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At least 307 records · Page 17

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NASA NTRS1984

Utilization of Historic Information in an Optimisation Task

One of the basic components of a discrete model of motor behavior and decision making, which describes tracking and supervisory control in unitary terms, is assumed to be a filtering mechanism which is tied to the representational principles of human memory for time-series information. In a series of experiments subjects used the time-series information with certain significant limitations: there is a range-effect; asymmetric distributions seem to be recognized, but it does not seem to be possible to optimize performance based on skewed distributions. Thus there is a transformation of the displayed data between the perceptual system and representation in memory involving a loss of information. This rules out a number of representational principles for time-series information in memory and fits very well into the framework of a comprehensive discrete model for control of complex systems, modelling continuous control (tracking), discrete responses, supervisory behavior and learning.

Boesser, T.↗

NASA NTRS2014

State Event Models for the Formal Analysis of Human-Machine Interactions

The work described in this paper was motivated by our experience with applying a framework for formal analysis of human-machine interactions (HMI) to a realistic model of an autopilot. The framework is built around a formally defined conformance relation called "fullcontrol" between an actual system and the mental model according to which the system is operated. Systems are well-designed if they can be described by relatively simple, full-control, mental models for their human operators. For this reason, our framework supports automated generation of minimal full-control mental models for HMI systems, where both the system and the mental models are described as labelled transition systems (LTS). The autopilot that we analysed has been developed in the NASA Ames HMI prototyping tool ADEPT. In this paper, we describe how we extended the models that our HMI analysis framework handles to allow adequate representation of ADEPT models. We then provide a property-preserving reduction from these extended models to LTSs, to enable application of our LTS-based formal analysis algorithms. Finally, we briefly discuss the analyses we were able to perform on the autopilot model with our extended framework.

State-event Models↗

NASA NTRS1993

Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations.

Doyle, John C.↗

NASA NTRS2004

Adaptive, Distributed Control of Constrained Multi-Agent Systems

Product Distribution (PO) theory was recently developed as a broad framework for analyzing and optimizing distributed systems. Here we demonstrate its use for adaptive distributed control of Multi-Agent Systems (MASS), i.e., for distributed stochastic optimization using MAS s. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (Probability dist&&on on the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. One common way to find that equilibrium is to have each agent run a Reinforcement Learning (E) algorithm. PD theory reveals this to be a particular type of search algorithm for minimizing the Lagrangian. Typically that algorithm i s quite inefficient. A more principled alternative is to use a variant of Newton's method to minimize the Lagrangian. Here we compare this alternative to RL-based search in three sets of computer experiments. These are the N Queen s problem and bin-packing problem from the optimization literature, and the Bar problem from the distributed RL literature. Our results confirm that the PD-theory-based approach outperforms the RL-based scheme in all three domains.

Bieniawski, Stefan↗

NASA NTRS1998

A Web-Based Monitoring System for Multidisciplinary Design Projects

In today's competitive environment, both industry and government agencies are under pressure to reduce the time and cost of multidisciplinary design projects. New tools have been introduced to assist in this process by facilitating the integration of and communication among diverse disciplinary codes. One such tool, a framework for multidisciplinary computational environments, is defined as a hardware and software architecture that enables integration, execution, and communication among diverse disciplinary processes. An examination of current frameworks reveals weaknesses in various areas, such as sequencing, displaying, monitoring, and controlling the design process. The objective of this research is to explore how Web technology, integrated with an existing framework, can improve these areas of weakness. This paper describes a Web-based system that optimizes and controls the execution sequence of design processes; and monitors the project status and results. The three-stage evolution of the system with increasingly complex problems demonstrates the feasibility of this approach.

Rogers, James L.↗

NASA NTRS1991

High angle of attack control law development for a free-flight wind tunnel model using direct eigenstructure assignment

Flight-control laws are developed for a wind-tunnel aircraft model flying at a high angle of attack by using a synthesis technique called direct eigenstructure assignment. The method employs flight guidelines and control-power constraints to develop the control laws, and gain schedules and nonlinear feedback compensation provide a framework for considering the nonlinear nature of the attack angle. Linear and nonlinear evaluations show that the control laws are effective, a conclusion that is further confirmed by a scale model used for free-flight testing.

