Engineering Commons^™

A Multi-Regulator Sliding Mode Control Strategy For Output-Constrained Systems, Hanz Richter

Mechanical Engineering Faculty Publications

This paper proposes a multi-regulator control scheme for single-input systems, where the setpoint of a regulated output must be changed under the constraint that a set of minimum-phase outputs remain within prescribed bounds. The strategy is based on a max–min selector system frequently used in the aerospace field. The regulators used for the regulated and limited outputs are of the sliding mode type, where the sliding variable is defined as the difference between an output and its allowable limit. The paper establishes overall asymptotic stability, as well as invariance properties leading to limit protection. The design methodology is illustrated with …

Kalman Filtering With State Constraints: A Survey Of Linear And Nonlinear Algorithms, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

The Kalman filter is the minimum-variance state estimator for linear dynamic systems with Gaussian noise. Even if the noise is non-Gaussian, the Kalman filter is the best linear estimator. For nonlinear systems it is not possible, in general, to derive the optimal state estimator in closed form, but various modifications of the Kalman filter can be used to estimate the state. These modifications include the extended Kalman filter, the unscented Kalman filter, and the particle filter. Although the Kalman filter and its modifications are powerful tools for state estimation, we might have information about a system that the Kalman filter …

Analytic Confusion Matrix Bounds For Fault Detection And Isolation Using A Sum-Of-Squared-Residuals Approach, Daniel J. Simon, Donald L. Simon

Electrical and Computer Engineering Faculty Publications

Given a system which can fail in 1 of n different ways, a fault detection and isolation (FDI) algorithm uses sensor data to determine which fault is the most likely to have occurred. The effectiveness of an FDI algorithm can be quantified by a confusion matrix, also called a diagnosis probability matrix, which indicates the probability that each fault is isolated given that each fault has occurred. Confusion matrices are often generated with simulation data, particularly for complex systems. In this paper, we perform FDI using sum-of-squared residuals (SSRs). We assume that the sensor residuals are s-independent and Gaussian, which …

Modeling Disk Cracks In Rotors By Utilizing Speed Dependent Eccentricity, Andrew L. Gyekenyesi, Jerzy T. Sawicki, Wayne C. Haase

Mechanical Engineering Faculty Publications

This paper discusses the feasibility of vibration-based structural health monitoring for detecting disk cracks in rotor systems. The approach of interest assumes that a crack located on a rotating disk causes a minute change in the system’s center of mass due to the centrifugal force induced opening of the crack. The center of mass shift is expected to reveal itself in the vibration vector (i.e., whirl response; plotted as amplitude and phase versus speed) gathered during a spin-up and/or spin-down test. Here, analysis is accomplished by modeling a Jeffcott rotor that is characterized by analytical, numerical, and experimental data. The …

Constrained Kalman Filtering Via Density Function Truncation For Turbofan Engine Health Estimation, Daniel J. Simon, Donald L. Simon

Electrical and Computer Engineering Faculty Publications

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This article develops an analytic method of incorporating state variable inequality constraints in the Kalman filter. The resultant filter truncates the probability density function (PDF) of the Kalman filter estimate at the known constraints and then computes the constrained …

A Microfabricated Segmented-Involute-Foil Regenerator For Enhancing Reliability And Performance Of Stirling Engines: Phase Iii Final Report For The Radioisotope Power Conversion Technology Nra Contract Nas3-03124, Mounir B. Ibrahim, David Gedeon, Gary Wood, Jeffrey Mclean

Mechanical Engineering Faculty Publications

Under Phase III of NASA Research Announcement contract NAS3-03124, a prototype nickel segmented-involute-foil regenerator was microfabricated and tested in a Sunpower Frequency-Test-Bed (FTB) Stirling convertor. The team for this effort consisted of Cleveland State University, Gedeon Associates, Sunpower Inc. and International Mezzo Technologies. Testing in the FTB convertor produced about the same efficiency as testing with the original random-fiber regenerator. But the high thermal conductivity of the prototype nickel regenerator was responsible for a significant performance degradation. An efficiency improvement (by a 1.04 factor, according to computer predictions) could have been achieved if the regenerator was made from a low-conductivity …

Biogeography-Based Optimization, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

