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At least 307 records · Page 17

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NASA NTRS2001

Predictor-Corrector Entry Guidance for Reusable Launch Vehicles

An online entry guidance algorithm has been developed using a predictor-corrector approach. The algorithm is designed for the Reusable Launch Vehicle (RLV) and is demonstrated by using, the X-33 model. The objective of the design is to handle widely dispersed entry conditions and deliver the vehicle at the Terminal Area Energy Management (TAEM) interface box within an acceptable tolerance and without violating any of the vehicle physical constraints. Combination of several control variables is used in testing the performance and computational requirement of the algorithm. The control variables are the bank angle, angle-of-attack and the time for roll reversal. The bank angle and angle-of-attack profiles are the nominal profiles plus the perturbations in each direction. The initial guess of the bank profile is a 45 degrees bank angle with reversal at 360 seconds from liftoff. A six-element state vector is propagated to the TAEM interface box through the integration of the equations of motion (EOM). Altitude, heading and range errors are computed between the desired and the achieved state at the TAEM interface. These errors are used to correct the initial guess of the control variables. This process is repeated until the errors meet an acceptable level at the TAEM interface. Several numerical optimization methods are used to evaluate the convergent property of the predictor-predictor methodology. Successful results are demonstrated using the X-33 model.

Youssef, Hussein↗

NASA NTRSDate not supplied

Toward the fabrication of a 5 μm resolution Wolter microscope for the National Ignition Facility

Advancements in computer-controlled polishing, metrology, and replication have led to a x-ray mirror fabrication process that is capable of producing high-resolution Wolter microscopes. The mirror is a nickel-cobalt replicated full-shell mirror that was electroformed from a finely figured and polished mandrel. This mandrel was designed and fabricated for a 8 m source-to-detector distance microscope, with 10× magnification. A computer controlled polishing process corrected the low-frequency mandrel figure to < 2.0 nm RMS error. The mandrel design was optimized to reduce shell distortions that occur mainly < 20 mm from the shell ends. This design, in combination with improved replication tooling design and refined bath parameters informed by a detailed COMSOL model, have led to reductions in replication errors in the mirror shell. X-ray tests performed on a pair of mirror shells replicated from the mandrel have demonstrated < 10 μm FWHM source plane imaging resolution. Here we discuss the development process, highlight results from metrology and x-ray testing, and define a path for achieving 5 μm FWHM resolution.

Grazing Incidence, Wolter Microscope, X-ray Optics↗

NASA NTRS2004

Pre-Hardware Optimization and Implementation Of Fast Optics Closed Control Loop Algorithms

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). The FFT is particularly useful in two-dimensional (2-D) image processing (FFT2) within optical systems control. However, timing constraints of a fast optics closed control loop would require a supercomputer to run the software implementation of the FFT2 and its inverse, as well as other image processing representative algorithm, such as numerical image folding and fringe feature extraction. A laboratory supercomputer is not always available even for ground operations and is not feasible for a night project. However, the computationally intensive algorithms still warrant alternative implementation using reconfigurable computing technologies (RC) such as Digital Signal Processors (DSP) and Field Programmable Gate Arrays (FPGA), which provide low cost compact super-computing capabilities. We present a new RC hardware implementation and utilization architecture that significantly reduces the computational complexity of a few basic image-processing algorithm, such as FFT2, image folding and phase diversity for the NASA Solar Viewing Interferometer Prototype (SVIP) using a cluster of DSPs and FPGAs. The DSP cluster utilization architecture also assures avoidance of a single point of failure, while using commercially available hardware. This, combined with the control algorithms pre-hardware optimization, or the first time allows construction of image-based 800 Hertz (Hz) optics closed control loops on-board a spacecraft, based on the SVIP ground instrument. That spacecraft is the proposed Earth Atmosphere Solar Occultation Imager (EASI) to study greenhouse gases CO2, C2H, H2O, O3, O2, N2O from Lagrange-2 point in space. This paper provides an advanced insight into a new type of science capabilities for future space exploration missions based on on-board image processing for control and for robotics missions using vision sensors. It presents a top-level description of technologies required for the design and construction of SVIP and EASI and to advance the spatial-spectral imaging and large-scale space interferometry science and engineering.

