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At least 415 records · Page 23

Force regulation in multiple-manipulator systems

A new intuitively appealing interpretation of the internal force in a multiple-arm system is presented. The static gravity-free case is considered where internal force has a well-founded physical meaning. The case is extended to the general dynamic case by removing the inertial force through balancing it with the minimum amount of contact force. The remaining component in the contact force is considered to be the sole contributor to the inertial force. Existing techniques for force control can be used to obtain various stabilizing force set point control laws. Particular attention is given to the motion control strategy for multiple arm systems. Three types of control laws, feedback linearization, arms-as-actuators, and passive control, are addressed. The first two techniques provide simplified control tuning but require much model information. The latter approach is considered to be very robust with respect to the model, but good transient performance is more challenging to obtain. It is suggested to combine one of the model-based approaches with the passive control approach.

Wen, John T.↗

Micro-Electromechanical Instrument and Systems Development at the Charles Stark Draper Laboratory

Several generations of micromechanical gyros and accelerometers have been developed at Draper. Current design effort centers on tuning-fork gyro design and pendulous accelerometer configurations. Over 200 gyros of different generations have been packaged and tested. These units have successfully performed across a temperature range of -40 to 85 degrees C, and have survived 30,000-g shock tests along all axes. Draper is currently under contract to develop an integrated micro-mechanical inertial sensor assembly (MMISA) and global positioning system (GPS) receiver configuration. The ultimate projections for size, weight, and power for an MMISA, after electronic design of the application specific integrated circuit (ASIC ) is completed, are 2 x 2 x 0.5 cm, 5 gm, and less than 1 W, respectively. This paper describes the fabrication process, the current gyro and accelerometer designs, and system configurations.

Connelly, J. H.↗

Low-Loss NbTiN Films for THz SIS Mixer Tuning Circuits

Recent results at 1 THz using normal-metal tuning circuits have shown that SIS mixers can work well up to twice the gap frequency of the junction material (niobium). However, the performance at 1 THz is limited by the substantial loss in the normal metal films. For better performance superconducting films with a higher gap frequency than niobium and with low RF loss are needed. Niobium nitride has long been considered a good candidate material, but typical NbN films suffer from high RF loss. To circumvent this problem we are currently investigating the RF loss in NbTiN films, a 15 K Tc compound superconductor, by incorporating them into quasi-optical slot antenna SIS devices.

Kooi, J. W.↗

Recursive Branching Simulated Annealing Algorithm

This innovation is a variation of a simulated-annealing optimization algorithm that uses a recursive-branching structure to parallelize the search of a parameter space for the globally optimal solution to an objective. The algorithm has been demonstrated to be more effective at searching a parameter space than traditional simulated-annealing methods for a particular problem of interest, and it can readily be applied to a wide variety of optimization problems, including those with a parameter space having both discrete-value parameters (combinatorial) and continuous-variable parameters. It can take the place of a conventional simulated- annealing, Monte-Carlo, or random- walk algorithm. In a conventional simulated-annealing (SA) algorithm, a starting configuration is randomly selected within the parameter space. The algorithm randomly selects another configuration from the parameter space and evaluates the objective function for that configuration. If the objective function value is better than the previous value, the new configuration is adopted as the new point of interest in the parameter space. If the objective function value is worse than the previous value, the new configuration may be adopted, with a probability determined by a temperature parameter, used in analogy to annealing in metals. As the optimization continues, the region of the parameter space from which new configurations can be selected shrinks, and in conjunction with lowering the annealing temperature (and thus lowering the probability for adopting configurations in parameter space with worse objective functions), the algorithm can converge on the globally optimal configuration. The Recursive Branching Simulated Annealing (RBSA) algorithm shares some features with the SA algorithm, notably including the basic principles that a starting configuration is randomly selected from within the parameter space, the algorithm tests other configurations with the goal of finding the globally optimal solution, and the region from which new configurations can be selected shrinks as the search continues. The key difference between these algorithms is that in the SA algorithm, a single path, or trajectory, is taken in parameter space, from the starting point to the globally optimal solution, while in the RBSA algorithm, many trajectories are taken; by exploring multiple regions of the parameter space simultaneously, the algorithm has been shown to converge on the globally optimal solution about an order of magnitude faster than when using conventional algorithms. Novel features of the RBSA algorithm include: 1. More efficient searching of the parameter space due to the branching structure, in which multiple random configurations are generated and multiple promising regions of the parameter space are explored; 2. The implementation of a trust region for each parameter in the parameter space, which provides a natural way of enforcing upper- and lower-bound constraints on the parameters; and 3. The optional use of a constrained gradient- search optimization, performed on the continuous variables around each branch s configuration in parameter space to improve search efficiency by allowing for fast fine-tuning of the continuous variables within the trust region at that configuration point.

