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All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

Squash-Box Feasibility Driven Differential Dynamic Programming

Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-shelf Non-Linear Programming (NLP) solvers, which enables its online operation. However, they cannot handle constraints, and are known to have poor convergence capabilities. In this paper, we propose a method to solve the optimal control problem with control bounds through a squashing function (i.e., a sigmoid, which is bounded by construction). It has been shown that a naive use of squashing functions damage the convergence rate. To tackle this, we first propose to add a quadratic barrier that avoids the difficulty of the plateau produced by the sigmoid. Second, we add an outer loop that adapts both the sigmoid and the barrier; it makes the optimal control problem with the squashing function converge to the original control-bounded problem. To validate our method, we present simulation results for different types of platforms including a multi-rotor, a biped, a quadruped and a humanoid robot.

Navarro, Angel Santamaria↗
NASA NTRS1991

Life extending control: An interdisciplinary engineering thrust

The concept of Life Extending Control (LEC) is introduced. Possible extensions to the cyclic damage prediction approach are presented based on the identification of a model from elementary forms. Several candidate elementary forms are presented. These extensions will result in a continuous or differential form of the damage prediction model. Two possible approaches to the LEC based on the existing cyclic damage prediction method, the measured variables LEC and the estimated variables LEC, are defined. Here, damage estimates or measurements would be used directly in the LEC. A simple hydraulic actuator driven position control system example is used to illustrate the main ideas behind LEC. Results from a simple hydraulic actuator example demonstrate that overall system performance (dynamic plus life) can be maximized by accounting for component damage in the control design.

Lorenzo, Carl F.↗
NASA NTRS1978

The Total In-Flight Simulator (TIFS) aerodynamics and systems: Description and analysis

The aerodynamics, control system, instrumentation complement and recording system of the USAF Total In/Flight Simulator (TIFS) airplane are described. A control system that would allow the ailerons to be operated collectively, as well as, differentially to entrance the ability of the vehicle to perform the dual function of maneuver load control and gust alleviation is emphasized. Mathematical prediction of the rigid body and the flexible equations of longitudinal motion using the level 2.01 FLEXSTAB program are included along with a definition of the vehicle geometry, the mass and stiffness distribution, the calculated mode frequencies and mode shapes, and the resulting aerodynamic equations of motion of the flexible vehicle. A complete description of the control and instrumentation system of the aircraft is presented, including analysis, ground test and flight data comparisons of the performance and bandwidth of the aerodynamic surface servos. Proposed modification for improved performance of the servos are also presented.

Andrisani, D., II↗
NASA NTRS2009

Influence of Containment on Defects in GeSi Crystals

Crystals grown without being in contact with a container have superior quality to otherwise similar crystals grown in direct contact with a container, especially with respect to impurity incorporation, formation of dislocations, and residual stress in crystals. "Detached" or "dewetted" Bridgman growth is similar to regular Bridgman growth in that most of the melt is in contact with the crucible wall, but the crystal is separated from the wall by a small gap, typically of the order of 10(exp -5) m. A small meniscus bridges the gap between the top of the crystal and the wall. Key parameters involved in achieving detached growth are the contact angle between the melt and crucible and the pressure differential across the meniscus. Sessile drop measurements were used to determine the wetting angles of Ge(sub 1-x)Si(sub x) melts on a variety of substrates and found that the highest wetting angles were achieved with pyrolitic boron nitride (pBN). GeSi crystals have been repeatedly grown detached in pBN crucibles but only occasionally in crucibles with lower wetting angles. Experiments have been conducted to assess the effect of pressure differential across the meniscus in sealed crucibles. This was done by adjusting the temperature profile after partial melting of the starting material. In a separate set of experiments, the pressure was controlled by connecting the volume below the meniscus to a regulated gas supply. The experiments were in agreement with calculations which predicted that stable detachment will only occur in crucibles with a low wetting angle over a relatively narrow range of pressure differential. Detached-grown crystals exhibited superior structural quality as evidenced by measurements of etch pit density, synchrotron white beam X-ray topography and double axis X-ray diffraction.

