Cleaning and household robots: A technology survey
This paper describes some of the main technology areas that have been actually used in the development of cleaning robots.
mechanical configuration design requirements contr↗
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Integrated Control Design for A Partially Turboelectric Aircraft Propulsion System
Electrified Aircraft Propulsion (EAP) holds great potential for reducing aviation emissions and fuel burn. A variety of EAP architectures have been proposed including partially-turboelectric configurations that combine turbofan engines with motor-driven propulsors. Such architectures exhibit coupling between subsystems and thus require an integrated control solution. To address this need, this paper presents an integrated control design strategy for a commercial single-aisle partially-turboelectric aircraft concept consisting of two wing-mounted turbofan engines and an electric motor driven tailfan propulsor. Within this architecture the turbofans serve the dual purpose of generating thrust and supplying mechanical offtake power used to generate electricity for the tailfan motor. The propulsion control system is tasked with coordinating turbofan and tailfan operation under both steady-state and transient scenarios. The paper introduces a linear state-space representation of the architecture reflecting the coupling between the turbofan and tailfan subsystems along with loop transfer functions reflecting open- and closed-loop system dynamics. Also discussed is an applied strategy for scheduling the tailfan setpoint command based on the average sensed fan speed of the two turbofans. This approach ensures synchronized operation of the turbofan and tailfan subsystems while also allowing the turbofan fuel control design to be simplified. Performance of the integrated control design is assessed through a real-time hardware-in-the-loop test conducted at the NASA Electric Aircraft Testbed. During this test a scaled version of the electrical system and turbomachinery shaft dynamics were implemented in electrical machine hardware and evaluated under closed-loop control. Results from this facility test are presented to illustrate the efficacy of the applied integrated control design approach under steady-state and transient scenarios including a full-flight mission profile.
Electrified Aircraft Propulsion↗
Integrated Control Design for A Partially Turboelectric Aircraft Propulsion System
Electrified Aircraft Propulsion (EAP) holds great potential for reducing aviation emissions and fuel burn. A variety of EAP architectures have been proposed including partially-turboelectric configurations that combine turbofan engines with motor-driven propulsors. Such architectures exhibit coupling between subsystems and thus require an integrated control solution. To address this need, this paper presents an integrated control design strategy for a commercial single-aisle partially-turboelectric aircraft concept consisting of two wing-mounted turbofan engines and an electric motor driven tailfan propulsor. Within this architecture the turbofans serve the dual purpose of generating thrust and supplying mechanical offtake power used to generate electricity for the tailfan motor. The propulsion control system is tasked with coordinating turbofan and tailfan operation under both steady-state and transient scenarios. The paper introduces a linear state-space representation of the architecture reflecting the coupling between the turbofan and tailfan subsystems along with loop transfer functions reflecting open- and closed-loop system dynamics. Also discussed is an applied strategy for scheduling the tailfan setpoint command based on the average sensed fan speed of the two turbofans. This approach ensures synchronized operation of the turbofan and tailfan subsystems while also allowing the turbofan fuel control design to be simplified. Performance of the integrated control design is assessed through a real-time hardware-in-the-loop test conducted at the NASA Electric Aircraft Testbed. During this test a scaled version of the electrical system and turbomachinery shaft dynamics were implemented in electrical machine hardware and evaluated under closed-loop control. Results from this facility test are presented to illustrate the efficacy of the applied integrated control design approach under steady-state and transient scenarios including a full-flight mission profile.