Biogeography is the study of the geographical distribution of biological organisms. Mathematical equations that govern the distribution of organisms were first discovered and developed during the 1960s. The mindset of the engineer is that we can learn from nature. This motivates the application of biogeography to optimization problems. Just as the mathematics of biological genetics inspired the development of genetic algorithms (GAs), and the mathematics of biological neurons inspired the development of artificial neural networks, this paper considers the mathematics of biogeography as the basis for the development of a new field: biogeography-based optimization (BBO). We discuss natural biogeography and …

A Comparison Of Filtering Approaches For Aircraft Engine Health Estimation, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

Different approaches for the estimation of the states of linear dynamic systems are commonly used, the most common being the Kalman filter. For nonlinear systems, variants of the Kalman filter are used. Some of these variants include the LKF (linearized Kalman filter), the EKF (extended Kalman filter), and the UKF (unscented Kalman filter). With the LKF and EKF, performance varies depending on how often Jacobians (partial derivative matrices) are updated. In other words, we see a tradeoff between computational effort and filtering performance. With the unscented Kalman filter, Jacobians are not calculated but computational effort is typically high due to …

Multiplexed Predictive Control Of A Large Commercial Turbofan Engine, Hanz Richter, Anil V. Singaraju, Jonathan S. Litt

Mechanical Engineering Faculty Publications

Model predictive control is a strategy well-suited to handle the highly complex, nonlinear, uncertain, and constrained dynamics involved in aircraft engine control problems. However, it has thus far been infeasible to implement model predictive control in engine control applications, because of the combination of model complexity and the time allotted for the control update calculation. In this paper, a multiplexed implementation is proposed that dramatically reduces the computational burden of the quadratic programming optimization that must be solved online as part of the model-predictive-control algorithm. Actuator updates are calculated sequentially and cyclically in a multiplexed implementation, as opposed to the …

Real-Time On-Line Space Research Laboratory Environment Monitoring With Off-Line Trend And Prediction Analysis, Kenol Jules, Paul P. Lin

Mechanical Engineering Faculty Publications

With the International Space Station currently operational, a significant amount of acceleration data is being down-linked, processed and analyzed daily on the ground on a continuous basis for the space station reduced gravity environment characterization, the vehicle design requirements verification and science data collection. To help understand the impact of the unique spacecraft environment on the science data, an artificial intelligence monitoring system was developed, which detects in near real time any change in the reduced gravity environment susceptible to affect the on-going experiments. Using a dynamic graphical display, the monitoring system allows science teams, at any time and any …

Kalman Filtering With Inequality Constraints For Turbofan Engine Health Estimation, Daniel J. Simon, Donald L. Simon

Electrical and Computer Engineering Faculty Publications

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state-variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. Thus, two analytical methods to incorporate state-variable inequality constraints into the Kalman filter are now derived. The first method is a general technique that uses hard constraints to enforce inequalities on the state-variable estimates. The resultant filter is a combination …

A Game Theory Approach To Constrained Minimax State Estimation, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

This paper presents a game theory approach to the constrained state estimation of linear discrete time dynamic systems. In the application of state estimators, there is often known model or signal information that is either ignored or dealt with heuristically. For example, constraints on the state values (which may be based on physical considerations) are often neglected because they do not easily fit into the structure of the state estimator. This paper develops a method for incorporating state equality constraints into a minimax state estimator. The algorithm is demonstrated on a simple vehicle tracking simulation.

Modelling And Validation Of A Propellant Mixer For Controller Design, Hanz Richter, Enrique Barbieri, Fernando Figueroa Nasa Stennis Space Center

Mechanical Engineering Faculty Publications

A mixing chamber used in rocket engine testing at the NASA Stennis Space Center is modelled by a system of two nonlinear ordinary differential equations. The mixer is used to condition the thermodynamic properties of cryogenic liquid propellant by controlled injection of the same substance in the gaseous phase. The three inputs of the mixer are the positions of the valves regulating the liquid and gas flows at the inlets, and the position of the exit valve regulating the flow of conditioned propellant. Mixer operation during a test requires the regulation of its internal pressure, exit mass flow, and exit …

Data Smoothing And Interpolation Using Eighth-Order Algebraic Splines, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

A new type of algebraic spline is used to derive a filter for smoothing or interpolating discrete data points. The spline is dependent on control parameters that specify the relative importance of data fitting and the derivatives of the spline. A general spline of arbitrary order is first formulated using matrix equations. We then focus on eighth-order splines because of the continuity of their first three derivatives (desirable for motor and robotics applications). The spline's matrix equations are rewritten to give a recursive filter that can be implemented in real time for lengthy data sequences. The filter is lowpass with …

An Intelligent System For Monitoring The Microgravity Environment Quality On-Board The International Space Station, Paul P. Lin, Kenol Jules

Mechanical Engineering Faculty Publications

An intelligent system for monitoring the microgravity environment quality on-board the International Space Station is presented. The monitoring system uses a new approach combining Kohonen's self-organizing feature map, learning vector quantization, and a back propagation neural network to recognize and classify the known and unknown patterns. Finally, fuzzy logic is used to assess the level of confidence associated with each vibrating source activation detected by the system.

