Divergent Self-Assembly Pathways to Hierarchically Organized Networks of Isopeptide-Modified Discotics under Kinetic Control
Abstract not provided
VandenBerg, Michael A.↗
SEARCH · Engineering Papers
Results for “Hierarchical control”
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
A stoichiometrically conserved homologous series with infinite structural diversity
Here, we describe a compositionally guided structural evolution within a stoichiometrically conserved framework, BaSbQ 3 (Q = Te 1−x S x ), where each value of x gives rise to a distinct phase. The fundamental building blocks, A 1 (BaSbSTe 2 ) and B n (Ba n Sb n S n−1 Te 2n+1 ), were composed of modular double rocksalt slabs stacked with functional polytelluride zigzag chains, with each phase differing only in the size and assembly of these blocks. Ten compounds were synthesized that maintained a coherent chemical identity that arose from this isovalent, isoelectronic substitution of Te and S. We envision that the phase formation at a molecular level unfolds in stages of extension, termination, and assembly and propose a design concept of “anionic disparity,” where phase homologies and polytelluride hierarchical networks can be controlled by leveraging differences in anion electron affinity and sizes.
Zhao, Hengdi [Argonne National Laboratory (ANL), A↗
Hierarchical, Grid-Aware, and Economically Optimal Coordination of Distributed Energy Resources in Realistic Distribution Systems
Renewable portfolio standards are targeting high levels of variable solar photovoltaics (PV) in electric distribution systems, which makes reliability more challenging to maintain for distribution system operators (DSOs). Distributed energy resources (DERs), including smart, connected appliances and PV inverters, represent responsive grid resources that can provide flexibility to support the DSO in actively managing their networks to facilitate reliability under extreme levels of solar PV. This flexibility can also be used to optimize system operations with respect to economic signals from wholesale energy and ancillary service markets. Here, we present a novel hierarchical scheme that actively controls behind-the-meter DERs to reliably manage each unbalanced distribution feeder and exploits the available flexibility to ensure reliable operation and economically optimizes the entire distribution network. Each layer of the scheme employs advanced optimization methods at different timescales to ensure that the system operates within both grid and device limits. The hierarchy is validated in a large-scale realistic simulation based on data from the industry. Simulation results show that coordination of flexibility improves both system reliability and economics, and enables greater penetration of solar PV. Discussion is also provided on the practical viability of the required communications and controls to implement the presented scheme within a large DSO.
distribution network↗
A prototype autonomous agent for crew and equipment retrieval in space
The ground-based demonstration of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: perception, world model, reasoning, sensing, and acting. The design provides for supervised autonomy as the primary mode of operation with teleoperation as the backup mode. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable operation.
Erickson, J. D.↗
Implementing real-time robotic systems using CHIMERA II
A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.
Stewart, David B.↗
Multi-axis transient vibration testing of space objects: Test philosophy, test facility, and control strategy
IABG has been using various servohydraulic test facilities for many years for the reproduction of service loads and environmental loads on all kinds of test objects. For more than 15 years, a multi-axis vibration test facility has been under service, originally designed for earthquake simulation but being upgraded to the demands of space testing. First tests with the DFS/STM showed good reproduction accuracy and demonstrated the feasibility of transient vibration testing of space objects on a multi-axis hydraulic shaker. An approach to structural qualification is possible by using this test philosophy. It will be outlined and its obvious advantages over the state-of-the-art single-axis test will be demonstrated by example results. The new test technique has some special requirements to the test facility exceeding those of earthquake testing. Most important is the high reproduction accuracy demanded for a sophisticated control system. The state-of-the-art approach of analog closed-loop control circuits for each actuator combined with a static decoupling network and an off-line iterative waveform control is not able to meet all the demands. Therefore, the future over-all control system is implemented as hierarchical full digital closed-loop system on a highly parallel transputer network. The innermost layer is the digital actuator controller, the second one is the MDOF-control of the table movement. The outermost layer would be the off-line iterative waveform control, which is dedicated only to deal with the interaction of test table and test object or non-linear effects. The outline of the system will be presented.
Lachenmayr, Georg↗
Sensor systems for regenerative life support systems
Successful operation of life support systems for space exploration missions of the future will require unique sophisticated sensor systems for highly dependable operation, i.e., autonomous and fault tolerant. These sensor systems will require the use of multifunctional in situ sensors that are strategically located throughout the life support systems. These sensors will communicate through control loops that are hierarchically interconnected at several levels of the life support system. Development of the sensor system must be done synergistically with the integration and testing of the subsystems, and their process units, as they are assembled and tested. The plan for proceeding with the sensor systems development and the integration with the test bed assembly and operation is described in this paper.
