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NREL researcher Andrey Bernstein discusses asynchronous and distributed tracking of time-varying fixed points as part of the Innovative Optimization and Control Methods for Highly Distributed Autonomous Systems workshop. NREL hosted the workshop to exchange ideas on state-of-the-art control and optimization strategies as well as get feedback on work being done at NREL.
A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.
The basis of all conflict recognition in simulation is a common frame of reference. Synchronous discrete-event simulation relies on the fixed points in time as the basic frame of reference. Asynchronous discrete-event simulation relies on fixed-points in the model space as the basic frame of reference. Neither approach provides sufficient support for autonomous objects. The use of a spatial template as a frame of reference is proposed to address these insufficiencies. The concept of a spatial template is defined and an implementation approach offered. Discussed are the uses of this approach to analyze the integration of sensor data associated with Command, Control, and Communication systems.
The Infrared Astronomical Satellite, scheduled for launch into a 900 km near-polar orbit in August 1982, will perform an infrared point source survey by scanning the sky with slit-type sensors. The description of position information is shown to require the use of a non-Gaussian random variable. Methods are described for deciding whether separate detections stem from a single common source, and a formulism is developed for the scan-to-scan problems of identifying multiple sightings of inertially fixed point sources for combining their individual measurements into a refined estimate. Several cases are given where the general theory yields results which are quite different from the corresponding Gaussian applications, showing that argument by Gaussian analogy would lead to error.
The calculation of a ray's intercept from an arbitrary point in space to a prescribed surface is a common task in computer simulations. The arbitrary point often represents an object that is moving according to the simulation, while the prescribed surface is fixed in a defined frame. For detailed simulations, this surface becomes complex, taking the form of real-world objects such as mountains, craters or valleys which require more advanced methods to accurately calculate a ray's intercept location. Incorporation of these complex surfaces has commonly been implemented in graphics systems that utilize highly optimized graphics processing units to analyze such features. This paper proposes a simplified method that does not require computationally intensive graphics solutions, but rather an optimized ray-tracing method for an assumed terrain dataset. This approach was developed for the Mars Science Laboratory mission which landed on the complex terrain of Gale Crater. First, this paper begins with a discussion of the simulation used to implement the model and the applicability of finding surface intercepts with respect to atmosphere modeling, altitude determination, radar modeling, and contact forces influencing vehicle dynamics. Next, the derivation and assumptions of the intercept finding method are presented. Key assumptions are noted making the routines specific to only certain types of surface data sets that are equidistantly spaced in longitude and latitude. The derivation of the method relies on ray-tracing, requiring discussion on the formulation of the ray with respect to the terrain datasets. Further discussion includes techniques for ray initialization in order to optimize the intercept search. Then, the model implementation for various new applications in the simulation are demonstrated. Finally, a validation of the accuracy is presented along with the corresponding data sets used in the validation. A performance summary of the method will be shown using the analysis from the Mars Science Laboratory's terminal descent sensing model. Alternate uses will also be shown for determining horizon maps and orbiter set times.
We reconsider the role of wormholes in the AdS/CFT correspondence. We focus on Euclidean wormholes that connect two asymptotically AdS or hyperbolic regions with $\mathbb{S}$ 1 × $\mathbb{S}$ d-1 boundary. There is no solution to Einstein’s equations of this sort, as the wormholes possess a modulus that runs to infinity. To find on-shell wormholes we must stabilize this modulus, which we can do by fixing the total energy on the two boundaries. Such a wormhole gives the saddle point approximation to a non-standard problem in quantum gravity, where we fix two asymptotic boundaries and constrain the common energy. Crucially the dual quantity does not factorize even when the bulk is dual to a single CFT, on account of the fixed energy constraint. From this quantity we extract a smeared version of the microcanonical spectral form factor. For a chaotic theory this quantity is self-averaging, i.e. well-approximated by averaging over energy windows, or over coupling constants. We go on to give a precision test involving the microcanonical spectral form factor where the two replicas have slightly different coupling constants. In chaotic theories this form factor is known to smoothly decay at a rate universally predicted in terms of one replica physics, provided that there is an average either over a window or over couplings. We compute the expected decay rate for holographic theories, and the form factor from a wormhole, and the two exactly agree for a wide range of two-derivative effective field theories in AdS. This gives a precision test of averaging in AdS/CFT. Our results interpret a number of confusing facts about wormholes and factorization in AdS and suggest that we should regard gravitational effective field theory as a mesoscopic description, analogous to semiclassical mesoscopic descriptions of quantum chaotic systems.
