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

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

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 overwintering of Antarctic krill, Euphausia superba, from an ecophysiological perspective

A major aim of this review is to determine which physiological functions are adopted by adults and larvae to survive the winter season with low food supply and their relative importance. A second aim is to clarify the extent to which seasonal variation in larval and adult krill physiology is mediated by environmental factors with a strong seasonality, such as food supply or day light. Experimental studies on adult krill have demonstrated that speciWc physiological adaptations during autumn and winter, such as reduced metabolic rates and feeding activity, are not caused simply by the scarcity of food, as was previously assumed. These adaptations appear to be inXuenced by the local light regime. The physiological functions that larval krill adopt during winter (reduced metabolism, delayed development, lipid utilisation, and variable growth rates) are, in contrast to the adults, under direct control by the available food supply. During winter, the adults often seem to have little association with sea ice (at least until early spring). The larvae, however, feed within sea ice but mainly on the grazers of the ice algal community rather than on the algae themselves. In this respect, a miss-match in timing of the occurrence of the last phytoplankton blooms in autumn and the start of the sea ice formation, as has been increasingly observed in the west Antarctic Peninsula (WAP) region, will impact larval krill development during winter in terms of food supply and consequently the krill stock in this region

Energy Content of Antarctic Mesopelagic Fishes: Implications for the Marine Food Web

For a better understanding of the role of mesopelagic fish in the Southern Ocean food web, the energy and water content of Bathylagus antarcticus, Electrona antarctica and Gymnoscopelus braueri from the Lazarev Sea were investigated. Mean dry weight energy content of B. antarcticus (20.4 kJ g-1) was significantly lower than in E. antarctica and G. braueri (both 29.4 kJ g-1). In E. antarctica, an increase of dry weight energy density with age was evident from 26.9 kJ g-1 in juveniles of less than 1 year of age to 32.0 kJ g-1 in 3-year-old fish. Water content decreased with size in all three species. Abundant high-energy species such as E. antarctica are at a key position in the food web. Due to a marked influence of age on energy content, population structure can be an important variable in estimates of energy fluxes in the Southern Ocean ecosystem

Metabolism and biomass vertical distribution of zooplankton in the Bransfield Strait (Antarctic Peninsula) during summer

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