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The status of motion as a minimal information source for perceiving the environmental properties of surface segregation, three-dimensional (3-D) form, displacement, and dynamics is discussed. The selection of these particular properties was motivated by a desire to present research on perceiving properties that span the range of dimensional complexity.
A paradigm for control law design for modern engineering systems is proposed: Minimize control law complexity subject to the achievement of a specified accuracy in the face of a specified level of uncertainty. Correspondingly, the overall goal is to make progress towards the development of a control law design methodology which supports this paradigm. Researchers achieve this goal by developing a general theory of optimal constrained-structure dynamic output feedback compensation, where here constrained-structure means that the dynamic-structure (e.g., dynamic order, pole locations, zero locations, etc.) of the output feedback compensation is constrained in some way. By applying this theory in an innovative fashion, where here the indicated iteration occurs over the choice of the compensator dynamic-structure, the paradigm stated above can, in principle, be realized. The optimal constrained-structure dynamic output feedback problem is formulated in general terms. An elegant method for reducing optimal constrained-structure dynamic output feedback problems to optimal static output feedback problems is then developed. This reduction procedure makes use of star products, linear fractional transformations, and linear fractional decompositions, and yields as a byproduct a complete characterization of the class of optimal constrained-structure dynamic output feedback problems which can be reduced to optimal static output feedback problems. Issues such as operational/physical constraints, operating-point variations, and processor throughput/memory limitations are considered, and it is shown how anti-windup/bumpless transfer, gain-scheduling, and digital processor implementation can be facilitated by constraining the controller dynamic-structure in an appropriate fashion.
The minimal polynomial extrapolation (MPE) and reduced rank extrapolation (RRE) are two effective techniques that have been used in accelerating the convergence of vector sequences, such as those that are obtained from iterative solution of linear and nonlinear systems of equation. Their definitions involve some linear least squares problems, and this causes difficulties in their numerical implementation. Timewise efficient and numerically stable implementations for MPE and RRE are developed. A computer program written in FORTRAN 77 is also appended and applied to some model problems.
Graph theoretic methods are applied to compute the reliability for several types of networks of moderate size. The graph theory methods used are minimal spanning trees for networks with bi-directional links and the related concept of strongly connected directed graphs for networks with uni-directional links. A comparison is conducted of ring networks and braided networks. The case is covered where just the links fail and the case where both links and nodes fail. Two different failure modes for the links are considered. For one failure mode, the link no longer carries messages. For the other failure mode, the link delivers incorrect messages. There is a description and comparison of link-redundancy versus path-redundancy as methods to achieve reliability. All the computations are carried out by means of a fault tree program.
This paper gives a topical review of theoretical models of magnetospheric convection based on the concept of minimal Joule dissipation. A two-dimensional slab model of the ionosphere featuring an enhanced conductivity auroral oval is used to compute high-latitude electric fields and currents. Mathematical methods used in the modeling include Fourier analysis, fast Fourier transforms, and variational calculus. Also, conformal transformations are introduced in the analysis, which enable the auroral oval to be represented as a nonconcentric, crescent-shaped figure. Convection patterns appropriate to geomagnetic quiet and disturbed conditions are computed, the differentiating variable being the relative amount of power dissipated in the magnetospheric ring current. When ring current dissipation is small, the convection electric field is restricted to high latitudes (shielding regime), and when it is large, a significant penetration of the field to low latitudes occurs, accompanied by an increase in the ratio of the region I current to the region 2 current.
In many applications, control systems are asked to perform the same task repeatedly. Learning control laws have been developed over the last few years that allow the controller to improve its performance each repetition, and to converge to zero error in tracking a desired trajectory. This paper generates a new type of learning control law that learns to minimize a quadratic cost function for tracking. Besides being of interest in its own right, this objective alleviates the need to specify a desired trajectory that can actually be performed by the system. The approach used here is to adapt appropriate methods from numerical optimization theory in order to produce learning control algorithms that adjust the system command from repetition to repetition in order to converge to the quadratic cost optimal trajectory.
