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DOE OSTI2024

Identifiability and characterization of transmon qutrits through Bayesian experimental design

Robust control of a quantum system is essential to utilize the current noisy quantum hardware to its full potential, such as quantum algorithms. To achieve such a goal, a systematic search for an optimal control for any given experiment is essential. The design of optimal control pulses requires accurate numerical models and, therefore, accurate characterization of the system parameters. We present an online Bayesian approach for quantum characterization of qutrit systems, which automatically and systematically identifies optimal experiments that provide maximum information on the system parameters, thereby greatly reducing the number of experiments that need to be performed on the quantum testbed. Unlike most characterization protocols that provide point-estimates of the parameters, the proposed approach is able to estimate their probability distribution. The applicability of the Bayesian experimental design technique was demonstrated on test problems, where each experiment was defined by a parameterized control pulse. In addition to this, we also present an approach for iterative pulse extension, which is robust under uncertainties in transition frequencies and coherence times, and shot noise, despite being initialized with wide uninformative priors. Furthermore, we provide a mathematical proof of the theoretical identifiability of the model parameters and present conditions on the quantum state under which the parameters are identifiable. The proof and conditions for identifiability are presented for both closed and open quantum systems using the Schrödinger equation and the Lindblad master equation, respectively.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1989

Hierarchical Ada robot programming system (HARPS)- A complete and working telerobot control system based on the NASREM model

HARPS is a telerobot control system that can perform some simple but useful tasks. This capability is demonstrated by performing the ORU exchange demonstration. HARPS is based on NASREM (NASA Standard Reference Model). All software is developed in Ada, and the project incorporates a number of different CASE (computer-aided software engineering) tools. NASREM was found to be a valid and useful model for building a telerobot control system. Its hierarchical and distributed structure creates a natural and logical flow for implementing large complex robust control systems. The ability of Ada to create and enforce abstraction enhanced the implementation of such control systems.

Leake, Stephen↗

NASA NTRS1997

Mixed H2/H-Infinity Control of a Flexible Space Structure

As theory progresses for design and analysis of robust multivariable control laws, synthesis procedures and to a larger extent, experimental verification generally lags behind. Recent developments in robust control theory have extended the H-infinity and mu-synthesis methods to incorporate H2 properties in the control synthesis. A major difficulty in implementing robust controllers is the order of the compensator and associated complexity of the computation required for synthesis, especially when order constraints are imposed. This paper presents results of system identification and robust control design for the Controls/Structures Interaction Ground Test Facility at NASA/Marshall Space Flight Center.

Whorton, Mark↗

NASA NTRS1992

Developing a control system for ARES 2

A great deal of analysis and testing is conducted at the NASA Langley Research Center to support the development of safe and reliable helicopter rotor systems. This work is performed by the Rotorcraft Aeroelasticity Group located in the Transonic Dynamics Tunnel (TDT) facility. Over the past two decades a wide variety of tests have been successfully conducted in the TDT and their results have contributed significantly to the understanding of aeromechanical phenomena in rotor systems. This has led to improved tools for analysis and design, and ultimately to the development, of improved rotor systems. The TDT facility is ideally suited for these tests due to its unique ability to use a heavy gas as a working medium. This allows the model to be scaled such that the results obtained may be readily extrapolated to full scale. Until recently, the rotor system to be tested has been mounted on a fixed balance which is attached to the longeron which is attached to the stand through a single pitching degree of freedom. The testbed used is known as the Aeroelastic Rotor Experimental System (ARES 1). In order to extend the experimental capabilities to investigate the full rotor/body dynamic coupling present in a rotorcraft, a very ambitious project has been undertaken to design and construct a six degree of freedom system that can be controlled so as to emulate the inertial characteristics of a prescribed model fuselage. The electronic and mechanical hardware for this system has already been designed and constructed. This system is known ar ARES II. The rotor and its drive system are mounted on the balance which is attached to the longeron via six hydraulic actuators. This six degree of freedom parallel linkage is referred to in the literature as a Stuart Platform. By properly adjusting the length of the hydraulic actuators it is possible to position and orient the balance relative to the longeron. The longeron is attached to the stand via a pitch degree of freedom to allow testing over various forward flight regimes. One major task remaining to complete this testbed is the design and synthesis of a control system. To do this properly requires an understanding of the kinematics and dynamics of the system and robust control design. A brief description of the development of a control design is given.

