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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Operational control with set-points tuning - application to mobile robots

This paper proposes a novel method for the optimal tuning of set points for multiple-layered control system structure widely seen in robotics and other complex industrial processes composed of a number of subsystems. The terminal sliding mode control (SMC) is used as the low-level control strategy to ensure the stability of subsystems. When uncertainties exist, it can be shown that the deteriorated system performance will be improved by the outer loop with set points tuning. For this purpose, the learning of the new set point is designed to compensate for the effects caused by uncertainties during the system operation. At the same time, the system is proven to stay with the original set point when the compensation is introduced. A practical application to a holonomic mobile robot system is given to illustrate the presented method. Desired results have been obtained.

42 ENGINEERING↗
NASA NTRS1991

What procedure to choose while designing a fuzzy control? Towards mathematical foundations of fuzzy control

Fuzzy control has been successfully applied in industrial systems. However, there is some caution in using it. The reason is that it is based on quite reasonable ideas, but each of these ideas can be implemented in several different ways, and depending on which of the implementations chosen different results are achieved. Some implementations lead to a high quality control, some of them not. And since there are no theoretical methods for choosing the implementation, the basic way to choose it now is experimental. But if one chooses a method that is good for several examples, there is no guarantee that it will work fine in all of them. Hence the caution. A theoretical basis for choosing the fuzzy control procedures is provided. In order to choose a procedure that transforms a fuzzy knowledge into a control, one needs, first, to choose a membership function for each of the fuzzy terms that the experts use, second, to choose operations of uncertainty values that corresponds to 'and' and 'or', and third, when a membership function for control is obtained, one must defuzzy it, that is, somehow generate a value of the control u that will be actually used. A general approach that will help to make all these choices is described: namely, it is proved that under reasonable assumptions membership functions should be linear or fractionally linear, defuzzification must be described by a centroid rule and describe all possible 'and' and 'or' operations. Thus, a theoretical explanation of the existing semi-heuristic choices is given and the basis for the further research on optimal fuzzy control is formulated.

Kreinovich, Vladik YA.↗
NASA NTRS1988

Force control of a multi-arm robot system

A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.

Alberts, Thomas E.↗
DOE OSTI2022

Dynamic, resilient virtual sensing system and shadow controller for cyber-attack neutralization

An industrial asset may have monitoring nodes (e.g., sensor or actuator nodes) that generate current monitoring node values. An abnormality detection and localization computer may receive the series of current monitoring node values and output an indication of at least one abnormal monitoring node that is currently being attacked or experiencing a fault. An actor-critic platform may tune a dynamic, resilient state estimator for a sensor node and output tuning parameters for a controller that improve operation of the industrial asset during the current attack or fault. The actor-critic platform may include, for example, a dynamic, resilient state estimator, an actor model, and a critic model. According to some embodiments, a value function of the critic model is updated for each action of the actor model and each action of the actor model is evaluated by the critic model to update a policy of the actor-critic platform.

Roychowdhury, Subhrajit↗
DOE OSTI2020

Extremum seeking for optimal control problems with unknown time-varying systems and unknown objective functions

We consider the problem of optimal feedback control of an unknown, noisy, time-varying, dynamic system that is initialized repeatedly. Examples include a robotic manipulator which must perform the same motion, such as assisting a human, repeatedly and accelerating cavities in particle accelerators which are turned on for a fraction of a second with given initial conditions and vary slowly due to temperature fluctuations. In this paper, we present an approach that applies to systems of practical interest. The method presented here is model independent; does not require knowledge of the objective function; is robust to measurement noise; is applicable for any set of initial conditions; is applicable to simultaneously controlling an arbitrary number of parameters; and may be implemented with a broad range of continuous or discontinuous functions such as sine or square waves. For systems with convex cost functions we prove that our algorithm will produce controllers that approach the minimal cost. For linear systems we reproduce the cost minimizing linear quadratic regulator optimal controller that could have been designed analytically had the system and cost function been known. We demonstrate the effectiveness of the algorithm with simulation studies of noisy and time-varying systems.

