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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Ontologies at Work: Analyzing Information Requirements for Model Predictive Control in Buildings

Model Predictive Control (MPC) has shown significant potential for improving energy efficiency, indoor air quality and occupant comfort of buildings. MPC-based control algorithms have also shown the ability to shift loads and optimize for multiple objectives, including but not limited to reducing the green-house gas emissions, energy costs and peak demand. However, one of the main implementation challenges of these control algorithms is the integration and configuration effort needed to deploy a supervisory MPC controller in a building. By assigning standardized references to information sources and control points in buildings, existing studies have shown that semantic ontologies and corresponding queries have the potential to ease the deployment of such controllers. Yet, the use of semantic information to ease the deployment processes of MPC controllers is still limited. In this paper, we review three MPC experiments and synthesize the information requirements of these optimization problems. We then turn to existing and upcoming semantic ontologies such as Brick, SAREF and ASHRAE Standard 223 to represent these requirements, evaluating their potential to support the implementation of an MPC controller. This investigation concludes with a discussion of existing opportunities and open questions that the community should explore to support more streamlined MPC implementations.

Prakash, Anand Krishnan↗
NASA NTRS1992

Distributed intelligent control and management (DICAM) applications and support for semi-automated development

We have recently begun a 4-year effort to develop a new technology foundation and associated methodology for the rapid development of high-performance intelligent controllers. Our objective in this work is to enable system developers to create effective real-time systems for control of multiple, coordinated entities in much less time than is currently required. Our technical strategy for achieving this objective is like that in other domain-specific software efforts: analyze the domain and task underlying effective performance, construct parametric or model-based generic components and overall solutions to the task, and provide excellent means for specifying, selecting, tailoring or automatically generating the solution elements particularly appropriate for the problem at hand. In this paper, we first present our specific domain focus, briefly describe the methodology and environment we are developing to provide a more regular approach to software development, and then later describe the issues this raises for the research community and this specific workshop.

Hayes-Roth, Frederick↗
NASA NTRS2003

Optical Tweezers Array and Nimble Tweezers Probe Generated by Spatial- Light Modulator

An optical tweezers is being developed at the NASA Glenn Research Center as a visiblelight interface between ubiquitous laser technologies and the interrogation, visualization, manufacture, control, and energization of nanostructures such as silicon carbide (SiC) nanotubes. The tweezers uses one or more focused laser beams to hold micrometer-sized particles called tools (sometimes called tips in atomic-force-microscope terminology). A strongly focused laser beam has an associated light-pressure gradient that is strong enough to pull small particles to the focus, in spite of the oppositely directed scattering force; "optical tweezers" is the common term for this effect. The objective is to use the tools to create carefully shaped secondary traps to hold and assemble nanostructures that may contain from tens to hundreds of atoms. The interaction between a tool and the nanostructures is to be monitored optically as is done with scanning probe microscopes. One of the initial efforts has been to create, shape, and control multiple tweezers beams. To this end, a programmable spatial-light modulator (SLM) has been used to modify the phase of a laser beam at up to 480 by 480 points. One program creates multiple, independently controllable tweezer beams whose shapes can be tailored by making the SLM an adaptive mirror in an interferometer (ref. 1). The beams leave the SLM at different angles, and an optical Fourier transform maps these beams to different positions in the focal plane of a microscope objective. The following figure shows two arrays of multiple beams created in this manner. The patterns displayed above the beam array control the intensity-to-phase transformation required in programming the SLM. Three of the seven beams displayed can be used as independently controllable beams.

Decker, Arthur J.↗
NASA NTRS2008

Thermal Vacuum Testing of a Multi-Evaporator Miniature Loop Heat Pipe

Under NASA's New Millennium Program Space Technology 8 Project, four experiments are being developed for future small system applications requiring low mass, low power, and compactness. GSFC is responsible for developing the Thermal Loop experiment, which is an advanced thermal control system consisting of a miniature loop heat pipe (MLHP) with multiple evaporators and condensers. The objective is to validate the operation of an MLHP, including reliable start-ups, steady operation, heat load sharing, and tight temperature control over the range of 273K to 308K. An MLHP Breadboard has been built and tested for 1200 hours under the laboratory environment and 500 hours in a thermal vacuum chamber. Results of the TV tests are presented here.

