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An analytic method for the design of automatic controls is developed that starts from certain arbitrary criterions on the behavior of the controlled system and gives those physically realizable equations that the control system can follow in order to realize this behavior. The criterions used are developed in the form of certain time integrals. General results are shown for systems of second order and of any number of degrees of freedom. Detailed examples for several cases in the control of a turbojet engine are presented.

Pilot/vehicle analysis techniques for optimizing aircraft handling qualities are presented. The analysis approach considered is based on the optimal control frequency domain techniques. These techniques stem from an optimal control approach of a Neal-Smith like analysis on aircraft attitude dynamics extended to analyze the flared landing task. Some modifications to the technique are suggested and discussed. An in depth analysis of the effect of the experimental variables, such as prefilter, is conducted to gain further insight into the flared land task for this class of vehicle dynamics.

A series of research projects is briefly summarized which includes investigations in the following areas: (1) mathematical programming problems for large system and infinite-dimensional spaces, (2) bounded-input bounded-output stability, (3) non-parametric approximations, and (4) differential games. A list of reports and papers which were published over the ten year period of research is included.

Various approaches to the problem of generating, maintaining and distributing a coherent, reference phase signal over a large area are suggested, mathematically modeled and analyzed with respect to their ability to minimize: phase build-up, beam diffusion and beam steering phase jitter, cable length, and maximize power transfer efficiency. In addition, phase control configurations are suggested which alleviate the need for layout symmetry.

Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches for automatic synthesis of embedded systems control software. This paper addresses control software synthesis for discrete time nonlinear systems. We present a methodology to overapproximate the dynamics of a discrete time nonlinear hybrid system H by means of a discrete time linear hybrid system L(H), in such a way that controllers for L(H) are guaranteed to be controllers for H. We present experimental results on the inverted pendulum, a challenging and meaningful benchmark in nonlinear Hybrid Systems control.

Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches for automatic synthesis of embedded systems control software. This paper addresses control software synthesis for discrete time nonlinear systems. We present a methodology to overapproximate the dynamics of a discrete time nonlinear hybrid system H by means of a discrete time linear hybrid system L(H), in such a way that controllers for L(H) are guaranteed to be controllers for H. We present experimental results on the inverted pendulum, a challenging and meaningful benchmark in nonlinear Hybrid Systems control.

Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches for automatic synthesis of embedded systems control software. This paper addresses control software synthesis for discrete time nonlinear systems. We present a methodology to overapproximate the dynamics of a discrete time nonlinear hybrid system H by means of a discrete time linear hybrid system L(H), in such a way that controllers for L(H) are guaranteed to be controllers for H. We present experimental results on the inverted pendulum, a challenging and meaningful benchmark in nonlinear Hybrid Systems control.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

Techniques were developed for the unified design of multimode, variable authority automatic flight-control systems for powered-lift STOL and VTOL aircraft. A structure for such systems is developed to deal with the strong nonlinearities inherent in this class of aircraft, to admit automatic coupling with advanced air traffic control, and to admit a variety of active control tasks. The aircraft being considered is the augmentor wing jet STOL research aircraft.

Development of a unified control synthesis methodology for complex and/or non-conventional flight vehicles, and prediction techniques for the handling characteristics of such vehicles are reported. Identification of pilot dynamics and objectives, using time domain and frequency domain methods is proposed.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

ADA752007

ADA752007

The simulated single-rotor helicopter powered by a Continental Artouste I turboprop engine was restricted to vertical motion. The results of the REAC runs indicated that the outstanding differences between manual and a typical automatic rpm control are higher rpm deviation after a step gust input and a more rapid response of the helicopter following stick movements in manual control. From the standpoint of minimum complexity, the use of a control involving only proportional and integral feedbacks appeared most advisable, but to gain maximum tightness of control, rate should be added. The responsiveness of the helicopter varied only slightly from 1 optimum control to another, although it definitely degenerated when a considerable degree of temperature control was added. All of the rpm control configurations studied, except proportional alone or integral alone, exhibited worthwhile performance characteristics.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

