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A linear system with two sets of controls, one primary and the other redundant, is considered. A two level optimization procedure is used to control the system and to maintain maximal availability of the primary control.
The problem of designing 'intelligent machines' to operate in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an 'intelligent machine' is defined to be the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of 'increasing precision with decreasing intelligence', namely: the organizational level, performing general information processing tasks in association with a long-term memory; the coordination level, dealing with specific information processing tasks with a short-term memory; and the control level, which performs the execution of various tasks through hardware using feedback control methods. The behavior of such a machine may be managed by controls with special considerations and its 'intelligence' is directly related to the derivation of a compatible measure that associates the intelligence of the higher levels with the concept of entropy, which is a sufficient analytic measure that unifies the treatment of all the levels of an 'intelligent machine' as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision such that it minimizes its total entropy. A case study on the automatic maintenance of a nuclear plant illustrates the proposed approach.
The components and operation of the Hubble Space Telescope (HST) electrical power system (EPS) breadboard are described. The HST EPS breadboard consists of: (1) the power distribution breadboard, (2) the batteries, (3) the solar array simulators, (4) the load banks, (5) the charge current control hardware, and (6) a control computer; the functions of each of these elements are discussed. The HST EPS has been used to simulate changes in charge level, charge control schemes, and beta angle, failed cells, batteries, solar panel assemblies (SPAs), beginning of life SPAs, and end of life SPAs, and temperature differences. The test data reveal that the HST EPS is capable of operating over a wide range of conditions.
The goal of the commercial air transport system is to provide air transportation to the flying public at an acceptable cost with minimal risk. in an ideal situation these three goals would support each other. In fact, it is sometimes the case that the goals conflict: getting passengers to their destinations on time may conflict with fixing a minor mechanical malfunction that may or may not impact safety; flying a route that will avoid turbulence, thereby providing passengers with a more comfortable ride, may consume more fuel; managing traffic density may mean aircraft are delayed or must use an approach that will result in a long taxi to their gates, costing time and fuel. Various players in the system--pilots, dispatchers, controllers, as well as managers in the airline carriers and traffic management system--make decisions every day that involve trade-offs of benefits and costs. The prospect of revisions in the air traffic management system, with shifts in responsibilities from controllers to users, including airline operations center personnel and pilots, means that individuals may be performing either new jobs or old jobs under new guidance. It will be essential to know how the various players (a) perceive the risks and benefits associated with the decisions they will make under the old and new control structures, and (b) how much risk they are willing to accept in making decisions. Risk is here defined as the probability and magnitude of negative events (after Slovic, 1987). Of primary interest are risks associated with traffic, weather, and operational factors such as schedule, fuel consumption, and passenger service. Previous research has documented differences between groups in perceptions of risks associated with both everyday and aviation related situations. Risk perception varies as a function of familiarity with the situation, degree to which one is potentially affected by the risk, the level of control one has over the situation, and one's level of experience and responsibility in the situation. In our presentation we will consider several factors that may influence differences in risk perception, risk tolerance and risk management among the three major categories of participants in the aviation system (pilots, dispatchers, and controllers). Primary factors that may affect risk attitudes (the collective term we will use for the three components of risk) include: expertise or job-specific knowledge or training, personal involvement or vulnerability to consequences, goals, time horizon (imminence of consequences), span of control and type of control, and information or technology support. These will be considered in the context of five different types of risk (physical threat, economic, social, legal, and ethical). A study designed to study differences between pilots and controllers in their perceptions and responses to traffic risks under the present and a user-preferred control situation will be described. Future studies involving dispatchers' risk perceptions regarding various types of risk will be discussed.
A ground-simulation experiment was conducted to investigate the influence and interaction of flight-control system, fight-director display, and crew-loading situation on helicopter flying qualities during terminal area operations in instrument conditions. The experiment was conducted on the Flight Simulator for Advanced Aircraft at Ames Research Center. Six levels of control complexity, ranging from angular rate damping to velocity augmented longitudinal and vertical axes, were implemented on a representative helicopter model. The six levels of augmentation were examined with display variations consisting of raw elevation and azimuth data only, and of raw data plus one-, two-, and three-cue flight directors. Crew-loading situations simulated for the control-display combinations were dual-pilot operation (representative auxiliary tasks of navigation, communications, and decision-making). Four pilots performed a total of 150 evaluations of combinations of these parameters for a representative microwave landing system (MLS) approach task.
