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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗
NASA NTRS1987

Distributed control architecture for real-time telerobotic operation

The emerging field of telerobotics places new demands on control system architecture to allow both autonomous operations and natural human-machine interfacing. The feasibility of multiprocessor systems performing parallel control computations is realizable. A practical distribution of control processors is presented and the issues involved in the realization of this architecture are discussed. A prototype dual axis controller based on the NOVIX computer is described, and results of its implementation are discussed. Application of this type of control system to a replicated, redundant manipulator system is also described.

Martin, H. L.↗
NASA NTRS2001

Distributed Spacecraft Control Architectures

A fundamental issue for estimation and control of distributed systems such as formation flying spacecraft is the information exchange architecture. In centralized schemes, each subordinate need only share its measurement data with a central hub, and the subordinates depend on the center to direct their actions. In decentralized schemes, all nodes participate in the data exchange, so that each has the same in by formation as the center, and may thereby self-direct the same action that the center would have commanded, assuming all share a common goal. This talk compares and contrasts the centralized and decentralized schemes in the context of autonomously maintaining a distributed satellite formation.

Carpenter, James Russell↗
NASA NTRS2009

Distributed Control Architecture for Gas Turbine Engine

The transformation of engine control systems from centralized to distributed architecture is both necessary and enabling for future aeropropulsion applications. The continued growth of adaptive control applications and the trend to smaller, light weight cores is a counter influence on the weight and volume of control system hardware. A distributed engine control system using high temperature electronics and open systems communications will reverse the growing trend of control system weight ratio to total engine weight and also be a major factor in decreasing overall cost of ownership for aeropropulsion systems. The implementation of distributed engine control is not without significant challenges. There are the needs for high temperature electronics, development of simple, robust communications, and power supply for the on-board electronics.

Dennis Culley↗
DOE OSTI2022

Facile synthesis of epoxide-co-propylene sulphide polymers with compositional and architectural control

Here, we present a facile method to produce propylene sulphide (PS) homopolymers up to 100 kg mol -1 and PS-epoxide statistical, block, and ABA copolymers using inexpensive and versatile thio-aluminium (SAl) based initiators. Homopolymerizations of PS with SAl initiators are living and controlled, with number averaged molecular weights ($\bar M$ n ) up to 100 kg mol -1 while maintaining narrow polydispersity (Ð < 1.4). Statistical and block copolymers of PS and epichlorohydrin (ECH) or propylene oxide (PO) are synthesized and characterized by size-exclusion chromatography (SEC), differential scanning calorimetry (DSC), 1 H and 13 C NMR spectroscopy, diffusion ordered spectroscopy (DOSY), and small-angle X-ray scattering (SAXS). This work represents the first statistical copolymerization of PS and epoxides with similar reactivity ratios, allowing fine control over composition. Block-copolymers of PS and epoxides are synthesized by sequential addition, without intermediate preparative steps. Polymer architecture is controlled through modification of the initiator; we synthesized a di-functional (d-H) SAl initiator to produce ABA tri-block-copolymers. Finally, poly(ethylene glycol) (PEG) was used as a macroinitiator to create PEG-b-PPS block copolymers and characterized by 1 H, 13 C NMR spectroscopy, DOSY, DSC, and SEC.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2011

Towards a State Based Control Architecture for Large Telescopes: Laying a Foundation at the VLT

Large telescopes are characterized by a high level of distribution of control-related tasks and will feature diverse data flow patterns and large ranges of sampling frequencies; there will often be no single, fixed server-client relationship between the control tasks. the architecture is also challenged by the task of integrating heterogeneous subsystems which will be delivered by multiple different contractors. Due to the high number of distributed components, the control system needs to effectively detect errors and faults, impede their propagation, and accurately mitigate them in the shortest time possible, enabling the service to be restored. The presented Data-Driven Architecture is based on a decentralized approach with an end-to-end integration of disparate, independently developed software components. These components employ a high-performance standards-based communication middle-ware infrastructure, based on the Data Distribution Service. A set of rules and principles, based on JPL's State Analysis method and architecture, are use to constrain component-to component interactions, where the Control System and System Under Control are clearly separated. State Analysis provide a model-based process for capturing system and software requirements and design, greatly reducing the gap between the requirements on software specified by systems engineers and the implementation by software engineers. The method and architecture has been field tested at the Very Large Telescope, where it has been integrated into an operational system.

European Extremely Large Telescope (E-ELT)↗
NASA NTRS2012

Quaternion-Based Control Architecture for Determining Controllability/Maneuverability Limits

Dynamic inversion has often been used in the simulation environment to rapidly prototype controls for the full flight envelope, because of its capacity for assessing a vehicle s maneuver performance and proper sizing of control surfaces. Generally, the architectures involve either a direct inversion of the entire set of equations of motion or a sequential set of inversions exploiting time scale separation in the vehicle dynamics where faster parameters are considered as controls for slower varying parameters. The proposed architecture builds on the latter using a quaternion formulation that provides singularity free tracking. Of interest, the proposed architecture simplifies the sequential approach by exploiting a simpler kinematic inversion in place of a more difficult inversion typically used. This kinematic relationship accurately describes the angular rate required to drive some reference frame of interest to a desired attitude at some desired quaternion error rate. A simple PID control is used to define the desired quaternion error rate. The paper develops the theoretical framework for the approach, and shows results in tracking a desired trajectory.

