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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Multirate flutter suppression system design for the Benchmark Active Controls Technology Wing

To study the effectiveness of various control system design methodologies, the NASA Langley Research Center initiated the Benchmark Active Controls Project. In this project, the various methodologies will be applied to design a flutter suppression system for the Benchmark Active Controls Technology (BACT) Wing (also called the PAPA wing). Eventually, the designs will be implemented in hardware and tested on the BACT wing in a wind tunnel. This report describes a project at the University of Washington to design a multirate flutter suppression system for the BACT wing. The objective of the project was two fold. First, to develop a methodology for designing robust multirate compensators, and second, to demonstrate the methodology by applying it to the design of a multirate flutter suppression system for the BACT wing. The contributions of this project are (1) development of an algorithm for synthesizing robust low order multirate control laws (the algorithm is capable of synthesizing a single compensator which stabilizes both the nominal plant and multiple plant perturbations; (2) development of a multirate design methodology, and supporting software, for modeling, analyzing and synthesizing multirate compensators; and (3) design of a multirate flutter suppression system for NASA's BACT wing which satisfies the specified design criteria. This report describes each of these contributions in detail. Section 2.0 discusses our design methodology. Section 3.0 details the results of our multirate flutter suppression system design for the BACT wing. Finally, Section 4.0 presents our conclusions and suggestions for future research. The body of the report focuses primarily on the results. The associated theoretical background appears in the three technical papers that are included as Attachments 1-3. Attachment 4 is a user's manual for the software that is key to our design methodology.

Berg, Martin C.↗
NASA NTRS2008

Operational Experience with Long Duration Wildfire Mapping: UAS Missions Over the Western United States

The National Aeronautics and Space Administration, United States Forest Service, and National Interagency Fire Center have developed a partnership to develop and demonstrate technology to improve airborne wildfire imaging and data dissemination. In the summer of 2007, a multi-spectral infrared scanner was integrated into NASA's Ikhana Unmanned Aircraft System (UAS) (a General Atomics Predator-B) and launched on four long duration wildfire mapping demonstration missions covering eight western states. Extensive safety analysis, contingency planning, and mission coordination were key to securing an FAA certificate of authorization (COA) to operate in the national airspace. Infrared images were autonomously geo-rectified, transmitted to the ground station by satellite communications, and networked to fire incident commanders within 15 minutes of acquisition. Close coordination with air traffic control ensured a safe operation, and allowed real-time redirection around inclement weather and other minor changes to the flight plan. All objectives of the mission demonstrations were achieved. In late October, wind-driven wildfires erupted in five southern California counties. State and national emergency operations agencies requested Ikhana to help assess and manage the wildfires. Four additional missions were launched over a 5-day period, with near realtime images delivered to multiple emergency operations centers and fire incident commands managing 10 fires.

Hall, Philip↗
NASA NTRS1988

An intelligent multi-media human-computer dialogue system

Sophisticated computer systems are being developed to assist in the human decision-making process for very complex tasks performed under stressful conditions. The human-computer interface is a critical factor in these systems. The human-computer interface should be simple and natural to use, require a minimal learning period, assist the user in accomplishing his task(s) with a minimum of distraction, present output in a form that best conveys information to the user, and reduce cognitive load for the user. In pursuit of this ideal, the Intelligent Multi-Media Interfaces project is devoted to the development of interface technology that integrates speech, natural language text, graphics, and pointing gestures for human-computer dialogues. The objective of the project is to develop interface technology that uses the media/modalities intelligently in a flexible, context-sensitive, and highly integrated manner modelled after the manner in which humans converse in simultaneous coordinated multiple modalities. As part of the project, a knowledge-based interface system, called CUBRICON (CUBRC Intelligent CONversationalist) is being developed as a research prototype. The application domain being used to drive the research is that of military tactical air control.

Neal, J. G.↗
NASA NTRS1988

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗
NASA NTRS1994

The CELSS Antarctic Analog Project: An Advanced Life Support Testbed at the Amundsen-Scott South Pole Station, Antarctica

CELSS Antarctic Analog Project (CAAP) represents a logical solution to the multiple objectives of both the NASA and the National Science Foundation (NSF). CAAP will result in direct transfer of proven technologies and systems, proven under the most rigorous of conditions, to the NSF and to society at large. This project goes beyond, as it must, the generally accepted scope of CELSS and life support systems including the issues of power generation, human dynamics, community systems, and training. CAAP provides a vivid and starkly realistic testbed of Controlled Ecological Life Support System (CELSS) and life support systems and methods. CAAP will also be critical in the development and validation of performance parameters for future advanced life support systems.

