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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Fuzzy logic based robotic controller

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Attia, F.↗
NASA NTRS2012

The Effect of Faster Engine Response on the Lateral Directional Control of a Damaged Aircraft

The integration of flight control and propulsion control has been a much discussed topic, especially for emergencies where the engines may be able to help stabilize and safely land a damaged aircraft. Previous research has shown that for the engines to be effective as flight control actuators, the response time to throttle commands must be improved. Other work has developed control modes that accept a higher risk of engine failure in exchange for improved engine response during an emergency. In this effort, a nonlinear engine model (the Commercial Modular Aero-Propulsion System Simulation 40k) has been integrated with a nonlinear airframe model (the Generic Transport Model) in order to evaluate the use of enhanced-response engines as alternative yaw rate control effectors. Tests of disturbance rejection and command tracking were used to determine the impact of the engines on the aircraft's dynamical behavior. Three engine control enhancements that improve the response time of the engine were implemented and tested in the integrated simulation. The enhancements were shown to increase the engine s effectiveness as a yaw rate control effector when used in an automatic feedback loop. The improvement is highly dependent upon flight condition; the airframe behavior is markedly improved at low altitude, low speed conditions, and relatively unchanged at high altitude, high speed.

May, Ryan D.↗
NASA NTRS1976

Flight service evaluation of an advanced composite empennage component on commercial transport aircraft. Phase 1: Engineering development

The empennage component selected for this program is the vertical fin box of the L-1011 aircraft. The box structure extends from the fuselage production joint to the tip rib and includes the front and rear spars. Various design options were evaluated to arrive at a configuration which would offer the highest potential for satisfying program objectives. The preferred configuration selected consists of a hat-stiffened cover with molded integrally stiffened spars, aluminum trussed composite ribs, and composite miniwich web ribs with integrally molded caps. Material screening tests were performed to select an advanced composite material system for the Advanced Composite Vertical Fin (ACFV) that would meet the program requirements from the standpoint of quality, reproducibility, and cost. Preliminary weight and cost analysis were made, targets established, and tracking plans developed. These include FAA certification, ancillary test program, quality control, and structural integrity control plans.

Ary, A.↗
NASA NTRS1993

Dynamic response and control of a jet-transport aircraft encountering a single-axis vortex

The dynamic responses of a jet-transport aircraft to two types of single-axis wind vortex encounters are studied. Aircraft attitude, flight path angle, and aerodynamic angle excursions are analyzed and dominating dynamic forcing effects are identified for each encounter. A simple departure-preventing LQR controller is designed to demonstrate the benefits of using automatic control to reduce the wind vortex hazard. A Proportional-Integral-Filter controller structure successfully regulates the critical parameters, roll angle, phi, and sideslip angle, beta, for the two different vortex encounters considered in this study.

Spilman, Darin R.↗
NASA NTRS2003

Intrinsic Hardware Evolution for the Design and Reconfiguration of Analog Speed Controllers for a DC Motor

Evolvable hardware provides the capability to evolve analog circuits to produce amplifier and filter functions. Conventional analog controller designs employ these same functions. Analog controllers for the control of the shaft speed of a DC motor are evolved on an evolvable hardware platform utilizing a second generation Field Programmable Transistor Array (FPTA2). The performance of an evolved controller is compared to that of a conventional proportional-integral (PI) controller. It is shown that hardware evolution is able to create a compact design that provides good performance, while using considerably less functional electronic components than the conventional design. Additionally, the use of hardware evolution to provide fault tolerance by reconfiguring the design is explored. Experimental results are presented showing that significant recovery of capability can be made in the face of damaging induced faults.

Gwaltney, David A.↗
NASA NTRS2003

Hardware Evolution of Analog Speed Controllers for a DC Motor

Evolvable hardware provides the capability to evolve analog circuits to produce amplifier and filter functions. Conventional analog controller designs employ these same functions. Analog controllers for the control of the shaft speed of a DC motor are evolved on an evolvable hardware platform utilizing a Field Programmable Transistor Array (FPTA). The performance of these evolved controllers is compared to that of a conventional proportional-integral (PI) controller.

