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At least 505 records · Page 28

Real Km-synthesis via generalized Popov multipliers

The authors refine their H-infinity control designs presented at the 1990 and 1991 American Control Conference by introducing a new real Km-synthesis technique involving the use of generalized Popov multipliers. This multiplier technique substantially reduces, and in some cases may even eliminate altogether, the conservativeness associated with traditional Km-synthesis solutions in which all uncertainties are treated as complex, even when they arise from real parameters such as the masses and spring constants in the benchmark problem. The design results demonstrate how this approach permits a very precise analysis of the intrinsic tradeoffs between robustness, performance, and control energy requirements. Also included is an open-loop H-infinity prefilter design that makes it possible to address the command response shaping issue. The design concept has been applied to the benchmark problem no. 4 and successfully removes the initial undesired transient and cuts down the percent overshoot.

Chiang, R. Y.↗

The detrimental effect of friction on space microgravity robotics

The authors present an analysis of why control systems are ineffective in compensating for acceleration disturbances due to Coulomb friction. Linear arguments indicate that the effects of Coulomb friction on a body are most difficult to reject when the control actuator is separated from the body of compliance. The linear arguments were illustrated in a nonlinear simulation of optimal linear tracking control in the presence of nonlinear friction. The results of endpoint acceleration measurements for four robot designs are presented and are compared with simulation and to equivalent measurements on a human. It is concluded that Coulomb friction in common bearings and transmission induces unacceptable levels of endpoint acceleration, that these accelerations cannot be adequately attenuated by control, and that robots for microgravity work will require special design considerations for inherently low friction.

Newman, Wyatt S.↗

Efficient transfer of images over networks

Effective remote observing requires sending large images over long distances. The usual approach to the transfer problem is to require high bandwidth transmission links, which are expensive to install and operate. An alternative approach is to use existing low-bandwidth connections, such as phone lines or the Internet, in a highly efficient manner by compressing the images. The combined use of existing low-cost infrastructure and standard networking software means that remote observing can be made practical even for small observatories with limited network resources. The authors have implemented such a scheme based on the H-transform compression method developed for astronomical images, which are often resistant to compression because they are noisy. The H-transform can be used for either lossy or lossless compression, and compression factors of at least 10 can be achieved with no noticeable losses in the astrometric or photometric properties of the compressed images. The H-transform allows us to organize the information in an image so that the 'useful' information can be sent first, followed by the noise, which makes up the bulk of the transmission. The receiver can invert a partially received set of H-coefficients, creating an image that improves with time. The H-transform is particularly well-suited to this style of incremental reconstruction, because the spatially localized nature of the basis functions of the H-transorm prevents the appearance of artifacts such as ringing around point sources and edges. The authors' implementation uses the WIYN Telescope Control System's TCP-based communications protocol. An 800x800 16-bit astronomical image was sent over a 2400 baud connection, which would normally take about 71 minutes; after only 60 seconds, the partially received H-transform produced an image that did not differ appreciably from the original. This poster presents a quantification of the efficiencies, as well as examples of images reconstructed from partial data.

Percival, J. W.↗

Indirect decentralized repetitive control

Learning control refers to controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

Lee, Soo Cheol↗

[Tail Plane Icing]

