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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Robot trajectory tracking with self-tuning predicted control

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Cui, Xianzhong↗
NASA NTRS1972

NASA Seminar on Organization and Management

The proceedings of a seminar series of current problems and organization of NASA are presented. The seminar was designed to provide a comparative basis for understanding such recurring problems as delegation of authority, resource allocation and decision making patterns, headquarters organization, systems of program control and evaluation, roles and relations of scientists, engineers, and administrators, headquarters-field center relationships, and the overall management philosophy of the headquarters and field centers.

Crawley, R. W.↗
NASA NTRS1987

Task oriented nonlinear control laws for telerobotic assembly operations

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented.

Walker, R. A.↗
NASA NTRS2004

Pilot in Command: An Illustration of Autonomous Flight Management

Several years of NASA research have produced the concept for air traffic management called "Distributed Air/Ground Traffic Management," a major operational advancement that should significantly increase the capacity of the National Airspace System. A key component, "Autonomous Flight Management," introduces a new class of aircraft operations in which pilots are authorized to freely maneuver and execute optimal trajectories independent from air traffic controllers. These aircraft operators would benefit from significant increases in flexibility to optimize all flight operations and from avoiding most of the delays associated with ground-controlled operations. Responsibilities for aircraft separation and arrival flow conformance are transferred to the flight deck, and the pilots use computerized decision-support tools to accomplish these tasks. A research prototype of these tools called the "Autonomous Operations Planner" is being developed at the NASA Langley Research Center. This 14-minute video illustrates Autonomous Flight Management from the airline pilot's perspective.

Wing, David J.↗
NASA NTRS2003

PEM-INST-001: Instructions for Plastic Encapsulated Microcircuit (PEM) Selection, Screening, and Qualification

Potential users of plastic encapsulated microcircuits (PEMs) need to be reminded that unlike the military system of producing robust high-reliability microcircuits that are designed to perform acceptably in a variety of harsh environments, PEMs are primarily designed for use in benign environments where equipment is easily accessed for repair or replacement. The methods of analysis applied to military products to demonstrate high reliability cannot always be applied to PEMs. This makes it difficult for users to characterize PEMs for two reasons: 1. Due to the major differences in design and construction, the standard test practices used to ensure that military devices are robust and have high reliability often cannot be applied to PEMs that have a smaller operating temperature range and are typically more frail and susceptible to moisture absorption. In contrast, high-reliability military microcircuits usually utilize large, robust, high-temperature packages that are hermetically sealed. 2. Unlike the military high-reliability system, users of PEMs have little visibility into commercial manufacturers proprietary design, materials, die traceability, and production processes and procedures. There is no central authority that monitors PEM commercial product for quality, and there are no controls in place that can be imposed across all commercial manufacturers to provide confidence to high-reliability users that a common acceptable level of quality exists for all PEMs manufacturers. Consequently, there is no guaranteed control over the type of reliability that is built into commercial product, and there is no guarantee that different lots from the same manufacturer are equally acceptable. And regarding application, there is no guarantee that commercial products intended for use in benign environments will provide acceptable performance and reliability in harsh space environments. The qualification and screening processes contained in this document are intended to detect poor-quality lots and screen out early random failures from use in space flight hardware. However, since it cannot be guaranteed that quality was designed and built into PEMs that are appropriate for space applications, users cannot screen in quality that may not exist. It must be understood that due to the variety of materials, processes, and technologies used to design and produce PEMs, this test process may not accelerate and detect all failure mechanisms. While the tests herein will increase user confidence that PEMs with otherwise unknown reliability can be used in space environments, such testing may not guarantee the same level of reliability offered by military microcircuits. PEMs should only be used where due to performance needs there are no alternatives in the military high-reliability market, and projects are willing to accept higher risk.