42 ENGINEERING↗
NASA NTRS2004

Control systems of the large millimeter telescope

The paper presents the analysis results (in terms of settling time, bandwidth, and servo error in wind disturbances) of four control systems designed for the Large Millimeter Telescope (LMT). The first system, called PI’, consists of the proportional and integral (PI) controllers in the rate and position loops, and is widely used in the antenna and radiotelescope industry. The analysis shows that the PP control system performance is remarkably good when compared to similar control systems applied to typical antennas. This performance is achieved because the LMT structure is exceptionally rigid, however, it does not meet the stringent LMT pointing requirements. The second system, called PL, consists of the PI controller in the rate loop, and the Linear-Quadratic-Gaussian (LQG) controller in the position loop. This type of controller is implemented in the NASA Deep Space Network antennas, where pointing accuracy is twice that of PP control system. The third system, called LP, consists of the LQG controller in the rate loop, and the propositional-integral-derivative (PID) controller in the position loop. This type of loop has not been yet implemented at known antennas or radiotelescopes, but the analysis shows that its pointing accuracy is the ten times better than PP control system. The fourth system, called LL, consists of the LQG controller in both the rate loop, and the position loop. It is the best of the four, with accuracy 250 better than the PP system, thus is worth further investigations, to identify implementation challenges for the telescopes of high pointing requirements.

Souccar, Kainal↗
DOE OSTI2025

Instrumentation and Control Digital Modernization Research Plan for Long-Term Sustainability in the Nuclear Industry

This report, developed by Idaho National Laboratory (INL) in collaboration with Oak Ridge National Laboratory (ORNL), outlines a comprehensive research plan to support the digital modernization of safety-related instrumentation and control (I&C) systems in the U.S. nuclear industry. The modernization effort is critical to ensuring the long-term safety, reliability, and economic viability of both existing and future nuclear power plants (NPPs), particularly as aging analog systems become increasingly obsolete and difficult to maintain.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

Innovating the next generation of commercial smart building software

Nearly 30% of commercial building energy use is wasted due to equipment faults and HVAC controls problems. The result is increased emissions, compromised comfort and productivity, and less reliable coordination of building power needs with a clean grid. The energy impact alone represents $17 billion in potential savings. Today’s smart building software provides a robust solution to address these operational deficiencies. Energy management and information systems (EMIS) are saving up to 9% on average, with two-year paybacks. They are being incorporated into energy management processes, commissioning services, and utility programs. As effective as they are, two barriers prevent even deeper benefits; limited personnel to fix problems once they are identified, and the expense and time to manually implement changes in control systems. In partnership with the research community, the EMIS industry is developing new capabilities to overcome these barriers. Moving beyond siloed products for either fault detection and diagnostics, or optimal control, these new capabilities empower users to not only automatically identify faults, but also to push corrective action, and control improvements to their buildings. In this paper, several areas for enhancements are documented: ‘one-time’ correction of faults such as setpoints, schedules, and economizer lockouts; short-term active testing for automated proportional integral derivative (PID) loop tuning and functional testing; and continuous supervisory control for demand flexibility and year-round efficiency. Results are presented from a pair of partner implementations out of a dozen providers integrating these enhancements into their products, including field tests from across the country, and insights into operator acceptance and integration into operations and maintenance practices.

Casillas, Armando↗
DOE OSTI2022

Wind farm flow control: prospects and challenges

Abstract. Wind farm control has been a topic of research for more than two decades. It has been identified as a core component of grand challenges in wind energy science to support accelerated wind energy deployment and to transition to a clean and sustainable energy system for the 21st century. The prospect of collective control of wind turbines in an array, to increase energy extraction, reduce structural loads, improve the balance of systems, reduce operation and maintenance costs, etc. has inspired many researchers over the years to propose innovative ideas and solutions. However, practical demonstration and commercialization of some of the more advanced concepts has been limited by a wide range of challenges, which include the complex physics of turbulent flows in wind farms and the atmosphere, uncertainties related to predicting structural load and failure statistics, and the highly multi-disciplinary nature of the overall design optimization problem, among others. In the current work, we aim at providing a comprehensive overview of the state of the art and outstanding challenges, thus identifying the key research areas that could further enable commercial uptake and success of wind farm control solutions. To this end, we have structured the discussion on challenges and opportunities into four main areas: (1) insight in control flow physics, (2) algorithms and AI, (3) validation and industry implementation, and (4) integrating control with system design (co-design).

Meyers, Johan (ORCID:0000000228284397)↗
NASA NTRS2003

Flight Investigation of Prescribed Simultaneous Independent Surface Excitations for Real-Time Parameter Identification

Near real-time stability and control derivative extraction is required to support flight demonstration of Intelligent Flight Control System (IFCS) concepts being developed by NASA, academia, and industry. Traditionally, flight maneuvers would be designed and flown to obtain stability and control derivative estimates using a postflight analysis technique. The goal of the IFCS concept is to be able to modify the control laws in real time for an aircraft that has been damaged in flight. In some IFCS implementations, real-time parameter identification (PID) of the stability and control derivatives of the damaged aircraft is necessary for successfully reconfiguring the control system. This report investigates the usefulness of Prescribed Simultaneous Independent Surface Excitations (PreSISE) to provide data for rapidly obtaining estimates of the stability and control derivatives. Flight test data were analyzed using both equation-error and output-error PID techniques. The equation-error PID technique is known as Fourier Transform Regression (FTR) and is a frequency-domain real-time implementation. Selected results were compared with a time-domain output-error technique. The real-time equation-error technique combined with the PreSISE maneuvers provided excellent derivative estimation in the longitudinal axis. However, the PreSISE maneuvers as presently defined were not adequate for accurate estimation of the lateral-directional derivatives.

