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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 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.

Lowrie, J. W.↗
NASA NTRS1981

Identifiability of unknown noise covariance matrices for some special cases of a linear, time-invariant, discrete-time dynamic system

Two off-line schemes are proposed for the identification of unknown noise covariance matrices Q and R of a discrete-time dynamic system. The first scheme is based on a maximum a posteriori cost function utilizing smoothed state estimates, while the second is based on a maximum likelihood cost function utilizing filtered state estimates. Sensitivity of the cost functions to Q and R is analyzed for the following cases: (1) single-input single-output systems; (2) multiinput single-output systems; and (3) single-input multioutput systems with a diagonal R. Identifiability criteria are presented for the cases considered and demonstrated by examples.

Tsang, W. L.↗
NASA NTRS1973

Open-loop-feedback-optimal adaptive stochastic control of linear systems

This paper considers the suboptimal stochastic control of linear discrete-time dynamical systems with unknown or stochastically varying parameters. The suboptimal scheme is based upon the use of the open-loop-feedback-optimal method. The state and parameter estimates are generated by an extended Kalman filter algorithm. Numerical results for first-order systems are presented.

Ku, R.↗
NASA NTRS1975

A discussion of dynamic stability measurement techniques

Techniques for the measurement of the dynamic stability of linear systems are discussed. Particular attention is given to an analysis of the errors in the procedures, and to methods for calculating the system damping from the data. The techniques discussed include: transient decay, moving block analysis, spectral analysis, random decrement signatures, transfer function analysis, and parameter identification methods. The special problems of rotorcraft dynamic stability testing are discussed.

Johnson, W.↗
DOE OSTI2023

Data-Driven Model Predictive Control for Temperature Management of Heat Pipe Microreactor

To enable the self-regulating capability of heat pipe (HP) microreactors, an anticipatory control strategy through model predictive control (MPC) could proactively respond to potential disturbances and deviations in operating setpoints. However, a key factor prohibiting the widespread adoption of MPCs in nuclear applications is the effort and computational costs associated with learning and calibrating first-principles-based process models when the target system is complex and when there are gaps between modeled and target reactor systems. In this paper, we demonstrate data-driven MPC using three approaches for modeling the system dynamics, including a linear state-space model, feedforward neural network, and recurrent neural networks long short-term memory. We present the development and validation process of each model and compare the performance of data-driven MPCs in controlling the temperatures of selected HPs at the evaporator and condenser regions in a 37-HP-monolith system. Our results show that, qualitatively, all data-driven MPCs are producing similar control actions, while quantitatively, with artificial neural nets (especially feedforward neural nets), MPC can better follow drastic changes in setpoints with smallest errors.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS1983

Symmetric linear systems - An application of algebraic systems theory

Dynamical systems which contain several identical subsystems occur in a variety of applications ranging from command and control systems and discretization of partial differential equations, to the stability augmentation of pairs of helicopters lifting a large mass. Linear models for such systems display certain obvious symmetries. In this paper, we discuss how these symmetries can be incorporated into a mathematical model that utilizes the modern theory of algebraic systems. Such systems are inherently related to the representation theory of algebras over fields. We will show that any control scheme which respects the dynamical structure either implicitly or explicitly uses the underlying algebra.

Hazewinkel, M.↗
NASA NTRS2000

Detection of Extraterrestrial Ecology (Exoecology)

