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At least 91 records · Page 5

Design of model-reference adaptive control systems using Liapunov functions.

This paper considers the design of model-reference adaptive control systems using Liapunov functions. An adaption rule is developed analytically. This adaption rule results from the use of a Liapunov function which contains several positive semidefinite terms not included in previous references. The inclusion of these terms results in an adaption rule which is a function of the error, the plant states and the derivative and integral of these quantities. The adaption rule is applied to a simplified model of the Space Shuttle vehicle. Simulation results show that the maximum response error in the system is reduced by using this adaption rule.

Sutherlin, D. W.↗

Model reference adaptive control with an augmented error signal

It is shown how globally stable model reference adaptive control systems may be designed when one has access to only the plant's input and output signals. Controllers for single input-single output, nonlinear, nonautonomous plants are developed based on Lyapunov's direct method and the Meyer-Kalman-Yacubovich lemma. Derivatives of the plant output are not required, but are replaced by filtered derivative signals. An augmented error signal replaces the error normally used, which is defined as the difference between the model and plant outputs. However, global stability is assured in the sense that the normally used error signal approaches zero asymptotically.

Monopoli, R. V.↗

Model reference adaptive control using only input and output signals

It is shown how globally stable model reference adaptive control systems may be designed using only the plant's input and output signals. Controllers for single input-single output, nonlinear, nonautonomous plants are developed based on Liapunov's direct method and the Meyer-Kalman-Yacubovich lemma. Filtered derivatives of the plant output replace pure derivatives which are normally required in these systems. An augmented error signal replaces the error previously used which is the difference between the model and plant outputs. However, global stability is assured in the sense that this difference approaches zero asymptotically.

Monopoli, R. V.↗

Error magnitude estimation in model-reference adaptive systems

A second order approximation is derived from a linearized error characteristic equation for Lyapunov designed model-reference adaptive systems and is used to estimate the maximum error between the model and plant states, and the time to reach this peak following a plant perturbation. The results are applicable in the analysis of plants containing magnitude-dependent nonlinearities.

Colburn, B. K.↗

Development of a Reference Model for Molten-Salt-Cooled Pebble-Bed Reactor Using SAM

To support the development and utilization of the SAM code for fluoride-salt-cooled high-temperature pebble-bed reactor (PB-FHR) safety analysis and licensing, an effort was devoted to developing reference models for PB-FHR primary loop and the reactor cavity cooling system (RCCS). A reference standard problem of a prototypical reactor design is foundational to NRC and industry to verify the adequacy of computer codes and evaluation models for a specific reactor type. The SAM code was enhanced for the reference PB-FHR model development, including a 1D-3D flow coupling scheme and conjugate heat transfer between porous media and solid structures. The reference FHR primary loop model was developed based on the UC Berkeley Mk1 FHR design with additional design features from the Kairos Power’s KP-FHR core. The PB-FHR core is modeled by a two-dimensional porous medium while the rest of the primary loop is represented by a SAM one-dimensional model. A SAM one-dimensional primary loop model was also developed for comparison using a single channel approach for the reactor core. Furthermore, the water-based NSTF cavity was modeled using SAM multi-dimensional flow module, to assist in evaluating SAM capabilities of modeling the emergency heat removal systems relying on RCCS concepts.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Background stratospheric aerosol reference model

In this analysis, a reference background stratospheric aerosol optical model is developed based on the nearly global SAGE 1 satellite observations in the non-volcanic period from March 1979 to February 1980. Zonally averaged profiles of the 1.0 micron aerosol extinction for the tropics and the mid- and high-altitudes for both hemispheres are obtained and presented in graphical and tabulated form for the different seasons. In addition, analytic expressions for these seasonal global zonal means, as well as the yearly global mean, are determined according to a third order polynomial fit to the vertical profile data set. This proposed background stratospheric aerosol model can be useful in modeling studies of stratospheric aerosols and for simulations of atmospheric radiative transfer and radiance calculations in atmospheric remote sensing.

Mccormick, M. P.↗

Quantitative impact of changes in marrow cellularity, skeletal size, and bone mineral density on active marrow dosimetry based upon a reference model