Moes, Timothy R.↗
NASA NTRS1982

From Lift-Off to Light-Off

Shuttle's propellant measurement system is produced by Simmonds Precision. Company has extensive experience in fuel management systems and other equipment for military and commercial aircraft. A separate corporate entity, Industrial Controls Division was formed due to a number of non-aerospace spinoffs. One example is a "custody transfer" system for measuring and monitoring liquefied natural gas (LNG). LNG is transported aboard large tankers at minus 260 degrees Fahrenheit. Value of a single shipload may reach $15 million. Precision's LNG measurement and monitoring system aids accurate financial accounting and enhances crew safety. Custody transfer systems have been provided for 10 LNG tankers, built by Owing Shipbuilding. Simmonds also provided measurement systems for several liquefied petroleum gas (LPG) production and storage installations. Another spinoff developed by Simmonds Precision is an advanced ignition system for industrial boilers that offers savings of millions of gallons of fuel, and a computer based monitoring and control system for improving safety and reliability in electrical utility applications. Simmonds produces a line of safety systems for nuclear and non-nuclear electrical power plants.

Source record↗
DOE OSTI2022

A Bayesian Deep Learning Approach to Near-Term Climate Prediction

Since model bias and associated initialization shock are serious shortcomings that reduce prediction skills in state-of-the-art decadal climate prediction efforts, we pursue a complementary machine-learning-based approach to climate prediction. The example problem setting we consider consists of predicting natural variability of the North Atlantic sea surface temperature on the interannual timescale in the pre-industrial control simulation of the Community Earth System Model. While previous works have considered the use of recurrent networks such as convolutional LSTMs and reservoir computing networks in this and other similar problem settings, we currently focus on the use of feedforward convolutional networks. In particular, we find that a feedforward convolutional network with a Densenet architecture is able to outperform a convolutional LSTM in terms of predictive skill. Next, we go on to consider a probabilistic formulation of the same network based on Stein variational gradient descent and find that in addition to providing useful measures of predictive uncertainty, the probabilistic (Bayesian) version improves on its deterministic counterpart in terms of predictive skill. Finally, we characterize the reliability of the ensemble of machine learning models obtained in the probabilistic setting by using analysis tools developed in the context of ensemble numerical weather prediction.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Exploring the Relative Importance of the MJO and ENSO to North Pacific Subseasonal Predictability

Abstract Here we explore the relative contribution of the Madden‐Julian Oscillation (MJO) and El Niño Southern Oscillation (ENSO) to midlatitude subseasonal predictive skill of upper atmospheric circulation over the North Pacific, using an inherently interpretable neural network applied to pre‐industrial control runs of the Community Earth System Model version 2. We find that this interpretable network generally favors the state of ENSO, rather than the MJO, to make correct predictions on a range of subseasonal lead times and predictand averaging windows. Moreover, the predictability of positive circulation anomalies over the North Pacific is comparatively lower than that of their negative counterparts, especially evident when the ENSO state is important. However, when ENSO is in a neutral state, our findings indicate that the MJO provides some predictive information, particularly for positive anomalies. We identify three distinct evolutions of these MJO states, offering fresh insights into opportune forecasting windows for MJO teleconnections.

58 GEOSCIENCES↗
DOE OSTI2022

Understanding the Drivers of Atlantic Multidecadal Variability using a Stochastic Model Hierarchy