Volz, M. P.↗
NASA NTRS1984

Chemoviscosity modeling for thermosetting resins - I

A new analytical model for chemoviscosity variation during cure of thermosetting resins was developed. This model is derived by modifying the widely used WLF (Williams-Landel-Ferry) Theory in polymer rheology. Major assumptions involved are that the rate of reaction is diffusion controlled and is linearly inversely proportional to the viscosity of the medium over the entire cure cycle. The resultant first order nonlinear differential equation is solved numerically, and the model predictions compare favorably with experimental data of EPON 828/Agent U obtained on a Rheometrics System 4 Rheometer. The model describes chemoviscosity up to a range of six orders of magnitude under isothermal curing conditions. The extremely non-linear chemoviscosity profile for a dynamic heating cure cycle is predicted as well. The model is also shown to predict changes of glass transition temperature for the thermosetting resin during cure. The physical significance of this prediction is unclear at the present time, however, and further research is required. From the chemoviscosity simulation point of view, the technique of establishing an analytical model as described here is easily applied to any thermosetting resin. The model thus obtained is used in real-time process controls for fabricating composite materials.

Hou, T. H.↗
NASA NTRSDate not supplied

Multi-Anvil Experimentation Applied to Planetary Differentiation

Planets undergo differentiation that includes segregation of metal from silicate at high temperatures and pressures ranging from deep planetary core pressures (>300 GPa for Earth)to very shallow conditions of asteroids (<100 MPa).The multi-anvil solid media apparatus accesses the middle part of this range from 3 to 30 GPa –pressure relevant to the interior of Mercury, Venus, Earth, Earth’s Moon, and Mars. Early planets are thought to have experienced high temperatures from a combination of heat sources including radioactive decay, gravitational and accretional heating, and impact processes. These heating events led to melting of mantles and cores, thus requiring an understanding of solid-liquid equilibria in metal-silicate systems. In 2006 we established a multi-anvil facility at NASA-JSC combining an 880 ton press and a Kawai/Walker type module from Rockland Research. Our high PT work has been greatly facilitated by use of the COMPRES multi-anvil assemblies (1). Our recent work has included studies of element partitioning between liquid metal and liquid silicate(e.g., 2), as well as between minerals and melts(e.g., 3), both of which have led to better constraints on the timing and conditions of planetary differentiation(e.g. 4). Several examples involving sustained efforts will be summarized below and for the presentation. The distribution of siderophile (iron-loving) elements between core and mantle is controlled by metal-silicate equilibrium across a wide range of pressures. Therefore, experimentation across this pressure range helps to calibrate elemental partitioning models that can be applied to planets, and used to predict mantle chemistry and composition during planetary differentiation. Our studies have focused on a wide range of siderophile elements (refractory Ni, Co, W, Mo; volatile P, Ga, Cu, Sn, Sb; highly siderophile Au, Pd) that have constrained partitioning, valence, and isotopic fractionation, and applied to Earth, Moon, and Mars. When molten mantles (magma oceans) cool enough to initiate crystallization, the solids precipitate at depth and in large planets this involves high pressure phases like garnet, majorite, akimotoite, and ringwoodite. As these solids precipitate they can segregate from liquid by density contrasts, thus causing elemental fractionation which can be used to decipher timing of differentiation. Mineral/melt and metal/silicate equilibria in our lab have helped to better understand high pressure fractionation of isotopic parent/daughter pairs Hf/W, Mn/Cr, Pd/Ag, Pt/Os, Re/Os, and U/Pb, and their application to Earth, Moon and Mars. There remains great potential for multi-anvil experimentation to shed light on many pressure–dependent aspects of planetary evolution such as core formation, high pressure phase equilibria, redox equilibria, and volatile evolution and storage. References1. Leinenweber, K., et al.(2012) American Mineralogist,97, 353–368. 2.Righter, K., et al.(2020) Geochem. Persp. Lett.15, 1-6.3. Righter, K., et al.(2020) Met. Planet. Sci 55, 2741-2757.4. Righter, K., et al.(2020)Earth and Planetary Science Letters,552, 116590.

