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New method of computation for optimal stochastic nonlinear and adaptive control undergoing development. Solves systematically stochastic dynamic programming equations forward in time, using nested-stochastic-approximation technique. Main advantage, simplicity of programming and reduced complexity with clear performance/computation trade-offs.
An in-depth kinematic analysis of a three degree of freedom fully-parallel robotic shoulder module is presented. The major goal of the analysis is to determine appropriate link dimensions which will provide a maximized workspace along with desirable input to output velocity and torque amplification. First order kinematic influence coefficients which describe the output velocity properties in terms of actuator motions provide a means to determine suitable geometric dimensions for the device. Through the use of computer simulation, optimal or near optimal link dimensions based on predetermined design criteria are provided for two different structural designs of the mechanism. The first uses three rotational inputs to control the output motion. The second design involves the use of four inputs, actuating any three inputs for a given position of the output link. Alternative actuator placements are examined to determine the most effective approach to control the output motion.
Implementation aspects of control-structure interaction analysis and optimization by the staggered use of single-discipline analysis modules are discussed. The single-discipline modules include structural analysis, controller synthesis and optimization. The software modularity is maintained by employing a partitioned control-structure interaction analysis procedure, thus avoiding the need for embedding the single-discipline modules into a monolithic program. A software testbed has been constructed as a stand-alone analysis and optimization program and tested for its versatility and software modularity by applying it to the dynamic analysis and preliminary design of a prototype Earth Pointing Satellite. Experience with the in-core testbed program so far demonstrates that the testbed is efficient, preserves software modularity, and enables the analyst to choose a different set of algorithms, control strategies and design parameters via user software interfaces. Thus, the present software architecture is recommended for adoption by control-structure interaction analysts as a preliminary analysis and design tool.
The Sobieszczanski-Sobieski (1988) algorithm is extended to include second- and higher-order derivatives while retaining the obviation of finite-differencing of the system analysis. This is accomplished by means of a recursive application of the same implicit function theorem as in the original algorithm. In optimization, the computational cost of the higher-order derivatives is relative to the aggregate cost of analysis together with a repetition of the first-order sensitivity analysis as often as is required to produce the equivalent information by successive linearizations within move limits.
In order to compare the data space volume of SPOT XS and Landsat TM images, three data sets, i.e., a wetlands/agricultural data set, an agricultural data set, and a forest data set, are examined. The comparisons are made for the same geographic area. The data space volumes for Landsat TM (2, 3, and 4) are found to be 70 to 100 percent larger than the volumes for the SPOT XS images. It is suggested that the additional midinfrared bands contribute to the difference in data space volumes between Landsat TM and SPOT XS. The data space volumes for Landsat TM bands 3, 4, and 5 are more than an order of magnitude greater than the volumes for the three band SPOT XS data sets. The volumes of the six-band Landsat TM images are four orders of magnitude greater than the SPOT XS. The analysis of the data space volumes is used to optimize the computation time and minimize the storage requirements of a maximum-likelihood classification based on a look-up table.
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Scalable arbitrary fiber extension network (SAFEnet) is conceptual fiber-optic communication network passing digital signals among variety of computers and input/output devices at rates from 200 Mb/s to more than 100 Gb/s. Intended for use with very-high-speed computers and other data-processing and communication systems in which message-passing delays must be kept short. Inherent flexibility makes it possible to match performance of network to computers by optimizing configuration of interconnections. In addition, interconnections made redundant to provide tolerance to faults.
Ab initio quantum mechanical calculations on small hydration complexes involving the nitrate anion are reported. The self-consistent field method with accurate basis sets has been applied to compute completely optimized equilibrium geometries, vibrational frequencies, thermochemical parameters, and stable site labilities of complexes involving 1, 2, and 3 waters. The most stable geometries in the first hydration shell involve in-plane waters bridging pairs of nitrate oxygens with two equal and bent hydrogen bonds. A second extremely labile local minimum involves out-of-plane waters with a single hydrogen bond and lies about 2 kcal/mol higher. The potential in the region of the second minimum is extremely flat and qualitatively sensitive to changes in the basis set; it does not correspond to a true equilibrium structure.
This study will involve two objectives: (1) to develop, through computer simulations, optimal satellite-based sensor scanning techniques for direct measurement of tropospheric winds on the meso- and synoptic scales; and (2) to construct simulations of remotely measured wind fields for assessing impact of such fields on the diagnosis and prognosis of atmospheric phenomena through the use of Observing System Simulation Experiments (OSSE). Using the LAWS Simulation Model (LSM), various global coverage scenarios have been investigated as part of an effort to define the optimal orbit, configuration and sampling strategies for observations of winds for use in global circulation models. Simulated data sets have been provided to GSFC, FSU and several LAWS team members. Particular emphasis has been on providing realistic cloud cover, cirrus backscatter, aerosol distribution and wind variance on scales less than 600 km. Progress is currently being made to incorporate other remote sensors (AIRS/AMSU, STIKSCAT) into the global OSSEs.
Preliminary measurements of the vertical and lateral velocity components of tunnel turbulence were obtained in the Langley Transonic Dynamics Tunnel test section using a constant-temperature anemometer equipped with a hot-film X-probe. For these tests air was the test medium. Test conditions included tunnel velocities ranging from 100 to 500 fps at atmospheric pressure. Standard deviations of turbulence velocities were determined and power spectra were computed. Unconstrained optimization was employed to determine parameter values of a general spectral model of a form similar to that used to describe atmospheric turbulence. These parameters, and others (notably break frequency and integral scale length), were determined at each test condition and compared with those of Dryden and Von Karman atmospheric turbulence spectra. When the data were discovered to be aliased, the spectral model was modified to account for and 'eliminate' the aliasing.
