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At least 1,099 records · Page 61

Optimal landing of a helicopter in autorotation

The landing of a helicopter in autorotation is formulated as a nonlinear optimal control problem. A unique feature in the present formulation is the addition of path inequality constraints on both the control and the state vectors. The control variable inequality constraint is a reflection of the limitation on the rotor thrust coefficient. The state-variable inequality constraint is an upper bound on the vertical sink-rate of the helicopter during descent. Optimal trajectories are calculated for entry conditions well within the height-velocity (H-V) restriction curve, with the helicopter initially in hover or in forward flight. The optimal solutions exhibited control techniques similar to those used by helicopter pilots in actual autorotational landings. The study indicates that, subject to pilot acceptability, a substantial reduction could be made in the H-V restriction zone using optimal control techniques.

Lee, A. Y.↗

Stability regions for multiloop LQ-regulated systems with state estimators

This note investigates the closed-loop stability of linear, time-invariant systems controlled by linear-quadratic-Gaussian (LQG) type controllers, when the actuators have nonlinearities. The nonlinearities N(sigma) are assumed to violate the standard LQ robustness condition either for values of sigma away from sigma = 0, or in a neighborhood of sigma = 0. The cases with an exponentially stable state estimator, and an estimator with ultimately bounded estimation error are considered, and expressions are obtained for the regions of attraction and ultimate boundedness.

Joshi, S. M.↗

Direct model reference adaptive control with application to flexible robots

A modification to a direct command generator tracker-based model reference adaptive control (MRAC) system is suggested in this paper. This modification incorporates a feedforward into the reference model's output as well as the plant's output. Its purpose is to eliminate the bounded model following error present in steady state when previous MRAC systems were used. The algorithm was evaluated using the dynamics for a single-link flexible-joint arm. The results of these simulations show a response with zero steady state model following error. These results encourage further use of MRAC for various types of nonlinear plants.

Steinvorth, Rodrigo↗

Fluorescence Studies of Protein Crystal Nucleation

We have postulated that, in the case of tetragonal chicken egg white lysozyme, crystal growth occurs by the addition of pre-critical nuclei sized n-mers that form in the bulk solution, and that the n-mer growth units were multiples of the tetrameric 4(sub 3) helical structure. These have the strongest intermolecular bonds in the crystal and are therefore likely to be the first species formed. High resolution AFM studies provide strong supporting evidence for this model, but the data also suggest that the actual species in solution may not be identical in structure to that found in the crystal. We are using fluorescence resonance energy transfer (FRET) to study the initial solution phase self-assembly process, using covalent fluorescent derivatives which crystallize in the characteristic P4(sub 3)2(sub 1)2(sub 1) space group. FRET studies are being carried out between the cascade blue (CB-lys, donor, Ex(sub max) 366 nm, Em 420 nm) and lucifer yellow (LY-lys, acceptor, Ex(sub max) 430 nm, Em 528 nm) asp101 derivatives. The estimated R(sub 0) for this probe pair, the distance where 50% of the donor energy is transferred to the acceptor, is approx. 1.2 nm, compared to 2.2 nm between the side chain carboxyls of adjacent asp101's in the crystalline 4(sub 3) helix. The short donor lifetime of 2.80 ns (chi(sup 2) = 0.644), coupled with the large average distances between the molecules (greater than or equal to 50 nm) in solution, ensure that any energy transfer observed is not due to random diffusive interactions. Lifetime data show that CB-lys has a single lifetime when it is the only species in solution. Similarly, LY-lys also exhibits a single lifetime of 4.63 ns (chi(sup 2) = 0.42) when alone in solution. Addition of LY-lys to CB-lys results in the appearance of a third lifetime component of 0.348ns for the CB-lys. The fractional intensities of the different species present can be used to estimate the distribution of monomer and n-mers in solution. The self-association process is a function of the protein concentration relative to the saturation concentration, and observing it in dilute solution (conc. less than or equal to 10(exp -5)M) requires that the experiments be performed under low solubility conditions, i.e., low temperatures and high salt concentrations. Data from preliminary steady state FRET studies with N-terminal bound pyrene acetic acid (PAA-lys, donor, Ex 340 nm, Em 376 nm) and asp101 LY-lys as an acceptor showed a consistent trend of decreasing donor fluorescence intensity with increasing total protein concentration. The FRET data have been obtained at pH 4.6, 0.1M NaAc buffer, at 5 and 7% NaCl, 4 C. The corresponding C(sub sat) values are 0.471 and 0.362 mg/ml (approx. 3.3 and approx. 2.5 x 10(exp -5)M respectively). The donor fluorescence decrease is more pronounced at7% NaCl, consistent with the expected increased intermolecular interactions at higher salt concentrations as reflected in the lower solubility. Results from these and other ongoing studies will be discussed in conjunction with an emerging model for how tetragonal lysozyme crystals nucleate and the relevance of that model to other proteins.