The Aviation Safety Program initiated by NASA in 1997 has put greater emphasis in safety related research activities. Ice-contaminated-tailplane stall (ICTS) has been identified by the NASA Lewis Icing Technology Branch as an important activity for aircraft safety related research. The ICTS phenomenon is characterized as a sudden, often uncontrollable aircraft nose- down pitching moment, which occurs due to increased angle-of-attack of the horizontal tailplane resulting in tailplane stall. Typically, this phenomenon occurs when lowering the flaps during final approach while operating in or recently departing from icing conditions. Ice formation on the tailplane leading edge can reduce tailplane angle-of-attack range and cause flow separation resulting in a significant reduction or complete loss of aircraft pitch control. In 1993, the Federal Aviation Authority (FAA) and NASA embarked upon a four-year research program to address the problem of tailplane stall and to quantify the effect of tailplane ice accretion on aircraft performance and handling characteristics. The goals of this program, which was completed in March 1998, were to collect aerodynamic data for an aircraft tail with and without ice contamination and to develop analytical methods for predicting the effects of tailplane ice contamination. Extensive dry air and icing tunnel tests which resulted in a database of the aerodynamic effects associated with tailplane ice contamination. Although the FAA/NASA tailplane icing program generated some answers regarding ice-contaminated-tailplane stall (ICTS) phenomena, NASA researchers have found many open questions that warrant further investigation into ICTS. In addition, several aircraft manufacturers have expressed interest in a second research program to expand the database to other tail configurations and to develop experimental and computational methodologies for evaluating the ICTS phenomenon. In 1998, the icing branch at NASA Lewis initiated a second multi-phase research program for tailplane icing (TIP II) to develop test methodologies and tailplane performance and handling qualities evaluation tools. The main objectives of this new NASA/Industry/Academia collaborative research programs were: (1) define and evaluate a sub-scale wind tunnel test methodology for determining tailplane performance degradation due to icing. (2) develop an experimental database of tailplane aerodynamic performance with and without ice contamination for a range of tailplane configurations. Wind tunnel tests were planned with representative general aviation aircraft, i.e., the Learjet 45, and a twin engine low speed aircraft. This report summarizes the research performed during the first year of the study, and outlines the work tasks for the second year.

Source record↗

History of Suction-Type Laminar-Flow Control with Emphasis on Flight Resrearch: Monographs in Aerospace History Number 13

The paper contains the following sections: Foreword; Preface; Laminar-Flow Control Concepts and Scope of Monograph; Early Research on Suction-Type Laminar-Flow Control (Research from the 1930s through the War Years; Research from after World War II to the Mid-1960s); Post X-21 Research on Suction-Type Laminar-Flow Control; Status of Laminar-Flow Control Technology in the Mid-1990s; Glossary; Document 1-Aeronautics Panel, AACB, R&D Review, Report of the Subpanel on Aeronautic Energy Conservation/Fuels; Document 2-Report of Review Group on X-21A Laminar Flow Control Program; Document 3-Langley Research Center Announcement, Establishment of Laminar Flow Control Working Group; Document 4-Intercenter Agreement for Laminar Flow Control Leading Edge Glove Flights, LaRC and DFRC; Document 5-Flight Report NLF-144, of AFTIF-111 Aircraft with the TACT Wing Modified by a Natural Laminar Flow Glove; Document 6-Flight Record, F-16XL Supersonic Laminar Flow Control Aircraft; Index; and About the Author.

Braslow, A. L.↗

A "Kanes's Dynamics" Model for the Active Rack Isolation System

Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages, to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (international Standard Payload Rack, or ISPR) level. Effective model-based vibration isolation requires (1) an appropriate isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller. ARIS provides the ISS response to the first requirement. This paper presents one response to the second, in a state-space framework intended to facilitate an optimal-controls approach to the third. The authors use "Kane's Dynamics" to develop an state-space, analytical (algebraic) set of linearized equations of motion for ARIS.

Hampton, R. David↗

A "Kane's Dynamics" Model for the Active Rack Isolation System

Many microgravity space science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (International Standard Payload Rack (ISPR)) level. Effective model-based vibration isolation requires: (1) an appropriate isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller. ARIS provides the ISS response to the first requirement. This paper presents one response to the second, in a state space framework intended to facilitate an optimal-controls approach to the third. The authors use "Kane's Dynamics" to develop a state-space, analytical (algebraic) set of linearized equations of motion for ARIS.