Wendel, Thomas R.↗

NASA NTRS2017

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Farrell, Logan C.↗

NASA NTRS1976

Development of a fluidic rudder

Wind tunnel tests were performed to examine the concept of aircraft controls without moving parts, and aircraft stabilization by means of scoop-fed slots. Results of wind tunnel tests, in the framework of a NASA program, to determine the force-control characteristics of a symmetrical airfoil with scoop-fed slots are discussed. Further tests showed that a fluidic amplifier could be built into the airfoil and operate with ram air. A fluidic rudder was then developed, consisting of cascaded fluidic amplifiers necessary to couple low-level fluidic sensors with slot flow control of the aerodynamic force on the vertical tail.

Belsterling, C. A.↗

NASA NTRS2008

Generic Spacecraft Model for Real-Time Simulation

Generic Spacecraft is the name of an evolving library of software that provides for simulation of a generic spacecraft that can orbit the Earth and land on the Moon (and, eventually, on Mars). This library is incorporated into the Langley Standard Realtime Simulation in C++ (LaSRS++) software framework. The generic-spacecraft simulation serves as a test bed for modeling spacecraft dynamics, propulsion, control systems, guidance, and displays. The Generic Spacecraft library supplements the LaSRS++ framework with an interface that facilitates the connection of new models into the LaSRS++ simulation by eliminating what would otherwise be the necessity of writing additional C++ classes to record data from the models and code to display values on graphical user interfaces (GUIs): The library includes routines for integrating new models into the LaSRS++ framework, identifying model inputs and outputs with full descriptions and units identified, recording data, and automatically generating graphical user interfaces (GUIs). The library is designed to be used in a manner similar to that of LaSRS++ software components for simulating vehicles other than the generic spacecraft. The user specifies (1) a spacecraft and individual models to be constructed and (2) connections between individual model inputs and outputs.

Kenney, Patrick S.↗

NASA NTRS1997

Active Control of Instabilities in Laminar Boundary Layers-Overview and Concept Validation

This paper (the first in a series) focuses on using active-control methods to maintain laminar flow in a region of the flow in which the natural instabilities, if left unattended, lead to turbulent flow. The authors review previous studies that examine wave cancellation (currently the most prominent method) and solve the unsteady, nonlinear Navier-Stokes equations to evaluate this method of controlling instabilities. It is definitively shown that instabilities are controlled by the linear summation of waves (i.e., wave cancellation). Although a mathematically complete method for controlling arbitrary instabilities has been developed, the review, duplication, and physical explanation of previous studies are important steps for providing an independent verification of those studies, for establishing a framework for the work which will involve automated transition control, and for detailing the phenomena by-which the automated studies can be used to expand knowledge of flow control.

Joslin, Ronald D.↗

NASA NTRS2018

Investigation of a Verification and Validation Tool with a Turbofan Aircraft Engine Application

The development of more advanced control architectures for turbofan aircraft engines can yield gains in performance and efficiency over the lifetime of an engine. However, the implementation of these increasingly complex controllers is contingent on their ability to provide safe, reliable engine operation. Therefore, having the means to verify the safety of new control algorithms is crucial. As a step towards this goal, CoCoSim, a publicly available verification tool for Simulink, is used to analyze C-MAPSS40k, a 40,000 lbf class turbo-fan engine model developed at NASA for testing new control algorithms. Due to current limitations of the verification software, several modifications are made to C-MAPSS40k to achieve compatibility with CoCoSim. Some of these modifications sacrifice fidelity to the original model. Several safety and performance requirements typical for turbofan engines are identified and constructed into a verification framework. Preliminary results using an industry standard baseline controller for these requirements are presented. While verification capabilities are demonstrated, a truly comprehensive analysis will require further development of the verification tool.

V&↗

NASA NTRS2018

Robust Bonding Through Process Control

Process control has been proven to be the most reliable means of safeguarding the quality of adhesive bonds according to Federal Aviation Administration (FAA). A method for implementing process control for reduction in risk in a bonded joint fabrication process is demonstrated in this study using a selected bonding system. The stepwise method included risk analysis to identify defects with the highest impact and likelihood to occur, evaluation of various pre-bond surface analysis tools to monitor for the selected defects, and demonstration of the benefits of in-process monitoring utilizing threshold limits determined from bond performance tests. The bonded system selected for investigation was an aerospace carbon fiber epoxy composite substrate surface prepared with random orbital sanding using 180 grit aluminum oxide sand paper. A series of portable, pre-bond surface analysis tools were investigated for their ability to be used for in-line bond process control. Results and threshold limits are presented from roughness, ballistic water contact angle (WCA), color, gloss, and Fourier transform infrared spectroscopy (FTIR) surface analysis tools. Results demonstrated how in-process inspection methods can be used to ensure quality of a surface preparation for a selected bonding system. A framework is provided for implementation of bond process control for robust bonding.

