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A cubically convergent iterative method for computing the generalized inverse of an arbitrary M X N matrix A is developed and a FORTRAN subroutine by which the method was implemented for real matrices on a CDC 3200 is given, with a numerical example to illustrate accuracy. Application to a redundant single-gimbal CMG assembly steering law is discussed.
Measurements of driver describing functions in steering control tasks have been made using a driving simulator. The task was to regulate against a random crosswind gust input on a straight roadway, in order to stay in the center of the lane. Although driving is a multiloop task in general, the forcing function and situation were configured so that an inner-loop visual cue feedback of heading angle of heading rate would dominate, and the driver's response was interpreted to be primarily single-loop. The driver describing functions were measured using an STI describing function analyzer. Three replications for each subject showed good repeatability within a subject. There were some intersubject differences as expected, but the crossover frequencies, effective time delays, and stability margins were generally consistent with the prior data and models for similar manual control tasks. The results further confirm the feasibility of measuring human operator response properties in nominal control tasks with full (real-world) visual field displays.
The mathematical modeling and programming of a complete simulation program for a space station computer-steered high gain antenna are described. The program provides for reading input data cards, numerically integrating up to 50 first order differential equations, and monitoring up to 48 variables on printed output and on plots. The program system consists of a high gain antenna, an antenna gimbal control system, an on board computer, and the environment in which all are to operate.
Description of the design and performance of a dual-band electronically despun, high-gain, earth-coverage satellite antenna for use on the Synchronous Meteorological Satellite. The SMS satellite is designed to take high-resolution cloud cover pictures from synchronous altitude. Several unique design features are described, including a scheme for steering energy around the array in a continuous fashion to avoid 'phase jumps' caused by sudden energy switches.
A supertanker is considered as a nonlinear system which responds very slowly to changes in the rudder position. Moreover this type of ship is often unstable in loaded condition. In order to model the helmsman's behavior, a number of tests were performed using a ship maneuvering simulator. The trained subjects had to steer a 200,000 tons tanker along a varying course. The results obtained from these trials are presented.
A regulation task which subjected the automobile to a random gust disturbance which is countered by driver control action is used to study the effects of various automobile steering characteristics on the driver/vehicle system. The experiments used a variable stability automobile specially configured to permit insertion of the simulated gust disturbance and the measurement of the driver/vehicle system characteristics. Driver/vehicle system dynamics were measured and interpreted as an effective open loop system describing function. Objective measures of system bandwidth, stability, and time delays were deduced and compared. These objective measures were supplemented by driver ratings. A tentative optimum range of vehicle dynamics for the directional regulation task was established.
A series of discrete maneuver tasks were used to evaluate the effects of steering gain and directional mode dynamic parameters on driver/vehicle responses. The importance and ranking of these parameters were evaluated through changes in subjective driver ratings and performance measures obtained from transient maneuvers such as a double lane change, an emergency lane change, and an unexpected obstacle. The unexpected obstacle maneuver proved more sensitive to individual driver differences than to vehicle differences. Results were based on full scale tests with an experienced test driver evaluating many different dynamic configurations plus seventeen ordinary drivers evaluating six key configurations.
Design concepts of an array for the formation of multiple, simultaneous, independently pointed beams for satellite communication links were investigated through tradeoffs of various approaches which were conceived as possible solutions to the problem. After the preferred approach was selected, a more detailed design was configured and is presented as a candidate system that should be given further consideration for development leading to a preliminary design. This array uses an attenuator and a phase shifter with every element. The aperture excitation necessary to form the four beams is calculated and then placed across the array using these devices. Pattern analysis was performed for two beam and four beam cases with numerous patterns being presented. Parameter evaluation shown includes pointing accuracy and beam shape, sidelobe characteristics, gain control, and beam normalization. It was demonstrated that a 4 bit phase shifter and a 6 bit, 30 dB attenuator were sufficient to achieve adequate pattern performances. The phase amplitude steered multibeam array offers the flexibility of 1 to 4 beams with an increase in gain of 6 dB if only one beam is selected.
