Direct inversion of rigid-body rotational dynamics

The global linearization (inversion) of rigid-body rotational dynamics is reviewed and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given

Variational Algorithms for Nonlinear Smoothing Applications

A variational approach is presented for solving a nonlinear, fixed-interval smoothing problem with application to offline processing of noisy data for trajectory reconstruction and parameter estimation. The nonlinear problem is solved as a sequence of linear two-point boundary value problems. Second-order convergence properties are demonstrated. Algorithms for both continuous and discrete versions of the problem are given, and example solutions are provided

Recursive inversion of externally defined linear systems

The approximate inversion of an internally unknown linear system, given by its impulse response sequence, by an inverse system having a finite impulse response, is considered. The recursive least squares procedure is shown to have an exact initialization, based on the triangular Toeplitz structure of the matrix involved. The proposed approach also suggests solutions to the problems of system identification and compensation

A flight-test methodology for identification of an aerodynamic model for a V/STOL aircraft

Described is a flight test methodology for developing a data base to be used to identify an aerodynamic model of a vertical and short takeoff and landing (V/STOL) fighter aircraft. The aircraft serves as a test bed at Ames for ongoing research in advanced V/STOL control and display concepts. The flight envelope to be modeled includes hover, transition to conventional flight, and back to hover, STOL operation, and normaL cruise. Although the aerodynamic model is highly nonlinear, it has been formulated to be linear in the parameters to be identified. Motivation for the flight test methodology advocated in this paper is based on the choice of a linear least-squares method for model identification. The paper covers elements of the methodology from maneuver design to the completed data base. Major emphasis is placed on the use of state estimation with tracking data to ensure consistency among maneuver variables prior to their entry into the data base. The design and processing of a typical maneuver is illustrated

Flight testing a V/STOL aircraft to identify a full-envelope aerodynamic model

Flight-test techniques are being used to generate a data base for identification of a full-envelope aerodynamic model of a V/STOL fighter aircraft, the YAV-8B Harrier. The flight envelope to be modeled includes hover, transition to conventional flight and back to hover, STOL operation, and normal cruise. Standard V/STOL procedures such as vertical takeoff and landings, and short takeoff and landings are used to gather data in the powered-lift flight regime. Long (3 to 5 min) maneuvers which include a variety of input types are used to obtain large-amplitude control and response excitations. The aircraft is under continuous radar tracking; a laser tracker is used for V/STOL operations near the ground. Tracking data are used with state-estimation techniques to check data consistency and to derive unmeasured variables, for example, angular accelerations. A propulsion model of the YAV-8B's engine and reaction control system is used to isolate aerodynamic forces and moments for model identification. Representative V/STOL flight data are presented. The processing of a typical short takeoff and slow landing maneuver is illustrated

Sideslip-induced static pressure errors in flight-test measurements

During lateral flight-test maneuvers of a V/STOL research aircraft, large errors in static pressure were observed. An investigation of the data showed a strong correlation of the pressure record with variations in sideslip angle. The sensors for both measurements were located on a standard air-data nose boom. An algorithm based on potential flow over a cylinder that was developed to correct the pressure record for sideslip-induced errors is described. In order to properly apply the correction algorithm, it was necessary to estimate and correct the lag error in the pressure system. The method developed for estimating pressure lag is based on the coupling of sideslip activity into the static ports and can be used as a standard flight-test procedure. The estimation procedure is discussed and the corrected static-pressure record for a typical lateral maneuver is presented. It is shown that application of the correction algorithm effectively attenuates sideslip-induced errors

TSAFE Interface Control Document v 2.0

This document specifies the data interface for TSAFE, the Tactical Separation-Assured Flight Environment. TSAFE is a research prototype of a software application program for alerting air traffic controllers to imminent conflicts in enroute airspace. It is intended for Air Route Traffic Control Centers ("Centers") in the U.S. National Airspace System. It predicts trajectories for approximately 3 minutes into the future, searches for conflicts, and sends data about predicted conflicts to the client, which uses the data to alert an air traffic controller of conflicts. TSAFE itself does not provide a graphical user interface