Electrified Aircraft Propulsion↗
Integrated Control Design for A Partially Turboelectric Aircraft Propulsion System
Electrified Aircraft Propulsion (EAP) holds great potential for reducing aviation emissions and fuel burn. A variety of EAP architectures have been proposed including partially-turboelectric configurations that combine turbofan engines with motor-driven propulsors. Such architectures exhibit coupling between subsystems and thus require an integrated control solution. To address this need, this paper presents an integrated control design strategy for a commercial single-aisle partially-turboelectric aircraft concept consisting of two wing-mounted turbofan engines and an electric motor driven tailfan propulsor. Within this architecture the turbofans serve the dual purpose of generating thrust and supplying mechanical offtake power used to generate electricity for the tailfan motor. The propulsion control system is tasked with coordinating turbofan and tailfan operation under both steady-state and transient scenarios. The paper introduces a linear state-space representation of the architecture reflecting the coupling between the turbofan and tailfan subsystems along with loop transfer functions reflecting open- and closed-loop system dynamics. Also discussed is an applied strategy for scheduling the tailfan setpoint command based on the average sensed fan speed of the two turbofans. This approach ensures synchronized operation of the turbofan and tailfan subsystems while also allowing the turbofan fuel control design to be simplified. Performance of the integrated control design is assessed through a real-time hardware-in-the-loop test conducted at the NASA Electric Aircraft Testbed. During this test a scaled version of the electrical system and turbomachinery shaft dynamics were implemented in electrical machine hardware and evaluated under closed-loop control. Results from this facility test are presented to illustrate the efficacy of the applied integrated control design approach under steady-state and transient scenarios including a full-flight mission profile.
Electrified Aircraft Propulsion↗
Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project. ACT/Control/Guidance System study, volume 1
The active control technology (ACT) control/guidance system task of the integrated application of active controls (IAAC) technology project within the NASA energy efficient transport program was documented. The air traffic environment of navigation and air traffic control systems and procedures were extrapolated. An approach to listing flight functions which will be performed by systems and crew of an ACT configured airplane of the 1990s, and a determination of function criticalities to safety of flight, are the basis of candidate integrated ACT/Control/Guidance System architecture. The system mechanizes five active control functions: pitch augmented stability, angle of attack limiting, lateral/directional augmented stability, gust load alleviation, and maneuver load control. The scope and requirements of a program for simulating the integrated ACT avionics and flight deck system, with pilot in the loop, are defined, system and crew interface elements are simulated, and mechanization is recommended. Relationships between system design and crew roles and procedures are evaluated.
Source record↗
ControlShell: A real-time software framework
The ControlShell system is a programming environment that enables the development and implementation of complex real-time software. It includes many building tools for complex systems, such as a graphical finite state machine (FSM) tool to provide strategic control. ControlShell has a component-based design, providing interface definitions and mechanisms for building real-time code modules along with providing basic data management. Some of the system-building tools incorporated in ControlShell are a graphical data flow editor, a component data requirement editor, and a state-machine editor. It also includes a distributed data flow package, an execution configuration manager, a matrix package, and an object database and dynamic binding facility. This paper presents an overview of ControlShell's architecture and examines the functions of several of its tools.
Schneider, Stanley A.↗
A nonrecursive order N preconditioned conjugate gradient: Range space formulation of MDOF dynamics
While excellent progress has been made in deriving algorithms that are efficient for certain combinations of system topologies and concurrent multiprocessing hardware, several issues must be resolved to incorporate transient simulation in the control design process for large space structures. Specifically, strategies must be developed that are applicable to systems with numerous degrees of freedom. In addition, the algorithms must have a growth potential in that they must also be amenable to implementation on forthcoming parallel system architectures. For mechanical system simulation, this fact implies that algorithms are required that induce parallelism on a fine scale, suitable for the emerging class of highly parallel processors; and transient simulation methods must be automatically load balancing for a wider collection of system topologies and hardware configurations. These problems are addressed by employing a combination range space/preconditioned conjugate gradient formulation of multi-degree-of-freedom dynamics. The method described has several advantages. In a sequential computing environment, the method has the features that: by employing regular ordering of the system connectivity graph, an extremely efficient preconditioner can be derived from the 'range space metric', as opposed to the system coefficient matrix; because of the effectiveness of the preconditioner, preliminary studies indicate that the method can achieve performance rates that depend linearly upon the number of substructures, hence the title 'Order N'; and the method is non-assembling. Furthermore, the approach is promising as a potential parallel processing algorithm in that the method exhibits a fine parallel granularity suitable for a wide collection of combinations of physical system topologies/computer architectures; and the method is easily load balanced among processors, and does not rely upon system topology to induce parallelism.