Kizhner, Semion↗

NASA NTRS1998

A Numerical Optimization Approach for Tuning Fuzzy Logic Controllers

This paper develops a method to tune fuzzy controllers using numerical optimization. The main attribute of this approach is that it allows fuzzy logic controllers to be tuned to achieve global performance requirements. Furthermore, this approach allows design constraints to be implemented during the tuning process. The method tunes the controller by parameterizing the membership functions for error, change-in-error and control output. The resulting parameters form a design vector which is iteratively changed to minimize an objective function. The minimal objective function results in an optimal performance of the system. A spacecraft mounted science instrument line-of-sight pointing control is used to demonstrate results.

Woodard, Stanley E.↗

NASA NTRS1991

Limits on the isolation of stochastic vibration for microgravity space experiments

The limitations on the isolation of stochastic vibrations for microgravity space experiments are explored. These limitations result from the restricted interior space available for vibration isolation. A one-degree-of-freedom representation of the experiment-spacecraft system is used, and an ideal vibration actuator is assumed. A kinematic representation results, and the problem becomes one of finding the minimum acceleration trajectory within a pair of stochastic walls. The wall motion is characterized by an ergodic, stationary, zero-mean, Gaussian random process with known power spectral density. The geometry of the wall trajectories is defined in terms of their significant extrema and zero crossings. This geomemtry is used in defining a composite trajectory that has a mean square acceleratiaon lower than that on the optimal path satisfying the stochastic wall inequality constraints. The optimal control problem is solved on a return path yielding the mean square acceleration in terms of the distributions of significant maxima and first-passage time of the wall process. The methodology is applied to a microgravity isolation problem to find the lower bounds on root-mean-square acceleration given the disturbance power spectral density.

Knospe, C. R.↗

NASA NTRS2000

Modulation of red cell mass by neocytolysis in space and on Earth

Astronauts predictably experience anemia after return from space. Upon entering microgravity, the blood volume in the extremities pools centrally and plasma volume decreases, causing plethora and erythropoietin suppression. There ensues neocytolysis, selective hemolysis of the youngest circulating red cells, allowing rapid adaptation to the space environment but becoming maladaptive on re-entry to a gravitational field. The existence of this physiologic control process was confirmed in polycythemic high-altitude dwellers transported to sea level. Pathologic neocytolysis contributes to the anemia of renal failure. Understanding the process has implications for optimizing erythropoietin-dosing schedules and the therapy of other human disorders. Human and rodent models of neocytolysis are being created to help find out how interactions between endothelial cells, reticuloendothelial phagocytes and young erythrocytes are altered, and to shed light on the expression of surface adhesion molecules underlying this process. Thus, unraveling a problem for space travelers has uncovered a physiologic process controlling the red cell mass that can be applied to human disorders on Earth.

Review, Tutorial↗

NASA NTRS1979

Aircraft adaptive learning control

The optimal control theory of stochastic linear systems is discussed in terms of the advantages of distributed-control systems, and the control of randomly-sampled systems. An optimal solution to longitudinal control is derived and applied to the F-8 DFBW aircraft. A randomly-sampled linear process model with additive process and noise is developed.

Lee, P. S. T.↗

NASA NTRS1988

Status and directions of modified tribological surfaces by ion processes

An overview is presented of recent advances in modifying contacting surfaces in motion by the various ion assisted surface coating/modification processes to reduce and control tribological failures. The ion assisted coating processes and the surface modification processes offer the greatest potential to custom tailor and optimize the tribological performance. Hard, wear resistant and low shear coatings deposited by the ion assisted processes are discussed. Primarily the recent advances of sputtered MoS2 ion plated Au, Ag, Pb lubricating films and sputtered and ion plated hard, wear resistant TiN, HfN, TiC films are described in terms of structural property performance interrelationships which lead to improved adhesion, cohesion, nucleation, morphological growth, density, film thickness as determined by structural and chemical characterization and frictional and wear behavior. Also, the recent tribological advances using the surface modification processes such as ion implantation, ion beam mixing is discussed with emphasis on the development of lubricous high temperature ceramic surfaces.

