Faults and failures in system components are the two main reasons for the instability and the degradation in control performance. In recent decades, fault-tolerant control (FTC) approaches were introduced to improve the resiliency of the control system against faults and failures. In general, FTC techniques are classified into two major groups: passive and active. Passive FTC systems do not rely on the fault information to control the system and are closely related to the robust control techniques while an active FTC system performs based on the information received from the fault detection and isolation (FDI) system, and the fault problem will be tackled more intelligently without affecting other parts of the system. This dissertation technically reviews fault and failure causes in control systems and finds solutions to compensate for their effects. Recent achievements in FDI approaches, and active and passive FTC designs are investigated. Thorough comparisons of several different aspects are conducted to understand the advantages and disadvantages of different FTC techniques to motivate researchers to further developing FTC, and FDI approaches. Then, a novel active FTC system framework based on online FDI is presented which has significant advantages in comparison with other state of the art FTC strategies. To design the proposed active FTC, a new FDI approach is introduced which uses the artificial neural network (ANN) and a model based observer to detect and isolate faults and failures in sensors and actuators. In addition, the extended Kalman filter (EKF) is introduced to tune ANN weights and improve the ANN performance. Then, the FDI signal combined with a nonlinear dynamic inversion (NDI) technique is used to compensate for the faults in the actuators and sensors of a nonlinear system. The proposed scheme detects and accommodates faults in the actuators and sensors of the system in real-time without the need of controller reconfiguration. The proposed active FTC approach is used to design a control system for three different applications: Unmanned aerial vehicle (UAV), load frequency control system, and proton exchange membrane fuel cell (PEMFC) system. The performance of the designed controllers are investigated through numerical simulations by comparison with conventional control approaches, and their advantages are demonstrated.

The Coeur d'Alene district in northern Idaho is a world class Pb-Ag mesothermal vein system that has produced about 360 million ounces of silver, lead, and zinc since the 1880s. Despite the long history of exploration and production, the district does not have a predictive model for exploration based on a sound understanding of structural controls on the silver ore deposits; this is certainly the case for the Sunshine Mine and surrounding area. Fault kinematic history in the district shows a regional scale fault system reactivated over time with dextral, sinistral, and dip-slip displacement. The fault system is superimposed on regional deformation fabrics that were examined for this study in the Sunshine Mine area. Cleavage sets observed in the Sunshine mine area, distinguished by orientation and superposition relationships, are consistent with the findings of Smith (2004) which defined cleavage sets referred to as S1, S2, and S3. Two additional deformation fabrics that appear spatially tied to fault zones formed between development of cleavages S2 and S3. The multiple cleavages, fault zones, and their intersections are interpreted to act as pathways for hydrothermal fluids associated with vein formation and silver ore deposition. Thin section kinematic analysis of vein and shear zone samples defined a dip-slip sense of shear associated with the Sterling vein. Electron Backscatter Diffraction (EBSD) analysis of vein and shear zone samples failed to define a lattice preferred crystallographic orientation that defined shear sense. Similarly, cathodoluminescence (CL) analysis of thin section textures failed to define a dominant shear sense and fault kinematics. Nevertheless, additional study using these techniques is warranted. Both field observation and thin section analysis demonstrate a direct relationship between shear zones, veins, and mineralization potential, clarifying the need for detailed fault maps for the Sunshine Mine area and Coeur d'Alene district.