Voecks, Gerald E.↗
Construction and Modeling of a Controls Testbed
This paper describes the construction and modeling of a control system testbed to be used for the comparison of various control methodologies. We specifically wish to test fuzzy logic control and compare performance of various fuzzy controllers, including Hybrid Fuzzy-PID (HFPID) and Hierarchical Hybrid Fuzzy-PID (HHFPID) to other controllers including localized rate feedback, LQR/LTR, and H2/H(sub infinity). The control problem is that of vibration suppression in a thin plate with inputs coming from accelerometers and outputs going to piezoelectric actuators or 'patches'. A model based on experimental modal analysis of the plate is conducted and compared with an analytical model. The analytical model uses a boundary condition which is a mix of clamped and simply supported.
Nagle, James C.↗
Trustworthy Autonomy for Gateway Vehicle System Manager
The Vehicle System Manager (VSM) is the highest-level software control system in the Gateway hierarchical Autonomous System Management Architecture. The VSM provides four function categories: Mission Management and Timeline Execution, Resource Management, Fault Management, Vehicle Control and Operation. VSM provides various levels of automation ranging from fully autonomous operations with no flight crew and minimal ground monitoring to advisory automation when Gateway is crewed and has full ground monitoring. Trustworthiness is achieved via verified specification, comprehensive development verification, and real-time verification using assume-guarantee contracts. Development verification includes semantic verification of the data model via peer review and testing and assume-guarantee contracts implemented using the PlusCal/TLA+ environment. VSM also uses runtime assume-guarantee contracts, implemented in R2U2 via a runtime monitor that feeds the necessary telemetry data to R2U2 and which receives and responds to the R2U2 verdict stream. The full lifecycle verification approach and use of assume-guarantee contracts provides increased trustworthiness to VSM. Preliminary results provide encouragement that VSM can be both autonomous and trustworthy.
Assume-guarantee contracts↗
Application of Nonlinear Systems Inverses to Automatic Flight Control Design: System Concepts and Flight Evaluations
A practical method for the design of automatic flight control systems for aircraft with complex characteristics and operational requirements, such as the powered lift STOL and V/STOL configurations, is presented. The method is effective for a large class of dynamic systems requiring multi-axis control which have highly coupled nonlinearities, redundant controls, and complex multidimensional operational envelopes. It exploits the concept of inverse dynamic systems, and an algorithm for the construction of inverse is given. A hierarchic structure for the total control logic with inverses is presented. The method is illustrated with an application to the Augmentor Wing Jet STOL Research Aircraft equipped with a digital flight control system. Results of flight evaluation of the control concept on this aircraft are presented.
Meyer, G.↗
Investigation of Hierarchical Structure Formation in Merocyanine Photovoltaics
Merocyanines (MCs) are a versatile class of small-molecule dyes. Their optoelectronic properties are easily tunable by chemically controlling their donor–acceptor strength, and their structural properties can be tuned by simple side-chain substitution. This paper demonstrates a novel series of MCs featuring an indoline donor with varying hydrocarbon side-chain length (from 6 to 12 carbons) and a tert-butyl-thiazole acceptor, labeled InTBT. Bulk heterojunction organic photovoltaics are fabricated with a [6,6]-phenyl-C 61 -butyric acid methyl ester (PCBM) acceptor and characterized. Films composed of I8TBT:PCBM and I9TBT:PCBM produced the highest power conversion efficiency of 4.5%, which suggests that the morphology is optimized by controlling the side-chain length. Hierarchical structure formation in InTBT:PCBM films is studied using grazing incidence X-ray diffraction (GIXRD), small-angle neutron scattering (SANS), and atomic force microscopy (AFM). When mixed with PCBM, InTBTs with ≤8 side-chain carbons form pure crystalline domains, while InTBTs with ≥9 side-chain carbons mix well with PCBM. SANS demonstrates that increasing side-chain length increases the InTBT-rich domain size. In addition, a branched hexyl–dodecyl side-chain IHDTBT:PCBM film was studied and found to exhibit the worst-performance organic photovoltaic (OPV) device. The large-branched side chain inhibited mixing between IHDTBT and PCBM resulting in large segregated phases.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
On the development of hierarchical solution strategies for nonlinear finite element formulations
This paper develops a hierarchical type solution scheme which can handle the field equations associated with nonlinear finite element simulations. The overall procedure possesses various levels of application namely degree of freedom, nodal, elemental, substructural as well as global. In particular iteration, updating, assembly and solution control occurs at the various hierarchical levels. Due to the manner of formulation, the degree of matrix inversion depends on the size of the various hierarchical partitioned groups. In this context, degree of freedom partitioning requires no inversion. To benchmark the overall scheme, the results of several numerical examples are presented.