Geometries and focal properties are given for two types of electron-lens system commonly needed in electron scattering. One is an electron gun that focuses electrons from a thermionic emitter onto a fixed point (target) over a wide range of final energies. The other is an electron analyzer system that focuses scattered electrons of variable energy onto a fixed position (e.g., the entrance plane of an analyzer) at fixed energy with a zero final beam angle. Analyzer-system focusing properties are given for superelastically, elastically, and inelastically scattered electrons. Computer calculations incorporating recent accurate tube-lens focal properties are used to compute lens voltages, locations and diameters of all pupils and windows, filling factors, and asymptotic rays throughout each lens system. Focus voltages as a function of electron energy and energy change are given, and limits of operation of each system discussed. Both lens systems have been in routine use for several years, and good agreement has been consistently found between calculated and operating lens voltages.
A class of topological magnetic island bifurcations that has not previously been observed in toroidal plasmas is described. Increasing an externally applied three-dimensional magnetic field in resistive magnetohydrodynamic simulations results in the asymmetric elongation of resonant island flux surfaces followed by a sequence of heteroclinic bifurcations. Here, these bifurcations produce new sets of hyperbolic-elliptic fixed points as predicted by the Poincaré-Birkoff fixed point theorem. Field line calculations verify that the new fixed points do not connect to those of the prebifurcated islands as required for heteroclinic bifurcations on a torus with winding numbers composed of common integer factors.
A tetrahedral beam that can be compactly stowed, sequentially deployed, and widely manipulated to provide a structurally sound yet highly maneuverable truss structure is comprised of a number of repeating units of tandem tetralhedral sharing common sides. Fixed length battens are jointed into equilateral triangles called batten frames. Apexes of adjacent triangles are interconnected by longerons having a mid-point folding hinge. Joints, comprised of gussets pivotabley connected by links, permit two independent degrees of rotational freedom between joined adjacent batten frames, and provide a stable structure from packaged configuration to complete deployment. The longerons and joints can be actuated in any sequence, independently of one another. The beam is suited to remote actuation. Longerons may be provided with powered mid-point hinges enabling beam erection and packaging under remote control. Providing one or more longerons with powered telescoping segments permits the shape of the beam central axis to be remotely manipulated so that the beam may function as a remote manipulator arm.
When a flexible structure is to be controlled actively, optimum performance is obtained by integrated, or simultaneous, design of the structure and the controller, as opposed to the common practice of designing the structure independently of control consideration and then designing a controller for a fixed structure. The primary design objective from the structural point of view usually is to minimize weight, while the control design objectives depend on the application. An important requirement for a practical control system is robustness with respect to uncertain plant parameters. This paper discusses simultaneous control/structure design when the overall design objective combines the weight of the structure and the robustness of the closed-loop control system. For numerical optimization, robustness is represented by the sensitivity of the closed-loop eigenvalues with respect to uncertain parameters. An example illustrates the optimal design of a flexible structure along with a robust compensator.