Bolcar, Matthew↗

Transmission Loss and Absorption of Corrugated Core Sandwich Panels With Embedded Resonators

The effect of embedded resonators on the diffuse field sound transmission loss and absorption of composite corrugated core sandwich panels has been evaluated experimentally. Two 1.219 m × 2.438 m panels with embedded resonator arrangements targeting frequencies near 100 Hz were evaluated using non-standard processing of ASTM E90-09 acoustic transmission loss and ASTM C423-09a room absorption test measurements. Each panel is comprised of two composite face sheets sandwiching a corrugated core with a trapezoidal cross section. When inlet openings are introduced in one face sheet, the chambers within the core can be used as embedded acoustic resonators. Changes to the inlet and chamber partition locations allow this type of structure to be tuned for targeted spectrum passive noise control. Because the core chambers are aligned with the plane of the panel, the resonators can be tuned for low frequencies without compromising the sandwich panel construction, which is typically sized to meet static load requirements. Absorption and transmission loss performance improvements attributed to opening the inlets were apparent for some configurations and inconclusive for others.

Allen, Albert R.↗

SiLix-C Nanocomposites

For this Phase II project, Superior Graphite Co., in collaboration with the Georgia Institute of Technology and Streamline Nanotechnologies, Inc., developed, explored the properties of, and demonstrated the enhanced capabilities of novel nanostructured SiLix-C anodes. These anodes can retain high capacity at a rapid 2-hour discharge rate and at 0 C when used in Li-ion batteries. In Phase I, these advanced anode materials had specific capacity in excess of 1,000 mAh/g, minimal irreversible capacity losses, and stable performance for 20 cycles at C/1. The goals in Phase II were to develop and apply a variety of novel nanomaterials, fine-tune the properties of composite particles at the nanoscale, optimize the composition of the anodes, and select appropriate binder and electrolytes. In order to achieve a breakthrough in power characteristics of Li-ion batteries, the team developed new nanostructured SiLix-C anode materials to offer up to 1,200 mAh/g at C/2 at 0 C.

Henry, Francois↗

Development of Concurrent Artificially-Intelligent Spectrometry and Adaptive Lidar System (CASALS) for Swath Mapping From Space

We present the design and performance of a Concurrent Artificially-intelligent Spectrometry and Adaptive Lidar System (CASALS) for 3D imaging from Space. With a single fast wavelength tuning laser, CASALS accomplishes a 1,200 resolvable spots swath mapping by grating dispersion wavelength steering. Any subset of these 1,200 spots can be selected by wavelength switching. The validation operating principle was accomplished and reported in IGASS-2022. With configurable base design, we report the designs and progress of the CASALS airplane campaign with 256 contiguous ground spots. It is accomplished with a single fast tuning lase at 1040-nm, 1.152MHz tuning rate, and pulse modulated 2-ns on each wavelength. Return pulses are mapped to an eight-pixel detector array with single-photon sensitivity. The lidar returns are time-multiplexed to two outputs that are digitized with two 1-GSPS-digitizer. A grating spectrometer rejects solar background noise spatially and spectrally. We are developing a 1040-nm CASALS intended for multiple LEO orbit missions: Earth Venture Mission on ESPA Grande, STV Mission on ESPA Grande SmallSat, STV Mission on spacecraft equivalent to ICESat power (SWaP,) and splitting the laser beam requires higher laser pulse energy.