Fitzsimons, Philip M.↗

NASA NTRS2016

Autonomous Operations System: Development and Application

Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

Autonomous Control Systems↗

NASA NTRS2014

Spacesuit Water Membrane Evaporator; An Enhanced Evaporative Cooling System for the Advanced Extravehicular Mobility Unit Portable Life Support System

Development of the Advanced Extravehicular Mobility Unit (AEMU) portable life support subsystem (PLSS) is currently under way at NASA Johnson Space Center. The AEMU PLSS features a new evaporative cooling system, the Generation 4 Spacesuit Water Membrane Evaporator (Gen4 SWME). The SWME offers several advantages when compared with prior crewmember cooling technologies, including the ability to reject heat at increased atmospheric pressures, reduced loop infrastructure, and higher tolerance to fouling. Like its predecessors, Gen4 SWME provides nominal crew member and electronics cooling by flowing water through porous hollow fibers. Water vapor escapes through the hollow fiber pores, thereby cooling the liquid water that remains inside of the fibers. This cooled water is then recirculated to remove heat from the crew member and PLSS electronics. Test results from the backup cooling system which is based on a similar design and the subject of a companion paper, suggested that further volume reductions could be achieved through fiber density optimization. Testing was performed with four fiber bundle configurations ranging from 35,850 fibers to 41,180 fibers. The optimal configuration reduced the Gen4 SWME envelope volume by 15% from that of Gen3 while dramatically increasing the performance margin of the system. A rectangular block design was chosen over the Gen3 cylindrical design, for packaging configurations within the AEMU PLSS envelope. Several important innovations were made in the redesign of the backpressure valve which is used to control evaporation. A twin-port pivot concept was selected from among three low profile valve designs for superior robustness, control and packaging. The backpressure valve motor, the thermal control valve, delta pressure sensors and temperature sensors were incorporated into the manifold endcaps, also for packaging considerations. Flight-like materials including a titanium housing were used for all components. Performance testing of the Gen4 SWME is underway.

Bue, Grant C.↗

DOE OSTI2024

MFANS 2024 - Formally Proving Characteristics of Cyber-Physical Systems

Cyber-physical systems (CPS) are engineered systems that rely on the smooth integration of computational algorithms and physical elements. This integration presents new challenges for verifying that systems will behave as expected. The goal of this presentation is to present current challenges and potential solutions for the formal verification of cyber-physical systems. For cyber systems, formal methods refer to systematically rigorous mathematical techniques employed in the specification, development, analysis, and verification of both software and hardware systems. Recent advancements in computer science have yielded sophisticated tools specifically designed to address challenges associated with formal methods in complex systems. These tools leverage various foundational concepts such as logic, formal languages, program semantics, type systems, type theory, and automata theory. A notable achievement in the application of formal methods is the seL4 microkernel, claimed to be the first general-purpose operating-system kernel to be verified. Its proof implies the absence of bugs and guarantees that the kernel meets specifications. For physical systems, dynamic and control theory has a history of using rigorous analytic techniques to prove functional correctness. Lyapunov, optimal, classical, modern, and robust control theories all provide rigorous mathematical methods both to analyze system performance and to design controller that can be guaranteed to meet certain objectives. Recent computational techniques like level set theory and reachability analysis provide assertions that a system's state will avoid unsafe regions. Even though success has been independently achieved for cyber systems and physical systems, the integration of such systems creates new challenges. In particular, there is an obvious discrepancy between finite-state machines and infinite-state systems, resulting in different approaches for modeling and analyzing these system. While it is possible to simulate hybrid systems, this provides only a demonstration of a performance and not proof. For hybrid systems, current formal methods and system analysis approaches typically require a workarounds to work on hybrid systems like CPS. This paper will outline the state of the art and limits of current practice for formally verifying CPS and will identify possible research directions that require attention.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1992

Flexible structure experiments at JPL and WPAFB - H-infinity controller designs

The authors describe some control system experiments which were carried out on flexible structure facilities at the Jet Propulsion Laboratory (JPL) and the Wright Patterson Air Force Base (WPAFB). They document some recent design studies for two contrasting flexible structure facilities. The first facility was the JPL/AFAL flexible antenna in Pasadena, California. The second was the WPAFB 12-meter cantilever truss in Dayton, Ohio. Each structure possessed a number of flexible modes of vibration which were lightly damped. The purpose of the experiments was to achieve active damping of the flexible modes via a digital control system. The feedback controllers were designed using the H-infinity technique of weighted gap optimization to increase the structural damping and achieve robust control.

