Sufficient conditions for nonnegativity of the second variation in singular and nonsingular control problems
Singular and nonsingular optimal control problems, deriving sufficient conditions for nonnegativity of second variation
Jacobson, D. H.↗
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Closed loop control performance sensitivity to parameter variations
A very efficient technique for computing the closed loop performance sensitivities to parameter variations of a dynamic system with a reduced order controller has been developed. The eigensystem of the closed loop system is computed once. With this information, the closed loop filter and state rms responses, and the first and second derivatives of these rms values with respect to given parameters are computed. Detailed numerical examples using the JPL flexible beam and a 55 meter offset fed, wrap-rib antenna are included.
Schaechter, D. B.↗
Aircraft digital control design methods
Variations in design methods for aircraft digital flight control are evaluated and compared. The methods fall into two categories; those where the design is done in the continuous domain (or s plane) and those where the design is done in the discrete domain (or z plane). Design method fidelity is evaluated by examining closed loop root movement and the frequency response of the discretely controlled continuous aircraft. It was found that all methods provided acceptable performance for sample rates greater than 10 cps except the uncompensated s plane design method which was acceptable above 20 cps. A design procedure based on optimal control methods was proposed that provided the best fidelity at very slow sample rates and required no design iterations for changing sample rates.
Powell, J. D.↗
Synthesis of passive microwave and radar altimeter data for estimating accumulation rates of polar snow
In this paper, we compare dry-snow extinction coefficients derived from radar altimeter data with brightness temperature data from passive microwave measurements over a portion of the East Antarctic plateau. The comparison between the extinction coefficients and the brightness temperatures shows a strong negative correlation, where the correlation coefficients ranged from -0.87 to -0.95. The extinction coefficient of the dry polar snow decreases with increasing surface elevation, while the average brightness temperature increases with surface elevation. Our analysis shows that the observed trends are related to geographic variations in scattering coefficient of snow, which in turn are controlled by variations in surface temperature and snow accumulation rate. By combining information present in the extinction coefficient and brightness temperature data sets, we develop a model that can be used to obtain quantitative estimates of the accumulation rate of dry polar snow.
Davis, Curt H.↗
Singular extremaloids in optimal control theory and the calculus of variations
Definitions of extremaloids in relation to optimal control problems and Lagrange problems based on Pontryagin principles
Straeter, T. A.↗
Piloted simulator study of allowable time delay in pitch flight control system of a transport airplane with negative static stability
A piloted simulation study was conducted to determine the permissible time delay in the flight control system of a 10-percent statically unstable transport airplane during cruise flight conditions. The math model used for the simulation was a derivative Lockheed L-1011 wide-body jet transport. Data were collected and analyzed from a total of 137 cruising flights in both calm- and turbulent-air conditions. Results of this piloted simulation study verify previous findings that show present military specifications for allowable control-system time delay may be too stringent when applied to transport-size airplanes. Also, the degree of handling-qualities degradation due to time delay is shown to be strongly dependent on the source of the time delay in an advanced flight control system. Maximum allowable time delay for each source of time delay in the control system, in addition to a less stringent overall maximum level of time delay, should be considered for large aircraft. Preliminary results also suggest that adverse effects of control-system time delay may be at least partially offset by variations in control gearing. It is recommended that the data base include different airplane baselines, control systems, and piloting tasks with many pilots participating, so that a reasonable set of limits for control-system time delay can be established to replace the military specification limits currently being used.
Grantham, William D.↗
Some new results in optimal final value control theory.
Optimal final value control theory, applying variational calculus and functional analysis to control function selection for dynamic systems
OPTIMAL CONTROL↗
Flight Test of an Intelligent Flight-Control System
The F-15 Advanced Controls Technology for Integrated Vehicles (ACTIVE) airplane (see figure) was the test bed for a flight test of an intelligent flight control system (IFCS). This IFCS utilizes a neural network to determine critical stability and control derivatives for a control law, the real-time gains of which are computed by an algorithm that solves the Riccati equation. These derivatives are also used to identify the parameters of a dynamic model of the airplane. The model is used in a model-following portion of the control law, in order to provide specific vehicle handling characteristics. The flight test of the IFCS marks the initiation of the Intelligent Flight Control System Advanced Concept Program (IFCS ACP), which is a collaboration between NASA and Boeing Phantom Works. The goals of the IFCS ACP are to (1) develop the concept of a flight-control system that uses neural-network technology to identify aircraft characteristics to provide optimal aircraft performance, (2) develop a self-training neural network to update estimates of aircraft properties in flight, and (3) demonstrate the aforementioned concepts on the F-15 ACTIVE airplane in flight. The activities of the initial IFCS ACP were divided into three Phases, each devoted to the attainment of a different objective. The objective of Phase I was to develop a pre-trained neural network to store and recall the wind-tunnel-based stability and control derivatives of the vehicle. The objective of Phase II was to develop a neural network that can learn how to adjust the stability and control derivatives to account for failures or modeling deficiencies. The objective of Phase III was to develop a flight control system that uses the neural network outputs as a basis for controlling the aircraft. The flight test of the IFCS was performed in stages. In the first stage, the Phase I version of the pre-trained neural network was flown in a passive mode. The neural network software was running using flight data inputs with the outputs provided to instrumentation only. The IFCS was not used to control the airplane. In another stage of the flight test, the Phase I pre-trained neural network was integrated into a Phase III version of the flight control system. The Phase I pretrained neural network provided realtime stability and control derivatives to a Phase III controller that was based on a stochastic optimal feedforward and feedback technique (SOFFT). This combined Phase I/III system was operated together with the research flight-control system (RFCS) of the F-15 ACTIVE during the flight test. The RFCS enables the pilot to switch quickly from the experimental- research flight mode back to the safe conventional mode. These initial IFCS ACP flight tests were completed in April 1999. The Phase I/III flight test milestone was to demonstrate, across a range of subsonic and supersonic flight conditions, that the pre-trained neural network could be used to supply real-time aerodynamic stability and control derivatives to the closed-loop optimal SOFFT flight controller. Additional objectives attained in the flight test included (1) flight qualification of a neural-network-based control system; (2) the use of a combined neural-network/closed-loop optimal flight-control system to obtain level-one handling qualities; and (3) demonstration, through variation of control gains, that different handling qualities can be achieved by setting new target parameters. In addition, data for the Phase-II (on-line-learning) neural network were collected, during the use of stacked-frequency- sweep excitation, for post-flight analysis. Initial analysis of these data showed the potential for future flight tests that will incorporate the real-time identification and on-line learning aspects of the IFCS.