Straight, Christian L.↗
NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗
NASA NTRS2012

Autonomous Information Unit for Fine-Grain Data Access Control and Information Protection in a Net-Centric System

As communication and networking technologies advance, networks will become highly complex and heterogeneous, interconnecting different network domains. There is a need to provide user authentication and data protection in order to further facilitate critical mission operations, especially in the tactical and mission-critical net-centric networking environment. The Autonomous Information Unit (AIU) technology was designed to provide the fine-grain data access and user control in a net-centric system-testing environment to meet these objectives. The AIU is a fundamental capability designed to enable fine-grain data access and user control in the cross-domain networking environments, where an AIU is composed of the mission data, metadata, and policy. An AIU provides a mechanism to establish trust among deployed AIUs based on recombining shared secrets, authentication and verify users with a username, X.509 certificate, enclave information, and classification level. AIU achieves data protection through (1) splitting data into multiple information pieces using the Shamir's secret sharing algorithm, (2) encrypting each individual information piece using military-grade AES-256 encryption, and (3) randomizing the position of the encrypted data based on the unbiased and memory efficient in-place Fisher-Yates shuffle method. Therefore, it becomes virtually impossible for attackers to compromise data since attackers need to obtain all distributed information as well as the encryption key and the random seeds to properly arrange the data. In addition, since policy can be associated with data in the AIU, different user access and data control strategies can be included. The AIU technology can greatly enhance information assurance and security management in the bandwidth-limited and ad hoc net-centric environments. In addition, AIU technology can be applicable to general complex network domains and applications where distributed user authentication and data protection are necessary. AIU achieves fine-grain data access and user control, reducing the security risk significantly, simplifying the complexity of various security operations, and providing the high information assurance across different network domains.

Chow, Edward T.↗
DOE OSTI2020

Charged Wellbore Casing Controlled Source Electromagnetics (CWC-CSEM) for Reservoir Imaging and Monitoring (Final report)

This project addresses the needs of the U.S. Department of Energy (DOE) to develop advanced monitoring technologies and protocols to track the fate of subsurface carbon dioxide (CO2) plumes for carbon storage. Specifically, the project seeks to develop and test a unique and novel system of technologies consisting of electromagnetic data acquisition, coupled multiphysics imaging, and reservoir model enhancement to understand the migration and long-term distribution of CO2 in the subsurface. The overarching objective is to develop an integrated approach for long term monitoring of carbon storage. The two main components of the project include the methodology development and the test of the method at a field site. The methodology component consists of 1) developing the field procedure and protocol for collecting time-lapse controlled-source electromagnetic (CSEM) data with source electric current injected into the subsurface through wellbore casings; 2) building of background 3D electrical conductivity utilizing multiple sources of data such as supplemental surface transient EM (TEM) surveys, well-logs, and seismic structural information, for enhancing CSEM signal from reservoir depths; and 3) coupled multiphysics simulations and inversion of CSEM data constrained by production data and by structural information from seismic imaging of the reservoir and overlying formations. The testing component used the field site of Bell Creek Oil Field, which served both as a field laboratory for the method development as well as a test site to evaluate the CSEM signal strengths and the methodology developed in this research project. We have accomplished all the proposed tasks and developed the methodology as planned. These include the procedure for time-lapse CSEM data acquisition, data processing techniques, integration with 3D conductivity model building, fast reservoir simulation for history matching using machine learning, and interpreting CSEM data with coupling to the reservoir modeling. Collectively, the outcome of these tasks form a coherent workflow that can be applied to monitor dedicated carbon storage in saline reservoirs. The testing component evaluated the applicability and limitations of the method, and concluded that the method would be ideal for monitoring dedicated carbon storage sites utilizing saline reservoirs.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1986

Crash response data system for the controlled impact demonstration (CID) of a full-scale transport aircraft