Kutscha, Eileen O.↗

NASA NTRS1988

The Flight Telerobotic Servicer Project and systems overview

As part of the Flight Telerobotic Servicer (FTS) project an advanced telerobotic system is being developed to assist in and reduce crew extravehicular activity (EVA) for the U.S. Space Station. The FTS will be used for assembly, maintenance, servicing, and inspection throughout the lifetime of the Space Station. A brief overview of the FTS program is given, and some of the technical and system engineering issues associated with the development of the FTS are explored. A key to the evolutionary capability of the FTS design is the NASREM (NASA Standard Reference Model for telerobot control system) architecture. This architecture provides the framework for future growth and permits a logical blend of teleoperation and autonomous operations as required.

Mccain, Harry G.↗

NASA NTRS1990

Concurrency and discrete event control

Much of discrete event control theory has been developed within the framework of automata and formal languages. An alternative approach inspired by the theories of process-algebra as developed in the computer science literature is presented. The framework, which rests on a new formalism of concurrency, can adequately handle nondeterminism and can be used for analysis of a wide range of discrete event phenomena.

Heymann, Michael↗

NASA NTRS1990

Knowledge representation into Ada parallel processing

The Knowledge Representation into Ada Parallel Processing project is a joint NASA and Air Force funded project to demonstrate the execution of intelligent systems in Ada on the Charles Stark Draper Laboratory fault-tolerant parallel processor (FTPP). Two applications were demonstrated - a portion of the adaptive tactical navigator and a real time controller. Both systems are implemented as Activation Framework Objects on the Activation Framework intelligent scheduling mechanism developed by Worcester Polytechnic Institute. The implementations, results of performance analyses showing speedup due to parallelism and initial efficiency improvements are detailed and further areas for performance improvements are suggested.

Masotto, Tom↗

NASA NTRS1991

Extraterrestrial materials processing and related transport phenomena

Several concepts for significant cost reductions in extraterrestrial resource utilization are described. After an introduction of the desirability of in situ resource utilization, several candidate chemical processes are mentioned. It is brought out that many of the key processes require fluid dynamics and heat transfer processes under reduced- and microgravity. These aspects are discussed within the broad framework of a two-phase thermal control systems. Another important aspect of space processing is that reliability and self-repairability are mandatory; automation aspects are discussed. In addition to these general considerations, the paper includes several specific processes that vary from solid electrolytic production of oxygen from carbon dioxide, to plasma-augmented reactions for reducing ilmenite on the moon.

Ramohalli, K. N. R.↗

NASA NTRS1990

Advanced systems engineering and network planning support

The objective of this task was to take a fresh look at the NASA Space Network Control (SNC) element for the Advanced Tracking and Data Relay Satellite System (ATDRSS) such that it can be made more efficient and responsive to the user by introducing new concepts and technologies appropriate for the 1997 timeframe. In particular, it was desired to investigate the technologies and concepts employed in similar systems that may be applicable to the SNC. The recommendations resulting from this study include resource partitioning, on-line access to subsets of the SN schedule, fluid scheduling, increased use of demand access on the MA service, automating Inter-System Control functions using monitor by exception, increase automation for distributed data management and distributed work management, viewing SN operational control in terms of the OSI Management framework, and the introduction of automated interface management.

Walters, David H.↗

NASA NTRS1992

Loop transfer recovery for general nonminimum phase discrete time systems. I - Analysis

A complete analysis of loop transfer recovery (LTR) for general nonstrictly proper, not necessarily minimum phase discrete time systems is presented. Three different observer-based controllers, namely, `prediction estimator' and full or reduced-order type `current estimator' based controllers, are used. The analysis corresponding to all these three controllers is unified into a single mathematical framework. The LTR analysis given here focuses on three fundamental issues: (1) the recoverability of a target loop when it is arbitrarily given, (2) the recoverability of a target loop while taking into account its specific characteristics, and (3) the establishment of necessary and sufficient conditions on the given system so that it has at least one recoverable target loop transfer function or sensitivity function. Various differences that arise in LTR analysis of continuous and discrete systems are pointed out.

Chen, Ben M.↗