Kurdila, Andrew J.↗
Flight Simulator Demonstration and Certification Implications of Powertrain Failure Mitigation in a Partial Turboelectric Aircraft
The Single-aisle Turboelectric AiRCraft with Aft Boundary Layer propulsor (STARC ABL) is a concept aircraft with a partial turboelectric powertrain. The complexity and integrated nature of the partial turboelectric powertrain architecture presents failure modes and hazards not found in conventional aircraft propulsion designs. Previously, various electrical and mechanical faults and associated recovery modes were demonstrated in a dynamic model of the powertrain. It was shown that certain faults were catastrophic without recovery logic, due specifically to the interaction of the subsystems. However, in each case, the logic, known as a reversionary control mode, enabled continued operation with assumed sufficient thrust to maintain safe flight. The current work evaluates the powertrain faults and recovery strategies using a full aircraft model in a piloted flight simulator, and places it in the context of current regulatory practice. Faults initiated in flight were successfully mitigated, with the accommodated aircraft subsequently evaluated against certification requirements for three-engine aircraft, which were shown to be appropriate for the STARC-ABL configuration.
STARC-ABL↗
Flight Simulator Demonstration and Certification Implications of Powertrain Failure Mitigation in a Partial Turboelectric Aircraft
The Single-aisle Turboelectric AiRCraft with Aft Boundary Layer propulsor (STARC ABL) is a concept aircraft with a partial turboelectric powertrain. The complexity and integrated nature of the partial turboelectric powertrain architecture presents failure modes and hazards not found in conventional aircraft propulsion designs. Previously, various electrical and mechanical faults and associated recovery modes were demonstrated in a dynamic model of the powertrain. It was shown that certain faults were catastrophic without recovery logic, due specifically to the interaction of the subsystems. However, in each case, the logic, known as a reversionary control mode, enabled continued operation with assumed sufficient thrust to maintain safe flight. The current work evaluates the powertrain faults and recovery strategies using a full aircraft model in a piloted flight simulator, and places it in the context of current regulatory practice. Faults initiated in flight were successfully mitigated, with the accommodated aircraft subsequently evaluated against certification requirements for three-engine aircraft, which were shown to be appropriate for the STARC-ABL configuration.
STARC-ABL↗
Flight Simulator Demonstration and Certification Implications of Powertrain Failure Mitigation in a Partial Turboelectric Aircraft
The Single-aisle Turboelectric AiRCraft with Aft Boundary Layer propulsor (STARC ABL) is a concept aircraft with a partial turboelectric powertrain. The complexity and integrated nature of the partial turboelectric powertrain architecture presents failure modes and hazards not found in conventional aircraft propulsion designs. Previously, various electrical and mechanical faults and associated recovery modes were demonstrated in a dynamic model of the powertrain. It was shown that certain faults were catastrophic without recovery logic, due specifically to the interaction of the subsystems. However, in each case, the logic, known as a reversionary control mode, enabled continued operation with assumed sufficient thrust to maintain safe flight. The current work evaluates the powertrain faults and recovery strategies using a full aircraft model in a piloted flight simulator, and places it in the context of current regulatory practice. Faults initiated in flight were successfully mitigated, with the accommodated aircraft subsequently evaluated against certification requirements for three-engine aircraft, which were shown to be appropriate for the STARC-ABL configuration.
certification↗
Revolutionary Vertical Lift Technology Lift + Cruise Concept Vehicle Powertrain Dynamic Model
The Lift + Cruise (L+C) is one of several Revolutionary Vertical Lift Technology (RVLT) concept aircraft identified by NASA to investigate Urban Air Mobility (UAM) requirements. This six-passenger vehicle has a conventional tube-and-wing configuration, but with eight lift rotors (four on each wing) and a pusher rotor on the tail. This arrangement allows it to take off and land vertically as well as fly like an airplane. This report presents a novel dynamic model of the L+C powertrain built using the Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS) and the Electrical Modeling and Thermal Analysis Toolbox (EMTAT), both of which are NASA-developed toolboxes, and together are capable of modeling hybrid-electric powertrain architectures. This research effort models the complex behavior of the powertrain at the mechanical timescale (15 to 20 ms). The model consists of a turboshaft engine, generator, direct current bus, energy storage management system, gearboxes, and electric propulsor systems coupled together to create a dynamic model that mimics the operation of the multidomain powertrain. Two control algorithms, designed to equalize the power consumed to the power produced, are compared to assess their practicality: (1) independent proportional-integral (PI) control and (2) linear quadratic integral regulator (LQIR) control. Simulation results highlight the key features present in the model and demonstrate its operation under the two control schemes.
