Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “coordinated 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.

At least 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Evaluation of Pushback Decision-Support Tool Concept for Charlotte Douglas International Airport Ramp Operations

This paper proposes a new departure pushback decision-support tool (DST) for airport ramp-tower controllers. It is based on NASA's Spot and Runway Departure Advisor (SARDA) collaborative decision-making concept, except with the modification that the gate releases now are controlled by tactical pushback (or gate-hold) advisories instead of strategic pre-assignments of target pushback times to individual departure flights. The proposed ramp DST relies on data exchange with the airport traffic control tower (ATCT) to coordinate pushbacks with the ATCT's flow-management intentions under current operational constraints, such as Traffic Management Initiative constraints. Airlines would benefit in reduced taxi delay and fuel burn. The concept was evaluated in a human-in-the-loop simulation experiment with current ramp-tower controllers at the Charlotte Douglas International Airport as participants. The results showed that the tool helped reduce taxi time by one minute per flight and overall departure flight fuel consumption by 10-12% without reducing runway throughput. Expect Departure Clearance Time (EDCT) conformance also was improved when advisories were provided. These benefits were attained without increasing the ramp-tower controllers' workload. Additionally, the advisories reduced the ATCT controllers' workload.

aerospace human factors↗
NASA NTRS2008

Analysis of a Dynamic Multi-Track Airway Concept for Air Traffic Management

The Dynamic Multi-track Airways (DMA) Concept for Air Traffic Management (ATM) proposes a network of high-altitude airways constructed of multiple, closely spaced, parallel tracks designed to increase en-route capacity in high-demand airspace corridors. Segregated from non-airway operations, these multi-track airways establish high-priority traffic flow corridors along optimal routes between major terminal areas throughout the National Airspace System (NAS). Air traffic controllers transition aircraft equipped for DMA operations to DMA entry points, the aircraft use autonomous control of airspeed to fly the continuous-airspace airway and achieve an economic benefit, and controllers then transition the aircraft from the DMA exit to the terminal area. Aircraft authority within the DMA includes responsibility for spacing and/or separation from other DMA aircraft. The DMA controller is responsible for coordinating the entry and exit of traffic to and from the DMA and for traffic flow management (TFM), including adjusting DMA routing on a daily basis to account for predicted weather and wind patterns and re-routing DMAs in real time to accommodate unpredicted weather changes. However, the DMA controller is not responsible for monitoring the DMA for traffic separation. This report defines the mature state concept, explores its feasibility and performance, and identifies potential benefits. The report also discusses (a) an analysis of a single DMA, which was modeled within the NAS to assess capacity and determine the impact of a single DMA on regional sector loads and conflict potential; (b) a demand analysis, which was conducted to determine likely city-pair candidates for a nationwide DMA network and to determine the expected demand fraction; (c) two track configurations, which were modeled and analyzed for their operational characteristic; (d) software-prototype airborne capabilities developed for DMA operations research; (e) a feasibility analysis of key attributes in the concept design; (f) a near-term, transitional application of the DMA concept as a proving ground for new airborne technologies; and (g) conclusions. The analysis indicates that the operational feasibility of a national DMA network faces significant challenges, especially for interactions between DMAs and between DMA and non-DMA traffic. Provided these issues are resolved, sectors near DMAs could experience significant local capacity benefits.

Wing, David J.↗
NASA NTRS2021

Collective Transport of Unconstrained Objects via Implicit Coordination and Adaptive Compliance

We present a decentralized control algorithm for robots to aid in carrying an unknown load. Coordination occurs solely through sensing of the forces on or movement of the shared load. Robots prevent undesired motion of the load while permitting movement in the task-relevant subspace, and stabilize against unexpected events by a transient decrease in compliance. The algorithm requires no direct communication between agents, and minimal knowledge of the system or task. We demonstrate the approach in simulation using a commercially available compliant robotic platform.

Nicole E. Carey↗
NASA NTRS1989

Design of integrated autopilot/autothrottle for NASA TSRV airplane using integral LQG methodology

An integrated autopilot/autothrottle control system has been developed for the NASA transport system research vehicle using a two-degree-of-freedom approach. Based on this approach, the feedback regulator was designed using an integral linear quadratic regulator design technique, which offers a systematic approach to satisfy desired feedback performance requirements and guarantees stability margins in both control and sensor loops. The resulting feedback controller was discretized and implemented using a delta coordinate concept, which allows for transient free controller switching by initializing all controller states to zero and provides a simple solution for dealing with throttle limiting cases.

Kaminer, Isaac↗
NASA NTRS1972

Interface control and MRL phasedown report

Engine interface control activities were performed to coordinate engine and component design activities in conformance with the 1137400E flight engine baseline. Interface control drawings were maintained. The preliminary operational flight engine measurement requirements list is consistent with design requirements, the flight engine configuration, and an allocated minimum measurement channel quantity.

