Intelligent Control Strategies for an Autonomous Underwater Vehicle

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In such instances, intelligent control strategies offer a more sophisticated approach to the design of the control algorithm. Neurofuzzy control is one such technique, which fuses the beneficial properties of neural networks and fuzzy logic in a hybrid control architecture. Such an approach is highly suited to development of an autopilot for an AUV. Specifically, the adaptive network-based fuzzy inference system (ANFIS) is discussed in Chapter 4 as an effective new approach for neurally tuning course-changing fuzzy autopilots. However, the limitation of this technique is that it cannot be used for developing multivariable fuzzy structures. Consequently, the co-active ANFIS (CANFIS) architecture is developed and employed as a novel multi variable AUV autopilot within Chapter 5, whereby simultaneous control of the AUV yaw and roll channels is achieved. Moreover, this structure is flexible in that it is extended in Chapter 6 to perform on-line control of the AUV leading to a novel autopilot design that can accommodate changing vehicle pay loads and environmental disturbances. Whilst the typical ANFIS and CANFIS structures prove effective for AUV control system design, the well known properties of radial basis function networks (RBFN) offer a more flexible controller architecture. Chapter 7 presents a new approach to fuzzy modelling and employs both ANFIS and CANFIS structures with non-linear consequent functions of composite Gaussian form. This merger of CANFIS and a RBFN lends itself naturally to tuning with an extended form of the hybrid learning rule, and provides a very effective approach to intelligent controller development.The Sea Systems and Platform Integration Sector, Defence Evaluation and Research Agency, Winfrit

Multi-filter spectrophotometry of quasar environments

A many-filter photometric technique for determining redshifts and morphological types, by fitting spectral templates to spectral energy distributions, has good potential for application in surveys. Despite success in studies performed on simulated data, the results have not been fully reliable when applied to real, low signal-to-noise data. We are investigating techniques to improve the fitting process

Nanocharacterisation of precipitates in austenite high manganese steels with advanced techniques: HRSTEM and DualEELS mapping

To achieve optimal mechanical properties in high manganese steels, the precipitation of nanoprecipitates of vanadium and niobium carbides is under investigation. It is shown that under controlled heat treatments between 850°C and 950°C following hot deformation, few-nanometre precipitates of either carbide can be produced in test steels with suitable contents of vanadium or niobium. The structure and chemistry of these precipitates are examined in detail with a spatial resolution down to better than 1 nm using a newly commissioned scanning transmission electron microscope. In particular, it is shown that the nucleation of vanadium carbide precipitates often occurs at pre-existing titanium carbide precipitates which formed from titanium impurities in the bulk steel. This work will also highlight the links between the nanocharacterisation and changes in the bulk properties on annealing

“We should expect more, not less of our profession”: responsesto ‘Should academics be expected to change policy?’

James Lloyd’s recent post “Should academics be expected to change policy? Six reasons why it is unrealistic for research to drive policy change” has received considerable attention in research and policy circles since it was first published two weeks ago. Drawing on their respective experiences with research impact in policymaking, Chris Neff, Paul Smyth and Luke Craven each offer responses to Lloyd’s post. While they each recognise the difficulties inherent in the process, setting up impact as impossible or unrealistic fails to recognise the responsibility academics have to engage. Furthermore, fatalistic discourse devalues the engaged or applied work being done by academics the world over

Lightweight Damage Tolerant, High-Temperature Radiators for Nuclear Power and Propulsion

NASA is increasingly emphasizing exploration to bodies beyond near-Earth orbit. New propulsion systems and new spacecraft are being built for these missions. As the target bodies get further out from Earth, high energy density systems, e.g., nuclear fusion, for propulsion and power will be advantageous. The mass and size of these systems, including supporting systems such as the heat exchange system, including thermal radiators, will need to be as small as possible. Conventional heat exchange systems are a significant portion of the total thermal management mass and size. Nuclear electric propulsion (NEP) is a promising option for high-speed, in-space travel due to the high energy density of nuclear fission power sources and efficient electric thrusters. Heat from the reactor is converted to power for use in propulsion or for system power. The heat not used in the power conversion is then radiated to space as shown in figure 1. Advanced power conversion technologies will require high operating temperatures and would benefit from lightweight radiator materials. Radiator performance dictates power output for nuclear electric propulsion systems. Pitch-based carbon fiber materials have the potential to offer significant improvements in operating temperature, thermal conductivity, and mass. These properties combine to allow significant decreases in the total mass of the radiators and significant increases in the operating temperature of the fins. A Center-funded project at NASA Marshall Space Flight Center has shown that high thermal conductivity, woven carbon fiber fins with no matrix material, can be used to dissipate waste heat from NEP systems and because of high specific power (kW/kg), will require less mass and possibly less total area than standard metal and composite radiator fins for radiating the same amount of heat. This project uses an innovative approach to reduce the mass and size required for the thermal radiators to the point that in-space NEP and power is enabled. High thermal conductivity carbon fibers are lightweight, damage tolerant, and can be heated to high temperature. Areal densities in the NASA set target range of 2 to 4 kg/m2 (for enabling NEP) are achieved and with specific powers (kW/kg) a factor of about 7 greater than conventional metal fins and about 1.5 greater than carbon composite fins. Figure 2 shows one fin under test. All tests were done under vacuum conditions