revolutionary vertical lift technology↗
Design and Principles Enabling the Space Reference FOM
A first complete draft of the Simulation Interoperability Standards Organization (SISO) Space Reference Federation Object Model (FOM) has now been produced. This paper provides some insights into its capabilities and discusses the opportunity for reuse in other domains. The focus of this first version of the standard is execution control, time management and coordinate systems, well-known reference frames, as well as some basic support for physical entities. The biggest part of the execution control is the coordinated start-up process. This process contains a number of steps, including checking of required federates, handling of early versus late joiners, sharing of federation wide configuration data and multi-phase initialization. An additional part of Execution Control is the coordinated and synchronized transition between Run mode, Freeze mode and Shutdown. For time management, several time lines are defined, including real-time, scenario time, High Level Architecture (HLA) logical time and physical time. A strategy for mixing simulations that use different time steps is introduced, as well as an approach for finding common boundaries for fully synchronized freeze. For describing spatial information, a mechanism with a set of reference frames is specified. Each reference frame has a position and orientation related to a parent reference frame. This makes it possible for federates to perform calculations in reference frames that are convenient to them. An operation on the Moon can be performed using lunar coordinates whereas an operation on Earth can be performed using Earth coordinates. At the same time, coordinates in one reference frame have an unambiguous relationship to a coordinate in another reference frame. While the Space Reference FOM is originally being developed for Space operations, the authors believe that many parts of it can be reused for any simulation that has a focus on physical processes with one or more coordinate systems, and require high fidelity and repeatability.
Moeller, Bjoern↗
Design and Testing of a Variable Pressure Regulator for the Constellation Space Suit
The next generation space suit requires additional capabilities for controlling and adjusting internal pressure than previous design suits. Next generation suit pressures will range from slight pressure, for astronaut prebreath comfort, to hyperbaric pressure levels for emergency medical treatment. Carleton was awarded a contract in 2008 to design and build a proof of concept bench top demonstrator regulator having five setpoints which are selectable using input electronic signaling. Although the basic regulator architecture is very similar to the existing SOP regulator used in the current EMU, the major difference is the electrical selectivity of multiple setpoints rather than the mechanical On/Off feature found on the SOP regulator. The concept regulator employs a linear actuator stepper motor combination to provide variable compression to a custom design main regulator spring. This concept allows for a continuously adjustable outlet pressures from 8.2 psid (maximum) down to "firm" zero thus effectively allowing it to serve as a shutoff valve. This paper details the regulator design and presents test results on regulation band width, command set point accuracy; slue rate and regulation stability, particularly when the set point is being slued. Projections for a flight configuration version are also offered for performance, architectural layout and weight.