Gwaltney, David A.↗
NASA NTRS2012

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

Trube, Matthew J.↗
NASA NTRS2007

Compact and Integrated Liquid Bismuth Propellant Feed System

Operation of Hall thrusters with bismuth propellant has been shown to be a promising path toward high-power, high-performance, long-lifetime electric propulsion for spaceflight missions [1]. There has been considerable effort in the past three years aimed at resuscitating this promising technology and validating earlier experimental results indicating the advantages of a bismuth-fed Hall thruster. A critical element of the present effort is the precise metering of propellant to the thruster, since performance cannot be accurately assessed without an accurate accounting of mass flow rate. Earlier work used a pre./post-test propellant weighing scheme that did not provide any real-time measurement of mass flow rate while the thruster was firing, and makes subsequent performance calculations difficult. The motivation of the present work is to develop a precision liquid bismuth Propellant Management System (PMS) that provides hot, molten bismuth to the thruster while simultaneously monitoring in real-time the propellant mass flow rate. The system is a derivative of our previous propellant feed system [2], but the present system represents a more compact design. In addition, all control electronics are integrated into a single unit and designed to reside on a thrust stand and operate in the relevant vacuum environment where the thruster is operating, significantly increasing the present technology readiness level of liquid metal propellant feed systems. The design of various critical components in a bismuth PMS are described. These include the bismuth reservoir and pressurization system, 'hotspot' flow sensor, power system and integrated control system. Particular emphasis is given to selection of the electronics employed in this system and the methods that were used to isolate the power and control systems from the high-temperature portions of the feed system and thruster. Open loop calibration test results from the 'hotspot' flow sensor are reported, and results of integrated thruster/PMS tests demonstrate operation of the feed system in the relevant environment.

Polzin, Kurt A.↗
NASA NTRS1983

AFTI/F-16 flight test results and lessons

The advanced fighter technology integration (AFTI) F-16 aircraft is a highly complex digital flight control system integrated with advanced avionics and cockpit. The use of dissimilar backup modes if the primary system fails requires the designer to trade off system simplicity and capability. The tradeoff is evident in the AFTI/F-16 aircraft with its limited stability and fly by wire digital flight control systems when a generic software failure occurs the backup or normal mode must provide equivalent envelop protection during the transition to degraded flight control. The complexity of systems like the AFTI/F-16 system defines a second design issue, which is divided into two segments: (1) the effect on testing, (2) and the pilot's ability to act correctly in the limited time available for cockpit decisions. The large matrix of states possible with the AFTI/F-16 flight control system illustrates the difficulty of both testing the system and choosing real time pilot actions. The third generic issue is the possible reductions in the user's reliability expectations where false single channel information can be displayed at the pilot vehicle interface while the redundant set remains functional.

Ishmael, S. D.↗
NASA NTRS1991

Dynamics and control of hypersonic vehicles - The integration challenge for the 1990's

The dynamic characteristics of hypersonic vehicles are reviewed, with special attention to the interactions between the airframe, engine, and structural dynamics. Based on a preliminary investigation of the dynamics of a generic vehicle configuration similar to the X-30 with Scramjet propulsion, an assessment of these interactions is presented. The control effectors include aerodynamic pitch-control surfaces, as well as engine fuel flow and diffuser area ratio. The study configuration is statically instable in pitch, and exhibits strong airframe/engine/elastic coupling in the attitude dynamics and engine responses. This strong coupling will require a highly integrated airframe-engine control system, and the performance of the attitude control system will be contingent upon the ability to adequately deal with the structural aeroelastic response and engine dynamics.

Schmidt, David K.↗
NASA NTRS1984

Functional integration of vertical flight path and speed control using energy principles

A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.

Lambregts, A. A.↗
NASA NTRS2000

Evaluation of Fieldbus and OPC for Advanced Life Support

FOUNDATION(Tm) Fieldbus and OP(TM) (OLE(TM)for Process Control) technologies were integrated into an existing control system for a crop growth chamber at NASA Ames Research Center. FOUNDATION(TM) Fieldbus is a digital, bi-directional, multi-drop, serial communications network which functions essentially as a LAN for sensors. FOUNDATION(TM) Fieldbus is heterarchical, with publishers and subscribers of data performing complex control functions at low levels without centralized control and its associated overhead. OPC(TM) is a set of interfaces which replace proprietary drivers with a transparent means of exchanging data between the fieldbus and applications. The objectives were: (1) to integrate FOUNDATION(TM) Fieldbus into existing ALS hardware and determine its overall effectiveness and reliability and, (2) to quantify any savings produced by using fieldbus and OPC technologies. We encountered several problems with the FOUNDATION(TM) Fieldbus hardware chosen. Our hardware exposed 100 data for each channel of the fieldbus. The fieldbus configurator software used to program the fieldbus was simply not adequate. The fieldbus was also not inherently reliable. It lost its settings twice during our tests for unknown reasons. OPC also had issues. It did not function at all as supplied, requiring substitution of some of its components with those from other vendors. It would stop working after a fixed period of time. Certain database calls eventually lock the machine. Overall, we would not recommend FOUNDATION(TM) Fieldbus: it was too difficult to implement with little overall added value. It also seems unlikely that FOUNDATION(TM) Fieldbus will gain sufficient penetration into the laboratory instrument market to ever be cost effective for the ALS community. OPC had good reliability and performance once a stable installation was achieved. It allowed a rapid change to an alternative software strategy when our first strategy failed. It is a cost effective solution to distributed control systems development.