ranging lidar↗

Gain Scheduling for the Orion Launch Abort Vehicle Controller

One of NASAs challenges for the Orion vehicle is the control system design for the Launch Abort Vehicle (LAV), which is required to abort safely at any time during the atmospheric ascent portion of ight. The focus of this paper is the gain design and scheduling process for a controller that covers the wide range of vehicle configurations and flight conditions experienced during the full envelope of potential abort trajectories from the pad to exo-atmospheric flight. Several factors are taken into account in the automation process for tuning the gains including the abort effectors, the environmental changes and the autopilot modes. Gain scheduling is accomplished using a linear quadratic regulator (LQR) approach for the decoupled, simplified linear model throughout the operational envelope in time, altitude and Mach number. The derived gains are then implemented into the full linear model for controller requirement validation. Finally, the gains are tested and evaluated in a non-linear simulation using the vehicles ight software to ensure performance requirements are met. An overview of the LAV controller design and a description of the linear plant models are presented. Examples of the most significant challenges with the automation of the gain tuning process are then discussed. In conclusion, the paper will consider the lessons learned through out the process, especially in regards to automation, and examine the usefulness of the gain scheduling tool and process developed as applicable to non-Orion vehicles.

McNamara, Sara J.↗

Reconstructed Flight Performance of the Powered Descent Guidance and Control System for the Mars 2020 Perseverance Mission

On February 18th, 2021, the Mars 2020 mission successfully landed the “Perseverance” rover at Jezero crater on Mars. The Powered Descent Guidance and Control (PDGC) system was inherited from the Mars Science Laboratory mission and its parameters were tuned to support Terrain Relative Navigation for the Mars 2020 mission. The PDGC system architecture consists of a trajectory and an attitude commander, six feedback control loops and thruster allocation logic. The PDGC commands eight throttleable Mars Lander Engines to actively guide and control the vehicle during each powered flight phase. This paper describes the design and the as-flown performance of the PDGC system.

Way, David W.↗

A Preliminary Study on the Feasibility of Large Language Models for Detecting Micro-Behaviors Among Team Members in Space Missions

Large-language models (LLMs) have been recently used for spoken language understanding (SLU) to infer meaning and semantics from speech in tasks such as speaker intent and sentiment classification. Due to being trained on large amounts of data, and their ability to understand context and relationships between words, LLMs are competent, enabling them to generalize across tasks without requiring many task-specific training samples. This research examines the feasibility of few-shot learning in LLMs for detecting subtle, brief, and possibly unconscious interactions between team members, called ``micro-behaviors," and provides insights into the appropriate design of LLMs for this task. Our data came from 5 teams participating in a 45-day mission at the US National Aeronautics and Space Administration’s (NASA) Human Exploration Research Analog (HERA). More specifically we used data collected from team interaction battery (TIB) tasks teams performed five times in-mission which comprise an average 1.5 hours of conversation data per day. Micro-behaviors were coded according to an adapted version of Smith & Griffins (2022) theoretical framework in terms of Violation (i.e., presence of valenced behavior, uplifting/positive or discouraging/negative), Intensity (i.e., force of behavior in terms of how uplifting or discouraging is the behavior), and Intent (i.e., motive of the behavior in terms of whether it was deliberate or unintentional). We explore the ability of LLMs to detect the presence and intensity of micro-behaviors. We examine employing and fine-tuning readily available LLMs (i.e., RoBERTa, DistilBERT), as well as prompting state-of-the-art sequence classification models (i.e., Llama-2, Llama-3). In a total of 13,058 conversational turns (17.8% uplifting, 3.3% discouraging, 75.76% neutral, 3.14% nulls), we compute the macro F1-score of the 3-way micro-behavior classification task (i.e., classifying among uplifting, discouraging, and neutral; 33% chance). Results indicate that the RoBERTa model achieves a F1-score of 36.2% (uplift: 43.3% precision (P), 15.1% recall (R); discourage: 20% P, 0.5% R). These results significantly improve when we augment the data via paraphrasing in the RoBERTa model, reaching a 41.2% macro F1-score (uplift: 37.7% P, 86.3% R; discourage: 3.5% P, 1.8% R). Finally, the Llama-2 model with 3-shot prompting yields 38% macro F1-score (uplift: 28.7% P, 20% R; discourage: 7.2% P, 18% R), which is slightly better compared to the RoBERTa model without data augmentation, highlighting the effectiveness of sequence classification models in detecting minority classes with a small sample size. Findings indicate that LLMs hold potential to detect subtle behaviors in conversations, which could be valuable in assessing team behavior in space exploration missions. Future studies will evaluate the performance of different LLM prompting strategies or fine-tuning methods.

