@oriro/orirocli 0.1.11 → 0.1.12

package/skills/engineering/eng-control-systems/SKILL.md

@@ -1,158 +1,158 @@
----
-watermark: ORIRO
-disable-model-invocation: true
-name: eng-control-systems
-provider: ORIRO.ai
-copyright: Copyright (c) 2026 ORIRO.ai
-description: >
-  Control systems engineering — PID controllers, state space, transfer functions,
-  stability analysis, Laplace transforms, frequency response, and GNC for
-  aerospace. Activate for control system design, PID tuning, stability analysis,
-  feedback loops, or any control engineering question.
-  Sources: MIT 6.302 OCW, OpenStax Physics, Ogata Modern Control Engineering.
----
-
-# Control Systems Engineering
-
-## Feedback control fundamentals
-
-### Open loop vs. closed loop
-
-**Open loop:** No feedback. Output does not influence input. Simple, unreliable.
-**Closed loop (feedback):** Output measured, compared to desired reference, error used to adjust input.
-Error e(t) = r(t) − y(t) — reference minus actual output.
-
-### Block diagram elements
-
-**Plant (G):** System being controlled (motor, rocket, thermostat).
-**Controller (C):** Generates control signal from error.
-**Sensor (H):** Measures plant output.
-**Closed-loop transfer function:** Y/R = GC/(1 + GCH)
-
-## Laplace transform and transfer functions
-
-s-domain representation converts differential equations to algebraic equations.
-**Laplace pairs:**
-d/dt → s × F(s) − f(0)
-∫ → F(s)/s
-Unit step: 1/s
-Exponential e^(−at): 1/(s+a)
-
-**Transfer function:** G(s) = Output(s)/Input(s) with zero initial conditions.
-First-order system: G(s) = K/(τs + 1). Time constant τ = time to reach 63.2% of final value.
-Second-order system: G(s) = ωn²/(s² + 2ζωnS + ωn²)
-ωn = natural frequency, ζ = damping ratio.
-
-### Damping ratio effects
-
-ζ < 1: Underdamped (oscillatory response). Overshoot = e^(−πζ/√(1−ζ²)) × 100%.
-ζ = 1: Critically damped (fastest non-oscillatory response).
-ζ > 1: Overdamped (slow, no overshoot).
-Target for most control systems: ζ ≈ 0.7 (moderate speed, ~5% overshoot).
-
-## PID control
-
-PID = Proportional-Integral-Derivative. Most widely used controller in industry.
-
-u(t) = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t)/dt
-
-**Proportional (Kp):**
-Increases with error. Reduces steady-state error but doesn't eliminate it.
-Too high Kp → oscillations, instability.
-
-**Integral (Ki):**
-Eliminates steady-state error (integrates accumulated error).
-Too high Ki → slow oscillations, windup.
-Anti-windup: Clamp integrator when actuator saturated.
-
-**Derivative (Kd):**
-Predicts future error. Reduces overshoot, improves settling time.
-Sensitive to noise. Often filtered: Kd·s/(τd·s + 1).
-
-### PID tuning methods
-
-**Ziegler-Nichols (step response method):**
-
-1. From step response: measure dead time L and time constant T.
-2. Kp = 1.2T/L, Ti = 2L, Td = 0.5L.
-
-**Ziegler-Nichols (oscillation method):**
-
-1. Increase Kp until sustained oscillations (ultimate gain Ku, period Pu).
-2. PID: Kp = 0.6Ku, Ti = 0.5Pu, Td = 0.125Pu.
-
-**Manual tuning rule of thumb:**
-Start: Kp only. Increase until good tracking, some oscillation.
-Add Ki: Small value, increases until steady-state error eliminated.
-Add Kd: Increase until oscillations reduced.
-
-## Stability analysis
-
-### Routh-Hurwitz criterion
-
-For polynomial characteristic equation: all coefficients must be positive AND Routh array conditions satisfied.
-Quick check: Any negative or zero coefficients → unstable (necessary but not sufficient).
-
-### Root locus
-
-Plot of closed-loop poles as gain K varies from 0 to ∞.
-Poles start at open-loop poles (K=0), end at open-loop zeros (K=∞).
-Stable if all poles in left-half s-plane.
-Unstable if any pole crosses to right-half plane.
-
-### Bode plot (frequency response)
-
-Log-magnitude vs. frequency + Phase vs. frequency.
-**Gain margin (GM):** Additional gain at phase crossover (phase = −180°) before instability.
-Requirement: GM > 6 dB typical.
-**Phase margin (PM):** Additional phase at gain crossover (gain = 0 dB) before instability.
-Requirement: PM > 45° typical.
-Poor PM → oscillatory transient response.
