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At least 289 records · Page 16

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NASA NTRS1976

Decentralization, stabilization, and estimation of large-scale linear systems

In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

Siljak, D. D.↗

NASA NTRS1987

A combined stochastic feedforward and feedback control design methodology with application to autoland design

A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.

Halyo, Nesim↗

NASA NTRS1991

Thermal elastic shock and its effect on TOPEX spacecraft attitude control

Thermal elastic shock (TES) is a twice per orbit impulsive disturbance torque experienced by low-Earth orbiting spacecraft. The fundamental equations used to model the TES disturbance torque for typical spacecraft appendages (e.g., solar arrays and antenna booms) are derived in detail. In particular, the attitude-pointing performance of the TOPEX spacecraft, when subjected to the TES disturbance, is analyzed using a three-axis nonlinear time-domain simulation. Results indicate that the TOPEX spacecraft could exceed its roll-axis attitude-control requirement during penumbral transitions, and remain in violation for approximately 150 sec each orbit until the umbra collapses. A localized active-control system is proposed as a solution to minimize and/or eliminate the degrading effects of the TES disturbance.

Zimbelman, Darrell F.↗

NASA NTRS1996

A Derivation of the Long-Term Degradation of a Pulsed Atomic Frequency Standard from a Control-Loop Model

The phase of a frequency standard that uses periodic interrogation and control of a local oscillator (LO) is degraded by a long-term random-walk component induced by downconversion of LO noise into the loop passband. The Dick formula for the noise level of this degradation is derived from an explicit solution of an LO control-loop model.

Dick formula local oscillator frequency phase freq↗

NASA NTRS2004

Microscale Investigation of Thermo-Fluid Transport in the Transition FIL, Region of an Evaporating Capillary Meniscus Using a Microgravity Environment

In order to enhance the fundamental understanding of thin film evaporation and thereby improve the critical design concept for two-phase heat transfer devices, microscale heat and mass transport is to be investigated for the transition film region using state-of-the-art optical diagnostic techniques. By utilizing a microgravity environment, the length scales of the transition film region can be extended sufficiently, from submicron to micron, to probe and measure the microscale transport fields which are affected by intermolecular forces. Extension of the thin film dimensions under microgravity will be achieved by using a conical evaporator made of a thin silicon substrate under which concentric and individually controlled micro-heaters are vapor-deposited to maintain either a constant surface temperature or a controlled temperature variation. Local heat transfer rates, required to maintain the desired wall temperature boundary condition, will be measured and recorded by the concentric thermoresistance heaters controlled by a Wheatstone bridge circuit, The proposed experiment employs a novel technique to maintain a constant liquid volume and liquid pressure in the capillary region of the evaporating meniscus so as to maintain quasi-stationary conditions during measurements on the transition film region. Alternating use of Fizeau interferometry via white and monochromatic light sources will measure the thin film slope and thickness variation, respectively. Molecular Fluorescence Tracking Velocimetry (MFTV), utilizing caged fluorophores of approximately 10-nm in size as seeding particles, will be used to measure the velocity profiles in the thin film region. An optical sectioning technique using confocal microscopy will allow submicron depthwise resolution for the velocity measurements within the film for thicknesses on the order of a few microns. Digital analysis of the fluorescence image-displacement PDFs, as described in the main proposal, can further enhance the depthwise resolution.

Kihm, K. D.↗

NASA NTRS1975

A tether tension control law for tethered subsatellites deployed along local vertical

A tethered subsatellite deployed along the local vertical is in stable equilibrium. This applies equally to subsatellites deployed in the direction towards the earth from the main spacecraft or away from the earth. Momentary perturbations from this stable equilibrium will result in a swinging motion, which decays very slowly if passive means are relied upon to provide damping. A control law is described which actively damps the swinging motion by employing a reel, or other mechanism, to apply appropriate tension as a function of tetherline length, rate of change of length, and desired length. The same control law is shown to be useful for deployment and retrieval of tethered subsatellites in addition to damping to steady state.

