Digital data sampling modules. Part 2 - System controller Final report
System controller for digital data sampling modules
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Sampled data analysis of a computer-controlled manipulator
A comprehensive sampled data analysis of a computer-controlled manipulator is presented in terms of root loci for gain selection and transient responses to step input functions. All parameter values and their derivations where applicable were tabulated. The analysis, while quite specific, uses normalized gain parameters, which allows the results to be applied to any similar system regardless of individual hardware parameter values.
Markiewicz, B. R.↗
The Galileo scan platform pointing control system - A modern control theoretic viewpoint
The current Galileo scan platform pointing control system (SPPCS) is described, and ways in which modern control concepts could serve to enhance it are considered. Of particular interest are: the multi-variable design model and overall control system architecture, command input filtering, feedback compensator and command input design, stability robustness constraint for both continuous time control systems and for sampled data control systems, and digital implementation of the control system. The proposed approach leads to the design of a system that is similar to current Galileo SPPCS configuration, but promises to be more systematic.
Sevaston, G. E.↗
Integrated Microfluidic Gas Sensors for Water Monitoring
A silicon-based microhotplate tin oxide (SnO2) gas sensor integrated into a polymer-based microfluidic system for monitoring of contaminants in water systems is presented. This device is designed to sample a water source, control the sample vapor pressure within a microchannel using integrated resistive heaters, and direct the vapor past the integrated gas sensor for analysis. The sensor platform takes advantage of novel technology allowing direct integration of discrete silicon chips into a larger polymer microfluidic substrate, including seamless fluidic and electrical interconnects between the substrate and silicon chip.
Zhu, L.↗
JPL Contamination Control Engineering
JPL has extensive expertise fielding contamination sensitive missions-in house and with our NASA/industry/academic partners.t Development and implementation of performance-driven cleanliness requirements for a wide range missions and payloads - UV-Vis-IR: GALEX, Dawn, Juno, WFPC-II, AIRS, TES, et al - Propulsion, thermal control, robotic sample acquisition systems. Contamination control engineering across the mission life cycle: - System and payload requirements derivation, analysis, and contamination control implementation plans - Hardware Design, Risk trades, Requirements V-V - Assembly, Integration & Test planning and implementation - Launch site operations and launch vehicle/payload integration - Flight ops center dot Personnel on staff have expertise with space materials development and flight experiments. JPL has capabilities and expertise to successfully address contamination issues presented by space and habitable environments. JPL has extensive experience fielding and managing contamination sensitive missions. Excellent working relationship with the aerospace contamination control engineering community/.
Molecular Contamination Spectral Effects (MCSE) Ch↗
Reduction of Sample Rotation in Electrostatic Levitation
In many containerless processing systems, control of sample rotation is an important issue. Sample rotation is even more important for microgravity containerless processing systems, where the centrifugal acceleration can approach 1 g for even a small rotation rate. Prior work on rotation control by Rhim focused on driving the sample rotation at a controlled rate for droplet dynamics experiments and measurement of electrical conductivity. His technique allows controlled, fast rotation, but for many microgravity experiments the goal is zero rotation. To minimize sample rotation, two approaches are apparent: first, to identify and balance or eliminate the driving forces for undesired sample rotation, or second, implement a feedback-based rotation control loop in parallel with the position control loop. In this work, we have taken the first approach. To minimize sample rotation, the simplest approach is to identify and balance or eliminate the driving forces for undesired sample rotation. Our experiments show that the dominant driving force for rotation of machined Zr spheres in the MSFC ESL is photon pressure from the heating laser. Experimental results showing the correlation between heating power and torque are compared to theoretical predictions, and a strategy for minimizing the torque due to photon pressure is presented.