The relative importance of ocean and atmospheric dynamics in generating Atlantic Multidecadal Variability (AMV) remains an open question. Comparisons between climate models with SLAB and fully-dynamic (FULL) ocean components are often used to explore this question, but cannot reveal how individual ocean processes generate these differences. We build a hierarchy of physically interpretable stochastic models to investigate the contribution of two upper-ocean processes to AMV: the role of seasonal variation and mixed-layer entrainment. This interpretability arises from the stochastic model’s simplified representation of sea surface temperature (SST), considering only the local upper ocean response to white-noise atmospheric forcing and its impact on surface heat exchange. We focus on understanding differences between SLAB and FULL non-eddy resolving pre-industrial control simulations of the Community Earth System Model 1 (CESM), and estimate the stochastic model parameters from each respective simulation. Despite its simplicity, the stochastic model reproduces temporal characteristics of SST variability in the SPG, including reemergence, seasonal-to-interannual persistence and power spectra. Furthermore, unrealistically persistent SST of the CESM-SLAB ocean simulation is reproduced in the equivalent stochastic model configuration where the mixed-layer depth (MLD) is constant. The stochastic model also reveals that vertical entrainment primarily damps SST variability, thus explaining why SLAB exhibits larger SST variance than FULL. Here, the stochastic model driven by temporally stochastic, spatially coherent forcing patterns reproduces the canonical AMV pattern. However, the amplitude of low-frequency variability remains underestimated, suggesting a role for ocean dynamics beyond entrainment.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1998

Real-Time Sensor Validation, Signal Reconstruction, and Feature Detection for an RLV Propulsion Testbed

A real-time system for validating sensor health has been developed in support of the reusable launch vehicle program. This system was designed for use in a propulsion testbed as part of an overall effort to improve the safety, diagnostic capability, and cost of operation of the testbed. The sensor validation system was designed and developed at the NASA Lewis Research Center and integrated into a propulsion checkout and control system as part of an industry-NASA partnership, led by Rockwell International for the Marshall Space Flight Center. The system includes modules for sensor validation, signal reconstruction, and feature detection and was designed to maximize portability to other applications. Review of test data from initial integration testing verified real-time operation and showed the system to perform correctly on both hard and soft sensor failure test cases. This paper discusses the design of the sensor validation and supporting modules developed at LeRC and reviews results obtained from initial test cases.

Jankovsky, Amy L.↗
NASA NTRS1999

Space Adaptation of Active Mirror Segment Concepts

This report summarizes the results of a three year effort by Blue Line Engineering Co. to advance the state of segmented mirror systems in several separate but related areas. The initial set of tasks were designed to address the issues of system level architecture, digital processing system, cluster level support structures, and advanced mirror fabrication concepts. Later in the project new tasks were added to provide support to the existing segmented mirror testbed at Marshall Space Flight Center (MSFC) in the form of upgrades to the 36 subaperture wavefront sensor. Still later, tasks were added to build and install a new system processor based on the results of the new system architecture. The project was successful in achieving a number of important results. These include the following most notable accomplishments: 1) The creation of a new modular digital processing system that is extremely capable and may be applied to a wide range of segmented mirror systems as well as many classes of Multiple Input Multiple Output (MIMO) control systems such as active structures or industrial automation. 2) A new graphical user interface was created for operation of segmented mirror systems. 3) The development of a high bit rate serial data loop that permits bi-directional flow of data to and from as many as 39 segments daisy-chained to form a single cluster of segments. 4) Upgrade of the 36 subaperture Hartmann type Wave Front Sensor (WFS) of the Phased Array Mirror, Extendible Large Aperture (PAMELA) testbed at MSFC resulting in a 40 to 5OX improvement in SNR which in turn enabled NASA personnel to achieve many significant strides in improved closed-loop system operation in 1998. 5) A new system level processor was built and delivered to MSFC for use with the PAMELA testbed. This new system featured a new graphical user interface to replace the obsolete and non-supported menu system originally delivered with the PAMELA system. The hardware featured Blue Line's new stackable processing system which included fiber optic data links, a WFS digital interface, and a very compact and reliable electronics package. The project also resulted in substantial advances in the evolution of concepts for integrated structures to be used to support clusters of segments while also serving as the means to distribute power, timing, and data communications resources. A prototype cluster base was built and delivered that would support a small array of 7 cm mirror segments. Another conceptual design effort led to substantial progress in the area of laminated silicon mirror segments. While finished mirrors were never successfully produced in this exploratory effort, the basic feasibility of the concept was established through a significant amount of experimental development in microelectronics processing laboratories at the University of Colorado in Colorado Springs. Ultimately lightweighted aluminum mirrors with replicated front surfaces were produced and delivered as part of a separate contract to develop integrated segmented mirror assemblies. Overall the project was very successful in advancing segmented mirror system architectures on several fronts. In fact, the results of this work have already served as the basic foundation for the system architectures of several projects proposed by Blue Line for different missions and customers. These include the NMSD and AMSD procurements for NASA's Next Generation Space Telescope, the HET figure maintenance system, and the 1 meter FAST telescope project.

Ames, Gregory H.↗