Rupp, C. C.↗

NASA NTRS1988

Decentralized adaptive control of robot manipulators with robust stabilization design

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Yuan, Bau-San↗

NASA NTRS1981

Application of variable structure system theory to aircraft flight control

The current status of research on the application of variable structure system (VSS) theory to design aircraft flight control systems is summarized. Two aircraft types are currently being investigated: the Augmentor Wing Jet STOL Research Aircraft (AWJSRA), and AV-8A Harrier. The AWJSRA design considers automatic control of longitudinal dynamics during the landing phase. The main task for the AWJSRA is to design an automatic landing system that captures and tracks a localizer beam. The control task for the AV-8A is to track velocity commands in a hovering flight configuration. Much effort was devoted to developing computer programs that are needed to carry out VSS design in a multivariable frame work, and in becoming familiar with the dynamics and control problems associated with the aircraft types under investigation. Numerous VSS design schemes were explored, particularly for the AWJSRA. The approaches that appear best suited for these aircraft types are presented. Examples are given of the numerical results currently being generated.

Calise, A. J.↗

NASA NTRS1990

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Shao, Lejun↗

NASA NTRS2006

Learning Grasp Context Distinctions that Generalize

Control-based approaches to grasp synthesis create grasping behavior by sequencing and combining control primitives. In the absence of any other structure, these approaches must evaluate a large number of feasible control sequences as a function of object shape, object pose, and task. This work explores a new approach to grasp synthesis that limits consideration to variations on a generalized localize-reach-grasp control policy. A new learning algorithm, known as schema structured learning, is used to learn which instantiations of the generalized policy are most likely to lead to a successful grasp in different problem contexts. Two experiments are described where Dexter, a bimanual upper torso, learns to select an appropriate grasp strategy as a function of object eccentricity and orientation. In addition, it is shown that grasp skills learned in this way can generalize to new objects. Results are presented showing that after learning how to grasp a small, representative set of objects, the robot's performance quantitatively improves for similar objects that it has not experienced before.

Platt, Robert↗

NASA NTRS1996

A Derivation of the Dick Effect from Control-Loop Models for Periodically Interrogated Passive Frequency Standards

The phase of a frequency standard that uses periodic interrogation and control of a local oscillator (LO) is degraded by a long-term random-walk component induced by downconversion of LO noise into the loop passband. The Dick formula for the noise level of this degradation can be derived from explicit solotions of two LO control-loop models. A summary of the derivations is given here.

Dick Effect Dick Formula local oscillator noise fr↗

NASA NTRS2011

Seafloor Control on Sea Ice

The seafloor has a profound role in Arctic sea ice formation and seasonal evolution. Ocean bathymetry controls the distribution and mixing of warm and cold waters, which may originate from different sources, thereby dictating the pattern of sea ice on the ocean surface. Sea ice dynamics, forced by surface winds, are also guided by seafloor features in preferential directions. Here, satellite mapping of sea ice together with buoy measurements are used to reveal the bathymetric control on sea ice growth and dynamics. Bathymetric effects on sea ice formation are clearly observed in the conformation between sea ice patterns and bathymetric characteristics in the peripheral seas. Beyond local features, bathymetric control appears over extensive ice-prone regions across the Arctic Ocean. The large-scale conformation between bathymetry and patterns of different synoptic sea ice classes, including seasonal and perennial sea ice, is identified. An implication of the bathymetric influence is that the maximum extent of the total sea ice cover is relatively stable, as observed by scatterometer data in the decade of the 2000s, while the minimum ice extent has decreased drastically. Because of the geologic control, the sea ice cover can expand only as far as it reaches the seashore, the continental shelf break, or other pronounced bathymetric features in the peripheral seas. Since the seafloor does not change significantly for decades or centuries, sea ice patterns can be recurrent around certain bathymetric features, which, once identified, may help improve short-term forecast and seasonal outlook of the sea ice cover. Moreover, the seafloor can indirectly influence cloud cover by its control on sea ice distribution, which differentially modulates the latent heat flux through ice covered and open water areas.