Hyers, R. W↗
Detection of significant antiviral drug effects on COVID-19 with reasonable sample sizes in randomized controlled trials: A modeling study
Development of an effective antiviral drug for Coronavirus Disease 2019 (COVID-19) is a global health priority. Although several candidate drugs have been identified through in vitro and in vivo models, consistent and compelling evidence from clinical studies is limited. The lack of evidence from clinical trials may stem in part from the imperfect design of the trials. We investigated how clinical trials for antivirals need to be designed, especially focusing on the sample size in randomized controlled trials. A modeling study was conducted to help understand the reasons behind inconsistent clinical trial findings and to design better clinical trials. We first analyzed longitudinal viral load data for Severe Acute Respiratory Syndrome Coronavirus 2 (SARS-CoV-2) without antiviral treatment by use of a within-host virus dynamics model. The fitted viral load was categorized into 3 different groups by a clustering approach. Comparison of the estimated parameters showed that the 3 distinct groups were characterized by different virus decay rates (p-value < 0.001). The mean decay rates were 1.17 d -1 (95% CI: 1.06 to 1.27 d -1 ), 0.777 d -1 (0.716 to 0.838 d -1 ), and 0.450 d -1 (0.378 to 0.522 d -1 ) for the 3 groups, respectively. Such heterogeneity in virus dynamics could be a confounding variable if it is associated with treatment allocation in compassionate use programs (i.e., observational studies). Subsequently, we mimicked randomized controlled trials of antivirals by simulation. An antiviral effect causing a 95% to 99% reduction in viral replication was added to the model. To be realistic, we assumed that randomization and treatment are initiated with some time lag after symptom onset. Using the duration of virus shedding as an outcome, the sample size to detect a statistically significant mean difference between the treatment and placebo groups (1:1 allocation) was 13,603 and 11,670 (when the antiviral effect was 95% and 99%, respectively) per group if all patients are enrolled regardless of timing of randomization. The sample size was reduced to 584 and 458 (when the antiviral effect was 95% and 99%, respectively) if only patients who are treated within 1 day of symptom onset are enrolled. We confirmed the sample size was similarly reduced when using cumulative viral load in log scale as an outcome. We used a conventional virus dynamics model, which may not fully reflect the detailed mechanisms of viral dynamics of SARS-CoV-2. The model needs to be calibrated in terms of both parameter settings and model structure, which would yield more reliable sample size calculation. In this study, we found that estimated association in observational studies can be biased due to large heterogeneity in viral dynamics among infected individuals, and statistically significant effect in randomized controlled trials may be difficult to be detected due to small sample size. The sample size can be dramatically reduced by recruiting patients immediately after developing symptoms. We believe this is the first study investigated the study design of clinical trials for antiviral treatment using the viral dynamics model.
60 APPLIED LIFE SCIENCES↗
Mars Sample Return, Sample Retrieval Lander, Reaction Control System Jet Interaction Supersonic Wind Tunnel Test Overview with CFD Predictions
NASA's Mars Sample Return campaign will be launching several missions over the next decade that will work together to return rock samples from Mars back to Earth. The Sample Retrieval Lander (SRL) will deliver the Mars Ascent Vehicle and fetch rover to the surface of Mars in 2006. Rock samples collected by the Mars 2020 Perseverance rover, landing in early 2021, will be loaded on the the ascent vehicle to be launched into Mars orbit for retrieval by yet another spacecraft. The Sample Retrieval Lander will be a blunt entry capsule similar to past Mars entry vehicles like Mars Science Laboratory and Viking. The vehicle will fly a guided entry, using a small lift vector produced by a non-zero trim angle of attack to eliminate downrange and crossrange position errors at the point of parachute deploy. This energy and heading management is achieved with a reaction control system (RCS) that directs the bank angle of the vehicle and also minimizes unwanted capsule dynamics. The reaction control system and control design is based on the Mars Science Laboratory and Mars 2020 RCS systems. However, due to packaging constraints, the backshell of this new entry vehicle has a different geometry than those earlier designs. To certify the RCS system for flight the project must characterize the jet plume interactions with the capsule backshell that could impair or significantly augment the RCS control authority. This characterization will be done through a combination of computational fluid dynamics (CFD) analysis and wind tunnel test. Two candidate arrangements of the RCS jets have been identified for the SRL vehicle and are currently under evaluation before final selection. The aero/RCS plume interactions of these candidate configurations have been measured in a supersonic wind tunnel test in NASA Langley's Unitary Plan Wind Tunnel. The test was conducted in the fall of 2020 and data is currently being reduced. An overview of the candidate RCS configurations are presented here with an overview of the wind tunnel model design, jet scaling and scaled nozzle design, and the test matrix. Preliminary CFD runs are presented with an assessment of the predicted plumes and their interaction with the wake flow of the vehicle. The predicted effects of the model sting is provided as well. This high fidelity wind tunnel test is being conducted much earlier in the SRL project than would normally be done. The test was funded as part of a CFD evaluation task funded by NASA's Aerosciences Evaluation and Test Capabilities Project. The objective of the evaluation task was to compare the ability of CFD to predict complex flows with data that can be measured in the Langley Unitary Plan Wind Tunnel. RCS Jet interactions were selected as a type of complex flow that is important to NASA missions. In addition to providing useful data to the SRL project, there was added emphasis on quantifying the accuracy of the CFD predictions and wind tunnel test data. An overview of the uncertainty quantification methodologies for computational and experimental portions of this test is presented.
