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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 NTRS2016

Acoustic Emission of Large PRSEUS Structures (Pultruded Rod Stitched Efficient Unitized Structure)

In the role of structural health monitoring (SHM), Acoustic Emission (AE) analysis is being investigated as an effective method for tracking damage development in large composite structures under load. Structures made using Pultruded Rod Stitched Efficient Unitized Structure (PRSEUS) for damage tolerant, light, and economical airframe construction are being pursued by The Boeing Company and NASA under the Environmentally Responsible Aircraft initiative (ERA). The failure tests of two PRSEUS substructures based on the Boeing Hybrid Wing Body fuselage concept were conducted during third quarter 2011 and second quarter 2015. One fundamental concern of these tests was determining the effectiveness of the stitched integral stiffeners to inhibit damage progression. By design, severe degradation of load carrying capability should not occur prior to Design Ultimate Load (DUL). While minor damage prior to DUL was anticipated, the integral stitching should not fail since this would allow a stiffener-skin delamination to progress rapidly and alter the transfer of load into the stiffeners. In addition, the stiffeners should not fracture because they are fundamental to structural integrity. Getting the best information from each AE sensor is a primary consideration because a sparse network of sensors is implemented. Sensitivity to stiffener-contiguous degradation is supported by sensors near the stiffeners, which increases the coverage per sensor via AE waveguide actions. Some sensors are located near potentially critical areas or "critical zones" as identified by numerical analyses. The approach is compared with the damage progression monitored by other techniques (e.g. ultrasonic C-scan).

Horne, Michael R.↗
DOE OSTI2026

High pressure effects on EBC systems in high temperature environments

Environmental barrier coatings (EBCs) are designed to protect SiCfiber/SiCmatrix ceramic matrix composites (CMCs) in turbine engines by mitigating wear in high-temperature water vapor environments. The failure of EBCs is frequently attributed to the accelerated oxidation of the silicon bond coating layer when exposed to high-temperature steam, leading to the formation of a thickened thermally grown oxide (TGO). TGO growth increases interfacial stress, weakens adhesion, and results in coating spallation. Understanding the impact of high-temperature oxidation of EBC systems is essential for developing accurate lifespan models for turbine components, although pressurized oxidation testing is extremely sparse in the open literature. In this work, oxidation tests were performed on rare earth silicate EBCs coated onto SiC substrates under increased pressure conditions. The coated specimens were tested at 1100°C, 1200°C, and 1300°C at both 1 atm and 10 atm total pressure in steam environments. Subsequent characterization focused on the microstructural evolution of the EBC/Si/SiC system. The experimental findings indicated that TGO behavior is dependent on high-pressure conditions, with elevated pressure leading to an increase in oxide scale thickness and modifications in its morphology.

Ardrey, Kristyn [ORNL] (ORCID:0000000184407796)↗
DOE OSTI2024

Generating synthetic signaling networks for in silico modeling studies

Predictive models of signaling pathways have proven to be difficult to develop. Reasons include the uncertainty in the number of species, the complexity in species’ interactions, and the sparseness and uncertainty in experimental data. Traditional approaches to developing mechanistic models rely on collecting experimental data and fitting a single model to that data. This approach works for simple systems but has proven unreliable for complex systems such as biological signaling networks. For example, uncertainty and sparseness of the data often result in overfitted models that have little predictive value beyond recapitulating the experimental data itself. Thus, there is a need to develop new approaches to create predictive mechanistic models of complex systems. However, to determine the effectiveness of any new algorithm, a baseline model is needed to test its performance. To meet this need, we developed a method for generating artificial synthetic networks that are reasonably realistic and thus can be treated as ground truth models. These synthetic models can then be used to generate synthetic data for developing and testing algorithms designed to recover the underlying network topology and associated parameters. Here, we describe a simple approach for generating synthetic signaling networks that can be used for this purpose.

42 ENGINEERING↗
NASA NTRS2016

Investigation of Unsteady Pressure-Sensitive Paint (uPSP) and a Dynamic Loads Balance to Predict Launch Vehicle Buffet Environments

This NESC assessment examined the accuracy of estimating buffet loads on in-line launch vehicles without booster attachments using sparse unsteady pressure measurements. The buffet loads computed using sparse sensor data were compared with estimates derived using measurements with much higher spatial resolution. The current method for estimating launch vehicle buffet loads is through wind tunnel testing of models with approximately 400 unsteady pressure transducers. Even with this relatively large number of sensors, the coverage can be insufficient to provide reliable integrated unsteady loads on vehicles. In general, sparse sensor spacing requires the use of coherence-length-based corrections in the azimuthal and axial directions to integrate the unsteady pressures and obtain reasonable estimates of the buffet loads. Coherence corrections have been used to estimate buffet loads for a variety of launch vehicles with the assumption methodology results in reasonably conservative loads. For the Space Launch System (SLS), the first estimates of buffet loads exceeded the limits of the vehicle structure, so additional tests with higher sensor density were conducted to better define the buffet loads and possibly avoid expensive modifications to the vehicle design. Without the additional tests and improvements to the coherence-length analysis methods, there would have been significant impacts to the vehicle weight, cost, and schedule. If the load estimates turn out to be too low, there is significant risk of structural failure of the vehicle. This assessment used a combination of unsteady pressure-sensitive paint (uPSP), unsteady pressure transducers, and a dynamic force and moment balance to investigate the integration schemes used with limited unsteady pressure data by comparing them with direct integration of extremely dense fluctuating pressure measurements. An outfall of the assessment was to evaluate the potential of using the emerging uPSP technique in a production test environment for future launch vehicles. The results show that modifications to the current technique can improve the accuracy of buffet estimates. More importantly, the uPSP worked remarkably well and, with improvements to the frequency response, sensitivity, and productivity, will provide an enhanced method for measuring wind tunnel buffet forcing functions (BFFs).

Schuster, David M.↗
NASA NTRSDate not supplied

Identification and Study of Validation Level Test Cases for Computational Modeling of Non-Charring Ablators

Computational modeling of Thermal Protection System (TPS) materials, used for aerospace applications, provides numerous advantages in preliminary selection and design of a heatshield material and shape for atmospheric entry vehicles. However, to serve as a reliable tool for prediction of material thermal and ablative behavior, the modeling approach needs to be validated against real experimental and flight data, preferably at a range of applied conditions. The validation study is typically very complex as it requires reliable measured data not only for the material thermal response and surface recession, but also well characterized environmental conditions. The validation problem becomes even more complex when the material thermal response is dictated by multi-physics effects such as solid conduction, in-depth thermal decomposition, pyrolysis gas flow and chemical reactions. The multi-physics effects complicate not only the modeling effort, but also the experimental measurement for validation of various aspects of the highly coupled problem. In this study, an attempt is made to identify suitable experimental data that could serve as a source for validation of material thermal response modeling tools. To reduce the computational complexity, this study focuses only on non-charring ablators, where the material thermal response could be modeled with a single governing equation for solid conduction and the ablation is limited only to the surface of the material. With a well characterized and publicly available experimental data being sparse, the study is limited in presenting test cases for only three materials: camphor, graphite and FiberForm® in the sequence of increased modeling complexity. Graphite is a commonly used TPS material for aerospace applications, both for leading edges of high-speed vehicles and internal insulation of solid rocket motors. FiberForm® is a porous carbon pre-form used in preparation of the well known PICA material Tran et al. [1996]. Inclusion of camphor into the list is conditioned with the relative simplicity in modeling the material thermal and chemical response and the low-enthalpy flow environment. In addition, camphor has been used as a simple test material for study of flow transition behavior by Stock and Ginoux [1973] and assessment of a heatshield shape change at flight relevant conditions by Rotondi et al. [2022]. In this work, the identified experimental data was extracted from the public literature and test cases that yet have been published. As it was found from the review, not a single test case contains an exhaustive set of data that would validate every aspect of the material physics. However, in the data collected, various aspects of the material behavior can be still validated, such as surface and in-depth temperature, amount of recession and a shape change. The identified experimental data for each case is accompanied with a characterized flow environment and simulated boundary conditions predicted by a Data-Parallel Line Relaxation (DPLR) code Wright et al. [1998]. In addition, material thermal response numerical simulations in each test case are performed with Kentucky Aerothermodynamics and Thermal Response System (KATS-MR) Zibitsker et al. [2022] providing a comparative study and a sanity check for the proposed validation data. Sample results from the performed numerical study are shown below. Figure 1 shows distribution of surface heat flux and pressure values on a hemi-cylinder model made of FiberForm® and tested in HyMETS arc-jet facility. The results are shown for the high pressure condition among the two tests. Flow simulation was performed with DPLR code on a quarter of original geometry. In the figure, the quarter shape was mirrored across zx and xy planes to show the complete distribution. Figure 2 shows the material response results for the high pressure case (7500 Pa), simulated with KATS-MR and a comparison to the experimental data for the surface temperature and shape shape. The simulation was performed on a 2-D slice, extracted in the xy plane at the middle of the sample. Figure 3 shows the material response simulation for the low pressure case (3500 Pa) and a comparison to the experimental data for surface temperature and shape change.

ablation↗
NASA NTRS2017

The Effectiveness of Shrouding on Reducing Meshed Spur Gear Power Loss - Test Results

Gearbox efficiency is reduced at high rotational speeds due to windage drag and viscous effects on rotating, meshed gear components. A goal of NASA aeronautics rotorcraft research is aimed at propulsion technologies that improve efficiency while minimizing vehicle weight. Specifically, reducing power losses to rotorcraft gearboxes would allow gains in areas such as vehicle payload, range, mission type, and fuel consumption. To that end, a gear windage rig has been commissioned at NASA Glenn Research Center to measure windage drag on gears and to test methodologies to mitigate windage power losses. One method used in rotorcraft gearbox design attempts to reduce gear windage power loss by utilizing close clearance walls to enclose the gears in both the axial and radial directions. The close clearance shrouds result in reduced drag on the gear teeth, and reduced power loss. For meshed spur gears, the shrouding takes the form of metal side plates and circumferential metal sectors. Variably positioned axial and radial shrouds are incorporated in the NASA rig to study the effect of shroud clearance on gearbox power loss. A number of researchers have given experimental and analytical results for single spur gears, with and without shrouding. Shrouded meshed spur gear test results are sparse in the literature. Windage tests were run at NASA Glenn using meshed spur gears at four shroud configurations: unshrouded, shrouded (max. axial, max radial), and two intermediate shrouding conditions. Results are compared to available meshed spur gear power loss data analyses as well as single spur gear data/analyses. Recommendations are made for future work.

power loss↗
NASA NTRS2017

The Effectiveness of Shrouding on Reducing Meshed Spur Gear Power Loss Test Results

Gearbox efficiency is reduced at high rotational speeds due to windage drag and viscous effects on rotating, meshed gear components. A goal of NASA aeronautics rotorcraft research is aimed at propulsion technologies that improve efficiency while minimizing vehicle weight. Specifically, reducing power losses to rotorcraft gearboxes would allow gains in areas such as vehicle payload, range, mission type, and fuel consumption. To that end, a gear windage rig has been commissioned at NASA Glenn Research Center to measure windage drag on gears and to test methodologies to mitigate windage power losses. One method used in rotorcraft gearbox design attempts to reduce gear windage power loss by utilizing close clearance walls to enclose the gears in both the axial and radial directions. The close clearance shrouds result in reduced drag on the gear teeth and reduced power loss. For meshed spur gears, the shrouding takes the form of metal side plates and circumferential metal sectors. Variably positioned axial and radial shrouds are incorporated in the NASA rig to study the effect of shroud clearance on gearbox power loss. A number of researchers have given experimental and analytical results for single spur gears, with and without shrouding. Shrouded meshed spur gear test results are sparse in the literature. Windage tests were run at NASA Glenn using meshed spur gears at four shroud configurations: unshrouded, shrouded (max. axial, max. radial), and two intermediate shrouding conditions. Results are compared to available meshed spur gear power loss data analyses as well as single spur gear data analyses.

windage↗
NASA NTRS2017

Numerical and Analytical Assessment of a Coupled Rotating Detonation Engine and Turbine Experiment

An analysis is presented of an experimental rig comprising a rotating detonation engine (RDE) with bypass ejector flow coupled to a downstream turbine. The analysis used a validated computational fluid dynamics RDE simulation combined with straightforward algebraic mixing equations for the bypass flow. The objectives of the analysis were to supplement and interpret the necessarily sparse measurements from the rig, and to assess the performance of the RDE itself, which was not instrumented in this installation. The analysis is seen to agree reasonably well with available data. It shows that the RDE is operating in an unusual fashion, with subsonic flow throughout the exhaust plane. The detonation event itself is producing a total pressure rise relative to the pre-detonative pressure; however, the length of the device and the substantial flow restriction at the inlet yield an overall pressure loss. This is not surprising since the objective of the rig test was primarily aimed at investigating RDE/turbine interactions, and not on performance optimization. Furthermore, the RDE was designed for fundamental detonation studies and not performance. Nevertheless, the analysis indicates that with some small alterations to the design, an RDE with an overall pressure rise is possible.

detonation↗
NASA NTRS2017

Numerical and Analytical Assessment of a Coupled Rotating Detonation Engine and Turbine Experiment

An analysis is presented of an experimental rig comprising a rotating detonation engine (RDE) with bypass flow coupled to a downstream turbine. The analysis used a validated computational fluid dynamics RDE simulation combined with straightforward algebraic mixing equations for the bypass flow. The objectives of the analysis were to supplement and interpret the necessarily sparse measurements from the rig, and to assess the performance of the RDE itself (which was not instrumented in this installation). The analysis is seen to agree reasonably well with available data. It shows that the RDE is operating in an unusual fashion, with subsonic flow throughout the exhaust plane. The detonation event itself is producing a total pressure rise relative to the pre-detonative pressure; however, the length of the device and the substantial flow restriction at the inlet yield an overall pressure loss. This is not surprising since the objective of the rig test was primarily aimed at investigating RDEturbine interactions, and not on performance optimization. Furthermore, the RDE was designed for fundamental detonation studies and not performance. Nevertheless, the analysis indicates that with some small alterations to the design, an RDE with an overall pressure rise is possible.

detonation↗
NASA NTRS2017

Numerical and Analytical Assessment of a Coupled Rotating Detonation Engine and Turbine Experiment

An analysis is presented of an experimental rig comprising a rotating detonation engine (RDE) with bypass ejector flow coupled to a downstream turbine. The analysis used a validated computational fluid dynamics RDE simulation combined with straightforward algebraic mixing equations for the bypass flow. The objectives of the analysis were to supplement and interpret the necessarily sparse measurements from the rig, and to assess the performance of the RDE itself, which was not instrumented in this installation. The analysis is seen to agree reasonably well with available data. It shows that the RDE is operating in an unusual fashion, with subsonic flow throughout the exhaust plane. The detonation event itself is producing a total pressure rise relative to the pre-detonative pressure; however, the length of the device and the substantial flow restriction at the inlet yield an overall pressure loss. This is not surprising since the objective of the rig test was primarily aimed at investigating RDE turbine interactions, and not on performance optimization. Furthermore, the RDE was designed for fundamental detonation studies and not performance. Nevertheless, the analysis indicates that with some small alterations to the design, an RDE with an overall pressure rise is possible.

propulsion↗
NASA NTRS1979

UHF coplanar-slot antenna for aircraft-to-satellite data communications

The initiative for starting the Aircraft-to-Satellite Data Relay (ASDAR) Program came from a recognition that much of the world's weather originates in the data sparse area of the tropics which are primarily ocean. The ASDAR system consists of (1) a data acquisition and control unit to acquire, store and format these data; (2) a clock to time the data sampling and transmission periods; and (3) a transmitter and low-profile upper hemisphere coverage antenna to relay the formatted data via satellite to the National Weather Service ground stations, as shown schematically. The low-profile antenna is a conformal antenna based on the coplanar-slot approach. The antenna is circular polarized and has an on-axis gain of nearly 2.5 dB and a HPBW greater than 90 deg. The discussion covers antenna design, radiation characteristics, flight testing, and system performance.

Myhre, R. W.↗
NASA NTRS1972

Assessment of and standardization for quantitative nondestructive test

Present capabilities and limitations of nondestructive testing (NDT) as applied to aerospace structures during design, development, production, and operational phases are assessed. It will help determine what useful structural quantitative and qualitative data may be provided from raw materials to vehicle refurbishment. This assessment considers metal alloys systems and bonded composites presently applied in active NASA programs or strong contenders for future use. Quantitative and qualitative data has been summarized from recent literature, and in-house information, and presented along with a description of those structures or standards where the information was obtained. Examples, in tabular form, of NDT technique capabilities and limitations have been provided. NDT techniques discussed and assessed were radiography, ultrasonics, penetrants, thermal, acoustic, and electromagnetic. Quantitative data is sparse; therefore, obtaining statistically reliable flaw detection data must be strongly emphasized. The new requirements for reusable space vehicles have resulted in highly efficient design concepts operating in severe environments. This increases the need for quantitative NDT evaluation of selected structural components, the end item structure, and during refurbishment operations.

Neuschaefer, R. W.↗
NASA NTRS2009

Large Area Lunar Dust Flux Measurement Instrument

The instrument under development is designed to characterize the flux and size distribution of the lunar micrometeoroid and secondary ejecta environment. When deployed on the lunar surface, the data collected will benefit fundamental lunar science as well as enabling more reliable impact risk assessments for human lunar exploration activities. To perform this task, the instrument requirements are demanding. It must have as large a surface area as possible to sample the very sparse population of the larger potentially damage-inducing micrometeorites. It must also have very high sensitivity to enable it to measure the flux of small (<10 micron) micrometeorite and secondary ejecta dust particles. To be delivered to the lunar surface, it must also be very low mass, rugged and stow compactly. The instrument designed to meet these requirements is called FOMIS. It is a large-area thin film under tension (i.e. a drum) with multiple fiber optic displacement (FOD) sensors to monitor displacements of the film. This sensor was chosen since it can measure displacements over a wide dynamic range: 1 cm to sub-Angstrom. A prototype system was successfully demonstrated using the hypervelocity impact test facility at the University of Kent (Canterbury, UK). Based on these results, the prototype system can detect hypervelocity (approx.5 km/s) impacts by particles as small as 2 microns diameter. Additional tests using slow speeds find that it can detect secondary ejecta particles (which do not penetrate the film) with momentums as small as 15 pico-gram 100m/s, or nominally 5 microns diameter at 100 m/s.

Corsaro, R.↗
NASA NTRS2019

Effectiveness of Redundant Communications Systems in Maintaining Operational Control of Small Unmanned Aircraft

NASA has been researching prototype technologies for an Unmanned Aircraft System (UAS) Traffic Management (UTM) system to facilitate enabling of safe and efficient civilian low-altitude airspace and UAS operations, in a series of Technical Capability Levels (TCL) activities that are increasingly complex. In TCL1, completed in 2015, visual line-of-sight operations such as agriculture, firefighting and infrastructure monitoring were addressed with a focus on geofencing and operations scheduling. Technologies and requirements needed for beyond visual line-of-sight (BVLOS) operations in sparsely populated areas were examined in TCL2 in 2016, and those for operations over moderately populated areas in TCL3 in 2017 and 2018. TCL4 will build on the earlier TCLs and focus on technologies and requirements for operations in higher-density urban areas for tasks such as news gathering, package delivery and for managing large-scale contingencies. This paper describes a communications test conducted in TCL3 and discusses insights gained from the test. In the test, operators were directed to equip UAS with redundant Command and Control (C2) communications systems, send a maneuver command to Unmanned Aircraft (UA) via the primary system, then verify execution of the sent command. This exercise was repeated with each redundant system. The test was designed to assess effectiveness of redundant C2 systems in maintaining operational control of UA. Several UAS were configured with varying arrangements to achieve redundancy, including two identical radio modems using the same frequency band, WiFi and Long-Term Evolution (LTE) cellular modems, etc. From the test, digital data such as time maneuver command sent, time maneuver verified, etc., were collected. Descriptions of methods to detect loss of C2 communications and contingency steps for such event were collected and assessed. The final paper will include a detailed analysis of the collected data leading to the following insights. First, effectiveness of redundant C2 systems depends on several factors, such as operational environment and communications service availability. For example, use of two identical point-to-point radio to connect operator and UA on the same frequency band can be effective in mitigating radio malfunction when operating in an environment where possibility of Radio Frequency (RF) interference is low, such as over open plains. However, the same arrangement may not be effective where high level of RF transmissions in broad spectrum ranges can be expected, such as over or near urban areas. For redundant systems that consist of external communications services, such as cellular and satellite communications network, redundancy is maintained only in the areas where more than one services are available. Therefore, UAS operators should have the means to plan for and monitor the performance of external communications services they are relying on to control UA. Second, communications performance needs, such as the minimum data transfer rate and the maximum tolerable latency, should be assessed to reflect the potential hazard that can come from loss of UA control. For example, UA operations over desolate area pose less hazard to people than operations over densely populated area and performance need for the former would be less than the latter.

Jung, Jaewoo↗
NASA NTRS2011

Toward Supersonic Retropropulsion CFD Validation

This paper begins the process of verifying and validating computational fluid dynamics (CFD) codes for supersonic retropropulsive flows. Four CFD codes (DPLR, FUN3D, OVERFLOW, and US3D) are used to perform various numerical and physical modeling studies toward the goal of comparing predictions with a wind tunnel experiment specifically designed to support CFD validation. Numerical studies run the gamut in rigor from code-to-code comparisons to observed order-of-accuracy tests. Results indicate that this complex flowfield, involving time-dependent shocks and vortex shedding, design order of accuracy is not clearly evident. Also explored is the extent of physical modeling necessary to predict the salient flowfield features found in high-speed Schlieren images and surface pressure measurements taken during the validation experiment. Physical modeling studies include geometric items such as wind tunnel wall and sting mount interference, as well as turbulence modeling that ranges from a RANS (Reynolds-Averaged Navier-Stokes) 2-equation model to DES (Detached Eddy Simulation) models. These studies indicate that tunnel wall interference is minimal for the cases investigated; model mounting hardware effects are confined to the aft end of the model; and sparse grid resolution and turbulence modeling can damp or entirely dissipate the unsteadiness of this self-excited flow.

Kleb, Bil↗
DOE OSTI2024

Chemical signature characterization with hyperspectral imagery: novel deep learning model architectures and physically-motivated data augmentation techniques

The high spectral resolution afforded by Hyperspectral Imaging (HSI) sensors is poised to bring unprecedented advancements to signature characterization applications. Thus far, much of the research in the machine learning field devoted to HSI applications has focused on a few specific tasks like land-use land-cover classification. In land classification tasks, spatial information is very important, and model architectures are often designed to leverage spatial contexts. However, it is unclear how well these spatially-tuned models will translate to tasks where spectral information is critical, like the detection and characterization of chemicals. In this work, we compare spectral models (inputs are 1D spectra) and spatial-spectral models (inputs are 3D cubes) in the context of predicting chemical concentration maps. We find that spatial-spectral models perform the best, though we find a wide range in performance across the different architectures tested. Additionally, we find that model performance is impacted by the availability of training data, particularly in scenarios where the training data doesn't fully capture the true variance of real-world conditions. We find that data augmentation can help mitigate sparse coverage of observed parameter space (e.g., seasonal or geographic variability in ground cover), and present augmentation strategies that are tailored to hyperspectral data.

• Artificial intelligence (AI) / machine learning ↗
NASA NTRS1993

Methodology for sensitivity analysis, approximate analysis, and design optimization in CFD for multidisciplinary applications

In this study involving advanced fluid flow codes, an incremental iterative formulation (also known as the delta or correction form) together with the well-known spatially-split approximate factorization algorithm, is presented for solving the very large sparse systems of linear equations which are associated with aerodynamic sensitivity analysis. For smaller 2D problems, a direct method can be applied to solve these linear equations in either the standard or the incremental form, in which case the two are equivalent. Iterative methods are needed for larger 2D and future 3D applications, however, because direct methods require much more computer memory than is currently available. Iterative methods for solving these equations in the standard form are generally unsatisfactory due to an ill-conditioning of the coefficient matrix; this problem can be overcome when these equations are cast in the incremental form. These and other benefits are discussed. The methodology is successfully implemented and tested in 2D using an upwind, cell-centered, finite volume formulation applied to the thin-layer Navier-Stokes equations. Results are presented for two sample airfoil problems: (1) subsonic low Reynolds number laminar flow; and (2) transonic high Reynolds number turbulent flow.

Taylor, Arthur C., III↗
NASA NTRS1993

Driving a car with custom-designed fuzzy inferencing VLSI chips and boards

Vehicle control in a-priori unknown, unpredictable, and dynamic environments requires many calculational and reasoning schemes to operate on the basis of very imprecise, incomplete, or unreliable data. For such systems, in which all the uncertainties can not be engineered away, approximate reasoning may provide an alternative to the complexity and computational requirements of conventional uncertainty analysis and propagation techniques. Two types of computer boards including custom-designed VLSI chips were developed to add a fuzzy inferencing capability to real-time control systems. All inferencing rules on a chip are processed in parallel, allowing execution of the entire rule base in about 30 microseconds, and therefore, making control of 'reflex-type' of motions envisionable. The use of these boards and the approach using superposition of elemental sensor-based behaviors for the development of qualitative reasoning schemes emulating human-like navigation in a-priori unknown environments are first discussed. Then how the human-like navigation scheme implemented on one of the qualitative inferencing boards was installed on a test-bed platform to investigate two control modes for driving a car in a-priori unknown environments on the basis of sparse and imprecise sensor data is described. In the first mode, the car navigates fully autonomously, while in the second mode, the system acts as a driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right and speed up or slow down depending on the obstacles perceived by the sensors. Experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Simulation results as well as indoors and outdoors experiments are presented and discussed to illustrate the feasibility and robustness of autonomous navigation and/or safety enhancing driver's aid using the new fuzzy inferencing hardware system and some human-like reasoning schemes which may include as little as six elemental behaviors embodied in fourteen qualitative rules.

Pin, Francois G.↗