The topics of research in this program include pilot/vehicle analysis techniques, identification of pilot dynamics, and control and display synthesis techniques for optimizing aircraft handling qualities. The project activities are discussed. The current technical activity is directed at extending and validating the active display synthesis procedure, and the pilot/vehicle analysis of the NLR rate-command flight configurations in the landing task. Two papers published by the researchers are attached as appendices.

http://uf.catalog.fcla.edu/uf.jsp?st=UF004954522&ix=nu&I=0&V=D&pm=1

Laser Data Transmission System, Model 1010 - Automatic Control Systems 1977

Laser Data Transmission System, Model 1010 - Automatic Control Systems 1977

In order to promote public education and public safety, equal justice for all, a better informed citizenry, the rule of law, world trade and world peace, this legal document is hereby made available on a noncommercial basis, as it is the right of all humans to know and speak the laws that govern them. (For more information: 12 Tables of Code ) Name of Standards Organization: Bureau of Indian Standards (BIS) Division Name: Transport Engineering Section Name: Automotive Primemovers (TED 2) Designator of Legally Binding Document: IS 12460 Title of Legally Binding Document: Automotive Vehicles - Transmission Systems - Manual Control Sequence in Automatic Transmissions - Recommendations Number of Amendments: 1 Equivalence: Superceding: Superceded by: LEGALLY BINDING DOCUMENT Step Out From the Old to the New --Jawaharlal Nehru Invent a new India using knowledge. --Satyanarayan Gangaram Pitroda

The work in progress includes characterization of linear system parametrizations for which parameter adaptive control is possible, and development of a realization theory for linear analytic systems with finite Votteria series, using only linearly algebraic constructions. (Author)

Guidance and control design studies that were performed for three specific space shuttle candidate vehicles are described. Three types of simulation were considered. The manual control investigations and pilot evaluations of the automatic system performance is presented. Recommendations for systems and equipment, both airborne and ground-based, necessary to flight test the guidance and control concepts for shuttlecraft terminal approach and landing are reported.

The results of a study to analyze, design, and evaluate guidance and control systems are presented that start at an altitude of about 100,000 feet and bring the unpowered space shuttle orbiters to a precision horizontal landing. The systems under consideration included fully automatic versions which involve no pilot participation as well as various manual configurations that provide combinations of displays and control augmentation which permit the pilot to control the vehicle to a successful landing. Two classes of vehicles were studied: the low cross range or straight-wing orbiter and the high cross range or delta-wing (delta body) orbiter. The recommended navigation, guidance and control system is shown to be compatible with realistic physical constraints that would exist in space shuttlecraft and to be consistent with the 1971 avionics equipment state of the art. Aircraft capable of aerodynamically simulating the various candidate space shuttlecraft in their unpowered, terminal area descent were investigated, and flight test recommendations, including system mechanizations, are made.

Document number CIA-RDP86-00244R000300390008-4 declassified and released through the CIA's CREST database. Previously available only on four computers located outside of Washington D.C., the Agency was successfully pressured into putting the files online as a result of a MuckRock lawsuit and the efforts of Emma Best. The metadata was collected by Data.World, and the files are now being archived and made text searchable by the Internet Archive.

Document number CIA-RDP86-00244R000300390008-4 declassified and released through the CIA's CREST database. Previously available only on four computers located outside of Washington D.C., the Agency was successfully pressured into putting the files online as a result of a MuckRock lawsuit and the efforts of Emma Best. The metadata was collected by Data.World, and the files are now being archived and made text searchable by the Internet Archive.