Gill, Larry↗
ARCTRON: A Rapid Experimental Proving Ground for TPS Experiments and Arcjet Technology Development
Innovation in high-enthalpy facilities is fundamentally limited by the cost and risk of experimentation. New concepts for plasma control, diagnostics, facility components, and plasma-material interaction often require repeated iterations that are impractical to perform in production arcjets. As a result, promising ideas may remain unexplored or reach operational facilities only after significant development effort. ARCTRON is being developed as a rapid experimental proving ground where new ideas in plasma science, arcjet engineering, diagnostics, and material response can be conceived, tested, and quantitatively evaluated before transition to large-scale facilities. The platform combines radio-frequency (RF) and DC arc plasma generation, externally applied magnetic fields, configurable gas composition, reduced-pressure operation, laser heating, electrical biasing, and modular diagnostic access. These capabilities permit the plasma source, applied forcing, test article, and measurement configuration to be modified independently, allowing individual physical mechanisms to be isolated more readily than in a traditional test environment. One class of investigations addresses fundamental plasma-surface interaction physics. Conventional material tests often expose a specimen simultaneously to convective heating, reactive species, pressure, shear, radiation, and surface-current effects. The resulting material response may be measured accurately, while the contribution of each mechanism remains difficult to identify. ARCTRON is designed to vary these effects selectively. Plasma chemistry can be changed independently through configurable gas mixtures; magnetic fields and electrical biasing can modify charged-particle transport; laser heating can provide a non-plasma thermal input; and pressure, flow, and discharge mode can be varied over a broad operating space. This enables controlled tests of hypotheses involving surface catalycity, reactive-species transport, plasma-assisted oxidation, electromagnetic effects, shear, and the relative contributions of thermal and chemical loading. A second class of investigations enabled by this approach concerns the engineering of high-enthalpy facilities themselves. Arc-heated facilities are limited by electrode erosion, unstable arc attachment, localized heating, and damage to nozzles and other plasma-facing components. ARCTRON provides a lower-cost environment for testing concepts intended to mitigate these limitations. Candidate investigations include the use of applied magnetic fields to alter current paths and reduce plasma interaction with nozzle walls, ExB forcing to introduce controlled plasma rotation, magnetic or geometric approaches for distributing arc attachment, and alternative electrode or discharge configurations intended to reduce erosion and improve stability. Because the platform is reconfigurable, these concepts can be evaluated through repeated design--build--test cycles before they are considered for implementation in operational facilities. The platform also supports the development and validation of diagnostics that may be difficult to introduce initially into a large arcjet. Current and planned measurements include spatially resolved optical emission spectroscopy, electrostatic probes, fast imaging, pyrometry, calorimetry, laser-induced fluorescence, and absorption spectroscopy. These diagnostics are intended not merely to document a nominal operating condition, but to constrain the local plasma state and its relationship to component or material response. The modular facility geometry allows diagnostic concepts to be tested, calibrated, and compared under repeatable conditions before deployment in more demanding environments. ARCTRON is also supported by an integrated software suite. Automated control and data acquisition allow discharge parameters, gas composition, magnetic fields, diagnostic timing, and test configuration to be recorded as part of each experiment (STARDAC - Software for Testing, Analysis, Research Data, and Control). The Backend for Experiment Analysis, Storage, and Traceability (BEAST) is a database that provides the infrastructure needed to associate heterogeneous measurements with facility configuration, specimen identity, calibration state, geometry, and analysis provenance. This backend is particularly important for exploratory campaigns, in which many related configurations may be tested, and the value of an individual experiment depends on its connection to earlier and subsequent iterations. Complementary analysis capabilities, including computer-vision-based transient response measurements (arcjetCV), three-dimensional surface reconstruction (STARSCAN), and model-based Bayesian inference (SHIELD), and tomography data analysis (TOMATO, PuMA) can be incorporated when required by a specific hypothesis without becoming the focus of every campaign. The central objective of ARCTRON is therefore not to maximize heat flux or reproduce a complete flight environment. Its purpose is to reduce the cost and time required to ask consequential questions about plasma behavior, plasma-facing materials, diagnostics, and arcjet technology. By providing a controlled environment for rapid reconfiguration, mechanism isolation, quantitative measurement, and iterative engineering, ARCTRON can help mature concepts that would otherwise remain too speculative or too risky for evaluation in production facilities. The resulting knowledge can then guide the design of material models, focus test objectives in larger arcjets, reduce facility-development risk, and improve the physical basis of high-enthalpy ground testing. This work will present the ARCTRON architecture, operating modes, diagnostic suite, and digital experimental workflow. Initial experimental results from the first integrated operation of the facility will be presented, including flow characterization, power limitations, and deployment of the initial diagnostic suite. Ongoing development efforts aimed at catalycity characterization, magnetic plasma control, and advanced optical diagnostics will also be discussed, illustrating how the platform supports rapid iteration from concept to experiment.