blunt body↗
Comparison of Classical and Charge Storage Methods for Determining Conductivity of Thin Film Insulators
Conductivity of insulating materials is a key parameter to determine how accumulated charge will distribute across the spacecraft and how rapidly charge imbalance will dissipate. Classical ASTM and IEC methods to measure thin film insulator conductivity apply a constant voltage to two electrodes around the sample and measure the resulting current for tens of minutes. However, conductivity is more appropriately measured for spacecraft charging applications as the "decay" of charge deposited on the surface of an insulator. Charge decay methods expose one side of the insulator in vacuum to sequences of charged particles, light, and plasma, with a metal electrode attached to the other side of the insulator. Data are obtained by capacitive coupling to measure both the resulting voltage on the open surface and emission of electrons from the exposed surface, as well monitoring currents to the electrode. Instrumentation for both classical and charge storage decay methods has been developed and tested at Jet Propulsion Laboratory (JPL) and at Utah State University (USU). Details of the apparatus, test methods and data analysis are given here. The JPL charge storage decay chamber is a first-generation instrument, designed to make detailed measurements on only three to five samples at a time. Because samples must typically be tested for over a month, a second-generation high sample throughput charge storage decay chamber was developed at USU with the capability of testing up to 32 samples simultaneously. Details are provided about the instrumentation to measure surface charge and current; for charge deposition apparatus and control; the sample holders to properly isolate the mounted samples; the sample carousel to rotate samples into place; the control of the sample environment including sample vacuum, ambient gas, and sample temperature; and the computer control and data acquisition systems. Measurements are compared here for a number of thin film insulators using both methods at both facilities. We have found that conductivity determined from charge storage decay methods is 102 to 104 larger than values obtained from classical methods. Another Spacecraft Charging Conference presentation describes more extensive measurements made with these apparatus. This work is supported through funding from the NASA Space Environments and Effects Program and the USU Space Dynamics Laboratory Enabling Technologies Program.
Swaminathan, Prasanna↗
Hybrid state-space self-tuning control using dual-rate sampling
This paper presents a hybrid state-space self-tuning control scheme using dual-rate sampling for suboptimal digital adaptive control of linear time-invariant continuous-time multivariable stochastic systems with unknown parameters. An equivalent fast-rate discrete-time state-space innovation model (with estimated states) of the continuous-time system is constructed by using the estimated system parameters and Kalman gain. To utilize the existing optimal regional-pole assignment method developed in the continuous-time domain, the constructed fast-rate discrete-time model is converted into an equivalent continuous-time model for the development of a state-feedback optimal control law with pole placement in a specific region. The developed analog optimal control law is then converted into an equivalent pseudo-slow-rate digital control law via the proposed digital redesign technique, which can be realized via slow-rate digital electronics. The proposed method enables the development of a digitally implementable advanced control algorithm for digital adaptive control of continuous-time multivariable stochastic systems which may be unstable and/or have nonminimum phase.
Shieh, Leang S.↗
Spacecraft Contamination Control Challenges for Space Missions with Organic Compound Detection Capabilities and for Potential Sample Return
Contamination control is critical to missions with organic compound detection capabilities, and for missions targeting acquisition of samples for potential return to Earth. Significant challenges are being addressed in the design of current flight projects and conceptual mission studies at JPL. These challenges extend to both orbiting spacecraft, as well as landed missions, for future missions to Mars and Europa, and potential missions to Titan and Enceladus. Contamination control during all phases of a mission, from preliminary design through operation, is fundamental to ensure that organic compounds of terrestrial origin are controlled to ensure successful completion of science objectives. This presentation summarizes contamination control challenges specific to landed missions (which include sample acquisition, encapsulation, caching, potential sample return, and UV instruments), and orbiting missions (modeling interactions between the spacecraft, and local exospheres and plumes).
Soares, Carlos↗
Dual-rate finite-settling-time discrete systems
Finite settling time for feedback control systems using dual rate, sampled data control algorithm
Gatlin, J. A.↗
Controlling the Rotation of Levitated Samples
In proposed acoustic levitation system, separate excitation of different acoustic modes independently levitate and control rotation of sample. Three independent axes of rotation are available, leading to rotation of levitated object about any other selected axis.