Davidson, Ron↗
Optical characterization of the oceanic unicellular cyanobacterium Synechococcus grown under a day-night cycle in natural irradiance
The optical properties of the ocenanic cyanobacterium Synechococcus (clone WH8103) were examined in a nutrient-replete laboratory culture grown under a day-night cycle in natural irradiance. Measurements of the spectral absorption and beam attenuation coefficients, the size distribution of cells in suspension, and microscopic analysis of samples were made at intervals of 2-4 hours for 2 days. These measurements were used to calculate the optical properties at the level of a single 'mean' cell representative of the acutal population, specifically, the optical cross sections for spectral absorption bar-(sigma(sub a)), scattering bar-sigma(sub b))(lambda), and attentuation bar-(sigma(sub c))(lambda). In addition, concurrent determinations of chlorophyll a and particulate organic carbon allowed calculation of the Chl a- and C-specific optical coefficients. The refractive index of cells was derived from the observed data using a theory of light absorption and scattering by homogeneous spheres. Low irradiance because of cloudy skies resulted in slow division rates of cells in the culture. The percentage of dividing cells was unusually high (greater than 30%) throughout the experiment. The optical cross sections varied greatly over a day-night cycle, with a minimum near dawn or midmorning and maximum near dusk. During daylight hours, bar-(sigma(sub b)) and bar-(sigma(sub c)) can increase more than twofold and bar-(sigma(sub a) by as much as 45%. The real part of the refractive index n increaed during the day; changes in n had equal or greater effect than the varying size distribution on changes in bar-(sigma(sub c)) and bar-(sigma(sub b)). The contribution of changes in n to the increase of bar-(sigma(sub c))(660) during daylight hours was 65.7% and 45.1% on day 1 and 2, respectively. During the dark period, when bar-(sigma(sub c))(660) decreased by a factor of 2.9, the effect of decreasing n was dominant (86.3%). With the exception of a few hours during the second light period, the imaginary part of the refractive index n' showed little variation over a day-night cycle, and bar-(sigma(sub a)) was largely controlled by variations in cell size. The real part of the refractive index at lambda = 660 nm was correlated with the intracellular C concentration and the imaginary part at lambda = 678 nm with the intracellular Chl a concentration. The C-specfic attenuation coefficient showed significant diel variability, which has implications for the estimation of oceanic primary production from measurements of diel variability in beam attenuation. This study provides strong evidence that diel variability is an important component of the optical characterization of marine phytoplankton.
Stramski, Dariusz↗
Computation of optimal controls by a method based on second variations
Second variation method for computation of optimal control problem with terminal constraint
VARIATIONAL CALCULUS↗
Variable gain for a wind turbine pitch control
The gain variation is made in the software logic of the pitch angle controller. The gain level is changed depending upon the level of power error. The control uses low gain for low pitch activity the majority of the time. If the power exceeds ten percent offset above rated, the gain is increased to a higher gain to more effectively limit power. A variable gain control functioned well in tests on the Mod-0 wind turbine.
Seidel, R. C.↗
Automotive Stirling engine system component review
The design and testing of the power and combustion control system for the basic Stirling engine, Mod II, are examined. The power control system is concerned with transparent operation, and the Mod II uses engine working gas pressure variation to control the power output of the engine. The main components of the power control system, the power control valve, the pump-down system, and the hydrogen stable system, are described. The combustion control system consists of a combustion air supply system and an air/fuel ratio control system, and the system is to maintain constant heater head temperature, and to maximize combustion efficiency and to minimize exhaust emissions.
Hindes, Chip↗
Tetrode-transistor fm oscillator.
