Nonlinear Extended State Observer based Active Disturbance Rejection Control of a Laser Seeker System

In this paper, the laser seeker control problem is solved in the framework of active disturbance rejection control (ADRC). The considered problem, which consists of laser seeker stabilisation and target tracking, is expressed here as a regulation problem. A nonlinear extended state observer (NESO) with varying gains is used to improve the performance of linear ESO (LESO), and thus enable better control performance in both transient period and steady-state, with lower control effort. Based on a detailed analysis of system disturbances, a special ADRC tuning method is proposed. The stability of the overall control structure is analysed with a description function method. Through comparative simulations LESO-based and the introduced NESO-based ADRC for the laser seeker system, the advantages of the proposed scheme are shown

THE DEVELOPMENT OF A NOVEL SUSPENSION ARM WITH 2-DIMENSIONAL ACTUATION, FOR USE IN ADVANCED HARD DISK DRIVES

As magnetic computer disks are developed to ever-greater data storage densities, the accuracy required for head positioning is moving beyond the accuracy provided by present technology using single-stage voice-coil motors in hard disk drives. This thesis details work to develop a novel active suspension arm with 2-dimensional actuation for use in advanced hard disk drives. The arm developed is capable of high-bandwidth data tracking as well as precision head flying height control motion. High-bandwidth data tracking is facilitated by the use of piezoelectric stack actuator, positioned closer to the head. The suspension arm is also capable of motion in the orthogonal axis. This motion represents active flying height control to maintain the correct altitude during drive operation. To characterise the suspension arm's structural dynamics, a high-resolution measurement system based on the optical beam deflection technique has been developed. This has enabled the accurate measurement of minute end-deflections of the suspension arm in 2-dimensions, to sub-nanometre resolution above noise. The design process of the suspension arm has led into the development of novel piezoelectric-actuated arms. In the work involving lead zirconate titanate (PZT) thick films as actuators, work in this thesis shows that reinforcing the films with fibre improves the overall actuation characteristics of the thick films. This discovery benefits applications such as structural health monitoring. The final suspension arm design has been adopted because it is simple in design, easier to integrate within current hard disk drive environment and easier to fabricate in mass. Closed-loop control algorithms based on proportional, integral and derivative (PID) controller techniques have been developed and implemented to demonstrate high bandwidths that have been achieved. The suspension arm developed presents an important solution in head-positioning technology in that it offers much higher bandwidths for data tracking and flying height control; both very essential in achieving even higher data storage densities on magnetic disks at much reduced head flying heights, compared to those in existing hard disk drives

Control of single- and dual-probe atomic force microscopy

“Atomic force microscope (AFM) is one of the important and versatile tools available in the field of nanotechnology. It is a type of probe-based microscopy wherein an atomically sharp tip, mounted on the free end of a microcantilever, probes the surface of interest to generate 3D topographical images with nanoscale resolution. An integral part of the AFM is the feedback controller that regulates the probe deflection in the presence of surface height changes, enabling the control action to be used for generating topographical image of the sample. Besides sensing, the probe can also be used as a mechanical actuator to manipulate nanoparticles and fabricate nanoscale structures. Despite its capabilities, AFM is not considered user-friendly because imaging is slow, and fabrication operations are laborious and often performed in open-loop, i.e. without any monitoring mechanism. This dissertation is composed of two journal articles which aim to address prominent AFM challenges using feedback control strategies. First article proposes a novel control design methodology based on repetitive control technique to accurately track AFM samples. Theoretical and experimental results demonstrate that incorporating a model of the general sample topography in the control design leads to superior tracking in AFM. Second article introduces a novel dual-probe AFM (DP-AFM) design that has two independent probes. Such a setup provides an opportunity to implement process control strategies where one probe can be used to perform one of the many AFM operations while the other probe can provide feedback by imaging the process. To demonstrate this capability, an application involving real-time plowing depth control where plow depth is controlled with nanometer-level accuracy is also presented”--Abstract, page iv

Gravitational-wave detection beyond the quantum shot-noise limit : the integration of squeezed light in GEO 600

The first detections of gravitational waves have opened an exciting new field of astronomy. One of the most fundamental limitations for the sensitivity of current and future interferometric gravitational-wave detectors is imposed by the quantum nature of light: Quantum vacuum fluctuations entering the interferometer through the readout port will contribute to the detection noise, at high frequencies in the form of shot noise and at low frequencies by radiation pressure noise. A promising way to reduce this quantum noise is the injection of squeezed states of light that have a lower uncertainty in one quadrature than the vacuum state. The GEO 600 gravitational-wave detector demonstrated the use of squeezed light in 2010 and it is now the first detector to routinely apply squeezing to improve its sensitivity beyond the limits set by classical quantum shot noise. This thesis details the practical aspects of long-term stable and efficient squeezed-light integration in a large-scale gravitational-wave detector. Imperfections that can limit the amount of observable non-classical noise improvement, such as optical losses and phase fluctuations, were studied in detail and methods for their mitigation were developed. Novel control schemes for the active stabilisation of the squeezed light field's phase and alignment were one main focus of the investigations. At the same time, important experience was gathered in the operation of the squeezed light source over long timescales. Over the course of the thesis work, improvements were implemented that significantly increased the performance of the squeezed-light application. Squeezing was injected with an overall duty cycle of 88%, reaching a noise reduction of up to 4.4 dB, corresponding to a 40% lowered shot-noise level. This work has firmly established the practical application of squeezing as a mature technology. The gained knowledge will directly inform the implementation of squeezed light for all future gravitational-wave detectors