Linear covariance analysis has been utilized in a wide variety of applications. Historically, the theory has made significant contributions to navigation system design and analysis. More recently, the theory has been extended to capture the combined effect of navigation errors and closed-loop control on the performance of the system. These advancements have made possible rapid analysis and comprehensive trade studies of complicated systems ranging from autonomous rendezvous to vehicle ascent trajectory analysis. Comprehensive trade studies are also needed in the area of gimbaled pointing systems where the information needs are different from previous applications. It is therefore the objective of this research to extend the capabilities of linear covariance theory to analyze the closed-loop navigation and control of a gimbaled pointing system. The extensions developed in this research include modifying the linear covariance equations to accommodate a wider variety of controllers. This enables the analysis of controllers common to gimbaled pointing systems, with internal states and associated dynamics as well as actuator command filtering and auxiliary controller measurements. The second extension is the extraction of power spectral density estimates from information available in linear covariance analysis. This information is especially important to gimbaled pointing systems where not just the variance but also the spectrum of the pointing error impacts the performance. The extended theory is applied to a model of a gimbaled pointing system which includes both flexible and rigid body elements as well as input disturbances, sensor errors, and actuator errors. The results of the analysis are validated by direct comparison to a Monte Carlo-based analysis approach. Once the developed linear covariance theory is validated, analysis techniques that are often prohibitory with Monte Carlo analysis are used to gain further insight into the system. These include the creation of conventional error budgets through sensitivity analysis and a new analysis approach that combines sensitivity analysis with power spectral density estimation. This new approach resolves not only the contribution of a particular error source, but also the spectrum of its contribution to the total error. In summary, the objective of this dissertation is to increase the utility of linear covariance analysis for systems with a wide variety of controllers and for whom the spectrum of the errors is critical to performance.

A real time acoustic direction-finding module has been developed to estimate the ele- vation and azimuth of an impulsive event while function aboard a small unmanned air- craft vehicle. The generalized cross-correlation with phase transform method was used to estimate time differences of arrival in an 8 channel microphone array. A linear least squares approach was used to calculate an estimate for the direction of arrival. In order to accomplish this task, a vertical takeoff and landing small unmanned aircraft system was assembled to host the direction finding module. The module itself is made up of an eight-channel synchronous analog-to-digital converter connected to eight lightweight micro electro-mechanical microphones with pre-amplifiers. The data is processed on an embedded system with a field programmable gate array chip and a central processing unit. Noise canceling techniques were employed to address the noise propagating from the propellers under operation. The results from this research show that it is possible to perform direction-finding estimation while aboard an operating small unmanned aircraft vehicle with initial tests showing maximum errors of ± 7°.

Cars have become necessities of our daily life and are especially important to people with disability because they extend their range of activity and allow participation in a social life. Sometimes driving a normal car is impossible for individuals with severe disability and they require additional driving aide. However, it is dangerous to send these individuals on the road without giving them special training on driving vehicles using an adaptive aide. Nowadays there are a number of driving simulators that train disabled persons but none of them have joystick-enabled training that controls both steering, gas and break pedal. This necessitates the design of a method and a system which helps a person with disabilities learn how to operate a joystick-enabled vehicle, by using a combination of an advanced vehicle interface system, which is a driving aide known as Advanced Electronic Vehicle Interface Technology (AVEIT) and virtual reality driving simulator known as Simulator Systems International (SSI). This thesis focuses on the mechanism that synchronizes both AVEIT and SSI systems. This was achieved by designing a mechanical and electrical system that serves as a means of transferring the action between the AVEIT and SSI system. The mechanical system used for this purpose consists of two coupler units attached to AVEIT and SSI each combined together by the electrical system. As the user operates the joystick, the action of AVEIT is transferred to the SSI system by the help of the electromechanical system. The design provides compatibility between the AVEIT and SSI system which makes them convenient for training persons with disability.

It is widely accepted that low energy consumption is the most important requirement when designing components and systems for a wireless sensor network (WSN). The greatest energy consumer of each node within a WSN is the radio transceiver and as such, it is important that this component be used in an extremely energy e±cient manner. One method of reducing the amount of energy consumed by the radio transceiver is to turn it off and allow nodes to enter a sleep mode. The algorithms that directly control the radio transceiver are traditionally grouped into the Medium Access Control (MAC) layer of a communication protocol stack. This thesis introduces the emerging field of wireless sensor networks and outlines the requirements of a MAC protocol for such a network. Current MAC protocols are reviewed in detail with a focus on how they utilize this energy saving sleep mode as well as performance problems that they suffer from. A proposed new method of coordinating the use of this sleep mode between nodes in the network is specifed and described. The proposed new protocol is analytically compared with existing protocols as well as with some fundamental performance limits. The thesis concludes with an analysis of the results as well as some recommendations for future work.