Boulanger, Richard P.↗
NASA NTRS1996

An Assessment of IMPAC - Integrated Methodology for Propulsion and Airframe Controls

This report documents the work done under a NASA sponsored contract to transition to industry technologies developed under the NASA Lewis Research Center IMPAC (Integrated Methodology for Propulsion and Airframe Control) program. The critical steps in IMPAC are exercised on an example integrated flight/propulsion control design for linear airframe/engine models of a conceptual STOVL (Short Take-Off and Vertical Landing) aircraft, and MATRIXX (TM) executive files to implement each step are developed. The results from the example study are analyzed and lessons learned are listed along with recommendations that will improve the application of each design step. The end product of this research is a set of software requirements for developing a user-friendly control design tool which will automate the steps in the IMPAC methodology. Prototypes for a graphical user interface (GUI) are sketched to specify how the tool will interact with the user, and it is recommended to build the tool around existing computer aided control design software packages.

Walker, G. P.↗
NASA NTRS1990

Continuation methods in multiobjective optimization for combined structure control design

A homotopy approach involving multiobjective functions is developed to outline the methods that have evolved for the combined control-structure optimization of physical systems encountered in the technology of large space structures. A method to effect a timely consideration of the control performance prior to the finalization of the structural design involves integrating the control and structural design processes into a unified design methodology that combines the two optimization problems into a single formulation. This study uses the combined optimization problem as a family of weighted structural and control costs. Connections with vector optimizations are described; an analysis of the zero-set of required conditions is made, and a numerical example is given.

Milman, M.↗
NASA NTRS1992

Bilevel shared control for teleoperators

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space.

Hayati, Samad A.↗
NASA NTRS2016

Design and Development of a Methane Cryogenic Propulsion Stage for Human Mars Exploration

NASA is currently working on the Evolvabe Mars Campaign (EMC) study to outline transportation and mission options for human exploration of Mars. One of the key aspects of the EMC is leveraging current and planned near-term technology investments to build an affordable and evolvable approach to Mars exploration. This leveraging of investments includes the use of high-power Solar Electric Propulsion (SEP) systems evolved from those currently under development in support of the Asteroid Redirect Mission to deliver payloads to Mars. The EMC is considering several transportation options that combine solar electric and chemical propulsion technologies to deliver crew and cargo to Mars. In one primary architecture option, the SEP propulsion system is used to pre-deploy mission elements to Mars while a high-thrust chemical propulsion system is used to send crew on faster ballistic transfers between Earth and Mars. This high-thrust chemical system uses liquid oxygen - liquid methane main propulsion and reaction control systems integrated into the Methane Cryogenic Propulsion Stage (MCPS). Over the past year, there have been several studies completed to provide critical design and development information related to the MCPS. This paper is intended to provide a summary of these efforts. A summary of the current point of departure design for the MCPS is provided as well as an overview of the mission architecture and concept of operations that the MCPS is intended to support. To leverage the capabilities of solar electric propulsion to the greatest extent possible, the EMC architecture pre-deploys the required stages for returning crew from Mars. While this changes the risk posture of the architecture, it provides mass savings by using higher-efficiency systems for interplanetary transfer. However, this does introduce significantly longer flight times to Mars which, in turn, increases the overall lifetime of the stages to as long as 3000 days. This unique aspect to the concept of operations introduces several challenges, specifically related to propellant storage and engine reliability. These challenges and some potential solutions are discussed. Specific focus is provided on two key technology areas; propulsion and cryogenic fluid management. In the area of propulsion development, the development of an integrated methane propulsion system that combines both main propulsion and reaction control is discussed. This includes an overview of potential development paths, areas where development for Mars applications are complementary to development efforts underway in other parts of the aerospace industry, and commonality between the MCPS methane propulsion applications and other Mars elements, including the Mars lander systems. This commonality is a key affordability aspect of the Evolvable Mars Campaign. A similar discussion is provided for cryogenic fluid management technologies including a discussion of how using cryo-propulsion in the Mars transportation application not only provides performance benefits but also leverages decades of technology development investments made by NASA and its aerospace contractor community.

Percy, Thomas K.↗