Ku, Jentung↗
NASA NTRS1988

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗
NASA NTRS1982

Multiple object fiber optics spectrograph feed for the Hale telescope

The preliminary design for a computer-controlled fiber-optics feed linking the 5-m Hale telescope at Palomar Observatory to the entrance slit of an astronomical spectrograph is presented. A 76-mm square field will be divided into ten strips containing two movable fibers each; the fibers can be moved by stepper-motor-driven lead screws to any position on the strip. The device is designed to allow the simultaneous spectrographic observation of many astronomical objects in a small angular field. A prototype feed using two fibers and manually commanded digital control is described in detail. Test observations of two bright O stars made in April, 1981 using the prototype with the Hale telescope are considered sufficiently positive to warrant construction of the 20-fiber feed, which would enhance the spectrographic-survey effectiveness of the telescope by a factor of ten.

Tubbs, E. F.↗
NASA NTRS1987

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗
NASA NTRS1992

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Mann, R. C.↗
NASA NTRS2011

NEXT Propellant Management System Integration With Multiple Ion Thrusters

As a critical part of the NEXT test validation process, a multiple-string integration test was performed on the NEXT propellant management system and ion thrusters. The objectives of this test were to verify that the PMS is capable of providing stable flow control to multiple thrusters operating over the NEXT system throttling range and to demonstrate to potential users that the NEXT PMS is ready for transition to flight. A test plan was developed for the sub-system integration test for verification of PMS and thruster system performance and functionality requirements. Propellant management system calibrations were checked during the single and multi-thruster testing. The low pressure assembly total flow rates to the thruster(s) were within 1.4 percent of the calibrated support equipment flow rates. The inlet pressures to the main, cathode, and neutralizer ports of Thruster PM1R were measured as the PMS operated in 1-thruster, 2-thruster, and 3-thruster configurations. It was found that the inlet pressures to Thruster PM1R for 2-thruster and 3-thruster operation as well as single thruster operation with the PMS compare very favorably indicating that flow rates to Thruster PM1R were similar in all cases. Characterizations of discharge losses, accelerator grid current, and neutralizer performance were performed as more operating thrusters were added to the PMS. There were no variations in these parameters as thrusters were throttled and single and multiple thruster operations were conducted. The propellant management system power consumption was at a fixed voltage to the DCIU and a fixed thermal throttle temperature of 75 C. The total power consumed by the PMS was 10.0, 17.9, and 25.2 W, respectively, for single, 2-thruster, and 3-thruster operation with the PMS. These sub-system integration tests of the PMS, the DCIU Simulator, and multiple thrusters addressed, in part, the NEXT PMS and propulsion system performance and functionality requirements.

Sovey, James S.↗
NASA NTRS1988

Force control of a multi-arm robot system

A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.

Alberts, Thomas E.↗
DOE OSTI2021

Multi-objective Bayesian optimization of ferroelectric materials with interfacial control for memory and energy storage applications

Optimization of materials’ performance for specific applications often requires balancing multiple aspects of materials’ functionality. Even for the cases where a generative physical model of material behavior is known and reliable, this often requires search over multidimensional function space to identify low-dimensional manifold corresponding to the required Pareto front. In this work, we introduce the multi-objective Bayesian optimization (MOBO) workflow for the ferroelectric/antiferroelectric performance optimization for memory and energy storage applications based on the numerical solution of the Ginzburg–Landau equation with electrochemical or semiconducting boundary conditions. MOBO is a low computational cost optimization tool for expensive multi-objective functions, where we update posterior surrogate Gaussian process models from prior evaluations and then select future evaluations from maximizing an acquisition function. Using the parameters for a prototype bulk antiferroelectric (PbZrO 3 ), we first develop a physics-driven decision tree of target functions from the loop structures. We further develop a physics-driven MOBO architecture to explore multidimensional parameter space and build Pareto-frontiers by maximizing two target functions jointly—energy storage and loss. This approach allows for rapid initial materials and device parameter selection for a given application and can be further expanded toward the active experiment setting. The associated notebooks provide both the tutorial on MOBO and allow us to reproduce the reported analyses and apply them to other systems (https://github.com/arpanbiswas52/MOBO_AFI_Supplements).

