Approximations to optimal non-linear filters.
Finite dimensional approximations of optimal nonlinear filters for class of large-noise, nonlinear, continuous-time problems
SIGNAL PROCESSING↗
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Basic studies in space vehicle attitude control Semiannual status report, Dec. 1966 - Dec. 1967
Nonlinear optimal attitude control of planet pointing space vehicles, and optimal control of satellite trajectories
Cannon, R. H., Jr.↗
A design study for an optimal non-linear receiver/demodulator Final report
Design study for optimal nonlinear receiver demodulator
Bucy, R. S.↗
An adaptive technique for a redundant-sensor navigation system.
An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. This adaptive system is structured as a multistage stochastic process of detection, identification, and compensation. It is shown that the detection system can be effectively constructed on the basis of a design value, specified by mission requirements, of the unknown parameter in the actual system, and of a degradation mode in the form of a constant bias jump. A suboptimal detection system on the basis of Wald's sequential analysis is developed using the concept of information value and information feedback. The developed system is easily implemented, and demonstrates a performance remarkably close to that of the optimal nonlinear detection system. An invariant transformation is derived to eliminate the effect of nuisance parameters such that the ambiguous identification system can be reduced to a set of disjoint simple hypotheses tests. By application of a technique of decoupled bias estimation in the compensation system the adaptive system can be operated without any complicated reorganization.
Chien, T.-T.↗
Estimation for bilinear stochastic systems
Three techniques for the solution of bilinear estimation problems are presented. First, finite dimensional optimal nonlinear estimators are presented for certain bilinear systems evolving on solvable and nilpotent lie groups. Then the use of harmonic analysis for estimation problems evolving on spheres and other compact manifolds is investigated. Finally, an approximate estimation technique utilizing cumulants is discussed.
Willsky, A. S.↗
Four-dimensional guidance problem with control delays
This paper, assuming steady wind and zero sideslip, presents a discrete-time mathematical model to obtain a control law and three-dimensional flight path to guide an aircraft in a given time from a given initial state (position, velocity and heading) to a prescribed final state subject to the constraints on airspeed acceleration, and pitch and bank angles of the aircraft. For ease in implementing the control law, the control inputs are assumed to be delayed and are applied in a sequential fashion. The guidance problem is formulated as a discrete nonlinear optimal control problem with time delays in dynamics and a cost functional of Bolza form. With a quadratic penalty function to handle terminal constraints on velocity and heading, a solution technique to the control problem based on conjugate gradient algorithm is investigated. Numerical examples are presented to illustrate the applicability of this approach to solution of a terminal area guidance problem in an automated air traffic control environment.
Nagarajan, N.↗
Alternatives for Jet Engine Control
Approaches are developed as alternatives to current design methods which rely heavily on linear quadratic and Riccati equation methods. The main alternatives are discussed in two broad categories, local multivariable frequency domain methods and global nonlinear optimal methods.
Leake, R. J.↗
Numerical simulation of dynamics of brushless dc motors for aerospace and other applications. Volume 1: Model development and applications, part A
The development, fabrication and evaluation of a prototype electromechanical actuator (EMA) is discussed. Application of the EMA as a motor for control surfaces in aerospace flight is examined. A mathematical model of the EMA is developed for design optimization. Nonlinearities which complicate the mathematical model are discussed. The dynamics of the EMA from the underlying physical principles are determined and a discussion of similating the control logic by means of equivalent boolean expressions is presented.
Demerdash, N. A. O.↗
Surface tension-driven convections
The study of time-dependent flows generated by surface-tension gradients in thin liquid layers is reported. Numerical techniques for dealing with the complete float-zone process were investigated. In particular, finite element methods with fast iterative procedures, using multipoint constraints and nonlinear optimization were examined.
Ostrach, S.↗
Ozone profiling from backscattered UV radiance measurements A new procedure
This paper presents a data analysis technique that has been developed to support a stratospheric ozone measurement and profiling program. The data consist of solar backscattered UV radiation monitored by a spacecraft. The output consists of ozone mixing ratio profiles complete with error bars throughout the atmosphere. The technique is based upon principles of nonlinear optimal estimation. It provides a number of desirable features that have not been available together in any previously constructed technique for the problem. Iteration on both radiation measurements and total ozone measurements is among these features.
Whitney, C. K.↗
Aerodynamics of an airfoil with a jet issuing from its surface
A simple, two dimensional, incompressible and inviscid model for the problem posed by a two dimensional wing with a jet issuing from its lower surface is considered and a parametric analysis is carried out to observe how the aerodynamic characteristics depend on the different parameters. The mathematical problem constitutes a boundary value problem where the position of part of the boundary is not known a priori. A nonlinear optimization approach was used to solve the problem, and the analysis reveals interesting characteristics that may help to better understand the physics involved in more complex situations in connection with high lift systems.
