Multirate sampled-data yaw-damper and modal suppression system design

A multirate control law synthesized algorithm based on an infinite-time quadratic cost function, was developed along with a method for analyzing the robustness of multirate systems. A generalized multirate sampled-data control law structure (GMCLS) was introduced. A new infinite-time-based parameter optimization multirate sampled-data control law synthesis method and solution algorithm were developed. A singular-value-based method for determining gain and phase margins for multirate systems was also developed. The finite-time-based parameter optimization multirate sampled-data control law synthesis algorithm originally intended to be applied to the aircraft problem was instead demonstrated by application to a simpler problem involving the control of the tip position of a two-link robot arm. The GMCLS, the infinite-time-based parameter optimization multirate control law synthesis method and solution algorithm, and the singular-value based method for determining gain and phase margins were all demonstrated by application to the aircraft control problem originally proposed for this project

Vestibular heading discrimination and sensitivity to linear acceleration in head and world coordinates

Effective navigation and locomotion depend critically on an observer\u27s ability to judge direction of linear self-motion, i.e., heading. The vestibular cue to heading is the direction of inertial acceleration that accompanies transient linear movements. This cue is transduced by the otolith organs. The otoliths also respond to gravitational acceleration, so vestibular heading discrimination could depend on (1) the direction of movement in head coordinates (i.e., relative to the otoliths), (2) the direction of movement in world coordinates (i.e., relative to gravity), or (3) body orientation (i.e., the direction of gravity relative to the otoliths). To quantify these effects, we measured vestibular and visual discrimination of heading along azimuth and elevation dimensions with observers oriented both upright and side-down relative to gravity. We compared vestibular heading thresholds with corresponding measurements of sensitivity to linear motion along lateral and vertical axes of the head (coarse direction discrimination and amplitude discrimination). Neither heading nor coarse direction thresholds depended on movement direction in world coordinates, demonstrating that the nervous system compensates for gravity. Instead, they depended similarly on movement direction in head coordinates (better performance in the horizontal plane) and on body orientation (better performance in the upright orientation). Heading thresholds were correlated with, but significantly larger than, predictions based on sensitivity in the coarse discrimination task. Simulations of a neuron/anti-neuron pair with idealized cosine-tuning properties show that heading thresholds larger than those predicted from coarse direction discrimination could be accounted for by an amplitude-response nonlinearity in the neural representation of inertial motion

Multirate flutter suppression system design for the Benchmark Active Controls Technology Wing

To study the effectiveness of various control system design methodologies, the NASA Langley Research Center initiated the Benchmark Active Controls Project. In this project, the various methodologies will be applied to design a flutter suppression system for the Benchmark Active Controls Technology (BACT) Wing (also called the PAPA wing). Eventually, the designs will be implemented in hardware and tested on the BACT wing in a wind tunnel. This report describes a project at the University of Washington to design a multirate flutter suppression system for the BACT wing. The objective of the project was two fold. First, to develop a methodology for designing robust multirate compensators, and second, to demonstrate the methodology by applying it to the design of a multirate flutter suppression system for the BACT wing. The contributions of this project are (1) development of an algorithm for synthesizing robust low order multirate control laws (the algorithm is capable of synthesizing a single compensator which stabilizes both the nominal plant and multiple plant perturbations; (2) development of a multirate design methodology, and supporting software, for modeling, analyzing and synthesizing multirate compensators; and (3) design of a multirate flutter suppression system for NASA's BACT wing which satisfies the specified design criteria. This report describes each of these contributions in detail. Section 2.0 discusses our design methodology. Section 3.0 details the results of our multirate flutter suppression system design for the BACT wing. Finally, Section 4.0 presents our conclusions and suggestions for future research. The body of the report focuses primarily on the results. The associated theoretical background appears in the three technical papers that are included as Attachments 1-3. Attachment 4 is a user's manual for the software that is key to our design methodology

Assay for Pathogen-Associated Molecular Pattern (PAMP)-Triggered Immunity (PTI) in Plants

To perceive potential pathogens in their environment, plants use pattern recognition receptors (PRRs) present on their plasma membranes. PRRs recognize conserved microbial features called pathogen-associated molecular patterns (PAMPs) and this detection leads to PAMP-triggered immunity (PTI), which effectively prevents colonization of plant tissues by non-pathogens1,2. The most well studied system in PTI is the FLS2-dependent pathway3. FLS2 recognizes the PAMP flg22 that is a component of bacterial flagellin

Thermally Activated Magnetization and Resistance Decay during Near Ambient Temperature Aging of Co Nanoflakes in a Confining Semi-metallic Environment

We report the observation of magnetic and resistive aging in a self assembled nanoparticle system produced in a multilayer Co/Sb sandwich. The aging decays are characterized by an initial slow decay followed by a more rapid decay in both the magnetization and resistance. The decays are large accounting for almost 70% of the magnetization and almost 40% of the resistance for samples deposited at 35 $^oC$. For samples deposited at 50 $^oC$ the magnetization decay accounts for $\sim 50$ of the magnetization and 50% of the resistance. During the more rapid part of the decay, the concavity of the slope of the decay changes sign and this inflection point can be used to provide a characteristic time. The characteristic time is strongly and systematically temperature dependent, ranging from $\sim1$x$10^2 s$ at 400K to $\sim3$x$10^5 s$ at 320K in samples deposited at $35 ^oC$. Samples deposited at 50 $^oC$ displayed a 7-8 fold increase in the characteristic time (compared to the $35 ^oC$ samples) for a given aging temperature, indicating that this timescale may be tunable. Both the temperature scale and time scales are in potentially useful regimes. Pre-Aging, Scanning Tunneling Microscopy (STM) reveals that the Co forms in nanoscale flakes. During aging the nanoflakes melt and migrate into each other in an anisotropic fashion forming elongated Co nanowires. This aging behavior occurs within a confined environment of the enveloping Sb layers. The relationship between the characteristic time and aging temperature fits an Arrhenius law indicating activated dynamics