experimental diagnostics↗
ARCTRON: A Rapid Experimental Proving Ground for TPS Experiments and Arcjet Technology Development
Innovation in high-enthalpy facilities is fundamentally limited by the cost and risk of experimentation. New concepts for plasma control, diagnostics, facility components, and plasma-material interaction often require repeated iterations that are impractical to perform in production arcjets. As a result, promising ideas may remain unexplored or reach operational facilities only after significant development effort. ARCTRON is being developed as a rapid experimental proving ground where new ideas in plasma science, arcjet engineering, diagnostics, and material response can be conceived, tested, and quantitatively evaluated before transition to large-scale facilities. The platform combines radio-frequency (RF) and DC arc plasma generation, externally applied magnetic fields, configurable gas composition, reduced-pressure operation, laser heating, electrical biasing, and modular diagnostic access. These capabilities permit the plasma source, applied forcing, test article, and measurement configuration to be modified independently, allowing individual physical mechanisms to be isolated more readily than in a traditional test environment. One class of investigations addresses fundamental plasma-surface interaction physics. Conventional material tests often expose a specimen simultaneously to convective heating, reactive species, pressure, shear, radiation, and surface-current effects. The resulting material response may be measured accurately, while the contribution of each mechanism remains difficult to identify. ARCTRON is designed to vary these effects selectively. Plasma chemistry can be changed independently through configurable gas mixtures; magnetic fields and electrical biasing can modify charged-particle transport; laser heating can provide a non-plasma thermal input; and pressure, flow, and discharge mode can be varied over a broad operating space. This enables controlled tests of hypotheses involving surface catalycity, reactive-species transport, plasma-assisted oxidation, electromagnetic effects, shear, and the relative contributions of thermal and chemical loading. A second class of investigations enabled by this approach concerns the engineering of high-enthalpy facilities themselves. Arc-heated facilities are limited by electrode erosion, unstable arc attachment, localized heating, and damage to nozzles and other plasma-facing components. ARCTRON provides a lower-cost environment for testing concepts intended to mitigate these limitations. Candidate investigations include the use of applied magnetic fields to alter current paths and reduce plasma interaction with nozzle walls, ExB forcing to introduce controlled plasma rotation, magnetic or geometric approaches for distributing arc attachment, and alternative electrode or discharge configurations intended to reduce erosion and improve stability. Because the platform is reconfigurable, these concepts can be evaluated through repeated design--build--test cycles before they are considered for implementation in operational facilities. The platform also supports the development and validation of diagnostics that may be difficult to introduce initially into a large arcjet. Current and planned measurements include spatially resolved optical emission spectroscopy, electrostatic probes, fast imaging, pyrometry, calorimetry, laser-induced fluorescence, and absorption spectroscopy. These diagnostics are intended not merely to document a nominal operating condition, but to constrain the local plasma state and its relationship to component or material response. The modular facility geometry allows diagnostic concepts to be tested, calibrated, and compared under repeatable conditions before deployment in more demanding environments. ARCTRON is also supported by an integrated software suite. Automated control and data acquisition allow discharge parameters, gas composition, magnetic fields, diagnostic timing, and test configuration to be recorded as part of each experiment (STARDAC - Software for Testing, Analysis, Research Data, and Control). The Backend for Experiment Analysis, Storage, and Traceability (BEAST) is a database that provides the infrastructure needed to associate heterogeneous measurements with facility configuration, specimen identity, calibration state, geometry, and analysis provenance. This backend is particularly important for exploratory campaigns, in which many related configurations may be tested, and the value of an individual experiment depends on its connection to earlier and subsequent iterations. Complementary analysis capabilities, including computer-vision-based transient response measurements (arcjetCV), three-dimensional surface reconstruction (STARSCAN), and model-based Bayesian inference (SHIELD), and tomography data analysis (TOMATO, PuMA) can be incorporated when required by a specific hypothesis without becoming the focus of every campaign. The central objective of ARCTRON is therefore not to maximize heat flux or reproduce a complete flight environment. Its purpose is to reduce the cost and time required to ask consequential questions about plasma behavior, plasma-facing materials, diagnostics, and arcjet technology. By providing a controlled environment for rapid reconfiguration, mechanism isolation, quantitative measurement, and iterative engineering, ARCTRON can help mature concepts that would otherwise remain too speculative or too risky for evaluation in production facilities. The resulting knowledge can then guide the design of material models, focus test objectives in larger arcjets, reduce facility-development risk, and improve the physical basis of high-enthalpy ground testing. This work will present the ARCTRON architecture, operating modes, diagnostic suite, and digital experimental workflow. Initial experimental results from the first integrated operation of the facility will be presented, including flow characterization, power limitations, and deployment of the initial diagnostic suite. Ongoing development efforts aimed at catalycity characterization, magnetic plasma control, and advanced optical diagnostics will also be discussed, illustrating how the platform supports rapid iteration from concept to experiment.