The shape control of large flexible space structures is of great interest to structural designers. A related problem is to seek ways to minimize the need for active controls by careful design and construction of the space structure. A tetrahedral truss structure that is used to support a precision segmented reflector or antenna surface is considered. The structure has a hexagonal platform and is characterized by the number of rings of members in the truss. For simplicity it is assumed that a flat truss geometry exists. Hence, all structural members and ball joints are required to have the same nominal length and diameter, respectively. Inaccuracies in the length of member or diameters of joints may produce unacceptable levels of surface distortion and internal forces. In the case of a truss structure supporting an antenna, surface distortions may cause unacceptable gain loss or pointing errors. The focus is solely on surface distortion, however, internal forces may be treated in a similar manner. To test the Tabu search code for DSQRMS the appropriate influence matrices are used for a flat, two-ring tetrahedral reflector truss generated by Green and Haftka (1989). In this example there are 102 members (NMEMB) and 31 ball joints (NJOINT) of the same nominal length, respectively. Hence, all the members may be interchanged and all the joints may be interchanged. In addition, 19 positions on the surface of the truss (NNODES) were used to measure error influences. After a variety of experiments a set of good parameters was choosen for Tabu search. The sample size at each iteration is 10*NMEMB and the short term memory size is 40. In addition four pruning rules were used to accelerate the search..
We are currently experiencing a period of high solar radiation combined with wide short-term fluctuations in the radiation. The short-term fluctuations, especially when combined with highly energetic solar flares, can adversely affect the mission of U.S. Space Command's Space Surveillance Center (SSC) which catalogs and tracks the satellites in orbit around the Earth. Rapidly increasing levels of solar electromagnetic and/or particle radiation (solar wind) causes atmospheric warming, which, in turn, causes the upper-most portions of the atmosphere to expand outward, into the regime of low altitude satellites. The increased drag on satellites from this expansion can cause large, unmodeled, in-track displacements, thus undermining the SSC's ability to track and predict satellite position. On 13 March 1989, high solar radiation levels, combined with a high-energy solar flare, caused an exceptional amount of short-term atmospheric warming. The SSC temporarily lost track of over 1300 low altitude satellites--nearly half of the low altitude satellite population. Observational data on satellites that became lost during the days following the 13 March 'solar event' was analyzed and compared with the satellites' last element set prior to the event (referred to as a geomagnetic storm because of the large increase in magnetic flux in the upper atmosphere). The analysis led to a set of procedures for reducing the impact of future geomagnetic storms. These procedures adjust selected software limit parameters in the differential correction of element sets and in the observation association process and must be manually initiated at the onset of a geomagnetic storm. Sensor tasking procedures must be adjusted to ensure that a minimum of four observations per day are received for low altitude satellites. These procedures have been implemented and, thus far, appear to be successful in minimizing the effect of subsequent geomagnetic storms on satellite tracking and ephemeris computation.
A new method for enhancing the convergence rate of iterative algorithms for the numerical integration of systems of partial differential equations was developed. It is termed the Distributed Minimal Residual (DMR) method and it is based on general Krylov subspace methods. The DMR method differs from the Krylov subspace methods by the fact that the iterative acceleration factors are different from equation to equation in the system. At the same time, the DMR method can be viewed as an incomplete Newton iteration method. The DMR method was applied to Euler equations of gas dynamics and incompressible Navier-Stokes equations. All numerical test cases were obtained using either explicit four stage Runge-Kutta or Euler implicit time integration. The formulation for the DMR method is general in nature and can be applied to explicit and implicit iterative algorithms for arbitrary systems of partial differential equations.
The biconjugate gradient (BCG) method is the natural generalization of the classical conjugate gradient algorithm for Hermitian positive definite matrices to general non-Hermitian linear systems. Unfortunately, the original BCG algorithm is susceptible to possible breakdowns and numerical instabilities. A novel BCG like approach is presented called the quasi-minimal residual (QMR) method, which overcomes the problems of BCG. An implementation of QMR based on a look-ahead version of the nonsymmetric Lanczos algorithm is proposed. It is shown how BCG iterates can be recovered stably from the QMR process. Some further properties of the QMR approach are given and an error bound is presented. Finally, numerical experiments are reported.
