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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 163 records · Page 9

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NASA NTRS2000

Rapid Prototyping and Evaluation of Control System Designs for Manned and Unmanned Applications

The development and optimization of flight control systems for modem fixed- and rotary- wing aircraft consume significant time and cost during aircraft development. Similarly, as unmanned aerial vehicles perform more complex tasks, sometimes autonomously, the control system design requirements for this class of vehicles, and the corresponding time and cost requirements, are also becoming significant. Therefore, for both manned and unmanned vehicles, substantial program savings can be achieved if integrated design and optimization tools are employed to shorten the design and flight-test cycle for new or upgraded,pontrol systems. To bring about this reduction in the length of the design-cycle, and therefore its cost, Madab and Simulink are being used to implement block diagrams and to rapidly evaluate the expected responses of the completed systems. In conjunction, CONDUIT (CONtrol Designer's Unified InTerface) is being used to enable the controls engineers to optimize their control laws and ensure that all the relevant quantitative criteria are satisfied.

Mansur, M. Hossein↗

NASA NTRS2016

Design of an Excavation Robot: Regolith Advanced Surface Systems Operations Robot (RASSOR) 2.0

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. Acquiring the water resources on Mars will require mining significant quantities of regolith and this is not possible with the state-of-the-art low mass excavation systems. Low gravity environments (Mars = 3/8 G) and launch mass restrictions limit the traction and the resulting reaction force of the vehicle, making current terrestrial techniques impractical. This project addressed this challenge by developing a completely new technology that can mine large quantities of regolith on Mars. Recent measurements by the “Curiosity” rover on Mars have found that the regolith contains ~ 2% water by weight globally, ~4% in Jezero Crater (Human Architecture Team’s reference landing site), and much more at the poles(Leshin et al, 2013). RASSOR 2.0 is a planetary excavator, which has a mass of 66 kg, with a 0.38 kg vehicle mass per kilogram, per hour of excavation rate and power usage of 4 W per kg of regolith excavation rate. A single RASSOR 2.0 can excavate a minimum of 2.7 metric tons of regolith per day.This is accomplished by using counteracting excavation forces on two opposing digging implements called bucket drums and an autonomous mining control system. This work has addressed several major research areas outlined in the NASA Technology Area (TA) 04 Robotics & Autonomous Systems and TA 07 Human Destination Systems roadmaps. This project started at Technology Readiness Level (TRL) 4 as a low fidelity “proof of concept” prototype which has successfully demonstrated basic regolith simulant excavation functionality in a lab-scale gravity off load test. The foundational technology described here was awarded US patent number: US 9027265 for a “Zero horizontal reaction force excavator” on May 12, 2015.

RASSOR↗

DOE OSTI2022

Crowd Dynamics: Modeling and Control of Multiagent Systems

This review aims to present recent developments in modeling and control of multiagent systems. A particular focus is set on crowd dynamics characterized by complex interactions among agents, also called social interactions, and large-scale systems. Specifically, in a crowd each individual agent interacts with a field generated by the other agents and the environment. These systems can be modeled at the microscopic scale by ordinary differential equations, while an alternative description at the mesoscopic scale is given by a partial differential equation for the propagation of the probability density of the agents. Control actions can be applied at the individual level as well as at the level of the corresponding fields. This article presents and compares different control types, and the specific application to multilane, multiclass traffic is developed in some detail, showing the main tools at work in a hybrid setting with relevant impacts on autonomous driving.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1982

Control Problems in Autonomous Life Support Systems

The problem of constructing life support systems which require little or no input of matter (food and gases) for long, or even indefinite, periods of time is addressed. Natural control in ecosystems, a control theory for ecosystems, and an approach to the design of an ALSS are addressed.

Colombano, S.↗

NASA NTRS1999

System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy

We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

Non-NASA Center↗

NASA NTRS1993

Compact Optical Correlator

Optical cross-correlator indicates position of target (if any) in scene matching target encoded in matched filter. Size reduced by use of prisms to fold optical path. Device designed, assembled from commercial components, and tested to verify feasibility of miniaturization for eventual incorporation into navigational and/or control systems of autonomous vehicles. For example, aircraft equipped with optical correlator recognizes prescribed target and measures its position, so that it lands on target under automatic control.

Scholl, Marija S.↗

NASA NTRS2014

Tethered Vehicle Control and Tracking System

A kite system includes a kite and a ground station. The ground station includes a sensor that can be utilized to determine an angular position and velocity of the kite relative to the ground station. A controller utilizes a fuzzy logic control system to autonomously fly the kite. The system may include a ground station having powered winding units that generate power as the lines to the kite are unreeled. The control system may be configured to fly the kite in a crosswind trajectory to increase line tension for power generation. The sensors for determining the position of the kite are preferably ground-based.