Sum Normal Optimization Of Fuzzy Membership Functions, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

Given a fuzzy logic system, how can we determine the membership functions that will result in the best performance? If we constrain the membership functions to a certain shape (e.g., triangles or trapezoids) then each membership function can be parameterized by a small number of variables and the membership optimization problem can be reduced to a parameter optimization problem. This is the approach that is typically taken, but it results in membership functions that are not (in general) sum normal. That is, the resulting membership function values do not add up to one at each point in the domain. This …

Distributed Fault Tolerance In Optimal Interpolative Nets, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

The recursive training algorithm for the optimal interpolative (OI) classification network is extended to include distributed fault tolerance. The conventional OI Net learning algorithm leads to network weights that are nonoptimally distributed (in the sense of fault tolerance). Fault tolerance is becoming an increasingly important factor in hardware implementations of neural networks. But fault tolerance is often taken for granted in neural networks rather than being explicitly accounted for in the architecture or learning algorithm. In addition, when fault tolerance is considered, it is often accounted for using an unrealistic fault model (e.g., neurons that are stuck on or off …

Design And Rule Base Reduction Of A Fuzzy Filter For The Estimation Of Motor Currents, Daniel J. Simon

Electrical and Computer Engineering Faculty Publications

Fuzzy systems have been used extensively and successfully in control systems over the past few decades, but have been applied much less often to filtering problems. This is somewhat surprising in view of the dual relationship between control and estimation. This paper discusses and demonstrates the application of fuzzy filtering to motor winding current estimation in permanent magnet synchronous motors. Motor winding current estimation is an important problem because in order to implement effective closed-loop control, a good estimation of the current is needed. Motor winding currents are notoriously noisy because of electrical noise in the motor drive. We use …

Review Of The Challenger Launch Decision: Risky Technology, Culture And Deviance At Nasa, Peter F. Meiksins

Sociology & Criminology Faculty Publications

Reviews the book "The Challenger Launch Decision: Risky Technology, Culture and Deviance at NASA," by Diane Vaughan.

Geometric Stiffness Effects On Data Recovery Of An Idealized Mast/Blanket Model, Paul A. Bosela, D. R. Ludwiczak

Civil and Environmental Engineering Faculty Publications

The photovoltaic arrays for the international space station consist of a pre-tensioned blanket of solar collectors and a deployable mast. NASA uses the MSC/NASTRAN finite element program for modeling the dynamic response of the structure due to various loading conditions, such as plume impingement during shuttle docking. This finite element program uses the updated stiffness matrix (elastic plus geometric, or initial stress stiffness matrix) in determining the natural frequencies and mode shapes, as well as the dynamic response, of a pre-loaded structure. However, during the data recovery phase, when the moment and shear at the supports, and internal stresses are …

A New Pre-Loaded Membrane Geometric Stiffness Matrix With Full Rigid Body Capabilities, Paul A. Bosela, D. R. Ludwiczak

Civil and Environmental Engineering Faculty Publications

Space structures, due to economic considerations, must be light-weight. Accurate prediction of the natural frequencies and mode shapes is critical for determining the structural adequacy of components, and designing a control system. The total stiffness of a member, in many cases, includes both the elastic stiffness of the material as well as additional geometric stiffness due to pre-load (initial stress stiffness). The pre-load causes serious reservations on the use of standard finite element techniques of solution. In particular, a phenomenon known as ''grounding'', or false stiffening, of the stiffness matrix occurs during rigid body rotation. The author has previously shown …

Gps Modeling For Designing Aerospace Vehicle Navigation Systems, John J. Dougherty, Hossny El-Sherief, Daniel J. Simon, Gary A. Whitmer

Electrical and Computer Engineering Faculty Publications

The complexity of the design of a Global Positioning System (GPS) user segment, as well as the performance demanded of the components, depends on user requirements such as total navigation accuracy. Other factors, for instance the expected satellite/vehicle geometry or the accuracy of an accompanying inertial navigation system can also affect the user segment design. Models of GPS measurements are used to predict user segment performance at various levels. Design curves are developed which illustrate the relationship between user requirements, the user segment design, and component performance.

