SEARCH · Search NASA

Results for “Compliant Control”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

All sources NASA NTRS DOE OSTI

NASA NTRS2013

Embedded diagnostic, prognostic, and health management system and method for a humanoid robot

A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.

Barajas, Leandro G.↗

NASA NTRS2004

Simulation of Controller Pilot Data Link Communications over VHF Digital Link Mode 3

The Federal Aviation Administration (FAA) has established an operational plan for the future Air Traffic Management (ATM) system, in which the Controller Pilot Data Link Communications (CPDLC) is envisioned to evolve into digital messaging that will take on an ever increasing role in controller to pilot communications, significantly changing the way the National Airspace System (NAS) is operating. According to FAA, CPDLC represents the first phase of the transition from the current analog voice system to an International Civil Aviation Organization (ICAO) compliant system in which digital communication becomes the alternate and perhaps primary method of routine communication. The CPDLC application is an Air Traffic Service (ATS) application in which pilots and controllers exchange messages via an addressed data link. CPDLC includes a set of clearance, information, and request message elements that correspond to existing phraseology employed by current Air Traffic Control (ATC) procedures. These message elements encompass altitude assignments, crossing constraints, lateral deviations, route changes and clearances, speed assignments, radio frequency assignments, and various requests for information. The pilot is provided with the capability to respond to messages, to request clearances and information, to report information, and to declare/rescind an emergency. A 'free text' capability is also provided to exchange information not conforming to defined formats. This paper presents simulated results of the aeronautical telecommunication application Controller Pilot Data Link Communications over VHF Digital Link Mode 3 (VDL Mode 3). The objective of this simulation study was to determine the impact of CPDLC traffic loads, in terms of timely message delivery and capacity of the VDL Mode 3 subnetwork. The traffic model is based on and is used for generating air/ground messages with different priorities. Communication is modeled for the en route domain of the Cleveland Center air traffic (ZOB ARTCC).

Bretmersky, Steven C.↗

NASA NTRS1993

Supervised autonomous control, shared control, and teleoperation for space servicing

A local-remote telerobot system for single- and dual-arm supervised autonomy, shared control, and teleoperation has been demonstrated. The system is composed of two distinct parts: the local site, where the operator resides; and the remote site, where the robots reside. The system could be further separated into dual local sites communicating with a common remote site. This is valuable for potential space missions where a space based robotic system may be controlled either by a space based operator or by a ground based operator. Also, multiple modes of control integrated into a common system are valuable for satisfying different servicing scenarios. The remote site single arm control system is described, and its parameterization for different supervised autonomous control, shared control, and teleoperation tasks are given. Experimental results are also given for selected tasks. The tasks include compliant grasping, orbital replacement unit changeout, bolt seating and turning, electronics card removal and insertion, and door opening.

Backes, Paul G.↗

DOE OSTI2023

Systems and methods for satellite movement

A satellite includes a plurality of thrusters disposed about the satellite, each of the plurality of thrusters having a minimum thruster firing time, and a control circuit connected to the plurality of thrusters. The control circuit is configured to identify violations of the minimum thruster firing time in a non-compliant thruster firing pattern selected to achieve a specified movement, generate a plurality of compliant thruster firing patterns by replacing each of the violations of the non-compliant thruster firing pattern by zero and a minimum time in different combinations, select a compliant thruster firing pattern from the plurality of compliant thruster firing patterns to produce a satellite movement that is within a predetermined range of the specified movement, and cause the plurality of thrusters to fire according to the compliant thruster firing pattern.

Cheng, Haifei↗

NASA NTRS2011

Metrics of Balance Control for Use in Screening Tests of Vestibular Function

Decrements in balance control have been documented in astronauts after space flight. Reliable measures of balance control are needed for use in postflight field tests at remote landing sites. Diffusion analysis (DA) is a statistical mechanical tool that shows the average difference of the dependent variable on varying time scales. These techniques have been shown to measure differences in open-loop and closed-loop postural control in astronauts and elderly subjects. The goal of this study was to investigate the reliability of these measures of balance control. Eleven subjects were tested using the Clinical Test of Sensory Interaction on Balance: the subject stood with feet together and arms crossed on a stable or compliant surface, with eyes open or closed and with or without head movements in the pitch or yaw plane. Subjects were instrumented with inertial motion sensors attached to their trunk segment. The DA curves for linear acceleration measures were characterized by linear fits measuring open- (Ds) and closed-loop (Dl) control, and their intersection point (X-int, Y-int). Ds and Y-int showed significant differences between the test conditions. Additionally, Ds was correlated with the root mean square (RMS) of the signal, indicating that RMS was dominated by open-loop events (< 0.5 seconds). The Y-int was found to be correlated with the average linear velocity of trunk movements. Thus DA measures could be applied to derive reliable metrics of balance stability during field tests.

