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At least 397 records · Page 22

High level language-based robotic control system

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

Rodriguez, Guillermo↗

High level language-based robotic control system

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

Rodriguez, Guillermo↗

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Abdallah, Muhammad E.↗

Space Station man-machine automation trade-off analysis

The man machine automation tradeoff methodology presented is of four research tasks comprising the autonomous spacecraft system technology (ASST) project. ASST was established to identify and study system level design problems for autonomous spacecraft. Using the Space Station as an example spacecraft system requiring a certain level of autonomous control, a system level, man machine automation tradeoff methodology is presented that: (1) optimizes man machine mixes for different ground and on orbit crew functions subject to cost, safety, weight, power, and reliability constraints, and (2) plots the best incorporation plan for new, emerging technologies by weighing cost, relative availability, reliability, safety, importance to out year missions, and ease of retrofit. A fairly straightforward approach is taken by the methodology to valuing human productivity, it is still sensitive to the important subtleties associated with designing a well integrated, man machine system. These subtleties include considerations such as crew preference to retain certain spacecraft control functions; or valuing human integration/decision capabilities over equivalent hardware/software where appropriate.

Zimmerman, W. F.↗

Ground Operations Autonomous Control and Integrated Health Management

An intelligent autonomous control capability has been developed and is currently being validated in ground cryogenic fluid management operations. The capability embodies a physical architecture consistent with typical launch infrastructure and control systems, augmented by a higher level autonomous control (AC) system enabled to make knowledge-based decisions. The AC system is supported by an integrated system health management (ISHM) capability that detects anomalies, diagnoses causes, determines effects, and could predict future anomalies. AC is implemented using the concept of programmed sequences that could be considered to be building blocks of more generic mission plans. A sequence is a series of steps, and each executes actions once conditions for the step are met (e.g. desired temperatures or fluid state are achieved). For autonomous capability, conditions must consider also health management outcomes, as they will determine whether or not an action is executed, or how an action may be executed, or if an alternative action is executed instead. Aside from health, higher level objectives can also drive how a mission is carried out. The capability was developed using the G2 software environment (www.gensym.com) augmented by a NASA Toolkit that significantly shortens time to deployment. G2 is a commercial product to develop intelligent applications. It is fully object oriented. The core of the capability is a Domain Model of the system where all elements of the system are represented as objects (sensors, instruments, components, pipes, etc.). Reasoning and decision making can be done with all elements in the domain model. The toolkit also enables implementation of failure modes and effects analysis (FMEA), which are represented as root cause trees. FMEA's are programmed graphically, they are reusable, as they address generic FMEA referring to classes of subsystems or objects and their functional relationships. User interfaces for integrated awareness by operators have been created.

Figueroa, Fernando↗

A piloted simulator investigation of side-stick controller/stability and control augmentation system requirements for helicopter visual flight tasks

A piloted simulator experiment was conducted to assess the effects of side-stick controller characteristics and level of stability and control augmentation on handling qualities for several low-altitude control tasks. Visual flight tasks were simulated using four-window computer-generated imagery depicting either a nap-of-the-earth course or a runway with obstacles positioned to provide a slalom course. Both low speed and forward flight control laws were implemented, and a method for automatically switching control modes was developed. Variations in force-deflection characteristics and the number of axes controlled through an integrated side-stick were investigated. With high levels of stability and control augmentation, a four-axis controller with small-deflection in all four axes achieved satisfactory handling qualities for low-speed tasks.

Landis, K. H.↗

Trustworthy Autonomy for Gateway Vehicle System Manager

The Vehicle System Manager (VSM) is the highest-level software control system in the Gateway hierarchical Autonomous System Management Architecture. The VSM provides four function categories: Mission Management and Timeline Execution, Resource Management, Fault Management, Vehicle Control and Operation. VSM provides various levels of automation ranging from fully autonomous operations with no flight crew and minimal ground monitoring to advisory automation when Gateway is crewed and has full ground monitoring. Trustworthiness is achieved via verified specification, comprehensive development verification, and real-time verification using assume-guarantee contracts. Development verification includes semantic verification of the data model via peer review and testing and assume-guarantee contracts implemented using the PlusCal/TLA+ environment. VSM also uses runtime assume-guarantee contracts, implemented in R2U2 via a runtime monitor that feeds the necessary telemetry data to R2U2 and which receives and responds to the R2U2 verdict stream. The full lifecycle verification approach and use of assume-guarantee contracts provides increased trustworthiness to VSM. Preliminary results provide encouragement that VSM can be both autonomous and trustworthy.