pressure↗
NASA NTRS1981

Civil Application of Differential GPS Using a Single Channel Sequential Receiver

The Global Positioning System (GPS) and its potential for area navigation, landing, and takeoff under minimum ceilings and advanced air traffic control operation is discussed. The following topics are reported: status of the GPS system; GPS signal availability for the civil community; alternative differential GPS concepts; predicted performance enhancement achievable with differential GPS and the operational improvements which will result; and a development program to test and evaluate differential GPS concepts, performance and operational procedures applicable to helicopters. Potential benefits which will be derived from helicopter use of GPS in the differential mode are identified.

Source record↗
NASA NTRSDate not supplied

Preliminary Design of an 'Autonomous Medical Response Agent' Interface Prototype for Long Duration Spaceflight

Major challenges for astronauts in future long-duration exploration missions (LDEMs) will be that crewmembers are not expected to be medical professionals, may be under high workload and stress, are facing physiological challenges caused by spaceflight, and will have limited, delayed voice communications with medical support from Earth. An autonomous medical response agent (AMRA) is envisioned to help astronauts address medical complaints, develop a differential diagnosis, and guide self-treatment until a healthy state is restored. AMRA develops a process of personalized diagnosis and treatment through a Bayesian predictive control system that recommends therapeutic control actions including diagnostic tests and treatments to crewmembers (Menon, 2020). The Human Computer Interaction (HCI) lab from NASA Ames Research Center’s Human Systems Integration Division (Code TH) has collaborated with Nahlia Inc in human-centered design augmentation research for AMRA. The project, titled Design of ‘Autonomous Medical Response Agent Interface Prototype for Long Duration Spaceflight, has been funded by the Translational Research Institute for Space Health (TRISH) and introduces an interactive user-interface prototype that guides astronauts through self-diagnosis, treatment, and rehabilitation while communicating with remote specialists in ground support (most notably a patient’s flight surgeon). Our project develops the interaction design for the crewmember using AMRA through user research, iterative design, and usability testing to evaluate the user interface and workflow designed. The interface design deliverable for this project, titled AMRA Aggregate Information Display (AMRA AID) is an integrated information display system for comprehensive autonomous medical guidance, diagnosis, and treatment of in-flight medical conditions experienced by crewmembers. AMRA AID demonstrates how we might ensure crew autonomy, increase the crew’s medical capabilities, and decrease cognitive burden within a front-end user interface. AMRA AID refrains from relying on input from ground or mission control for self-treatment of medical issues—though ground awareness and communication with ground is maintained as a means of ensuring trust between mission control and crew. AMRA AID demonstrates how the crew’s on-board medical system might integrate with information from vehicle monitoring and crew schedule, without assuming causal relationships. AMRA AID’s comprehensive view enables efficient information access for both crew and ground support, reducing cognitive burden in the event of an unplanned or emergency medical incident and enabling informed analytical decisions to be made based on both crew and vehicle health. Human-centered design augmentation advanced within the prototype included: enhanced workflow and treatment guidance for two medical scenarios for a non-specialist user base with various levels of medical training, interaction design which considered speech (conversational user interface) elements and on-screen interactions to be developed in future iterations of the project, communication design and functional requirements relevant to self-care versus caring for another astronaut, as well as user testing of the prototype with an international space medical community. This project arrives at critical findings regarding usability needs, communication requirements, and integrated information requirements for a future technology interface functioning to increase confidence between ground support and LDEM crewmembers.