Ankush Raut↗

Constructing an Efficient Self-Tuning Aircraft Engine Model for Control and Health Management Applications

Self-tuning aircraft engine models can be applied for control and health management applications. The self-tuning feature of these models minimizes the mismatch between any given engine and the underlying engineering model describing an engine family. This paper provides details of the construction of a self-tuning engine model centered on a piecewise linear Kalman filter design. Starting from a nonlinear transient aerothermal model, a piecewise linear representation is first extracted. The linearization procedure creates a database of trim vectors and state-space matrices that are subsequently scheduled for interpolation based on engine operating point. A series of steady-state Kalman gains can next be constructed from a reduced-order form of the piecewise linear model. Reduction of the piecewise linear model to an observable dimension with respect to available sensed engine measurements can be achieved using either a subset or an optimal linear combination of "health" parameters, which describe engine performance. The resulting piecewise linear Kalman filter is then implemented for faster-than-real-time processing of sensed engine measurements, generating outputs appropriate for trending engine performance, estimating both measured and unmeasured parameters for control purposes, and performing on-board gas-path fault diagnostics. Computational efficiency is achieved by designing multidimensional interpolation algorithms that exploit the shared scheduling of multiple trim vectors and system matrices. An example application illustrates the accuracy of a self-tuning piecewise linear Kalman filter model when applied to a nonlinear turbofan engine simulation. Additional discussions focus on the issue of transient response accuracy and the advantages of a piecewise linear Kalman filter in the context of validation and verification. The techniques described provide a framework for constructing efficient self-tuning aircraft engine models from complex nonlinear simulations.Self-tuning aircraft engine models can be applied for control and health management applications. The self-tuning feature of these models minimizes the mismatch between any given engine and the underlying engineering model describing an engine family. This paper provides details of the construction of a self-tuning engine model centered on a piecewise linear Kalman filter design. Starting from a nonlinear transient aerothermal model, a piecewise linear representation is first extracted. The linearization procedure creates a database of trim vectors and state-space matrices that are subsequently scheduled for interpolation based on engine operating point. A series of steady-state Kalman gains can next be constructed from a reduced-order form of the piecewise linear model. Reduction of the piecewise linear model to an observable dimension with respect to available sensed engine measurements can be achieved using either a subset or an optimal linear combination of "health" parameters, which describe engine performance. The resulting piecewise linear Kalman filter is then implemented for faster-than-real-time processing of sensed engine measurements, generating outputs appropriate for trending engine performance, estimating both measured and unmeasured parameters for control purposes, and performing on-board gas-path fault diagnostics. Computational efficiency is achieved by designing multidimensional interpolation algorithms that exploit the shared scheduling of multiple trim vectors and system matrices. An example application illustrates the accuracy of a self-tuning piecewise linear Kalman filter model when applied to a nonlinear turbofan engine simulation. Additional discussions focus on the issue of transient response accuracy and the advantages of a piecewise linear Kalman filter in the context of validation and verification. The techniques described provide a framework for constructing efficient self-tuning aircraft engine models from complex nonlinear simulatns.

Armstrong, Jeffrey B.↗

Adjustable support spring

Restraining spring mechanism acting against a force has adjustable spring constant, and its performance is not affected by changes in ambient pressure. Natural frequency of device is varied by changing absolute pressures within bellows and may be tuned to prevent coupling while maintaining a given spring constant.

Hadland, W. O.↗

Effects of mistuning on blade torsional flutter

An analytical model for the prediction of fan blade flutter is presented and evaluated using data from NASA tests on an advanced high performance engine. For the cascade conditions appropriate to the test points studied, the aerodynamic theory cannot predict subcritical flutter. Under the assumptions of a tuned assembly, the imaginary part of the aerodynamic coefficients does indicate flutter for a limited number of interblade phase angles, but these interblade phase angles are close to those at which the acoustic resonance is predicted. Upon using the individual blade frequencies and solving the mistuned system with aerodynamic coupling only, the results show a stable system. Eigenvectors calculated for the mistuned system demonstrate the presence of several harmonics in each mistuned mode. Inclusion of both mechanical and aerodynamic coupling in the solution of the eigenproblem influences not only the frequencies but also damping in the system with a trend toward stability.