experimental diagnostics↗
Variable Vector Countermeasure Suit (V2Suit) for Space Habitation and Exploration
The "Variable Vector Countermeasure Suit (V2Suit) for Space Habitation and Exploration" is a visionary system concept that will revolutionize space missions by providing a platform for integrating sensors and actuators with daily astronaut intravehicular activities to improve human health and performance. The V2Suit uses control moment gyroscopes (CMGs) within a miniaturized module placed on body segments to provide a "viscous resistance" during movements and a countermeasure to the sensorimotor and musculoskeletal adaptation performance decrements that manifest themselves while living and working in microgravity and during gravitational transitions during long-duration spaceflight, including post-flight recovery and rehabilitation. Through an integrated design, system initialization, and control systems approach the V2Suit is capable of generating this "viscous resistance" along an arbitrarily specified direction of "down." When movements are made, for example, parallel to that "down" direction a resistance is applied, and when the movement is perpendicular to that direction no resistance is applied. The V2Suit proposes to be a countermeasure to this spaceflight-related adaptation and de-conditioning and the unique sensorimotor characteristics associated with living and working in 0-G, which are critical for future long-duration space missions.This NIAC Phase I project focused on detailing several aspects of the V2Suit concept, including human-system integration, system architecture, computer aided design (CAD) modeling, and closed-loop simulation and analysis. In addition, early-stage breadboard prototyping of several aspects of the V2Suit system modules enabled characterization of expected performance and identified areas for further research and development to enable operational implementation of the V2Suit. In particular, potential challenges with integration of commercial-off-the-shelf components were identified. The key enabler for operational use and adoption of the V2Suit is a low-profile body worn form factor that does not interfere with normal, everyday movements and interfaces adequately with the body as to provide the generated gyroscopic torque for the perceptions of movement with a "viscous resistance." These aspects were investigated through mockups using a life-size mannequin, and through body attachment mechanisms on the breadboard prototype. Through the evaluation and investigation of commercially-available components, as well as an identification of desirable form factors, CAD models of the V2Suit modules were developed. These models included all of the required elements and spin motors, flywheel masses, gimbal motors, slip rings, inertial measurement units, motor controllers, and the required mounting brackets/hardware and cabling. The configuration and orientation of the control moment gyroscopes (CMGs) was specified according to results from the modeling, simulation and analysis. Two revisions of the CAD model were investigated through closed-loop simulation of the CMGs, and their ability to generate a resultant reaction force during movement and null undesirable torques due to changes in the direction of the angular momentum vector as a result of the normal body movements.
