Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “cooperative 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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Cooperative control - The interface challenge for men and automated machines

The research issues associated with the increasing autonomy and independence of machines and their evolving relationships to human beings are explored. The research, conducted by Langley Research Center (LaRC), will produce a new social work order in which the complementary attributes of robots and human beings, which include robots' greater strength and precision and humans' greater physical and intellectual dexterity, are necessary for systems of cooperation. Attention is given to the tools for performing the research, including the Intelligent Systems Research Laboratory (ISRL) and industrial manipulators, as well as to the research approaches taken by the Automation Technology Branch (ATB) of LaRC to achieve high automation levels. The ATB is focusing on artificial intelligence research through DAISIE, a system which tends to organize its environment into hierarchical controller/planner abstractions.

Hankins, W. W., III↗
DOE OSTI2024

Cooperative control of a DNA origami force sensor

Abstract Biomolecular systems are dependent on a complex interplay of forces. Modern force spectroscopy techniques provide means of interrogating these forces, but they are not optimized for studies in constrained environments as they require attachment to micron-scale probes such as beads or cantilevers. Nanomechanical devices are a promising alternative, but this requires versatile designs that can be tuned to respond to a wide range of forces. We investigate the properties of a nanoscale force sensitive DNA origami device which is highly customizable in geometry, functionalization, and mechanical properties. The device, referred to as the NanoDyn, has a binary (open or closed) response to an applied force by undergoing a reversible structural transition. The transition force is tuned with minor alterations of 1 to 3 DNA oligonucleotides and spans tens of picoNewtons (pN). The DNA oligonucleotide design parameters also strongly influence the efficiency of resetting the initial state, with higher stability devices (≳10 pN) resetting more reliably during repeated force-loading cycles. Finally, we show the opening force is tunable in real time by adding a single DNA oligonucleotide. These results establish the potential of the NanoDyn as a versatile force sensor and provide fundamental insights into how design parameters modulate mechanical and dynamic properties.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1984

Optimal cooperative control synthesis applied to a control-configured aircraft

A multivariable control augmentation synthesis method is presented that is intended to enable the designer to directly optimize pilot opinion rating of the augmented system. The approach involves the simultaneous solution for the augmentation and predicted pilot's compensation via optimal control techniques. The methodology is applied to the control law synthesis for a vehicle similar to the AFTI F16 control-configured aircraft. The resulting dynamics, expressed in terms of eigenstructure and time/frequency responses, are presented with analytical predictions of closed loop tracking performance, pilot compensation, and other predictors of pilot acceptance.

Schmidt, D. K.↗
NASA NTRS1988

Cooperative control of two arms in the transport of an inertial load in zero gravity

In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed.

Carignan, Craig R.↗
NASA NTRS1994

Cooperative control theory and integrated flight and propulsion control

This report documents the activities and research results obtained under a grant (NAG3-998) from the NASA Lewis Research Center. The focus of the research was the investigation of dynamic interactions between airframe and engines for advanced ASTOVL aircraft configurations, and the analysis of the implications of these interactions on the stability and performance of the airframe and engine control systems. In addition, the need for integrated flight and propulsion control for such aircraft was addressed. The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multi variable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important non-linear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multi variable techniques, included model-following formulations of LQG and/or H (infinity) methods showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods.

Schmidt, David K.↗
NASA NTRS1995

Cooperative control theory and integrated flight and propulsion control

The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multivariable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. In these example evaluations, the significance of these interactions was underscored. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important nonlinear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multivariable techniques, including model-following formulations of LQG and/or H infinity methods, showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods. The major contributions of the second phase of the grant was the development of conditions under which no decentralized controller could achieve closed loop system requirements on stability and/or performance. Sought were conditions that depended only on properties of the plant and the requirement, and independent of any particular control law or synthesis approach. Therefore, they could be applied a priori, before synthesis of a candidate control law. Under this grant, such conditions were found regarding stability, and encouraging initial results were obtained regarding performance.