A User Guide for Smoothing Air Traffic Radar Data

Matlab software was written to provide smoothing of radar tracking data to simulate ADS-B (Automatic Dependent Surveillance-Broadcast) data in order to test a tactical conflict probe. The probe, called TSAFE (Tactical Separation-Assured Flight Environment), is designed to handle air-traffic conflicts left undetected or unresolved when loss-of-separation is predicted to occur within approximately two minutes. The data stream that is down-linked from an aircraft equipped with an ADS-B system would include accurate GPS-derived position and velocity information at sample rates of 1 Hz. Nation-wide ADS-B equipage (mandated by 2020) should improve surveillance accuracy and TSAFE performance. Currently, position data are provided by Center radar (nominal 12-sec samples) and Terminal radar (nominal 4.8-sec samples). Aircraft ground speed and ground track are estimated using real-time filtering, causing lags up to 60 sec, compromising performance of a tactical resolution tool. Offline smoothing of radar data reduces wild-point errors, provides a sample rate as high as 1 Hz, and yields more accurate and lag-free estimates of ground speed, ground track, and climb rate. Until full ADS-B implementation is available, smoothed radar data should provide reasonable track estimates for testing TSAFE in an ADS-B-like environment. An example illustrates the smoothing of radar data and shows a comparison of smoothed-radar and ADS-B tracking. This document is intended to serve as a guide for using the smoothing software

Hemoadsorption in ‘liver indication’: analysis of 109 patients’ data from the CytoSorb international registry

Background: Our aim is to report the results of the ‘liver indication’ subset of patients in the CytoSorb International Registry. Methods: Structured data were recorded. Treatment characteristics and changes from T1 (start of hemoadsorption) to T2 (termination) were evaluated with a special focus on bilirubin, C-reactive protein, procalcitonin, interleukin-6, platelet levels, SOFA scores, mortality, and subjective assessment by the attending physicians. Results: Until January 2021, from the total 1434 patients, 109 (age: 49.2 ± 17.1 years, 57.8% males) received treatment for hyperbilirubinemia. APACHE II-predicted mortality was 49.6 ± 26.8%. In the study, 91% of patients were alive at the termination of hemoadsorption and improvement was observed by the physicians in 75 cases. Overall, 65 (59.6%) patients died in the hospital, and 60 (55.0%) died in the ICU. Patients received a median of two treatments for a median of 43 h (interquartile range: 24–72 h) in total. Serum bilirubin levels reduced significantly to −4.6 (95% CI: −6.329 to −2.8) mg/dL. Thrombocytopenia was reported in four patients as an adverse event. Conclusions: We report the largest case series on hemoadsorption for ‘liver indication’ from the CytoSorb International Registry. The finding of significant bilirubin removal observed in our study could have substantial impact in designing and executing further studies on the effects of hemoadsorption in liver dysfunction, which are certainly warranted

Assessing and mapping language, attention and executive multidimensional deficits in stroke aphasia.

There is growing awareness that aphasia following a stroke can include deficits in other cognitive functions and that these are predictive of certain aspects of language function, recovery and rehabilitation. However, data on attentional and executive (dys)functions in individuals with stroke aphasia are still scarce and the relationship to underlying lesions is rarely explored. Accordingly in this investigation, an extensive selection of standardized non-verbal neuropsychological tests was administered to 38 individuals with chronic post-stroke aphasia, in addition to detailed language testing and MRI. To establish the core components underlying the variable patients' performance, behavioural data were explored with rotated principal component analyses, first separately for the non-verbal and language tests, then in a combined analysis including all tests. Three orthogonal components for the non-verbal tests were extracted, which were interpreted as shift-update, inhibit-generate and speed. Three components were also extracted for the language tests, representing phonology, semantics and speech quanta. Individual continuous scores on each component were then included in a voxel-based correlational methodology analysis, yielding significant clusters for all components. The shift-update component was associated with a posterior left temporo-occipital and bilateral medial parietal cluster, the inhibit-generate component was mainly associated with left frontal and bilateral medial frontal regions, and the speed component with several small right-sided fronto-parieto-occipital clusters. Two complementary multivariate brain-behaviour mapping methods were also used, which showed converging results. Together the results suggest that a range of brain regions are involved in attention and executive functioning, and that these non-language domains play a role in the abilities of patients with chronic aphasia. In conclusion, our findings confirm and extend our understanding of the multidimensionality of stroke aphasia, emphasize the importance of assessing non-verbal cognition in this patient group and provide directions for future research and clinical practice. We also briefly compare and discuss univariate and multivariate methods for brain-behaviour mapping