A study involving the Controlled Impact Demonstration (CID) of a transport category aircraft was conducted with the objective to improve occupant safety during survivable crash scenarios. in connection with this study, the first remotely-piloted Full-Scale Transport aircraft was purposely crashed into the California desert. The program was initated to demonstrate the effectiveness of an imisting kerosene (AMK), a fuel additive emplyed to reduce postcrash fires. The unmanned CID flight carried 73 life-like flight research dummies, multiple experiments, high-speed interior cabin cameras, and the high-environment Crash Response Data System. Attention is given to the design approach, a block diagram of the Crash Response Data System, measurements, the digital data subsystem, signal conditioning, telemetry, on-board recording, the power subsystem, preflight checkout and calibration, and aspects of system qualification.

Calloway, R. S.↗
NASA NTRS1989

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗
NASA NTRS1991

Retrievable Payload Carrier (RPC): Next generation Long Duration Exposure Facility

The Retrievable Payload Carrier (RPC) is described which is a multi-experiment, free-flyer spacecraft being privately developed to make in-space experimentation more accessible and economically feasible for research and development organizations. The carrier concept was derived from NASA's highly successful and flight proven Long Duration Exposure Facility (LDEF). The LDEF capabilities were enhanced to meet new customer requirements. This reusable payload carrier is planned for launch and retrieval by the space shuttle on a regular basis. The RPC's compact design facilitates flexible manifesting of the shuttle cargo bay space, thereby, permitting timely launches and retrievals. The vehicle is designed so that either the entire carrier can be retrieved from orbit, or individual experiment pallets can be removed and replaced in orbit. This gives customers even greater control over their experiment recoveries. A fully operational RPC System consists of: (1) a carrier spacecraft; (2) a ground control station for communication with customer payloads and the carrier; (3) a ground processing facility to provide refurbishment, final checkout, and integration of customer payloads and the carrier; and (4) the personnel required to support both the development and operation phases of the program. Customer payloads will fly 6 to 18 month missions, or longer, as required. Spreading launch, operations, and retrieval costs over multiple experimental payloads results in minimized customer costs. The RPC Program's initial objective is to operate a simple carrier system which meets basic customer service needs.

Perry, Arthur T.↗
NASA NTRS1992

An electronic pan/tilt/zoom camera system

A small camera system is described for remote viewing applications that employs fisheye optics and electronics processing for providing pan, tilt, zoom, and rotational movements. The fisheye lens is designed to give a complete hemispherical FOV with significant peripheral distortion that is corrected with high-speed electronic circuitry. Flexible control of the viewing requirements is provided by a programmable transformation processor so that pan/tilt/rotation/zoom functions can be accomplished without mechanical movements. Images are presented that were taken with a prototype system using a CCD camera, and 5 frames/sec can be acquired from a 180-deg FOV. The image-tranformation device can provide multiple images with different magnifications and pan/tilt/rotation sequences at frame rates compatible with conventional video devices. The system is of interest to the object tracking, surveillance, and viewing in constrained environments that would require the use of several cameras.

Zimmermann, Steve↗
NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗
NASA NTRS2013

Management of the Atmosphere Resource Recovery and Environmental Monitoring Project

The Advanced Exploration Systems Program's Atmosphere Resource Recovery and Environmental Monitoring (ARREM) project is working to further optimize atmosphere revitalization and environmental monitoring system architectures. This paper discusses project management strategies that tap into skill sets across multiple engineering disciplines, projects, field centers, and industry to achieve the project success. It is the project's objective to contribute to system advances that will enable sustained exploration missions beyond Lower Earth Orbit (LEO) and improve affordability by focusing on the primary goals of achieving high reliability, improving efficiency, and reducing dependence on ground-based logistics resupply. Technology demonstrations are achieved by infusing new technologies and concepts with existing developmental hardware and operating in a controlled environment simulating various crewed habitat scenarios. The ARREM project's strengths include access to a vast array of existing developmental hardware that perform all the vital atmosphere revitalization functions, exceptional test facilities to fully evaluate system performance, and a well-coordinated partnering effort among the NASA field centers and industry partners to provide the innovative expertise necessary to succeed.

