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NASA NTRS2016

The Application of Hardware in the Loop Testing for Distributed Engine Control

The essence of a distributed control system is the modular partitioning of control function across a hardware implementation. This type of control architecture requires embedding electronics in a multitude of control element nodes for the execution of those functions, and their integration as a unified system. As the field of distributed aeropropulsion control moves toward reality, questions about building and validating these systems remain. This paper focuses on the development of hardware-in-the-loop (HIL) test techniques for distributed aero engine control, and the application of HIL testing as it pertains to potential advanced engine control applications that may now be possible due to the intelligent capability embedded in the nodes.

Distributed Engine Control↗

NASA NTRS2016

The Application of Hardware in the Loop Testing for Distributed Engine Control

Control↗

NASA NTRS1998

A Hybrid Procedural/Deductive Executive for Autonomous Spacecraft

The New Millennium Remote Agent (NMRA) will be the first AI system to control an actual spacecraft. The spacecraft domain places a strong premium on autonomy and requires dynamic recoveries and robust concurrent execution, all in the presence of tight real-time deadlines, changing goals, scarce resource constraints, and a wide variety of possible failures. To achieve this level of execution robustness, we have integrated a procedural executive based on generic procedures with a deductive model-based executive. A procedural executive provides sophisticated control constructs such as loops, parallel activity, locks, and synchronization which are used for robust schedule execution, hierarchical task decomposition, and routine configuration management. A deductive executive provides algorithms for sophisticated state inference and optimal failure recover), planning. The integrated executive enables designers to code knowledge via a combination of procedures and declarative models, yielding a rich modeling capability suitable to the challenges of real spacecraft control. The interface between the two executives ensures both that recovery sequences are smoothly merged into high-level schedule execution and that a high degree of reactivity is retained to effectively handle additional failures during recovery.

Pell, Barney↗

NASA NTRS1992

A walking prescription for statically-stable walkers based on walker/terrain interaction

The walker/terrain interaction phenomena for the control of a statically stable walking machine are described. The algorithms, measures, and knowledge of walker/terrain interaction phenomena are then combined to form a prescription for how to walk on general terrain. This prescription consists of two parts: nominal control and reactive control. The function of nominal control is the evaluation and execution of planned motions, based on predicted foot force redistributions, to achieve reliable locomotion. The function of reactive control is the monitoring of walker/terrain interaction in real-time to detect anomalous conditions and then respond with the appropriate reflexive actions. Simulations and experiments have been used to test and verify various aspects of the walking prescription.

Nagy, Peter V.↗

NASA NTRS2001

Automatic Overset Grid Generation with Heuristic Feedback Control

An advancing front grid generation system for structured Overset grids is presented which automatically modifies Overset structured surface grids and control lines until user-specified grid qualities are achieved. The system is demonstrated on two examples: the first refines a space shuttle fuselage control line until global truncation error is achieved; the second advances, from control lines, the space shuttle orbiter fuselage top and fuselage side surface grids until proper overlap is achieved. Surface grids are generated in minutes for complex geometries. The system is implemented as a heuristic feedback control (HFC) expert system which iteratively modifies the input specifications for Overset control line and surface grids. It is developed as an extension of modern control theory, production rules systems and subsumption architectures. The methodology provides benefits over the full knowledge lifecycle of an expert system for knowledge acquisition, knowledge representation, and knowledge execution. The vector/matrix framework of modern control theory systematically acquires and represents expert system knowledge. Missing matrix elements imply missing expert knowledge. The execution of the expert system knowledge is performed through symbolic execution of the matrix algebra equations of modern control theory. The dot product operation of matrix algebra is generalized for heuristic symbolic terms. Constant time execution is guaranteed.

Robinson, Peter I.↗

NASA NTRS2022

Phasing the Webb Telescope

The James Webb Space Telescope (JWST) is a segmented deployable telescope, currently operating at L2. The telescope utilizes 6 degrees of freedom for adjustment of the Secondary Mirror (SM) and 7 degrees of freedom for adjustment of each of its 18 segments in the Primary Mirror (PM). After deployment, the PM segments and the SM arrived in their correct optical positions to within a ~1 mm, with accordingly large wavefront errors. A Wavefront Sensing and Controls (WFSC) process was executed to adjust each of these optical elements in order to correct the deployment errors and produce diffraction-limited images across the entire science field. This paper summarizes the application of the WFSC process.

