Robust wavelet neuro control for linear brushless motors

Design, simulation and experimental implementation of a wavelet basis function network learning controller for linear brushless dc motors (LBDCM) are considered. Stability robustness with position tracking is the primary concern. The proposed controller deals mainly with external disturbances, e.g. nonlinear friction force and payload variation in motion control of linear motors. It consists of two parts, one is a state feedback component, and the other one is a learning feedback component. The state feedback controller is designed on the basis of a simple linear model, and the learning feedback component is a wavelet neural controller. The attenuation effect of wavelet neural networks on friction force is first verified by the numerical method. The learning effect of wavelet neural networks on friction force is also shown in the numerical results. Then, a wavelet neural network is applied on a real LBDCM to on-line suppress the friction force, which may be variable due to the different lubrication. The effectiveness of the proposed control schemes is demonstrated by simulated and experimental results.     

Interaction of artificially injected plasma flows with ionospheric plasma

Results of rocket experiments on study of plasma flows (PF) artificially injected by sources separated from vehicles and their effect on medium parameters in ionosphere at altitudes 160:230 km are presented.PF were injected comprising lithium ions with velocities 1,2 x 10⁴ m/sec. and cesium-potassium ions with velocities (1,4–1,5)x10³ m/sec. Mass flow rate in case of lithium PS is 2 mg/sec, and in case of cesium-potassium PS is 0,2 g/sec. During experiments mass-spectrometer measurements of ion medium content in ranges of different ion masses were held, disturbancies of electric fields with frequencies up to 20 kHz and electron flows with energies 0,7keV, 4,6keV and over 40 keV were controlled at distancies from 150m to (500–600)m between plasma source and scientific equipment.     

Synoptic observations of coronal transients and their interplanetary consequences

A small coronagraph has been placed in orbit to monitor the sun's outer corona from 2.5 to 10.0 solar radii, and five years of nearly continuous synoptic observations have now been completed. Rapid and sensitive image processing techniques have been developed to screen the data for transient phenomena, particularly coronal mass ejections (CMEs). About 50,000 coronal images have been examined, out of a five-year total of 68,000, and a standardized listing of more than 1,200 coronal transients for the period 1979–1982 has been prepared. These data have been analysed in the light of other available information, particularly on conditions in the interplanetary plasma. The dynamical characteristics of the active corona, as they are beginning to emerge from the data, are presented. We find that coronal mass ejections exercise significant influence on the interplanetary solar wind. They are the source of disturbances that are frequent and energetic, that tend to be somewhat focussed, that often reach shock intensity, and that propagate to large heliocentric distances, sometimes causing major geomagnetic storms.     

Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

Effects of prolonged exposure to space flight factors for 175 days on lettuce seeds

We have studied the effects of prolonged (up to 175 days) exposure of $\text{Lactuca sativa}$ seeds to space flight factors, including primary cosmic radiation heavy ions. The data obtained evidence a significant fourfold increase ofs pontaneous mutagenesis in seeds both with regard to the total number of aberrant cells as well as the formation of single cells with multiple aberrations. Comparison of the present experiment with earlier works shows that the frequency of such aberrations increases with the duration of the flight.     

Asymptotic Reproducibility in Nonlinear Systems and Attitude Control of Gyrostat

A control law is presented for asymptotic function reproducibility in a class of nonlinear-systems such that the output of the system asympotically tends to a given function. The controller consists of a prefilter and a servocompensator. Based on this result, a nonlinear feedback control law for the attitude control of a satellite containing symmetric rotors, in a circular orbit, is derived. In the closed-loop system, given trajectories of pitch, yaw, and roll angles are asymptotically followed, and set point control of attitude is accomplished. Digital simulation results are presented to show the capability of the nonlinear controller.     

The organic aerosols of Titan

A dark reddish organic solid, called tholin, is synthesized from simulated Titanian atmospheres by irradiation with high energy electrons in a plasma discharge. The visible reflection spectrum of this tholin is found to be similar to that of high altitude aerosols responsible for the albedo and reddish color of Titan. The real (n) and imaginary (k) parts of the complex refractive index of thin films of Titan tholin prepared by continuous D.C. discharge through a 0.9 N₂/0.1 CH₄ gas mixture at 0.2 mb is determined from x-ray to microwave frequencies. Values of n (1.65) and k (0.004 to 0.08) in the visible are consistent with deductions made by ground-based and spaceborne observations of Titan. Many infrared absorption features are present in k(λ), including the 4.6 μm nitrile band. Molecular analysis of the volatile component of this tholin was performed by sequential and non-sequential pyrolytic gas chromatography/mass spectrometry. More than one hundred organic compounds are released; tentative identifications include saturated and unsaturated aliphatic hydrocarbons, substituted polycyclic aromatics, nitriles, amines, pyrroles, pyrazines, pyridines, pyrimidines, and the purine, adenine. In addition, acid hydrolysis produces a racemic mixture of biological and non-biological amino acids. Many of these molecules are implicated in the origin of life on Earth, suggesting Titan as a contemporary laboratory environment for prebiological organic chemistry on a planetary scale.     

Signal to Noise Ratio Improvement by Frequency Division in the Presence of Bandpass Noise

The performance of a wide band frequency divider in the presence of additive Gaussian noise is presented. It is shown that the same theoretical signal to noise ratio improvement is attainable in this case as in the case where the spurious signal is a sine wave.     

A review of long drop tubes as a supplement/alternative to space experiments

The 100 meter high drop tube at the Marshall Space Flight Center has proven to be a viable facility for studies of containerless solidification. Advantages are that experiments are inexpensive and large numbers of specimens can be processed rapidly. It would not be unusual to run ten specimens in a day. Another significant advantage is that the undercooling behavior can be followed with sufficient sensitivity to easily detect the onset of recalescence and subsequent events.Disadvantages are the restrictions on specimen sizes and types of alloys that can be run in a microgravity environment. Practical specimen sizes range between 50 mg and 500 mg depending on the type of furnace being used. Refractory alloys can be processed in a vacuum (about 10^?5 torr) and therefore at microgravity. Non-refractory alloys demand an atmosphere (about 200 torr) to obtain appreciable undercooling before impact at the bottom of the tube. Under these conditions significant g forces result.Because of the present limitations of the 100 meter drop tube, the most definitive work has been done on niobium based alloys. Large amounts of undercooling have been observed routinely and the effects of undercooling on microstructure have been characterized in detail. X-ray diffraction, scanning electron microscopy, and transmission electron microscopy have been used to determine types of phases, amounts of phases, and compositions of phases. It is clear, as would be expected, that the results bear some resemblance to rapid solidification processing by quenching. However, there are dissimilarities due to the uniqueness of solidification by deep undercooling without quenching in long drop tubes and accompanying recalescence effects.