Buddie, Scott A.↗

NASA NTRSDate not supplied

Design of 1 kW Simplified Stirling Controller Using Capacitor-Based Power Factor Correction

Free-piston Stirling convertors hold potential for efficient, reliable thermal to electric power conversion, provided they are paired with a robust controller. This paper outlines work underway on a system-level optimization of a kW controller. Using simplified control and passive power factor correction (PFC) this design explores the possibility of reducing programmatic risk through system simplification. Efficiency is improved through incorporating wide-bandgap gallium nitride (GaN) switches, and PFC volume is minimized through the use of polymer multi-layer capacitors. This work is aimed at exploring new approaches for future Stirling space power concepts.

Stirling↗

NASA NTRS1984

Orientation and shape-control of an orbiting flexible beam under the influence of solar radiation pressure

In this paper, the uncontrolled and controlled dynamics of a thin flexible beam in orbit and in the presence of solar radiation disturbance are analyzed. A beam nominally oriented along (i) the local horizontal and carrying a gimballed rigid dumbbell for gravity stabilization, and (ii) a beam nominally oriented along the local vertical are considered. The uncontrolled dynamics of the beam in the presence of the solar radiation pressure disturbance shows the excitation of the rigid pitch mode. The control laws previously designed for the case where the environmental effects were neglected, are found to be inadequate to control the shape and orientation of very flexible beams that are exposed to solar radiation disturbances. The control laws and the gain parameters are reevaluated for both cases of nominal beam orientations; this results, in general, in increased robustness of the closed-loop system. Methods of obtaining a robust control system in the presence of environmental perturbations are discussed.

Krishna, R.↗

NASA NTRS1990

Active member control of a precision structure with an H(infinity) performance objective

This paper addresses the noncollocated control of active structures using active structural elements. A top level architecture for active structures is presented, and issues pertaining to robust control of structures are discussed. Controllers optimized for an H sub inf performance specification are implemented on a test structure and the results are compared with analytical predictions. Directions for further research are identified.

Fanson, J. L.↗

NASA NTRS2008

An Integrated Approach to Damage Accommodation in Flight Control

In this paper we present an integrated approach to in-flight damage accommodation in flight control. The approach is based on Multiple Models, Switching and Tuning (MMST), and consists of three steps: In the first step the main objective is to acquire a realistic aircraft damage model. Modeling of in-flight damage is a highly complex problem since there is a large number of issues that need to be addressed. One of the most important one is that there is strong coupling between structural dynamics, aerodynamics, and flight control. These effects cannot be studied separately due to this coupling. Once a realistic damage model is available, in the second step a large number of models corresponding to different damage cases are generated. One possibility is to generate many linear models and interpolate between them to cover a large portion of the flight envelope. Once these models have been generated, we will implement a recently developed-Model Set Reduction (MSR) technique. The technique is based on parameterizing damage in terms of uncertain parameters, and uses concepts from robust control theory to arrive at a small number of "centered" models such that the controllers corresponding to these models assure desired stability and robustness properties over a subset in the parametric space. By devising a suitable model placement strategy, the entire parametric set is covered with a relatively small number of models and controllers. The third step consists of designing a Multiple Models, Switching and Tuning (MMST) strategy for estimating the current operating regime (damage case) of the aircraft, and switching to the corresponding controller to achieve effective damage accommodation and the desired performance. In the paper present a comprehensive approach to damage accommodation using Model Set Design,MMST, and Variable Structure compensation for coupling nonlinearities. The approach was evaluated on a model of F/A-18 aircraft dynamics under control effector damage, augmented by nonlinear cross-coupling terms and a structural dynamics model. The proposed approach achieved excellent performance under severe damage effects.

Boskovic, Jovan D.↗

NASA NTRS1981

Practical robustness measures in multivariable control system analysis

The robustness of the stability of multivariable linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria. Available robustness tests are unified under a common framework based on the nature and structure of model errors. These results are derived using a multivariable version of Nyquist's stability theorem in which the minimum singular value of the return difference transfer matrix is shown to be the multivariable generalization of the distance to the critical point on a single input, single output Nyquist diagram. Using the return difference transfer matrix, a very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived. The robustness tests that explicitly utilized model error structure are able to guarantee feedback system stability in the face of model errors of larger magnitude than those robustness tests that do not. The robustness of linear quadratic Gaussian control systems are analyzed.