Roman, Monsi↗
NASA NTRS2012

A System to Provide Real-Time Collaborative Situational Awareness by Web Enabling a Distributed Sensor Network

In this paper, we describe the architecture of both the PATS and SAP systems and how these two systems interoperate with each other forming a unified capability for deploying intelligence in hostile environments with the objective of providing actionable situational awareness of individuals. The SAP system works in concert with the UICDS information sharing middleware to provide data fusion from multiple sources. UICDS can then publish the sensor data using the OGC's Web Mapping Service, Web Feature Service, and Sensor Observation Service standards. The system described in the paper is able to integrate a spatially distributed sensor system, operating without the benefit of the Web infrastructure, with a remote monitoring and control system that is equipped to take advantage of SWE.

Visualization↗
NASA NTRS2017

100 kW Nested Hall Thruster System Development

Large scale cargo transportation to support human missions to the Moon and Mars will require very high power Solar Electric Propulsion (SEP) systems operating between 200 and 400 kW. Aerojet Rocketdyne's NextSTEP program is developing and demonstrating a 100 kW EP system, the XR-100, using a Nested Hall Thruster (NHT) designed for powers up to 200 kW, a modular power processor and a modular flow controller. The three year program objective is to operate the integrated EP system continuously at 100 kW for 100 h, advancing this very high power Electric Propulsion (EP) system to Technology Readiness Level (TRL) 5. With our University of Michigan, Jet Propulsion Laboratory and NASA Glenn Research Center teammates, Aerojet Rocketdyne has completed the initial phase of the program, including operating the thruster at up to 30 kW to validate the thermal models and developing and operating multiple power processor modules in the required seriesparallel configuration. The current phase includes completing a TRL 4 integrated system test at reduced power to validate all system operating phases. Design upgrades to demonstrate the TRL 5 capabilities are underway. This paper will present the high power XR-100 capabilities, overall program and design approach and the latest test results for the 100 kW EP system demonstration program.

Jackson, Jerry↗
NASA NTRS1975

IMAGE 100: The interactive multispectral image processing system

The need for rapid, cost-effective extraction of useful information from vast quantities of multispectral imagery available from aircraft or spacecraft has resulted in the design, implementation and application of a state-of-the-art processing system known as IMAGE 100. Operating on the general principle that all objects or materials possess unique spectral characteristics or signatures, the system uses this signature uniqueness to identify similar features in an image by simultaneously analyzing signatures in multiple frequency bands. Pseudo-colors, or themes, are assigned to features having identical spectral characteristics. These themes are displayed on a color CRT, and may be recorded on tape, film, or other media. The system was designed to incorporate key features such as interactive operation, user-oriented displays and controls, and rapid-response machine processing. Owing to these features, the user can readily control and/or modify the analysis process based on his knowledge of the input imagery. Effective use can be made of conventional photographic interpretation skills and state-of-the-art machine analysis techniques in the extraction of useful information from multispectral imagery. This approach results in highly accurate multitheme classification of imagery in seconds or minutes rather than the hours often involved in processing using other means.

Schaller, E. S.↗
DOE OSTI2023

Going off topics to demix quark and gluon jets in α S extractions

Quantum chromodynamics is the theory of the strong interaction between quarks and gluons; the coupling strength of the interaction, α S , is the least precisely-known of all interactions in nature. An extraction of the strong coupling from the radiation pattern within jets would provide a complementary approach to conventional extractions from jet production rates and hadronic event shapes, and would be a key achievement of jet substructure at the Large Hadron Collider (LHC). Presently, the relative fraction of quark and gluon jets in a sample is the limiting factor in such extractions, as this fraction is degenerate with the value of αS for the most well-understood observables. To overcome this limitation, we apply recently proposed techniques to statistically demix multiple mixtures of jets and obtain purified quark and gluon distributions based on an operational definiton. We illustrate that studying quark and gluon jet substructure separately can significantly improve the sensitivity of such extractions of the strong coupling. We also discuss how using machine learning techniques or infrared- and collinear-unsafe information can improve the demixing performance without the loss of theoretical control. While theoretical research is required to connect the extract topics with the quark and gluon objects in cross section calculations, our study illustrates the potential of demixing to reduce the dominant uncertainty for the α S extraction from jet substructure at the LHC.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