A New Preloaded Beam Geometric Stiffness Matrix With Full Rigid Body Capabilities, Paul A. Bosela, D. G. Fertis, F. J. Shaker

Civil and Environmental Engineering Faculty Publications

Space structures, such as the Space Station solar arrays, must be extremely light-weight, flexible structures. Accurate prediction of the natural frequencies and mode shapes is essential for determining the structural adequacy of components, and designing a controls system. The tension pre-load in the 'blanket' of photovoltaic solar collectors, and the free/free boundary conditions of a structure in space, causes serious reservations on the use of standard finite element techniques of solution. In particular, a phenomenon known as 'grounding, or false stiffening, of the stiffness matrix occurs during rigid body rotation. The authors have previously shown that the grounding phenomenon is …

Grounding Of Space Structures, Paul A. Bosela, D. G. Fertis, F. J. Shaker

Civil and Environmental Engineering Faculty Publications

Space structures, such as the Space Station solar arrays, must be extremely light-weight, flexible structures. Accurate prediction of the natural frequencies and mode shapes is essential for determining the structural adequacy of components, and designing a controls system. The tension pre-load in the 'blanket' of photovoltaic solar collectors, and the free/free boundary conditions of a structure in space, causes serious reservations on the use of standard finite element techniques of solution. In particular, a phenomenon known as 'grounding', or false stiffening, of the stiffness matrix occurs during rigid body rotation. This paper examines the grounding phenomenon in detail. Numerous stiffness …

Dynamic Analysis Of Space-Related Linear And Nonlinear Structures, Paul A. Bosela, F. J. Shaker, D. G. Ertis

Civil and Environmental Engineering Faculty Publications

In order to be cost-effective, space structures must be extremely light-weight, and subsequently, very flexible structures, The power system for Space Station 'Freedom' is such a structure. Each array consists of a deployable truss mast and a split 'blanket' of photo-voltaic solar collectors. The solar arrays are deployed in orbit, and the blanket is stretched into position as the mast is extended. Geometric stiffness due to the preload make this an interesting non-linear problem. The space station will be subjected to various dynamic loads, during shuttle docking, solar tracking, attitude adjustment, etc. Accurate prediction of the natural frequencies and mode …

Reliability Analysis Of Structural Ceramic Components Using A Three-Parameter Weibull Distribution, Stephen F. Duffy, Lynn M. Powers, Alois Starlinger

Civil and Environmental Engineering Faculty Publications

This paper describes nonlinear regression estimators for the three-parameter Weibull distribution. Issues relating to the bias and invariance associated with these estimators are examined numerically using Monte Carlo simulation methods. The estimators were used to extract parameters from sintered silicon nitride failure data. A reliability analysis was performed on a turbopump blade utilizing the three-parameter Weibull distribution and the estimates from the sintered silicon nitride data.

Extension Of A Noninteractive Reliability Model For Ceramic Matrix Composites, Stephen F. Duffy, Robert C. Wetherhold, Lalit K. Jain

Civil and Environmental Engineering Faculty Publications

In the next decade ceramic composites will increasingly be used as high-temperature components in advanced gas turbines. Ceramic components will allow an increase in the operating temperature of the gas stream (measured by the turbine entry temperature), thereby resulting in greater fuel economy in aerospace and automotive turbine applications. Since these materials will be produced from abundant nonstrategic materials, computational structural mechanics methods are evolving to keep pace with this technology. As a result, establishing protocols for sound design methodology, which is the subject of this technical note, is the focus of much current analytical research.

Our objective was to …

Analysis Of Whisker-Toughened Ceramic Components -- A Design Engineer's Viewpoint, Stephen F. Duffy Phd, Pe, Jane M. Manderscheid, Joseph L. Palko

Civil and Environmental Engineering Faculty Publications

The use of ceramics components in gas turbines, cutting tools, and heat exchangers has been limited by the relatively low flaw tolerance of monolithic ceramics. The development of whisker-toughened ceramic composites offers the potential for considerable improvement in fracture toughness as well as strength. However, the variability of strength is still too high for the application of deterministic design approaches. This report reviews several phenomenological reliability theories proposed for this material system, and reports on the development of a public domain computer algorithm. This algorithm, when coupled with a general-purpose finite element program, predicts the fast fracture reliability of a …