Schmidt, David K.↗
DOE OSTI2024

Trajectory Shaper: A Solution for Disrupted Cooperative Adaptive Cruise Control

Cooperative adaptive cruise control (CACC) can effectively reduce energy consumption, alleviate traffic congestion, and enhance safety. However, communication-related constraints and uncooperative vehicle users can disrupt CACC during real-world operations, significantly undermining the putative benefits of CACC. To alleviate the negative impacts of disrupted CACC, this study develops the trajectory shaper (TS) methods as backup solutions for two scenarios: (i) communication between vehicles is infeasible, and vehicles execute adaptive cruise control (ACC) using local sensor measurements; (ii) follower vehicles reject forming a cooperative platoon and execute their local distributed controllers using the information attained via communication. When communication is infeasible, a distributed TS is devised on each vehicle to modify the sensor measurements, enabling safe and efficient ACC operations. When communication is available but uncooperative agents are involved, the lead vehicle of the platoon executes a centralized TS to modify the information shared with uncooperative agents, achieving optimal platoon-level performance. The centralized and distributed TSs are implemented based on the model predictive control algorithms to yield optimal modifications on input information. Robustness is also factored to tackle model uncertainties during TS operations to ensure safety and efficiency. Numerical experiments validate the control performance of the proposed TSs.

Zhou, Anye [ORNL] (ORCID:0000000301455579)↗
NASA NTRS1987

Design principles of a cooperative robot controller

The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a programmer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and the implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.

Hayward, Vincent↗
NASA NTRS1993

Experimental object-level strategic control with cooperating manipulators

This article presents the high-level control module and user interface of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. In addition to cooperative dynamic control, DASCCOM incorporates real-time vision-ased feedback, a novel strategic programming technique, and an iconic 'object-only' graphical user interface. By focusing on the vertical integration problem, we are examining not only these subsystems, but also their interfaces and interactions. The control system implements a multilevel hierarchical structure interconnected via a real-time network. At the highest level, a mouse-driven graphical user interface allows an operator to direct the activities of the system conceptually. Strategic command is provided by an event-driven finite state machine. This methodology provides a powerful yet flexible technique for managing concurrent system interactions. The dynamic controller implements object impedance control - an extension of Neville Hogan's impedance control concept to cooperative multiple-arm manipulation of a single object. This article concentrates on user interfacing techniques and strategic programming capabilities. These modules allow the user to directly specify conceptual object relationships. Experimental results are presented, showing the system locating and identifying a moving object, 'catching' it, and performing a simple cooperative assembly. Each of these operations is executed autonomously, with only object-level task-specification direction from a remote operator.

Schneider, Stanley A.↗
NASA NTRS1974

Cooperative airframe/propulsion control for supersonic cruise aircraft

Interactions between propulsion systems and flight controls have emerged as a major control problem on supersonic cruise aircraft. This paper describes the nature and causes of these interactions and the approaches to predicting and solving the problem. Integration of propulsion and flight control systems appears to be the most promising solution if the interaction effects can be adequately predicted early in the vehicle design. Significant performance, stability, and control improvements may be realized from a cooperative control system.

Schweikhard, W. G.↗
NASA NTRS1989

Object impedance control for cooperative manipulation - Theory and experimental results

The dynamic control module being developed in the Dynamic and Strategic Control of Cooperative Manipulators (DASCCOM) project at the Stanford University Aerospace Robotics Laboratory is described. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to the strategic controller. Experimental results for a dual two-link arm robotic system are presented to verify the controllers performance, for both free-motion slews and environmental contact.

Schneider, Stanley A.↗
NASA NTRS1992

Object impedance control for cooperative manipulation - Theory and experimental results

This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

Schneider, Stanley A.↗
NASA NTRS1988

KALI - An environment for the programming and control of cooperative manipulators