Hampton, R. D.↗

Aerodynamic Design Opportunities for Future Supersonic Aircraft

A discussion of a diverse set of aerodynamic opportunities to improve the aerodynamic performance of future supersonic aircraft has been presented and discussed. These ideas are offered to the community in a hope that future supersonic vehicle development activities will not be hindered by past efforts. A number of nonlinear flow based drag reduction technologies are presented and discussed. The subject technologies are related to the areas of interference flows, vehicle concepts, vortex flows, wing design, advanced control effectors, and planform design. The authors also discussed the importance of improving the aerodynamic design environment to allow creativity and knowledge greater influence. A review of all of the data presented show that pressure drag reductions on the order of 50 to 60 counts are achievable, compared to a conventional supersonic cruise vehicle, with the application of several of the discussed technologies. These drag reductions would correlate to a 30 to 40% increase in cruise L/D (lift-to-drag ratio) for a commercial supersonic transport.

Wood, Richard M.↗

ITO-MgF2 Film Development for PowerSphere Polymer Surface Protection

Multi-kilogram class microsatellites with a PowerSphere electric power system are attractive for fulfilling a variety of potential NASA missions. However, PowerSphere polymer surfaces must be coated with a film that has suitable electrical sheet resistivity for electrostatic discharge control, be resistant to atomic oxygen attack, be transparent to ultraviolet light for composite structure curing and resist ultraviolet light induced darkening for efficient photovoltaic cell operation. In addition, the film must be tolerant of polymer layer folding associated with launch stowage of PowerSphere inflatable structures. An excellent film material candidate to meet these requirements is co-sputtered, indium oxide (In2O3) - tin oxide (SnO2), known as 'ITO', and magnesium fluoride (MgF2). While basic ITO-MgF2 film properties have been the subject of research over the last decade, further research is required in the areas of film durability for space-inflatable applications and precise film property control for large scale commercial production. In this paper, the authors present film durability results for a folded polymer substrate and film resistance to vacuum UV darkening. The authors discuss methods and results in the area of film sheet resistivity measurement and active control, particularly dual-channel, plasma emission line measurement of ITO and MgF2 plasma sources. ITO-MgF2 film polymer coupon preparation is described as well as film deposition equipment, procedures and film characterization. Durability testing methods are also described. The pre- and post-test condition of the films is assessed microscopically and electrically. Results show that an approx. 500A ITO-18vol% MgF2 film is a promising candidate to protect PowerSphere polymer surfaces for Earth orbit missions. Preliminary data also indicate that in situ film measurement methods are promising for active film resistivity control in future large scale production. Future film research plans are also discussed.

Hambourger, Paul D.↗

Static Frequency Converter System Installed and Tested

A new Static Frequency Converter (SFC) system has been installed and tested at the NASA Glenn Research Center s Central Air Equipment Building to provide consistent, reduced motor start times and improved reliability for the building s 14 large exhausters and compressors. The operational start times have been consistent around 2 min, 20 s per machine. This is at least a 3-min improvement (per machine) over the old variable-frequency motor generator sets. The SFC was designed and built by Asea Brown Boveri (ABB) and installed by Encompass Design Group (EDG) as part of a Construction of Facilities project managed by Glenn (Robert Scheidegger, project manager). The authors designed the Central Process Distributed Control Systems interface and control between the programmable logic controller, solid-state exciter, and switchgear, which was constructed by Gilcrest Electric.

Brown, Donald P.↗

Pattern-Based Genetic Algorithm for Airborne Conflict Resolution

NASA has developed the Autonomous Operations Planner (AOP) airborne decision support tool to explore advanced air traffic control concepts that include delegating separation authority to aircraft. A key element of the AOP is its strategic conflict resolution (CR) algorithm, which must resolve conflicts while maintaining conformance with traffic flow management constraints. While a previous CR algorithm, which focused on broader flight plan optimization objectives as a part of conflict resolution, had successfully been developed, new research has identified the need for resolution routes the users find more acceptable (i.e., simpler and more intuitive). A new CR algorithm is presented that uses a combination of pattern-based maneuvers and a genetic algorithm to achieve these new objectives. Several lateral and vertical maneuver patterns are defined and the application of the genetic algorithm explained. A new approach to defining a conflicted fitness function using estimates of the local conflict region around a conflicted trajectory is also presented. Preliminary performance characteristics of the implemented algorithm are provided.