Bacon, Barton J↗
DOE OSTI2020

Complementing Nanoscale Galvanic Exchange with Redox Manipulation toward Architectural Control of Multimetallic Hollow Nanostructures

Galvanic exchange occurring within the confinement by nanoparticulate templates provides a unique pathway to controllably transform solid metallic nanoparticles into architecturally more sophisticated multimetallic hollow nanostructures under facile reaction conditions. As such, in this Minireview, we elaborately discuss how the nanoparticle-templated galvanic exchange can be deliberately coupled with redox manipulation to synthesize a large library of complex multimetallic hollow nanostructures exhibiting precisely tailored architectures and compositions, with a particular emphasis on important mechanistic insights concerning the dynamic interplay among multiple structure-remodeling processes that synergistically dictate the versatile nanoparticle transforming behaviors during kinetically and regioselectively modulated galvanic exchange reactions.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1990

A control architecture for a Mars walking vehicle

A design framework for a Mars Rover, intended for missions where a high degree of autonomy is dictated, is presented. The framework provides a logical computing architecture for rover mobility and local navigation subsystem design by defining a set of functional modules and interfaces to facilitate software and hardware specification. The similarities and dissimilarities between the present approach and related architectures for autonomous navigation and robotic control are discussed. An approach is presented for specifying actions to be taken by the mobility and local navigation subsystems of the rover.

Spiessbach, Andrew J.↗
NASA NTRS2017

Ultra-Stable Segmented Telescope Sensing and Control Architecture

The LUVOIR team is conducting two full architecture studies Architecture A 15 meter telescope that folds up in an 8.4m SLS Block 2 shroud is nearly complete. Architecture B 9.2 meter that uses an existing fairing size will begin study this Fall. This talk will summarize the ultra-stable architecture of the 15m segmented telescope including the basic requirements, the basic rationale for the architecture, the technologies employed, and the expected performance. This work builds on several dynamics and thermal studies performed for ATLAST segmented telescope configurations. The most important new element was an approach to actively control segments for segment to segment motions which will be discussed later.

Telescope↗
NASA NTRS2017

Ultra-Stable Segmented Telescope Sensing and Control Architecture

The LUVOIR team is conducting two full architecture studies. Architecture A - 15 meter telescope that folds up in an 8.4m SLS Block 2 shroud is nearly complete. Architecture B - 9.2 meter that uses an existing fairing size will begin study this Fall. This talk will summarize the ultra-stable architecture of the 15m segmented telescope including the basic requirements, the basic rationale for the architecture, the technologies employed, and the expected performance. This work builds on several dynamics and thermal studies performed for ATLAST segmented telescope configurations. The most important new element was an approach to actively control segments for segment to segment motions which will be discussed later.

Telescope↗
NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗
NASA NTRS2015

Enhanced Engine Performance During Emergency Operation Using a Model-Based Engine Control Architecture

This paper discusses the design and application of model-based engine control (MBEC) for use during emergency operation of the aircraft. The MBEC methodology is applied to the Commercial Modular Aero-Propulsion System Simulation 40,000 (CMAPSS40,000) and features an optimal tuner Kalman Filter (OTKF) to estimate unmeasured engine parameters, which can then be used for control. During an emergency scenario, normally-conservative engine operating limits may be relaxed to increase the performance of the engine and overall survivability of the aircraft; this comes at the cost of additional risk of an engine failure. The MBEC architecture offers the advantage of estimating key engine parameters that are not directly measureable. Estimating the unknown parameters allows for tighter control over these parameters, and on the level of risk the engine will operate at. This will allow the engine to achieve better performance than possible when operating to more conservative limits on a related, measurable parameter.

control theory↗
NASA NTRS2016

Enhanced Engine Performance During Emergency Operation Using a Model-Based Engine Control Architecture

This paper discusses the design and application of model-based engine control (MBEC) for use during emergency operation of the aircraft. The MBEC methodology is applied to the Commercial Modular Aero-Propulsion System Simulation 40k (CMAPSS40k) and features an optimal tuner Kalman Filter (OTKF) to estimate unmeasured engine parameters, which can then be used for control. During an emergency scenario, normally-conservative engine operating limits may be relaxed to increase the performance of the engine and overall survivability of the aircraft; this comes at the cost of additional risk of an engine failure. The MBEC architecture offers the advantage of estimating key engine parameters that are not directly measureable. Estimating the unknown parameters allows for tighter control over these parameters, and on the level of risk the engine will operate at. This will allow the engine to achieve better performance than possible when operating to more conservative limits on a related, measurable parameter.

engine control↗
NASA NTRS2016

Model-Based Engine Control Architecture with an Extended Kalman Filter

This paper discusses the design and implementation of an extended Kalman filter (EKF) for model-based engine control (MBEC). Previously proposed MBEC architectures feature an optimal tuner Kalman Filter (OTKF) to produce estimates of both unmeasured engine parameters and estimates for the health of the engine. The success of this approach relies on the accuracy of the linear model and the ability of the optimal tuner to update its tuner estimates based on only a few sensors. Advances in computer processing are making it possible to replace the piece-wise linear model, developed off-line, with an on-board nonlinear model running in real-time. This will reduce the estimation errors associated with the linearization process, and is typically referred to as an extended Kalman filter. The nonlinear extended Kalman filter approach is applied to the Commercial Modular Aero-Propulsion System Simulation 40,000 (C-MAPSS40k) and compared to the previously proposed MBEC architecture. The results show that the EKF reduces the estimation error, especially during transient operation.

engine control↗