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

Hayward, Vincent↗
DOE OSTI2022

Evaluating an Eco-Cooperative Automated Control System

The paper evaluates an Eco-Cooperative Automated Control (Eco-CAC) system on a large-scale network considering a combination of internal combustion engine vehicles (ICEVs), hybrid electric vehicles (HEVs), and battery-only electric vehicles (BEVs) in a microscopic traffic simulation environment. We used a novel integrated control system that: (1) routes ICEVs, HEVs, and BEVs in a fuel/energy-efficient manner; (2) selects vehicle speeds based on anticipated traffic network evolution; (3) minimizes vehicle fuel/energy consumption near signalized intersections; and (4) intelligently modulates the longitudinal motion of vehicles along freeways within a cooperative platoon to minimize fuel/energy consumption. The study tested the system using the INTEGRATION software on the Los Angeles (LA), U.S., downtown network for three different demand levels: no congestion, mild congestion, and heavy congestion. The results demonstrated that the Eco-CAC system effectively reduces vehicle fuel and energy consumption, travel time, total delay, and stopped delay in heavily congested conditions. However, different vehicle compositions produced different results. In particular, the maximum energy consumption savings for BEVs (36.9%) for a current vehicle composition occurred at a 10% market penetration rate (MPR) of connected automated vehicles (CAVs) in mild congestion, while the maximum savings for a future vehicle composition (35.5%) occurred at a 50% CAV MPR in no congestion. The system reduced fuel consumption for ICEVs and HEVs by up to 5.4% and 6.3% at a 25% CAV MPR in heavy congestion for current and future vehicle compositions, respectively. However, the system increased total fuel consumption by up to 4.6% at a 50% CAV MPR in no congestion for a current vehicle composition. The study demonstrates that the effectiveness of the Eco-CAC system depends on traffic conditions, including congestion level, network configuration, CAV MPR, and vehicle composition.

Engineering↗
DOE OSTI2025

Incentivizing Cooperative Merging Control: Insights from Multi-Agent Deep Reinforcement Learning

Cooperative driving automation enables connected and automated vehicles (CAVs) to devise cooperative merging control, introducing great potentials to alleviate traffic congestion, reduce energy consumption, and enhance safety for highway on-ramp operations. Although numerous CAV cooperative merging algorithms have been developed to improve energy and traffic performance, the agreement-seeking among CAV users and their local benefits have been understudied. This can lead to rejections of cooperative merging plans and jeopardizing CAV performance, as a cooperation may entail certain CAVs to sacrifice their local benefits to achieve a system optimum. To address this issue, the study first leverages multi-agent deep reinforcement learning (MADRL) factoring both local reward and regional reward to demonstrate the discrepancies between CAV users’ local benefits and system optimum. Next, the existence of a correlated equilibrium is proved to characterize the convergence of MADRL training. This further facilitates the incorporation of incentives (computed based on reward discrepancies) to compensate for CAV users’ local benefits and facilitate system-optimal agreements in cooperative merging operations.

Zhou, Anye [ORNL] (ORCID:0000000301455579)↗
NASA NTRS1989

Adaptive Control For Cooperative Dual Robot Arms

Three strategies proposed for adaptive control of two cooperative robot arms. New dual-arm control strategies implemented at low level of control hierarchy. Each arm operated independently under single-arm control scheme treating forces and torques transmitted through load as though disturbances. Yields promising results in numerical simulations, and general approach extended to greater numbers of arms.

Seraji, Homayoun↗
DOE OSTI2021

Blockchain Enabled Intelligence of Federated Systems (BELIEFS): An attack-tolerant trustable distributed intelligence paradigm

In this article, a Blockchain Enabled Intelligence of Federated Systems (BELIEFS) is proposed to conduct cooperative control for the multi-regional large-scale power system with a multi-agents system (MAS). By establishing a two levels blockchain, each regional AI agent can simultaneously manage intra-regional controllers and cooperate with other AI agents. Under the consensus mechanism, the agents, which respectively conducted distributed deep reinforcement learning (DDRL) algorithm in multi-regions, can have the tolerant capability of malicious attacks in their training process. The demonstration of the proposed approach is within a multi-regional large-scale interconnected power system. Under the mode of "centralized dispatching and hierarchical management", this article aims to definite a mathematical model to deal with the control problem of the power systems. With the comparison experiments, the effectiveness and efficiency of our proposed method in the training process are verified. In addition, malicious attacks are set on the main chain and shard chains to verify the attack-tolerant capability. We expect that such approach and results can suggest a new paradigm of attack-tolerant trustable distributed AI deployment.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1995

The development of the Final Approach Spacing Tool (FAST): A cooperative controller-engineer design approach

Historically, the development of advanced automation for air traffic control in the United States has excluded the input of the air traffic controller until the need of the development process. In contrast, the development of the Final Approach Spacing Tool (FAST), for the terminal area controller, has incorporated the end-user in early, iterative testing. This paper describes a cooperative between the controller and the developer to create a tool which incorporates the complexity of the air traffic controller's job. This approach to software development has enhanced the usability of FAST and has helped smooth the introduction of FAST into the operational environment.

Lee, Katharine K.↗