-
-### Nyquist criterion
-
-For systems with time delay or right-half plane poles.
-Encirclements of −1+j0 point determine stability.
-
-## State space representation
-
-x' = Ax + Bu (state equation)
-y = Cx + Du (output equation)
-
-A = system matrix, B = input matrix, C = output matrix, D = feedthrough.
-n states fully describe system's dynamic behavior.
-
-**Controllability:** All states can be driven to any value by input. rank(B AB A²B...) = n.
-**Observability:** All states can be estimated from outputs. rank(C CA CA²...) = n.
-
-### State feedback
-
-u = −Kx (full state feedback).
-K chosen to place closed-loop eigenvalues (poles) at desired locations.
-LQR (Linear Quadratic Regulator): Optimal K minimizing ∫(x'Qx + u'Ru)dt.
-Q = state cost matrix (how much deviation costs), R = control effort cost matrix.
-
-## GNC for aerospace (Guidance, Navigation, Control)
-
-**Navigation:** Determine vehicle state (position, velocity, attitude).
-Sensors: IMU (accelerometers + gyroscopes), GPS, star trackers, sun sensors, radar altimeter.
-**Extended Kalman Filter (EKF):** Fuse multiple sensor inputs, estimate state with uncertainty.
-
-**Guidance:** Determine desired trajectory to reach target.
-Proportional navigation (missiles), gravity turns (launch vehicles), Lambert targeting (orbital rendezvous).
-
-**Control:** Track the guidance commands.
-Launch vehicle: Thrust vector control (TVC) — gimbal engines ±7° for pitch/yaw.
-Spacecraft: Reaction wheels (electric), CMGs (control moment gyros), RCS thrusters.
-Attitude quaternion: 4-parameter representation, avoids gimbal lock.
-
-### PID for attitude control
-
-Error = quaternion error between desired and actual attitude.
-Three separate PIDs: roll, pitch, yaw axes.
-Cross-coupling between axes: must account for in design (gyroscopic effects).
-
-Sources: MIT OCW 6.302 Feedback System Design (CC-BY-NC-SA),
-Ogata "Modern Control Engineering" (principles),
-Franklin, Powell, Emami-Naeini "Feedback Control of Dynamic Systems" (principles),
-NASA GNC engineering standards (public domain)
+---
+watermark: ORIRO
+disable-model-invocation: true
+name: eng-control-systems
+provider: ORIRO.ai
+copyright: Copyright (c) 2026 ORIRO.ai
+description: >
+  Control systems engineering — PID controllers, state space, transfer functions,
+  stability analysis, Laplace transforms, frequency response, and GNC for
+  aerospace. Activate for control system design, PID tuning, stability analysis,
+  feedback loops, or any control engineering question.
+  Sources: MIT 6.302 OCW, OpenStax Physics, Ogata Modern Control Engineering.
+---
+
+# Control Systems Engineering
+
+## Feedback control fundamentals
+
+### Open loop vs. closed loop
+
+**Open loop:** No feedback. Output does not influence input. Simple, unreliable.
+**Closed loop (feedback):** Output measured, compared to desired reference, error used to adjust input.
+Error e(t) = r(t) − y(t) — reference minus actual output.
+
+### Block diagram elements
+
+**Plant (G):** System being controlled (motor, rocket, thermostat).
+**Controller (C):** Generates control signal from error.
+**Sensor (H):** Measures plant output.
+**Closed-loop transfer function:** Y/R = GC/(1 + GCH)
+
+## Laplace transform and transfer functions
+
+s-domain representation converts differential equations to algebraic equations.
+**Laplace pairs:**
+d/dt → s × F(s) − f(0)
+∫ → F(s)/s
+Unit step: 1/s
+Exponential e^(−at): 1/(s+a)
+
+**Transfer function:** G(s) = Output(s)/Input(s) with zero initial conditions.
+First-order system: G(s) = K/(τs + 1). Time constant τ = time to reach 63.2% of final value.
+Second-order system: G(s) = ωn²/(s² + 2ζωnS + ωn²)
+ωn = natural frequency, ζ = damping ratio.
+
+### Damping ratio effects
+
+ζ < 1: Underdamped (oscillatory response). Overshoot = e^(−πζ/√(1−ζ²)) × 100%.
+ζ = 1: Critically damped (fastest non-oscillatory response).
+ζ > 1: Overdamped (slow, no overshoot).
+Target for most control systems: ζ ≈ 0.7 (moderate speed, ~5% overshoot).
+
+## PID control
+
+PID = Proportional-Integral-Derivative. Most widely used controller in industry.
+
+u(t) = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t)/dt
+
+**Proportional (Kp):**
+Increases with error. Reduces steady-state error but doesn't eliminate it.
