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A class of finite-state, finite-memory stochastic control problems is considered. A minimum principle is derived. Signaling strategies are defined and related to the necessary conditions of the minimum principle. Min-H algorithms for the problem are described.
An optimality criterion (OC) method for minimum-weight design of structures having multiple constraints on natural frequencies is presented. In this work a new resizing strategy is developed based on relaxation techniques. A computationally adaptive control parameter is used in conjunction with existing OC recursive formulae to promote convergence of optimum structural designs. Some considerations regarding the coupling of the modified Aitken accelerator with the OC method are discussed. Improved and rapidly converged minimum-weight designs are obtained when using an under-relaxed recursive scheme combined with the modified Aitken accelerator.
Recent interest in oblique-wing aircraft has focused on the potential aerodynamic performance advantage of a variable-skew oblique wing over a conventional or symmetric sweep wing. Unfortunately, the resulting asymmetric configuration has significant aerodynamic and inertial cross-coupling between the aircraft longitudinal and lateral-directional axes. Presented here is a decoupling control law synthesis technique that integrates stability augmentation, decoupling, and the direct incorporation of desired handling qualities into an output feedback controller. The proposed design technique uses linear quadratic regulator concepts in the framework of explicit model following. The output feedback strategy used is a suboptimal projection from the state space to the output space. Dynamics are then introduced into the controller to improve steady-state performance and increase system robustness. Closed-loop performance is shown by application of the control laws to the linearized equations of motion and nonlinear simulation of an oblique-wing aircraft.
Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.
Currently software engineers are the essential integrating factors tying several components together. The components consist of process, methods, computers, tools, support environments, and software engineers. The engineers today empower the tools versus the tools empowering the engineers. Some of the issues in software engineering are quality, managing the software engineering process, and productivity. A strategy to accomplish this is to promote the evolution of software engineering from an ad hoc, labor intensive activity to a managed, technology supported discipline. This strategy may be implemented by putting the process under management control, adopting appropriate methods, inserting the technology that provides automated support for the process and methods, collecting automated tools into an integrated environment and educating the personnel.
Data bases built from the source literature are plagued by problems of data quality. Unless the data acquisition is done by experts, working slowly, the data base may contain so much garbage that true signals and patterns cannot be detected. On the other hand, high quality data bases develop so slowly that satisfactory statistical analysis may never be possible due to the small sample sizes. Results of a test are presented of the opposite strategy: rapid data acquisition by non-experts with minimal control on data quality. A published list of 186 species and genera of fossil invertibrates of the latest Cretaceous Age (Maestrichtian) were located through a random search of the paleobiological and geological literature. The geographic location for each faunal list was then transformed electronically to Maestrichtian latitude and longitude and the lists were further digested to identify the genera occurring in each ten-degree, latitude-longitude block. The geographical lists were clustered using the Otsuka similarity coefficient and a standard unweight-pair-group method. The resulting clusters are remarkably consistent geographically, indicating that a strong biogeographic signal is visible despite low-quality data. A further test evaluated the geographic pattern of end-Cretaceaous extinctions. All genera in the data base were compared with Sepkoski's compendium of time ranges of genera to determine which of the reported genera survived the Cretaceous mass extinction. In turn, extinction rates for the ten-degree, latitude-longitude blocks were mapped. The resulting distribution is readily interpretable as a robust pattern of the geography of the mass extinction. The study demonstrates that a low-quality data base, built rapidly, can provide a basis for meaningful analysis of past biotic events.
The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.
This chapter is concerned with two types of radiometric measurements essential to verify atmospheric correction algorithms and to calibrate vicariously satellite ocean color sensors. The first type is a photometric measurement of the direct solar beam to determine the optical thickness of the atmosphere. The intensity of the solar beam can be measured directly, or obtained indirectly from measurements of diffuse global upper hemispheric irradiance. The second type is a measurement of the solar aureole and sky radiance distribution using a CCD camera, or a scanning radiometer viewing in and perpendicular to the solar principal plane. From the two types of measurements, the optical properties of aerosols, highly variable in space and time, can be derived. Because of the high variability, the aerosol properties should be known at the time of satellite overpass. Atmospheric optics measurements, however, are not easy to perform at sea, from a ship or any platform. This complicates the measurement protocols and data analysis. Some instrumentation cannot be deployed at sea, and is limited to island and coastal sites. In the following, measurement protocols are described for radiometers commonly used to measure direct atmospheric transmittance and sky radiance, namely standard sun photometers, fast-rotating shadow-band radiometers, automated sky scanning systems, and CCD cameras. Methods and procedures to analyze and quality control the data are discussed, as well as proper measurement strategies for evaluation of atmospheric correction algorithms and satellite-derived ocean color.
