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The research carried out in the areas of optimal control and estimation theory and its applications under this grant is reviewed. A listing of the 257 publications that document the research results is presented.
The research carried out in the areas of optimal control and estimation theory and its applications under this grant is reviewed. A listing of the 257 publications that document the research results is presented.
A method and apparatus for stabilizing the amplitude and repetition rate of mode-locked Nd:YAG laser pulses by controlling the laser length through a feedback loop are described. The end mirror of the laser is mounted on a piezoelectric crystal which is dithered at a low frequency. A portion of fundamental 1.06 micrometer laser radiation is converted into its second harmonic frequency, and the average power of the second harmonic frequency is detected by an integrating detector. The amount of the power of the second harmonic frequency depends on the match between the optical length of the laser cavity and the mode-lock frequency. The length is controlled by a feedback loop which phase compares the output of the second harmonic detector to the piezoelectric crystal dither signal.
This paper delves into designing feedback control gains for a continuous-time linear quadratic regulator (LQR) problem that is constrained to certain predefined structure with unknown state matrix. We bring forth the ideas from reinforcement learning (RL) in conjunction with sufficient stability and performance guarantees in order to design these structured gains using the trajectory measurements of states and controls. Here we first formulate a model-based framework using dynamic programming (DP) to embed the structural constraint to the LQR gain computation in the continuous-time setting, and then subsequently, formulate a policy iteration RL algorithm that can alleviate the requirement of known state matrix in conjunction with maintaining the feedback gain structure. The design enables a distributed learning control design which is necessary for many large-scale cyber-physical systems. Theoretical guarantees are provided for stability and convergence of the structured reinforcement learning (SRL) algorithm. We validate our theoretical results with numerical simulations on a multi-agent networked linear time-invariant (LTI) dynamic system.
This paper explores some of the boundaries in performance of slotted ALOHA systems by analyzing a simple and almost optimal centrally supervised control. The control results in a very simple Markov chain model and allows an examination of stability, conditional waiting time distribution of transmitting terminals, and many other system measures. The key to the simplicity is to have a probability of successful packet transmission that is independent of the number of transmitting terminals. In considering waiting time, we calculate the mean and other moments of the waiting time of a terminal when it enters the system to find (n - 1) other terminals already there competing for the channel. Under this control, the average time is proportional to n. The control requires exact knowledge of the number of terminals contending for the channel, and hence is not implementable, except as an approximation.
Assembly-line enzymes carry out multistep synthesis of important metabolites by using acyl carrier proteins (ACPs) to shuttle intermediates along defined sequences of active sites. Despite longstanding interest in reprogramming these systems for metabolic engineering and biosynthetic chemistry, the mechanisms underlying their reaction order remain poorly understood and difficult to control. In this work, we describe a β-ketoacyl-ACP reductase from Pseudomonas putida (PpFabG4) with an unusual selectivity for medium chains and use it to explore the molecular basis of substrate specificity in enzymes that pull intermediates from fatty acid synthesis, a common route to specialized products. X-ray crystallography shows no obvious barriers to short-chain binding. Molecular simulations and supporting mutational analyses indicate that substrate preference arises instead from a weak enzyme–ACP interaction that is stabilized by medium acyl chains but not by short chains. Indeed, mutations that strengthen this interaction for PpFabG4 or weaken it for EcFabG, an Escherichia coli β-ketoacyl-ACP reductase with a broad substrate specificity, can enhance or reduce activity on short-chain substrates by over 100-fold. Our findings show how the stability of enzyme-ACP interactions can control substrate scope in promiscuous enzymes and guide the exchange of intermediates between (and within) assembly-line systems.
Falling is a main contributor of injury in older adults. The decline in sensory systems associated with aging limits information needed to successfully compensate for unexpected perturbations. Therefore, sensory changes result in older adults having problems maintaining balance stability when experiencing an unexpected lateral perturbation (e.g. slip) in the environment. The goal of this study was to determine head stability movement strategies used by older adults when experiencing an unexpected lateral perturbation during walking. A total of 16 healthy adults, aged 66-81 years, walked across a foam pathway 6 times. One piece of the foam pathway covered a movable platform that translated to the left when the subject stepped on the foam. Three trials were randomized in which the platform shifted. Angular rate sensors were placed on the center of mass for the head and trunk segments to collect head and trunk movement in all three planes of motion. The predominant movement strategies for maintaining head stability were determined from the results of the cross-correlation analyses between the head and trunk segments. The Chi square test of independence was used to evaluate the movement pattern distributions of head-trunk coordination during perturbed and non-perturbed walking. When perturbed, head stabilization was significantly challenged in the yaw and roll planes of motion. Subjects demonstrated a movement pattern of the head leading the trunk in an effort to stabilize the head. The older adult subjects used this head stabilization movement pattern to compensate for sensory changes when experiencing the unexpected lateral perturbation.
