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At least 631 records · Page 35

Initial Evaluations of LoC Prediction Algorithms Using the NASA Vertical Motion Simulator

Flying near the edge of the safe operating envelope is an inherently unsafe proposition. Edge of the envelope here implies that small changes or disturbances in system state or system dynamics can take the system out of the safe envelope in a short time and could result in loss-of-control events. This study evaluated approaches to predicting loss-of-control safety margins as the aircraft gets closer to the edge of the safe operating envelope. The goal of the approach is to provide the pilot aural, visual, and tactile cues focused on maintaining the pilot's control action within predicted loss-of-control boundaries. Our predictive architecture combines quantitative loss-of-control boundaries, an adaptive prediction method to estimate in real-time Markov model parameters and associated stability margins, and a real-time data-based predictive control margins estimation algorithm. The combined architecture is applied to a nonlinear transport class aircraft. Evaluations of various feedback cues using both test and commercial pilots in the NASA Ames Vertical Motion-base Simulator (VMS) were conducted in the summer of 2013. The paper presents results of this evaluation focused on effectiveness of these approaches and the cues in preventing the pilots from entering a loss-of-control event.

Pilot Cue↗

SPARROW: A Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

This paper presents the results of a NIAC Phase I study into the use of a propulsively hopping robot for the exploration of Europa’s rugged, icy surface. Named the“Steam Propelled Retrieval Robot for Ocean Worlds,” SPARROW is a multi-thruster robot passively gimballed within a protective, spherical shell, which enables it to freely rotate, self-right, and tumble over chaotic terrains. SPARROW is envisioned as a soccerball-sized payload to a primary lander mission. Europa’s abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW would be to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key benefit of SPARROW’s hopping, impact-tolerant design, is that it eliminates the need for a piori information on the terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is entirely terrain agnostic. In this paper we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW’s range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW’s sensitivity to uncertainty in: initial conditions, thrust control, and cage-terrain interaction. Finally, a science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa’s evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Phillips, Cynthia↗

Machine learning in motion control

The existing methodologies for robot programming originate primarily from robotic applications to manufacturing, where uncertainties of the robots and their task environment may be minimized by repeated off-line modeling and identification. In space application of robots, however, a higher degree of automation is required for robot programming because of the desire of minimizing the human intervention. We discuss a new paradigm of robotic programming which is based on the concept of machine learning. The goal is to let robots practice tasks by themselves and the operational data are used to automatically improve their motion performance. The underlying mathematical problem is to solve the problem of dynamical inverse by iterative methods. One of the key questions is how to ensure the convergence of the iterative process. There have been a few small steps taken into this important approach to robot programming. We give a representative result on the convergence problem.

Su, Renjeng↗

An Introduction to Rotorcraft Research at NASA Ames

NASA Ames Research Center, Moffett Field, CA is the NASA lead Center for rotorcraft research. Rotorcraft research at Ames includes system analysis and configuration optimization, aeromechanics, and flight control and cockpit integration. Research in other areas such as composite structure and material, and rotor acoustics are conducted mainly at Langley Research Center, and rotorcraft propulsion and drivetrain are conducted at Lewis Research Center. This seminar will discuss Ames' rotorcraft research goals and some sample research projects and results. The talk will also briefly describe the newly fanned Army/NASA Rotorcraft Division, which combines the resources of rotorcraft branches in NASA Ames Aeronautics Directorate with Army's Aeroflightdynamics Directorate to better achieve the missions of the two previous rotorcraft research organizations at Ames. Rotorcraft research activities at NASA Ames are funded by two main program categories: Research and Technology (RUTH Base program and the Short Haul (Civil Tiltrotor) program. Work in the R&T program is carried out by the research staff in the Army/NASA Rotorcraft Division, and the work on SH(CT) program is carried out jointly by the SH(CT) program office and the Army/NASA Rotorcraft Division. Sample research projects and results in REST base program, such as conceptual assessment of several high-speed rotorcraft, rotorcraft CFD, individual blade control for reduction of external noise and vibration, noise-abatement flight procedures, engine inoperative procedures, handling qualities, and advanced flight control laws are broadly reviewed. High-speed rotorcraft research related to SH(CT) technology development conducted at Ames in the areas of low-noise proprotor, and low-noise terminal-area operations is also discussed.

