Tony Adami

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Andrej Dujella

University of Zagreb

Hemin Koyi

Uppsala University

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University of East London

Graham Martin

University of Leicester

Gwen Robbins Schug

University of North Carolina at Greensboro

Gabriel Gutierrez-Alonso

University of Salamanca

John Sutton

Macquarie University

Eros Carvalho

Universidade Federal do Rio Grande do Sul

Kevin Arbuckle

Swansea University

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University of Copenhagen

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Papers by Tony Adami

Analysis of Quantitative Terminal Area Well-Clear Volumes for Unmanned Aircraft Systems

Proceedings of the 31st International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2018), 2018

Detect-and-Avoid Closed-Loop Evaluation of Noncooperative Well Clear Definitions

Journal of Air Transportation, 2020

Four candidate detect-and-avoid well clear definitions for unmanned aircraft systems encountering... more

TAO Test Vector Evaluation Rev. 1

RTCA Weekly Working meeting, Dec 9, 2019

A Detect-and-Avoid (DAA) Supplemental Data Service Provider (SDSP) for Small Unmanned Aircraft Systems in the UTM Ecosystem

AIAA AVIATION 2021 FORUM, 2021

Multivariable control of Flexlab using experimentally determined models

Guidance, Navigation, and Control Conference and Exhibit, 1998

Time-varying notch filters for control of flexible structures and vehicles

22nd Digital Avionics Systems Conference Proceedings (Cat No 03CH37449) DASC-03, 2003

State-vector sequence selection and the two-stage algorithm

State-space models with block-diagonal system matrices allow for straightforward control system d... more State-space models with block-diagonal system matrices allow for straightforward control system design. Often, however, methods to block-diagonalize suffer from numerical instabilities. The author investigates a technique that would obtain such models as the solution to a set of linear equations. The work follows and extends a method due to Moonen et al. (1989) informally known as the `two-stage' method. Using this procedure, a state vector sequence is obtained which is consistent with input-output data, and then the system matrices are obtained by solving a set of linear equations in the least squares sense. An algorithm for constraining the solution to block-diagonal form has been completed and tested. However, initial investigation showed that the necessary state vector sequence does not come directly from Moonen's procedure. The current work is to find a transformation on the state-vector sequence that will yield the desired form of the model. Once this step is achieved,...

Modeling Error Driven Robot Control

AIAA Infotech@Aerospace Conference, 2009

In this paper, we present a modeling error driven adaptive controller for control of a robot with... more In this paper, we present a modeling error driven adaptive controller for control of a robot with unknown dynamics. In general, modeling error is not used since the ideal parameters are not known. However, using a feedback linearization approach we show that the modeling error can be obtained by a measured quantity representing the error dynamics under the ideal conditions, that is, the case for which the robot parameters are known a priori. We show that using this approach, the learning dynamics and plant dynamics are effectively decoupled and can then be analyzed separately. We present simulation examples of the 2-link manipulator that illustrates the algorithm.

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Defining Well Clear Separation for Unmanned Aircraft Systems Operating with Noncooperative Aircraft

AIAA Aviation 2019 Forum, 2019

Detect-and-Avoid (DAA) systems are essential to the safe operations of Unmanned Aircraft Systems,... more Detect-and-Avoid (DAA) systems are essential to the safe operations of Unmanned Aircraft Systems, and have the objectives of mitigating collisions with and remaining Well Clear of manned aircraft. This paper analyzes four candidate DAA Well Clear definitions for noncooperative aircraft using mitigated performance metrics of DAA systems. These DAA Well Clear definitions were proposed in previous work based on their unmitigated collision risk and maneuver initiation range. In this work they are evaluated using safety and operational suitability metrics computed from a large number of representative encounters. Results suggest that although the four candidate DAA Well Clear definitions provide comparable safety, the alerting characteristics give preference for the DAA Well Clear definition without a temporal parameter.

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Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been intro... more Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invarian...

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Flexlab: Internet Based Controls Research

IFAC Proceedings Volumes, 2001

Since early in the 1990's, the control systems research group at Ohio University has been develop... more Since early in the 1990's, the control systems research group at Ohio University has been developing and operating a flexible-structw"e test facility called Flexlab, and the facility is now available for use via the World Wide Web. Using position and acceleration measurements, accurate state-space models of the structw"e have been derived. Further, using straightforward LQR methods, controllers showing significant performance benefits have been designed and implemented. The laboratory is available to professionals for testing new modelling and control design methods, and is also being incorporated into the course curriculum at Ohio University.