Tetrode-driven transistor crystal oscillator with frequency controlled by variation of second base current of tetrode operating in reverse mode
FEEDBACK CONTROL SYSTEM↗
Computer simulation for time optimal or energy optimal attitude control of spin-stabilized spacecraft.
An original technique for determining the optimal magnetic torque strategy for control of the attitude of spin stabilized spacecraft is presented. By employing Lagrange multipliers and the Calculus of Variations, optimal control equations are derived which define minimum time and minimum energy attitude maneuvers. Computer program algorithms to numerically solve these optimal control equations are also described. The performance of this technique is compared with a commonly employed planning method.
Woolley, R. D.↗
An overview of surface radiance and biology studies in FIFE
The use of satellite data to study and to understand energy and mass exchanges between the land surface and the atmosphere requires information about various biological processes and how various reflected or emitted spectral radiances are influenced by or manifested in these processes. To obtain such information, studies were conducted by the First ISLSCP Field Experiment (FIFE) surface radiances and biology (SRB) group using surface, near-surface, helicopter, and aircraft measurements. The two primary objectives of this group were to relate radiative fluxes to biophysical parameters and physiological processes and to assess how various management treatments affect important biological processes. This overview paper summarizes the results obtained by various SRB teams working in nine different areas: (1) measurements of bidirectional reflectance and estimation of hemispherical albedo; (2) evaluation of spatial and seasonal variability reflectance and vegetation indices; (3) determination of surface and radiational factors and their effects on vegetation indices and photosynthetically active radiation relationships; (4) use of surface temperatures to estimate sensible heat flux; (5) controls over photosynthesis and respiration at small scales; (6) soil surface CO2 fluxes and grassland carbon budget; (7) landscape variations in controls over gas exchange and energy partitioning; (8) radiometric response of prairie to management and topography; and (9) determination of nitrogen gas exchanges in a tallgrass prairie.
Blad, B. L.↗
Decentralized digital adaptive control of robot motion
A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.
Tarokh, M.↗
Influence of Design Variations on Systems Performance
High-risk aerospace components have to meet very stringent quality, performance, and safety requirements. Any source of variation is a concern, as it may result in scrap or rework. poor performance, and potentially unsafe flying conditions. The sources of variation during product development, including design, manufacturing, and assembly, and during operation are shown. Sources of static and dynamic variation during development need to be detected accurately in order to prevent failure when the components are placed in operation. The Systems' Health and Safety (SHAS) research at the NASA Ames Research Center addresses the problem of detecting and evaluating the statistical variation in helicopter transmissions. In this work, we focus on the variations caused by design, manufacturing, and assembly of these components, prior to being placed in operation (DMV). In particular, we aim to understand and represent the failure and variation information, and their correlation to performance and safety and feed this information back into the development cycle at an early stage. The feedback of such critical information will assure the development of more reliable components with less rework and scrap. Variations during design and manufacturing are a common source of concern in the development and production of such components. Accounting for these variations, especially those that have the potential to affect performance, is accomplished in a variety ways, including Taguchi methods, FMEA, quality control, statistical process control, and variation risk management. In this work, we start with the assumption that any of these variations can be represented mathematically, and accounted for by using analytical tools incorporating these mathematical representations. In this paper, we concentrate on variations that are introduced during design. Variations introduced during manufacturing are investigated in parallel work.
Tumer, Irem Y.↗
Microscale Investigation of Thermo-Fluid Transport in the Transition FIL, Region of an Evaporating Capillary Meniscus Using a Microgravity Environment
In order to enhance the fundamental understanding of thin film evaporation and thereby improve the critical design concept for two-phase heat transfer devices, microscale heat and mass transport is to be investigated for the transition film region using state-of-the-art optical diagnostic techniques. By utilizing a microgravity environment, the length scales of the transition film region can be extended sufficiently, from submicron to micron, to probe and measure the microscale transport fields which are affected by intermolecular forces. Extension of the thin film dimensions under microgravity will be achieved by using a conical evaporator made of a thin silicon substrate under which concentric and individually controlled micro-heaters are vapor-deposited to maintain either a constant surface temperature or a controlled temperature variation. Local heat transfer rates, required to maintain the desired wall temperature boundary condition, will be measured and recorded by the concentric thermoresistance heaters controlled by a Wheatstone bridge circuit, The proposed experiment employs a novel technique to maintain a constant liquid volume and liquid pressure in the capillary region of the evaporating meniscus so as to maintain quasi-stationary conditions during measurements on the transition film region. Alternating use of Fizeau interferometry via white and monochromatic light sources will measure the thin film slope and thickness variation, respectively. Molecular Fluorescence Tracking Velocimetry (MFTV), utilizing caged fluorophores of approximately 10-nm in size as seeding particles, will be used to measure the velocity profiles in the thin film region. An optical sectioning technique using confocal microscopy will allow submicron depthwise resolution for the velocity measurements within the film for thicknesses on the order of a few microns. Digital analysis of the fluorescence image-displacement PDFs, as described in the main proposal, can further enhance the depthwise resolution.
Kihm, K. D.↗