Spalvins, Talivaldis↗

NASA NTRS1994

Capacitive Sensors And Targets Would Measure Alignments

Multiple capacitive sensors and active targets used to measure distance between, and relative orientation of, two objects. Sensed target signals processed and used by control systems to align objects to be joined. Shapes, sizes, and layouts of sensors and targets optimized for specific application. Particular layout of targets and sensors enables determination of relative position and orientation of two objects in all six degrees of freedom.

Jenstrom, Del T.↗

NASA NTRS1993

Practical issues in implementing roving spares in VLSI systolic arrays

In this paper we address several unsolved problems in implementing roving spares as a methodology for on-line testing and reconfiguration of systolic arrays. An algorithm for distinguishing between permanent faults and intermittent/transient faults is proposed. A methodology for determining different parameter values for this algorithm is presented. Results characterizing an optimal switching structure are presented. A judicious partitioning of information (for distributed and central processing) allows design of simple switch controllers for implementing roving spares operation as well as reconfiguration in the presence of failures. Testability and self-checking capability is incorporated into these controllers using a few extra gates.

Bandekar, Rajendra↗

NASA NTRS2000

On-Line, Self-Learning, Predictive Tool for Determining Payload Thermal Response

This paper will present the results of a joint ManTech / Goddard R&D effort, currently under way, to develop and test a computer based, on-line, predictive simulation model for use by facility operators to predict the thermal response of a payload during thermal vacuum testing. Thermal response was identified as an area that could benefit from the algorithms developed by Dr. Jeri for complex computer simulations. Most thermal vacuum test setups are unique since no two payloads have the same thermal properties. This requires that the operators depend on their past experiences to conduct the test which requires time for them to learn how the payload responds while at the same time limiting any risk of exceeding hot or cold temperature limits. The predictive tool being developed is intended to be used with the new Thermal Vacuum Data System (TVDS) developed at Goddard for the Thermal Vacuum Test Operations group. This model can learn the thermal response of the payload by reading a few data points from the TVDS, accepting the payload's current temperature as the initial condition for prediction. The model can then be used as a predictive tool to estimate the future payload temperatures according to a predetermined shroud temperature profile. If the error of prediction is too big, the model can be asked to re-learn the new situation on-line in real-time and give a new prediction. Based on some preliminary tests, we feel this predictive model can forecast the payload temperature of the entire test cycle within 5 degrees Celsius after it has learned 3 times during the beginning of the test. The tool will allow the operator to play "what-if' experiments to decide what is his best shroud temperature set-point control strategy. This tool will save money by minimizing guess work and optimizing transitions as well as making the testing process safer and easier to conduct.

Jen, Chian-Li↗

NASA NTRS2007

Learning Grasp Strategies Composed of Contact Relative Motions

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Platt, Robert, Jr.↗

NASA NTRS2015

Rapid Generation of Optimal Asteroid Powered Descent Trajectories Via Convex Optimization

This paper investigates a convex optimization based method that can rapidly generate the fuel optimal asteroid powered descent trajectory. The ultimate goal is to autonomously design the optimal powered descent trajectory on-board the spacecraft immediately prior to the descent burn. Compared to a planetary powered landing problem, the major difficulty is the complex gravity field near the surface of an asteroid that cannot be approximated by a constant gravity field. This paper uses relaxation techniques and a successive solution process that seeks the solution to the original nonlinear, nonconvex problem through the solutions to a sequence of convex optimal control problems.

Pinson, Robin↗

NASA NTRSDate not supplied

Applying Machine Learning Tools for Runway Configuration Decision Support

Determining optimal runway configurations at airports, a responsibility assigned to air traffic controllers, is a challenging task. The decision-making process is intricate and involves consideration of many factors such as prevailing wind condition, convective weather, visibility, cloud ceilings, departure and arrival demand, traffic flow, equipment status, and other airport constraints. In a previous work, we developed a Runway Configuration Assistance tool using an offline reinforcement learning method called conservative Q-learning. In this paper, we evaluate and validate our Runway Configuration Assistance tool as a decision support for air traffic controllers. We validated our tool using three airports with differing levels of complexity: Charlotte Douglas International Airport, Denver International Airport, and Dallas Fort Worth International Airport. We quantified the performance of the Runway Configuration Assistance tool based on (1) agreement with historical air traffic controller decisions and (2) violation of decisions that would be obvious to subject-matter experts. Our tool showed promising results in both performance metrics for the three airports, despite the complexities in the runway configuration decision-making process. We also discuss challenges in using machine learning in general to aid air traffic management and identify deployment considerations for the Runway Configuration Assistance tool.