Smith, J. L.↗
NASA NTRS1992

Multidisciplinary optimization of a controlled space structure using 150 design variables

A general optimization-based method for the design of large space platforms through integration of the disciplines of structural dynamics and control is presented. The method uses the global sensitivity equations approach and is especially appropriate for preliminary design problems in which the structural and control analyses are tightly coupled. The method is capable of coordinating general purpose structural analysis, multivariable control, and optimization codes, and thus, can be adapted to a variety of controls-structures integrated design projects. The method is used to minimize the total weight of a space platform while maintaining a specified vibration decay rate after slewing maneuvers.

James, Benjamin B.↗
NASA NTRS1972

Interaction of marine geodesy, satellite technology and ocean physics

The possible applications of satellite technology in marine geodesy and geodetic related ocean physics were investigated. Four major problems were identified in the areas of geodesy and ocean physics: (1) geodetic positioning and control establishment; (2) sea surface topography and geoid determination; (3) geodetic applications to ocean physics; and (4) ground truth establishment. It was found that satellite technology can play a major role in their solution. For solution of the first problem, the use of satellite geodetic techniques, such as Doppler and C-band radar ranging, is demonstrated to fix the three-dimensional coordinates of marine geodetic control if multi-satellite passes are used. The second problem is shown to require the use of satellite altimetry, along with accurate knowledge of ocean-dynamics parameters such as sea state, ocean tides, and mean sea level. The use of both conventional and advanced satellite techniques appeared to be necessary to solve the third and fourth problems.

Mourad, A. G.↗
NASA NTRS2003

GPS Auto-Navigation Design for Unmanned Air Vehicles

A GPS auto-navigation system is designed for Unmanned Air Vehicles. The objective is to enable the air vehicle to be used as a test-bed for novel flow control concepts. The navigation system uses pre-programmed GPS waypoints. The actual GPS position, heading, and velocity are collected by the flight computer, a PC104 system running in Real-Time Linux, and compared with the desired waypoint. The navigator then determines the necessity of a heading correction and outputs the correction in the form of a commanded bank angle, for a level coordinated turn, to the controller system. This controller system consists of 5 controller! (pitch rate PID, yaw damper, bank angle PID, velocity hold, and altitude hold) designed for a closed loop non-linear aircraft model with linear aerodynamic coefficients. The ability and accuracy of using GPS data, is validated by a GPS flight. The autopilots are also validated in flight. The autopilot unit flight validations show that the designed autopilots function as designed. The aircraft model, generated on Matlab SIMULINK is also enhanced by the flight data to accurately represent the actual aircraft.

Nilsson, Caroline C. A.↗
NASA NTRS1988

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗
NASA NTRS2006

Notional Airspace Operations Demonstration Plan

The airspace operations demonstration (AOD) is intended to show that the Access 5 Step 1 functional requirements can be met. The demonstration will occur in two phases. The initial on-range phase will be carried out in restricted airspace to demonstrate the cooperative collision avoidance (CCA) functional requirements and to provide risk-reduction for the AOD by allowing the test team to rehearse some elements of the demonstration mission. The CCA system to be used in these flights is based on Automatic Dependent Surveillance-Broadcast (ADS-B) which is a commercially-available system by which airplanes constantly broadcast their current position and altitude to other aircraft and ground resources over a dedicated radio datalink. The final phase will occur in the national airspace (NAS) and will be the formal demonstration of the remainder of the proposed functional requirements. The general objectives of the AOD are as follows: (1) Demonstrate that the UAS can aviate in the NAS (2) Demonstrate that the UAS can navigate in the NAS (3) Demonstrate that the UAS can communicate with the NAS (4) Demonstrate that the UAS can perform selected collision avoidance functions in the NAS (5) Demonstrate that the UAS can evaluate and avoid weather conflicts in the NAS (6) Demonstrate that the UAS can provide adequate command and control in the NAS In addition to the stated objectives, there are a number of goals for the flight demonstration. The demo can be accomplished successfully without achieving these goals, but these goals are to be used as a guideline for preparing for the mission. The goals are: (1) Mission duration of at least 24 hours (2) Loiter over heavy traffic to evaluate the data block issue identified during the Access 5 Airspace Operations Simulations (3) Document the contingency management process and lessons learned (4) Document the coordination process for Ground Control Stations (GCS) handoff (5) Document lessons learned regarding the process of flying in the NAS Preliminary planning for a notional mission to achieve the objectives and goals has been prepared. The planning is intended to serve as a guide for detailed planning of the AOD.

