Filtering technique based on high-frequency plant modeling for high-gain control

This invention was an improvement in aircraft control systems that utilized feedback motion sensors to generate a signal to control the aircraft. The improvement consisted essentially of a complementary filter comprising a simplified model of the aircraft, a high pass filter, a low pass filter and a summing amplifier. The control signal was applied to the simplified model of the aircraft which attempted to compute the vehicle response to the signal. This computed response was then fed into the high pass filter to eliminate long term errors in the calculated response, with the result that a good estimate of the high frequency content of the aircraft motion was obtained. In order to obtain a good estimate of the low frequency content of the motion, a rate gyro signal was fed through the low pass filter that eliminates all of the offending noise

PPF - A Parallel Particle Filtering Library

We present the parallel particle filtering (PPF) software library, which enables hybrid shared-memory/distributed-memory parallelization of particle filtering (PF) algorithms combining the Message Passing Interface (MPI) with multithreading for multi-level parallelism. The library is implemented in Java and relies on OpenMPI's Java bindings for inter-process communication. It includes dynamic load balancing, multi-thread balancing, and several algorithmic improvements for PF, such as input-space domain decomposition. The PPF library hides the difficulties of efficient parallel programming of PF algorithms and provides application developers with the necessary tools for parallel implementation of PF methods. We demonstrate the capabilities of the PPF library using two distributed PF algorithms in two scenarios with different numbers of particles. The PPF library runs a 38 million particle problem, corresponding to more than 1.86 GB of particle data, on 192 cores with 67% parallel efficiency. To the best of our knowledge, the PPF library is the first open-source software that offers a parallel framework for PF applications.Comment: 8 pages, 8 figures; will appear in the proceedings of the IET Data Fusion & Target Tracking Conference 201

Control theory analysis of a three-axis VTOL flight director

A control theory analysis of a VTOL flight director and the results of a fixed-based simulator evaluation of the flight-director commands are discussed. The VTOL configuration selected for this study is a helicopter-type VTOL which controls the direction of the thrust vector by means of vehicle-attitude changes and, furthermore, employs high-gain attitude stabilization. This configuration is the same as one which was simulated in actual instrument flight tests with a variable stability helicopter. Stability analyses are made for each of the flight-director commands, assuming a single input-output, multi-loop system model for each control axis. The analyses proceed from the inner-loops to the outer-loops, using an analytical pilot model selected on the basis of the innermost-loop dynamics. The time response of the analytical model of the system is primarily used to adjust system gains, while root locus plots are used to identify dominant modes and mode interactions

Application of a modified complementary filtering technique for increased aircraft control system frequency bandwidth in high vibration environment

A modified complementary filtering technique for estimating aircraft roll rate was developed and flown in a research helicopter to determine whether higher gains could be achieved. Use of this technique did, in fact, permit a substantial increase in system frequency bandwidth because, in comparison with first-order filtering, it reduced both noise amplification and control limit-cycle tendencies

Modern agglutinated Foraminifera from the Hovgård Ridge, Fram Strait, west of Spitsbergen: evidence for a deep bottom current

Deep-water agglutinated foraminifera on the crest of the Hovgård Ridge, west of Spitsbergen, consist mostly of large tubular astrorhizids. At a boxcore station collected from the crest of Hovgård Ridge at a water depth of 1169 m, the sediment surface was covered with patches of large (1 mm diameter) tubular forms, belonging mostly to the species Astrorhiza crassatina Brady, with smaller numbers of Saccorhiza, Hyperammina, and Psammosiphonella. Non-tubular species consisted mainly of opportunistic forms, such as Psammosphaera and Reophax. The presence of large suspension-feeding tubular genera as well as opportunistic forms point to the presence of deep currents at this locality that are strong enough to disturb the benthic fauna. This is confirmed by data obtained from sediment echosounding, which exhibit lateral variation in relative sedimentation rates within the Pleistocene sedimentary drape covering the ridge, indicative of winnowing in a south-easterly direction

Flight investigation of manual and automatic VTOL decelerating instrument approaches and landings

A flight investigation was undertaken to study the problems associated with manual and automatic control of steep, decelerating instrument approaches and landings under simulated instrument conditions. The study was conducted with a research helicopter equipped with a three-cue flight-director indicator. The scope of the investigation included variations in the flight-director control laws, glide-path angle, deceleration profile, and control response characteristics. Investigation of the automatic-control problem resulted in the first automated approach and landing to a predetermined spot ever accomplished with a helicopter. Although well-controlled approaches and landings could be performed manually with the flight-director concept, pilot comments indicated the need for a better display which would more effectively integrate command and situation information