Investigations into a multiplexed fibre interferometer for on-line, nanoscale, surface metrology

Current trends in technology are leading to a need for ever smaller and more complex featured surfaces. The techniques for manufacturing these surfaces are varied but are tied together by one limitation; the lack of useable, on-line metrology instrumentation. Current metrology methods require the removal of a workpiece for characterisation which leads to machining down-time, more intensive labour and generally presents a bottle neck for throughput. In order to establish a new method for on-line metrology at the nanoscale investigation are made into the use of optical fibre interferometry to realise a compact probe that is robust to environmental disturbance. Wavelength tuning is combined with a dispersive element to provide a moveable optical stylus that sweeps the surface. The phase variation caused by the surface topography is then analysed using phase shifting interferometry. A second interferometer is wavelength multiplexed into the optical circuit in order to track the inherent instability of the optical fibre. This is then countered using a closed loop control to servo the path lengths mechanically which additionally counters external vibration on the measurand. The overall stability is found to be limited by polarisation state evolution however. A second method is then investigated and a rapid phase shifting technique is employed in conjunction with an electro-optic phase modulator to overcome the polarisation state evolution. Closed loop servo control is realised with no mechanical movement and a step height artefact is measured. The measurement result shows good correlation with a measurement taken with a commercial white light interferometer

Adaptive modal damping for advanced LIGO suspensions

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 179-183).Gravitational waves are predicted to exist by Einstein's Theory of General Relativity. The waves interact extremely weakly with the surrounding universe so only the most massive and violent events such as supernovae and collisions of black holes or neutron stars produce waves of sufficient amplitude to consider detecting. The Laser Interferometer Gravitational-Wave Observatory (LIGO) aims to pick up the signals from these very faint waves. LIGO directs much of its effort to the areas of disturbance rejection and noise suppression to measure these waves. The work in this thesis develops an adaptive modal damping control scheme for the suspended optics steering the laser beams in the LIGO interferometers. The controller must damp high quality factor mechanical resonances while meeting strict noise and disturbance rejection requirements with the challenges of time varying ground vibrations, many coupled degrees of freedom, process noise, and nonlinear behavior. A modal damping scheme is developed to decouple the complex system into many simpler systems that are easily controlled. An adaptive algorithm is then built around the modal damping scheme to automatically tune the amount of damping applied to each mode to achieve the optimal trade-off between disturbance rejection and noise filtering for all time as the non-stationary stochastic disturbances evolve. The adaptation is tuned to provide optimal sensitivity to astrophysical sources of gravitational waves. The degree of sensitivity improvement is analyzed for several classes of these sources.by Brett Noah Shapiro.Ph.D

Conference Proceedings of the 3rd Biennial Symposium on Turbulence in Liquids

The Third Biennial Symposium on Turbulence in Liquids showed further progress in the investigator\u27s ability to measure turbulence parameters and in the general understanding of turbulence. The most impressive advances in measurement seemed to be the ability to measure deeper into the turbulent boundary layer in order to obtain profiles over the entire turbulence production region and the rapid development of conditioned-sampling techniques for studying hypotheses for mechanisms

Proceedings of the Space Optical Technology Conference, Volume 1

Conference presentations on optical communication, sensing, and tracking technologies for space application

Program Annual Technology Report: Physics of the Cosmos Program Office

From ancient times, humans have looked up at the night sky and wondered: Are we alone? How did the universe come to be? How does the universe work? PCOS focuses on that last question. Scientists investigating this broad theme use the universe as their laboratory, investigating its fundamental laws and properties. They test Einsteins General Theory of Relativity to see if our current understanding of space-time is borne out by observations. They examine the behavior of the most extreme environments supermassive black holes, active galactic nuclei, and others and the farthest reaches of the universe, to expand our understanding. With instruments sensitive across the spectrum, from radio, through infrared (IR), visible light, ultraviolet (UV), to X rays and gamma rays, as well as gravitational waves (GWs), they peer across billions of light-years, observing echoes of events that occurred instants after the Big Bang. Last year, the LISA Pathfinder (LPF) mission exceeded expectations in proving the maturity of technologies needed for the Laser Interferometer Space Antenna (LISA) mission, and the Laser Interferometer Gravitational-Wave Observatory (LIGO) recorded the first direct measurements of long-theorized GWs. Another surprising recent discovery is that the universe is expanding at an ever-accelerating rate, the first hint of so-called dark energy, estimated to account for 75% of mass-energy in the universe. Dark matter, so called because we can only observe its effects on regular matter, is thought to account for another20%, leaving only 5% for regular matter and energy. Scientists now also search for special polarization in the cosmic microwave background to support the notion that in the split-second after the Big Bang, the universe inflated faster than the speed of light! The most exciting aspect of this grand enterprise today is the extraordinary rate at which we can harness technologies to enable these key discoveries