FREQ: A computational package for multivariable system loop-shaping procedures

Many approaches in the field of linear, multivariable time-invariant systems analysis and controller synthesis employ loop-sharing procedures wherein design parameters are chosen to shape frequency-response singular value plots of selected transfer matrices. A software package, FREQ, is documented for computing within on unified framework many of the most used multivariable transfer matrices for both continuous and discrete systems. The matrices are evaluated at user-selected frequency-response values, and singular values against frequency. Example computations are presented to demonstrate the use of the FREQ code

Robust multivariable controller design for flexible spacecraft

Large, flexible spacecraft are typically characterized by a large number of significant elastic modes with very small inherent damping, low, closely spaced natural frequencies, and the lack of accurate knowledge of the structural parameters. Summarized here is some recent research on the design of robust controllers for such spacecraft, which will maintain stability, and possible performance, despite these problems. Two types of controllers are considered, the first being the linear-quadratic-Gaussian-(LQG)-type. The second type utilizes output feedback using collocated sensors and actuators. The problem of designing robust LQG-type controllers using the frequency domain loop transfer recovery (LTR) method is considered, and the method is applied to a large antenna model. Analytical results regarding the regions of stability for LQG-type controllers in the presence of actuator nonlinearities are also presented. The results obtained for the large antenna indicate that the LQG/LTR method is a promising approach for control system design for flexible spacecraft. For the second type of controllers (collocated controllers), it is proved that the stability is maintained in the presence of certain commonly encountered nonlinearities and first-order actuator dynamics. These results indicate that collocated controllers are good candidates for robust control in situations where model errors are large

Computer-aided design and distributed system technology development for large space structures

Proposed large space structures have many characteristics that make them difficult to analyze and control. They are highly flexible, with components mathematically modeled by partial differential equations or very large systems of ordinary differential equations. They have many resonant frequencies, typically low and closely spaced. Natural damping may be low and/or improperly modeled. Coupled with stringent operational requirements of orientation, shape control, and vibration suppression, and the inability to perform adequate ground testing, these characteristics present an unconventional identification and control design problem to the systems theorist. Some of the research underway within Langley's Spacecraft Control Branch, Guidance and Control Division aimed at developing theory and algorithms to treat large space structures systems identification and control problems is described. The research areas to be considered are computer-aided design algorithms, and systems identification and control of distributed systems

Projection-based image registration in the presence of fixed-pattern noise

A computationally efficient method for image registration is investigated that can achieve an improved performance over the traditional two-dimensional (2-D) cross-correlation-based techniques in the presence of both fixed-pattern and temporal noise. The method relies on transforming each image in the sequence of frames into two vector projections formed by accumulating pixel values along the rows and columns of the image. The vector projections corresponding to successive frames are in turn used to estimate the individual horizontal and vertical components of the shift by means of a one-dimensional (1-D) cross-correlation-based estimator. While gradient-based shift estimation techniques are computationally efficient, they often exhibit degraded performance under noisy conditions in comparison to cross-correlators due to the fact that the gradient operation amplifies noise. The projection-based estimator, on the other hand, significantly reduces the computational complexity associated with the 2-D operations involved in traditional correlation-based shift estimators while improving the performance in the presence of temporal and spatial noise. To show the noise rejection capability of the projection-based shift estimator relative to the 2-D cross correlator, a figure-of-merit is developed and computed reflecting the signal-to-noise ratio (SNR) associated with each estimator. The two methods are also compared by means of computer simulation and tests using real image sequences

Robust controller design for flexible structures using normalized coprime factor plant descriptions

Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics

Contraction of the geographic range of distribution of snow crab (Chionoecetes opilio) in the eastern Bering Sea: An environmental ratchet?

Over the last three decades the geographic range of distribution of snow crab (Chionoecetes opilio) from the eastern Bering Sea (EBS) has contracted dramatically to the north. An increase in near-bottom temperature (NBT) during 1975–1979 was accompanied by a northward contraction of the cold pool (bound by the 2°C NBT isotherm) that extends over the Middle Domain during the summer. Warming was tracked with a 6-year lag by a contraction to the north of the mature female's range. Snow crab settle and grow to maturity in the Middle Domain. Successful recruitment during cold regimes may result from the occurrence of spring blooms and the stenothermy of early benthic instars. However, recruitment to the mature female population did not expand back to the southern shelf after the mid-1990s, despite some years when NBT was low. Cross-correlation of year-to-year shifts in geographic distribution of cod (Gadus macrocephalus) and immature snow crab during the 1990s suggests that the northward expansions of cod controlled the southern boundary of snow crab’s distribution range. Reestablishment of crab populations in the south may be hindered by cod predation. Also, because spawning females are now located “up-current,” advection of larvae to the south is unlikely. Contraction to the north may not be followed by an expansion back to the south after a change in regime. We refer to this suggested asymmetry as the environmental ratchet hypothesis and discuss it in the context of other conceptual models of the EBS ecosystem.Fil: Orensanz, Jose Maria. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Centro Nacional Patagónico; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Ernest, Billy. Universidad de Concepción; ChileFil: Armstrong, David A.. University of Washington; Estados UnidosFil: Stabeno, Phyllis. Pacific Marine Environmental Laboratory; Estados UnidosFil: Livingston, Pat. National Ocean And Atmospheric Administration. Alaska Fisheries Science Center; Estados Unido

Statistical algorithm for nonuniformity correction in focal-plane arrays

A statistical algorithm has been developed to compensate for the fixed-pattern noise associated with spatial nonuniformity and temporal drift in the response of focal-plane array infrared imaging systems. The algorithm uses initial scene data to generate initial estimates of the gain, the offset, and the variance of the additive electronic noise of each detector element. The algorithm then updates these parameters by use of subsequent frames and uses the updated parameters to restore the true image by use of a least-mean-square error finite-impulse-response filter. The algorithm is applied to infrared data, and the restored images compare favorably with those restored by use of a multiple-point calibration technique

To repeat or not to repeat a course

The difficult transition from high school to university means that many students need to repeat (retake) one or more of their university courses. This paper examines the performance of students who were repeating first-year core courses in an undergraduate business program. It used data from university records for 116 students who took a total of 232 repeated courses across 6 subjects. The results show that the student’s original course grade and cumulative grade point average were positively associated with the new grade obtained in the repeated course. Conversely, the original course grade was negatively associated with the extent of improvement obtained by repeating.Brock University Chancellor's Chair for Teaching Excellenc

High-Resolution Image Reconstruction from a Sequence of Rotated and Translated Frames and its Application to an Infrared Imaging System

Some imaging systems employ detector arrays that are not sufficiently dense to meet the Nyquist criterion during image acquisition. This is particularly true for many staring infrared imagers. Thus, the full resolution afforded by the optics is not being realized in such a system. This paper presents a technique for estimating a high-resolution image, with reduced aliasing, from a sequence of undersampled rotated and translationally shifted frames. Such an image sequence can be obtained if an imager is mounted on a moving platform, such as an aircraft. Several approaches to this type of problem have been proposed in the literature. Here we extend some of this previous work. In particular, we define an observation model that incorporates knowledge of the optical system and detector array. The high-resolution image estimate is formed by minimizing a regularized cost function based on the observation model. We show that with the proper choice of a tuning parameter, our algorithm exhibits robustness in the presence of noise. We consider both gradient descent and conjugate-gradient optimization procedures to minimize the cost function. Detailed experimental results are provided to illustrate the performance of the proposed algorithm using digital video from an infrared imager