A virtual reality (VR) interface is presented for controlling NASA’s Valkyrie humanoid robot with flexible locomotion control options and intuitive teleoperation. Locomotion modes include navigating to a specified waypoint, sending desired velocities with a joystick, or manually placing a sequence of footsteps. On the other hand, teleoperation modes include voice commands to toggle relative whole-body tracking or high-level commandeering, and key bindings for common stored poses such as power grasps. The primary novelties of the interface are in the implementation of the cockpit mode and a floating augmented reality (AR) screen fixed with respect to the robot. The former enables embodied teleoperation and increased awareness during navigation in a mixed-reality setting. The latter preserves depth perception without the disparity clutter from a stereo point cloud. The interface is demonstrated on two real humanoids performing common explosive ordnance disposal (EOD) tasks such as door opening, vehicle inspection, and disruptor placement. Notably, the interface enables a single operator to control multiple humanoids. While the interface is motivated by EOD missions, the presented ideas are usable for other robots employing VR-based control.
Virtual synchronous generators (VSGs) are widely adopted as grid-forming controls for inverter-based resources. However, when grid conditions vary significantly as characterized by changes in short-circuit ratio (SCR) and the reactance-to-resistance (X/R) ratio, fixed-gain designs and the commonly used P–Q decoupling assumption can become inaccurate. Such conditions can degrade transient power performance, leading to oscillations, prolonged settling, and overshoot, particularly in stiff-grid operating points. This paper quantifies how grid strength and impedance-dependent coupling affect the active–reactive power dynamics of a conventional VSG over a broad range of SCR and X/R values. An adaptive VSG tuning framework is then developed by combining (i) a coupling-explicit, impedance-parameterized state-space model to enable systematic controller synthesis, (ii) a full-state-feedback law designed via pole placement to meet prescribed damping and settling-time specifications, and (iii) a physics-informed neural network (PINN)–based online grid-impedance estimator that updates controller gains in real time as grid conditions vary. Offline simulations in MATLAB/Simulink and real-time validation on an OPAL-RT platform show that the proposed method preserves consistent damping and settling behavior with reduced overshoot across wide SCR and X/R ranges, compared with fixed-gain VSG baselines.
Now that the International Space Station (ISS) is being constructed, payload developers have to not only verify the Shuttle-to-payload interface, but also the interfaces their payload will have with the ISS. The Multi Purpose Logistic Module (MPLM) being designed and built by Alenia Spazio in Torino, Italy is one such payload. The MPLM is the primary carrier for the ISS Payload Racks, Re-supply Stowage Racks, and the Resupply Stowage Platforms to re-supply the ISS with food, water, experiments, maintenance equipment and etc. During the development of the MPLM there was no requirement for verification of the on-orbit interfaces with the ISS. When this oversight was discovered, all the dynamic test stands had already been disassembled. A method was needed that would not require an extensive testing stand and could be completed in a short amount of time. The residual flexibility testing technique was chosen. The residual flexibility modal testing method consists of measuring the free-free natural frequencies and mode shapes along with the interface frequency response functions (FRF's). Analytically, the residual flexibility method has been investigated in detail by, MacNeal, Martinez, Carne, and Miller, and Rubin, but has not been implemented extensively for model correlation due to difficulties in data acquisition. In recent years improvement of data acquisition equipment has made possible the implementation of the residual flexibility method as in Admire, Tinker, and Ivey, and Klosterman and Lemon. The residual flexibility modal testing technique is applicable to a structure with distinct points (DOF) of contact with its environment, such as the MPLM-to-Station interface through the Common Berthing Mechanism (CBM). The CBM is bolted to a flange on the forward cone of the MPLM. During the fixed base test (to verify Shuttle interfaces) some data was gathered on the forward cone panels. Even though there was some data on the forward cones, an additional modal test was performed to better characterize its behavior. The CBM mounting flange is the only remaining structure of the MPLM that no test data was available. This paper discusses the implementation of the residual flexibility modal testing technique on the CBM flange and the modal test of the forward cone panels.