Open loop edge blowing was demonstrated as an effective method for reducing the broad band and tonal components of the fluctuating surface pressure in open cavities. Closed loop has been successfully applied to low Mach number open cavities. Need to push actuators that are viable for closed loop control in bandwidth and output. Need a better understanding of the effects of control on the flow through detailed measurements so better actuation strategies can be developed.
Visual Impairment/Intracranial Pressure (VIIP) is a newly recognized risk at NASA. The VIIP project examines the effect of long-term exposure to microgravity on vision of crewmembers before and after they return to Earth. Diamox (acetazolamide) is a medication which is used to decrease intraocular pressure; however, it carries a 3% risk of kidney stones. Astronauts are at a higher risk of kidney stones during spaceflight and the use Diamox would only increase the risk; therefore alternative therapies were investigated. Histamine 2 (H2) antagonist acid blockers such as cimetidine, ranitidine, famotidine and nizatidine are typically used to relieve the symptoms of gastroesophageal reflux disease (GERD). H2 receptors have been found in the human visual system, which has led to research on the use of H2 antagonist blockers to control fluid production in the human eye. Another potential therapeutic strategy is targeted at aquaporins, which are water channels that help maintain fluid homeostasis. Aquaporin antagonists are also known to affect intracranial pressure which can in turn alter intraocular pressure. Studies on aquaporin antagonists suggest high potential for effective treatment. The primary objective of this investigation is to review existing research on alternate medications or therapy to significantly reduce intracranial and intraocular pressure. A literature review was conducted. Even though we do not have all the answers quite yet, a considerable amount of information was discovered, and findings were narrowed, which should allow for more conclusive answers to be found in the near future.
The NASA Glenn Research Center Environmental Effects and Coatings Branch is developing a passive coating for lunar dust mitigation. This simple, transparent, conductive coating will be capable of reducing lunar dust adhesion to surfaces and dissipating surface charge. Anticipated benefits include compatibility with active dust mitigation strategies, improved efficiency and performance of solar cells and thermal control surfaces, and protection of astronauts and equipment on the lunar surface.
It is the purpose of this study to demonstrate the viability and economy of Design- of-Experiments (DOE), to arrive at micro-secondary flow control installation designs that achieve optimal inlet performance for different mission strategies. These statistical design concepts were used to investigate the properties of "low unit strength" micro-effector installation. "Low unit strength" micro-effectors are micro-vanes, set a very low angle-of incidence, with very long chord lengths. They are designed to influence the neat wall inlet flow over an extended streamwise distance. In this study, however, the long chord lengths were replicated by a series of short chord length effectors arranged in series over multiple bands of effectors. In order to properly evaluate the performance differences between the single band extended chord length installation designs and the segmented multiband short chord length designs, both sets of installations must be optimal. Critical to achieving optimal micro-secondary flow control installation designs is the understanding of the factor interactions that occur between the multiple bands of micro-scale vane effectors. These factor interactions are best understood and brought together in an optimal manner through a structured DOE process, or more specifically Response Surface Methods (RSM).
This paper presents development of multi-input multi-output (MIMO) Generalized Pre-dictive Control (GPC) law and its application to reconfigurable control design in the event of actuator saturation. A Controlled Auto-Regressive Integrating Moving Average (CARIMA) model is used to describe the plant dynamics. The control law is derived using input-output description of the system and is also related to the state-space form of the model. The stability of the GPC control law without reconfiguration is first established using Riccati-based approach and state-space formulation. A novel reconfiguration strategy is developed for the systems which have actuator redundancy and are faced with actuator saturation type failure. An elegant reconfigurable control design is presented with stability proof. Several numerical examples are presented to demonstrate the application of various results.
This paper presents a modeling and control of aerostructure developed by lattice-based cellular materials/components. The proposed aerostructure concept leverages a building block strategy for lattice-based components which provide great adaptability to varying ight scenarios, the needs of which are essential for in- ight wing shaping control. A decentralized structural control design is proposed that utilizes discrete-time lumped mass transfer matrix method (DT-LM-TMM). The objective is to develop an e ective reduced order model through DT-LM-TMM that can be used to design a decentralized controller for the structural control of a wing. The proposed approach developed in this paper shows that, as far as the performance of overall structural system is concerned, the reduced order model can be as e ective as the full order model in designing an optimal stabilizing controller.
A fundamentally multidimensional convection scheme is described based on vector transient interpolation modeling rewritten in conservative control-volume form. Vector third-order upwinding is used as the basis of the algorithm; this automatically introduces important cross-difference terms that are absent from schemes using component-wise one-dimensional formulas. Third-order phase accuracy is good; this is important for coarse-grid large-eddy or full simulation. Potential overshoots or undershoots are avoided by using a recently developed universal limiter. Higher order accuracy is obtained locally, where needed, by the cost-effective strategy of adaptive stencil expansion in a direction normal to each control-volume face; this is controlled by monitoring the absolute normal gradient and curvature across the face. Higher (than third) order cross-terms do not appear to be needed. Since the wider stencil is used only in isolated narrow regions (near discontinuities), extremely high (in this case, seventh) order accuracy can be achieved for little more than the cost of a globally third-order scheme.