Barmatz, M. B.↗
Sampled-Data Techniques Applied to a Digital Controller for an Altitude Autopilot
Sampled-data theory, using the Z transformation, is applied to the design of a digital controller for an aircraft-altitude autopilot. Particular attention is focused on the sensitivity of the design to parameter variations and the abruptness of the response, that is, the normal acceleration required to carry out a transient maneuver. Consideration of these two characteristics of the system has shown that the finite settling time design method produces an unacceptable system, primarily because of the high sensitivity of the response to parameter variations, although abruptness can be controlled by increasing the sampling period. Also demonstrated is the importance of having well-damped poles or zeros if cancellation is attempted in the design methods. A different method of smoothing the response and obtaining a design which is not excessively sensitive is proposed, and examples are carried through to demonstrate the validity of the procedure. This method is based on design concepts of continuous systems, and it is shown that if no pole-zero cancellations are allowed in the design, one can obtain a response which is not too abrupt, is relatively insensitive to parameter variations, and is not sensitive to practical limits on control-surface rate. This particular design also has the simplest possible pulse transfer function for the digital controller. Simulation techniques and root loci are used for the verification of the design philosophy.
Schmidt, Stanley F.↗
HHL algorithm with mapping function and enhanced sampling for model predictive control in microgrids
Here, this paper presents a refined quantum Harrow Hassidim Lloyd (HHL) algorithm for microgrid control. The first novelty of the developed method is that a mapping shift function enables the original HHL algorithm to handle general linear equations with non-singular and indefinite matrix. Second, a method of Matrix Extension for Amplifying Sampling Probabilities of Intended Solution (ME-ASPI) is proposed to design the reformulated linear algebraic equations, allowing for improved sampling efficiency of the quantum tomography in the refined HHL algorithm. Then, we applied the method to solve the model predictive control (MPC) problem in nonlinear dynamical microgrids. Specifically, with the ME-ASPI method, the refined HHL algorithm can effectively obtain the intended partial optimal control inputs for MPC. The optimization of quadratic programming problem in each time step of MPC is transformed into a linear system problem, which is addressed by the proposed quantum solver through using only partial information, with the time complexity improved from $\mathscr{O}(\mathscr{N}^{2.37286})$ classically to $\mathscr{O}(\mathscr{N}^{2} log \mathscr{N}$ x $p$ log $p)$ in quantum. Numerical examples have validated the effectiveness of the refined HHL algorithm with the proposed mapping function and the ME-ASPI method. By leveraging quantum properties, the proposed method provides a hybrid quantum–classical framework for microgrid control. This generic method can also potentially tackle many other challenges in analyzing and controlling general complex engineered systems.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Variational control forces for enhanced sampling of nonequilibrium molecular dynamics simulations
We introduce a variational algorithm to estimate the likelihood of a rare event within a nonequilibrium molecular dynamics simulation through the evaluation of an optimal control force. Optimization of a control force within a chosen basis is made possible by explicit forms for the gradients of a cost function in terms of the susceptibility of driven trajectories to changes in variational parameters. We consider probabilities of time-integrated dynamical observables as characterized by their large deviation functions and find that in many cases, the variational estimate is quantitatively accurate. Additionally, we provide expressions to exactly correct the variational estimate that can be evaluated directly. We benchmark this algorithm against the numerically exact solution of a model of a driven particle in a periodic potential, where the control force can be represented with a complete basis. Additionally, we then demonstrate the utility of the algorithm in a model of repulsive particles on a line, which undergo a dynamical phase transition, resulting in singular changes to the form of the optimal control force. In both systems, we find fast convergence and are able to evaluate large deviation functions with significant increases in statistical efficiency over alternative Monte Carlo approaches.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Organic contamination problems in the Viking molecular analysis experiment
A principal problem in interpreting the results of an organic analysis of an extraterrestrial sample is that of distinguishing contaminating material from indigenous material when unknown types and amounts of contaminants make their way into the sample being analyzed. An approach to control of sample integrity in the Viking molecular analysis experiment has been devised which it is believed, will eliminate such problems. Basically this involves (1) placing an upper limit on the amount of terrestrial contamination that can be tolerated and still allow scientifically meaningful analysis, (2) identifying the potential sources of contamination and analyzing their relative significance, (3) establishing methods to control these sources, and (4) obtaining complete information on the chemical composition of potential contaminants. Previous experience in the Apollo mission has been of great value in developing the Viking program, perhaps the most important carryover being the recognition of the importance of establishing a comprehensive contamination control program in the early stages of mission planning and hardware design.
Flory, D. A.↗
Design of finite settling time discrete systems
Finite settling response for single input/output feedback control system obtained by dual rate sampled data control algorithm
Gatlin, J. A.↗