Pusey, Marc↗

Conical-Domain Model for Estimating GPS Ionospheric Delays

The conical-domain model is a computational model, now undergoing development, for estimating ionospheric delays of Global Positioning System (GPS) signals. Relative to the standard ionospheric delay model described below, the conical-domain model offers improved accuracy. In the absence of selective availability, the ionosphere is the largest source of error for single-frequency users of GPS. Because ionospheric signal delays contribute to errors in GPS position and time measurements, satellite-based augmentation systems (SBASs) have been designed to estimate these delays and broadcast corrections. Several national and international SBASs are currently in various stages of development to enhance the integrity and accuracy of GPS measurements for airline navigation. In the Wide Area Augmentation System (WAAS) of the United States, slant ionospheric delay errors and confidence bounds are derived from estimates of vertical ionospheric delay modeled on a grid at regularly spaced intervals of latitude and longitude. The estimate of vertical delay at each ionospheric grid point (IGP) is calculated from a planar fit of neighboring slant delay measurements, projected to vertical using a standard, thin-shell model of the ionosphere. Interpolation on the WAAS grid enables estimation of the vertical delay at the ionospheric pierce point (IPP) corresponding to any arbitrary measurement of a user. (The IPP of a given user s measurement is the point where the GPS signal ray path intersects a reference ionospheric height.) The product of the interpolated value and the user s thin-shell obliquity factor provides an estimate of the user s ionospheric slant delay. Two types of error that restrict the accuracy of the thin-shell model are absent in the conical domain model: (1) error due to the implicit assumption that the electron density is independent of the azimuthal angle at the IPP and (2) error arising from the slant-to-vertical conversion. At low latitudes or at mid-latitudes under disturbed conditions, the accuracy of SBAS systems based upon the thin-shell model suffers due to the presence of complex ionospheric structure, high delay values, and large electron density gradients. Interpolation on the vertical delay grid serves as an additional source of delay error. The conical-domain model permits direct computation of the user s slant delay estimate without the intervening use of a vertical delay grid. The key is to restrict each fit of GPS measurements to a spatial domain encompassing signals from only one satellite. The conical domain model is so named because each fit involves a group of GPS receivers that all receive signals from the same GPS satellite (see figure); the receiver and satellite positions define a cone, the satellite position being the vertex. A user within a given cone evaluates the delay to the satellite directly, using (1) the IPP coordinates of the line of sight to the satellite and (2) broadcast fit parameters associated with the cone. The conical-domain model partly resembles the thin-shell model in that both models reduce an inherently four-dimensional problem to two dimensions. However, unlike the thin-shell model, the conical domain model does not involve any potentially erroneous simplifying assumptions about the structure of the ionosphere. In the conical domain model, the initially four-dimensional problem becomes truly two-dimensional in the sense that once a satellite location has been specified, any signal path emanating from a satellite can be identified by only two coordinates; for example, the IPP coordinates. As a consequence, a user s slant-delay estimate converges to the correct value in the limit that the receivers converge to the user s location (or, equivalently, in the limit that the measurement IPPs converge to the user s IPP).

