Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation

This article presents a systematic approach to formulate and experimentally validate a novel Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) design to enhance the robustness of inverted-pendulum-type robotic mechanisms against bounded exogenous disturbances. The CFO controllers, an enhanced variant of the conventional fractional-order controllers, are realised by assigning pre-calibrated complex numbers to the order of the integral and differential operators in the control law. This arrangement significantly improves the structural flexibility of the control law, and hence, subsequently strengthens its robustness against the parametric uncertainties and nonlinear disturbances encountered by the aforementioned under-actuated system. The proposed control procedure uses the ubiquitous LQIR as the baseline controller that is augmented with CFO differential and integral operators. The fractional complex orders in LQIR are calibrated offline by minimising an objective function that aims at attenuating the position-regulation error while economising the control activity. The effectiveness of the CFO-LQIR is benchmarked against its integer and fractional-order counterparts. The ability of each controller to mitigate the disturbances in inverted-pendulum-type robotic systems is rigorously tested by conducting real-time experiments on Quanser single-link rotary pendulum system. The experimental outcomes validate the superior disturbance rejection capability of the CFO-LQIR by yielding rapid transits and strong damping against disturbances while preserving the control input economy and closed-loop stability of the system

Achieving synchronization and syntonization using GPS receivers

Every day, millions of people ask what time it is. Depending on the person and their reason for asking, the required accuracy and precision of an answer varies. Humans are not the only ones that care about time though, (perhaps more importantly) countless electronic devices ranging from cell phones to satellites do as well. Without accurate and precise frequency references and timekeeping systems, many of the electronics in use today would function incorrectly. The primary goal of this thesis was to achieve both synchronization and syntonization using a Global Positioning System (GPS) receiver called Namuru, which was developed at the University of New South Wales (UNSW). In the former case, this means that the pulse per second (PPS) signals output by the receiver should be aligned with the second boundaries of GPS Time (GPST). In the latter case, this means that the frequency of the voltage-controlled temperature-compensated crystal oscillator (VC-TCXO) onboard the receiver should be equal to its setpoint. The secondary goal of this thesis was to develop a clock model that accurately simulated the synchronization and syntonization performance of the receiver. The tertiary goal of this thesis was to develop supplementary features for the receiver like position-hold and holdover modes. In order to achieve these goals, several new capabilities were added to the receiver and much work was done in a number of different areas, such as field-programmable gate array (FPGA) programming, writing firmware, modifying hardware, and modeling

FPGA Frequency Domain Based Gps Coarse Acquisition Processor using FFT

The Global Positioning System or GPS is a satellite based technology that has gained widespread use worldwide in civilian and military applications. Direct Sequence Spread spectrum (DSSS) is the method whereby the data transmitted by the satellite and received by user is kept secure, low power and relatively noise-immune. The first step required in the GPS operation is to perform a lock on the incoming signal, both with respect to time synchronization and frequency resolution. Because of the need for reduced time to lock and also reduced hardware, algorithms based in the frequency domain have been developed. These algorithms take advantage of the time to frequency matrix operation known as the fast Fourier transform or FFT. For this thesis, a Direct Sequence Spread Spectrum Coarse Acquisition code processor based on the FFT was implemented in VHDL and targeted to a Xilinx Virtex –II Pro Field Programmable Gate Array (FPGA). The use of the FFT allows simultaneous lock on coarse acquisition (C/A) code and carrier frequency. Because of hardware limitations, a novel technique of sub-sampling is used in this system to obtain data block sizes that match hardware limitations. In addition, design challenges related to scheduling and timing were addressed, allowing a system with 19 pipeline stages to be built. The system, which fits on a Xilinx Virtex-II pro XC2VP70 FPGA, uses 10 ms of data to perform the lock with 5.5 ms of processing time at 100 MHz and theoretically can operate on signals 20 db below the noise floor

The 1990 Johnson Space Center bibliography of scientific and technical papers

Abstracts are presented of scientific and technical papers written and/or presented by L. B. Johnson Space Center (JSC) authors, including civil servants, contractors, and grantees, during the calendar year of 1990. Citations include conference and symposium presentations, papers published in proceedings or other collective works, seminars, and workshop results, NASA formal report series (including contractually required final reports), and articles published in professional journals

A new fuzzy reinforcement learning method for effective chemotherapy

A key challenge for drug dosing schedules is the ability to learn an optimal control policy even when there is a paucity of accurate information about the systems. Artificial intelligence has great potential for shaping a smart control policy for the dosage of drugs for any treatment. Motivated by this issue, in the present research paper a Caputo–Fabrizio fractional-order model of cancer chemotherapy treatment was elaborated and analyzed. A fix-point theorem and an iterative method were implemented to prove the existence and uniqueness of the solutions of the proposed model. Afterward, in order to control cancer through chemotherapy treatment, a fuzzy-reinforcement learning-based control method that uses the State-Action-Reward-State-Action (SARSA) algorithm was proposed. Finally, so as to assess the performance of the proposed control method, the simulations were conducted for young and elderly patients and for ten simulated patients with different parameters. Then, the results of the proposed control method were compared with Watkins’s Q-learning control method for cancer chemotherapy drug dosing. The results of the simulations demonstrate the superiority of the proposed control method in terms of mean squared error, mean variance of the error, and the mean squared of the control action—in other words, in terms of the eradication of tumor cells, keeping normal cells, and the amount of usage of the drug during chemotherapy treatment