JWST↗

NASA NTRS1990

Multiple task point control of a redundant manipulator

The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Lee, Sukhan↗

NASA NTRS1979

A detached experiment carrier aids adaptation of experiments from sounding rockets to Space Shuttle

The detached experiment carrier (DEC) system aids the adaptation of small, low-weight experiments to Space Shuttle missions. The carrier system consists of the detached experiment carrier (free-flyer), a command station at the Orbiter aft station, and a flight support station in the Orbiter payload bay. The carrier is a compact vehicle that is radio controlled by the Shuttle crew. It uses control television, command, and cold gas propulsion systems to deploy experiments from and later rendezvous with the Orbiter. The carrier propulsion system also maintains the attitude control required during experiment execution. Results of engineering investigation, analysis, component design and development, and testing indicate that the DEC system concept is practical. Results of preliminary engineering investigations, including maneuvering system handling qualities and television/telemetry display formats, indicate that the concept of flying the DEC 'out of' and 'into' the Orbiter payload bay is both safe and practical for small, compact free-flyer deployment and retrieval. This paper describes the carrier system, its operations, and potential applications.

Ritz, W. F.↗

NASA NTRS1979

Trends in the automation of planetary spacecraft

The automation of planetary spacecraft at the Jet Propulsion Laboratory (JPL) is discussed. Factors affecting the development of spacecraft automation, such as predictable and repetitive functions and narrow time-window, are analyzed. The volume of command data transmitted to the spacecraft is considered, together with an examination of 'autonomy' (executing functions without outside control) in relation to the ground command activity needed during the mission. The role of the spacecraft's growing computational power in increasing vehicle autonomy is noted.

Bird, T. H.↗

NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

Lowrie, J. W.↗

NASA NTRS1983

An appraisal of the value of vitamin B12 in the prevention of motion sickness

It has been suggested that vitamin B12 given by intramuscular injection can significantly reduce the occurrence of motion sickness in susceptible individuals (Banks, 1980). Since it is known that B12 influences the metabolism of histidine and choline, dietary precursors to neurotransmitters with established roles in motion sickness, an experimental evaluation has been undertaken of the efficacy of B12 in the prevention of motion sickness induced by controlled coriolis simulation. Subjects executed standardized head movements at successively higher rpm until a malaise III endpoint was reached. Following two baseline tests with this motion stressor, subjects received a B12 injection, a second injection two weeks later, and a final motion sickness test three weeks later. No significant differences in the susceptibility to motion sickness were noted after B12.

Kohl, R. L.↗

NASA NTRS1985

Management of large-scale technology

Two major themes are addressed in this assessment of the management of large-scale NASA programs: (1) how a high technology agency was a decade marked by a rapid expansion of funds and manpower in the first half and almost as rapid contraction in the second; and (2) how NASA combined central planning and control with decentralized project execution.

Levine, A.↗

NASA NTRS1986

A Sensor Failure Simulator for Control System Reliability Studies

A real-time Sensor Failure Simulator (SFS) was designed and assembled for the Advanced Detection, Isolation, and Accommodation (ADIA) program. Various designs were considered. The design chosen features an IBM-PC/XT. The PC is used to drive analog circuitry for simulating sensor failures in real-time. A user defined scenario describes the failure simulation for each of the five incoming sensor signals. Capabilities exist for editing, saving, and retrieving the failure scenarios. The SFS has been tested closed-loop with the Controls Interface and Monitoring (CIM) unit, the ADIA control, and a real-time F100 hybrid simulation. From a productivity viewpoint, the menu driven user interface has proven to be efficient and easy to use. From a real-time viewpoint, the software controlling the simulation loop executes at greater than 100 cycles/sec.

Melcher, K. J.↗

NASA NTRS1988

The computational structural mechanics testbed architecture. Volume 1: The language

This is the first set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP, and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 1 presents the basic elements of the CLAMP language and is intended for all users.

Felippa, Carlos A.↗

NASA NTRS1988

The computational structural mechanics testbed architecture. Volume 2: The interface

This is the third set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 3 describes the CLIP-Processor interface and related topics. It is intended only for processor developers.

Felippa, Carlos A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 4: The global-database manager GAL-DBM

This is the fourth of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 4 describes the nominal-record data management component of the NICE software. It is intended for all users.

Wright, Mary A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 2: Directives

This is the second of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language (CLAMP), the command language interpreter (CLIP), and the data manager (GAL). Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 2 describes the CLIP directives in detail. It is intended for intermediate and advanced users.

Felippa, Carlos A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 5: The Input-Output Manager DMGASP

This is the fifth of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language (CLAMP), the command language interpreter (CLIP), and the data manager (GAL). Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 5 describes the low-level data management component of the NICE software. It is intended only for advanced programmers involved in maintenance of the software.

Felippa, Carlos A.↗