In this paper the control of the Lorenz system for both stabilization and tracking problems is studied via feedback linearization and differential flatness. By using the Rayleigh number as the control, only variable physically tunable, a barrier in the controllability of the system is incidentally imposed. This is reflected in the appearance of a singularity in the state transformation. Composite controllers that overcome this difficulty are designed and evaluated. The transition through the manifold defined by such a singularity is achieved by inducing a chaotic response within a boundary layer that contains it. Outside this region, a conventional feedback nonlinear control is applied. In this fashion, the authority of the control is enlarged to the whole. state space and the need for high control efforts is mitigated. In addition, the differential parametrization of the problem is used to track nonlinear functions of one state variable (single tracking) as well as several state variables (cooperative tracking). Control tasks that lead to integrable and non-integrable differential equations for the nominal flat output in steady-state are considered. In particular, a novel numerical strategy to deal with the non-integrable case is proposed. Numerical results validate very well the control design.
A primary mission of the International Space Station (ISS) is to provide a premier microgravity laboratory environment for conducting acceleration sensitive scientific research. In order to accomplish this goal, vibroacoustic disturbances caused by station activities that occur during the microgravity mode of operation, must be controlled. In addition to source isolation and other passive isolation methods, the ISS uses active isolation at the receiver, through the use of an Active Rack Isolation System (ARIS), as part of its overall vibration isolation strategy. A schematic diagram of a typical ARIS payload rack is shown. The ARIS isolation control system senses rack acceleration via three triaxial accelerometer heads and uses eight pushrod actuators to perform active vibration attenuation. Position sensors housed in the actuator assembly are used to sense the relative position between the rack and the station. Electrical power, data and other essential resources are routed through a set of umbilicals that interface with a passthrough panel at the bottom of the rack. A representative umbilical set is shown.
This paper describes an overview of our "Bioinspired Engineering of Exploration Systems for Mars" ( "BEES for Mars") project. The BEES approach distills selected biologically inspired strategies utilizing motion cues/optic flow, bioinspired pattern recognition, biological visual and neural control systems, bioinspired sensing and communication techniques, and birds of prey inspired search and track algorithmic systems. Unique capabilities so enabled, provide potential solutions to future autonomous robotic space and planetary mission applications. With the first series of tests performed in September 2003, August 2004 and September 2004, we have demonstrated the BEES technologies at the El Mirage Dry Lakebed site in the Mojave Desert using Delta Wing experimental prototypes. We call these test flyers the "BEES flyer", since we are developing them as dedicated test platform for the newly developed bioinspired sensors, processors and algorithmic strategies. The Delta Wing offers a robust airframe that can sustain high G launches and offers ease of compact stowability and packaging along with scaling to small size and low ReynOld's number performance for a potential Mars deployment. Our approach to developing light weight, low power autonomous flight systems using concepts distilled from biology promises to enable new applications, of dual use to NASA and DoD needs. Small in size (0.5 -5 Kg) BEES Flyers are demonstrating capabilities for autonomous flight and sensor operability in Mars analog conditions. The BEES project team spans JPL, NASA Ames, Australian National University (ANU), Brigham Young University(BYU), DC Berkeiey, Analogic Computers Inc. and other institutions. The highlights from our recent flight demonstrations exhibiting new Mission enabling capabilities are described. Further, this paper describes two classes of potential new missions for Mars exploration: (1) the long range exploration missions, and (2) observation missions, for real time imaging of critical ephemeral phenomena, that can be enabled by use of BEES flyers. For example, such flyers can serve as a powerful black-box for critical descent and landing data and enablers for improved science missions complementing and supplementing the existing assets like landers and rovers by providing valuable exploration and quick extended low-altitude aerial coverage of the sites of interest by imaging them and distributing instruments to them. Imaging done by orbiters allows broad surface coverage at limited spatial resolution. Low altitude air-borne exploration of Mars offers a means for imaging large areas, perhaps up to several hundred kilometers, quickly and efficiently, providing a close-up birds-eye view of the planetary terrain and close-up approach to constrained difficult areas like canyons and craters. A novel approach to low-mass yet highly capable flyers is enabled by small aircraft equipped using sensors and processors and algorithms developed using BEES technology. This project is focused towards showing the direct impact of blending the best of artificial intelligence attributes and bioinspiration to create a leap beyond existing capability for our future Missions.