Cognitive Vehicle Platooning in the Era of Automated Electric Transportation

Vehicle platooning is an important innovation in the automotive industry that aims at improving safety, mileage, efficiency, and the time needed to travel. This research focuses on the various aspects of vehicle platooning, one of the important aspects being analysis of different control strategies that lead to a stable and robust platoon. Safety of passengers being a very important consideration, the control design should be such that the controller remains robust under uncertain environments. As a part of the Department of Energy (DOE) project, this research also tries to show a demonstration of vehicle platooning using robots. In an automated highway scenario, a vehicle platoon can be thought of as a string of vehicles, following one another as a platoon. Being equipped by wireless communication capabilities, these vehicles communicate with one another to maintain their formation as a platoon, hence are cognitive. Autonomous capable vehicles in tightly spaced, computer-controlled platoons will lead to savings in energy due to reduced aerodynamic forces, as well as increased passenger comfort since there will be no sudden accelerations or decelerations. Impacts in the occurrence of collisions, if any, will be very low. The greatest benefit obtained is, however, an increase in highway capacity, along with reduction in traffic congestion, pollution, and energy consumption. Another aspect of this project is the automated electric transportation (AET). This aims at providing energy directly to vehicles from electric highways, thus reducing their energy consumption and CO2 emission. By eliminating the use of overhead wires, infrastructure can be upgraded by electrifying highways and providing energy on demand and in real time to moving vehicles via a wireless energy transfer phenomenon known as wireless inductive coupling. The work done in this research will help to gain an insight into vehicle platooning and the control system related to maintaining the vehicles in this formation

Field programmable gate array based predictive control system for spacecraft rendezvous in elliptical orbits

A field programmable gate array (FPGA)-based model predictive controller (MPC) for two phases of spacecraft rendezvous is presented. Linear time varying prediction models are used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of the longer-range man{\oe}uvres, whilst a fixed and receding prediction horizon is used for fine-grained tracking at close range. The resulting constrained optimisation problems are solved using a primal dual interior point algorithm. The majority of the computational demand is in solving a system of simultaneous linear equations at each iteration of this algorithm. To accelerate these operations, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft core processor on the FPGA, on which the remainder of the system is implemented. Certain logic that can be hard-coded for fixed sized problems is implemented to be configurable online, in order to accommodate the varying problem sizes associated with the variable prediction horizon. The system is demonstrated in closed loop by linking the FPGA with a simulation of the spacecraft dynamics running in Simulink on a PC, using Ethernet. Timing comparisons indicate that the custom implementation is substantially faster than pure embedded software-based interior point methods running on the same MicroBlaze, and could be competitive with a pure custom hardware implementation.This work was supported by the Engineering and Physical Sciences Research Council Grant Number [EP/G030308/1] as well as industrial support from Xilinx, Mathworks, and the European Space Agency

A burst compression and expansion technique for variable-rate users in satellite-switched TDMA networks

A burst compression and expansion technique is described for asynchronously interconnecting variable-data-rate users with cost-efficient ground terminals in a satellite-switched, time-division-multiple-access (SS/TDMA) network. Compression and expansion buffers in each ground terminal convert between lower rate, asynchronous, continuous-user data streams and higher-rate TDMA bursts synchronized with the satellite-switched timing. The technique described uses a first-in, first-out (FIFO) memory approach which enables the use of inexpensive clock sources by both the users and the ground terminals and obviates the need for elaborate user clock synchronization processes. A continous range of data rates from kilobits per second to that approaching the modulator burst rate (hundreds of megabits per second) can be accommodated. The technique was developed for use in the NASA Lewis Research Center System Integration, Test, and Evaluation (SITE) facility. Some key features of the technique have also been implemented in the gound terminals developed at NASA Lewis for use in on-orbit evaluation of the Advanced Communications Technology Satellite (ACTS) high burst rate (HBR) system

Design, Development, and Testing of Near-Optimal Satellite Attitude Control Strategies

Advances in space technology and interest toward remote sensing mission have grown in the recent years, requiring the attitude control subsystems of observation satellites to increase their performances in terms of pointing accuracy and on-board implementability. Moreover, an increased interest in small satellite missions and the recent technological developments related to the CubeSats standard have drastically reduced the cost of producing and flying a satellite mission. In this context, the proposed research aims to improve the state of the art for satellite attitude control methodologies by proposing a near-optimal attitude control strategy, simulated in a high-fidelity environment. Two strategies are presented, both are based on the implementation of a direct method, the Inverse Dynamics in the Virtual Domain (IDVD), and a nonlinear programming solver, the Sequential Gradient-Restoration Algorithm (SGRA). The IDVD allows the transcription of the original optimal control problem into an equivalent nonlinear programming problem. SGRA is adopted for the quick determination of near-optimal attitude trajectories. The two optimization criteria considered are the target acquisition time and the maneuver energy associated to the actuation torques. In addition, the development and initial testing of a satellite attitude simulator testbed for on-ground experimentation of attitude, determination, and control methodologies is proposed. The Suspended Satellite Three-Axis Rotation Testbed (START) is a novel low-cost satellite three-axis attitude simulator testbed, it is located at the Aerospace Robotics Testbed Laboratory (ARTLAB). START is mainly composed by a 3D printed base, a single-board computer, a set of actuators, and an electric battery. The suspension system is based on three thin high tensile strength wires allowing a three degrees-of freedom rotation range comparable to the one of air bearing-based floating testbeds, and minimal resistive torque in all the rotations axis. This set up will enable the hardware in-the-loop experimentation of attitude guidance navigation and control strategies. Finally, a set of guidelines to select a solver for the solution of nonlinear programming problems is proposed. With this in mind, a comparison of the convergence performances of commonly used solvers for both unconstrained and constrained nonlinear programming problems is presented. The terms of comparison involve accuracy, convergence rate, and convergence speed. Because of its popularity among research teams in academia and industry, MATLAB is used as common implementation platform for the solvers