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At least 541 records · Page 30

Task driven feedback control of robot arms - A step toward intelligent control

The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, 'intelligent control' is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.

Bejczy, A. K.↗

Systems autonomy

Information on systems autonomy is given in viewgraph form. Information is given on space systems integration, intelligent autonomous systems, automated systems for in-flight mission operations, the Systems Autonomy Demonstration Project on the Space Station Thermal Control System, the architecture of an autonomous intelligent system, artificial intelligence research issues, machine learning, and real-time image processing.

Lum, Henry, Jr.↗

Using Derivatives Of Higher Order In Sensitivity Analysis

"What if" questions answered exactly, without using "increment-and-reevaluate" approach, and without finite differencing of system analysis, by use of sensitivity analysis to calculate first derivatives of behaviors of coupled systems with respect to design variables. If problem strongly nonlinear, efficiency improved by making derivatives of higher orders available to search algorithms. Extension effected by recursive application of same implicit function theorem that underlies previous method. Useful in design calculations for almost any system, including structures, machines, and distribution networks. Feedback control of processes improved by inclusion of derivative terms of higher order.

Sobieski, Jaroslaw↗

The performance of disk arrays in shared-memory database machines

In this paper, we examine how disk arrays and shared memory multiprocessors lead to an effective method for constructing database machines for general-purpose complex query processing. We show that disk arrays can lead to cost-effective storage systems if they are configured from suitably small formfactor disk drives. We introduce the storage system metric data temperature as a way to evaluate how well a disk configuration can sustain its workload, and we show that disk arrays can sustain the same data temperature as a more expensive mirrored-disk configuration. We use the metric to evaluate the performance of disk arrays in XPRS, an operational shared-memory multiprocessor database system being developed at the University of California, Berkeley.

Katz, Randy H.↗

High T(sub c) Superconducting Bolometer on Chemically Etched 7 Micrometer Thick Sapphire

A transition-edge IR detector, using a YBa2Cu3O(7-x) (YBCO) thin film deposited on a chemically etched, 7 micrometer thick sapphire substrate has been built. To our knowledge it is the first such high T(sub c) superconducting (HTS) bolometer on chemically thinned sapphire. The peak optical detectivity obtained is l.2 x 10(exp 10) cmHz(sup 1/2)/W near 4Hz. Result shows that it is possible to obtain high detectivity with thin films on etched sapphire with no processing after the deposition of the YBCO film. We discuss the etching process and its potential for micro-machining sapphire and fabricating 2-dimensional detector arrays with suspended sapphire membranes. A 30 micrometer thick layer of gold black provided IR absorption. Comparison is made with the current state of the art on silicon substrates.

Lakew, B.↗

Metal Matrix Composite LOX Turbopump Housing Via Novel Tool-Less Net-Shape Pressure Infiltration Casting Technology

Metal matrix composites (MMC) offer relatively higher specific strength, specific stiffness, lower coefficient of thermal expansion (CTE) and lower density as compared with conventional alloys. These unique properties make them very attractive for aerospace turbomachinery applications where there is ever increasing emphasis to reduce weight and cost, and to increase engine performance. Through a joint effort between NASA and Metal Matrix Cast Composites, Inc., a complex liquid oxygen (LOX) compatible turbopump housing is being redesigned and manufactured from hybrid (particulate and fibers) Aluminum MMC. To this end, a revolutionary tool-less pressure infiltration casting technology is being perfected. Ceramic preforms for the composite are 3-dimensionally printed using a stereolithography file, acquired from a CAD model. The preforms are then invested into a refractory material and pressure infiltrated with liquid metal. After casting, the refractory material is washed away leaving behind a near net-shape composite part. Benefits of this process include increased composite uniformity, no mold machining, short time from design to part, properties matching traditional methods, ability to make previously impossible to manufacture parts and no size limitations with a newly developed joining technology. The results of materials, manufacturing and design optimizations, preform joining, and sub-element tests will be presented.