Chen, Robert T. N.↗

Advanced Stirling Convertor Dual Convertor Controller Testing at NASA Glenn Research Center in the Radioisotope Power Systems System Integration Laboratory

NASA Glenn Research Center (GRC) developed a non-nuclear representation of a Radioisotope Power System (RPS) consisting of a pair of Advanced Stirling Convertors (ASC), a Dual Convertor Controller (DCC) EM (engineering model) 2 & 3, and associated support equipment, which were tested in the Radioisotope Power Systems System Integration Laboratory (RSIL). The DCC was designed by the Johns Hopkins University/Applied Physics Laboratory (JHU/APL) to actively control a pair of Advanced Stirling Convertors (ASC). The first phase of testing included a Dual Advanced Stirling Convertor Simulator (DASCS) which was developed by JHU/APL and simulates the operation and electrical behavior of a pair of ASC's in real time via a combination of hardware and software. RSIL provides insight into the electrical interactions between a representative radioisotope power generator, its associated control schemes, and realistic electric system loads. The first phase of integration testing included the following spacecraft bus configurations: capacitive, battery, and supercapacitor. A load profile, created based on data from several missions, tested the RPS and RSIL ability to maintain operation during load demands above and below the power provided by the RPS. The integration testing also confirmed the DCC's ability to disconnect from the spacecraft when the bus voltage dipped below 22 V or exceeded 36 V. Once operation was verified with the DASCS, the tests were repeated with actual operating ASC's. The goal of this integration testing was to verify operation of the DCC when connected to a spacecraft and to verify the functionality of the newly designed RSIL. The results of these tests are presented in this paper.

systems integration↗

Multi-scale, Multi-disciplinary, and Multi-agent Explainable AI with Koopman-Undergirded Learning, Prediction, and Analysis (M3EA KULPA) (Project Closeout Report)

The goal of this project was to develop and use domain-aware machine learning formulations, based on the Koopman Operator (KO), for modelling multi-scale, multi-disciplinary (e.g., multi-physics), and/or multi-agent systems. The project developed these formulations for the following cases: • Systems with dynamics at two separate time scales, • Systems with a bi-level hierarchical control structure, • Systems with bi-level hierarchical control and dynamics at two separate time scales (the lower level controls operating at the faster time scale), and • Systems with n separate but interacting agents/disciplines (with/without control, respectively); the controls for each agent could include bi-level hierarchical control and dynamics at two separate time scales as described above. The project then defined a set of dynamical systems consisting of different nonlinear oscillators that could be used to test these different formulations and then subsequently learned the KO models for those systems. With the KO models, we were able to do the following: • Quantify system stability, including both long-term and transient behavior, • Quantify the effects of feedbacks between the different time scales and agents/disciplines in terms of those feedbacks’ effects on system stability, • Replace a standard Proportional-Integral (PI) control in the hierarchical control structure with a KO-based Linear-Quadratic Regular (LQR), a form of optimal control, • Calculate optimal supervisory control policies a) with and without time scale separated dynamics at the lower level control levels and b) with both PI and KO-based LQR lower level control policies, and • Calculate dynamic Nash equilibria for multi-agent systems where each agent makes its own control decisions.