TRISH↗
NASA NTRSDate not supplied

Adaptive Optimization for System Performance and Combined Bernstein Polynomial, Optimal Reciprocal Collision Avoidance, Differential Dynamic Programming for Trajectory Replanning and Collision Avoidance for UAM Vehicles

The emerging urban air mobility (UAM) sector in aerospace is driving development of unconventional multi-modal vehicle configurations and autonomous flight. The combination of multi-modal vehicle dynamics, complex environment, requirements to deal with flight contingencies in an efficient and safe manner, as well as necessity for precise trajectory following and performance, are the driving influence behind adaptive optimization for system performance. We are interested in trajectory optimization algorithm that would system parameter estimation and identifying the optimal switching time between modes of hybrid dynamical systems. This presentation discusses a parameterized optimal control trajectory optimization algorithm that is an extended and generalized version of Differential Dynamic Programming (DDP), titled Parameterized Differential Dynamic Programming (PDDP). DDP is an efficient trajectory optimization algorithm relying on second order approximations of a system’s dynamics and cost function and has recently been applied to optimize systems with time invariant parameters. Experiments are presented applying PDDP to solve model predictive control (MPC) and moving horizon estimation (MHE) tasks simultaneously. In particular, PDDP is used to determine the optimal transition point between flight regimes of a complex urban air mobility (UAM) class vehicle exhibiting multiple phases of flight and to identify and compensate for actuation faults.

optimization↗
NASA NTRS2023

High-Order Coronagraphic Wavefront Control With Algorithmic Differentiation: First Experimental Demonstration

Future space-based coronagraphs will rely critically on focal-plane wavefront sensing and control with deformable mirrors to reach deep contrast by mitigating optical aberrations in the primary beam path. Until now, most focal-plane wavefront control algorithms have been formulated in terms of Jacobian matrices, which encode the predicted effect of each deformable mirror actuator on the focal-plane electric field. A disadvantage of these methods is that Jacobian matrices can be cumbersome to compute and manipulate, particularly when the number of deformable mirror actuators is large. Recently, we proposed a new class of focal-plane wavefront control algorithms that utilize gradient-based optimization with algorithmic differentiation to compute wavefront control solutions while avoiding the explicit computation and manipulation of Jacobian matrices entirely. In simulations using a coronagraph design for the proposed Large UV/Optical/Infrared Surveyor (LUVOIR), we showed that our approach reduces overall CPU time and memory consumption compared to a Jacobian-based algorithm. Here, we expand on these results by implementing the proposed algorithm on the High Contrast Imager for Complex Aperture Telescopes (HiCAT) testbed at the Space Telescope Science Institute (STScI) and present initial experimental results, demonstrating contrast suppression capabilities equivalent to Jacobian-based methods.

wavefront control↗
NASA NTRS1990

Integrated modeling and analysis of a space-truss article

MSC/NASTRAN is being used in the Controls-Structures Interaction (CSI) program at NASA Langley Research Center as a key analytical tool for structural analysis as well as the basis for control law development, closed-loop performance evaluation, and system safety checks. Guest investigators from academia and industry are performing dynamics and control experiments on a flight-like deployable space truss called Mini-Mast to determine the effectiveness of various active-vibration control laws. MSC/NASTRAN was used to calculate natural frequencies and mode shapes below 100 Hz to describe the dynamics of the 20-meter-long lightweight Mini-Mast structure. Gravitational effects contribute significantly to structural stiffness and are accounted for through a two-phase solution in which the differential stiffness matrix is calculated and then used in the eigensolution. Reduced modal models are extracted for control law design and evaluation of closed-loop system performance. Predicted actuator forces from controls simulations are then applied to the extended model to predict member loads and stresses. These pre-test analyses reduce risks associated with the structural integrity of the test article, which is a major concern in closed-loop control experiments due to potential instabilities.