Shah, Sandeep↗

Metal Matrix Composite LOX Turbopump Housing Via Novel Tool-Less Net-Shape Pressure Infiltration Casting Technology

Metal matrix composites (MMC) offer relatively higher specific strength, specific stiffness, lower coefficient of thermal expansion (CTE) and lower density as compared with conventional alloys. These unique properties make them very attractive for aerospace turbomachinery applications where there is ever increasing emphasis to reduce weight and cost, and to increase engine performance. Through a joint effort between NASA and Metal Matrix Cast Composites, Inc., a complex liquid oxygen (LOX) compatible turbopump housing is being redesigned and manufactured from hybrid (particulate and Fibers) Aluminum MMC. To this end, a revolutionary tool-less pressure infiltration casting technology is being perfected. Ceramic preforms for the composite are 3-dimensionally printed using a stereolithography file, acquired from a CAD model. The preforms are then invested into a refractory material and pressure infiltrated with liquid metal. After casting, the refractory material is washed away leaving behind a near net-shape composite part. Benefits of this process include increased composite uniformity, no mold machining, short time from design to part properties matching traditional methods, ability to make previously impossible to manufacture parts and no size limitations with a newly developed joining technology. The results of materials, manufacturing and design optimizations, preform joining, and sub element tests will be presented.

Shah, Sandeep↗

High Temperature Tensile Properties and Fatigue Behavior of a Melt-Infiltrated SiC/SiC Composite

High temperature fatigue behavior of a woven, SiC/SiC ceramic matrix composite (CMC) was investigated in air at two temperatures. The reinforcement for the CMC consisted of 5HS Sylramic(Trademark) fabric with a [0deg/90deg]4s lay-up. The SiC matrix material was infiltrated into the fiber-preform with a slurry-cast, melt-infiltration process. Tensile and fatigue test specimens were machined from the CMC plates. Initially tensile tests were conducted to obtain the average values of tensile properties at 1038 and 1204 C. Subsequently, low-cycle fatigue (LCF) tests with zero and two-hour hold-times at the maximum stress were conducted at the same two temperatures. Fatigue life data generated in the LCF tests were used to determine the geometric mean fatigue lives. In this paper, the tensile behavior and the fatigue durability of the CMC determined under different loading conditions are documented. In addition, reductions observed in the cyclic lives of the composite due to the two hour hold-time at maximum tensile stress are discussed.

Kalluri, Sreeramesh↗

Metal Matrix Composite LOX Turbopump Housing Via Novel Tool-less Net-Shape Pressure Infiltration Casting Technology

Metal matrix composites (MMC) offer relatively higher specific strength, specific stiffness, lower coefficient of thermal expansion (CTE) and lower density as compared with conventional alloys. These unique properties make them very attractive for aerospace turbomachinery applications where there is ever increasing emphasis to reduce weight and cost, and to increase engine performance. Through a joint effort between NASA and Metal Matrix Cast Composites, Inc., a complex liquid oxygen (LOX) compatible turbopump housing is being redesigned and manufactured from hybrid (particulate and fibers) Aluminum MMC. To this end, a revolutionary toolless pressure infiltration casting technology is being perfected. Ceramic preforms for the composite are 3-dimensionally printed using a stereolithography file, acquired from a CAD model. The preforms are then invested into a refractory material and pressure infiltrated with liquid metal. After casting, the refractory material is washed away leaving behind a near net-shape composite part. Benefits of this process include increased composite uniformity, no mold machining, short time from design to part, properties matching traditional methods, ability to make previously impossible to manufacture parts and no size limitations with a newly developed joining technology. The results of materials, manufacturing and design optimizations, preform joining, and sub-element tests will be presented.

Shah, Sandeep↗

A Solution in Search of Problems

Ferrofluids offered vast-problem solving potential. Under license for the NASA technology, Dr. Ronald Moskowitz and Dr. Ronald Rosensweig formed Ferrofluids Corporation. First problem they found a solution for was related to the manufacture of semiconductor "chips" for use in electronic systems. They developed a magnetic seal composed of ferrofluid and a magnetic circuit. Magnetic field confines the ferrofluid in the regions between the stationary elements and the rotary shaft of the seal. Result is a series of liquid barriers that totally bar passage of contaminants. Seal is virtually wear-proof and has a lifetime measured in billions of shaft revolutions. It has reduced maintenance, minimizes "downtime" of production equipment, and reduces the cost of expensive materials that had previously been lost through seal failures. Products based on ferrofluid are exclusion seals for computer disc drives and inertia dampers for stepper motors. Uses are performance-improving, failure-reducing coolants for hi-fi loudspeakers. Other applications include analytical instrumentation, medical equipment, industrial processes, silicon crystal growing furnaces, plasma processes, fusion research, visual displays, and automated machine tools.

