1. Vanderbilt University Department of Mechanical Engineering The Vibro-Acoustics Laboratory Observation and Control with Embedded Systems Prof. Ken Frampton Jie Zhou Tao Joel Willhite Ryan Glotzbecker Isaac Amundson Keith Minor

2. Vanderbilt University Department of Mechanical Engineering Decentralized Observation and Control with Embedded Systems Objective is to leverage embedded systems technology for observing and controlling the dynamics of mechanical systems Important challenges include – Behavior under embedded system constraints – Development of observation and control system design tools for decentralized platforms – Generation of fault tolerant cooperative systems Unique capability is the development of such technologies for applications in distributed parameter systems (vibrations, acoustics, fluids)

3. Vanderbilt University Department of Mechanical Engineering Technical Approach: Embedded System Platform 3.8 in Based on PC-104 single board computers Each equipped with processor, A/D, D/A and ethernet Running either RTLinux or QNX Implementation of custom decentralized control algorithms

4. Vanderbilt University Department of Mechanical Engineering Technical Approach: Hierarchical Decentralized Control Scalability of the system is critical suggesting a hierarchical approach Current results indicate that appropriate design of hierarchical controllers can achieve results comparable to centralized designs A 31 A 21 A 22 A 23 A 11 A 12 A 13 A 14 A 15 A 16 A 17 A 18 A 19 Plant Hierarchy A 41

5. Vanderbilt University Department of Mechanical Engineering Technical Approach: Fault Tolerant Control Embedded control systems must maintain performance in the presence of failures Incorporation of decentralized dynamic observers for fault detection will enable system adaptation to failures Resulting systems will maintain adequate performance in despite numerous potential failures System Fault Signal System Input Observer Fault Signal Residual Generator Pseudo Three Tank System dSPACE Prototyper Residuals

6. Vanderbilt University Department of Mechanical Engineering Application: Launch Vehicle Payload Fairing Extreme noise levels inside launch vehicle payload fairings require costly customized payload hardware development Even small reductions in vibro-acoustic response can reduce payload development costs significantly Traditional centralized control approaches result in systems that are too heavy and costly Embedded systems approach promises improved and more robust performance for less weight