Systems and Methods for Parameter Dependent Riccati Equation Approaches to Adaptive Control

Systems and methods for adaptive control are disclosed. The systems and methods can control uncertain dynamic systems. The control system can comprise a controller that employs a parameter dependent Riccati equation. The controller can produce a response that causes the state of the system to remain bounded. The control system can control both minimum phase and non-minimum phase systems. The control system can augment an existing, non-adaptive control design without modifying the gains employed in that design. The control system can also avoid the use of high gains in both the observer design and the adaptive control law

Systems and Methods for Derivative-Free Adaptive Control

An adaptive control system is disclosed. The control system can control uncertain dynamic systems. The control system can employ one or more derivative-free adaptive control architectures. The control system can further employ one or more derivative-free weight update laws. The derivative-free weight update laws can comprise a time-varying estimate of an ideal vector of weights. The control system of the present invention can therefore quickly stabilize systems that undergo sudden changes in dynamics, caused by, for example, sudden changes in weight. Embodiments of the present invention can also provide a less complex control system than existing adaptive control systems. The control system can control aircraft and other dynamic systems, such as, for example, those with non-minimum phase dynamics

Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems

This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc.) may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods

K-modification and a novel approach to output feedback adaptive control

This dissertation presents novel adaptive control laws in both state feedback and output feedback forms. In the setting of state feedback adaptive control K-modification provides a tunable stiffness term that results in a frequency dependent filtering effect, smoother transient responses, and time delay robustness in an adaptive system. K-modification is combined with the recently developed Kalman filter (KF) based adaptive control and derivative-free (DF) adaptive control. K-modification and its combinations with KF adaptive control and DF adaptive control preserve the advantages of each of these methods and can also be combined with other modification methods such as - and e-modification. An adaptive output feedback control law based on a state observer is also developed. The main idea behind this approach is to apply a parameter dependent Riccati equation to output feedback adaptive control. The adaptive output feedback approach assumes that a state observer is employed in the nominal controller design. The observer design is modified and employed in the adaptive part of the design in place of a reference model. This is combined with a novel adaptive weight update law. The weight update law ensures that estimated states follow both the reference model states and the true states so that both state estimation errors and state tracking errors are bounded. Although the formulation is in the setting of model following adaptive control, the realization of the adaptive controller uses the observer of the nominal controller in place of the reference model to generate an error signal. Thus the only components that are added by the adaptive controller are the realizations of the basis functions and the weight adaptation law. The realization is even less complex than that of implementing a model reference adaptive controller in the case of state feedback. The design procedure of output feedback adaptive control is illustrated with two examples: a simple wingrock dynamics model and a more complex aeroelastic aircraft transport model.Ph.D.Committee Chair: Calise, Anthony; Committee Member: Bong-Jun Yang; Committee Member: Craig, James; Committee Member: Feron, eric; Committee Member: Johnson, eri

Analytical and experimental investigations of the damping characteristics of bolted and welded structural connections for plates and shells

The design of the structural connections is important from the standpoint of reducing system vibration amplitudes or enhancing joint damping capacity. A stateof- the-art review was performed and a generic experimental model was developed and constructed. The test model consists of two concentric circular cylindrical shells and four vanes connected by groups of bolts. First, a finite element model was developed and analyzed, using the MSC/NASTRAN computer program. The first analysis was a modal survey of the model to investigate dynamic characteristics of the whole system. Secondly a frequency response analysis gave the input/output relationship between an input point (excitation) and an output point (response) in the frequency domain, which depends on the damping characteristics of the structure.supported in part by the Foundation research Program of the Naval Postgraduate School with fund provided by David W. Taylor Naval Ship Research and Development Center.http://archive.org/details/analyticalexperi00shinN00167-85-WR5-0371N

Investigation of the spin stability of the NPS Mini-Satellite (ORION)