97 MATHEMATICS AND COMPUTING↗

INTERMARS: User-controlled international management system

Existing international space law as well as the best interest of all nations are consistent with the establishment of a user-based international organization, herein called INTERMARS. INTERMARS would provide access to facilities and services at a Martian base which would be of high functional potential, quality, safety, and reliability. These opportunities would be available on an open and nondiscriminatory basis to all peaceful users and investors. INTERMARS is a model organization concept tailored to provide cooperative international management of a Martian base for the benefit of its members, users, and investors. Most importantly, INTERMARS would provide such management through a sharing of both sovereignty and opportunity rather then unilateral control by any one nation or set of competing nations. Through an Assembly of Parties, a Board of Governors, a Board of Users and Investors, and a Director General, INTERMARS would meet its primary goal as it would be in the self-interest of all members, users, and investors to do so. The internal structure and philosophy of INTERMARS would provide not only for all participants to have representation in decisions affecting its activities, but also would insure effective and responsive management. Surely this is the precedent wished for, to establish for mankind at the now not-so-distant shores of the new ocean of space.

Schmitt, Harrison H.↗

Total energy control system autopilot design with constrained parameter optimization

A description is given of the application of a multivariable control design method (SANDY) based on constrained parameter optimization to the design of a multiloop aircraft flight control system. Specifically, the design method is applied to the direct synthesis of a multiloop AFCS inner-loop feedback control system based on total energy control system (TECS) principles. The design procedure offers a structured approach for the determination of a set of stabilizing controller design gains that meet design specifications in closed-loop stability, command tracking performance, disturbance rejection, and limits on control activities. The approach can be extended to a broader class of multiloop flight control systems. Direct tradeoffs between many real design goals are rendered systematic by proper formulation of the design objectives and constraints. Satisfactory designs are usually obtained in few iterations. Performance characteristics of the optimized TECS design have been improved, particularly in the areas of closed-loop damping and control activity in the presence of turbulence.

Ly, Uy-Loi↗

A fuzzy logic controller for an autonomous mobile robot

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

Yen, John↗

The Art and Science of Systems Engineering

The National Aeronautics and Space Administration (NASA) was established in 1958, and its Marshall Space Flight Center was founded in 1960, as space-related work was transferred from the Army Ballistic Missile Agency at Redstone Arsenal, where Marshall is located. With this heritage, Marshall contributes almost 50 years of systems engineering experience with human-rated launch vehicles and scientific spacecraft to fulfill NASA's mission exploration and discovery. These complex, highly specialized systems have provided vital platforms for expanding the knowledge base about Earth, the solar system, and cosmos; developing new technologies that also benefit life on Earth; and opening new frontiers for America's strategic space goals. From Mercury and Gemini, to Apollo and the Space Shuttle, Marshall's systems engineering expertise is an unsurpassed foundational competency for NASA and the nation. Current assignments comprise managing Space Shuttle Propulsion systems; developing environmental control and life support systems and coordinating science operations on the International Space Station; and a number of exploration-related responsibilities. These include managing and performing science missions, such as the Lunar Crater Observation and Sensing Satellite and the Lunar Reconnaissance Orbiter slated to launch for the Moon in April 2009, to developing the Ares I crew launch vehicle upper stage and integrating the vehicle stack in house, as well as designing the Ares V cargo launch vehicle and contributing to the development of the Altair Lunar Lander and an International Lunar Network with communications nodes and other infrastructure.

Singer, Christopher E.↗

RL-HEMS: Reinforcement Learning Based Home Energy Management System for HVAC Energy Optimization

Heating, ventilation, and air conditioning (HVAC) is one of the major energy consumers in the residential sector. It is important to be able to monitor and control the energy consumed to provide utility services such as load shaping while satisfying the comfort and economic constraints of the homeowner. The objective of this work is to create the optimal schedule for HVAC operation to reduce the cost while satisfying the home-owner and equipment’s constraints using a model-free Reinforcement Learning (RL)-based optimization. The specific goal is to find the right balance between reducing energy cost, consumption, and customer comfort level. Our research effort addresses this optimization problem using multiple components: the development of initial learning test-bed and implementation of RL techniques on a real home. This will enable the rapid evaluation of the RL techniques and provide an early baseline to train before implementation on site. The RL algorithm is designed to learn the energy use patterns and generate the optimized schedule for HVAC within an acceptable time-interval to satisfy the homeowner’s comfort and minimize the energy usage. Our preliminary results are promising and we have observed a 17% reduction in the total cost and a 15% reduction in the power utilization using our RL-based HVAC model—RL-HEMS.