Teverovsky, Alexander↗
NASA NTRS2008

Proceedings of the Sixth NASA Langley Formal Methods (LFM) Workshop

Today's verification techniques are hard-pressed to scale with the ever-increasing complexity of safety critical systems. Within the field of aeronautics alone, we find the need for verification of algorithms for separation assurance, air traffic control, auto-pilot, Unmanned Aerial Vehicles (UAVs), adaptive avionics, automated decision authority, and much more. Recent advances in formal methods have made verifying more of these problems realistic. Thus we need to continually re-assess what we can solve now and identify the next barriers to overcome. Only through an exchange of ideas between theoreticians and practitioners from academia to industry can we extend formal methods for the verification of ever more challenging problem domains. This volume contains the extended abstracts of the talks presented at LFM 2008: The Sixth NASA Langley Formal Methods Workshop held on April 30 - May 2, 2008 in Newport News, Virginia, USA. The topics of interest that were listed in the call for abstracts were: advances in formal verification techniques; formal models of distributed computing; planning and scheduling; automated air traffic management; fault tolerance; hybrid systems/hybrid automata; embedded systems; safety critical applications; safety cases; accident/safety analysis.

Rozier, Kristin Yvonne↗
NASA NTRS2011

The Proposed Use of Unmanned Aerial System Surrogate Research Aircraft for National Airspace System Integration Research

Research is needed to determine what procedures, aircraft sensors and other systems will be required to allow Unmanned Aerial Systems (UAS) to safely operate with manned aircraft in the National Airspace System (NAS). This paper explores the use of Unmanned Aerial System (UAS) Surrogate research aircraft to serve as platforms for UAS systems research, development, and flight testing. These aircraft would be manned with safety pilots and researchers that would allow for flight operations almost anywhere in the NAS without the need for a Federal Aviation Administration (FAA) Certificate of Authorization (COA). With pilot override capability, these UAS Surrogate aircraft would be controlled from ground stations like true UAS s. It would be possible to file and fly these UAS Surrogate aircraft in the NAS with normal traffic and they would be better platforms for real world UAS research and development over existing vehicles flying in restricted ranges or other sterilized airspace. These UAS surrogate aircraft could be outfitted with research systems as required such as computers, state sensors, video recording, data acquisition, data link, telemetry, instrumentation, and Automatic Dependent Surveillance-Broadcast (ADS-B). These surrogate aircraft could also be linked to onboard or ground based simulation facilities to further extend UAS research capabilities. Potential areas for UAS Surrogate research include the development, flight test and evaluation of sensors to aide in the process of air traffic "see-and-avoid". These and other sensors could be evaluated in real-time and compared with onboard human evaluation pilots. This paper examines the feasibility of using UAS Surrogate research aircraft as test platforms for a variety of UAS related research.

Howell, Charles T., III↗
NASA NTRS2023

Commercial Low-Earth Orbit Destination (CLD) Concept of Operations

This concept of operations describes: - High-level Government goals, objectives, and needs for the CLD program, vehicle(s), and missions, - Strategies, policies, and processes for developing, certifying, maintaining, using, and retiring CLDs in the context of Government use, and - Government and CLD partner roles, responsibilities, and interactions during various phases of Government CLD operations. The intent of this document is to describe the overall high-level concept of how the end-to-end CLD service will be used to convey the nature and scope of services the Government intends to procure from the CLD partner. It will provide insight into NASA’s concepts for CLD operations rather than to provide mature, explicit, or complete requirements. It addresses how the concept of operations will be used to meet NASA expectations from an operational perspective to facilitate an understanding of the end-to-end CLD service needs, goals, and objectives (NGOs). Formal CLD requirements and standards are detailed in the NASA Commercial LEO Development Program’s (CLDP) various requirements, interface, process, and standards documents, as well as the contractual Statements of Work (SOW) and Data Requirement Deliverables (DRD). As such, the Concept of Operations can use terms such as “should” or “may” or “expects to” since it is not a contractual requirements document. It exists solely to convey the initial nature and type of services the Government intends to procure and is not, per se, a requirements document.