Fiedler, Matthew↗

DOE OSTI2025

Composition dependence of atomic order in strain-relaxed, metastable GeSn alloys

Extended x-ray absorption fine structure (EXAFS) measurements of single-crystal Ge/GeSn radial heterostructure nanowires are used to examine the effects of composition on both short-range order (SRO) and longer-range disorder in GeSn alloys. GeSn has prompted significant interest because it can achieve a direct band gap for sufficient Sn concentrations beyond the equilibrium solid solubility limit in an all-group IV system. Short-range order in this material is particularly interesting as it has been predicted to affect the band gap independent of average composition or strain effects. By independently controlling the Sn composition and GeSn thickness during chemical vapor deposition of misfitting GeSn shells around ultrathin, elastically compliant, Ge core nanowires, the elastic misfit strain in the GeSn is minimized for Sn compositions over the studied range ≈Ge 0.96 Sn 0.04 to Ge 0.88 Sn 0.12 . The degree of SRO was found to decrease with increasing Sn composition. Additionally, damping of the EXAFS signal was observed as the Sn content increased, particularly for increasingly distant atomic shells about the absorbing atom, even for scattering paths not involving Sn atoms. This result is quantified as an increase in the mean-squared relative displacement parameters of the shells. These measurements reveal the accommodation of local strain due to the presence of the highly size-mismatched Sn atoms in the Ge diamond cubic lattice (≈14%), which may have effects on the band structure of the material in addition to the influence of short-range atomic order. Comparison among the nanowire samples allows for calculation of the topological rigidity parameter, a ∗∗ , for the first-neighbor bond lengths. Furthermore, these exhibit chemically distinct values for Ge-Ge, Ge-Sn, and Sn-Sn, and they are consistent with the value a ∗∗ = 0.75 ± 0.07 confirming the general applicability of the model to alloys with both large amounts of natural misfit strain and the potential for short-range order.

Crystal structure Semiconductors Transmission elec↗

NASA NTRS1990

Self-lubricating coatings for high-temperature applications

Solid lubricants with maximum temperature capabilities of about 1100 C are known. Unfortunately, none of the solid lubricants with the highest temperature capabilities are effective below 400 C. However, research at NASA's Lewis Research Center shows that silver and stable fluorides such as calcium and barium fluorides act synergistically to provide lubrication from below room temperature to about 900 C. This paper describes plasma-sprayed composite coatings that contain these solid lubricants in combination with a metal-bonded chromium carbide. The lubricants control friction, and the carbide matrix provides wear resistance. Successful tests of these coatings as backup lubricants for compliant gas bearings in turbomachinery and as self-lubricating liners in a four-cylinder Stirling engine are discussed.

Sliney, Harold E.↗

NASA NTRS1995

A study of space-rated connectors using a robot end-effector

The main research activities have been directed toward the study of the Robot Operated Materials Processing System (ROMPS), developed at GSFC under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The research activities can be divided into two phases. Phase 1 dealt with testing of ROMPS robot mechanical interfaces and compliant device using a Stewart Platform testbed and Phase 2 with computer simulation study of the ROMPS robot control system. This report provides a summary of the results obtained in Phase 1 and Phase 2.

Nguyen, Charles C.↗

DOE OSTI2020

Integration Study of Converter-Interfaced Combined Heat and Power Plants

Combined Heat and Power (CHP) systems, as a proven technology, provide numerous benefits to the plant owner by saving electricity bill, reducing carbon dioxide emissions, and improving electricity service reliability. However, their integration into the distribution grid faces many barriers including the complexity of grid code requirements and the lack of technical expertise in commercial and small industrial plants to interface with the utility and accelerate the interconnection process. To solve these issues, this study proposes a converter-interfaced solution for CHP integration. Simulations including various fault scenarios and load flow under different grid conditions are carried out to compare technical performances of the proposed solution with directly-coupled CHP. Results show that the generator size of converter-interfaced CHP can be reduced by approximately 25% and it also provides advantageous features such as reduced stress level under fault conditions and a better dynamic stability margin. In addition, a power factor controller is designed and reactive power from CHP is dispatched in such a way that the CHP plant is compliant with power factor requirements from utilities under all operating conditions.