Kotevska, Olivera↗

Intent inferencing with a model-based operator's associate

A portion of the Operator Function Model Expert System (OFMspert) research project is described. OFMspert is an architecture for an intelligent operator's associate or assistant that can aid the human operator of a complex, dynamic system. Intelligent aiding requires both understanding and control. The understanding (i.e., intent inferencing) ability of the operator's associate is discussed. Understanding or intent inferencing requires a model of the human operator; the usefulness of an intelligent aid depends directly on the fidelity and completeness of its underlying model. The model chosen for this research is the operator function model (OFM). The OFM represents operator functions, subfunctions, tasks, and actions as a heterarchic-hierarchic network of finite state automata, where the arcs in the network are system triggering events. The OFM provides the structure for intent inferencing in that operator functions and subfunctions correspond to likely operator goals and plans. A blackboard system similar to that of Human Associative Processor (HASP) is proposed as the implementation of intent inferencing function. This system postulates operator intentions based on current system state and attempts to interpret observed operator actions in light of these hypothesized intentions.

Jones, Patricia M.↗

Advanced Stirling Convertor Dual Convertor Controller Testing at NASA Glenn Research Center in the Radioisotope Power Systems System Integration Laboratory

NASA Glenn Research Center developed a nonnuclear representation of a Radioisotope Power System (RPS) consisting of a pair of Advanced Stirling Convertors (ASCs), Dual Convertor Controller (DCC) EMs (engineering models) 2 and 3, and associated support equipment, which were tested in the Radioisotope Power Systems System Integration Laboratory (RSIL). The DCC was designed by the Johns Hopkins University Applied Physics Laboratory (JHU/APL) to actively control a pair of ASCs. The first phase of testing included a Dual Advanced Stirling Convertor Simulator (DASCS), which was developed by JHU/APL and simulates the operation and electrical behavior of a pair of ASCs in real time via a combination of hardware and software. RSIL provides insight into the electrical interactions between a representative radioisotope power generator, its associated control schemes, and realistic electric system loads. The first phase of integration testing included the following spacecraft bus configurations: capacitive, battery, and super-capacitor. A load profile, created based on data from several missions, tested the RPS's and RSIL's ability to maintain operation during load demands above and below the power provided by the RPS. The integration testing also confirmed the DCC's ability to disconnect from the spacecraft when the bus voltage dipped below 22 volts or exceeded 36 volts. Once operation was verified with the DASCS, the tests were repeated with actual operating ASCs. The goal of this integration testing was to verify operation of the DCC when connected to a spacecraft and to verify the functionality of the newly designed RSIL. The results of these tests are presented in this paper.

Controllers↗

Improving EV Charger Resiliency for MW Charging Systems

In this paper, the resiliency of a megawatt-scale EV charging station is investigated. Fault detection and tolerance methodologies are presented, based on monitoring the voltage offsets in DABs and switch-level currents in three-phase inverters, with the goal of maintaining operation at rated power during single faults and at reduced power under multiple fault conditions. To validate the effectiveness of the proposed strategy, simulation results at the rated 1 MW power of the charging station are carried out, followed by controller hardware-in-the-loop (CHIL) experiments on a 250 kW section of the station. The results highlight the feasibility of the integrated fault-tolerant methods for resilient, high-power EV charging infrastructure.