Tavella, D. A.↗
Digital detection and processing of laser beacon signals for aircraft collision hazard warning
A low-cost collision hazard warning system suitable for implementation in both general and commercial aviation is presented. Laser beacon systems are used as sources of accurate relative position information that are not dependent on communication between aircraft or with the ground. The beacon system consists of a rotating low-power laser beacon, detector arrays with special optics for wide angle acceptance and filtering of solar background light, microprocessors for proximity and relative trajectory computation, and pilot displays of potential hazards. The laser beacon system provides direct measurements of relative aircraft positions; using optimal nonlinear estimation theory, the measurements resulting from the current beacon sweep are combined with previous data to provide the best estimate of aircraft proximity, heading, minimium passing distance, and time to closest approach.
Sweet, L. M.↗
A robust Feasible Directions algorithm for design synthesis
A nonlinear optimization algorithm is developed which combines the best features of the Method of Feasible Directions and the Generalized Reduced Gradient Method. This algorithm utilizes the direction-finding sub-problem from the Method of Feasible Directions to find a search direction which is equivalent to that of the Generalized Reduced Gradient Method, but does not require the addition of a large number of slack variables associated with inequality constraints. This method provides a core-efficient algorithm for the solution of optimization problems with a large number of inequality constraints. Further optimization efficiency is derived by introducing the concept of infrequent gradient calculations. In addition, it is found that the sensitivity of the optimum design to changes in the problem parameters can be obtained using this method without the need for second derivatives or Lagrange multipliers. A numerical example is given in order to demonstrate the efficiency of the algorithm and the sensitivity analysis.
Vanderplaats, G. N.↗
WARC and CCIR support for spectrum-orbit planning
Papers prepared for the use of the U.S. delegation to the 1979 World Administrative Radio Conference; papers contributed to the National CCIR study groups on broadcasting satellites and spectrum-orbit utilization; responses to specific requests for technical analyses and evaluations; and papers presented at technical conferences on related topics are presented. Nonlinear optimization methods for finding optimum positions of satellites in the fixed satellite service; the effects of geography on the use of the geostationary orbit; intercontinental orbit sharing; traffic coordination in interfering satellites operating in the fixed satellite service; and domestic fixed and broadcasting satellite systems are covered. A possible channel orbit plan for broadcasting satellite service in the U.S. and Canada; polarization for broadcasting satellite systems; and the communication capacity of the geostationary satellite orbit are also examined.
Sawitz, P. H.↗
Inversion of vegetation canopy reflectance models for estimating agronomic variables. I - Problem definition and initial results using the Suits model
An important but relatively uninvestigated problem in remote sensing is the inversion of vegetative canopy reflectance models to obtain agrophysical parameters, given measured reflectances. The problem is here formally defined and its solution outlined. Numerical nonlinear optimization techniques are used to implement this inversion to obtain the leaf area index using Suits' canopy reflectance model. The results for a variety of cases indicate that this can be done successfully using infrared reflectances at different views or azimuth angles or a combination thereof. The other parameters of the model must be known, although reasonable measurement errors can be tolerated without seriously degrading the accuracy of the inversion. The application of the technique to ground based remote-sensing experiments is potentially useful, but is limited to the degree to which the canopy reflectance model can accurately predict observed reflectances.
Goel, N.↗
Dynamic sensing of 6-axis external force and moment applied to a robot end
A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.
Yokota, Masaru Uchiyama↗
A connectionist model for diagnostic problem solving
A competition-based connectionist model for solving diagnostic problems is described. The problems considered are computationally difficult in that (1) multiple disorders may occur simultaneously and (2) a global optimum in the space exponential to the total number of possible disorders is sought as a solution. The diagnostic problem is treated as a nonlinear optimization problem, and global optimization criteria are decomposed into local criteria governing node activation updating in the connectionist model. Nodes representing disorders compete with each other to account for each individual manifestation, yet complement each other to account for all manifestations through parallel node interactions. When equilibrium is reached, the network settles into a locally optimal state. Three randomly generated examples of diagnostic problems, each of which has 1024 cases, were tested, and the decomposition plus competition plus resettling approach yielded very high accuracy.
Peng, Yun↗
Self-calibration of robot-sensor system
The process of finding the coordinate transformation between a robot and an external sensor system has been addressed. This calibration is equivalent to solving a nonlinear optimization problem for the parameters that characterize the transformation. A two-step procedure is herein proposed for solving the problem. The first step involves finding a nominal solution that is a good approximation of the final solution. A varational problem is then generated to replace the original problem in the next step. With the assumption that the variational parameters are small compared to unity, the problem that can be more readily solved with relatively small computation effort.
Yeh, Pen-Shu↗