space missions↗
HTMT-class Latency Tolerant Parallel Architecture for Petaflops Scale Computation
Computational Aero Sciences and other numeric intensive computation disciplines demand computing throughputs substantially greater than the Teraflops scale systems only now becoming available. The related fields of fluids, structures, thermal, combustion, and dynamic controls are among the interdisciplinary areas that in combination with sufficient resolution and advanced adaptive techniques may force performance requirements towards Petaflops. This will be especially true for compute intensive models such as Navier-Stokes are or when such system models are only part of a larger design optimization computation involving many design points. Yet recent experience with conventional MPP configurations comprising commodity processing and memory components has shown that larger scale frequently results in higher programming difficulty and lower system efficiency. While important advances in system software and algorithms techniques have had some impact on efficiency and programmability for certain classes of problems, in general it is unlikely that software alone will resolve the challenges to higher scalability. As in the past, future generations of high-end computers may require a combination of hardware architecture and system software advances to enable efficient operation at a Petaflops level. The NASA led HTMT project has engaged the talents of a broad interdisciplinary team to develop a new strategy in high-end system architecture to deliver petaflops scale computing in the 2004/5 timeframe. The Hybrid-Technology, MultiThreaded parallel computer architecture incorporates several advanced technologies in combination with an innovative dynamic adaptive scheduling mechanism to provide unprecedented performance and efficiency within practical constraints of cost, complexity, and power consumption. The emerging superconductor Rapid Single Flux Quantum electronics can operate at 100 GHz (the record is 770 GHz) and one percent of the power required by convention semiconductor logic. Wave Division Multiplexing optical communications can approach a peak per fiber bandwidth of 1 Tbps and the new Data Vortex network topology employing this technology can connect tens of thousands of ports providing a bi-section bandwidth on the order of a Petabyte per second with latencies well below 100 nanoseconds, even under heavy loads. Processor-in-Memory (PIM) technology combines logic and memory on the same chip exposing the internal bandwidth of the memory row buffers at low latency. And holographic storage photorefractive storage technologies provide high-density memory with access a thousand times faster than conventional disk technologies. Together these technologies enable a new class of shared memory system architecture with a peak performance in the range of a Petaflops but size and power requirements comparable to today's largest Teraflops scale systems. To achieve high-sustained performance, HTMT combines an advanced multithreading processor architecture with a memory-driven coarse-grained latency management strategy called "percolation", yielding high efficiency while reducing the much of the parallel programming burden. This paper will present the basic system architecture characteristics made possible through this series of advanced technologies and then give a detailed description of the new percolation approach to runtime latency management.
Sterling, Thomas↗
Modular Software Interfaces for Revolutionary Flexibility in Space Operations
To make revolutionary improvements in exploration, space systems need to be flexible, realtime reconfigurable, and able to trade data transparently among themselves and mission operations. Onboard operations systems, space assembly coordination and EVA systems in exploration and construction all require real-time modular reconfigurability and data sharing. But NASA's current exploration systems are still largely legacies from hastily-developed, one-off Apollo-era practices. Today's rovers, vehicles, spacesuits, space stations, and instruments are not able to plug-and-play, Lego-like: into different combinations. Point-to-point dominates - individual suit to individual vehicle, individual instrument to rover. All are locally optimized, all unique, each of the data interfaces has been recoded for each possible combination. This will be an operations and maintenance nightmare in the much larger Project Constellation system of systems. This legacy approach does not scale to the hundreds of networked space components needed for space construction and for new, space-based approaches to Earth-Moon operations. By comparison, battlefield information management systems, which are considered critical to military force projection, have long since abandoned a point-to-point approach to systems integration. From a system-of-systems viewpoint, a clean-sheet redesign of the interfaces of all exploration systems is a necessary prerequisite before designing the interfaces of the individual exploration systems. Existing communications and Global Information Grid and middleware technologies are probably sufficient for command and control and information interfaces, with some hardware and time-delay modifications for space environments. NASA's future advanced space operations must also be information and data compatible with aerospace operations and surveillance systems being developed by other US Government agencies such as the Department of Homeland Security, Federal Aviation Administration and Department of Defense. This paper discusses fundamental system-of-systems infrastructure: approaches and architectures for modular plug-and-play software interfaces for revolutionary improvements in flexibility, modularity, robustness, ease of maintenance, reconfigurability, safety and productivity. Starting with middleware, databases, and mobile communications technologies, our technical challenges will be to apply these ideas to the requirements of constellations of space systems and to implement them initially on prototype space hardware. This is necessary to demonstrate an integrated information sharing architecture and services. It is a bottom-up approach, one that solves the problem of space operations data integration. Exploration demands uniform software mechanisms for application information interchange, and the corresponding uniformly available software services to enhance these mechanisms. We will examine the issues in plug-and-play, real-time-configurable systems, including common definition and management and tracking of data and information among many different space systems. Different field test approaches are discussed, including the use of the International Space Station and terrestrial analog mission operations at field sites.
Glass, Brian↗