A comparison of motor submodels in the optimal control model

Properties of several structural variations in the neuromotor interface portion of the optimal control model (OCM) are investigated. For example, it is known that commanding control-rate introduces an open-loop pole at S=O and will generate low frequency phase and magnitude characteristics similar to experimental data. However, this gives rise to unusually high sensitivities with respect to motor and sensor noise-ratios, thereby reducing the models' predictive capabilities. Relationships for different motor submodels are discussed to show sources of these sensitivities. The models investigated include both pseudo motor-noise and actual (system driving) motor-noise characterizations. The effects of explicit proprioceptive feedback in the OCM is also examined. To show graphically the effects of each submodel on system outputs, sensitivity studies are included, and compared to data obtained from other tests

Pilot/vehicle model analysis of visual and motion cue requirements in flight simulation

The optimal control model (OCM) of the human operator is used to predict the effect of simulator characteristics on pilot performance and workload. The piloting task studied is helicopter hover. Among the simulator characteristics considered were (computer generated) visual display resolution, field of view and time delay

An aircraft sensor fault tolerant system

The design of a sensor fault tolerant system which uses analytical redundancy for the Terminal Configured Vehicle (TCV) research aircraft in a Microwave Landing System (MLS) environment was studied. The fault tolerant system provides reliable estimates for aircraft position, velocity, and attitude in the presence of possible failures in navigation aid instruments and onboard sensors. The estimates, provided by the fault tolerant system, are used by the automated guidance and control system to land the aircraft along a prescribed path. Sensor failures are identified by utilizing the analytic relationship between the various sensor outputs arising from the aircraft equations of motion

FINDS: A fault inferring nonlinear detection system. User's guide

The computer program FINDS is written in FORTRAN-77, and is intended for operation on a VAX 11-780 or 11-750 super minicomputer, using the VMS operating system. The program detects, isolates, and compensates for failures in navigation aid instruments and onboard flight control and navigation sensors of a Terminal Configured Vehicle aircraft in a Microwave Landing System environment. In addition, FINDS provides sensor fault tolerant estimates for the aircraft states which are then used by an automatic guidance and control system to land the aircraft along a prescribed path. FINDS monitors for failures by evaluating all sensor outputs simultaneously using the nonlinear analytic relationships between the various sensor outputs arising from the aircraft point mass equations of motion. Hence, FINDS is an integrated sensor failure detection and isolation system

An optimal control model approach to the design of compensators for simulator delay

The effects of display delay on pilot performance and workload and of the design of the filters to ameliorate these effects were investigated. The optimal control model for pilot/vehicle analysis was used both to determine the potential delay effects and to design the compensators. The model was applied to a simple roll tracking task and to a complex hover task. The results confirm that even small delays can degrade performance and impose a workload penalty. A time-domain compensator designed by using the optimal control model directly appears capable of providing extensive compensation for these effects even in multi-input, multi-output problems

A Fault Tolerant System for an Integrated Avionics Sensor Configuration

An aircraft sensor fault tolerant system methodology for the Transport Systems Research Vehicle in a Microwave Landing System (MLS) environment is described. The fault tolerant system provides reliable estimates in the presence of possible failures both in ground-based navigation aids, and in on-board flight control and inertial sensors. Sensor failures are identified by utilizing the analytic relationships between the various sensors arising from the aircraft point mass equations of motion. The estimation and failure detection performance of the software implementation (called FINDS) of the developed system was analyzed on a nonlinear digital simulation of the research aircraft. Simulation results showing the detection performance of FINDS, using a dual redundant sensor compliment, are presented for bias, hardover, null, ramp, increased noise and scale factor failures. In general, the results show that FINDS can distinguish between normal operating sensor errors and failures while providing an excellent detection speed for bias failures in the MLS, indicated airspeed, attitude and radar altimeter sensors

FINDS: A fault inferring nonlinear detection system programmers manual, version 3.0

Detailed software documentation of the digital computer program FINDS (Fault Inferring Nonlinear Detection System) Version 3.0 is provided. FINDS is a highly modular and extensible computer program designed to monitor and detect sensor failures, while at the same time providing reliable state estimates. In this version of the program the FINDS methodology is used to detect, isolate, and compensate for failures in simulated avionics sensors used by the Advanced Transport Operating Systems (ATOPS) Transport System Research Vehicle (TSRV) in a Microwave Landing System (MLS) environment. It is intended that this report serve as a programmers guide to aid in the maintenance, modification, and revision of the FINDS software

Differences in the trophic ecology of micronekton driven by diel vertical migration.

Many species of micronekton perform diel vertical migrations (DVMs), which ultimately contributes to carbon export to the deep sea. However, not all micronekton species perform DVM, and the nonmigrators, which are often understudied, have different energetic requirements that might be reflected in their trophic ecology. We analyze bulk tissue and whole animal stable nitrogen isotopic compositions (δ 15N values) of micronekton species collected seasonally between 0 and 1250 m depth to explore differences in the trophic ecology of vertically migrating and nonmigrating micronekton in the central North Pacific. Nonmigrating species exhibit depth-related increases in δ 15N values mirroring their main prey, zooplankton. Higher variance in δ 15N values of bathypelagic species points to the increasing reliance of deeper dwelling micronekton on microbially reworked, very small suspended particles. Migrators have higher δ 15N values than nonmigrators inhabiting the epipelagic zone, suggesting the consumption of material during the day at depth, not only at night when they migrate closer to the surface. Migrating species also appear to eat larger prey and exhibit a higher range of variation in δ 15N values seasonally than nonmigrators, likely because of their higher energy needs. The dependence on material at depth enriched in 15N relative to surface particles is higher in migratory fish that ascend only to the lower epipelagic zone. Our results confirm that stark differences in the food habits and dietary sources of micronekton species are driven by vertical migrations

The Association of Antarctic Krill Euphausia superba with the Under-Ice Habitat

The association of Antarctic krill Euphausia superba with the under-ice habitat was investigated in the Lazarev Sea (Southern Ocean) during austral summer, autumn and winter. Data were obtained using novel Surface and Under Ice Trawls (SUIT), which sampled the 0–2 m surface layer both under sea ice and in open water. Average surface layer densities ranged between 0.8 individuals m−2 in summer and autumn, and 2.7 individuals m−2 in winter. In summer, under-ice densities of Antarctic krill were significantly higher than in open waters. In autumn, the opposite pattern was observed. Under winter sea ice, densities were often low, but repeatedly far exceeded summer and autumn maxima. Statistical models showed that during summer high densities of Antarctic krill in the 0–2 m layer were associated with high ice coverage and shallow mixed layer depths, among other factors. In autumn and winter, density was related to hydrographical parameters. Average under-ice densities from the 0–2 m layer were higher than corresponding values from the 0–200 m layer collected with Rectangular Midwater Trawls (RMT) in summer. In winter, under-ice densities far surpassed maximum 0–200 m densities on several occasions. This indicates that the importance of the ice-water interface layer may be under-estimated by the pelagic nets and sonars commonly used to estimate the population size of Antarctic krill for management purposes, due to their limited ability to sample this habitat. Our results provide evidence for an almost year-round association of Antarctic krill with the under-ice habitat, hundreds of kilometres into the ice-covered area of the Lazarev Sea. Local concentrations of postlarval Antarctic krill under winter sea ice suggest that sea ice biota are important for their winter survival. These findings emphasise the susceptibility of an ecological key species to changing sea ice habitats, suggesting potential ramifications on Antarctic ecosystems induced by climate change