The foundations were developed for the analytical determination of automatic control system design criteria. These foundations consist primarily of the theoretical equations describing (1) the transient motion of a hovering, single-rotor helicopter with rotor rpm degree of freedom, and (2) the dynamical characteristics of reciprocating and single-spool turbo-prop engine types. In addition, the mechanization of the control system transfer function has been investigated from the viewpoint of incorporating in the dynamical analysis the characteristics of high-performance components requiring a minimum of additional development. Also discussed are several topics remaining under investigation or otherwise not completed. These include the study of forward-flight transient motion, the initial phases of the complete closed-loop control study, and the REAC study of rotor rpm control in hovering for the case of the turbo-prop engine.

lM8.427

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

Traffic of Industrial Control System (ICS) between the Human Machine Interface (HMI) and the Programmable Logic Controller (PLC) is known to be highly periodic. However, it is sometimes multiplexed, due to asynchronous scheduling. Modeling the network traffic patterns of multiplexed ICS streams using Deterministic Finite Automata (DFA) for anomaly detection typically produces a very large DFA, and a high false-alarm rate. We introduce a new modeling approach that addresses this gap. Our Statechart DFA modeling includes multiple DFAs, one per cyclic pattern, together with a DFA-selector that de-multiplexes the incoming traffic into sub-channels and sends them to their respective DFAs. We demonstrate how to automatically construct the Statechart from a captured traffic stream. Our unsupervised learning algorithm builds a Discrete-Time Markov Chain (DTMC) from the stream. Next it splits the symbols into sets, one per multiplexed cycle, based on symbol frequencies and node degrees in the DTMC graph. Then it creates a sub-graph for each cycle, and extracts Euler cycles for each sub-graph. The final Statechart is comprised of one DFA per Euler cycle. The algorithms allow for non-unique symbols, that appear in more than one cycle, and also for symbols that appear more than once in a cycle. We evaluated our solution on traces from a production ICS using the Siemens S7-0x72 protocol. We also stress-tested our algorithms on a collection of synthetically-generated traces that simulated multiplexed ICS traces with varying levels of symbol uniqueness and time overlap. The algorithms were able to split the symbols into sets with 99.6% accuracy. The resulting Statechart modeled the traces with a low median false-alarm rate of 0.483%. In all but the most extreme scenarios the Statechart model drastically reduced both the false-alarm rate and the learned model size in compare to a naive single-DFA model

This report deals with a reciprocal comparison of an automatic pressure control, an automatic rpm control, an automatic temperature control, and an automatic directional control. It shows the difference between the "faultproof" regulator and the actual regulator which is subject to faults, and develops this difference as far as possible in a parallel manner with regard to the control systems under consideration. Such as analysis affords, particularly in its extension to the faults of the actual regulator, a deep insight into the mechanism of the regulator process.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

This report is a summary of the state-of-the-art and of trends in development in the field of quality control in complex, highly automated production systems. Special emphasis is given to the development and use of modern optical sensor systems and components in industrial metrology. The report compares and contrasts accomplishments in the field in both the USA and the Federal Republic of Germany.

The rapidly rising cost of electrical energy makes its conservation increasingly more important. Electrical consumption can be reduced in a number of ways. One of the simplest is through lighting reduction; within this area are a number of options. One easy and often used approach is by removal of lamps; however, lamp removal without proper guidance can have seriously adverse effects on health, safety, productivity, and security. Another option is through use of controls; this may be as simple as installing switches. Automatic control systems to maintain required illumination levels are necessary if natural daylight from windows are to be effectively used. This report covers (1) an industry survey for commercially available control systems, (2) an evaluation of one commercial automatic control system, and (3) the development and evaluation of two different control systems developed by the Civil Engineering Laboratory. Evaluation of the control systems determined that electrical conservation was realized.