A preliminary design of the Naval Postgraduate School Mini-Satellite consists of a long cylindrical body and four radial booms and uses the single spin stabilization scheme for its attitude control. Stability conditions between design parameters for simple spinning motions of the satellite in space are investigated by applying Liapunov stability theory and using the natural modes as the admissible functions of internal coordinates. The stability diagram from this study shows that the internal stability conditions due to the flexibility of booms limit the angular velocity range of simple spins whlie the Maximum Axis Rule limit the minimum lengths of booms.NPS Mini-Satellite (ORION) Projecthttp://archive.org/details/investigationofs00kimkMIPR F62400-87-0004N

Stress Evaluation of Mouse Husbandry Environments for Improving Laboratory Animal Welfare

Animal welfare is recognized as essential for the coexistence of humans and animals. Considering the increased demand and interest in animal welfare, many methods for improving animal welfare are being devised, but which method reduces animal stress has not been scientifically verified. Therefore, reducing animal stress by providing a proper breeding environment and environmental enrichment can be the basis for animal study. In this study, stress levels were assessed based on the mouse-breeding environment. We considered that the higher the body weight and the lower the corticosterone concentration, the lower the stress. According to the results, animals in the individual ventilation cages were determined to have lower serum cortisol concentrations, while the body weight of the animals was increased when in individual ventilation cages compared with individual isolated cages and when providing environmental enrichment compared with group breeding or not providing environmental enrichment. The results provide appropriate guidelines for improving laboratory animal welfare

Differences between Cellular and Molecular Profiles of Induced Pluripotent Stem Cells Generated from Mouse Embryonic Fibroblasts

Induced pluripotent stem (iPS) cells are a new alternative for the development of patient-specific stem cells, and the aim of this study was to determine whether differences exist between the cellular and molecular profiles of iPS cells, generated using lentiviral vectors, compared to ES cells. The lentiviral infection efficiency differed according to the method of cell culture (adherent cells: 0.085%; suspended cells: 0.785%). Six iPS cell lines exhibited typical ES cell morphology and marker expression, but varied in their in vitro/in vivo differentiation ability. Global gene transcription analysis revealed that core pluripotency genes were expressed at lower levels in iPS cell lines compared to D3-ES cells (Pou5f1: ×1.6∼2.2-fold, Sox2: ×2.58∼10.0-fold, Eras: ×1.08∼2.54-fold, Dppa5a: ×1.04∼1.41-fold), while other genes showed higher expression in iPS cells (Lin28: ×1.43∼2.33-fold; Dnmt3b: ×1.33∼2.64-fold). This pattern was repeated in a survey of specific functional groups of genes (surface markers, cell death, JAK–STAT and P13K–AKT signaling pathways, endothelial, cardiovascular, and neurogenesis genes). Among the iPS cell lines examined, only two showed similar characteristics to ES cells. These results demonstrated that, in addition to cellular characterization, the numerical evaluation of gene expression using DNA microarrays might help to identify the stem cell stability and pluripotency of iPS cells

Toxicity Study and Quantitative Evaluation of Polyethylene Microplastics in ICR Mice

The production, use, and waste of plastics increased worldwide, which resulted in environmental pollution and a growing public health problem. In particular, microplastics have the potential to accumulate in humans and mammals through the food chain. However, the toxicity of microplastics is not well understood. In this study, we investigated the toxicity of 10–50 μm polyethylene microplastics following single- and 28-day repeated oral administration (three different doses of microplastics of 500, 1000, and 2000 mg/kg/day) in ICR mice. For the investigation, we administered the microplastics orally for single- and 28-day repeated. Then, the histological and clinical pathology evaluations of the rodents were performed to evaluation of the toxicity test, and Raman spectroscopy was used to directly confirm the presence of polyethylene microplastics. In the single oral dose toxicity experiments, there were no changes in body weight and necropsy of the microplastics-treated group compared with that of controls. However, a histopathological evaluation revealed that inflammation from foreign bodies was evident in the lung tissue from the 28-day repeated oral dose toxicity group. Moreover, polyethylene microplastics were detected in the lung, stomach, duodenum, ileum, and serum by Raman spectroscopy. Our results corroborated the findings of lung inflammation after repeated oral administration of polyethylene microplastics. This study provides evidence of microplastic-induced toxicity following repeated exposure to mice