Converter, Combined heat and power, Distributed en↗

DOE OSTI2020

Comparative Approach for Evaluating the Containment Performance of Legacy NM Storage Containers

Many different types of nuclear material storage containers are used throughout TA-55 and specifically PF-4, in some instances these containers are used outside of engineering control barriers in most cases these barriers are gloveboxes. When a container is used outside of a glovebox or open front hood the container itself is relied upon as the primary engineering control barrier for the user. For this reason a process must be established in order to evaluate Non- Manual Compliant or NMC containers used outside of a glovebox in a comparative approach against Manual compliant containers. Legacy containers are typically understood to be non-standards packaged prior to 1998. For the purposes of this document “legacy” refers to any non-Manual compliant containers.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

NASA NTRS1996

SonoPanel(TM) 1-3 Piezocomposite Panels for Active Surface Control

Materials Systems Inc. has developed a cost-effective technology for producing 1-3 piezoelectric ceramic/polymer composites for use in active surface control. MSI's 103 piezocomposite SonoPanel(TM) transducers consist of an array of piezoelectric ceramic rods arranged in a compliant polymer matrix. The standard SonoPanel(TM) composite consists of 15 volume percent PZT-5H rods 1.1 mm diameter x 6.3 mm long in a matrix of soft polyurethane. Stiff face plates are then bonded to the 1-3 composite sheet for stress amplification when used as a sensor and to enhance the surface response uniformity when used as an actuator. Many variations on this composite design have been produced for specific application requirements.

Gentilman, R.↗

DOE OSTI2021

Wireless optofluidic systems for programmable in vivo pharmacology and optogenetics

Provided are implantable, injectable and/or surface mounted biomedical devices and related methods for interfacing with a target tissue. The devices have a substrate, one or more microfluidic channels embedded in or supported by the substrate and a fluid actuator in operational communication with one or more reservoirs and responsive to a wireless control signal. The components of the device are specially configured and packaged to be ultra-thin and mechanically compliant. In some embodiments, the devices are self-powered and fully implantable. The devices can be shaped to provide injection in a minimally invasive manner, thereby avoiding unnecessary tissue damage and providing a platform for long-term implantation for interfacing with biological tissue.

Rogers, John A.↗

NASA NTRS2016

State Estimation for Tensegrity Robots

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

robot↗

NASA NTRS2016

Aeroelastic Response of the Adaptive Compliant Trailing Edge Transtition Section

The Adaptive Compliant Trailing Edge demonstrator was a joint task under the Environmentally Responsible Aviation Project in partnership with the Air Force Research Laboratory and FlexSys, Inc. (Ann Arbor, Michigan), chartered by the National Aeronautics and Space Administration to develop advanced technologies that enable environmentally friendly aircraft, such as continuous mold-line technologies. The Adaptive Compliant Trailing Edge demonstrator encompassed replacing the Fowler flaps on the SubsoniC Aircraft Testbed, a Gulfstream III (Gulfstream Aerospace, Savannah, Georgia) aircraft, with control surfaces developed by FlexSys, Inc., a pair of uniquely-designed, unconventional flaps to be used as lifting surfaces during flight-testing to substantiate their structural effectiveness. The unconventional flaps consisted of a main flap section and two transition sections, inboard and outboard, which demonstrated the continuous mold-line technology. Unique characteristics of the transition sections provided a challenge to the airworthiness assessment for this part of the structure. A series of build-up tests and analyses were conducted to ensure the data required to support the airworthiness assessment were acquired and applied accurately. The transition sections were analyzed both as individual components and as part of the flight-test article assembly. Instrumentation was installed in the transition sections based on the analysis to best capture the in-flight aeroelastic response. Flight-testing was conducted and flight data were acquired to validate the analyses. This paper documents the details of the aeroelastic assessment and in-flight response of the transition sections of the unconventional Adaptive Compliant Trailing Edge flaps.

ground vibration test↗

DOE OSTI2020

Assessing DER Network Cybersecurity Defences in a Power-Communication Co-Simulation Environment

Increasing penetrations of interoperable distributed energy resources (DER) in the electric power system are expanding the power system attack surface. Maloperation or malicious control of DER equipment can now cause substantial disturbances to grid operations. Fortunately, many options exist to defend and limit adversary impact on these newly-created DER communication networks, which typically traverse the public internet. However, implementing these security features will increase communication latency, thereby adversely impacting real-time DER grid support service effectiveness. In this work, a collection of software tools called SCEPTRE were used to create a co-simulation environment where SunSpec-compliant PV inverters were deployed as virtual machines and interconnected to simulated communication network equipment. Network segmentation, encryption, and moving target defence security features were deployed on the control network to evaluate their influence on cybersecurity metrics and power system performance. The results indicated that adding these security features did not impact DER-based grid control systems but improved the cybersecurity posture of the network when implemented appropriately.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1990

Compliant joint

A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.