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A Virtual Laboratory for Space Systems Engineering Experiments

IFAC Proceedings Volumes, 2001

Aerospace engineering experiments are made accessible via internet for education purposes within ... more Aerospace engineering experiments are made accessible via internet for education purposes within a team of universities in Europe and Amerika. The students at the partner institutes perform by telematic techniques at their home university the experiments with the distributed, remote hardware. This paper presents an overview of this virtual laboratory and discusses two such exemplary experiments: control of a swinging structure and tele-operations of a planetary rover. Special emphasis is placed on the realisation of the remote control via internet and on modelling, identification and control aspects of the experiment, motivated by a space systems design context.

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A nonlinear flight controller design for a UFO by trajectory linearization method. II. Controller design

Proceedings of the Thirty-Fourth Southeastern Symposium on System Theory (Cat. No.02EX540)

In this paper, we present an attitude controller design for a 3DOF flight control experiment appa... more

Trajectory Tracking Flight Controller

Multivariable control results for Flexlab

Proceedings of Thirtieth Southeastern Symposium on System Theory, 1998

The motivation for this paper is to report on the evolution and development of Flexlab, a facilit... more The motivation for this paper is to report on the evolution and development of Flexlab, a facility which was introduced and described in a 1997paper by Bart A. BIinn and R, Dennis Irwin. While some of the general features of the lab are repeated here, the main emphasis of this paper is to report on multivariable results which were unavailable in the last publication.

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Empirical determination of the mean free path of a nucleon in the nuclear medium

Physics Letters B, 1993

ABSTRACT The mean free path of a nucleon in the nuclear medium extracted from measured neutron-nu... more ABSTRACT The mean free path of a nucleon in the nuclear medium extracted from measured neutron-nucleus total cross sections is compared with the values determined from the energy-momentum dispersion relation. The optical potentials used in the dispersion relation are the relativistic global energy-dependent Lorentz scalar and vector potentials of Dirac phenomenology. Excellent agreement between the values extracted from either total neutron-nucleus cross sections or proton-nucleus reaction cross sections and the calculated values is achieved when the optical potentials are evaluated using radial values corresponding to approximately 80% of nuclear matter density.

<title>A sensor simulation framework for the testing and evaluation of external hazard monitors and integrated alerting and notification functions</title>

Enhanced and Synthetic Vision 2009, 2009

This paper discusses a sensor simulator/synthesizer framework that can be used to test and evalua... more This paper discusses a sensor simulator/synthesizer framework that can be used to test and evaluate various sensor integration strategies for the implementation of an External Hazard Monitor (EHM) and Integrated Alerting and Notification (IAN) function as part of NASA's Integrated Intelligent Flight Deck (IIFD) project. The IIFD project under the NASA's Aviation Safety program "pursues technologies related to the flight

State-space models from time-series as solutions of least-squares equations

AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001

State-space models with block-diagonal system matrices allow for straightforward control system d... more State-space models with block-diagonal system matrices allow for straightforward control system design. Often, however, methods to block-diagona lize suffer from numerical instabilities. The author investigates a technique that would obtain such models as the solution to a set of linear equations. The work follows and extends a method due to Moonen informally known as the "two-stage" method1. Using this procedure, a state vector sequence is obtained which is consistent with input-output data, and then the system matrices are obtained by solving a set of linear equations in the least squares sense. An algorithm for constraining the solution to a block-diagonal set has been completed and tested. However, initial investigation showed that the necessary state vector sequence does not come directly from Moonen's procedure. The current work is to find a transformation on the state-vector sequence that will yield the desired form of the model. Once this step is achieved, an automated process of testing the validity of the model will also be implemented, resulting in a useful and innovative tool for system identification and control system design.

An energy management display for general aviation safety enhancements

2014 IEEE/AIAA 33rd Digital Avionics Systems Conference (DASC), 2014

Loss of control (LOC) is the leading cause of general aviation (GA) accidents according to findin... more Loss of control (LOC) is the leading cause of general aviation (GA) accidents according to findings of the GA Joint Steering Committee (GAJSC). Main contributors to LOC are lack of awareness of the energy state and the angle-of attack, as well as margins from published limits of the aircraft. As part of their assessment, the GAJSC developed a GA Safety Plan and identified a list of safety enhancements (SEs). Several of these safety enhancements address the improvement of the pilot's energy state awareness (e.g. better awareness of the aircraft's angle-of-attack, and tools to help in achieving a stabilized approach and landing). This paper addresses a GA synthetic vision display concept that includes cues to help the pilots' awareness of the aircraft energy state during various phases of flight including arrival, approach and landing. First, the glide path along the extended centerline of the selected runway is visualized on the primary flight display (PFD). Upon visual acquisition of this path, the pilot can choose to have the system compute and display an intercept-tunnel from the current position to the glide path along the extended centerline, and can use a flight path (FPM) marker to assess the aircraft motion with respect to the lateral and vertical path constraints. To assess the deviation of the current energy state from the desired energy state, a potential flight path angle (PFPA) indicator is included. The PFPA is an acceleration cue (along the flight path), and is scaled such that it indicates a change of flight path at the current power setting while holding speed constant. In addition to the PFPA, the display includes the maximum and minimum PFPA to make the pilots aware of the safety margins when applying maximum thrust and idle thrust. Finally, the display will include an indication of pitch limits with respect to the critical stall-(vS0) and never-exceed-(vNE) velocities In addition to a detailed explanation of the GA SVS concept and the added energy awareness cues, the paper will discuss the preparation for a human-in-the loop evaluation and flight test of the proposed concepts.

