Data acquisition and path selection decision making for an autonomous roving vehicle

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data

Spin Response and Neutrino Emissivity of Dense Neutron Matter

We study the spin response of cold dense neutron matter in the limit of zero momentum transfer, and show that the frequency dependence of the long-wavelength spin response is well constrained by sum-rules and the asymptotic behavior of the two-particle response at high frequency. The sum-rules are calculated using Auxiliary Field Diffusion Monte Carlo technique and the high frequency two-particle response is calculated for several nucleon-nucleon potentials. At nuclear saturation density, the sum-rules suggest that the strength of the spin response peaks at $\omega \simeq$ 40--60 MeV, decays rapidly for $\omega \geq$100 MeV, and has a sizable strength below 40 MeV. This strength at relatively low energy may lead to enhanced neutrino production rates in dense neutron-rich matter at temperatures of relevance to core-collapse supernova.Comment: 11 pages, 4 figures. Minor change. Published versio

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands

Robustness Analysis of Hopfield and Modified Hopfield Neural Networks in Time Domain

A variant of the Hopfield network, called the modified Hopfield network is formulated. This network which consists of two mutually recurrent networks has more free parameters than the well-known Hopfield network. Stability analysis of this network is presented. The analysis is carried out in the time domain with an application of the Lyapunov method and robust control Lyapunov function. The current flow in the network is treated as a control . This controller is shown to guarantee a practically stabilizing control . Analysis of the Hopfield network is also included for completion

Frequency Domain Robustness Analysis of Hopfield and Modified Hopfield Neural Networks

A variant of Hopfield neural network, called the modified Hopfield network, is formulated in this study. This class of networks consists of parallel recurrent networks which have variable dimensions that can be changed to fit the problem under consideration. It has a structure to implement an inverse transformation that is essential for embedding optimal control gain sequences. Equilibrium solutions of this network are discussed. The robustness of this network and the classical Hopfield network are carried out in the frequency domain using describing function

A Class of Modified Hopfield Networks for Control of Linear and Nonlinear Systems

This paper presents a class of modified Hopfield neural networks (MHNN) and their use in solving linear and nonlinear control problems. This class of networks consists of parallel recurrent networks which have variable dimensions that can be changed to fit the problems under consideration. It has a structure to implement an inverse transformation that is essential for embedding optimal control gain sequences. Equilibrium solutions are discussed. Numerical results for a motivating aircraft control problem (linear) are presented. Furthermore, we formulate the state-dependent Riccati equation method (SDRE) for a class of nonlinear dynamical system and show how MHNN provides the solution. Two examples that illustrate the potential of this network for the SDRE method are also presented

Hamiltonian Based Adaptive Critics for Aircraft Control

Aircraft designs are becoming more complex in order to either operate more efficiently as in the commercial sector or to push the performance envelopes as in the military sector. An interesting outcome of this scenario is that `control\u27\u27 has come to play an important role in helping realize these objectives. Increasingly, control is becoming an integral part of an aircraft design rather than an afterthought. More effective and efficient control of an aircraft is certain to lead to improved performance at a lower cos

Strain engineering in graphene by laser irradiation

We demonstrate that the Raman spectrum of graphene on lithium niobate can be controlled locally by continuous exposure to laser irradiation. We interpret our results in terms of changes to doping and mechanical strain and show that our observations are consistent with light-induced gradual strain relaxation in the graphene layer

Possible ΔΔ\Delta\Delta dibaryons in the quark cluster model

In the framework of RGM, the binding energy of one channel $\Delta\Delta_{(3,0)}$($d^*$) and $\Delta\Delta_{(0,3)}$ are studied in the chiral SU(3) quark cluster model. It is shown that the binding energies of the systems are a few tens of MeV. The behavior of the chiral field is also investigated by comparing the results with those in the SU(2) and the extended SU(2) chiral quark models. It is found that the symmetry property of the $\Delta\Delta$ system makes the contribution of the relative kinetic energy operator between two clusters attractive. This is very beneficial for forming the bound dibaryon. Meanwhile the chiral-quark field coupling also plays a very important role on binding. The S-wave phase shifts and the corresponding scattering lengths of the systems are also given.Comment: LeTex with 2 ps figure