The problem of onboard trajectory optimization for an airbreathing, single-stage-to-orbit vehicle is examined. A simple model representative of the aerospace plane concept, including a dual-mode propulsion system composed of scramjet and rocket engines, is presented. Consideration is restricted to hypersonic flight within the atmosphere. An energy state approximation is used in a four-state model for flight of a point mass in a vertical plane. Trajectory constraints, including those of dynamic pressure and aerodynamic heating, are initially ignored. Singular perturbation methods are applied in solving the optimal control problem of minimum fuel climb. The resulting reduced solution for the energy state dynamics provides an optimal altitude profile dependent on energy level and control for rocket thrust. A boundary-layer analysis produces an approximate lift control solution in feedback form and accounts for altitude and flight path angle dynamics. The reduced solution optimal climb path is presented for the unconstrained case and the case for which a maximum dynamic pressure constraint is enforced.
Coordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level, and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. The scope of the system and the current setup are described along with future lines of development.
A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.
Analytical investigation of reentry behavior of flying wind tunnel test vehicle with some effects of threshold and torque level of roll-rate control system
Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations).
A research program the general objective of which was to measure the effects of various sustained accelerations on the control performance of pilots, was carried out on the Aviation Medical Acceleration Laboratory centrifuge, U.S. Naval Air Development Center, Johnsville, PA. The experimental setup consisted of a flight simulator with the centrifuge in the control loop. The pilot performed his control tasks while being subjected to acceleration fields such as might be encountered by a forward-facing pilot flying an atmosphere entry vehicle. The study was divided into three phases. In one phase of the program, the pilots were subjected to a variety of sustained linear acceleration forces while controlling vehicles with several different sets of longitudinal dynamics. Here, a randomly moving target was displayed to the pilot on a cathode-ray tube. For each combination of acceleration field and vehicle dynamics, pilot tracking accuracy was measured and pilot opinion of the stability and control characteristics was recorded. Thus, information was obtained on the combined effects of complexity of control task and magnitude and direction of acceleration forces on pilot performance. These tests showed that the pilot's tracking performance deteriorated markedly at accelerations greater than about 4g when controlling a lightly damped vehicle. The tentative conclusion was also reached that regardless of the airframe dynamics involved, the pilot feels that in order to have the same level of control over the vehicle, an increase in the vehicle dynamic stability was required with increases in the magnitudes of the acceleration impressed upon the pilot. In another phase, boundaries of human tolerance of acceleration were established for acceleration fields such as might be encountered by a pilot flying an orbital vehicle. A special pilot restraint system was developed to increase human tolerance to longitudinal decelerations. The results of the tests showed that human tolerance of longitudinal deceleration forces was considerably improved through use of the special restraint system.
INTRODUCTION: Increased exposure to radiation is one physiological stressor associated with spaceflight and it is feasible to conduct ground experiments using known radiation exposures. The health of the liver, especially the activity rate of its metabolic enzymes, determines the concentration of circulating drugs as well as the duration of their efficacy. While radiation is known to alter normal physiological function, how radiation affects liver metabolism of administered medications is unclear. Crew health could be affected if the actions of medications used in spaceflight deviated from expectations formed during terrestrial medication use. This study is an effort to identify liver metabolic enzymes whose expression is altered by spaceflight or by radiation exposures that mimic features of the spaceflight environment. METHODS: Using procedures approved by the Animal Care and Use Committee, mice were exposed to either 137Cs (controls, 50 mGy, 6Gy, or 50 mGy + 6Gy separated by 24 hours) or 13 days of spaceflight on STS 135. Animals were anesthetized and sacrificed at several time points (4 hours, 24 hours or 7 days) after their last radiation exposure, or within 6 hours of return to Earth for the STS 135 animals. Livers were removed immediately and flash-frozen in liquid nitrogen. Tissue was homogenized, RNA extracted, purified and quality-tested. Complementary DNA was prepared from high-quality RNA samples, and used in RT-qPCR experiments to determine relative expression of a wide variety of genes involved in general metabolism and drug metabolism. RESULTS: Results of the ground radiation exposure experiments indicated ~65 genes of the 190 tested were significantly affected by at least one of the radiation doses. Many of the affected genes are involved in the metabolism of drugs with hydrophobic or steroid-like structures, maintenance of redox homeostasis and repair of DNA damage. Most affected genes returned to near control expression levels by 7 days post-treatment. Not all recovered completely by the final time point tested: with 6 Gy exposure, metallothionein expression was 132-fold more than control at the 4 hr time point, and fell at each later time point (11-fold at 24 hrs, and 8-fold at 7 days). In contrast, there were other genes whose expression was altered and remained relatively constant through the 7 day period we tested. One examples is Cyp17a1, which showed a 4-fold elevation at 4 hrs after exposure and remained constant for 7 days after the last treatment. Spaceflight samples evaluated with similar methods and comparisons will be made between the radiation-treated groups and the spaceflight samples. CONCLUSION It seems likely that radiation exposure triggers homeostatic mechanisms, which could include alterations of gene expression. Better understanding of these pathways could aid in optimizing medications doses given to crewmembers who require treatment and eventually, to development of new countermeasures to ameliorate or prevent radiation-induced damage to cells and tissues.