Purpose The hematopoietically active tissues of skeletal bone marrow are a prime target for computational dosimetry given potential risks of leukemia and, at higher dose levels, acute marrow toxicity. The complex three‐dimensional geometry of trabecular spongiosa, however, complicates schema for dose assessment in such a way that only a few reference skeletal models have been developed to date, and which are based upon microimaging of a limited number of cadaveric bone spongiosa cores. The question then arises as to what degree of accuracy is achievable from reference skeletal dose models when applied to individual patients or specific exposed populations? Methods Patient variability in marrow dosimetry were quantified for three skeletal sites — the ribs, lumbar vertebrae, and cranium — for the beta‐emitters 45 Ca, 153 Sm, and 90 Y, and the alpha‐particle emitters 223 Ra, 219 Rn, and 215 Po, the latter two being the immediate progeny of the former. For each radionuclide and bone site, three patient parameters were altered from their values in the reference model: (1) bone size as a surrogate for patient stature, (2) marrow cellularity as a surrogate for age‐ or disease‐related changes in marrow adiposity, and (3) the trabecular bone volume fraction as a surrogate for bone mineral density. Marrow dose variability is expressed as percent differences in the radionuclide S value given by the reference model and the patient‐parameterized model. The impact of radionuclide biokinetics on marrow dosimetry was not considered. Results Variations in overall bone size play a very minor role in active marrow dose variability. Marrow cellularity is a significant factor in dose variability for active marrow self‐irradiation, but it plays no role for radionuclides localized to the trabecular bone matrix. Variations in trabecular bone volume fractions impact the active marrow dose variability for short‐range particle emitters 45 Ca, 223 Ra, 219 Rn, and 215 Po in the vertebrae and ribs, skeletal sites with small spongiosa proportions of trabecular bone. In the cranium, with its relative high proportion of trabecular bone, significant differences in marrow dosimetry from the reference model were noted for all radionuclides. Conclusions Skeletal models of active marrow dosimetry should be more fully parameterized to permit closer matching to patient bone density and marrow cellularity, particularly when considering short‐range particle emitters localized to either the bone trabeculae or active marrow, respectively.

Geyer, Amy M.↗

Discrete model reference adaptive systems with measurement noise

A digital computer simulation study is presented for a class of discrete model reference adaptive systems designed using Liapunov's direct method. Plant output measurements are assumed to contain uniformly distributed additive noise. It is shown that the design works well even when such noise is relatively extreme. A new result is presented pertaining to improving the convergence properties of these systems. This result is obtained by modifying the dynamic characteristics of the augmented error equation.

Monopoli, R. V.↗

Model reference adaptive systems some examples.

A direct design method is derived for several single-input single-output model reference adaptive systems (M.R.A.S.). The approach used helps to clarify the various steps involved in a design, which utilizes the hyperstability concept. An example of a multiinput, multioutput M.R.A.S. is also discussed. Attention is given to the problem of a series compensator. It is pointed out that a series compensator which contains derivative terms must generally be introduced in the adaptation mechanism in order to assure asymptotic hyperstability. Results obtained by the simulation of a M.R.A.S. on an analog computer are also presented.

Landau, I. D.↗

Simple method for model reference adaptive control

A simple method is presented for combined signal synthesis and parameter adaptation within the framework of model reference adaptive control theory. The results are obtained using a simple derivation based on an improved Liapunov function.

Seraji, H.↗

Direct model reference adaptive control of robotic arms

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Kaufman, Howard↗

Dataset describing two reference models for full-spectral lighting and daylight simulations together with implementations for two software systems

A dataset of two spectral lighting simulation reference models - one office and one factory hall - is presented. It aims to demonstrate and support full-spectral daylight and electric lighting simulations and facilitate evaluation of non-visual effects of light. The dataset includes Rhino CAD geometry, comprehensive spectral material and light source data and window system BSDF data. Example implementations in the two software tools, Radiance and OWL, enable reproducible workflows and support adoption in other software. The dataset is openly available on Zenodo. The office model reproduces Room 518 at the University of Innsbruck, including a west-facing façade and interior furnishings. The factory hall model follows the proposed geometry in the European standard 15193 for building energy performance. Interior reflectances in the office were measured in-situ using a handheld spectrometer. Exterior spectra and factory hall materials matching specified reflectances were obtained from an online spectral materials database. Glazing transmittance was derived from IGDB data using LBNL Optics/WINDOW. BSDFs for venetian blinds at various tilt angles, and for a diffusing pane adapted from the Complex Glazing Database, were generated in WINDOW. Luminaires in both models are specified with photometric files (Eulumdat/IES) and lamp spectra (Fluorescent 840, 4000 K LED). The provided example implementations (Radiance, OWL) include prepared input data and scripts to run first spectral simulations; example results are also included. The dataset is prepared to support reuse by researchers, designers and software developers for method validation, software engineering and comparison, and development of spectral metrics and controls.

Geisler-Moroder, David↗

The NIST Real-Time Control System (RCS): A Reference Model Architecture for Computational Intelligence

The Real-time Control System (RCS) developed at NIST and elsewhere over the past two decades defines a reference model architecture for design and analysis of complex intelligent control systems. The RCS architecture consists of a hierarchically layered set of functional processing modules connected by a network of communication pathways. The primary distinguishing feature of the layers is the bandwidth of the control loops. The characteristic bandwidth of each level is determined by the spatial and temporal integration window of filters, the temporal frequency of signals and events, the spatial frequency of patterns, and the planning horizon and granularity of the planners that operate at each level. At each level, tasks are decomposed into sequential subtasks, to be performed by cooperating sets of subordinate agents. At each level, signals from sensors are filtered and correlated with spatial and temporal features that are relevant to the control function being implemented at that level.

Albus, James S.↗

About a possible reference model for stratospheric NO2

After a brief review of observations of the global distribution of stratospheric NO2, the possibiliy of combining different data sets to construct a NO2 reference model is discussed. It is shown that difficulties mainly arise from the diversity of techniques and variability of NO2 in the stratosphere. The diurnal variation and possibly a long term trend present special problems.

Naudet, J. P.↗