Trongale, Nicholas A.↗
NASA NTRS2013

Mission Data System Java Edition Version 7

The Mission Data System framework defines closed-loop control system abstractions from State Analysis including interfaces for state variables, goals, estimators, and controllers that can be adapted to implement a goal-oriented control system. The framework further provides an execution environment that includes a goal scheduler, execution engine, and fault monitor that support the expression of goal network activity plans. Using these frameworks, adapters can build a goal-oriented control system where activity coordination is verified before execution begins (plan time), and continually during execution. Plan failures including violations of safety constraints expressed in the plan can be handled through automatic re-planning. This version optimizes a number of key interfaces and features to minimize dependencies, performance overhead, and improve reliability. Fault diagnosis and real-time projection capabilities are incorporated. This version enhances earlier versions primarily through optimizations and quality improvements that raise the technology readiness level. Goals explicitly constrain system states over explicit time intervals to eliminate ambiguity about intent, as compared to command-oriented control that only implies persistent intent until another command is sent. A goal network scheduling and verification process ensures that all goals in the plan are achievable before starting execution. Goal failures at runtime can be detected (including predicted failures) and handled by adapted response logic. Responses can include plan repairs (try an alternate tactic to achieve the same goal), goal shedding, ignoring the fault, cancelling the plan, or safing the system.

Reinholtz, William K.↗
NASA NTRS1991

Description of real-time Ada software implementation of a power system monitor for the Space Station Freedom PMAD DC testbed

The authors describe the Ada language software developed to perform the electrical power system monitoring functions for the NASA Lewis Research Center's Power Management and Distribution (PMAD) DC testbed. The results of the effort to implement this monitor are presented. The PMAD DC testbed is a reduced-scale prototype of the electric power system to be used in Space Station Freedom. The power is controlled by smart switches known as power control components (or switchgear). The power control components are currently coordinated by five Compaq 386/20e computers connected through an 802.4 local area network. The power system monitor algorithm comprises several functions, including periodic data acquisition, data smoothing, system performance analysis, and status reporting. Data are collected from the switchgear sensors every 100 ms, then passed through a 2-Hz digital filter. System performance analysis includes power interruption and overcurrent detection. The system monitor required a hardware timer interrupt to activate the data acquisition function. The execution time of the code was optimized by using an assembly language routine. The routine allows direct vectoring of the processor to Ada language procedures that perform periodic control activities.

Ludwig, Kimberly↗
NASA NTRS1987

Inverse kinematic-based robot control

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Wolovich, W. A.↗
NASA NTRS1975

A model for simultaneous monitoring and control

Mathematical models of the human operator have been concerned primarily with his input/output characteristics and his adaptive behavior to sudden changes in the controlled element dynamics. Newer models have examined the ability of the human to detect failures when acting as a monitor. However, models for simultaneous monitoring and control (e.g., an aircraft pilot flying a split axis approach) are necessary for performing pilot task allocations and for coordinated design of display and control subsystems. Flight test results of simulated instrument helicopter approaches conducted have shown the following: (1) constant speed approaches can be made quite comfortably by the pilots; (2) pilots cannot hover on situation displays alone; and (3) pilots can hover with a flight director display, but feel uncomfortable because they do not have enough time to monitor the situation displays.

Curry, R. E.↗
NASA NTRS1970

Human performance measuring device

Complex coordinator, consisting of operator control console, recorder, subject display panel, and limb controls, measures human performance by testing perceptual and motor skills. Device measures psychophysiological functions in drug and environmental studies, and is applicable to early detection of psychophysiological body changes.

Michael, J.↗
NASA NTRS1975

Decentralized regulation of dynamic systems

A special class of decentralized control problem is discussed in which the objectives of the control agents are to steer the state of the system to desired levels. Each agent is concerned about certain aspects of the state of the entire system. The state and control equations are given for linear time-invariant systems. Stability and coordination, and the optimization of decentralized control are analyzed, and the information structure design is presented.

Chu, K. C.↗
NASA NTRS1979

Flexible space structure model reduction by modal cost analysis

It is noted that reduced models and reduced controllers for flexible space structures are obtained by retaining those modes which make the greatest contribution to quadratic control objectives. Attention is given to the relative importance of damping, frequency and mode shapes in the mode truncation decisions for the following control objectives: attitude control, vibration suppression and figure control. It is also shown that using Modal Cost Analysis (MCA) on the closed loop modes of the optimally controlled system allows the construction of reduced control policies which feedback only those closed loop coordinates which are most critical to the quadratic control performance criterion. In this manner, the modes which need to be controlled are deduced from truncations of the optimal controller.

Skelton, R. E.↗
NASA NTRS1985

Advanced dc-Traction-Motor Control System

Motor-control concept for battery-powered vehicles includes stateof-the-art power-transistor switching and separate excitation of motor windings in traction and regenerative braking. Switching transistors and other components of power-conditioning subsystem operate under control of computer that coordinates traction, braking, and protective functions.

Vittone, O.↗