Source record↗

Compact Video Microscope Imaging System Implemented in Colloid Studies

Long description Photographs showing fiber-optic light source, microscope and charge-coupled discharge (CCD) camera head connected to camera body, CCD camera body feeding data to image acquisition board in PC, and Cartesian robot controlled via PC board. The Compact Microscope Imaging System (CMIS) is a diagnostic tool with intelligent controls for use in space, industrial, medical, and security applications. CMIS can be used in situ with a minimum amount of user intervention. This system can scan, find areas of interest in, focus on, and acquire images automatically. Many multiple-cell experiments require microscopy for in situ observations; this is feasible only with compact microscope systems. CMIS is a miniature machine vision system that combines intelligent image processing with remote control. The software also has a user-friendly interface, which can be used independently of the hardware for further post-experiment analysis. CMIS has been successfully developed in the SML Laboratory at the NASA Glenn Research Center and adapted for use for colloid studies and is available for telescience experiments. The main innovations this year are an improved interface, optimized algorithms, and the ability to control conventional full-sized microscopes in addition to compact microscopes. The CMIS software-hardware interface is being integrated into our SML Analysis package, which will be a robust general-purpose image-processing package that can handle over 100 space and industrial applications.

McDowell, Mark↗

Method and apparatus for automatic control of a humanoid robot

A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

Abdallah, Muhammad E↗

Graphical and Numerical Description of Strain-Gage Balance Interactions

A new approach for the graphical and numerical description of strain-gage balance interactions is presented. The approach uses data from single-component loads as input. This choice has the two advantages. First, the number of applied loads is at the minimum needed for interactions to be observed. In addition, the loads used for the description of interactions can easily be repeated at different sites. Output differences relative to the outputs of the zero load point of a load series are used for the description of interactions. Similarly, load differences relative to the loads of the zero load point of a load series are used for the description of the loads. Interactions are plotted versus the load differences for each load component while omitting outputs of the primary gage of the chosen load component. The resulting plots have a star pattern as all interactions are zero at zero load. Estimates of the slopes of the interactions can be obtained from the load prediction equations of a balance if calibration data is examined. The slopes are the off-diagonal coefficients of the inverse of the matrix that has the coefficients of the linear terms of the fitted loads if the Non-Iterative Method is used for the analysis. Similarly, the slopes are the off-diagonal coefficients of the inverse of the matrix that is the non-iterative part of the primary load iteration equation if the Iterative Method is used for the analysis. Data sets from a manual and a machine calibration of a force balance are processed to illustrate the proposed description of interactions.

strain-gage balance↗

Design of a GRCop-42 Regeneratively Cooled Thrust Chamber Assembly and Feed System

An additively manufactured thrust chamber assembly was designed and printed using laser powder bed fusion. The NASA-developed material GRCop-42 was used for its high strength and high temperature characteristics. The combustion chamber and nozzle utilize regenerative coolant channels to achieve long duration hot fire tests. Design for additive manufacturing was used to create geometries not easily attainable with traditional machining. The thrust chamber assembly was post processed to ensure print quality and verify for testing. A feed system – encompassing all propellant lines, valves, sensors, and tanks – was designed and built to enable steady state, pressure regulated testing. Pressure transducers, thermocouples, and load cells were placed to enable measurements of the propellant properties and engine performance. Venturis and orifices were used throughout the system to control the flow rates to the thrust chamber. Aside from providing propellants, the feed system provides pressure using nitrogen, and purges the lines during shutdown. The design process for this testing platform is described. A testing campaign on the hardware will be conducted by the Akronauts Rocket Design Team at the University of Akron in Spring 2023.

Dillon M. Petty↗

Design of a GRCop-42 Regeneratively Cooled Thrust Chamber Assembly and Feed System

An additively manufactured thrust chamber assembly was designed and printed using laser powder bed fusion. The NASA-developed material GRCop-42 was used for its high strength and high temperature characteristics. The combustion chamber and nozzle utilize regenerative coolant channels to achieve long duration hot fire tests. Design for additive manufacturing was used to create geometries not easily attainable with traditional machining. The thrust chamber assembly was post processed to ensure print quality and verify for testing. A feed system – encompassing all propellant lines, valves, sensors, and tanks – was designed and built to enable steady state, pressure regulated testing. Pressure transducers, thermocouples, and load cells were placed to enable measurements of the propellant properties and engine performance. Venturis and orifices were used throughout the system to control the flow rates to the thrust chamber. Aside from providing propellants, the feed system provides pressure using nitrogen, and purges the lines during shutdown. The design process for this testing platform is described. A testing campaign on the hardware will be conducted by the Akronauts Rocket Design Team at the University of Akron in Spring 2023.