NASA MSFC Electrostatic Levitator (ESL) Rapid Quench System

Electrostatic levitation, a form of containerless processing, is an important tool in materials research. Levitated specimens are free from contact with a container; therefore, heterogeneous nucleation on container walls is not possible. This allows studies of deeply undercooled melts. Furthermore, studies of hightemperature, highly reactive materials are also possible. Studies of the solidification and crystallization of undercooled melts is vital to the understanding of microstructure development, particularly the formation of alloys with unique properties by rapid solidification. The NASA Marshall Space Flight Center (MSFC) Electrostatic Levitator (ESL) lab has recently been upgraded to allow for rapid quenching of levitated materials. The ESL Rapid Quench System uses a small cruciblelike vessel that can be partially filled with a low melting point material, such as a Gallium alloy, as a quench medium. An undercooled sample can be dropped into the vessel to rapidly quench the sample. A carousel with nine vessels sits below the bottom electrode assembly. This system allows up to nine rapid quenches before having to break vacuum and remove the vessels. This new Rapid Quench System will allow materials science studies of undercooled materials and new materials development. In this presentation, the system is described and initial results are presented

Lightweight Radiator for in Space Nuclear Electric Propulsion

Nuclear electric propulsion (NEP) is a promising option for highspeed inspace travel due to the high energy density of nuclear fission power sources and efficient electric thrusters. Advanced power conversion technologies may require high operating temperatures and would benefit from lightweight radiator materials. Radiator performance dictates power output for nuclear electric propulsion systems. Gamechanging propulsion systems are often enabled by novel designs using advanced materials. Pitchbased carbon fiber materials have the potential to offer significant improvements in operating temperature, thermal conductivity, and mass. These properties combine to allow advances in operational efficiency and high temperature feasibility. An effort at the NASA Marshall Space Flight Center to show that woven high thermal conductivity carbon fiber mats can be used to replace standard metal and composite radiator fins to dissipate waste heat from NEP systems is ongoing. The goals of this effort are to demonstrate a proof of concept, to show that a significant improvement of specific power (power/mass) can be achieved, and to develop a thermal model with predictive capabilities making use of constrained input parameter space. A description of this effort is presented

LETS: Lunar Environments Test System

The Environmental Effects Branch (EM50) at the Marshall Space Flight Center has developed a unique capability within the agency, namely the Lunar Environment Test System (LETS). LETS is a cryo-pumped vacuum chamber facility capable of high vacuum (10-7 Torr). LETS is a cylindrical chamber, 30 in. (0.8 m) diameter by 48 in. (1.2 m) long thermally controlled vacuum system. The chamber is equipped with a full array of radiation sources including vacuum ultraviolet, electron, and proton radiation. The unique feature of LETS is that it contains a large lunar simulant bed (18 in. x 40 in. x 6 in.) holding 75 kg of JSC-1a simulant while operating at a vacuum of 10-7 Torr. This facility allows three applications: 1) to study the charging, levitation and migration of dust particles, 2) to simulate the radiation environment on the lunar surface, and 3) to electrically charge the lunar simulant enhancing the attraction and adhesion of dust particles to test articles more closely simulating the lunar surface dust environment. LETS has numerous diagnostic instruments including TREK electrostatic probes, residual gas analyzer (RGA), temperature controlled quartz crystal microbalance (TQCM), and particle imaging velocimeter (PIV). Finally, LETS uses continuous Labview data acquisition for computer monitoring and system control

Resting and Exercise Cardiovascular Magnetic Resonance Imaging for the Assessment of Mitral Regurgitation

Background Mitral regurgitation (MR) is a heterogeneous disease requiring accurate investigations to guide optimal management. Cardiovascular magnetic resonance (CMR) provides reference standard biventricular assessment and highly reproducible MR quantification. Exercise-CMR (Ex-CMR) combines CMR with physiological stress; further development may allow comprehensive MR assessment. Therefore CMR is ideal to assist clinical decision making and assess research outcomes. Aims The thesis aims were to: 1) Develop and validate an Ex-CMR protocol assessing biventricular volumes and great vessel flow in healthy volunteers, 2) Evaluate the validated Ex-CMR protocol in primary MR patients, 3) Compare cardiac reverse remodelling and residual MR post mitral valve repair (MVr) vs replacement (MVR) in primary MR patients 4) Assess cardiac reverse remodelling after percutaneous mitral valve intervention for primary MR. Methods 1) Free-breathing, respiratory navigated Compressed-SENSE short-axis cines and aortic/pulmonary phase contrast magnetic resonance sequences were validated against clinical sequences at rest and used during Ex-CMR in 12 healthy volunteers, 2) 10 primary MR patients underwent the validated Ex-CMR protocol, 3) Of 83 moderate-severe primary MR patients, 72 (30 MVr, 22 MVR, 20 controls) completed CMR imaging at baseline and 6 months after mitral surgery or observation (control group). 4) Of 11 primary MR patients, 10 completed CMR imaging at baseline and 6-months after percutaneous intervention. Findings 1) Biventricular volumes and great vessel flow assessment during continuous supine Ex-CMR is feasible in healthy volunteers using the Compressed-SENSE Ex-CMR protocol, demonstrating good/excellent intra/inter-observer reproducibility, 2) The validated Ex-CMR protocol is feasible in asymptomatic primary MR patients demonstrating effective forward left ventricular ejection fraction is augmented by decreases in MR, 3) MVR results in comparable cardiac reverse remodelling to MVr with lower residual quantitated MR and better right ventricular ejection fraction (compared with controls) 4) In primary MR, percutaneous valve intervention results in MR reduction and positive left-ventricular reverse remodelling