinear, the cornering stiffness is represented via the norm-bounded uncertainty. Concerning the time-varying velocity and the nonlinear tyre model, a linear parameter-varying vehicle model is obtained. As the velocity and the states are measurable, a gain-scheduling state-feedback controller is introduced. In the lateral control, the sideslip angle is required to be as small as possible and the yaw rate is constrained to a certain level. Thus, the control objective is to minimise the sideslip angle while the yaw rate is under a prescribed level or constrain both the sideslip angle and the yaw rate to prescribed levels. To consider the transient response of the closed-loop system, the ?-stability is also employed in the energy-to-peak control. The optimal controller can be obtained by solving a set of linear matrix inequalities. A nonlinear vehicle model is utilised to illustrate the design procedure and the effectiveness of the proposed design method. Finally, simulations and comparisons are carried out to show the significant advantage of the designed controller. Compared to the open-loop system, the closed-loop system with the designed controller can achieve much smaller sideslip angle and the yaw rate is closer to the desired yaw rate from a reference model. Therefore, the vehicle safety and the handling are both improved in our simulation cases.
Effect of contrast on the active control of a moving line
NASA Technical Reports Server (NTRS)
Li, Li; Sweet, Barbara T.; Stone, Leland S.
2005-01-01
In many passive visual tasks, human perceptual judgments are contrast dependent. To explore whether these contrast dependencies of visual perception also affect closed-loop manual control tasks, we examined visuomotor performance as humans actively controlled a moving luminance-defined line over a range of contrasts. Four subjects were asked to use a joystick to keep a horizontal line centered on a display as its vertical position was perturbed by a sum of sinusoids under two control regimes. The total root mean square (RMS) position error decreased quasi-linearly with increasing log contrast across the tested range (mean slope across subjects: -8.0 and -7.7% per log2 contrast, for the two control regimes, respectively). Frequency-response (Bode) plots showed a systematic increase in open-loop gain (mean slope: 1.44 and 1.30 dB per log2 contrast, respectively), and decrease in phase lag with increasing contrast, which can be accounted for by a decrease in response time delay (mean slope: 32 and 40 ms per log2 contrast, respectively). The performance data are well fit by a Crossover Model proposed by McRuer and Krendel, which allowed us to identify both visual position and motion cues driving performance. This analysis revealed that the position and motion cues used to support manual control under both control regimes appear equally sensitive to changes in stimulus contrast. In conclusion, our data show that active control of a moving visual stimulus is as dependent on contrast as passive perception and suggest that this effect is attributed to a shared contrast sensitivity early in the visual pathway, before any specialization for motion processing.
Heterogeneous Nuclear Reactor Models for Optimal Xenon Control.
NASA Astrophysics Data System (ADS)
Gondal, Ishtiaq Ahmad
Nuclear reactors are generally modeled as homogeneous mixtures of fuel, control, and other materials while in reality they are heterogeneous-homogeneous configurations comprised of fuel and control rods along with other materials. Similarly, for space-time studies of a nuclear reactor, homogeneous, usually one-group diffusion theory, models are used, and the system equations are solved by either nodal or modal expansion approximations. Study of xenon-induced problems has also been carried out using similar models and with the help of dynamic programming or classical calculus of variations or the minimum principle. In this study a thermal nuclear reactor is modeled as a two-dimensional lattice of fuel and control rods placed in an infinite-moderator in plane geometry. The two-group diffusion theory approximation is used for neutron transport. Space -time neutron balance equations are written for two groups and reduced to one space-time algebraic equation by using the two-dimensional Fourier transform. This equation is written at all fuel and control rod locations. Iodine -xenon and promethium-samarium dynamic equations are also written at fuel rod locations only. These equations are then linearized about an equilibrium point which is determined from the steady-state form of the original nonlinear system equations. After studying poisonless criticality, with and without control, and the stability of the open-loop system and after checking its controllability, a performance criterion is defined for the xenon-induced spatial flux oscillation problem in the form of a functional to be minimized. Linear -quadratic optimal control theory is then applied to solve the problem. To perform a variety of different additional useful studies, this formulation has potential for various extensions and variations; for example, different geometry of the problem, with possible extension to three dimensions, heterogeneous -homogeneous formulation to include, for example, homogeneously