Srinivasan, A. V.↗

Lidar observations of the nighttime sodium layer at 33 deg N

Measurements of the nighttime atmospheric sodium layer have been performed since 1977, using a dye lidar at Fukuoka (33.4 deg N, 130.2 deg E.). The Kyushu lidar uses a flashlamp pumped dye laser tuned to the sodium D sub 2 line (589.0 nm) as a transmitter. The dye laser used in the Kyushu lidar system has been described elsewhere. Sporadic enhancements of the total column abundance of the layer during the Perseids meteor shower were observed on the nights of August 12 and 13, 1978, 1979, 1981, and 1983. Degrading weather conditions prevented observation on the nights during 1980 and 1983. A contour plot of the sodium layer for the period of 8 hours from 21:00 to 5:00 JST on the night of August 12 to 13 1983, is shown. The predominant feature visible is the increase in the height of peak density from 21:00 to 2:00 JST, and the slight decrease in the height of peak density from 2:00 to 5:00 JST. The average abundance had a maximum of about 7 x 10 to the 13th power/sq m on August 13. A plot is presented of the nightly average abundance for available data. The sodium layer abundance increased on the night of August 12 to 13, 1983, during the peak of the Perseids meteor shower, and the following night, August 13 to 14, almost went back to the monthly mean.

Uchiumi, M.↗

Spatial resolution enhancement of terrestrial features using deconvolved SSM/I microwave brightness temperatures

A method for enhancing the 19, 22, and 37 GHz measurements of the SSM/I (Special Sensor Microwave/Imager) to the spatial resolution and sampling density of the high resolution 85-GHz channel is presented. An objective technique for specifying the tuning parameter, which balances the tradeoff between resolution and noise, is developed in terms of maximizing cross-channel correlations. Various validation procedures are performed to demonstrate the effectiveness of the method, which hopefully will provide researchers with a valuable tool in multispectral applications of satellite radiometer data.

Farrar, Michael R.↗

Adaptive Performance Seeking Control Using Fuzzy Model Reference Learning Control and Positive Gradient Control

Performance Seeking Control attempts to find the operating condition that will generate optimal performance and control the plant at that operating condition. In this paper a nonlinear multivariable Adaptive Performance Seeking Control (APSC) methodology will be developed and it will be demonstrated on a nonlinear system. The APSC is comprised of the Positive Gradient Control (PGC) and the Fuzzy Model Reference Learning Control (FMRLC). The PGC computes the positive gradients of the desired performance function with respect to the control inputs in order to drive the plant set points to the operating point that will produce optimal performance. The PGC approach will be derived in this paper. The feedback control of the plant is performed by the FMRLC. For the FMRLC, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for the effective tuning of the FMRLC controller.

Kopasakis, George↗

Development of SIS Mixers for 1 THz

SIS heterodyne mixer technology based on niobium tunnel junctions has now been pushed to frequencies over 1 THz, clearly demonstrating that the SIS junctions are capable of mixing at frequencies up to twice the energy gap frequency (4 Delta/h). However, the performance degrades rapidly above the gap frequency of niobium (2 Delta/h approx. 700 GHz) due to substantial ohmic losses in the on-chip tuning circuit. To solve this problem, the tuning circuit should be fabricated using a superconducting film with a larger energy gap, such as NbN; unfortunately, NbN films often have a substantial excess surface resistance in the submillimeter band. In contrast, the SIS mixer measurements we present in this paper indicate that the losses for NbTiN thin films can be quite low.

Zmuidzinas, J.↗

Compute Server Performance Results

Parallel-vector supercomputers have been the workhorses of high performance computing. As expectations of future computing needs have risen faster than projected vector supercomputer performance, much work has been done investigating the feasibility of using Massively Parallel Processor systems as supercomputers. An even more recent development is the availability of high performance workstations which have the potential, when clustered together, to replace parallel-vector systems. We present a systematic comparison of floating point performance and price-performance for various compute server systems. A suite of highly vectorized programs was run on systems including traditional vector systems such as the Cray C90, and RISC workstations such as the IBM RS/6000 590 and the SGI R8000. The C90 system delivers 460 million floating point operations per second (FLOPS), the highest single processor rate of any vendor. However, if the price-performance ration (PPR) is considered to be most important, then the IBM and SGI processors are superior to the C90 processors. Even without code tuning, the IBM and SGI PPR's of 260 and 220 FLOPS per dollar exceed the C90 PPR of 160 FLOPS per dollar when running our highly vectorized suite,

Stockdale, I. E.↗