A simulator comparison of the velocity vector control wheel steering (VCWS) system and a decoupled longitudinal control system is presented. The piloting task was to use the electronic attitude direction indicator (EADI) to capture and maintain a 3 degree glide slope in the presence of wind shear and to complete the landing using the perspective runway included on the EADI. The decoupled control system used constant prefilter and feedback gains to provide steady state decoupling of flight path angle, pitch angle, and forward velocity. The decoupled control system improved the pilots' ability to control airspeed and flight path angle during the final stages of an approach made in severe wind shear. The system also improved their ability to complete safe landings. The pilots preferred the decoupled control system in severe winds and, on a pilot rating scale, rated the approach and landing task with the decoupled control system as much as 3 to 4 increments better than use of the VCWS system.
Flight control system design for lateral control wheel steering is discussed. Two alternate designs are presented. The first design is a roll-rate command, bank-angle hold system with a wings-level track-hold submode. The second is a curved-track-hold system. Design details and real-time flight simulator results are included.
A theoretical analysis of the problem of beam steering is presented. The required modifications of the dielectric constant profile of the laser structure were derived. A practical method for implementing the needed modifications is outlined.
The operational principles and a possible device configuration of one dimensional monolithically integrated semiconductor laser arrays are described. The output beam of the array can be electronically steered. Devices of the type can find applications in optical communication systems where the power levels needed are above the capability of a single laser device.
An experimental study of ion beamlet steering in which the direction of beamlets emitted from a two grid aperture system is controlled by relative translation of the grids, is described. The results can be used to design electrostatic accelerating devices for which the direction and focus of emerging beamlets are important. Deflection and divergence angle data are presented for two grid systems as a function of the relative lateral displacement of the holes in these grids. At large displacements, accelerator grid impingements become excessive and this determines the maximum allowable displacement and as a result the useful range of beamlet deflection. Beamlet deflection is shown to vary linearly with grid offset angle over this range. The divergence of the beamlets is found to be unaffected by deflection over the useful range of beamlet deflection. The grids of a typical dished grid ion thruster are examined to determine the effects of thermally induced grid distortion and prescribed offsets of grid hole centerlines on the characteristics of the emerging beamlets. The results are used to determine the region on the grid surface where ion beamlet deflections exceed the useful range. Over this region high accelerator grid impingement currents and rapid grid erosion are predicted.
Modification of monolithic semiconductor injection laser capable of one-dimensional electronic beam steering enables deflection of beam in second direction. Such laser chip provides beam pointing or raster scanning for applications in optical communications, data processing, image scanning, and optical ranging.
A low profile electronically steered phased array was successfully developed for the Mobile Satellite Experiment Program (MSAT-X). The newly invented cavity-backed printed crossed-slot was used as the radiating element. The choice of this element was based on its low elevation angle gain coverage and low profile. A nineteen-way radial type unequal power divider and eighteen three-bit diode phase shifters constitute the beamformer module which is used to scan the beams electronically. A complete hybrid mode pointing system was also developed. The major features of the antenna system are broad coverage, low profile, and fast acquisition and tracking performance, even under fading conditions. Excellent intersatellite isolation (better than 26 dB) was realized, which will provide good quality mobile satellite communication in the future.
The Jet Propulsion Laboratory has designed and developed a mechanically steered antenna for tracking satellites in a mobile environment. This antenna was used to track an L-band beacon on the MARISAT satellite. A description of the antenna and the results of the satellite experiment are given.
A 32 GHz six element linear transmitter array which employs MMIC phase shifters and power amplifiers is developed and its performance is evaluated. The MMIC phase shifters contains 14 MESFETs in three digital switched line and one analog loaded line phase shifter, and the MMIC power amplifiers are two stage amplifiers using GaAs MESFETs with 0.25 micron gate lengths and gate widths of 0.1 mm and 0.3 mm. The design of the array is described. The phase shift measurements for the MMIC devices are analyzed. The data reveal that the switched line phase shifters are accurate to within 7 pct; the power amplifier 1 dB compressed output power varied over 0.3 dB; the beamwidth of the array is 7.5 deg; and beam steering is over + or - 8 deg.
Signal from satellite tracked in moving vehicle. L-band, mechanically-steered, medium-gain antenna part of prototype radio equipment mounted in vehicle to demonstrate concept of land-mobile/satellite communication system. Provides such services as mobile telephone, voice or alphanumeric dispatch, paging, position-location information, and low-rate data transmission, for users within continental United States and Alaska. Antenna rotated mechanically until it finds direction from which maximum signal comes. Rate sensors provide inertial frame of reference during acquisition, so antenna locks onto signal even when vehicle turning.