Lehtomaki, N. A.↗

DOE OSTI2021

Upgrade of hardware controls for the STAR experiment at RHIC

The STAR experiment has been delivering significant physics results for more than 20 years. Stable operation of the experiment was achieved by using a robust controls system based on the Experimental Physics and Industrial Control System (EPICS). Now an object-oriented approach with Python libraries, adapted for EPICS software, is going to replace the procedural-based EPICS C libraries previously used at STAR. Advantages of the new approach include stability of operation, code reduction and straightforward project documentation. The first two sections of this paper introduce the STAR experiment, give an overview of the EPICS architecture, and present the use of Python for controls software. Therefore, specific examples, as well as upgrades of user interfaces, are outlined in the following sections.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2022

Control of a Three-Phase Grid-Connected Voltage-Sourced Converter Using Long Short-Term Memory Networks

With the rise of inverter-based resources (IBRs) within the power system, the control of grid-connected converters (GCCs) has become pertinent due to the fact they interface IBRs to the grid. The conventional method of control for a GCC such as the voltage-sourced converter (VSC) is through a decoupled control loop in the synchronous reference frame. However, this model-based control method is sensitive to parameter changes causing deterioration in controller performance. Data-driven approaches such as machine learning can be utilized to design controllers that are capable of operating GCCs in various system conditions. This work explores a deep learning-based control method for a three-phase grid-connected VSC, specifically utilizing a long short-term memory (LSTM) network for robust control. Simulations of a conventional controlled VSC are conducted using Simulink to collect data for training the LSTM-based controller. The LSTM model is built and trained using the Keras and TensorFlow libraries in Python and tested in Simulink. The performance of the LSTM-based controller is evaluated under different case studies and compared to the conventional method of control. Simulation results demonstrate the effectiveness of this approach by outperforming the conventional controller and maintaining stability under different system parameter changes.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1985

Adaptive control of large space structures using recursive lattice filters

The use of recursive lattice filters for identification and adaptive control of large space structures is studied. Lattice filters were used to identify the structural dynamics model of the flexible structures. This identification model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures is control engaged. This type of validation scheme prevents instability when the overall loop is closed. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods. The method uses the Linear Quadratic Guassian/Loop Transfer Recovery (LQG/LTR) approach to ensure stability against unmodeled higher frequency modes and achieves the desired performance.

Sundararajan, N.↗

DOE OSTI2022

Controlling Mineralization with Protein–Functionalized Peptoid Nanotubes

Sequence-defined foldamers that self-assemble into well-defined architectures are promising scaffolds to template inorganic mineralization. However, it has been challenging to achieve robust control of nucleation and growth without sequence redesign or extensive experimentation. Here, peptoid nanotubes functionalized with a panel of solid-binding proteins are used to mineralize homogeneously distributed and monodisperse anatase nanocrystals from the water-soluble TiBALDH precursor. Crystallite size is systematically tuned between 1.4 and 4.4 nm by changing protein coverage and the identity and valency of the genetically engineered solid-binding segments. The approach is extended to the synthesis of gold nanoparticles and, using a protein encoding both material-binding specificities, to the fabrication of titania/gold nanocomposites capable of photocatalysis under visible-light illumination. Here, beyond uncovering critical roles for hierarchical organization and denticity on solid-binding protein mineralization outcomes, the strategy described herein should prove valuable for the fabrication of hierarchical hybrid materials incorporating a broad range of inorganic components.

36 MATERIALS SCIENCE↗

NASA NTRS1987

Flexible spacecraft simulator

Verification of control algorithms for flexible spacecraft can be done only through simulation and test; these are necessary to understand control/structure interaction (C/SI) sufficiently to design robust controllers for future spacecraft. The objective persued is to develop a low-cost facility which simulates the fundamental problem of C/SI; and to provide accessibility for designs so that experience can be gained in applying various multivariable control design methods to an actual structure. A test facility is being constructed with test elements that provide 3 rigid body and 6 flexible modes, all in the horizontal plane, with frequencies below 2.5 Hz. The control force actuator are on/off air jets with sensing by optical displacement sensors. Loop closure is provided by a digital computer with control algorithms designed using the IAC and MATRIX-X.

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