The estimation and minimization of drag-due-to-lift at supersonic speeds has been examined in this study. Correlations of theory with experimental data are used to assess the applicability and limitations of the linearized theory. The role of leading-edge thrust and the use of twist and camber to develop distributed thrust are also discussed. A semiempirical design and estimation method which takes into account the shortcomings of the linear theory is presented. The use of this method will allow the design of more nearly optimum lifting surfaces and provide an accurate prediction of their level of performance. A preliminary examination is made of the use of an Euler code for estimation of the aerodynamic characteristics of a twisted and cambered wing.
An optimization method is proposed to reduce the vibration of thin plate structures. The method is based on a finite element shell analysis, a modal analysis, and a structural optimization method. In the finite element analysis, a triangular shell element with 18 dof is used. In the optimization, the overall vibration energy of the structure is adopted as the objective function, and it is minimized at the given exciting frequency by varying the thickness of the elements. The technique of modal analysis is used to derive the sensitivity of the vibration energy with respect to the design variables. The sensitivity is represented by the sensitivities of both eigenvalues and eigenvectors. The optimum value is computed by the gradient projection method and a unidimensional search procedure under the constraint condition of constant weight. A computer code, based on the proposed method, is developed and is applied to design problems using a beam and a plate as test cases. It is confirmed that the vibration energy is reduced at the given exciting frequency. For the beam excited by a frequency slightly less than the fundamental natural frequency, the optimized shape is close to the beam of uniform strength.
Various studies were conducted by NASA and others on the practical limitations of sonic boom signature shaping/minimization for the High-Speed Civil Transport (HSCT) and on the effects of these shaped boom signatures on perceived loudness. This current effort is a further part of this research with emphasis on examining shaped boom signatures which are representative of the most recent investigations of practical limitations on sonic boom minimization, and on examining and comparing the expected response to these signatures when experienced indoors and outdoors.
A survey of research on drag-due-to-lift minimization at supersonic speeds, including a study of the effectiveness of current design and analysis methods was conducted. The results show that a linearized theory analysis with estimated attainable thrust and vortex force effects can predict with reasonable accuracy the lifting efficiency of flat wings. Significantly better wing performance can be achieved through the use of twist and camber. Although linearized theory methods tend to overestimate the amount of twist and camber required for a given application and provide an overly optimistic performance prediction, these deficiencies can be overcome by implementation of recently developed empirical corrections. Numerous examples of the correlation of experiment and theory are presented to demonstrate the applicability and limitations of linearized theory methods with and without empirical corrections. The use of an Euler code for the estimation of aerodynamic characteristics of a twisted and cambered wing and its application to design by iteration are discussed.
An important issue for shaped minimized sonic booms is whether turbulence-induced distortions will adversely affect the benefits gained by shaping. This question was considerably simplified by two recent results. The first is the finding that the loudness of sonic booms is well quantified by loudness. The second is that loudness of a shaped boom is dominated by the shock waves. The issue is now the effect of turbulence on weak (1 psf or less) sonic booms. Since it is clear that molecular relaxation effects have a significant effect on shock structure and loudness, turbulence effects must be examined in conjunction with relaxation-thickened shocks. This analysis must be directed toward loudness calculations and include all pertinent mechanisms.
The authors introduce two criteria for the evaluation and selection of assembly plans. The first criterion is to maximize the number of different sequences in which the assembly tasks can be executed. The second criterion is to minimize the total assembly time through simultaneous execution of assembly tasks. An algorithm that performs a heuristic search for the best assembly plan over the AND/OR graph representation of assembly plans is discussed. Admissible heuristics for each of the two criteria introduced are presented. Some implementation issues that affect the computational efficiency are addressed.
The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.
Distortions in truss structures can result from random errors in element lengths that are typical of a manufacturing process. These distortions may be minimized by an optimal selection of elements from those available for placement between the prescribed nodes - a combinatorial optimization problem requiring significant investment of computational resource for all but the smallest problems. The present paper describes a formulation in which near-optimal element assignments are obtained as minimum-energy stable states, of an analogous Hopfield neural network. This requires mapping of the optimization problem into an energy function of the appropriate Liapunov form. The computational architecture is ideally suited to a parallel processor implementation and offers significant savings in computational effort. A numerical implementation of the approach is discussed with reference to planar truss problems.