Identification of a spatio-temporal model of crystal growth based on boundary curvature

A new method of identifying the spatio-temporal transition rule of crystal growth is introduced based on the connection between growth kinetics and dentritic morphology. Using a modified three-point-method, curvatures of the considered crystal branch are calculated and curvature direction is used to measure growth velocity. A polynomial model is then produced based on a curvature-velocity relationship to represent the spatio-temporal growth process. A very simple simulation example is used initially to clearly explain the methodology. The results of identifying a model from a real crystal growth experiment show that the proposed method can produce a good representation of crystal growth

Software Considerations for Subscale Flight Testing of Experimental Control Laws

The NASA AirSTAR system has been designed to address the challenges associated with safe and efficient subscale flight testing of research control laws in adverse flight conditions. In this paper, software elements of this system are described, with an emphasis on components which allow for rapid prototyping and deployment of aircraft control laws. Through model-based design and automatic coding a common code-base is used for desktop analysis, piloted simulation and real-time flight control. The flight control system provides the ability to rapidly integrate and test multiple research control laws and to emulate component or sensor failures. Integrated integrity monitoring systems provide aircraft structural load protection, isolate the system from control algorithm failures, and monitor the health of telemetry streams. Finally, issues associated with software configuration management and code modularity are briefly discussed

Direct Adaptive Control for Stability and Command Augmentation System of an Air-Breathing Hypersonic Vehicle

In this paper we explore a Direct Adaptive Control scheme for stabilizing a non-linear, physics based model of the longitudinal dynamics for an air breathing hypersonic vehicle. The model, derived from first principles, captures the complex interactions between the propulsion system, aerodynamics, and structural dynamics. The linearized aircraft dynamics show unstable and non-minimum phase behavior. It also shows a strong short period coupling with the fuselage-bending mode. The value added by direct adaptive control and the theoretical requirements for stable convergent operation is displayed. One of the main benefits of the Directive Adaptive Control is that it can be implemented knowing very little detail about the plant. The implementation uses only measured output feedback to accomplish the adaptation. A stability analysis is conducted on the linearized plant to understand the complex aero-propulsion and structural interactions. The multivariable system possesses certain characteristics beneficial to the adaptive control scheme; we discuss these advantages and ideas for future work

The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates

We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks including sitting, standing, walking, hopping, running, turning, leaping, and more. Achieving this diversity of behavior with a single under-actuated body, requires a correspondingly diverse array of controllers, motivating our interest in compositional techniques that promote mixing and reuse of a relatively few base constituents to achieve a combinatorially growing array of available choices. Here we report on the development of one important example of such a behavioral programming method, the construction of a novel monopedal sagittal plane hopping gait through parallel composition of four decoupled 1DOF base controllers. For this example behavior, the legs are locked in phase and the body is fastened to a boom to restrict motion to the sagittal plane. The platform's locomotion is powered by the hip motor that adjusts leg touchdown angle in flight and balance in stance, along with a tail motor that adjusts body shape in flight and drives energy into the passive leg shank spring during stance. The motor control signals arise from the application in parallel of four simple, completely decoupled 1DOF feedback laws that provably stabilize in isolation four corresponding 1DOF abstract reference plants. Each of these abstract 1DOF closed loop dynamics represents some simple but crucial specific component of the locomotion task at hand. We present a partial proof of correctness for this parallel composition of template reference systems along with data from the physical platform suggesting these templates are anchored as evidenced by the correspondence of their characteristic motions with a suitably transformed image of traces from the physical platform.Comment: Technical Report to Accompany: A. De and D. Koditschek, "Parallel composition of templates for tail-energized planar hopping," in 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015. v2: Used plain latex article, correct gap radius and specific force/torque number