Nghiem, S. V.↗

NASA NTRS1998

Burner Emissions Associated with Lobed and Non-Lobed Fuel Injectors

The present experimental study examines NO(sub x), and CO emissions associated with three alternative fuel-injector geometries. These injectors mix fuel and air and strain their interfaces to differing extents and thus create different local equivalence ratios within flow regions upstream of flame ignition and stabilization. Two of the devices studied are lobed fuel injectors, in which molecular mixing of reactants is associated with streamwise vorticity generation, while the third one is a non-lobed fuel injector. Results show that rapid mixing allowed both lobed injector geometries to produce very lean premixed flame structures, with a lower achievable turn-down or fuel/air mass flux ratio than for the analogous non-lobed injector, which largely, produced distinct diffusion flames. All three injectors exhibited some level of sooting near walls and in the far-field region, with the non-lobed injector sooting to the greatest extent. At low fuel flow rates, in which the lobed injectors created locally very lean premixed conditions, there resulted lower NO(sub x) emissions as compared with non-lobed injector emissions. Yet at higher fuel-air mass flux ratios, NO(sub x) emissions from the lobed injectors were actually higher than for the nonlobed injector, likely due to reduced sooting and hence reduced radiative heat losses associated with enhanced mixing. For both lobed injector geometries examined here, CO emissions became high for low values of the fuel/air mass flux ratio, again consistent with locally premixed combustion behavior, despite the fact that fuel was injected separately from air directly into the burner test section. The present study demonstrates that, for fuel-air mixing enhancement devices, control of the local equivalence ratio is critical in order to optimize burner emissions.

Mitchell, M. G.↗

NASA NTRS2010

Minnowbrook VI: 2009 Workshop on Flow Physics and Control for Internal and External Aerodynamics

Topics covered include: Flow Physics and control for Internal and External Aerodynamics (not in TOC...starts on pg13); Breaking CFD Bottlenecks in Gas-Turbine Flow-Path Design; Streamwise Vortices on the Convex Surfaces of Circular Cylinders and Turbomachinery Blading; DNS and Embedded DNS as Tools for Investigating Unsteady Heat Transfer Phenomena in Turbines; Cavitation, Flow Structure and Turbulence in the Tip Region of a Rotor Blade; Development and Application of Plasma Actuators for Active Control of High-Speed and High Reynolds Number Flows; Active Flow Control of Lifting Surface With Flap-Current Activities and Future Directions; Closed-Loop Control of Vortex Formation in Separated Flows; Global Instability on Laminar Separation Bubbles-Revisited; Very Large-Scale Motions in Smooth and Rough Wall Boundary Layers; Instability of a Supersonic Boundary-Layer With Localized Roughness; Active Control of Open Cavities; Amplitude Scaling of Active Separation Control; U.S. Air Force Research Laboratory's Need for Flow Physics and Control With Applications Involving Aero-Optics and Weapon Bay Cavities; Some Issues Related to Integrating Active Flow Control With Flight Control; Active Flow Control Strategies Using Surface Pressure Measurements; Reduction of Unsteady Forcing in a Vaned, Contra-Rotating Transonic Turbine Configuration; Active Flow Control Stator With Coanda Surface; Controlling Separation in Turbomachines; Flow Control on Low-Pressure Turbine Airfoils Using Vortex Generator Jets; Reduced Order Modeling Incompressible Flows; Study and Control of Flow Past Disk, and Circular and Rectangular Cylinders Aligned in the Flow; Periodic Forcing of a Turbulent Axisymmetric Wake; Control of Vortex Breakdown in Critical Swirl Regime Using Azimuthal Forcing; External and Turbomachinery Flow Control Working Group; Boundary Layers, Transitions and Separation; Efficiency Considerations in Low Pressure Turbines; Summary of Conference; and Final Plenary Session Transcript.