The authors revealed several important eigen properties of the stabilizing solutions of the two H-infinity Riccati equations and their product. Among them, the most prominent one is that the spectral radius of the product of these two Riccati solutions is a continuous, nonincreasing, convex function of gamma in the domain of interest. Based on these properties, quadratically convergent algorithms are developed to compute the optimal H-infinity norm. Two examples are used to illustrate the algorithms.
Our MSAD-funded research project is to provide numerical modeling support for the VIBES (Vibration Isolation Box Experiment System) which is an IML2 flight experiment being built by the Japanese research team of Dr. H. Azuma of the Japanese National Aerospace Laboratory. During this reporting period, the following have been accomplished: A semi-consistent mass finite element projection algorithm for 2D and 3D Boussinesq flows has been implemented on Sun, HP And Cray Platforms. The algorithm has better phase speed accuracy than similar finite difference or lumped mass finite element algorithms, an attribute which is essential for addressing realistic g-jitter effects as well as convectively-dominated transient systems. The projection algorithm has been benchmarked against solutions generated via the commercial code FIDAP. The algorithm appears to be accurate as well as computationally efficient. Optimization and potential parallelization studies are underway. Our implementation to date has focused on execution of the basic algorithm with at most a concern for vectorization. The initial time-varying gravity Boussinesq flow simulation is being set up. The mesh is being designed and the input file is being generated. Some preliminary 'small mesh' cases will be attempted on our HP9000/735 while our request to MSAD for supercomputing resources is being addressed. The Japanese research team for VIBES was visited, the current set up and status of the physical experiment was obtained and ongoing E-Mail communication link was established.
The accuracy and robustness of a two-dimensional smoothing methodology is examined for the problem of recovering accurate interlaminar shear stress distributions in laminated composite and sandwich plates. The smoothing methodology is based on a variational formulation which combines discrete least-squares and penalty-constraint functionals in a single variational form. The smoothing analysis utilizes optimal strains computed at discrete locations in a finite element analysis. These discrete strain data are smoothed with a smoothing element discretization, producing superior accuracy strains and their first gradients. The approach enables the resulting smooth strain field to be practically C1-continuous throughout the domain of smoothing, exhibiting superconvergent properties of the smoothed quantity. The continuous strain gradients are also obtained directly from the solution. The recovered strain gradients are subsequently employed in the integration o equilibrium equations to obtain accurate interlaminar shear stresses. The problem is a simply-supported rectangular plate under a doubly sinusoidal load. The problem has an exact analytic solution which serves as a measure of goodness of the recovered interlaminar shear stresses. The method has the versatility of being applicable to the analysis of rather general and complex structures built of distinct components and materials, such as found in aircraft design. For these types of structures, the smoothing is achieved with 'patches', each patch covering the domain in which the smoothed quantity is physically continuous.
The Optical Plume Anomaly Detection (OPAD) system is under development to provide early-warning failure detection in support of ground-level testing of the Space Shuttle Main Engine (SSME). Failure detection is to be achieved through the acquisition of spectrally resolved plume emissions and subsequent identification of abnormal levels indicative of engine corrosion or component failure. Two computer codes (one linear and the other non-linear) are used by the OPAD system to iteratively determine specific element concentrations in the SSME plume, given emission intensity and wavelength information. Since this analysis is extremely labor intensive, a study was initiated to develop neural networks that would model the 'inverse' of these computer codes. Optimally connected feed-forward networks with imperceptible prediction error have been developed for each element modeled by the linear code, SPECTRA4. Radial basis function networks were developed for the non-linear code, SPECTRA5, and predict combustion temperature in addition to element concentrations.
Minimum Euclidean Distance Optimal Filter (MEDOF) program generates filters for use in optical correlators. Analytically optimizes filters on arbitrary spatial light modulators (SLMs) of such types as coupled, binary, fully complex, and fractional-2pi-phase. Written in C language.
One of the advanced control concepts being investigated on the High-Alpha Research Vehicle (HARV) is multi-axis thrust vectoring using an experimental thrust-vectoring (TV) system consisting of three hydraulically actuated vanes per engine. A mixer is used to translate the pitch-, roll-, and yaw-TV commands into the appropriate TV-vane commands for distribution to the vane actuators. A computer-aided optimization process was developed to perform the inversion of the thrust-vectoring effectiveness data for use by the mixer in performing this command translation. Using this process a new mixer was designed for the HARV and evaluated in simulation and flight. An important element of the Mixer is the priority logic, which determines priority among the pitch-, roll-, and yaw-TV commands.
An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) observatory at Mt. Hopkins, Arizona. The system can minimize the optical path differences (OPDs) for all three baselines of the Michelson stellar interferometer at IOTA. Based on sliding window discrete Fourier transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on off-line data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. The adaptive DFT-based tracking algorithm should be applicable to other systems where there is a need to detect or track a signal with an approximately constant-frequency carrier pulse.
An automatic fringe tracking system has been developed and implemented at the Infrared Optical Telescope Array (IOTA). In testing during May 2002, the system successfully minimized the optical path differences (OPDs) for all three baselines at IOTA. Based on sliding window discrete Fourier transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on off-line data. Implemented in ANSI C on the 266 MHZ PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. Preliminary analysis on an extension of this algorithm indicates a potential for predictive tracking, although at present, real-time implementation of this extension would require significantly more computational capacity.