Stability assessment using Lyapunov's first method

An analytical "loss of stability" indicator is presented which can be applied to nonlin... more An analytical "loss of stability" indicator is presented which can be applied to nonlinear systems of arbitrary order. The authors propose the use of the Lyapunov Exponent as a "departure index" which can be especially useful in flight control systems as a warning of instability. Testing of the approach has begun using specialized version of the flight simulation package called SLIM (Space Launch Initiative Maveric, where Maveric stands for Marshall Aerospace Vehicle Representation In C) developed at Marshall Space Flight Center for 6-DOF high fidelity reusable launch vehicle guidance and control system simulations. Simulation results obtained using SLIM are presented in this paper which show significant promise.

Analysis of Quantitative Terminal Area Well-Clear Volumes for Unmanned Aircraft Systems

Proceedings of the 31st International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2018), 2018

Detect-and-Avoid Closed-Loop Evaluation of Noncooperative Well Clear Definitions

Journal of Air Transportation, 2020

Four candidate detect-and-avoid well clear definitions for unmanned aircraft systems encountering... more

TAO Test Vector Evaluation Rev. 1

RTCA Weekly Working meeting, Dec 9, 2019

A Detect-and-Avoid (DAA) Supplemental Data Service Provider (SDSP) for Small Unmanned Aircraft Systems in the UTM Ecosystem

AIAA AVIATION 2021 FORUM, 2021

Multivariable control of Flexlab using experimentally determined models

Guidance, Navigation, and Control Conference and Exhibit, 1998

Time-varying notch filters for control of flexible structures and vehicles

22nd Digital Avionics Systems Conference Proceedings (Cat No 03CH37449) DASC-03, 2003

State-vector sequence selection and the two-stage algorithm

Modeling Error Driven Robot Control

AIAA Infotech@Aerospace Conference, 2009

Download

Defining Well Clear Separation for Unmanned Aircraft Systems Operating with Noncooperative Aircraft

AIAA Aviation 2019 Forum, 2019

Download

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

Download

Flexlab: Internet Based Controls Research

IFAC Proceedings Volumes, 2001

Download

A Virtual Laboratory for Space Systems Engineering Experiments

IFAC Proceedings Volumes, 2001

Download

A nonlinear flight controller design for a UFO by trajectory linearization method. II. Controller design

Proceedings of the Thirty-Fourth Southeastern Symposium on System Theory (Cat. No.02EX540)

In this paper, we present an attitude controller design for a 3DOF flight control experiment appa... more

Trajectory Tracking Flight Controller

Multivariable control results for Flexlab

Proceedings of Thirtieth Southeastern Symposium on System Theory, 1998

Download

Empirical determination of the mean free path of a nucleon in the nuclear medium

Physics Letters B, 1993

<title>A sensor simulation framework for the testing and evaluation of external hazard monitors and integrated alerting and notification functions</title>

Enhanced and Synthetic Vision 2009, 2009

State-space models from time-series as solutions of least-squares equations

AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001

State-space models with block-diagonal system matrices allow for straightforward control system d... more State-space models with block-diagonal system matrices allow for straightforward control system design. Often, however, methods to block-diagona lize suffer from numerical instabilities. The author investigates a technique that would obtain such models as the solution to a set of linear equations. The work follows and extends a method due to Moonen informally known as the "two-stage" method1. Using this procedure, a state vector sequence is obtained which is consistent with input-output data, and then the system matrices are obtained by solving a set of linear equations in the least squares sense. An algorithm for constraining the solution to a block-diagonal set has been completed and tested. However, initial investigation showed that the necessary state vector sequence does not come directly from Moonen's procedure. The current work is to find a transformation on the state-vector sequence that will yield the desired form of the model. Once this step is achieved, an automated process of testing the validity of the model will also be implemented, resulting in a useful and innovative tool for system identification and control system design.

An energy management display for general aviation safety enhancements

2014 IEEE/AIAA 33rd Digital Avionics Systems Conference (DASC), 2014

Stability assessment using Lyapunov's first method

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