Operations↗
NASA NTRSDate not supplied

Measurement System Analysis of a Novel Phase-Based Ultrasonic NDE Technique for Bond Strength Measurement

Fiber reinforced polymer parts have shown tremendous benefits in aerospace structural applications, but their qualification and certification for use in safety critical areas are currently hindered by the lack of a capable non-destructive evaluation (NDE) method or technique for the inspection of these adhesively bonded parts. Conventional NDE methods and techniques typically detect gross bond defects in a qualitative (Pass/Fail) manner. These techniques struggle to detect weak or kissing bonds. Also, there are no widely adopted NDE methods or techniques for measuring interfacial bond strength or detecting kissing bonds. Bond strength is currently ensured by process control and semi-destructive testing. Results from recent research from other authors, including but not limited to mechanical testing, have shown an excellent correlation between interfacial stiffness of an adhesively bonded joint and the adhesive bond strength of that joint. In this paper, a measurement system analysis (MSA) of a novel phase-based ultrasonic NDE Technique, developed at NASA Langley Research Center, is presented for bond strength measurement to assess at an increased level the measurement process and identify components of variation in that measurement process.

Ultrasound↗
NASA NTRS1992

Wilbur: A low-cost CCD camera system for MDM Observatory

The recent availability of several 'off-the-shelf' components, particularly CCD control electronics from SDSU, has made it possible to put together a flexible CCD camera system at relatively low cost and effort. The authors describe Wilbur, a complete CCD camera system constructed for the Michigan-Dartmouth-MIT Observatory. The hardware consists of a Loral 2048(exp 2) CCD controlled by the SDSU electronics, an existing dewar design modified for use at MDM, a Sun Sparcstation 2 with a commercial high-speed parallel controller, and a simple custom interface between the controller and the SDSU electronics. The camera is controlled from the Sparcstation by software that provides low-level I/O in real time, collection of additional information from the telescope, and a simple command interface for use by an observer. Readout of the 2048(exp 2) array is complete in under two minutes at 5 e(sup -) read noise, and readout time can be decreased at the cost of increased noise. The system can be easily expanded to handle multiple CCD's/multiple readouts, and can control other dewars/CCD's using the same host software.

Metzger, M. R.↗
NASA NTRS2015

Launch Vehicle Manual Steering with Adaptive Augmenting Control:In-Flight Evaluations of Adverse Interactions Using a Piloted Aircraft

An Adaptive Augmenting Control (AAC) algorithm for the Space Launch System (SLS) has been developed at the Marshall Space Flight Center (MSFC) as part of the launch vehicle's baseline flight control system. A prototype version of the SLS flight control software was hosted on a piloted aircraft at the Armstrong Flight Research Center to demonstrate the adaptive controller on a full-scale realistic application in a relevant flight environment. Concerns regarding adverse interactions between the adaptive controller and a potential manual steering mode were also investigated by giving the pilot trajectory deviation cues and pitch rate command authority, which is the subject of this paper. Two NASA research pilots flew a total of 25 constant pitch rate trajectories using a prototype manual steering mode with and without adaptive control, evaluating six different nominal and off-nominal test case scenarios. Pilot comments and PIO ratings were given following each trajectory and correlated with aircraft state data and internal controller signals post-flight.