Adib, Aswad [ORNL] (ORCID:000000020997056X)↗

High fusion performance in Super H-mode experiments on Alcator C-Mod and DIII-D

The ‘Super H-Mode’ regime is predicted to enable pedestal height and fusion performance substantially higher than standard H-Mode operation. This regime exists due to a bifurcation of the pedestal pressure, as a function of density, that is predicted by the EPED model to occur in strongly shaped plasmas above a critical pedestal density. Experiments on Alcator C-Mod and DIII-D have achieved access to the Super H-Mode (and Near Super H) regime, and obtained very high pedestal pressure, including the highest achieved on a tokamak (pped ~ 80 kPa) in C-Mod experiments operating near the ITER magnetic field. DIII-D Super H experiments have demonstrated strong performance, including the highest stored energy in the present configuration of DIII-D (W ~ 2.2–3.2 MJ), while utilizing only about half of the available heating power (Pheat ~ 7–12 MW). These DIII-D experiments have obtained the highest value of peak fusion gain, QDT,equiv ~ 0.5, achieved on a medium scale (R < 2 m) tokamak. Sustained high performance operation (βN ~ 2.9, H98 ~ 1.6) has been achieved utilizing n = 3 magnetic perturbations for density and impurity control. Pedestal and global confinement has been maintained in the presence of deuterium and nitrogen gas puffing, which enables a more radiative divertor condition. A pair of simple performance metrics is developed to assess and compare regimes. Super H-Mode access is predicted for ITER and expected, based on both theoretical prediction and observed normalized performance, to allow ITER to achieve its goals (Q = 10) at Ip < 15 MA, and to potentially enable more compact, cost effective pilot plant and reactor designs.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

An Exploratory Study of Runway Arrival Procedures: Time Based Arrival and Self-Spacing

The ability of a flight crew to deliver their aircraft to its arrival runway on time is important to the overall efficiency of the National Airspace System (NAS). Over the past several years, the NAS has been stressed almost to its limits resulting in problems such as airport congestion, flight delay, and flight cancellation to reach levels that have never been seen before in the NAS. It is predicted that this situation will worsen by the year 2025, due to an anticipated increase in air traffic operations to one-and-a-half to three times its current level. Improved arrival efficiency, in terms of both capacity and environmental impact, is an important part of improving NAS operations. One way to improve the arrival performance of an aircraft is to enable the flight crew to precisely deliver their aircraft to a specified point at either a specified time or specified interval relative to another aircraft. This gives the flight crew more control to make the necessary adjustments to their aircraft s performance with less tactical control from the controller; it may also decrease the controller s workload. Two approaches to precise time navigation have been proposed: Time-Based Arrivals (e.g., required times of arrival) and Self-Spacing. Time-Based Arrivals make use of an aircraft s Flight Management System (FMS) to deliver the aircraft to the runway threshold at a given time. Self-Spacing enables the flight crew to achieve an ATC assigned spacing goals at the runway threshold relative to another aircraft. The Joint Planning and Development Office (JPDO), a multi-agency initiative established to plan and coordinate the development of the Next Generation Air Transportation System (NextGen), has asked for data for both of these concepts to facilitate future research and development. This paper provides a first look at the delivery performance of these two concepts under various initial and environmental conditions in an air traffic simulation environment.

Houston, Vincent E.↗

Training Enhances Both Locomotor and Cognitive Adaptability to a Novel Sensory Environment