The rapidly rising cost of electrical energy makes its conservation increasingly more important. Electrical consumption can be reduced in a number of ways. One of the simplest is through lighting reduction; within this area are a number of options. One easy and often used approach is by removal of lamps; however, lamp removal without proper guidance can have seriously adverse effects on health, safety, productivity, and security. Another option is through use of controls; this may be as simple as installing switches. Automatic control systems to maintain required illumination levels are necessary if natural daylight from windows are to be effectively used. This report covers (1) an industry survey for commercially available control systems, (2) an evaluation of one commercial automatic control system, and (3) the development and evaluation of two different control systems developed by the Civil Engineering Laboratory. Evaluation of the control systems determined that electrical conservation was realized.

Cover title: Parameter plane analysis with an IBM compatible microcomputer

Cover title: Parameter plane analysis with an IBM compatible microcomputer

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Peofessoe Popov’s book on the theory of servomechanisms and control systems will be of interest to English readers in showing the meticulous detail into which Russian engineers and students are led when discussing these subjects. A few standard and useful examples are taken and form the basis for discussion at all levels, from the most elementary to the most complete and advanced, so that a sense of continuity is preserved throughout the volume. The translation preserves much of the Russian sentence structure and the editor did not find it possible to alter this without a more or less complete rewriting of the translator’s manuscript. Neverthe­ less, it is hoped that a readable result has been obtained and that the spirit of the whole is faithful to that of the original. The wide study of the theory of automatic control in our insti­ tutions of higher education is a very recent development. Many engineers therefore have come to study it only when already engaged in practical work. The present book has the aim of assisting these broad circles of engineers and students to acquaint themselves in the most accessible form with the foundations of the theory of automatic control, in which the main role is played by the dynam­ ics of control systems. Following the aim of the most accessible development, the author has consciously tried to reduce to a minimum the use of operational calculus and the theory of functions of the complex variable and everywhere, where possible, to confine himself to the use of the symbolic operational method as a means of simplifying the notation and manipulation of differential equations. The book presents those theoretical methods of analysis and synthesis of automatic control systems common to systems of various physical natures and designs. The concrete examples presented in the book, therefore, by no means pretend to reproduce the designs of contemporary automatic control systems. They will be only the simplest functional circuits serving to illustrate the principal ideas in the construction of automatic control systems and the application of the theoretical methods developed here. By analogy, the reader may then apply these ideaB and methods to the concrete automatic control systems of interest to him. Attempting to describe in detail the fundamental results of the theory of automatic control, the author has been forced to limit himself to brief remarks on a number of special questions. Statistical methods and questions of representation of automatic control systems have been completely neglected here. Each of these important fields is so specialised that it may constitute the subject of separate books.

Research dealt with the general area of optimal flight control synthesis for manned flight vehicles. The work was generic; no specific vehicle was the focus of study. However, the class of vehicles generally considered were those for which high authority, multivariable control systems might be considered, for the purpose of stabilization and the achievement of optimal handling characteristics. Within this scope, the topics of study included several optimal control synthesis techniques, control-theoretic modeling of the human operator in flight control tasks, and the development of possible handling qualities metrics and/or measures of merit. Basic contributions were made in all these topics, including human operator (pilot) models for multi-loop tasks, optimal output feedback flight control synthesis techniques; experimental validations of the methods developed, and fundamental modeling studies of the air-to-air tracking and flared landing tasks.

The report is concerned with the limb coordination control problem for animals and legged vehicles. After a general survey of previous work in the area, a discussion of the mechanical, control and computer aspects of the problem is presented. This is followed by a development of several theoretical models for legged locomotion systems and a subsequent determination of the properties of these models. In particular, a necessary and sufficient condition for the stability of low speed locomotion is established. It is shown that only three of the 5040 theoretically possible gaits for quadrupeds satisfy this condition. The theoretical results on stability are used as a basis for synthesising a simple finite state control algorithm for two different gaits. The ability of these algorithms to produce stable locomotion is verified by the construction and successful testing of a small artificial quadruped with eight independently powered joints coordinated by a small purpose digital computer.

ADA743740

ADA743740

ADA743740

39 p. : ill. ; 17 x 26 cm., trade catalog

39 p. : ill. ; 17 x 26 cm., trade catalog