North, David D.↗

NASA NTRS2017

Tethered Vehicle Control and Tracking System

North, David D.↗

NASA NTRS1976

Large Diameter Shuttle Launched-AEM (LDSL-AEM) study

A technical description of a Large Diameter Shuttle Launched-AEM (LDSL-AEM), an AEM base module adapted to carry 5 ft diameter payloads in the shuttle with propulsion for carrying payloads to higher altitude orbits from a 150 NM shuttle orbit, is described. The AEM is designed for launch on the scout launch vehicle. Onboard equipment provides capability to despin, acquire the earth, and control the vehicle in an earth pointing mode using reaction wheels for torque with magnets for all attitude acquisition, wheel desaturation, and nutation damping. Earth sensors in the wheels provide pitch and roll attitude. This system provides autonomous control capability to 1 degree in pitch and roll and 2 degrees in yaw. The attitude can be determined to .5 degrees in pitch and roll and 2 degrees in yaw.

Source record↗

NASA NTRS2003

Sensory Motor Coordination in Robonaut

As a participant of the year 2000 NASA Summer Faculty Fellowship Program, I worked with the engineers of the Dexterous Robotics Laboratory at NASA Johnson Space Center on the Robonaut project. The Robonaut is an articulated torso with two dexterous arms, left and right five-fingered hands, and a head with cameras mounted on an articulated neck. This advanced space robot, now driven only teleoperatively using VR gloves, sensors and helmets, is to be upgraded to a thinking system that can find, interact with and assist humans autonomously, allowing the Crew to work with Robonaut as a (junior) member of their team. Thus, the work performed this summer was toward the goal of enabling Robonaut to operate autonomously as an intelligent assistant to astronauts. Our underlying hypothesis is that a robot can develop intelligence if it learns a set of basic behaviors (i.e., reflexes - actions tightly coupled to sensing) and through experience learns how to sequence these to solve problems or to accomplish higher-level tasks. We describe our approach to the automatic acquisition of basic behaviors as learning sensory-motor coordination (SMC). Although research in the ontogenesis of animals development from the time of conception) supports the approach of learning SMC as the foundation for intelligent, autonomous behavior, we do not know whether it will prove viable for the development of autonomy in robots. The first step in testing the hypothesis is to determine if SMC can be learned by the robot. To do this, we have taken advantage of Robonaut's teleoperated control system. When a person teleoperates Robonaut, the person's own SMC causes the robot to act purposefully. If the sensory signals that the robot detects during teleoperation are recorded over several repetitions of the same task, it should be possible through signal analysis to identify the sensory-motor couplings that accompany purposeful motion. In this report, reasons for suspecting SMC as the basis for intelligent behavior will be reviewed. A robot control system for autonomous behavior that uses learned SMC will be proposed. Techniques for the extraction of salient parameters from sensory and motor data will be discussed. Experiments with Robonaut will be discussed and preliminary data presented.

Peters, Richard Alan, II↗

NASA NTRS1981

Control problems in Autonomous Life Support Systems

Autonomous Life Support Systems (ALSS) are envisioned for long range permanence in space. ALSS would require little or no input of matter for extended periods of time. The design of such a system involves an understanding of both ecological principles and control theory of nonlinear, ill-defined systems. A distinction is drawn between ecosystem survival strategies and the aims of control theory. Experimental work is under way to help combine the two approaches.

Colombano, S. P.↗

DOE OSTI2023

Control System of Multi-Port Autonomous Reconfigurable Solar Power Plant (MARS) & HIL Platforms for Design

Multi-port autonomous reconfigurable solar power plant (MARS) provides an attractive alternative to connect photovoltaic (PV) and energy storage systems (ESSs) to high-voltage direct current (HVdc) links and high-voltage alternating current (ac) grids. In this paper, a unique hierarchical control system of MARS is proposed and evaluated. To evaluate the control system and associated algorithms in early-stage research of complex architectures like MARS, it is important to develop unique suitable hardware-in-the-loop (HIL) platforms. In this paper, the HIL platforms for MARS to evaluate the performance of the hierarchical control system and the control algorithms implemented are presented. Further, they help with the design process of control systems. The real-time simulation models and algorithms that are utilized for MARS in the HIL platforms are also discussed in the paper. The HIL experiments of the control system of MARS showcase the capability to provide continuity of operation under faults and frequency support to the power grid during loss of generation. They also showcase the stability of the proposed hierarchical control system of MARS.