Assume-guarantee contracts↗

Theoretical study of the effect of wind velocity gradients on longitudinal stability and control in climbing and level flight

A change in the wind vector over a short distance along the flight path (wind gradient) has caused several severe airplane accidents during take-off and landing. Results of a previous study showed that, in descending flight, a positive wind gradient (decreasing head wind) caused severe divergent motion and a negative wind gradient (decreasing tail wind) caused oscillatory motion which should not create a control problem. The results obtained when the same method of analysis was applied to climbing and to straight and level flight are reported. In straight and level flight, a wind gradient was found to cause effects similar to those found in descending flight. In climbing flight, it was found that a negative wind gradient caused a slightly divergent oscillation that presented no control problems and a positive wind gradient caused oscillatory divergence. Results of motion studies indicated that adequate control of the airplane motions can be provided by automatic control systems.

Sherman, W. L.↗

Fault-Tolerant Decentralized Control for Large-Scale Inverter-Based Resources for Active Power Tracking

Integration of inverter-based resources (IBRs) which lack the intrinsic characteristics such as the inertial response of the traditional synchronous-generator (SG)-based sources presents a new challenge in the form of analyzing the grid stability under their presence. While the dynamic composition of IBRs differs from that of the SGs, the control objective remains similar in terms of tracking the desired active power. This letter presents a decentralized primal-dual-based fault-tolerant control framework for the power allocation in IBRs. Overall, a hierarchical control algorithm is developed with a lower level addressing the current control and the parameter estimation for the IBRs and the higher level acting as the reference power generator to the low level based on the desired active power profile. The decentralized network-based algorithm adaptively splits the desired power between the IBRs taking into consideration the health of the IBRs transmission lines. The proposed framework is tested through a simulation on the network of IBRs and the high-level controller performance is compared against the existing framework in the literature. The proposed algorithm shows significant performance improvement in the magnitude of power deviation and settling time to the nominal value under faulty conditions as compared to the algorithm in the literature.

24 POWER TRANSMISSION AND DISTRIBUTION↗

WHOC (Wind Hybrid Open Controller) [SWR-25-54]

The Wind Hybrid Open Controller (WHOC) is a python-based tool for real-time plant-level wind farm control and wind-based hybrid plant control. WHOC is primarily run in simulation, although we intend that it could be used for physical plants in future. WHOC provides simple farm-level (and hybrid plant-level) controls such as wake steering control, spatial filtering/consensus, active power control, and coordinated control of hybrid power plant assets; and creates an entry point for the development of more advanced controllers.