Eklund, Wayne D.↗

NASA NTRS2020

Design and Testing of an Ultra-Light Weight Perching System for Sloped or Vertical Rough Surfaces on Mars

In this paper, we present the design, characterization, and functional demonstration of a perching system that enables a flying vehicle to land on rough sloped or vertical surfaces. Steep slopes are of particular scientific interest since they are often associated with geologically interesting features including sites of active modification (e.g. landslides/avalanches, slope streaks), exposed bedrock and/or ice, and as-yet unmodified young features (e.g. walls of fresh craters or polar pits that are actively expanding). However the steep nature of these sites makes access with traditional field robots difficult: ground vehicles are unable to traverse the steep terrain and aerial vehicles are limited by their flight time and an ability to operate near terrain. We propose to address these limitation by enabling the UAV to reliably perch on steep terrain to perform in situ measurements and collect samples. Perching also enables a solar powered UAV to traverse large terrain features such as the Valles Marineris that could not be covered in a single flight by repeatedly perching and recharging its batteries. The proposed perching system that is being developed consists of a microspine gripper, a compliant gripper to vehicle interface, and a flying vehicle equipped with an autonomy sensor suite. The system also includes perception and control algorithms that identify perching targets and execute the required perching maneuver. To date, the majority of the effort has focused on developing and characterizing the microspine gripper. The initial prototype weighs 100 g, is capable of securely grasping a range of natural surfaces, and successful grasps support loads of over 10 N. Refinement of the gripper, integrating and testing it on a UAV, measuring aerodynamic distrubances from wall effects, and developing the required perception and control algorithms is ongoing. This paper describes the overall architecture of our proposed system, the design of the gripper, and its performance during initial testing.

Backus, Spencer↗

NASA NTRS2021

Reliability and Safety Assessment of Urban Air Mobility Concept Vehicles

The following work was commissioned by the National Aeronautics and Space Administration (NASA) to guide industry and future regulation related to urban air mobility (UAM). Prior studies compared the relative safety of NASA concept vehicles, Figure ES1, designed for UAM and provided recommendations for industry research, aircraft architectural improvements, and regulatory updates. After the prior study completed, the European Aviation Safety Agency (EASA) released regulatory guidance in the form of a special condition (SC), SC-VTOL-01, for multirotors with distributed propulsion and flight controls (DPFC). The objective of the current work was to develop DPFC architectures that will comply with SC-VTOL-01. Vehicle designs, DPFC architectures, and stability & control (S&C) models were developed to find limitations and trends to guide industry. To guide this task, NASA developed quad, hex, and an octorotor to better define vehicle attributes and trade space. Aircraft for study included electric, hybrid-electric, and turboshaft powerplants and collective and RPM control schemes. Assessments are in terms of the safety level achieved, and/or aircraft component/features needed to meet SC-VTOL-01. The most challenging criteria being the catastrophic failure rate, ≤10-9 catastrophic failures per flight hour, and that no single failures may result in a catastrophic event. A disciplined process was followed, similar to that in Aerospace Recommended Practice (ARP) 4761. A preliminary system safety assessment (PSSA) leveraged prior work as a basis of creating failure rate budgets for system design teams. System designs were updated and iterated upon, working with reliability and safety subject matter experts to develop SC-VTOL-01 compliant designs. Design changes were reflected in updated PSSAs for initial verification of compliance. The DPFC architecture was broken into four system design teams, the (1) flight control system (FCS), (2) drive and power system, (3) thermal management system (TMS), and (4) electrical power and distribution system. The FCS including elements necessary to control the aircraft, drive and power including elements necessary to generate and transmit shaft power, the TMS including elements necessary to maintain temperature limits in all operating environments, and electrical pow-er and distribution including equipment necessary to store and transmit electrical energy. Results found that all aircraft evaluated may have paths to comply with SC-VTOL-01, Figure ES2. However, S&C models showed large power transients that must be addressed and PSSA results show that future work is needed in single load path structures, high voltage power storage and distribution, and in motor/rotor overspeed protection.

Boeing↗