36 MATERIALS SCIENCE↗
NASA NTRS2004

Overview of Intelligent Systems and Operations Development

To achieve NASA's ambitious mission objectives for the future, aircraft and spacecraft will need intelligence to take the correct action in a variety of circumstances. Vehicle intelligence can be defined as the ability to "do the right thing" when faced with a complex decision-making situation. It will be necessary to implement integrated autonomous operations and low-level adaptive flight control technologies to direct actions that enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. This paper will describe the array of technologies required to meet these complex objectives. This includes the integration of high-level reasoning and autonomous capabilities with multiple subsystem controllers for robust performance. Future intelligent systems will use models of the system, its environment, and other intelligent agents with which it interacts. They will also require planners, reasoning engines, and adaptive controllers that can recommend or execute commands enabling the system to respond intelligently. The presentation will also address the development of highly dependable software, which is a key component to ensure the reliability of intelligent systems.

Pallix, Joan↗
NASA NTRS2008

Control Architecture for Robotic Agent Command and Sensing

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Huntsberger, Terrance↗
DOE OSTI2026

Bipolar Membrane Electrodialyzers as Flexible Demand Response Resources: Co-Optimization of Cost Savings and Product Formation

Bipolar membrane electro dialyzers (BPMED) are widely used for chemical production and processing, including in the emerging ocean alkalinity enhancement (OAE) industry. In this paper, we explore the potential of BPMED devices as flexible electrochemical loads within power system operations. Using a multi-objective optimization framework, we evaluate BPMED operation across 24-hour and monthly horizons to examine how dispatch strategies respond to electricity price and grid conditions. Simulation results show that altering the relative weights of the choices in the objective function strongly shape the operating patterns, with cost-focused strategies that suppress the operation during peak prices. Furthermore, we propose alternative formulations that optimize operations to achieve both cost savings and alignment with periods of lower grid-side carbon intensity (CI), as low grid-side CI is key to maximize OAE efficiency. Additionally, a detailed sensitivity analysis highlights the importance of device properties, where low area-specific resistance (ASR) of membrane and high current efficiency (CE) are observed to jointly unlock cost-effective operation. However, even modest shunt efficiency losses are observed to erode performance and decrease system value. Importantly, the analysis demonstrates that BPMED can serve as a controllable and flexible demand response resource, shifting load to support multiple grid-side objectives, including (but not limited to) renewable integration, alleviate peak demand, and provide co-benefits for system reliability. These findings underscore BPMED’s dual role as a process technology and a grid-supporting asset, pointing to promising pathways for operational optimization of multiple objectives.