Deep-rooting perennial grasses are promising feedstocks for biofuel production, especially in marginal soils lacking organic material, nutrients, and/or that experience significant water stress. Perennial grass roots influence surrounding soil conditions and microbial activities, and produce extracellular polymeric substances (EPS) composed primarily of extracellular polysaccharides (EPSac). These polymers can alleviate microbial moisture and nutrient stress, and enhance soil characteristics through improved water retention and aggregate stability—which may in turn enhance carbon persistence. Here, we used a 13 CO 2 greenhouse tracer experiment to examine the effect of switchgrass cultivation on EPSac production and origin in a marginal soil with five fertilization/water treatments (control, +N, +NP, +P, low water), and compared these results with measurements of field soils collected after long-term switchgrass cultivation. Soils with added nitrogen and phosphorus (+NP) had the highest root biomass, EPSac and percentage of water-stable soil aggregates. Multiple linear regression analyses revealed that root biomass and soil water potential were important determinants of soil EPSac production, potentially by controlling carbon supply and diurnal changes in moisture stress. Path analysis showed that soil aggregation was positively correlated with bulk soil EPSac content and also regulated by soil water potential. High mannose content indicated the majority of EPSac was of microbial origin and 13 CO 2 labeling indicated that 0.18% of newly fixed plant carbon was incorporated into EPSac. Analysis of field soils suggests that EPSac is significantly enhanced after long-term switchgrass cultivation. Taken as a whole, our greenhouse and field results demonstrate that switchgrass cultivation can promote microbial production of EPSac, providing a mechanism to enhance aggregation in marginal soils.
The nonlinear temporal evolution of disturbances in compressible flow between infinitely long, concentric cylinders is investigated through direct numerical simulations of the full, three-dimensional Navier-Stokes and energy equations. Counter-rotating cylinders separated by wide gaps are considered with supersonic velocities of the inner cylinder. Initially, the primary disturbance grows exponentially in accordance with linear stability theory. As the disturbances evolve, higher harmonics and subharmonics are generated in a cascading order eventually reaching a saturation state. Subsequent highly nonlinear stages of the evolution are governed by the interaction of the disturbance modes, particularly the axial subharmonics. Nonlinear evolution of the disturbance field is characterized by the formation of high-shear layers extending from the inner cylinder towards the center of the gap in the form of jets similar to the ejection events in transitional and turbulent wall-bounded shear flows.
Interference by structural vibrations reduced by adding signals from spatially separated gyros. Technique involves blending signals from rate gyroscopes located at different parts of structure to obtain composite signal that more nearly represents rotation of entire structure. Aircraft vibrations perpendicular to pitch axis contribute to rotations sensed by pitch-rate gyros. Proper blending of signals from gyros suppress contribution of dominant vibrational mode. Most likely applications of concept are flight-control systems for aircraft.
Polynomial preconditioning can improve the convergence of the Arnoldi method for computing eigenvalues. Such preconditioning significantly reduces the cost of orthogonalization; for difficult problems, it can also reduce the number of matrix-vector products. Parallel computations can particularly benefit from the reduction of communication-intensive operations. Additoinally, the GMRES algorithm provides a simple and effective way of generating the preconditioning polynomial. For some problems high degree polynomials are especially effective, but they can lead to stability problems that must be mitigated. A two-level “double polynomial preconditioning” strategy provides an effective way to generate high-degree preconditioners.
The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.
The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.
The pointing stability of the low-cost large space telescope (LST) system was investigated. The low-cost LST is characterized by the use of reaction wheels for the generation of control torques. Because of the critical requirement on the pointing accuracy of the LST, the nonlinear frictional characteristics of the bearings of the reaction wheels were studied which can cause limit cycles in a closed-loop system. Another possible source of pointing error in the LST is due to the effect of quantization and sensor noise. Since the LST is a digital system, digital to analog and analog to digital converters and sensors for positional and rate feedbacks were used. Sensor noise and amplitude quantization causes pointing error in the LST and, in addition, quantization is a nonlinear phenomenon which can cause self-sustained oscillations in the closed-loop system. The dynamic modeling of the single-axis LST is described, and several methods of evaluating the attitude error of the digital LST due to quantization and noise inputs are given.
Abstract The mitochondrial calcium uniporter (MCU) is the ion channel that mediates Ca 2+ uptake in mitochondria. Inhibitors of the MCU are valuable as potential therapeutic agents and tools to study mitochondrial Ca 2+ . The best‐known inhibitor of the MCU is the ruthenium compound Ru360. Although this compound is effective in permeabilized cells, it does not work in intact biological systems. We have recently reported the synthesis and characterization of Ru265, a complex that selectively inhibits the MCU in intact cells. Here, the physical and biological properties of Ru265 and Ru360 are described in detail. Using atomic absorption spectroscopy and X‐ray fluorescence imaging, we show that Ru265 is transported by organic cation transporter 3 (OCT3) and taken up more effectively than Ru360. As an explanation for the poor cell uptake of Ru360, we show that Ru360 is deactivated by biological reductants. These data highlight how structural modifications in metal complexes can have profound effects on their biological activities.
The mitochondrial calcium uniporter (MCU) is the ion channel that mediates Ca 2+ uptake in mitochondria. Inhibitors of the MCU are valuable as potential therapeutic agents and tools to study mitochondrial Ca 2+ . The best-known inhibitor of the MCU is the ruthenium compound Ru360. Although this compound is effective in permeabilized cells, it does not work in intact biological systems. We have recently reported the synthesis and characterization of Ru265, a complex that selectively inhibits the MCU in intact cells. In this work, the physical and biological properties of Ru265 and Ru360 are described in detail. Using atomic absorption spectroscopy and X-ray fluorescence imaging, we show that Ru265 is transported by organic cation transporter 3 (OCT3) and taken up more effectively than Ru360. As an explanation for the poor cell uptake of Ru360, we show that Ru360 is deactivated by biological reductants. These data highlight how structural modifications in metal complexes can have profound effects on their biological activities.
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