Sinner, Michael (Misha) [National Renewable Energy↗

Psychophysiological Control of Acognitive Task Using Adaptive Automation

The major focus of the present proposal was to examine psychophysiological variables related to hazardous states of awareness induced by monitoring automated systems. With the increased use of automation in today's work environment, people's roles in the work place are being redefined from that of active participant to one of passive monitor. Although the introduction of automated systems has a number of benefits, there are also a number of disadvantages regarding worker performance. Byrne and Parasuraman have argued for the use of psychophysiological measures in the development and the implementation of adaptive automation. While both performance based and model based adaptive automation have been studied, the use of psychophysiological measures, especially EEG, offers the advantage of real time evaluation of the state of the subject. The current study used the closed-loop system, developed at NASA-Langley Research Center, to control the state of awareness of subjects while they performed a cognitive vigilance task. Previous research in our laboratory, supported by NASA, has demonstrated that, in an adaptive automation, closed-loop environment, subjects perform a tracking task better under a negative than a positive, feedback condition. In addition, this condition produces less subjective workload and larger P300 event related potentials to auditory stimuli presented in a concurrent oddball task. We have also recently shown that the closed-loop system used to control the level of automation in a tracking task can also be used to control the event rate of stimuli in a vigilance monitoring task. By changing the event rate based on the subject's index of arousal, we have been able to produce improved monitoring, relative to various control groups. We have demonstrated in our initial closed-loop experiments with the the vigilance paradigm that using a negative feedback contingency (i.e. increasing event rates when the EEG index is low and decreasing event rates when the EEG index is high) results in a marked decrease of the vigilance decrement over a 40 minute session. This effect is in direct contrast to performance of a positive feedback group, as well as a number of other control groups which demonstrated the typical vigilance decrement. Interestingly, however, the negative feedback group performed at virtually the same level as a yoked control group. The yoked control group received the same order of changes in event rate that were generated by the negative feedback subjects using the closed-loop system. Thus it would appear to be possible to optimize vigilance performance by controlling the stimuli which subjects are asked to process.

Freeman, Frederick↗

Effects of Acute Exposures to Carbon Dioxide Upon Cognitive Functions

Large quantities of carbon dioxide (CO2) originate from human metabolism and typically, within spacecraft, remain about 10-fold higher in concentration than at the earth's surface. There have been recurring complaints by crew members of episodes of "mental viscosity" adversely affecting their performance, and there is evidence from the International Space Station (ISS) that associates CO2 levels with reports of headaches by crewmembers. Additionally, there is concern that CO2 may contribute to vision impairment and intracranial pressure that has been observed in some crewmembers. Consequently, flight rules have been employed to control the level of CO2 below 4 mm Hg, which is well below the existing Spacecraft Maximum Allowable Concentration (SMAC) of 10 mm Hg for 24-hour exposures, and 5.3 mm Hg for exposures of 7 to 180 days. However, the flight rule imposed limit, which places additional demands upon resources and current technology, still exceeds the lower bound of the threshold range for reportable headaches (2 - 5 mm Hg). Headaches, while sometime debilitating themselves, are also symptoms that can provide evidence that physiological defense mechanisms have been breached. The causes of the headaches may elicit other subtle adverse effects that occur at CO2 levels well below that for headaches. The concern that CO2 may have effects at levels below the threshold for headaches appears to be substantiated in unexpected findings that CO2 at concentrations below 2 mm Hg substantially reduced some cognitive functions that are associated with the ability to make complex decisions in conditions that are characterized by volatility, uncertainty, complexity, ambiguity, and delayed feedback. These are conditions that could be encountered by crews in off-nominal situations or during the first missions beyond low earth orbit. If findings of the earlier study are confirmed in crew-like subjects, our findings would provide additional evidence that CO2 may need to be controlled at levels that are well below current spacecraft limits. Our study will extend the earlier study to determine if crew-like subjects are similarly effected by CO2. In addition to employing the Strategic Management Simulation tool, we will use the Cognition battery of psychometric measures that are being utilized aboard the ISS. It will be important to learn, by using Cognition, if additional cognitive domains are sensitive to concentrations of CO2 at or below limits currently controlled by flight rules. While spaceflight Cognition data will greatly enhance the knowledge base related to inflight behavioral health and performance, some of the measures may be influenced by fatigue (related to sleep deprivation and or workload) and changes in circadian rhythms. Therefore our use of this battery of tests in a well-controlled, ground-based study that is free of these potential confounding influences will establish a baseline terrestrial data set against which Cognition data collected in flight may be assessed. The findings from this study will be useful to the NASA Toxicology Office and the National Research Council Committee on Toxicology, which assists NASA in setting environmental standards, for revision of the SMAC for CO2, and for designing further studies on effects of CO2 upon cognitive functions.

Scully, R. R.↗

Project Review: Teleoperation and Time Delays

We plan to study the invariance in the shift in control strategy from continuous control to move-and-wait as a function of latency and control difficulty. To do so we have developed a theoretically understood way of introducing measurable levels of control difficulty using misalignment between display and control axes . We now use this understanding to study the interaction of control difficulty and system latency. We have conducted an experiment to calibrate our imposition of control difficulty using more representative control rotations. We use these levels of difficulty to directly study the interaction of control difficulty with latency. Results suggest a way to generalize latency requirements across control difficulties that should aid establishment of standards for managing latency in teleoperation.

