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Numerical integration methods for the solution of initial value problems for ordinary vector differential equations may be modelled as discrete time feedback systems. The stability criteria discovered in modern control theory are applied to these systems and criteria involving the routine, the step size and the differential equation are derived. Linear multistep, Runge-Kutta, and predictor-corrector methods are all investigated.
Numerical integration methods for the solution of initial value problems for ordinary vector differential equations may be modelled as discrete time feedback systems. The stability criteria discovered in modern control theory are applied to these systems and criteria involving the routine, the step size and the differential equation are derived. Linear multistep, Runge-Kutta, and predictor-corrector methods are all investigated.
An analytical representation of a wind turbine generator is presented which employs blade pitch angle feedback control. A mathematical model was formulated. With the functioning MOD-0 wind turbine serving as a practical case study, results of computer simulations of the model as applied to the problem of dynamic stability at rated load are also presented. The effect of the tower shadow was included in the input to the system. Different configurations of the drive train, and optimal values of the tie line reactance were used in the simulations. Computer results revealed that a static excitation control system coupled with optimal values of the tie line reactance would effectively reduce oscillations of the power output, without the use of a slip clutch.
A model describing the turning-on period of a power switching transistor in an energy storage voltage step-up converter is presented. Comparisons between an experimental layout and the circuit model during the turning-on interval demonstrate the ability of the model to closely predict the effects of circuit topology on the performance of the converter. A phenomenon of particular importance that is observed in the experimental circuits and is predicted by the model is the deleterious feedback effect of the parasitic emitter lead inductance on the base current waveform during the turning-on interval.
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.
Some key results in the literature in the area of robustness analysis for linear feedback systems with structured model uncertainty are reviewed. Some new results are given. Model uncertainty is described as a combination of real uncertain parameters and norm bounded unmodeled dynamics. Here the focus is on the case of parametric uncertainty. An elementary and unified derivation of the celebrated theorem of Kharitonov and the Edge Theorem is presented. Next, an algorithmic approach for robustness analysis in the cases of multilinear and polynomic parametric uncertainty (i.e., the closed loop characteristic polynomial depends multilinearly and polynomially respectively on the parameters) is given. The latter cases are most important from practical considerations. Some novel modifications in this algorithm which result in a procedure of polynomial time behavior in the number of uncertain parameters is outlined. Finally, it is shown how the more general problem of robustness analysis for combined parametric and dynamic (i.e., unmodeled dynamics) uncertainty can be reduced to the case of polynomic parametric uncertainty, and thus be solved by means of the algorithm.
Techniques for the analysis of the dynamic interactions between airframe/engine dynamical systems are presented. Critical coupling terms are developed that determine the significance of these interactions with regard to the closed loop stability and performance of the feedback systems. A conceptual model is first used to indicate the potential sources of the coupling, how the coupling manifests itself, and how the magnitudes of these critical coupling terms are used to quantify the effects of the airframe/engine interactions. A case study is also presented involving an unstable airframe with thrust vectoring for attitude control. It is shown for this system with classical, decentralized control laws that there is little airframe/engine interaction, and the stability and performance with those control laws is not affected. Implications of parameter uncertainty in the coupling dynamics is also discussed, and effects of these parameter variations are also demonstrated to be small for this vehicle configuration.
An integrated flight/aeroelastic control law is developed analytically for a hypothetical large supersonic transport aircraft in which the first aeroelastic mode frequency of the fuselage (6 rad/sec) is near the short-period mode (2 rad/sec). The approach employed is based on a linear-quadratic-regulator (LQR) formulation (yielding model-following state-feedback gains), followed by asymptotic loop-transfer recovery of LQR robustness (to produce an output-feedback control law). The derivation is outlined, and numerical results comparing the performance and multivariate stability robustness of the present controller with those of a classical controller are presented in graphs. The two controllers are shown to have similar characteristics, even with respect to the sources of limitations on robustness.