adaptive control↗
NASA NTRS1996

The search for materials to mitigate spacecraft charging

As spacecraft orbit the earth, they encounter a variety of particles and radiation. Charged particles are common enough that a spacecraft can collect substantial charges on its surfaces. If these charges are not bled off, they can accumulate until electrostatic discharges occur between a charged surface and some lower-potential location on the craft. Electrostatic discharge (ESD) is the suspected culprit in a number of spacecraft failures. Silverized Teflon film has become the standard heat-reflecting outer layer of spacecraft because of its flexibility, chemical inertness, and low volatiles content. However, as spacecraft are designed to operate in orbits with greater probability of accumulating enough ions and electrons to create ESD, the Teflon-based thermal control blankets are becoming a liability. Unless stringent (and sometimes burdensome) shielding measures are taken, ESD can upset delicate electronic systems by upsetting or destroying components, interfering with radio signals, garbling internal instructions, and so on. As orbits become higher and more eccentric, as electronics become more sensitive, and as fault-free operation becomes more crucial, it is becoming necessary to find a replacement for silver/Teflon that has comparable strength, flexibility and chemical inertness, as well as a much lower potential for ESD. This is a report of the steps taken toward the goal of selecting a replacement for silver/Teflon during the Summer of 1995. It is a condensation of a much larger report available on request from the author. Three tasks were undertaken. Task 1 was to specify desirable properties for thermal control blankets. The second task was to collect data on materials properties from the literature and organize into a format useful for identifying candidate materials. The third task was to identify candidate materials and begin testing.

Losure, Nancy S.↗
NASA NTRS1975

The Pioneer Projects - Economical exploration of the solar system

The interplanetary Pioneer missions are reviewed in terms of management implications and cost control. The responsibilities, organizational structure, and management practices of the Pioneer Projects are presented. The lines of authority and areas of responsibility of the principal organizational elements supporting the Pioneer missions are identified, and the methods employed for maintaining effective and timely interactions among these elements are indicated. The technical and administrative functions of various organizational elements of the project are described. The management and control of activities prior to and during the hardware procurement phase are described to indicate the basis for obtaining visibility of the technical progress, utilization of resources, and cost performance of the contractors and other institutions supporting the Pioneer projects.

Spahr, J. R.↗
DOE OSTI2021

Cybersecurity Certification Recommendations for Interconnected Grid Edge Devices and Inverter Based Resources

Escalating deployment of PV and grid-edge devices on the distribution grid has increased the sustainability and efficiency of the electric grid. However, the increasing number of distributed energy resources (DERs) deployed creates a heightened cyber-physical interdependency on the distribution grid and thus creates more vectors for cyber-attacks to exploit through information and communication technology (ICT) systems and networks. For example, control signal packets can be modified, intercepted, or corrupted due to vulnerabilities in communication protocols used by microgrid controllers and grid edge devices for power control. Therefore, to mitigate and prevent cyber-attacks on grid edge devices and the inverter-based resources connected to the distribution grid, the U.S. Department of Solar Energy Technologies Office (SETO) awarded funding to the National Renewable Energy Laboratory and Sandia National Laboratory (SNL) to research, develop, and harmonize cybersecurity standards for Photovoltaic (PV) systems and for other kinds of DERs. To help develop a standard for DER cybersecurity, NREL established certification recommendations and test cases, in consensus with the solar industry and UL, for ensuring intrinsic design security for DERs. These recommendations were developed to bolster the cybersecure functionalities such as TLS, MAC, CRL, session resumption/renegotiation, and password, system, and service security management within the DER devices. The proposed test cases verify authentication, authorization, confidentiality, and data integrity for data and communications of DERs that use Transmission Control Protocol/Internet Protocol (TCP/IP). They were also developed to protect DER communications from eavesdropping, replay, man-in-the-middle, denial of service (DoS), spoofing through security certificates, least-privilege violation, and brute-force credentials. This report, which has been validated and reviewed by UL, expands upon those test cases to provide DER cybersecurity certification recommendations which increase DER resiliency and help to mitigate cyber-attacks. UL's collaboration with NREL and approval of this document will accelerate the adoption of a UL standard for DER cybersecurity.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1979

Mental workload in decision and control

This paper briefly reviews the problems of defining and measuring the 'mental workload' of aircraft pilots and other human operators of complex dynamic systems. Of the alternative approaches the author indicates a clear preference for the use of subjective scaling. Some recent experiments from MIT and elsewhere are described which utilize subjective mental workload scales in conjunction with human decision and control tasks in the laboratory. Finally a new three-dimensional mental workload rating scale, under current development for use by IFR aircraft pilots, is presented.