LaGraff, John E.↗

NASA NTRS1993

Control of nonlinear systems with applications to constrained robots and spacecraft attitude stabilization

This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude cannot be asymptotically stabilized using continuous feedback, but a discontinuous stabilizing feedback control strategy is constructed. If the uncontrolled principal axis is an axis of symmetry, the complete spacecraft dynamics cannot be stabilized. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but again a discontinuous feedback control strategy is constructed.

Krishnan, Hariharan↗

NASA NTRS1981

Tectonic evolution of terrestrial planets

The tectonic style of each terrestrial planet, referring to the thickness and division of its lithosphere, can be inferred from surface features and compared to models of planetary thermal history. Factors governing planetary tectonic evolution are planet diameter, chemistry, and external and internal heat sources, all of which determine how a planet generates and rids itself of heat. The earth is distinguished by its distinct, mobile plates, which are recycled into the mantle and show large-scale lateral movements, whereas the moon, Mars, and Mercury are single spherical shells, showing no evidence of destruction and renewal of the lithospheric plates over the latter 80% of their history. Their smaller volume to surface area results in a more rapid cooling, formation, and thickening of the lithosphere. Vertical tectonics, due to lithospheric loading, is controlled by the local thickness and rheology of the lithosphere. Further studies of Venus, which displays both the craterlike surface features of the one-plate planets, and the rifts and plateaus of earth, may indicate which factors are most important in controlling the tectonic evolution of terrestrial planets.

Head, J. W.↗

NASA NTRSDate not supplied

Feasibility of Self Powered Actuation for Flow, Separation and Vibration Control

Gas turbine engines are anywhere from 40-50% efficient with a large amount of waste heat production. The primary focus of this work was to evaluate the feasibility of harvesting energy from sections of an imaginary but representative gas turbine engine that has large thermal gradients using thermoelectric generators (TEGs) and using the harvested energy locally for flow control using either plasma actuators or piezoelectric actuators. This work is a summary of a two- year NASA Center Innovation Fund Project from 2010 to 2012. The trade-off between thermoelectric harvesting and turbine blade surface temperature was studied to ensure that blade durability is not adversely impacted by embedding a low thermal conductivity TEG. Calculations show that at least 2-3 Watts can be harvested per blade depending on flow conditions and on the thermoelectric material chosen while maintaining metal temperatures below critical limits. BiTe and SiGe were considered as TEG materials although higher ZT materials are now in development. A circuit to convert the DC power output of the TEG to AC input for plasma actuation was fabricated and tested. Several novel plasma actuator configurations were also tested.

Thermoelectric↗

NASA NTRS1996

Reduction of the elevator illusion from continued hypergravity exposure and visual error-corrective feedback

Ten subjects served as their own controls in two conditions of continuous, centrifugally produced hypergravity (+2 Gz) and a 1-G control condition. Before and after exposure, open-loop measures were obtained of (1) motor control, (2) visual localization, and (3) hand-eye coordination. During exposure in the visual feedback/hypergravity condition, subjects received terminal visual error-corrective feedback from their target pointing, and in the no-visual feedback/hypergravity condition they pointed open loop. As expected, the motor control measures for both experimental conditions revealed very short lived underreaching (the muscle-loading effect) at the outset of hypergravity and an equally transient negative aftereffect on returning to 1 G. The substantial (approximately 17 degrees) initial elevator illusion experienced in both hypergravity conditions declined over the course of the exposure period, whether or not visual feedback was provided. This effect was tentatively attributed to habituation of the otoliths. Visual feedback produced a smaller additional decrement and a postexposure negative after-effect, possible evidence for visual recalibration. Surprisingly, the target-pointing error made during hypergravity in the no-visual-feedback condition was substantially less than that predicted by subjects' elevator illusion. This finding calls into question the neural outflow model as a complete explanation of this illusion.

NASA Program Space Physiology and Countermeasures↗