A model is developed that provides a theoretical basis for previous numerical results showing a feedback instability with frequencies characteristic of Alfven travel times within the region of the large increase of Alfven speed above the ionosphere. These results have been extended to arbitrary ionospheric conductivity by developing a numerical solution of the cavity dispersion relation that involves Bessel functions of complex order and argument. It is concluded that the large contrast between the magnetospheric and ionospheric Alfven speed leads to the formation of resonant cavity modes with frequencies ranging from 0.1 to 1 Hz. The presence of the cavity leads to a modification of the reflection characteristics of Alfven waves with frequencies that compare to the cavity's normal modes.
A unified framework for the stability analysis of robot tracking control is presented. By using an energy-motivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete nonlinear dynamics, or linearized or nonlinear dynamics with parameter adaptation. As result, the dichotomous approaches to the robot control problem based on the open-loop linearization and nonlinear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a prior model information are derived.
Photodissociation regions are interstellar regions of predominantly neutral gas where the FUV radiation field plays a significant role in the chemistry and/or the heating. Photodissociation, grain attenuation of the FUV flux and grain photoelectric heating lead to copious emission of C II (158 microns), O I (63 microns), Si II (35 microns), C I (370,609 microns), H2 vibrotational and CO rotational transitions, and IR continuum. Theoretical models compared with observations diagnose such physical parameters as the density and temperature structure, the elemental abundances, and the FUV radiation field. Applications are made to Orion, M17 and galactic nuclei. Theoretical photodissociation models can explain the correlation in the C II (158 microns) and CO J = 1-0 emission and the correlation of the CO J = 1-0 luminosity with the molecular mass. Theoretical models also point to feedback mechanisms which may control the rate of star formation in galaxies and which may regulate the column density through giant molecular clouds.
The feasibility of using active controls to delay the onset of whirl-flutter on a joined-wing tilt rotor aircraft was investigated. The CAMRAD/JA code was used to obtain a set of linear differential equations which describe the motion of the joined-wing tilt-rotor aircraft. The hub motions due to wing/body motion is a standard input to CAMRAD/JA and were obtained from a structural dynamics model of a representative joined-wing tilt-rotor aircraft. The CAMRAD/JA output, consisting of the open-loop system matrices, and the airframe free vibration motion were input to a separate program which performed the closed-loop, active control calculations. An eigenvalue analysis was performed to determine the flutter stability of both open- and closed-loop systems. Sensor models, based upon the feedback of pure state variables and based upon hub-mounted sensors, providing physically measurable accelerations, were evaluated. It was shown that the onset of tilt-rotor whirl-flutter could be delayed from 240 to above 270 knots by feeding back vertical and span-wise accelerations, measured at the rotor hub, to the longitudinal cyclic pitch. Time response calculations at a 270-knot cruise condition showed an active cyclic pitch control level of 0.009 deg, which equates to a very acceptable 9 pound active-control force applied at the rotor hub.
The interactions between sea ice, open ocean, atmospheric radiation, and clouds over the Arctic Ocean exert a strong influence on global climate. Uncertainties in the formulation of interactive air-sea-ice processes in global climate models (GCMs) result in large differences between the Arctic, and global, climates simulated by different models. Arctic stratus clouds are not well-simulated by GCMs, yet exert a strong influence on the surface energy budget of the Arctic. Leads (channels of open water in sea ice) have significant impacts on the large-scale budgets during the Arctic winter, when they contribute about 50 percent of the surface fluxes over the Arctic Ocean, but cover only 1 to 2 percent of its area. Convective plumes generated by wide leads may penetrate the surface inversion and produce condensate that spreads up to 250 km downwind of the lead, and may significantly affect the longwave radiative fluxes at the surface and thereby the sea ice thickness. The effects of leads and boundary layer clouds must be accurately represented in climate models to allow possible feedbacks between them and the sea ice thickness. The FIRE III Arctic boundary layer clouds field program, in conjunction with the SHEBA ice camp and the ARM North Slope of Alaska and Adjacent Arctic Ocean site, will offer an unprecedented opportunity to greatly improve our ability to parameterize the important effects of leads and boundary layer clouds in GCMs.
