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Paradiso, Joseph

Publications and source records attributed to Paradiso, Joseph.

Is stochastic thermodynamics the key to understanding the energy costs of computation?

The relationship between the thermodynamic and computational properties of physical systems has been a major theoretical interest since at least the 19th century. It has also become of increasing practical importance over the last half-century as the energetic cost of digital devices has exploded. Importantly, real-world computers obey multiple physical constraints on how they work, which affects their thermodynamic properties. Moreover, many of these constraints apply to both naturally occurring computers, like brains or Eukaryotic cells, and digital systems. Most obviously, all such systems must finish their computation quickly, using as few degrees of freedom as possible. This means that they operate far from thermal equilibrium. Furthermore, many computers, both digital and biological, are modular, hierarchical systems with strong constraints on the connectivity among their subsystems. Yet another example is that to simplify their design, digital computers are required to be periodic processes governed by a global clock. None of these constraints were considered in 20th-century analyses of the thermodynamics of computation. The new field of stochastic thermodynamics provides formal tools for analyzing systems subject to all of these constraints. We argue here that these tools may help us understand at a far deeper level just how the fundamental thermodynamic properties of physical systems are related to the computation they perform.

computation

Steering law design for redundant single-gimbal control moment gyroscopes

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Bedrossian, Nazareth S.

Redundant single gimbal control moment gyroscope singularity analysis

The robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations. This analogy is used to group gimbal angles corresponding to any momentum state into different families. The singularity problem associated with these systems is examined in detail. In particular, a method is presented to test for the possibility of nontorque-producing gimbal motion at a singular configuration, as well as to determine the admissible motions in the case when this is possible. Sufficient conditions are derived for instances where the singular system can be reconfigured into a nonsingular state by these nontorque-producing motions.

Bedrossian, Nazareth S.

A computational algorithm for spacecraft control and momentum management

Developments in the area of nonlinear control theory have shown how coordinate changes in the state and input spaces of a dynamical system can be used to transform certain nonlinear differential equations into equivalent linear equations. These techniques are applied to the control of a spacecraft equipped with momentum exchange devices. An optimal control problem is formulated that incorporates a nonlinear spacecraft model. An algorithm is developed for solving the optimization problem using feedback linearization to transform to an equivalent problem involving a linear dynamical constraint and a functional approximation technique to solve for the linear dynamics in terms of the control. The original problem is transformed into an unconstrained nonlinear quadratic program that yields an approximate solution to the original problem. Two examples are presented to illustrate the results.

Dzielski, John

An approach to CMG steering using feedback linearization

This paper presents an approach for controlling spacecraft equipped with control moment gyroscopes. A technique from feedback linearization theory is used to transform the original nonlinear problem to an equivalent linear form without approximating assumptions. In this form, the spacecraft dynamics appear linearly, and are decoupled from redundancy in the system of gyroscopes. A general approach to distributing control effort among the available actuators is described which includes provisions for redistribution of rotors, explicit bounds in gimbal rates, and guaranteed operation at or near singular configurations. A particular algorithm is developed for systems of double-gimbal devices, and demonstrated in two examples for which existing approaches fail to give adequate performance.

Dzielski, John