Researchers in the Astrobiology Technology Branch at Ames Research Center have begun investigating alternate concepts for the detection of extraterrestrial life. We suggest searching for extraterrestrial ecology, exoecology, as well as for extraterrestrial biology, exobiology. Ecology describes the interactions of living things with their environment. All ecosystems are highly constrained by their environment and are constrained by well-known system design principles. Ecology could exist wherever there is an energy source and living I things have discovered some means to capture, store, and use the available energy. Terrestrial ecosystems use as energy sources, light, organic molecules, and in thermal vents and elsewhere, simple inorganic molecules. Ecosystem behavior is controlled by matter and energy conservation laws and can be described by linear and nonlinear dynamic systems theory. Typically in an ecosystem different molecules are not in chemical equilibrium and scarce material is conserved, stored, or recycled. Temporal cycles and spatial variations are often observed. These and other -eneral principles of exoecology can help guide the search for extraterrestrial life. The chemical structure observed in terrestrial biology may be highly contingent on evolutionary accidents. Oxygen was not always abundant on Earth. Primitive sulfur bacteria use hydrogen sulfide and sulfur to perform photosynthesis instead of water and oxygen. Astrobiologists have assumed, for the sake of narrowing and focusing our life detection strategies, that extraterrestrial life will have detailed chemical similarities with terrestrial life. Such assumptions appear very reasonable and they allow us to design specific and highly sensitive life detection experiments. But the fewer assumptions we make, the less chance we have of being entirely wrong The best strategy for the detection of extraterrestrial life could be a mixed strategy. We should use detailed assumptions based on terrestrial biology to guide some but not all future searches for alien life. The systems principles of exoecology seem much more fundamental and inescapable than the terrestrial biology analogies of exobiology. We should search for exoecology as well as exobiology.

Jones, Harry↗
NASA NTRS1993

Fuzzy logic controllers: A knowledge-based system perspective

Over the last few years we have seen an increasing number of applications of Fuzzy Logic Controllers. These applications range from the development of auto-focus cameras, to the control of subway trains, cranes, automobile subsystems (automatic transmissions), domestic appliances, and various consumer electronic products. In summary, we consider a Fuzzy Logic Controller to be a high level language with its local semantics, interpreter, and compiler, which enables us to quickly synthesize non-linear controllers for dynamic systems.

Bonissone, Piero P.↗
NASA NTRS1990

Estimability And Regulability Of Linear Systems

Report presents two new properties of systems characterized by linear state space models (e.g., dynamical systems and associated control systems): estimability and regulability. Provides criteria for reductions of errors and cost functions in control systems. Useful in design of optimal controllers and estimators.

Baram, Yoram↗
NASA NTRS1994

Advanced data assimilation in strongly nonlinear dynamical systems

Advanced data assimilation methods are applied to simple but highly nonlinear problems. The dynamical systems studied here are the stochastically forced double well and the Lorenz model. In both systems, linear approximation of the dynamics about the critical points near which regime transitions occur is not always sufficient to track their occurrence or nonoccurrence. Straightforward application of the extended Kalman filter yields mixed results. The ability of the extended Kalman filter to track transitions of the double-well system from one stable critical point to the other depends on the frequency and accuracy of the observations relative to the mean-square amplitude of the stochastic forcing. The ability of the filter to track the chaotic trajectories of the Lorenz model is limited to short times, as is the ability of strong-constraint variational methods. Examples are given to illustrate the difficulties involved, and qualitative explanations for these difficulties are provided. Three generalizations of the extended Kalman filter are described. The first is based on inspection of the innovation sequence, that is, the successive differences between observations and forecasts; it works very well for the double-well problem. The second, an extension to fourth-order moments, yields excellent results for the Lorenz model but will be unwieldy when applied to models with high-dimensional state spaces. A third, more practical method--based on an empirical statistical model derived from a Monte Carlo simulation--is formulated, and shown to work very well. Weak-constraint methods can be made to perform satisfactorily in the context of these simple models, but such methods do not seem to generalize easily to practical models of the atmosphere and ocean. In particular, it is shown that the equations derived in the weak variational formulation are difficult to solve conveniently for large systems.

Miller, Robert N.↗
NASA NTRS2004

Method and apparatus for creating time-optimal commands for linear systems

A system for and method of determining an input command profile for substantially any dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state. The present invention involves identifying characteristics of the dynamic system, selecting a command profile which defines an input to the dynamic system based on the identified characteristics, wherein the command profile comprises one or more pulses which rise and fall at switch times, imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. The characteristics may be related to poles and zeros of the dynamic system, and the plurality of constraints may include a dynamics cancellation constraint which specifies that the input moves the dynamic system from a first state to a second state such that the dynamic system remains substantially at the second state.