Snow depth was one of the core ground measurements required to validate remotely-sensed data collected during SnowEx Year 1, which occurred in Colorado. The use of a single, common protocol was fundamental to produce a community reference dataset of high quality. Most of the nearly 100 Grand Mesa and Senator Beck Basin SnowEx ground crew participants contributed to this crucial dataset during 6-25 February 2017. Snow depths were measured along ~300 m transects, whose locations were determined according to a random-stratified approach using snowfall and tree-density gradients. Two-person teams used snowmobiles, skis, or snowshoes to travel to staked transect locations and to conduct measurements. Depths were measured with a 1-cm incremented probe every 3 meters along transects. In shallow areas of Grand Mesa, depth measurements were also collected with GPS snow-depth probes (a.k.a. MagnaProbes) at ~1-m intervals. During summer 2017, all reference stake positions were surveyed with <10 cm accuracy to improve overall snow depth location accuracy. During the campaign, 193 transects were measured over three weeks at Grand Mesa and 40 were collected over two weeks in Senator Beck Basin, representing more than 27,000 depth values. Each day of the campaign depth measurements were written in waterproof field books and photographed by National Snow and Ice Data Center (NSIDC) participants. The data were later transcribed and prepared for extensive quality assessment and control. Common issues such as protocol errors (e.g., survey in reverse direction), notebook image issues (e.g., halo in the center of digitized picture), and data-entry errors (sloppy writing and transcription errors) were identified and fixed on a point-by-point basis. In addition, we strove to produce a georeferenced product of fine quality, so we calculated and interpolated coordinates for every depth measurement based on surveyed stakes and the number of measurements made per transect. The product has been submitted to NSIDC in csv format. To educate data users, we present the study design and processing steps that have improved the quality and usability of this product. Also, we will address measurement and design uncertainties, which are different in open vs. forest areas.
This project is mainly about the operation optimization of three networked microgrids (MG), including centralized optimization and distributed optimization. The alternating direction method of multipliers (ADMM) algorithm is used for distributed optimization. In the distribution network considered here, there is a Distribution Management system (DMS) as the system coordinator and several networked microgrids. In grid-connected mode, power could be imported or exported at the distribution substation bus according to the utility rate, and the exchanged power at point of common coupling (PCC) of any microgrid has a limitation. In islanded mode, the power imports/exports at the distribution substation are zero. In both grid-connected and islanded mode, the distribution substation is taken as a slack bus with fixed voltage magnitude.
Two graphical methods are presented for determining the stick-free neutral point, and they are extensions of the methods commonly used to determine the stick-free neutral point. A mathematical formula for computing the stick-free neutral point is also given. These methods may be applied to determine approximately the increase in tail size necessary to shift the neutral point (stick fixed or free) to any desired location on an airplane having inadequate longitudinal stability.
Dim prospects are held out for continued exponential growth rates in the generation and use of electric power worldwide and in many local areas, extrapolating from current trends and common projections. While acknowledging the unique advantages of electric power use, the article points out the 30% level of efficiency in conversion of other forms of energy to electrical energy, with huge volumes of wasted energy plus thermal pollution. Even growth at a fixed rate is found problematical, with future needs exhausting water and land resources and fossil fuels in time. Alleviation of the situation by shifting much of the load to still unproven technologies is considered cautiously
Photovoltaic-array/power-conditioner interface studies are updated. An experiment conducted to evaluate different operating-point strategies, such as constant voltage and pilot cells, and to determine array energy losses when the array is operated off the maximum power points is described. Initial results over a test period of three and a half weeks showed a 2% energy loss when the array is operated at a fixed voltage. Degraded-array studies conducted at NE RES that used a range of simulated common types of degraded I-V curves are reviewed. The instrumentation installed at the JPL field-test site to obtain the irradiance data was described. Experiments using an optical filter to adjust the spectral irradiance of the large-area pulsed solar simulator (LAPSS) to AM1.5 are described. Residential-array research activity is reviewed. Voltage isolation test results are described. Experiments performed on one type of module to determine the relationship between leakage current and temperature are reviewed. An encapsulated-cell testing approach is explained. The test program, data reduction methods, and initial results of long-duration module testing are described.