+Too high Kp → oscillations, instability.
+
+**Integral (Ki):**
+Eliminates steady-state error (integrates accumulated error).
+Too high Ki → slow oscillations, windup.
+Anti-windup: Clamp integrator when actuator saturated.
+
+**Derivative (Kd):**
+Predicts future error. Reduces overshoot, improves settling time.
+Sensitive to noise. Often filtered: Kd·s/(τd·s + 1).
+
+### PID tuning methods
+
+**Ziegler-Nichols (step response method):**
+
+1. From step response: measure dead time L and time constant T.
+2. Kp = 1.2T/L, Ti = 2L, Td = 0.5L.
+
+**Ziegler-Nichols (oscillation method):**
+
+1. Increase Kp until sustained oscillations (ultimate gain Ku, period Pu).
+2. PID: Kp = 0.6Ku, Ti = 0.5Pu, Td = 0.125Pu.
+
+**Manual tuning rule of thumb:**
+Start: Kp only. Increase until good tracking, some oscillation.
+Add Ki: Small value, increases until steady-state error eliminated.
+Add Kd: Increase until oscillations reduced.
+
+## Stability analysis
+
+### Routh-Hurwitz criterion
+
+For polynomial characteristic equation: all coefficients must be positive AND Routh array conditions satisfied.
+Quick check: Any negative or zero coefficients → unstable (necessary but not sufficient).
+
+### Root locus
+
+Plot of closed-loop poles as gain K varies from 0 to ∞.
+Poles start at open-loop poles (K=0), end at open-loop zeros (K=∞).
+Stable if all poles in left-half s-plane.
+Unstable if any pole crosses to right-half plane.
+
+### Bode plot (frequency response)
+
+Log-magnitude vs. frequency + Phase vs. frequency.
+**Gain margin (GM):** Additional gain at phase crossover (phase = −180°) before instability.
+Requirement: GM > 6 dB typical.
+**Phase margin (PM):** Additional phase at gain crossover (gain = 0 dB) before instability.
+Requirement: PM > 45° typical.
+Poor PM → oscillatory transient response.
+
+### Nyquist criterion
+
+For systems with time delay or right-half plane poles.
+Encirclements of −1+j0 point determine stability.
+
+## State space representation
+
+x' = Ax + Bu (state equation)
+y = Cx + Du (output equation)
+
+A = system matrix, B = input matrix, C = output matrix, D = feedthrough.
+n states fully describe system's dynamic behavior.
+
+**Controllability:** All states can be driven to any value by input. rank(B AB A²B...) = n.
+**Observability:** All states can be estimated from outputs. rank(C CA CA²...) = n.
+
+### State feedback
+
+u = −Kx (full state feedback).
+K chosen to place closed-loop eigenvalues (poles) at desired locations.
+LQR (Linear Quadratic Regulator): Optimal K minimizing ∫(x'Qx + u'Ru)dt.
+Q = state cost matrix (how much deviation costs), R = control effort cost matrix.
+
+## GNC for aerospace (Guidance, Navigation, Control)
+
+**Navigation:** Determine vehicle state (position, velocity, attitude).
+Sensors: IMU (accelerometers + gyroscopes), GPS, star trackers, sun sensors, radar altimeter.
+**Extended Kalman Filter (EKF):** Fuse multiple sensor inputs, estimate state with uncertainty.
+
+**Guidance:** Determine desired trajectory to reach target.
+Proportional navigation (missiles), gravity turns (launch vehicles), Lambert targeting (orbital rendezvous).
+
+**Control:** Track the guidance commands.
+Launch vehicle: Thrust vector control (TVC) — gimbal engines ±7° for pitch/yaw.
+Spacecraft: Reaction wheels (electric), CMGs (control moment gyros), RCS thrusters.
+Attitude quaternion: 4-parameter representation, avoids gimbal lock.
+
+### PID for attitude control
+
+Error = quaternion error between desired and actual attitude.
+Three separate PIDs: roll, pitch, yaw axes.
+Cross-coupling between axes: must account for in design (gyroscopic effects).
+
+Sources: MIT OCW 6.302 Feedback System Design (CC-BY-NC-SA),
+Ogata "Modern Control Engineering" (principles),
+Franklin, Powell, Emami-Naeini "Feedback Control of Dynamic Systems" (principles),
+NASA GNC engineering standards (public domain)

package/skills/engineering/eng-cryogenics/LICENSE

@@ -1,21 +1,21 @@
-MIT License
-
-Copyright (c) 2026 ORIRO.ai
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+MIT License
+
+Copyright (c) 2026 ORIRO.ai
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.