Bhattacharya, Saptarshi (ORCID:0000000308902060)↗
NASA NTRS1998

Interior Noise Reduction by Adaptive Feedback Vibration Control

The objective of this project is to investigate the possible use of adaptive digital filtering techniques in simultaneous, multiple-mode identification of the modal parameters of a vibrating structure in real-time. It is intended that the results obtained from this project will be used for state estimation needed in adaptive structural acoustics control. The work done in this project is basically an extension of the work on real-time single mode identification, which was performed successfully using a digital signal processor (DSP) at NASA, Langley. Initially, in this investigation the single mode identification work was duplicated on a different processor, namely the Texas Instruments TMS32OC40 DSP. The system identification results for the single mode case were very good. Then an algorithm for simultaneous two mode identification was developed and tested using analytical simulation. When it successfully performed the expected tasks, it was implemented in real-time on the DSP system to identify the first two modes of vibration of a cantilever aluminum beam. The results of the simultaneous two mode case were good but some problems were identified related to frequency warping and spurious mode identification. The frequency warping problem was found to be due to the bilinear transformation used in the algorithm to convert the system transfer function from the continuous-time domain to the discrete-time domain. An alternative approach was developed to rectify the problem. The spurious mode identification problem was found to be associated with high sampling rates. Noise in the signal is suspected to be the cause of this problem but further investigation will be needed to clarify the cause. For simultaneous identification of more than two modes, it was found that theoretically an adaptive digital filter can be designed to identify the required number of modes, but the algebra became very complex which made it impossible to implement in the DSP system used in this study. The on-line identification algorithm developed in this research will be useful in constructing a state estimator for feedback vibration control.

Lim, Tae W.↗
NASA NTRS1988

Load balancing and closed chain multiple arm control

The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

Kreutz, Kenneth↗
DOE OSTI2024

Implementation and Operation of Power Flow Control Solutions for Transmission Systems

Power-flow controls (PFCs) technologies provide a suite of alternatives to more-efficiently direct the flow of power on the grid, improving flexibility and enabling the grid to be more responsive and resilient. PFCs can be used in many cases to mitigate overloads and consequently defer the installation of grid-expansion projects. They can also be suitable options in situations where new transmission lines cannot be built because of environmental constraints, land use, or other types of restrictions. Other uses include mitigation of loop or unintended flows, forcing of contractual or scheduled flows, reduction of congestion, and mitigation solutions during large maintenance or construction projects. While many studies have demonstrated the potential economic benefits of PFC for different types of applications, the implementation implications of using multiple PFCs for system operation and reliability have not been analyzed in detail. The lack of information and practical experience on these aspects hinders adoption of this technology. One use case would be that multiple PFCs are required to coordinate congestion management. In such cases, multiple PFCs are deployed in a meshed power system to control power flows across a wide area. The challenges are associated with PFC interaction—namely, the self and mutual power-flow sensitivity of each PFC, which must be accounted for in the calculation of the respective operating setpoints. This report analyzes implementation and operation that must be considered in evaluating transmission solutions using PFCs. The report first analyzes attributes with which PFC-based solutions should comply, based on the objective and characteristics of each particular use case. It then describes different approaches for coordinated control of multiple PFC devices for different applications, including options to avoid adverse interactions and reduce risks due to inappropriate coordination. Control and operation are illustrated through case studies performed on both generic and actual power system models. This report provides insights for transmission planners and operation engineers about the implementation of PFC-based transmission solutions; consequently, it will help them make informed decisions about the adoption of the technology.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2014

Active Vibration Control for Helicopter Interior Noise Reduction Using Power Minimization

This report describes work performed by United Technologies Research Center (UTRC) for NASA Langley Research Center (LaRC) under Contract NNL11AA06C. The objective of this program is to develop technology to reduce helicopter interior noise resulting from multiple gear meshing frequencies. A novel active vibration control approach called Minimum Actuation Power (MAP) is developed. MAP is an optimal control strategy that minimizes the total input power into a structure by monitoring and varying the input power of controlling sources. MAP control was implemented without explicit knowledge of the phasing and magnitude of the excitation sources by driving the real part of the input power from the controlling sources to zero. It is shown that this occurs when the total mechanical input power from the excitation and controlling sources is a minimum. MAP theory is developed for multiple excitation sources with arbitrary relative phasing for single or multiple discrete frequencies and controlled by a single or multiple controlling sources. Simulations and experimental results demonstrate the feasibility of MAP for structural vibration reduction of a realistic rotorcraft interior structure. MAP control resulted in significant average global vibration reduction of a single frequency and multiple frequency excitations with one controlling actuator. Simulations also demonstrate the potential effectiveness of the observed vibration reductions on interior radiated noise.

Mendoza, J.↗