During adaptation to novel gravitational environments, sensorimotor disturbances have the potential to disrupt the ability of astronauts to perform required mission tasks. The goal of this project is to develop a sensorimotor adaptability (SA) training program to facilitate rapid adaptation. We have developed a unique training system comprised of a treadmill placed on a motion-base facing a virtual visual scene that provides an unstable walking surface combined with incongruent visual flow designed to enhance sensorimotor adaptability. The goal of our present study was to determine if SA training improved both the locomotor and cognitive responses to a novel sensory environment and to quantify the extent to which training would be retained. Methods: Twenty subjects (10 training, 10 control) completed three, 30-minute training sessions during which they walked on the treadmill while receiving discordant support surface and visual input. Control subjects walked on the treadmill but did not receive any support surface or visual alterations. To determine the efficacy of training all subjects performed the Transfer Test upon completion of training. For this test, subjects were exposed to novel visual flow and support surface movement, not previously experienced during training. The Transfer Test was performed 20 minutes, 1 week, 1, 3 and 6 months after the final training session. Stride frequency, auditory reaction time, and heart rate data were collected as measures of postural stability, cognitive effort and anxiety, respectively. Results: Using mixed effects regression methods we determined that subjects who received SA training showed less alterations in stride frequency, auditory reaction time and heart rate compared to controls. Conclusion: Subjects who received SA training improved performance across a number of modalities including enhanced locomotor function, increased multi-tasking capability and reduced anxiety during adaptation to novel discordant sensory information. Trained subjects maintained their level of performance over six months.

Bloomberg, J. J.↗

Building Neutron Scattering Infrastructure in Louisiana for Advanced Materials (Final Report)

The main objective of the Louisiana Consortium for Neutron Scattering (LaCNS) is to build a major neutron scattering infrastructure capable of treating both soft and hard materials. The goal is to create a sustainable effort having the quality, breadth, and depth necessary to produce competitive proposals including collaborative and center type proposals. Our scientific aim is to understand the role of coupling in emergent complex materials and its impact on the structure/property relationship and to explore how to tune the key couplings to guide the design of materials with the desired properties. This naturally includes building a base of users of the Spallation Neutron Source (SNS) and the High Flux Isotope Reactor (HFIR) in Louisiana; to train highly talented graduate and post-doctoral students in synthesis, neutron scattering, and simulation and modeling techniques, thereby helping to produce the next generation of scientist who use neutron scattering techniques as a crucial part of their research. The goal of our hard matter program is to understand the interplay between spin, charge, orbital, and lattice degrees of freedom in carefully selected complex materials. We have made considerable progress on number of complex systems including the oxide Sr3(Ru1-xMnx)2O7 where short-range magnetic ordering with anisotropic spin texture is initiated at the metal-insulator transition that clearly indicates a strong spin-charge coupling. Another critical area is in quantum materials. For example, in the topological semimetal BaMnSb2, we found a 3D canted antiferromagnetic Weyl semimetal with a 2D electronic structure and a nontrivial Berry phase. In addition, in the hexagonal chiral Mn1/3NbS2 system, we found soliton/soliton and soliton/antisoliton domain walls where the application of small fields or small currents can be used to control nanoscopic magnetic domains where the control of domain walls is crucially important for information storage. In addition, chemical transformation investigations were performed on the VISION instrument at Spallation Neutron Source (SNS). The soft matter effort was focused on understanding the role of non-covalent interactions on the structure and dynamics of fluid-based soft matter. One key focus was on sequence-defined (SD) amphiphilic peptoid polymers that allow encoding of molecular interactions and thereby systematic investigations of how charge directs the solution self-assembly of amphiphilic polymers in water. Another important area was on the dynamics of lipids self-assembled into membranes for exploring the permeability and mechanical using both neutron spin echo (NSE) spectroscopy and quasielastic neutron scattering (QENS) to distinguished between viscoelasticity and permeability at the molecular scale. Overall, the LaCNS project was quite successful, generating 145 publications and 245 presentations. Our graduate and post-doctoral students were well trained resulting in positions in national laboratories (Oak Ridge National Laboratory (ORNL), Argonne National Laboratory and Los Alamos National Laboratory), major research universities, and industry. We also developed a uniaxial pressure cell along with ORNL for SNS. A critical goal of this project was to establish a foundation for competing nationally in federally funded research programs. To this end, we were quite successful in generating over twenty-two federally and non-federally funded grants including awards from NSF, DOE, and DOD, and two early career awards. Equally important, we were able to secure a key major piece of instrumentation via a large ARO grant for a state-of-the-art electron microscope.

36 MATERIALS SCIENCE↗