Sparks, Lawrence↗

Powered Descent Guidance with General Thrust-Pointing Constraints

The Powered Descent Guidance (PDG) algorithm and software for generating Mars pinpoint or precision landing guidance profiles has been enhanced to incorporate thrust-pointing constraints. Pointing constraints would typically be needed for onboard sensor and navigation systems that have specific field-of-view requirements to generate valid ground proximity and terrain-relative state measurements. The original PDG algorithm was designed to enforce both control and state constraints, including maximum and minimum thrust bounds, avoidance of the ground or descent within a glide slope cone, and maximum speed limits. The thrust-bound and thrust-pointing constraints within PDG are non-convex, which in general requires nonlinear optimization methods to generate solutions. The short duration of Mars powered descent requires guaranteed PDG convergence to a solution within a finite time; however, nonlinear optimization methods have no guarantees of convergence to the global optimal or convergence within finite computation time. A lossless convexification developed for the original PDG algorithm relaxed the non-convex thrust bound constraints. This relaxation was theoretically proven to provide valid and optimal solutions for the original, non-convex problem within a convex framework. As with the thrust bound constraint, a relaxation of the thrust-pointing constraint also provides a lossless convexification that ensures the enhanced relaxed PDG algorithm remains convex and retains validity for the original nonconvex problem. The enhanced PDG algorithm provides guidance profiles for pinpoint and precision landing that minimize fuel usage, minimize landing error to the target, and ensure satisfaction of all position and control constraints, including thrust bounds and now thrust-pointing constraints.

Carson, John M., III↗

ASPIRE Aerodynamic Models and Flight Performance

The Advanced Supersonic Parachute Inflation Research Experiments (ASPIRE) project waslaunched to develop the capability for testing supersonic parachutes at Mars-relevant conditions.Three initial parachute tests, targeted as a risk-reduction activity for NASA's upcoming Mars2020 mission, successfully tested two candidate parachute designs and provided valuable data onparachute inflation, forces, and aerodynamic behavior. Design of the flight tests depended onflight mechanics simulations which in turn required aerodynamic models for the payload, andthe parachute. Computational Fluid Dynamics (CFD) was used to generate these models preflightand they are compared against the flight data after the tests. For the payload, thereconstructed aerodynamic behavior is close to the pre-flight predictions, but the uncertaintiesin the reconstructed data are high due to the low dynamic pressures and accelerations duringthe flight period of comparison. For the parachute, the predicted time to inflation agrees wellwith the pre-flight model; the peak aerodynamic force and the steady state drag on the parachuteare within the bounds of the pre-flight models, even as the models over-predict the parachutedrag at supersonic Mach numbers. Notably, the flight data do not show the transonic dragdecrease predicted by the pre-flight model. The ASPIRE flight tests provide previouslyunavailable valuable data on the performance of a large full-scale parachute behind a slenderleading body at Mars-relevant Mach number, dynamic pressure and parachute loads. TheASPIRE results are used to propose a new model for the parachute drag behind slender bodiesto aid future experiments.

Muppidi, Suman↗

ASPIRE Aerodynamic Models and Flight Performance

The Advanced Supersonic Parachute Inflation Research Experiments (ASPIRE) project waslaunched to develop the capability for testing supersonic parachutes at Mars-relevant conditions.Three initial parachute tests, targeted as a risk-reduction activity for NASA's upcomingMars2020 mission, successfully tested two candidate parachute designs and provided valuabledata on parachute inflation, forces, and aerodynamic behavior. Design of the flight tests dependedon flight mechanics simulations which in turn required aerodynamic models for the payload, andthe parachute. Computational Fluid Dynamics (CFD) was used to generate these models preflightand are compared against the flight data after the tests. For the payload, the reconstructedaerodynamic behavior is close to the pre-flight predictions, but the uncertainties in thereconstructed data are high due to the low dynamic pressures and accelerations during the flightperiod of comparison. For the parachute, the predicted time to inflation agrees well with the preflightmodel; the peak aerodynamic force and the steady state drag on the parachute are withinthe bounds of the pre-flight models, even as the models over-predict the parachute drag atsupersonic Mach numbers. Notably, the flight data does not show the transonic drag decreasepredicted by the pre-flight model. The ASPIRE flight tests provide previously unavailablevaluable data on the performance of a large full-scale parachute behind a slender leading bodyat Mars-relevant Mach number, dynamic pressure and parachute loads. This data is used topropose a new model for the parachute drag behind slender bodies to aid future experiments.