Vivona, Robert A.↗

ModuleOT: A Hardware Security Module for Operational Technology: Preprint

With increasing penetration levels of distributed energy resources (DERs) on the distribution grid, as well as new technological advancements in the cyber space, new cyberattack vectors are being introduced, and the available attack surface is constantly increasing. Despite this increasing risk, the standard IEEE 1547-2018 does not yet recommend cybersecurity measures for DERs. To address this and to better protect data on the distribution grid - from the standpoints information security as well as operational security - ModuleOT has been developed. The module aims to significantly reduce cyberattack vectors by improving data privacy for user applications. This is accomplished by performing the core functions of encryption, authentication, authorization, certificate management, and user access control. The module integrates a custom security application with hardware cryptographic acceleration. The application secures all communications using Transmission Control Protocol over Internet Protocol (TCP/IP). These include the three most commonly used communications protocols for power systems information exchange: Modbus, Distributed Network Protocol 3 (DNP3), and Smart Energy Profile 2.0 (SEP2.0). These three protocols are also supported by IEEE 1547-2018 for all DER devices. This paper tests the data encryption/decryption feature on a physical networking test bed with emulated Modbus devices reporting grid data and presents the results.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Five degree-of-freedom control of an ultra-precision magnetically-suspended linear bearing

The authors constructed a high precision linear bearing. A 10.7 kg platen measuring 125 mm by 125 mm by 350 mm is suspended and controlled in five degrees of freedom by seven electromagnets. The position of the platen is measured by five capacitive probes which have nanometer resolution. The suspension acts as a linear bearing, allowing linear travel of 50 mm in the sixth degree of freedom. In the laboratory, this bearing system has demonstrated position stability of 5 nm peak-to-peak. This is believed to be the highest position stability yet demonstrated in a magnetic suspension system. Performance at this level confirms that magnetic suspensions can address motion control requirements at the nanometer level. The experimental effort associated with this linear bearing system is described. Major topics are the development of models for the suspension, implementation of control algorithms, and measurement of the actual bearing performance. Suggestions for the future improvement of the bearing system are given.

Trumper, David L.↗

Follow-the-leader algorithm for the payload inspection and processing system

This report summarizes the author's summer 1995 work at NASA Kennedy Space Center in the Advanced System Division. The assignment was path planning for the Payload Inspection and Processing System (PIPS). PIPS is an automated system, programmed off-line for inspection of Space Shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-dof serpentine truss manipulator capable of snake-like motions to avoid obstacles. The path planning problem was divided into two segments: (1) determining an obstacle-free trajectory for the inspection camera at the manipulator tip to follow; and (2) development of a follow-the-leader (FTL) algorithm which ensures whole-arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1995 work focused on the FTL algorithm. This report summarizes development, implementation, testing, and graphical demonstration of the FTL algorithm for prototype PIPS hardware. The method and code was developed in a modular manner so the final PIPS hardware may use them with minimal changes. The FTL algorithm was implemented using MATLAB software and demonstrated with a high-fidelity IGRIP model. The author also supported implementation of the algorithm in C++ for hardware control. The FTL algorithm proved to be successful and robust in graphical simulation. The author intends to return to the project in summer 1996 to implement path planning for PIPS.

Williams, Robert L., II↗

Secondary Frequency Control for Reconfigurable Interconnecting Microgrids

Microgrids and microgrid technologies offer an operations and control framework for realizing the needed aggregation of a growing share of distributed energy resources. As the number of microgrids increases, so will the incentive to interconnect them, leading to a combinatorial growth of potential operating states. At the same time, their growing complexity nudges interconnected microgrids conceptually closer to balancing authorities in the bulk power system. This paper focuses on secondary frequency control and leverages the conceptual similarity between balancing authorities and interconnected microgrids to adopt an automatic generation control design with some adaptations. Frequency control and restoration is demonstrated via several use-cases with switching and reconfiguration events.

Schweitzer, Eran↗