Sheridan, T. B.↗
NASA NTRS2019

Rapid Development of the Seeker Free-Flying Inspector Guidance, Navigation, and Control System

Seeker is an automated extravehicular free-flying inspector CubeSat designed and built in-house at the Johnson Space Center (JSC). As a Class 1E project funded by the International Space Station (ISS) Program, Seeker had a stream-lined process to flight certification, but the vehicle had to be designed, developed, tested, and delivered within approximately one year after authority to proceed (ATP) and within a $1.8 million budget. These constraints necessitated an expedited Guidance, Navigation, and Control (GNC) development schedule. Development began with a navigation sensor trade study using Linear Covariance (LinCov) analysis and a rapid sensor down-selection process, resulting in the use of commercial off-the-shelf (COTS) sensors which could be procured quickly and subjected to in-house environmental testing to qualify them for flight. A neural network was used to enable a COTS camera to provide bearing measure-ments for visual navigation. The GNC flight software (FSW) algorithms utilized lean development practices and leveraged the Core Flight Software (CFS) architecture to rapidly develop the GNC system, tune the system parameters, and verify performance in simulation. This pace was anchored by several Hardware-Software Integration (HSI) milestones, which forced the Seeker GNC team to develop the interfaces both between hardware and software and between the GNC domains early in the project and to enable a timely delivery.

Sullivan, Jake↗
NASA NTRS2012

Leveraging Independent Management and Chief Engineer Hierarchy: Vertically and Horizontally-Derived Technical Authority Value

In the development of complex spacecraft missions, project management authority is usually extended hierarchically from NASA's highest agency levels down to the implementing institution's project team level, through both the center and the program. In parallel with management authority, NASA utilizes a complementary, but independent, hierarchy of technical authority (TA) that extends from the agency level to the project, again, through both the center and the program. The chief engineers (CEs) who serve in this technical authority capacity oversee and report on the technical status and ensure sound engineering practices, controls, and management of the projects and programs. At the lowest level, implementing institutions assign project CEs to technically engage projects, lead development teams, and ensure sound technical principles, processes, and issue resolution. At the middle level, programs and centers independently use CEs to ensure the technical success of their projects and programs. At the agency level, NASA's mission directorate CEs maintain technical cognizance over every program and project in their directorate and advise directorate management on the technical, cost, schedule, and programmatic health of each. As part of this vertically-extended CE team, a program level CE manages a continually varying balance between penetration depth and breadth across his or her assigned missions. Teamwork issues and information integration become critical for management at all levels to ensure value-added use of both the synergy available between CEs at the various agency levels, and the independence of the technical authority at each organization.

Barley, Bryan↗
DOE OSTI2022

Simulation of CEFR neutronic start-up tests with FENNECS

This paper presents simulation results of selected Neutronic Start-up Tests of the China Experimental Fast Reactor (CEFR) obtained by the neutronics code FENNECS that have been performed within the frame of the IAEA Coordinated Research Program I31032. The Finite Element Neutronics code FENNECS is developed at GRS and solves the few-group steady-state and transient diffusion equation using a Galerkin-based finite element approach. Its main purpose is the safety assessment of Small Modular Reactors and Micro Reactors with complex geometry (e.g., rotating control drums) which gain increased interest internationally. Serpent has been applied to create reference models of the CEFR and cross-section libraries in 10 energy groups for FENNECS. Using these libraries, the following experiments have been simulated with FENNECS: net criticality, control rod integral and differential worth, void reactivity effect, subassembly exchange reactivity effects and reaction rate distribution. The obtained satisfactory agreements with the measurements represent a valuable contribution to the validation of FENNECS. (author)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