Tuttle, Timothy D.↗
NASA NTRS1985

Residue-Measure Model-Reduction Technique

New residue-measure criterion simplifies mathematical models of feedback-control systems. Although originally developed for flight control, approach applied to any flexible structural system involving dominantly linear dynamics.

Gluch, D. P.↗
NASA NTRS1995

Triggering of longitudinal combustion instabilities in solid rocket motors: Nonlinear combustion response

Pulsed oscillations in solid rocket motors are investigated with emphasis on nonlinear combustion response. The study employs a wave equation governing the unsteady motions in a two-phase flow, and a solution technique based on spatial- and time-averaging. A wide class of combustion response functions is studied to second-order in fluctuation amplitude to determine if, when, and how triggered instabilities arise. Conditions for triggering are derived from analysis of limit cycles, and regions of triggering are found in parametric space. Based on the behavior of model dynamical systems, introduction of linear cross-coupling and quadratic self-coupling among the acoustic modes appears to be the manner in which the nonlinear combustion response produces triggering to a stable limit cycle. Regions of initial conditions corresponding to stable pulses were found, suggesting that stability depends on initial phase angle and harmonic content, as well as the composite amplitude, of the pulse.

Wicker, J. M.↗
NASA NTRS1999

Control of the NASA Langley 16-Foot Transonic Tunnel with the Self-Organizing Map

A predictive, multiple model control strategy is developed based on an ensemble of local linear models of the nonlinear system dynamics for a transonic wind tunnel. The local linear models are estimated directly from the weights of a self-organizing map (SOM). Multiple self-organizing maps collectively model the global response of the wind tunnel to a finite set of representative prototype controls. These prototype controls partition the control space and incorporate experiential knowledge gained from decades of operation. Each SOM models the combination of the tunnel with one of the representative controls, over the entire range of operation. The SOM based linear models are used to predict the tunnel response to a larger family of control sequences which are clustered on the representative prototypes. The control sequence which corresponds to the prediction that best satisfies the requirements on the system output is applied as the external driving signal.

Mark A. Motter↗
NASA NTRS2005

Generic Kalman Filter Software

The Generic Kalman Filter (GKF) software provides a standard basis for the development of application-specific Kalman-filter programs. Historically, Kalman filters have been implemented by customized programs that must be written, coded, and debugged anew for each unique application, then tested and tuned with simulated or actual measurement data. Total development times for typical Kalman-filter application programs have ranged from months to weeks. The GKF software can simplify the development process and reduce the development time by eliminating the need to re-create the fundamental implementation of the Kalman filter for each new application. The GKF software is written in the ANSI C programming language. It contains a generic Kalman-filter-development directory that, in turn, contains a code for a generic Kalman filter function; more specifically, it contains a generically designed and generically coded implementation of linear, linearized, and extended Kalman filtering algorithms, including algorithms for state- and covariance-update and -propagation functions. The mathematical theory that underlies the algorithms is well known and has been reported extensively in the open technical literature. Also contained in the directory are a header file that defines generic Kalman-filter data structures and prototype functions and template versions of application-specific subfunction and calling navigation/estimation routine code and headers. Once the user has provided a calling routine and the required application-specific subfunctions, the application-specific Kalman-filter software can be compiled and executed immediately. During execution, the generic Kalman-filter function is called from a higher-level navigation or estimation routine that preprocesses measurement data and post-processes output data. The generic Kalman-filter function uses the aforementioned data structures and five implementation- specific subfunctions, which have been developed by the user on the basis of the aforementioned templates. The GKF software can be used to develop many different types of unfactorized Kalman filters. A developer can choose to implement either a linearized or an extended Kalman filter algorithm, without having to modify the GKF software. Control dynamics can be taken into account or neglected in the filter-dynamics model. Filter programs developed by use of the GKF software can be made to propagate equations of motion for linear or nonlinear dynamical systems that are deterministic or stochastic. In addition, filter programs can be made to operate in user-selectable "covariance analysis" and "propagation-only" modes that are useful in design and development stages.

Lisano, Michael E., II↗