Alan E Stockwell↗
NASA NTRS2005

Experimental Results for an Annular Aerospike with Differential Throttling

A) MSFC funded an internal study on Altitude Compensating Nozzles: 1) Develop an ACN design and performance prediction tool. 2) Design, build and test cold flow ACN nozzles. 3) An annular aerospike nozzle was designed and tested. 4) Incorporated differential throttling to assess Thrust Vector Control. B) Objective of the test hardware: 1) Provide design tool verification. 2) Provide benchmark data for CFD calculations. 3) Experimentally measure side force, or TVC, for a differentially throttled annular aerospike.

Ruf, Joseph H.↗
NASA NTRS1980

Frequency response fo multiple-sampling rate systems

Analytical procedure simplifies prediction of frequency response of multirate digital control systems. Although developed for Space Shuttle flightcontrol system, procedure is applicable to any multirate system describable by linear, constant-coefficient differential equations of difference equations.

Scharmack, D. K.↗
NASA NTRS2016

Skeletal Micro-RNA Responses to Simulated Weightlessness

Astronauts lose bone structure during long-duration spaceflight. These changes are due, in part, to insufficient bone formation by the osteoblast cells. Little is known about the role that small (approximately 22 nucleotides), non-coding micro-RNAs (miRNAs) play in the osteoblast response to microgravity. We hypothesize that osteoblast-lineage cells alter their miRNA status during microgravity exposure, contributing to impaired bone formation during weightlessness. To simulate weightlessness, female mice (C57BL/6, Charles River, 10 weeks of age, n = 7) were hindlimb unloaded up to 12 days. Age-matched and normally ambulating mice served as controls (n=7). To assess the expression of miRNAs in skeletal tissue, the tibia was collected ex vivo and cleaned of soft-tissue and marrow. Total RNA was collected from tibial bone and relative abundance was measured for miRNAs of interest using quantitative real time PCR array looking at 372 unique and well-characterized mature miRNAs using the delta-delta Ct method. Transcripts of interest were normalized to an average of 6 reference RNAs. Preliminary results show that hindlimb unloading decreased the expression of 14 miRNAs to less than 0.5 times that of the control levels and increased the expression of 5 miRNAs relative to the control mice between 1.2-1.5-fold (p less than 0.05, respectively). Using the miRSystem we assessed overlapping target genes predicted to be regulated by multiple members of the 19 differentially expressed miRNAs as well as in silico predicted targets of our individual miRNAs. Our miRsystem results indicated that a number of our differentially expressed miRNAs were regulators of genes related to the Wnt-Beta Catenin pathway-a known regulator of bone health-and, interestingly, the estrogen-mediated cell-cycle regulation pathway, which may indicate that simulated weightlessness modulated systemic hormonal levels or hormonal transduction that additionally contributed to bone loss. We plan to follow up these findings by measuring gene expression of miRNA-regulated genes within these two pathways with the aim of furthering our understanding of the function of miRNAs in the skeletal response to spaceflight.

musculoskeletal system↗
NASA NTRSDate not supplied

Transcriptomics-based Machine Learning Analysis Predicts Space-Exposed Murine Livers