14 SOLAR ENERGY↗

NASA NTRS2013

Evolving Systems: Nonlinear Adaptive Key Component Control with Persistent Disturbance Rejection

This paper presents an introduction to Evolving Systems, which are autonomously controlled subsystems that self-assemble into a new Evolved System with a higher purpose. Evolving Systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process. This is the concept of Adaptive Key Component Control which operates through one specific component to maintain stability during the evolution. In addition this control must overcome persistent disturbances that occur while the evolution is in progress. We present theoretical results for the successful operation of Nonlinear Adaptive Key Component control in the presence of such disturbances and an illustrative example.

adaptive control↗

DOE OSTI2023

Towards On-Chip Learning for Low Latency Reasoning with End-to-End Synthesis

The Software Defined Architectures (SODA) Synthesizer is an open-source compiler-based tool able to automatically generate domain-specialized systems targeting Application-Specific Integrated Circuits (ASICs) or Field Programmable Gate Arrays (FPGAs) starting from high-level programming. SODA is composed of a frontend, SODA-OPT, which leverages the multilevel intermediate representation (MLIR) framework to interface with productive programming tools (e.g., machine learning frame-works), identify kernels suitable for acceleration, and perform high-level optimizations, and of a state-of-the-art high-level synthesis backend, Bambu from the PandA framework, to generate custom accelerators. One specific application of the SODA Synthesizer is the generation of accelerators to enable ultra-low latency inference and control on autonomous systems for scientific discovery (e.g., electron microscopes, sensors in particle accelerators, etc.). This paper provides an overview of the flow in the context of the generation of accelerators for edge processing to be integrated in transmission electron microscopy (TEM) devices, focusing on use cases from precision material synthesis. We show the tool in action with an example of design space exploration for inference on reconfigurable devices with a conventional deep neural network model (LeNet). Finally, we discuss the research directions and opportunities enabled by SODA in the area of autonomous control for scientific experimental workflows.

Castellana, Vito G.↗

NASA NTRS1998

Smart Executives for Autonomous Spacecraft

In this article we explore the design of an executive for an autonomous spacecraft. The executive is responsible for translating high-level commands, whether they come from the ground or from an on-board planner, into the low-level commands understood directly by the spacecraft hardware.

control system autonomous spacecraft planning func↗

NASA NTRS1999

Human-Centered Automation: The View from Earth Versus the View from Mars

This panel addresses the topic of human-centered automation in, however, a very different context-manned missions to deep space in which predominantly autonomous systems must control the crew's life-support systems most of the time. The Mars spacecraft and its inhabitants are totally dependent on the proper operation of thousands of control loops and pieces of equipment to maintain the delicate, unbuffered homeostasis of their remote existence. Mission success hangs on a thread that depends on a successful partnership, or symbiosis. between crew and machines, which exceeds anything ever required of ground systems. The need for a new approach to human-centered automation is not a "frill" in future Mars mission, but rather a sine qua non of survival. Thus the issue is design: Can we design systems intended to operate in a predominantly autonomous mode. without a human backup, that are sufficiently safe such that human travel into deep space is possible?

Massimino, Michael J.↗

DOE OSTI2024

Towards Automated Generation of Chiplet-Based Systems

The Software Defined Architectures (SODA) Synthesizer is an open-source compiler-based tool able to automatically generate domain-specialized systems targeting Application- Specific Integrated Circuits (ASICs) or Field Programmable Gate Arrays (FPGAs) starting from high-level programming. SODA is composed of a high-level frontend, SODA-OPT, which leverages the multilevel intermediate representation (MLIR) framework to interface with productive programming tools (e.g., machine learning frameworks), identify kernels suitable for acceleration, and perform high-level optimizations, and of a state-of-the-art high-level synthesis backend, Bambu from the PandA framework, to generate custom accelerators. One specific application of the SODA Synthesizer is the generation of accelerators to enable ultra-low latency inference and control on autonomous systems for scientific discovery (e.g., electron microscopes, sensors in particle accelerators, etc.). This talk will discuss ongoing work on the SODA synthesizer to enable no-human-in-the-loop generation and design space exploration of the chiplets for highly specialized artificial intelligence accelerators. Connecting these highly specialized chiplets to general-purpose cores or programmable accelerators will allow to quickly deploy autonomous systems for scientific discovery.

Limaye, Ankur M.↗

NASA NTRS1994

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

Klarer, P.↗