Dillon M. Petty↗

Airborne observations in support of a satellite observation-based OH product

This presentation outlines work to date analyzing airborne observations to improve a satellite observation-based hydroxyl radical (OH) column product by interrogating model chemistry processes. Anderson et al., 2023, established a machine learning method to combine satellite observations of O3, CO, NO2, HCHO, H2O, and aerosol optical depth, along with analyzed sea surface temperatures, for the prediction of tropospheric column OH (TCOH). Since the TCOH machine learning model was trained on output from the MERRA-2 GMI model simulation, we seek to identify if any model deficiencies may yield errors in the TCOH prediction. By evaluating F0AM box model simulations and neural networks trained to reproduce in situ OH concentrations, together with output reaction rates and interpretability metrics, respectively, we validate the Anderson et al. TCOH model and assess the largest contributors to uncertainties.

Hydroxyl, oxidizing capacity, troposphere, airborn↗

System-Theoretic Analysis of Unsafe Collaborative Control in Teaming Systems

The interactions that occur in human-teaming are inspiring novel aerospace designs aimed at improving how humans and machines, or multiple machines, work together. Unfortunately, current Systems Engineering processes are ill-equipped to handle these complex relationships and are unable to design and assure the safety for these systems. To close part of this gap, this paper introduces a novel system-theoretic analytical process to identify unsafe collaborative control actions. It is part of a broader set of techniques that extend the state-of-the-art in hazard analysis, System Theoretic Process Analysis (STPA), to systematically address collaboration. The method rigorously expresses the different ways multiple commands may be unsafe together. Using Systems Theory, it employs abstraction to manage the combinatorial complexity in enumerating control contributions from multiple collaborating components. An algorithm integrates these concepts into an end-to-end process and is supported by automation to enumerate, refine, prune, and prioritize unsafe combinations of control actions. The output of the method feeds the specification of system requirements to implement safety-guided design starting early in concept development. The process is demonstrated on a manned-unmanned aircraft teaming case study and finds new causal factors that were not previously found in a past hazard analysis of the same system.

System Safety↗

Navigating Team Dynamics: Automated Detection of Micro-Behaviors Between Team Members Through Longitudinal Interaction Data

The success in future long term space exploration missions will depend on the cooperation, coordination, and mutual understanding among the crew members. Micro-behaviors are momentary, subtle linguistic and paralinguistic indicators of thinking and feeling toward another member of the team (Cortina et al., 2001; Smith & Griffiths, 2022) that can significantly impact team dynamics and influence the overall team performance (Paromita & Chaspari, 2024). Due to their interactive nature, micro-behaviors have a sender (i.e., the team member expressing the micro-behavior) and a target (the team member impacted by the micro-behavior). Detection of these behaviors can assist in avoiding possible conflict among crew members and promoting the overall team success. Our prior research focused on an initial proof of concept of machine learning (ML) models and natural language processing (NLP) techniques that were used for automatically detect micro-behaviors among crew members of the US National Aeronautics and Space Administration’s (NASA) Human Exploration Research Analog (HERA) Campaigns 4 and 5 missions (Paromita et al., 2023). Results underscored the importance of incorporating contextual information in the ML models in the form of sentiment analysis, type of task, and dyadic interaction among team members. Here, we expand the scope of our prior work in two ways. First, we assess ML/NLP methods on new behavioral annotations coded using 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). Second, we expand the design of the ML model to preserve information about the role of each team member within the occurrence of the micro-behavior (in contrast to the previous model that only considered the sender and the target without determining the team member role). This allows to consider all team members' contributions in the conversation and model long-term dependencies in the dialogue. Our experiments for this study are conducted on data from 5 teams of the NASA HERA C4 (NASA grant NNX16AQ48G (PI: Bell)). Conversations were extracted from the 1.5 hour Team Interaction Battery (TIB) task that occurred 5 times in-mission per crew. This resulted in a total of 13,058 conversational turns (i.e., 17.8% uplifting, 3.3% discouraging, 75.76% neutral, 3.14% nulls). Our findings with the revised behavioral coding and ML/NLP models indicate a 43.66% macro F1-score (i.e., 38.29% precision (P), 50.8% recall (R)) for a dialog state-tracking model that includes information from the sender only, and a 40.9% F1-score (i.e., 38.7% P, 43.36% R) for the same model that includes information from both the sender and the target of the micro-behavior. These are significantly higher compared to simple random forest models that classify behaviors strictly based on speech content and do not consider iterative team dynamics, achieving a 36.07% F1-score (i.e., 39.04% R, 33.53% P). Our findings demonstrate potential ways to leverage large conversational datasets to better capture complex team dynamics. We will discuss future directions including proposed models that can incorporate additional mission days and tasks beyond the TIB for objectively quantifying team behavior at high temporal resolution in space exploration missions.

Projna Paromita↗