Limited sample sizes, high data dimensionality, and sensitivity to technical and biological variability of next generation sequencing (NGS), has typically limited machine learning (ML) in space studies and further study of radiation effects. However, pooling smaller studies while addressing intra- and inter-study variabilities allows for ML predictive modeling. Here, integration methods were applied to whole transcriptome shotgun sequencing (RNAseq) data from 6 mouse liver GeneLab datasets (GLDS) with a total of 113 spaceflight and ground-control samples to determine top features relevant to spaceflight including the effect of radiation exposure. Data was normalized within each study, then merged and scaled across all datasets. Data dimensionality was reduced using a minimum redundancy maximum relevance (MRMR) methodology. The top MRMR features were used to predict spaceflight vs. ground-control samples using a Random Forest (RF) classifier with 5-fold cross validation (CV). The ML-based gene sets were further compared against differential gene expression results from individual GLDS. CV training using the top 100 MRMR genes show averages of 86% accuracy and 0.95 AUC value on the validation set over 5 folds (Figure 1A). Baseline set analysis on differentially expressed genes (DEGs) identified using padj ≤ 0.05 show 811 or 68 DEGs overlapping between at least 2 or 3 studies, respectively (Figure 1B). Over-representation analysis showed overlapping biological processes related to fatty acid and lipid metabolism. Set analysis between the MRMR features and the DEGs showed 60 or 8 genes overlapping with at least 1 or 2 studies, respectively. MRMR feature selection and ensemble ML methods (e.g. RF) improve performance relative to a Naïve Bayes classifier when NGS data sets are analyzed. A challenge of applying ML methods across heterogeneous NGS data is accounting for signal:noise ratio. Here, signal validation across studies was shown by intersecting sets between top MRMR genes and DEGs from RNASeq analysis. Non-intersecting sets introduce opportunity to explore spaceflight relevant genes and implementing ML methods across existing NGS datasets may overcome sample size limitations. ML coupled with existing analytical methods enhances understanding of disease by revealing common underlying pathways across datasets.

Machine Learning↗
NASA NTRS1986

Predicting the Dynamic Behavior of High-Speed Roller Bearings

Computer program developed for solving nonlinear differential equations of motion of high-speed, lightly loaded, cylindrical roller bearing. Program organized into three major parts: Main program, controls input and output; differential equation solver; and subroutines, used to evaluate vector function. Program has capability of performing either twodimensional or three-dimensional simulation.

Conry, T. F.↗
NASA NTRS1973

An experimental evaluation of metallic diaphragms for positive fuel expulsion in the Atmosphere Explorer, hydrazine propulsion subsystem

Four Arde conospheroid metallic diaphragms were tested at NASA to evaluate their capability for use in the orbit adjust propulsion subsystem (OAPS) of the Atmosphere Explorer spacecraft (AE's C, D, and E). The diaphragms will be used for positive propellant expulsion and spacecraft center of mass (c.m.) control. A leak-free cycle life capability of nine reversals was demonstrated. The diaphragms rolled smoothly from ring to ring in a predictable manner on the first reversal. Varying amounts of diaphragm cocking and ring skipping were observed on subsequent reversals. The diaphragm pressure differential did not exceed 10 psid during any reversal. Cycle life capability, reversal mode, and pressure differential were not affected by sudden reversals, environmental tests, or 18,000 partial reversals. An expulsion efficiency of approximately 97 percent was demonstrated. The results of these tests show that metallic diaphragms can be used as an effective means of positive fuel expulsion; however, to achieve spacecraft c.m. control, the diaphragm must not be reversed prior to flight.

Woodruff, W. L.↗
NASA NTRS1973

An experimental evaluation of metallic diaphragms for positive fuel expulsion in the atmosphere explorer hydrazine propulsion subsystem

Four Arde conospheroid metallic diaphragms were tested to evaluate their capability for use in the orbit adjust propulsion subsystem (OAPS) of the Explorer spacecraft. The diaphragms will be used for positive propellant expulsion and spacecraft center of mass control. A leak-free cycle life capability of nine reversals was demonstrated. The diaphragms rolled smoothly from ring to ring in a predictable manner on the first reversal. Varying amounts of diaphragm cocking and ring skipping were observed on subsequent reversals. The diaphragm pressure differential did not exceed 7 N/sq cm during any reversal. Cycle life capability, reversal mode, and pressure differential were not affected by sudden reversals, environmental tests, or 18,000 partial reversals. An expulsion efficiency of approximately 97 percent was demonstrated. The results of these tests show that metallic diaphragms can be used as an effective means of positive fuel expulsion; however, to achieve spacecraft center of mass control, the diaphragm must not be reversed prior to flight.

Woodruff, W. L.↗