Application of digital control to a magnetic model suspension and balance model

The feasibility of using a digital computer for performing the automatic control functions for a magnetic suspension and balance system (MSBS) for use with wind tunnel models was investigated. Modeling was done using both a prototype MSBS and a one dimensional magnetic balance. A microcomputer using the Intel 8080 microprocessor is described and results are given using this microprocessor to control the one dimensional balance. Hybrid simulations for one degree of freedom of the MSBS were also performed and are reported. It is concluded that use of a digital computer to control the MSBS is eminently feasible and should extend both the accuracy and utility of the system

Breadboard linear array scan imager using LSI solid-state technology

The performance of large scale integration photodiode arrays in a linear array scan (pushbroom) breadboard was evaluated for application to multispectral remote sensing of the earth's resources. The technical approach, implementation, and test results of the program are described. Several self scanned linear array visible photodetector focal plane arrays were fabricated and evaluated in an optical bench configuration. A 1728-detector array operating in four bands (0.5 - 1.1 micrometer) was evaluated for noise, spectral response, dynamic range, crosstalk, MTF, noise equivalent irradiance, linearity, and image quality. Other results include image artifact data, temporal characteristics, radiometric accuracy, calibration experience, chip alignment, and array fabrication experience. Special studies and experimentation were included in long array fabrication and real-time image processing for low-cost ground stations, including the use of computer image processing. High quality images were produced and all objectives of the program were attained

An Automated System for Chromosome Analysis

The design, construction, and testing of a complete system to produce karyotypes and chromosome measurement data from human blood samples, and to provide a basis for statistical analysis of quantitative chromosome measurement data are described

An automated system for chromosome analysis. Volume 1: Goals, system design, and performance

The design, construction, and testing of a complete system to produce karyotypes and chromosome measurement data from human blood samples, and a basis for statistical analysis of quantitative chromosome measurement data is described. The prototype was assembled, tested, and evaluated on clinical material and thoroughly documented

Optical-inertia space sextant for an advanced space navigation system, phase B

Optical-inertia space sextant for advanced space navigation syste

Optical read-out techniques for the control of test-masses in gravitational wave observatories

This thesis discusses the development of optical read-out techniques, including a simple shadow sensor and a more elaborate compact homodyne interferometer, known as EUCLID. Both of these sensors could be utilised as part of a seismic isolation and suspension system of a ground-based gravitational wave observatory, such as Advanced LIGO. As part of the University of Birmingham’s commitment to the upgrade of the Advanced LIGO, it was responsible for providing a large quantity of sensor and actuator units. This required the development and qualification of the shadow sensor, through to production and testing. While characterising production units, an excess noise issue was uncovered and eventually mitigated; demonstrating that even for a ‘simple’ shadow sensor, ensuring a large quantity of units meet the target sensitivity requirement of 300 pm/rt-Hz at 1 Hz, is not a trivial exercise. Over the duration of this research, I played a key role in the design and fabrication of a novel compact interferometer. The objective of this work was to demonstrate that the interferometric technique offers a significant improvement over the existing shadow sensors and could easily be deployed in current, or future, generations of gravitational wave observatories. Encouraging sensitivities of approximately 50 pm/rt-Hz at 1 Hz, over operating ranges of approximately 6 mm have been achieved, whilst maintaining around 1 degree of mirror tilt immunity. In addition, this design overcomes many of the drawbacks traditionally associated with interferometers

Viking '75 spacecraft design and test summary. Volume 1: Lander design

The Viking Mars program is summarized. The design of the Viking lander spacecraft is described

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously