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NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗

NASA NTRS2013

Autonomous Control of Space Nuclear Reactors

Nuclear reactors to support future robotic and manned missions impose new and innovative technological requirements for their control and protection instrumentation. Long-duration surface missions necessitate reliable autonomous operation, and manned missions impose added requirements for failsafe reactor protection. There is a need for an advanced instrumentation and control system for space-nuclear reactors that addresses both aspects of autonomous operation and safety. The Reactor Instrumentation and Control System (RICS) consists of two functionally independent systems: the Reactor Protection System (RPS) and the Supervision and Control System (SCS). Through these two systems, the RICS both supervises and controls a nuclear reactor during normal operational states, as well as monitors the operation of the reactor and, upon sensing a system anomaly, automatically takes the appropriate actions to prevent an unsafe or potentially unsafe condition from occurring. The RPS encompasses all electrical and mechanical devices and circuitry, from sensors to actuation device output terminals. The SCS contains a comprehensive data acquisition system to measure continuously different groups of variables consisting of primary measurement elements, transmitters, or conditioning modules. These reactor control variables can be categorized into two groups: those directly related to the behavior of the core (known as nuclear variables) and those related to secondary systems (known as process variables). Reliable closed-loop reactor control is achieved by processing the acquired variables and actuating the appropriate device drivers to maintain the reactor in a safe operating state. The SCS must prevent a deviation from the reactor nominal conditions by managing limitation functions in order to avoid RPS actions. The RICS has four identical redundancies that comply with physical separation, electrical isolation, and functional independence. This architecture complies with the safety requirements of a nuclear reactor and provides high availability to the host system. The RICS is intended to interface with a host computer (the computer of the spacecraft where the reactor is mounted). The RICS leverages the safety features inherent in Earth-based reactors and also integrates the wide range neutron detector (WRND). A neutron detector provides the input that allows the RICS to do its job. The RICS is based on proven technology currently in use at a nuclear research facility. In its most basic form, the RICS is a ruggedized, compact data-acquisition and control system that could be adapted to support a wide variety of harsh environments. As such, the RICS could be a useful instrument outside the scope of a nuclear reactor, including military applications where failsafe data acquisition and control is required with stringent size, weight, and power constraints.

Merk, John↗

NASA NTRS1973

Space Shuttle Main Engine control system

The Space Shuttle Main Engine is a reusable, high-performance rocket engine being developed by the Rocketdyne Div. of Rockwell International to satisfy the operational requirements of the Space Shuttle Orbiter Vehicle. The design incorporates a hydraulically actuated, closed-loop servosystem controlled and monitored by a programmable electronic digital controller. The controller accepts vehicle commands for the various engine operational phases, positions the appropriate valves, monitors the engine for the required performance precisions and conditions, and provides redundancy management.

Seitz, P. F.↗

NASA NTRS1984

Flexible aircraft flying and ride qualities

A brief analytic exposition is presented to illustrate a central principle in flexible mode control, some of the pertinent pilot centered requirements are listed and discussed. The desired features of the control methodology are exposed and the methodology to be used is selected. The example Boeing supplied characteristics are discussed and approximated with a reduced order model and a simplified treatment of unsteady aerodynamics. The closed loop flight control system design follows, along with first level assessments of resulting handling and ride quality characteristics. Some of these do not meet the postulated requirements and remain problems to be solved possibly by further analysis or future simulation.

Ashkenas, I. L.↗

NASA NTRS1986

Machine vision and the OMV

The orbital Maneuvering Vehicle (OMV) is intended to close with orbiting targets for relocation or servicing. It will be controlled via video signals and thruster activation based upon Earth or space station directives. A human operator is squarely in the middle of the control loop for close work. Without directly addressing future, more autonomous versions of a remote servicer, several techniques that will doubtless be important in a future increase of autonomy also have some direct application to the current situation, particularly in the area of image enhancement and predictive analysis. Several techniques are presentet, and some few have been implemented, which support a machine vision capability proposed to be adequate for detection, recognition, and tracking. Once feasibly implemented, they must then be further modified to operate together in real time. This may be achieved by two courses, the use of an array processor and some initial steps toward data reduction. The methodology or adapting to a vector architecture is discussed in preliminary form, and a highly tentative rationale for data reduction at the front end is also discussed. As a by-product, a working implementation of the most advanced graphic display technique, ray-casting, is described.

Mcanulty, M. A.↗

DOE OSTI2024

Integration of pH Control into Chi.Bio Reactors and Demonstration with Small-Scale Enzymatic Poly(ethylene terephthalate) Hydrolysis

Small-scale bioreactors that are affordable and accessible would be of major benefit to the research community. In previous work, an open-source, automated bioreactor system was designed to operate up to the 30 mL scale with online optical monitoring, stirring, and temperature control, and this system, dubbed Chi.Bio, is now commercially available at a cost that is typically 1–2 orders of magnitude less than commercial bioreactors. In this work, we further expand the capabilities of the Chi.Bio system by enabling continuous pH monitoring and control through hardware and software modifications. For hardware modifications, we sourced low-cost, commercial pH circuits and made straightforward modifications to the Chi.Bio head plate to enable continuous pH monitoring. For software integration, we introduced closed-loop feedback control of the pH measured inside the Chi.Bio reactors and integrated a pH-control module into the existing Chi.Bio user interface. We demonstrated the utility of pH control through the small-scale depolymerization of the synthetic polyester, poly(ethylene terephthalate) (PET), using a benchmark cutinase enzyme, and compared this to 250 mL bioreactor hydrolysis reactions. The results in terms of PET conversion and rate, measured both by base addition and product release profiles, are statistically equivalent, with the Chi.Bio system allowing for a 20-fold reduction of purified enzyme required relative to the 250 mL bioreactor setup. Through inexpensive modifications, the ability to conduct pH control in Chi.Bio reactors widens the potential slate of biochemical reactions and biological cultivations for study in this system, and may also be adapted for use in other bioreactor platforms.

09 BIOMASS FUELS↗

NASA NTRS1980

A singular perturbation analysis of minimum time long range intercept

The application of singular perturbation theory for deriving algorithms suitable for on board real time computation of optimal aircraft trajectory control was investigated. Minimum time intercept in three dimensions was selected as a pilot problem formulation, and data for an early version F-4 aircraft was used to represent aircraft aerodynamic and propulsion characteristics. Results include the derivation of nonlinear, near optimal feedback control laws that are readily implementable in an aircraft flight computer, performance results for a variety of initial conditions (including optimal intercept at short ranges), and a point mass three dimensional simulation suitable for representing fighter aircraft under closed loop optimal control.

Calise, A.↗

NASA NTRS2006

Development of a Forced Oscillation System for Measuring Dynamic Derivatives of Fluidic Vehicles

A new Forced Oscillation System (FOS) has been designed and built at NASA Langley Research Center that provides new capabilities for aerodynamic researchers to investigate the dynamic derivatives of vehicle configurations. Test vehicles may include high performance and general aviation aircraft, re-entry spacecraft, submarines and other fluidic vehicles. The measured data from forced oscillation testing is used in damping characteristic studies and in simulation databases for control algorithm development and performance analyses. The newly developed FOS hardware provides new flexibility for conducting dynamic derivative studies. The design is based on a tracking principle where a desired motion profile is achieved via a fast closed-loop positional controller. The motion profile for the tracking system is numerically generated and thus not limited to sinusoidal motion. This approach permits non-traditional profiles such as constant velocity and Schroeder sweeps. Also, the new system permits changes in profile parameters including nominal offset angle, waveform, and associated parameters such as amplitude and frequency. Most importantly, the changes may be made remotely without halting the FOS and the tunnel. System requirements, system analysis, and the resulting design are addressed for a new FOS in the 12-Foot Low-Speed Wind Tunnel (LSWT). The overall system including mechanical, electrical, and control subsystems is described. The design is complete, and the FOS has been built and installed in the 12-Foot LSWT. System integration and testing have verified design intent and safe operation. Currently it is being validated for wind-tunnel operations and aerodynamic testing. The system is a potential major enhancement to forced oscillation studies. The productivity gain from the motion profile automation will shorten the testing cycles needed for control surface and aircraft control algorithm development. The new motion capabilities also will serve as a test bed for researchers to study and to improve and/or alter future forced oscillation testing techniques.

Trieu, B. C.↗

NASA NTRS1990

Integrated modeling and analysis of a space-truss article

MSC/NASTRAN is being used in the Controls-Structures Interaction (CSI) program at NASA Langley Research Center as a key analytical tool for structural analysis as well as the basis for control law development, closed-loop performance evaluation, and system safety checks. Guest investigators from academia and industry are performing dynamics and control experiments on a flight-like deployable space truss called Mini-Mast to determine the effectiveness of various active-vibration control laws. MSC/NASTRAN was used to calculate natural frequencies and mode shapes below 100 Hz to describe the dynamics of the 20-meter-long lightweight Mini-Mast structure. Gravitational effects contribute significantly to structural stiffness and are accounted for through a two-phase solution in which the differential stiffness matrix is calculated and then used in the eigensolution. Reduced modal models are extracted for control law design and evaluation of closed-loop system performance. Predicted actuator forces from controls simulations are then applied to the extended model to predict member loads and stresses. These pre-test analyses reduce risks associated with the structural integrity of the test article, which is a major concern in closed-loop control experiments due to potential instabilities.

Alan E Stockwell↗

NASA NTRS1978

Vision-based guidance for an automated roving vehicle

A controller designed to guide an automated vehicle to a specified target without external intervention is described. The intended application is to the requirements of planetary exploration, where substantial autonomy is required because of the prohibitive time lags associated with closed-loop ground control. The guidance algorithm consists of a set of piecewise-linear control laws for velocity and steering commands, and is executable in real time with fixed-point arithmetic. The use of a previously-reported object tracking algorithm for the vision system to provide position feedback data is described. Test results of the control system on a breadboard rover at the Jet Propulsion Laboratory are included.

Griffin, M. D.↗

NASA NTRS1985

Interactive aircraft flight control and aeroelastic stabilization

Aeroservoelastic optimization techniques were studied to determine a methodology for maximization of the stable flight envelope of an idealized, actively controlled, flexible airfoil. The equations of motion for the airfoil were developed in state-space form to include time-domain representations of aerodynamic forces and active control. The development of an optimization scheme to stabilize the aeroelastic system over a range of airspeeds, including the design airspeed is outlined. The solution approach was divided in two levels: (1) the airfoil structure, with a design variable represented by the shear center position; and (2) the control system. An objective was stated in mathematical form and a search was conducted with the restriction that each subsystem be constrained to be optimal in some sense. Analytical expressions are developed to compute the changes in the eigenvalues of the closed-loop, actively controlled system. A stability index is constructed to ensure that stability is present at the design speed and at other airspeeds away from the design speed.

Weisshaar, T. A.↗

NASA NTRS1995

A Micromechanical INS/GPS System for Small Satellites

The cost and complexity of large satellite space missions continue to escalate. To reduce costs, more attention is being directed toward small lightweight satellites where future demand is expected to grow dramatically. Specifically, micromechanical inertial systems and microstrip global positioning system (GPS) antennas incorporating flip-chip bonding, application specific integrated circuits (ASIC) and MCM technologies will be required. Traditional microsatellite pointing systems do not employ active control. Many systems allow the satellite to point coarsely using gravity gradient, then attempt to maintain the image on the focal plane with fast-steering mirrors. Draper's approach is to actively control the line of sight pointing by utilizing on-board attitude determination with micromechanical inertial sensors and reaction wheel control actuators. Draper has developed commercial and tactical-grade micromechanical inertial sensors, The small size, low weight, and low cost of these gyroscopes and accelerometers enable systems previously impractical because of size and cost. Evolving micromechanical inertial sensors can be applied to closed-loop, active control of small satellites for micro-radian precision-pointing missions. An inertial reference feedback control loop can be used to determine attitude and line of sight jitter to provide error information to the controller for correction. At low frequencies, the error signal is provided by GPS. At higher frequencies, feedback is provided by the micromechanical gyros. This blending of sensors provides wide-band sensing from dc to operational frequencies. First order simulation has shown that the performance of existing micromechanical gyros, with integrated GPS, is feasible for a pointing mission of 10 micro-radians of jitter stability and approximately 1 milli-radian absolute error, for a satellite with 1 meter antenna separation. Improved performance micromechanical sensors currently under development will be suitable for a range of micro-nano-satellite applications.

Barbour, N.↗

NASA NTRS2006

Evaluation of an Outer Loop Retrofit Architecture for Intelligent Turbofan Engine Thrust Control

The thrust control capability of a retrofit architecture for intelligent turbofan engine control and diagnostics is evaluated. The focus of the study is on the portion of the hierarchical architecture that performs thrust estimation and outer loop thrust control. The inner loop controls fan speed so the outer loop automatically adjusts the engine's fan speed command to maintain thrust at the desired level, based on pilot input, even as the engine deteriorates with use. The thrust estimation accuracy is assessed under nominal and deteriorated conditions at multiple operating points, and the closed loop thrust control performance is studied, all in a complex real-time nonlinear turbofan engine simulation test bed. The estimation capability, thrust response, and robustness to uncertainty in the form of engine degradation are evaluated.

Litt, Jonathan S.↗

NASA NTRSDate not supplied

Closed-Loop Simulations of Human-Scale Mars Lander Descent Trajectories on Frontier

A computational campaign was performed to run high-fidelity, free-flight simulations of a human-scale Mars lander concept vehicle decelerating under retropropulsion through the Martian atmosphere with closed-loop flight control. A novel approach is used to couple computational fluid dynamics (CFD) software with a mature flight mechanics package, where the two applications communicate in real-time across two geographically-dispersed computational facilities. The CFD is performed on the Frontier exascale system located at Oak Ridge National Laboratory, and the flight mechanics are executed on a system located at NASA Langley Research Center. In the current campaign, CFD is performed using finite-rate chemistry to account for the interactions between the LOXCH 4 engines and the CO 2 Martian atmosphere. A simulation of a closed-loop main engine throttling and RCS actuation is presented, demonstrating that the vehicle and model are able to maintain stability in a long-duration CFD-in-the-loop flight simulation. Comparisons are made to a reduced order model ignoring aero-propulsive interactions.

CFD↗

NASA NTRS2026

Parabolic Deformable Mirror Project Development and Device Characterization

Existing state-of-the-art wavefront sensing and control setups for the imaging of exoplanets utilize two high-actuator count flat deformable mirrors (DMs) to control both phase and amplitude aberrations. One of the objectives of the Exoplanet Spectroscopy (ExoSpec) project at Goddard Space Flight Center (GSFC) is to improve upon this regime through the development of parabolic deformable mirrors (PDMs), which can address several of the key limitations in existing setups. Specifically, the need for flat DMs to be located in conjugate pupil planes drives unique packaging challenges that can be overcome by allowing the off-axis imaging elements to be controllable as well. In addition, simulations show that the use of deformable powered elements will increase the overall controllable bandwidth, up to 35% over 5-12 lambda/D. To pursue this effort, the ExoSpec group has begun testing a first-generation parabolic DM, which is already informing a second generation design. This paper will provide a comprehensive update on its characterization, including influence function measurements, linearity analysis, closed-loop wavefront control performance, and thermal stability assessment.

spectroscopy↗

NASA NTRS2008

Low-Impact Mating System for Docking Spacecraft

A document describes a low-impact mating system suitable for both docking (mating of two free-flying spacecraft) and berthing (in which a robot arm in one spacecraft positions an object for mating with either spacecraft). The low-impact mating system is fully androgynous: it mates with a copy of itself, i.e., all spacecraft and other objects to be mated are to be equipped with identical copies of the system. This aspect of the design helps to minimize the number of unique parts and to standardize and facilitate mating operations. The system includes a closed-loop feedback control subsystem that actively accommodates misalignments between mating spacecraft, thereby attenuating spacecraft dynamics and mitigating the need for precise advance positioning of the spacecraft. The operational characteristics of the mating system can be easily configured in software, during operation, to enable mating of spacecraft having various masses, center-of-gravity offsets, and closing velocities. The system design provides multi-fault tolerance for critical operations: for example, to ensure unmating at a critical time, a redundant unlatching mechanism and two independent pyrotechnic release subsystems are included.

Lewis, James L.↗

NASA NTRS1990

An analytical study of a six degree-of-freedom active truss for use in vibration control

An analytical study of the vibration control capabilities of three configurations of an active truss is presented. The truss studied is composed of two bays of an octahedral-octahedral configuration. The three configurations of the active truss studies are: all six battens activated (6 DOF), the top three battens activated (3 DOF), and the bottom three battens activated (3 DOF). The closed-loop vibration control response of these three configurations are studied with respect to: vibration attenuation, energy utilized, and the effects of motor drive amplifier saturation non-linearities.

Wynn, Robert H., Jr.↗

NASA NTRS1995

Use of CDMA access technology in mobile satellite systems

Use of Code Division Multiple Access (CDMA) technology in terrestrial wireless systems is fairly well understood. Similarly, design and operation of Power Control in a CDMA-based system in a terrestrial environment is also well established. Terrestrial multipath characteristics, and optimum design of the CDMA receiver to deal with multipath and fading conditions are reliably established. But the satellite environment is different. When the CDMA technology is adopted to the satellite environment, other design features need to be incorporated (for example; interleaving, open-loop and closed-loop power control design, diversity characteristics) to achieve comparable level of system performance. In fact, the GLOBALSTAR LEO/MSS system has incorporated all these features. Contrary to some published reports, CDMA retains the advantages in the satellite environment that are similar to those achieved in the terrestrial environment. This document gives a description of the CDMA waveform and other design features adopted for mobile satellite applications.

Ramasastry, Jay↗