Engineering topics
Publications and source records attributed to Milman, M..
Keck telescope is planning to utilize adaptive optics technology to improve the resolution of the instrument. Telescopes operating in the atmosphere are limited by the seeing conditions at the telescope observational site.
Existing and new mode shape expansion methods are presented within the framework of least squares minimization techniques with quadratic inequality constraints.
In this paper massively parallel algorithms and architectures for real-time wavefront control of a dense adaptive optic system (SELENE) are presented. We have already shown that the computation of a near optimal control algorithm for SELENE can be reduced to the solution of a discrete Poisson equation on a regular domain. Although this represents an optimal computation, due the large size of the system and the high sampling rate requirement, the implementation of this control algorithm poses a computationally challenging problem since it demands a sustained computational throughput of the order of 10 GFlops. We develop a novel algorithm, designated as Fast Invariant Imbedding algorithm, which offers a massive degree of parallelism with simple communication and synchronization requirements. Due to these features, our algorithm is significantly more efficient than other Fast Poisson Solvers for implementation on massively parallel architectures.
Several methods for mode shape expansion are investigated. Dynamic equations of motions are used to obtain direct solutions to the expanded eigenvectors.
SRT disturbances dominated by tip/tilt corrected through stiffening secondary support structure...wavefront compensation.
None Given. Article describes the integrated modeling tools necessary to predict the on-orbit performance of a Focus Mission Interferometer, which is representative of one of NASA's astrometric missions for extrasolar planet detection .
Structure and damper optimization problems driven by control objective metrics are developed for the optimal design of a testbed structure emulating a spaceborne interferometer. The structure optimization problem uses a multiobjective criterion to generate a family of optimized design that allows trades to be made between the competing objectives of minimizing structural mass and maximizing disturbance attenuation. The damper optimization problems focus on the placement and tuning of viscous elements to maximally damp selected modes of the testbed structure. The optimization techniques are verified on a large model of the testbed.
The underlying mathematical formulation and issues associated with integrated control, structure, and optical design are discussed. Topics addressed include the development of cost functionals, optimization in the vector objective setting, and computational aspects of the optimization problem with special emphasis on model reduction strategies. Results on simple design problems are presented.
An approach to combined control-structural optimization aimed at enhancing early design trade-offs is outlined and illustrated by numerical examples. The approach employs a homotopic strategy and is capable of generating families of designs that can be used in early trade studies. Analytical results are obtained for classes of structure/control objectives with LQG and LQR costs. For these, it is demonstrated that global optima can be computed for small values of the homotopy parameter.
A homotopy approach involving multiobjective functions is developed to outline the methods that have evolved for the combined control-structure optimization of physical systems encountered in the technology of large space structures. A method to effect a timely consideration of the control performance prior to the finalization of the structural design involves integrating the control and structural design processes into a unified design methodology that combines the two optimization problems into a single formulation. This study uses the combined optimization problem as a family of weighted structural and control costs. Connections with vector optimizations are described; an analysis of the zero-set of required conditions is made, and a numerical example is given.
An approach for combined control-structure optimization keyed to enhancing early design trade-offs is outlined and illustrated by numerical examples. The approach employs a homotopic strategy and appears to be effective for generating families of designs that can be used in these early trade studies. Analytical results were obtained for classes of structure/control objectives with linear quadratic Gaussian (LQG) and linear quadratic regulator (LQR) costs. For these, researchers demonstrated that global optima can be computed for small values of the homotopy parameter. Conditions for local optima along the homotopy path were also given. Details of two numerical examples employing the LQR control cost were given showing variations of the optimal design variables along the homotopy path. The results of the second example suggest that introducing a second homotopy parameter relating the two parts of the control index in the LQG/LQR formulation might serve to enlarge the family of Pareto optima, but its effect on modifying the optimal structural shapes may be analogous to the original parameter lambda.
To show the feasibility of simultaneous optimization as design procedure, low order problems were used in conjunction with simple control formulations. The numerical results indicate that simultaneous optimization is not only feasible, but also advantageous. Such advantages come at the expense of introducing complexities beyond those encountered in structure optimization alone, or control optimization alone. Examples include: larger design parameter space, optimization may combine continuous and combinatoric variables, and the combined objective function may be nonconvex. Future extensions to include large order problems, more complex objective functions and constraints, and more sophisticated control formulations will require further research to ensure that the additional complexities do not outweigh the advantages of simultaneous optimization. Some areas requiring more efficient tools than currently available include: multiobjective criteria and nonconvex optimization. Efficient techniques to deal with optimization over combinatoric and continuous variables, and with truncation issues for structure and control parameters of both the model space as well as the design space need to be developed.
This paper outlines the development of methods for the combined control-structure optimization of physical systems encountered in the technology of large space structures. The objective of the approach taken in this paper is not to produce the 'best' optimized design, but rather to efficiently produce a family of design options so as to asist in early trade studies, typically before hard design constraints are imposed. The philosophy is that these are candidate designs to be passed on for further consideration, and their function is more to guide the development of the system design rather than to represent the ultimate product. A homotopy approach involving multi-objective functions is developed for this purpose, and a numerical example is presented.
A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.