Muppidi, Suman↗

Asynchronous quadratic control for constrained hidden markov jump linear systems with incomplete MTPM and MOCPM

Abstract This paper investigates the quadratic optimal control problem for constrained Markov jump linear systems with incomplete mode transition probability matrix (MTPM). Considering original system mode is not accessible, observed mode is utilized for asynchronous controller design where mode observation conditional probability matrix (MOCPM), which characterizes the emission between original modes and observed modes is assumed to be partially known. An LMI optimization problem is formulated for such constrained hidden Markov jump linear systems with incomplete MTPM and MOCPM. Based on this, a feasible state-feedback controller can be designed with the application of free-connection weighting matrix method. The desired controller, dependent on observed mode, is an asynchronous one which can minimize the upper bound of quadratic cost and satisfy restrictions on system states and control variables. Furthermore, clustering observation where observed modes recast into several clusters, is explored for simplifying the computational complexity. Numerical examples are provided to illustrate the validity.

Zhu, Jin↗

Real-Time System Verification by Kappa-Induction

We report the first formal verification of a reintegration protocol for a safety-critical, fault-tolerant, real-time distributed embedded system. A reintegration protocol increases system survivability by allowing a node that has suffered a fault to regain state consistent with the operational nodes. The protocol is verified in the Symbolic Analysis Laboratory (SAL), where bounded model checking and decision procedures are used to verify infinite-state systems by k-induction. The protocol and its environment are modeled as synchronizing timeout automata. Because k-induction is exponential with respect to k, we optimize the formal model to reduce the size of k. Also, the reintegrator's event-triggered behavior is conservatively modeled as time-triggered behavior to further reduce the size of k and to make it invariant to the number of nodes modeled. A corollary is that a clique avoidance property is satisfied.

Pike, Lee S.↗

Upper-Bound Estimates Of SEU in CMOS

Theory of single-event upsets (SEU) (changes in logic state caused by energetic charged subatomic particles) in complementary metal oxide/semiconductor (CMOS) logic devices extended to provide upper-bound estimates of rates of SEU when limited experimental information available and configuration and dimensions of SEU-sensitive regions of devices unknown. Based partly on chord-length-distribution method.

Edmonds, Larry D.↗

Effects of cosine tapering window on quantum phase estimation

Here, we provide a modification to the quantum phase estimation algorithm (QPEA) [Abrams and Lloyd, Phys. Rev. Lett. 83, 5162 (1999); Cleve et al., Proc. R. Soc. A 454, 339 (1998); Nielsen and Chuang, Quantum computation and quantum information, 2002.] inspired by classical windowing methods for spectral density estimation. From this modification we obtain an upper bound in the cost that implies a cubic improvement with respect to the algorithm's error rate. Numerical evaluation of the costs also demonstrates an improvement. Moreover, with similar techniques, we detail an iterative projective measurement method for ground state preparation that gives an exponential improvement over previous bounds using QPEA. Numerical tests that confirm the expected scaling behavior are also obtained. For these numerical tests we have used a lattice Thirring model as testing ground. Using well-known perturbation theory results, we also show how to more appropriately estimate the cost scaling with respect to state error instead of evolution operator error.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Revealing the atomic and electronic mechanism of human manganese superoxide dismutase product inhibition

Human manganese superoxide dismutase (MnSOD) is a crucial oxidoreductase that maintains the vitality of mitochondria by converting superoxide (O 2 •– ) to molecular oxygen (O 2 ) and hydrogen peroxide (H 2 O 2 ) with proton-coupled electron transfers (PCETs). Human MnSOD has evolved to be highly product inhibited to limit the formation of H 2 O 2 , a freely diffusible oxidant and signaling molecule. The product-inhibited complex is thought to be composed of a peroxide (O 2 2– ) or hydroperoxide (HO 2 – ) species bound to Mn ion and formed from an unknown PCET mechanism. PCET mechanisms of proteins are typically not known due to difficulties in detecting the protonation states of specific residues that coincide with the electronic state of the redox center. To shed light on the mechanism, we combine neutron diffraction and X-ray absorption spectroscopy of the product-bound, trivalent, and divalent states of the enzyme to reveal the positions of all the atoms, including hydrogen, and the electronic configuration of the metal ion. The data identifies the product-inhibited complex, and a PCET mechanism of inhibition is constructed.