The Soil Moisture Active Passive (SMAP) mission, scheduled for launch by the end of 2014, is being developed to measure the soil moisture and soil freeze/thaw state on a global scale over a three-year period. The accuracy, resolution, and global coverage of SMAP measurements are invaluable across many science and applications disciplines including hydrology, climate, carbon cycle, and the meteorological, environment, and ecology applications communities. The SMAP observatory is composed of a despun bus and a spinning instrument platform that includes both a deployable 6 meter aperture low structural frequency Astromesh reflector and a spin control system. The instrument section has engendered challenging mechanical system issues associated with the antenna deployment, flexible antenna pointing in the context of a multitude of disturbances, spun section mass properties, spin control system development, and overall integration with the flight system on both mechanical and control system levels. Moreover, the multitude of organizations involved, including two major vendors providing the spin subsystem and reflector boom assembly plus the flight system mechanical and guidance, navigation, and control teams, has led to several unique system engineering challenges. Capturing the key physics associated with the function of the flight system has been challenging due to the many different domains that are applicable. Key interfaces and operational concepts have led to complex negotiations because of the large number of organizations that integrate with the instrument mechanical system. Additionally, the verification and validation concerns associated with the mechanical system have had required far-reaching involvement from both the flight system and other subsystems. The SMAP instrument mechanical systems engineering issues and their solutions are described in this paper.
NASA follows top level safety requirement of two-failure tolerance (t hree levels of controls or design for minimum risk) to all catastroph ic hazards in the design of safe li-ion batteries for space use. ? R igorous development testing at appropriate levels to credible offnominal conditions and review of test data. ? Implement robust design con trols based on test results and test again to confirm safety at the a ppropriate levels. ? Stringent testing of all (100%) flight batteries (from button cells to large batteries).
Services, Inc. and NASA Johnson Space Center, Houston, TX As NASA prepares for long-term missions aboard the International Space Station and the eventual exploration of Mars, closed-environment chambers on Earth have become important test beds for systems evaluations. During 2 separate studies of a selfcontained ecosystem containing 4 crewmembers, microbial surveys of samples from 13 surface and 3 air sites were performed. Microbial concentration of samples from surface sites with frequent water contact (e.g., urinal, sink) did not indicate significantly higher levels of contamination than drier areas, though surface cleaning by the crew may have influenced this conclusion. Changes in bacterial diversity on surface sites implied that the number of transient species was high, suggesting movement by crew activities, aerosols, or both. A non-linear relationship between bacterial diversity and enumeration from surface samples indicated that a rapid increase occurred in the number of species as cell concentration increased to 5 CFU/sq cm. Above this concentration, the number of different bacterial species varied between 11 and 16. Airborne bacteria and fungi averaged only 160 and 1 CFU/m3, respectively. Microbial contamination of the potable water system primarily consisted of 3 species of Gram negative bacteria; however, after 60 days during one study, several species of Bacillus became the dominant flora. This study suggests that under these conditions, microbial contamination in the air and water was suppressed by the life-support systems, though contamination was possible. Conversely, the crew and their activities controlled microbial levels on surfaces. Understanding the factors that affect microbial control will improve the design of microbial testing both during space flight and in analogous Earth-based environments.
A computer-assisted teleoperator control system for making comparative performance evaluations is described. A local and a remote control station, each with decision-making capability, communicate with each other through a simulated time delay. Supervisory control at three increasingly automatic levels is possible. The highest level of programmed control is facilitated through the ARM language which was developed to permit easily readable program manuscripts to be written and assembled into programs of motions by novice programmers. Experimental results show the advantage of this form of supervisory control with both direct and delayed (3 sec) manipulation tasks. In addition, two systems to measure and reproduce force distributions have been designed. One system reproduces contact on the external surfaces of the remote hand using 21 airjet simulators. Another system reproduces the shape of the contact between object and jaws using 288 piezoelectric (bimorph) stimulators.
The gain variation is made in the software logic of the pitch angle controller. The gain level is changed depending upon the level of power error. The control uses low gain for low pitch activity the majority of the time. If the power exceeds ten percent offset above rated, the gain is increased to a higher gain to more effectively limit power. A variable gain control functioned well in tests on the Mod-0 wind turbine.
The issues involved in the design and implementation of high-speed fiberoptic distribution networks for spacecraft antennas are examined. The phased array antennas and antenna remoting are considered. The system requirements for these two generic system types are summarized, and their architectures are described. Optical beamforming of phased arrays is discussed, including beam control at the T/R module level, optical beam control on the fiber optic distribution network, and optical beamforming in free space.