NASA Technical Reports Server (NTRS)
Christhilf, David M.; Moulin, Boris; Ritz, Erich; Chen, P. C.; Roughen, Kevin M.; Perry, Boyd
2012-01-01
The Semi-Span Supersonic Transport (S4T) is an aeroelastically scaled wind-tunnel model built to test active controls concepts for large flexible supersonic aircraft in the transonic flight regime. It is one of several models constructed in the 1990's as part of the High Speed Research (HSR) Program. Control laws were developed for the S4T by M4 Engineering, Inc. and by Zona Technologies, Inc. under NASA Research Announcement (NRA) contracts. The model was tested in the NASA-Langley Transonic Dynamics Tunnel (TDT) four times from 2007 to 2010. The first two tests were primarily for plant identification. The third entry was used for testing control laws for Ride Quality Enhancement, Gust Load Alleviation, and Flutter Suppression. Whereas the third entry only tested FS subcritically, the fourth test demonstrated closed-loop operation above the open-loop flutter boundary. The results of the third entry are reported elsewhere. This paper reports on flutter suppression results from the fourth wind-tunnel test. Flutter suppression is seen as a way to provide stability margins while flying at transonic flight conditions without penalizing the primary supersonic cruise design condition. An account is given for how Controller Performance Evaluation (CPE) singular value plots were interpreted with regard to progressing open- or closed-loop to higher dynamic pressures during testing.
NASA Technical Reports Server (NTRS)
Silva, Walter A.; Shimko, Anthony; Kvaternik, Raymond G.; Eure, Kenneth W.; Scott, Robert C.
2006-01-01
Aeroservoelastic (ASE) analytical models of a SensorCraft wind-tunnel model are generated using measured data. The data was acquired during the ASE wind-tunnel test of the HiLDA (High Lift-to-Drag Active) Wing model, tested in the NASA Langley Transonic Dynamics Tunnel (TDT) in late 2004. Two time-domain system identification techniques are applied to the development of the ASE analytical models: impulse response (IR) method and the Generalized Predictive Control (GPC) method. Using measured control surface inputs (frequency sweeps) and associated sensor responses, the IR method is used to extract corresponding input/output impulse response pairs. These impulse responses are then transformed into state-space models for use in ASE analyses. Similarly, the GPC method transforms measured random control surface inputs and associated sensor responses into an AutoRegressive with eXogenous input (ARX) model. The ARX model is then used to develop the gust load alleviation (GLA) control law. For the IR method, comparison of measured with simulated responses are presented to investigate the accuracy of the ASE analytical models developed. For the GPC method, comparison of simulated open-loop and closed-loop (GLA) time histories are presented.
NASA Technical Reports Server (NTRS)
Silva, Walter A.; Vartio, Eric; Shimko, Anthony; Kvaternik, Raymond G.; Eure, Kenneth W.; Scott,Robert C.
2007-01-01
Aeroservoelastic (ASE) analytical models of a SensorCraft wind-tunnel model are generated using measured data. The data was acquired during the ASE wind-tunnel test of the HiLDA (High Lift-to-Drag Active) Wing model, tested in the NASA Langley Transonic Dynamics Tunnel (TDT) in late 2004. Two time-domain system identification techniques are applied to the development of the ASE analytical models: impulse response (IR) method and the Generalized Predictive Control (GPC) method. Using measured control surface inputs (frequency sweeps) and associated sensor responses, the IR method is used to extract corresponding input/output impulse response pairs. These impulse responses are then transformed into state-space models for use in ASE analyses. Similarly, the GPC method transforms measured random control surface inputs and associated sensor responses into an AutoRegressive with eXogenous input (ARX) model. The ARX model is then used to develop the gust load alleviation (GLA) control law. For the IR method, comparison of measured with simulated responses are presented to investigate the accuracy of the ASE analytical models developed. For the GPC method, comparison of simulated open-loop and closed-loop (GLA) time histories are presented.