59 BASIC BIOLOGICAL SCIENCES↗

Estimation Filter for Alignment of the Spitzer Space Telescope

A document presents a summary of an onboard estimation algorithm now being used to calibrate the alignment of the Spitzer Space Telescope (formerly known as the Space Infrared Telescope Facility). The algorithm, denoted the S2P calibration filter, recursively generates estimates of the alignment angles between a telescope reference frame and a star-tracker reference frame. At several discrete times during the day, the filter accepts, as input, attitude estimates from the star tracker and observations taken by the Pointing Control Reference Sensor (a sensor in the field of view of the telescope). The output of the filter is a calibrated quaternion that represents the best current mean-square estimate of the alignment angles between the telescope and the star tracker. The S2P calibration filter incorporates a Kalman filter that tracks six states - two for each of three orthogonal coordinate axes. Although, in principle, one state per axis is sufficient, the use of two states per axis makes it possible to model both short- and long-term behaviors. Specifically, the filter properly models transient learning, characteristic times and bounds of thermomechanical drift, and long-term steady-state statistics, whether calibration measurements are taken frequently or infrequently. These properties ensure that the S2P filter performance is optimal over a broad range of flight conditions, and can be confidently run autonomously over several years of in-flight operation without human intervention.

Bayard, David↗

QCD Constraints on Isospin-Dense Matter and the Nuclear Equation of State

Understanding the behavior of dense hadronic matter is a central goal in nuclear physics as it governs the nature and dynamics of astrophysical objects such as supernovae and neutron stars. Because of the nonperturbative nature of quantum chromodynamics (QCD), little is known rigorously about hadronic matter in these extreme conditions. Here, lattice QCD calculations are used to compute thermodynamic quantities and the equation of state of QCD over a wide range of isospin chemical potentials with controlled systematic uncertainties. Agreement is seen with chiral perturbation theory when the chemical potential is small. Comparison to perturbative QCD at large chemical potential allows for an estimate of the gap in the superconducting phase, and this quantity is seen to agree with perturbative determinations. Since the partition function for an isospin chemical potential μ I bounds the partition function for a baryon chemical potential μ B = 3 μ I / 2 , these calculations also provide rigorous nonperturbative QCD bounds on the symmetric nuclear matter equation of state over a wide range of baryon densities for the first time. Published by the American Physical Society 2025

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Bounding filters in the presence of inexactly known parameters.

Optimum bounding filters are derived for a specific version (steady state time-invariant with scalar observations) of the Kalman-Bucy filtering problem with inexactly known system parameters and for the Wiener filtering problem with inexactly known spectral densities. The designed filter obtains a bound on the actual error covariance which is not known, and it also prevents apparent divergence. Conditions are derived for the design of the optimum bounding filter within a permissible class of solutions; this turns out to be the min-max mean-square error filter for an extended class of solutions. The bounding filter can be of lower order than the original system, and a technique is devised for reducing the order of the filtering system and concurrently obtaining a figure of merit for its performance.

Nahi, N. E.↗

Structural snapshots of base excision by the cancer-associated variant MutY N146S reveal a retaining mechanism

Abstract DNA glycosylase MutY plays a critical role in suppression of mutations resulted from oxidative damage, as highlighted by cancer-association of the human enzyme. MutY requires a highly conserved catalytic Asp residue for excision of adenines misinserted opposite 8-oxo-7,8-dihydroguanine (OG). A nearby Asn residue hydrogen bonds to the catalytic Asp in structures of MutY and its mutation to Ser is an inherited variant in human MUTYH associated with colorectal cancer. We captured structural snapshots of N146S Geobacillus stearothermophilus MutY bound to DNA containing a substrate, a transition state analog and enzyme-catalyzed abasic site products to provide insight into the base excision mechanism of MutY and the role of Asn. Surprisingly, despite the ability of N146S to excise adenine and purine (P) in vitro, albeit at slow rates, N146S-OG:P complex showed a calcium coordinated to the purine base altering its conformation to inhibit hydrolysis. We obtained crystal structures of N146S Gs MutY bound to its abasic site product by removing the calcium from crystals of N146S-OG:P complex to initiate catalysis in crystallo or by crystallization in the absence of calcium. The product structures of N146S feature enzyme-generated β-anomer abasic sites that support a retaining mechanism for MutY-catalyzed base excision.

59 BASIC BIOLOGICAL SCIENCES↗