Facilities and Equipment

Facilities and equipment at Arizona State University (ASU) are appropriate to carry out all tasks described within this proposal. Several facilities and equipment which are available to the team are described below.

High Performance Computing Environment. ASU has a state-of-the-art High Performance Computing Environment consisting of over 400 processing units. The PI obtains time on this for ascertaining fundamental performance limitations for several classes of control laws. This facility is exploited in parallel with the PIs laboratory facilities:

1. Intelligent Embedded Systems Laboratory (IeSL)

Figure 1 shows a few IeSL-built robotic vehicles.

Figure 1: IeSL, MoSART-FAME Facility Robotic Systems

2. MoSART-FAME Capabilites

MoSART-FAME is an acronym for

Modeling, Simulation, Animation, and Real-Time Control (MoSART) of Flexible Autonomous Machines operating in an uncertain Environment (FAME).

Figures 2 and 3 contains a few screen shots from some of the developed Interactive MoSART-FAME Aerospace Environments.

Figure 2: MoSART Environment Visualization of Tiltwing Rotorcraft (TWRC) During Hover (left) and Conversion (right)

Figure 3: Animation Screen Shots from Several Interactive MoSART Aerospace Environments

2. Electromechanical Systems Laboratory

Figure 4 shows workstations within the MoSART-FAME Facility and within the Electromecmechanical Systems Laboratory. These facilities contain over 30 workstations that are used for parallel and distributed computing; e.g. determining fundamental performance limitations over a large flight regime.

Figure 4: MoSART-FAMELaboratory Facility and Electromechanical Systems Laboratory