Thermodynamic Vent System for an On-Orbit Cryogenic Reaction Control Engine
NASA Technical Reports Server (NTRS)
Hurlbert, Eric A.; Romig, Kris A.; Jimenez, Rafael; Flores, Sam
2012-01-01
A report discusses a cryogenic reaction control system (RCS) that integrates a Joule-Thompson (JT) device (expansion valve) and thermodynamic vent system (TVS) with a cryogenic distribution system to allow fine control of the propellant quality (subcooled liquid) during operation of the device. It enables zero-venting when coupled with an RCS engine. The proper attachment locations and sizing of the orifice are required with the propellant distribution line to facilitate line conditioning. During operations, system instrumentation was strategically installed along the distribution/TVS line assembly, and temperature control bands were identified. A sub-scale run tank, full-scale distribution line, open-loop TVS, and a combination of procured and custom-fabricated cryogenic components were used in the cryogenic RCS build-up. Simulated on-orbit activation and thruster firing profiles were performed to quantify system heat gain and evaluate the TVS s capability to maintain the required propellant conditions at the inlet to the engine valves. Test data determined that a small control valve, such as a piezoelectric, is optimal to provide continuously the required thermal control. The data obtained from testing has also assisted with the development of fluid and thermal models of an RCS to refine integrated cryogenic propulsion system designs. This system allows a liquid oxygenbased main propulsion and reaction control system for a spacecraft, which improves performance, safety, and cost over conventional hypergolic systems due to higher performance, use of nontoxic propellants, potential for integration with life support and power subsystems, and compatibility with in-situ produced propellants.
An adaptive identification and control scheme for large space structures
NASA Technical Reports Server (NTRS)
Carroll, J. V.
1988-01-01
A unified identification and control scheme capable of achieving space at form performance objectives under nominal or failure conditions is described. Preliminary results are also presented, showing that the methodology offers much promise for effective robust control of large space structures. The control method is a multivariable, adaptive, output predictive controller called Model Predictive Control (MPC). MPC uses a state space model and input reference trajectories of set or tracking points to adaptively generate optimum commands. For a fixed model, MPC processes commands with great efficiency, and is also highly robust. A key feature of MPC is its ability to control either nonminimum phase or open loop unstable systems. As an output controller, MPC does not explicitly require full state feedback, as do most multivariable (e.g., Linear Quadratic) methods. Its features are very useful in LSS operations, as they allow non-collocated actuators and sensors. The identification scheme is based on canonical variate analysis (CVA) of input and output data. The CVA technique is particularly suited for the measurement and identification of structural dynamic processes - that is, unsteady transient or dynamically interacting processes such as between aerodynamics and structural deformation - from short, noisy data. CVA is structured so that the identification can be done in real or near real time, using computationally stable algorithms. Modeling LSS dynamics in 1-g laboratories has always been a major impediment not only to understanding their behavior in orbit, but also to controlling it. In cases where the theoretical model is not confirmed, current methods provide few clues concerning additional dynamical relationships that are not included in the theoretical models. CVA needs no a priori model data, or structure; all statistically significant dynamical states are determined using natural, entropy-based methods. Heretofore, a major limitation in applying adaptive
Active Control of Combustor Instability Shown to Help Lower Emissions
NASA Technical Reports Server (NTRS)
DeLaat, John C.; Chang, Clarence T.
2002-01-01
not be effective for control. Testing in the combustor rig showed that open-loop pulsing of the fuel was, in fact, able to effectively modulate the combustor pressure. To suppress the combustor pressure oscillations due to thermoacoustic instabilities, it is desirable to time the injection of the fuel so that it interferes with the instability. A closed-loop control scheme was developed that uses combustion pressure feedback and a phase-shifting controller to time the fuel-injection pulses. Some suppression of the pressure oscillations at the 280-Hz instability frequency was demonstrated (see the next figure). However, the overall peak-to- peak pressure oscillations in the combustor were only mildly reduced. Improvements to control hardware and control methods are being continued to gain improved closed-loop reduction of the pressure oscillations.pulse the fuel at
NASA Astrophysics Data System (ADS)
Jits, Roman Yuryevich
A robust blended-control guidance system for a crewed Mars aerocapture vehicle is developed. The key features of its guidance algorithm are the use of the both bank-angle and angle-of-attack modulation to control the aerobraking vehicle, and the use of multiple controls (sequenced pairs of bank-angles and angles-of-attack) within its numeric predictor-corrector targeting routine. The guidance algorithm macrologic is based on extensive open loop trajectory analyses, described in the present research, which led to the selection of a blended-control scheme. A heuristic approach to recover from situations where no converged guidance solution could be found by the numeric predictor-corrector is implemented in the guidance algorithm, and has been successfully demonstrated in a large number of test runs. In this research both the outer and inner loop of the guidance and control system employ the POST (Program to Optimize Simulated Trajectories) computer code as the basic simulation module. At each guidance update, the inner loop solves the rigorous three-dimensional equations of motion and computes the control (bank-angle and angle-of-attack) sequence that is required to meet the required atmospheric exit conditions. Throughout the aerocapture trajectory, the guidance algorithm modifies this control sequence computed by the inner loop, and generates commanded controls for the vehicle, which, when implemented by the outer loop, meet an imposed g-load constraint of 5 Earth g's and compensate for unexpected off-nominal conditions. This blended-control, predictor-corrector guidance algorithm has been successfully developed, implemented and tested and has been shown to be capable of meeting the prescribed g-load constraint and guiding the vehicle to the desired exit conditions for a range of off-nominal factors much wider than those which could be accommodated by prior algorithms and bank-angle-only guidance.