Padovan, J.↗
Pushing and Pulling: A Dual pH Trigger Controlled by Varying the Alkyl Tail Length in Heme Coordinating Peptide Amphiphiles
Some organisms in nature that undergo anaerobic respiration utilize 1D nanoscale arrays of densely packed cytochromes containing the molecule heme. The assemblies can be mimicked with 1D nanoscale fibrils composed of peptide amphiphiles designed to coordinate heme in dense arrays. To create such materials and assemblies it is critical to understand the assembly process and what controls the various aspects of hierarchical assembly. MD simulations suggest that shorter alkyl chains on the peptide lead to more dynamic structures than the peptides with longer chains that yield kinetically trapped states. The hydration parameters manifest themselves experimentally through the observation of a dual pH trigger which controls the peptide assembly rate, the heme binding affinity, and heme organization kinetics. Great strides in understanding the relative complexity of the self-assembly process in relation to incorporating a functional moiety like heme opens up many possibilities in developing abiotic assemblies for bioelectronic devices and assemblies
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Experiments in cooperative manipulation: A system perspective
In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.
Schneider, Stanley A.↗
Experimental object-level strategic control with cooperating manipulators
This article presents the high-level control module and user interface of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. In addition to cooperative dynamic control, DASCCOM incorporates real-time vision-ased feedback, a novel strategic programming technique, and an iconic 'object-only' graphical user interface. By focusing on the vertical integration problem, we are examining not only these subsystems, but also their interfaces and interactions. The control system implements a multilevel hierarchical structure interconnected via a real-time network. At the highest level, a mouse-driven graphical user interface allows an operator to direct the activities of the system conceptually. Strategic command is provided by an event-driven finite state machine. This methodology provides a powerful yet flexible technique for managing concurrent system interactions. The dynamic controller implements object impedance control - an extension of Neville Hogan's impedance control concept to cooperative multiple-arm manipulation of a single object. This article concentrates on user interfacing techniques and strategic programming capabilities. These modules allow the user to directly specify conceptual object relationships. Experimental results are presented, showing the system locating and identifying a moving object, 'catching' it, and performing a simple cooperative assembly. Each of these operations is executed autonomously, with only object-level task-specification direction from a remote operator.
Schneider, Stanley A.↗
Search Problems in Mission Planning and Navigation of Autonomous Aircraft
An architecture for the control of an autonomous aircraft is presented. The architecture is a hierarchical system representing an anthropomorphic breakdown of the control problem into planner, navigator, and pilot systems. The planner system determines high level global plans from overall mission objectives. This abstract mission planning is investigated by focusing on the Traveling Salesman Problem with variations on local and global constraints. Tree search techniques are applied including the breadth first, depth first, and best first algorithms. The minimum-column and row entries for the Traveling Salesman Problem cost matrix provides a powerful heuristic to guide these search techniques. Mission planning subgoals are directed from the planner to the navigator for planning routes in mountainous terrain with threats. Terrain/threat information is abstracted into a graph of possible paths for which graph searches are performed. It is shown that paths can be well represented by a search graph based on the Voronoi diagram of points representing the vertices of mountain boundaries. A comparison of Dijkstra's dynamic programming algorithm and the A* graph search algorithm from artificial intelligence/operations research is performed for several navigation path planning examples. These examples illustrate paths that minimize a combination of distance and exposure to threats. Finally, the pilot system synthesizes the flight trajectory by creating the control commands to fly the aircraft.
Krozel, James A.↗
Collaborative Distribution System Restoration Planning and Real-Time Dispatch Considering Behind-the-Meter DERs
Modern distribution systems are becoming more resilient against power outages thanks to the flexible generation capacity provided by the increasing integration of distributed energy resources (DERs). Compared to utility-scale DERs, which can be directly controlled by system operators, small-scale, behind-the-meter DERs are much more difficult to coordinate despite being the vast majority. Two major obstacles to the implementation of DERs for service restoration are the coordination of behind-the-meter DERs and the management of uncertainty. In this paper, a novel distribution system restoration strategy is proposed to overcome these two obstacles. The flexibility of be-hind-the-meter DERs is quantified and integrated into the restoration planning models within a hierarchical structure. The model predictive control technique is employed to enable adaptive restoration planning solution adjustments to accommodate fault scenarios and forecast errors. Besides, real-time power dispatch models are proposed to maintain power balance using available DER capability. Comprehensive integration of adaptive restoration planning schemes and real-time dispatch results are achieved through a collaborative restoration framework. Finally, the effectiveness of the proposed restoration strategy is verified through a modified IEEE 123-bus system and a real-world utility system.
24 POWER TRANSMISSION AND DISTRIBUTION↗