Flight investigation of a vertical-velocity command system for VTOL aircraft

A flight investigation was undertaken to assess the potential benefits afforded by a vertical-velocity command system (VVCS) for VTOL (vertical take-off and landing) aircraft. This augmentation system was conceived primarily as a means of lowering pilot workload during decelerating approaches to a hover and/or landing under category III instrument meteorological conditions. The scope of the investigation included a determination of acceptable system parameters, a visual flight evaluation, and an instrument flight evaluation which employed a 10 deg, decelerating, simulated instrument approach task. The results indicated that the VVCS, which decouples the pitch and vertical degrees of freedom, provides more accurate glide-path tracking and a lower pilot workload than does the unaugmented system

Origin and evolution of the Laguna Potrok Aike maar (Patagonia, Argentina)

Laguna Potrok Aike, a maar lake in southern-most Patagonia, is located at about 110 m a.s.l. in the Pliocene to late Quaternary Pali Aike Volcanic Field (Santa Cruz, southern Patagonia, Argentina) at about 52°S and 70°W, some 20 km north of the Strait of Magellan and approximately 90 km west of the city of Rio Gallegos. The lake is almost circular and bowl-shaped with a 100 m deep, flat plain in its central part and an approximate diameter of 3.5 km.Steep slopes separate the central plain from the lake shoulder at about 35 m water depth. At present, strong winds permanently mix the entire water column. The closed lake basin contains a sub saline water body and has only episodic inflows with the most important episodic tributary situated on the western shore. Discharge is restricted to major snowmelt events.Laguna Potrok Aike is presently located at the boundary between the Southern Hemispheric Westerlies and the Antarctic Polar Front. The sedimentary regime is thus influenced by climatic and hydrologic conditions related to the Antarctic Circumpolar Current, the Southern HemisphericWesterlies and sporadic outbreaks of Antarctic polar air masses. Previous studies demonstrated that closed lakes in southern South America are sensitive to variations in the evaporation/precipitation ratio and have experienced drastic lake level changes in the past causing for example the desiccation of the 75 m deep Lago Cardiel during the Late Glacial. Multiproxy environmental reconstruction of the last 16 ka documents that Laguna Potrok Aike is highly sensitive to climate change. Based on an Ar/Ar age determination, the phreatomagmatic tephra that is assumed to relate to the Potrok Aike maar eruption was formed around 770 ka. Thus Laguna Potrok Aike sediments contain almost 0.8 million years of climate history spanning several past glacial-interglacial cycles making it a unique archive for non-tropical and non-polar regions of the Southern Hemisphere. In particular, variations of the hydrological cycle, changes in eolian dust deposition, frequencies and consequences of volcanic activities and other natural forces controlling climatic and environmental responses can be tracked throughout time. Laguna Potrok Aike has thus become a major focus of the International Continental Scientific Drilling Program. Drilling operations were carried out within PASADO (Potrok Aike Maar Lake Sediment Archive Drilling Project) in late 2008 and penetrated ~100 m into the lacustrine sediment.Laguna Potrok Aike is surrounded by a series of subaerial paleo-shorelines of modern to Holocene age that reach up to 21 m above the 2003 AD lake level. An erosional unconformity which can be observed basin-wide along the lake shoulder at about 33 m below the 2003 AD lake level marks the lowest lake level reached during Late Glacial to Holocene times. A high- resolution seismic survey revealed a series of buried, subaquatic paleo-shorelines that hold a record of the complex transgressional history of the past approximately 6800 years, which was temporarily interrupted by two regressional phases from approximately 5800 to 5400 and 4700 to 4000 cal BP. Seismic reflection and refraction data provide insights into the sedimentary infill and the underlying volcanic structure of Laguna Potrok Aike. Reflection data show undisturbed, stratified lacustrine sediments at least in the upper ~100 m of the sedimentary infill. Two stratigraphic boundaries were identified in the seismic profiles (separating subunits I-ab, I-c and I-d) that are likely related to changes in lake level. Subunits I-ab and I-d are quite similar even though velocities are enhanced in subunit I-d. This might point at cementation in subunit I-d. Subunit I-c is restricted to the central parts of the lake and thins out laterally.A velocity-depth model calculated from seismic refraction data reveals a funnel-shaped structure embedded in the sandstone rocks of the surrounding Santa Cruz Formation. This funnel struc

Pilot assessment of two computer-generated display formats for helicopter instrument approach

Two computer generated display formats were evaluated as primary displays by six research pilots in a fixed base simulator. One of the computer generated display formats was an electronic attitude director indicator (EADI) which featured three cue flight director, command information, superimposed on true perspective runway symbology. The other computer generated display format featured separate horizontal and vertical situation information with vector predictors. A baseline display, consisting of an electromechanical attitude director indicator (ADI) with a three cue flight director and a moving map, was used as a reference for the pilot evaluations