Runway Configuration Management↗

NASA NTRSDate not supplied

Machine Learning Tools for Runway Configuration Decision Support

Runway Configuration Management↗

NASA NTRS1993

Telerobotic control of a mobile coordinated robotic server, executive summary

This interim report continues with the research effort on advanced adaptive controls for space robotics systems. In particular, previous results developed by the principle investigator and his research team centered around fuzzy logic control (FLC) in which the lack of knowledge of the robotic system as well as the uncertainties of the environment are compensated for by a rule base structure which interacts with varying degrees of belief of control action using system measurements. An on-line adaptive algorithm was developed using a single parameter tuning scheme. In the effort presented, the methodology is further developed to include on-line scaling factor tuning and self-learning control as well as extended to the multi-input, multi-output (MIMO) case. Classical fuzzy logic control requires tuning input scale factors off-line through trial and error techniques. This is time-consuming and cannot adapt to new changes in the process. The new adaptive FLC includes a self-tuning scheme for choosing the scaling factors on-line. Further the rule base in classical FLC is usually produced by soliciting knowledge from human operators as to what is good control action for given circumstances. This usually requires full knowledge and experience of the process and operating conditions, which limits applicability. A self-learning scheme is developed which adaptively forms the rule base with very limited knowledge of the process. Finally, a MIMO method is presented employing optimization techniques. This is required for application to space robotics in which several degrees-of-freedom links are commonly used. Simulation examples are presented for terminal control - typical of robotic problems in which a desired terminal point is to be reached for each link. Future activities will be to implement the MIMO adaptive FLC on an INTEL microcontroller-based circuit and to test the algorithm on a robotic system at the Mars Mission Research Center at North Carolina State University.

Lee, Gordon↗

NASA NTRS2013

Engineering of Data Acquiring Mobile Software and Sustainable End-User Applications

The criteria for which data acquiring software and its supporting infrastructure should be designed should take the following two points into account: the reusability and organization of stored online and remote data and content, and an assessment on whether abandoning a platform optimized design in favor for a multi-platform solution significantly reduces the performance of an end-user application. Furthermore, in-house applications that control or process instrument acquired data for end-users should be designed with a communication and control interface such that the application's modules can be reused as plug-in modular components in greater software systems. The application of the above mentioned is applied using two loosely related projects: a mobile application, and a website containing live and simulated data. For the intelligent devices mobile application AIDM, the end-user interface have a platform and data type optimized design, while the database and back-end applications store this information in an organized manner and manage access to that data to only to authorized user end application(s). Finally, the content for the website was derived from a database such that the content can be included and uniform to all applications accessing the content. With these projects being ongoing, I have concluded from my research that the applicable methods presented are feasible for both projects, and that a multi-platform design for the mobile application only marginally drop the performance of the mobile application.

Smith, Benton T.↗

NASA NTRS1980

Implicit model following and parameter identification of unstable aircraft

A transformation in the s-plane is described which has utility in implicit model-following optimal control design application and in estimation or parameter identification problems. The objective of the transformation is, for the control problem, to achieve an unstable closed-loop system, and, for the estimation problem, to alleviate algorithm convergence problems that may arise in identifying unstable systems. For the control problem, the transformation is a shift along the real (sigma) axis of the plant and model poles and zeros. This transformation is shown to be equivalent to a modified performance index but offers the advantage of compatibility with existing optimal control solution algorithms. For the estimation problem, the data are multiplied by an exponential function and the assumed measurement and process noise covariances are appropriately modified. Examples of both control and estimation applications are presented.

Lebacqz, J. V.↗