NASA Astrophysics Data System (ADS)
Viola, Lorenza; Tannor, David
2011-08-01
, quantum control of chemical reactions or high-resolution magnetic resonance spectroscopy); on the other hand, an unprecedented demand for close coupling between theory and experiment, with theoretical developments becoming more and more attuned to and driven by experimental advances as different quantum technologies continue to evolve at an impressive pace in the laboratory. Altogether, these two trends account for several of the recurrent themes in this volume, as well as in the current quantum control literature as a whole: namely, the quest for control strategies that can attain the highest degree of precision and robustness possible, while striving for efficiency and, ultimately, optimality in achieving the intended control task under realistic operational constraints. From a theory standpoint, this makes it imperative to take into account increasingly more realistic control settings; to assess the quantitative impact of limited control resources and/or system knowledge; and to provide a rigorous and general foundation for existing experimental approaches in order to further enhance applicability and performance. From an experimental standpoint, renewed emphasis is in turn placed on validating theoretical predictions and benchmarking performance, so that the limiting constraints can be singled out for additional theoretical analysis and guidance. This ongoing cross-talk is clearly reflected in this collection, which brings together theoreticians and experimentalists, with a significant fraction of the papers reporting on combined quantum control theory-experiment efforts. While a precise categorization would neither be possible nor desirable, contributions to this volume have been loosely grouped into five broad sections. This grouping has been made in the hope that connections between different problems and/or technical approaches will become more transparent, facilitating the transfer of concepts and methods. The special issue opens with a section devoted to open-loop
INCA- INTERACTIVE CONTROLS ANALYSIS
NASA Technical Reports Server (NTRS)
Bauer, F. H.
1994-01-01
plane to W plane and back. These capabilities allow the INCA user to perform block diagram algebraic manipulations quickly for functions in the S, Z, and W domains. Additionally, a versatile digital control capability has been included in INCA. Special plane transformations allow the user to easily convert functions from one domain to another. Other digital control capabilities include: 1) totally independent open loop frequency response analyses on a continuous plant, discrete control system with a delay, 2) advanced Z-transform capability for systems with delays, and 3) multirate sampling analyses. The current version of INCA includes Dynamic Functions (which change when a parameter changes), standard filter generation, PD and PID controller generation, incorporation of the QZ-algorithm (function addition, inverse Laplace), and describing functions that allow the user to calculate the gain and phase characteristics of a nonlinear device. The INCA graphic modes provide the user with a convenient means to document and study frequency response, time response, and root locus analyses. General graphics features include: 1) zooming and dezooming, 2) plot documentation, 3) a table of analytic computation results, 4) multiple curves on the same plot, and 5) displaying frequency and gain information for a specific point on a curve. Additional capabilities in the frequency response mode include: 1) a full complement of graphical methods Bode magnitude, Bode phase, Bode combined magnitude and phase, Bode strip plots, root contour plots, Nyquist, Nichols, and Popov plots; 2) user selected plot scaling; and 3) gain and phase margin calculation and display. In the time response mode, additional capabilities include: 1) support for inverse Laplace and inverse Z transforms, 2) support for various input functions, 3) closed loop response evaluation, 4) loop gain sensitivity analyses, 5) intersample time response for discrete systems using the advanced Z transform, and 6) closed loop