Franklin H. Moss and Adrian Segall. / Bibliography: p. 42. / "September 1978." / Supported by the Advanced Research Project Agency (monitored by ONR) under Contract no. N00014-75-C-1183 Technion Research and Development Foundation Ltd. no. 050-383

Combustion instability is a problem that has plagued the development of rocket-propelled devices since their conception. It is characterized by the occurrence of high-frequency nonlinear gas oscillations inside the combustion chamber. This phenomenon degrades system performance and can result in damage to both structure and instrumentation. The goal of this dissertation is to clarify the role of unsteady combustion in the combustor instability problem by providing the first quantified estimates of its effect upon the stability of liquid rocket engines. The combination of this research with a new system energy balance method, accounting for all dynamic interactions within a system, allows for the isolation of combustion effects for this study. These effects are quantified through use of classical linear stability analysis to calculate the unsteady combustion heat release growth rate. Since combustion modeling can become very involved, including the mixing process and multiple reactions concerned, for this initial evaluation the model is limited to a one-dimensional flame analysis for a one-step premixed chemical reaction. Using classical analysis of oscillatory burning, the governing combustion equations are expanded into sets of steady and unsteady equations adapted for premixed liquid rockets. From this expansion process, the first real treatment of the effects of unsteady combustion in a rocket system is presented, and the first quantified values of the unsteady heat release in a rocket system are computed. Finally, the corresponding linear heat release growth rate for the system is then calculated for the first quantified effects of unsteady combustion on the overall system stability. The mechanism of unsteady combustion is shown to behave as a driving mechanism, serving as one of the more important stability mechanisms comparable to the magnitude of the nozzle damping mechanism. This analysis confirms that unsteady combustion is an important stability mechanism that warrants further investigation. This study also creates a firm foundation upon which to extend the analysis of this important mechanism to fully understand all of its effects within a rocket system.

State of the art research in hydrodynamic stability analysis has moved from classic one-dimensional methods such as the local nonparallel approach and the parabolized stability equations to two-dimensional, biglobal, methods. The paradigm shift toward two dimensional techniques with the ability to accommodate fully three-dimensional base flows is a necessary step toward modeling complex, multidimensional flowfields in modern propulsive applications. Here, we employ a two-dimensional spatial waveform with sinusoidal temporal dependence to reduce the three-dimensional linearized Navier-Stokes equations to their biglobal form. Addressing hydrodynamic stability in this way circumvents the restrictive parallel-flow assumption and admits boundary conditions in the streamwise direction. Furthermore, the following work employs a full momentum formulation, rather than the reduced streamfunction form, accounting for a nonzero tangential mean flow velocity. This approach adds significant complexity in both formulation and implementation but renders a more general methodology applicable to a broader spectrum of mean flows. Specifically, we consider the stability of three models for bidirectional vortex flow. While a complete parametric study ensues, the stabilizing effect of the swirl velocity is evident as the injection parameter, kappa, is closely examined.

Tb6FeSb2 and Tb6FeBi2 are novel rare earth compounds with little prior research. These compounds show high and variable curie temperatures for rare-earth compounds. This has lead to a literature review which includes the discussion of: elasticity, resonance, and magnetism. This review is used to discuss the theory and methodology which can relate these various properties to each other. Furthermore, synthesis, x-ray analysis, and RUS sample preparation of Tb6FeSb2 and Tb6FeBi2 were completed. Resonant Ultrasound Spectroscopy (RUS) elastic studies were taken for Tb6FeSb2 and Tb6FeBi2 as a function temperature from 5-300K, in various magnetic fields ranging from 0-9T. Tb6FeSb2’s and Tb6FeBi2’s elastic moduli are related to their magnetic properties. Magnetization data, primarily M v. H, provides another measure the magnetic properties are used to help correlate the data to elasticity. Tb6FeSb2 and Tb6FeBi2 Curie temperatures are 253(3)K and 246(5)K respectively. The low temperature magnetic transition of Tb6FeSb2 is 65-90K and Tb6FeBi2 is 55-75K. RUS suggests that this low temperature transition is somehow related to a structural transition but this transition does not occur in these two compounds. Co-substitution of Tb6FeSb2 and Tb6FeBi2 seem to greatly affect this lower temperature transition in RUS. It does not greatly effect the curie temperature. Low temperature XRD shows that Co-substitution also creates a structural transition in this family of compounds.