Adelstein, Bernard D.↗

Competing polar phases in 2D ferroelectric transition metal thio- and selenophosphates

The aim of this Perspective is to provide an in-depth discussion of a certain class of 2D ferroelectrics that feature a van der Waals gap where more than one polar phase can exist energetically close to the ground state. Polar phases of interest can include different ferroelectric, antiferroelectric, and paraelectric phases, which can be transformed into each other through external stimuli, offering unprecedented control over polar material properties. With this level of control, important size limitations and integration problems can be overcome, and material platforms with tunable polar properties for multi-functional devices and sensors can be developed for the next generation of information and energy technologies. We highlight the co-existence of polar properties that have been found on local scales using advanced local characterization techniques as well as methods to control polar properties in transition metal thio-/selenophosphates. In conclusion, we give an overview of future challenges and opportunities in this emerging field of energetically close polar phases.

36 MATERIALS SCIENCE↗

Workload and Performance in Air Traffic Control: Exploring the Influence of Levels of Automation and Variation in Task Demand

In air traffic control, task demand and workload have important implications for the safety and efficiency of air traffic. Task demand is dynamic, however, research on demand transitions and associated controller perception and performance is limited. In addition, there is a comparatively restricted understanding of the influence of task demand transitions on workload and performance, in association with automation. This study used an air traffic control simulation to investigate the influence of task demand transitions and two conditions of varying automation, on workload and efficiency-related performance. Findings showed that a both the direction of the task demand variation, and the amount of automation, influenced the relationship between workload and performance. Further research is needed to enhance understanding of demand transition and workload history effects on operator experience and performance, in both air traffic control and other safety-critical domains.

air traffic control↗

Leveraging High-Level Synthesis to Migrate Motor Control Algorithms From Microcontroller to FPGA

As motor control algorithms become increasingly complex, traditional microcontroller-based implementations are reaching computational limits that prevent the controller from operating at the required speed. This paper presents a novel workflow leveraging High-Level Synthesis (HLS) to migrate motor control algorithms from a microcontroller implementation to a Field-Programmable Gate Array (FPGA) implementation. The proposed approach utilizes the free Vitis HLS software to automatically convert Embedded Coder-generated C code from a Simulink model into Hardware Description Language (HDL) code suitable for FPGA deployment.

FPGA↗

Leveraging High-Level Synthesis to Migrate Motor Control Algorithms From Microcontroller to FPGA

As motor control algorithms become increasingly complex, traditional microcontroller-based implementations are reaching computational limits that prevent the controller from operating at the required speed. This paper presents a novel workflow leveraging High-Level Synthesis (HLS) to migrate motor control algorithms from a microcontroller implementation to a Field-Programmable Gate Array (FPGA) implementation. The proposed approach utilizes the free Vitis HLS software to automatically convert Embedded Coder-generated C code from a Simulink model into Hardware Description Language (HDL) code suitable for FPGA deployment.

FPGA↗

Structural Templation of MOF-Derived Zirconia Nanoparticles

Templated synthesis is an important avenue for the development and synthesis of porous materials, as it provides a high level of control over the resulting structure. However, this control is difficult to achieve at the atomic level for poorly crystalline or noncrystalline materials, such as metal–organic framework (MOF)-derived carbons. We report the carbonization of three zirconium-based MOFs with different framework and inorganic building unit structures to form zirconia nanoparticles in a carbon matrix. Using a combination of X-ray diffraction, X-ray total scattering, and transmission electron microscopy, we found that the extended Zr-oxo chains of MIL-140C-bpy facilitate the formation of larger and more ordered zirconia nanoparticles. In contrast, the discrete Zr 6 -oxo clusters of UiO-67-bpy and Zr-ABTC result in smaller and differently structured nanoparticles.

metal-organic framework↗