The Aviation Safety Reporting System (ASRS) was established in 1976 under an agreement between the Federal Aviation Administration (FAA) and the National Aeronautics and Space Administration (NASA). This cooperative safety program invites pilots, air traffic controllers, flight attendants, maintenance personnel, and others to voluntarily report to NASA any aviation incident or safety hazard. The FAA provides most of the program funding. NASA administers the program, sets its policies in consultation with the FAA and aviation community, and receives the reports submitted to the program. The FAA offers those who use the ASRS program two important reporting guarantees: confidentiality and limited immunity. Reports sent to ASRS are held in strict confidence. More than 350,000 reports have been submitted since the program's beginning without a single reporter's identity being revealed. ASRS removes all personal names and other potentially identifying information before entering reports into its database. This system is a very successful, proof-of-concept for gathering safety data in order to provide timely information about safety issues. The ASRS information is crucial to aviation safety efforts both nationally and internationally. It can be utilized as the first step in safety by providing the direction and content to informed policies, procedures, and research, especially human factors. The ASRS process and procedures will be presented as one model of safety reporting feedback systems.
Human balance control is known to be transiently disrupted after spaceflight; however, the mechanisms responsible for postflight postural ataxia are still under investigation. In this report, we propose a conceptual model of vestibulospinal adaptation based on theoretical adaptive control concepts and supported by the results from a comprehensive study of balance control recovery after spaceflight. The conceptual model predicts that immediately after spaceflight the balance control system of a returning astronaut does not expect to receive gravity-induced afferent inputs and that descending vestibulospinal control of balance is disrupted until the central nervous system is able to cope with the newly available vestibular otolith information. Predictions of the model are tested using data from a study of the neurosensory control of balance in astronauts immediately after landing. In that study, the mechanisms of sensorimotor balance control were assessed under normal, reduced, and/or altered (sway-referenced) visual and somatosensory input conditions. We conclude that the adaptive control model accurately describes the neurobehavioral responses to spaceflight and that similar models of altered sensory, motor, or environmental constraints are needed clinically to predict responses that patients with sensorimotor pathologies may have to various visual-vestibular or changing stimulus environments.
We present schemes for real-time generalized interactions such as probing, piercing, cauterizing and ablating virtual tissues. These methods have been implemented in a robust, real-time (haptic rate) surgical simulation environment allowing us to model procedures including animal dissection, microsurgery, hysteroscopy, and cleft lip repair.
As a follow-up study to our recent assessment of the radiative effects of clouds on tropospheric chemistry, this paper presents an analysis of the sensitivity of such effects to cloud vertical distributions and optical properties in a global 3-D chemical transport model (GEOS4-Chem CTM). GEOS-Chem was driven with a series of meteorological archives (GEOS1-STRAT, GEOS-3 and GEOS-4) generated by the NASA Goddard Earth Observing System data assimilation system, which have significantly different cloud optical depths (CODs) and vertical distributions. Clouds in GEOS1-STRAT and GEOS-3 have more similar vertical distributions while those in GEOS-4 are optically much thinner in the tropical upper troposphere. We find that the radiative impact of clouds on global photolysis frequencies and hydroxyl radical (OH) is more sensitive to the vertical distribution of clouds than to the magnitude of column CODs. Model simulations with each of the three cloud distributions all show that the change in the global burden of O3 due to clouds is less than 5%. Model perturbation experiments with GEOS-3, where the magnitude of 3-D CODs are progressively varied by -100% to 100%, predict only modest changes (<5%) in global mean OH concentrations. J(O1D), J(NO2) and OH concentrations show the strongest sensitivity for small CODs and become insensitive at large CODs due to saturation effects. Caution should be exercised not to use in photochemical models a value for cloud single scattering albedo lower than about 0.999 in order to be consistent with the current knowledge of cloud absorption at the UV wavelength. Our results have important implications for model intercomparisons and climate feedback on tropospheric photochemistry.
The objective of the project is to develop an acoustic modeling capability, based on commercial off-the-shelf software, to be used as a tool for oversight of the future manned Constellation vehicles. The use of such a model will help ensure compliance with acoustic requirements. Also, this project includes modeling validation and development feedback via building physical mockups and conducting acoustic measurements to compare with the predictions.