Research on new techniques for the analysis of manual control systems Progress report, 16 Jun. - 15 Dec. 1968
Parameter estimation for continuous input-output systems with internal sampling in human controller models
Bekey, G. A.↗
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Results for “continuous control”
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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The hygrothermal performance of continuous and cavity wood fiber insulation
Wood fiber insulation is an emerging material known for its effective thermal performance and moisture management properties, making it a compelling alternative to conventional insulation. Its vapor permeability and ability to regulate indoor humidity contribute to improved building durability and comfort, particularly in varying climate conditions. The goal of this project is to characterize the hygrothermal performance of a new wood fiber insulation product line in U.S. climate zones and to facilitate the design and construction of the product in residential and light commercial building envelopes. This study investigates the thermal and hygrothermal performance of wood fiber insulation, both as continuous and cavity insulation. The research employs an exhaustive simulation task and an environmental chamber test of a wood fiber insulation. Over 400 simulations were conducted to study the hygrothermal characteristics of bio-based wood fiber insulation in various building envelope configurations across four climate zones. Environmental chamber tests were conducted under controlled winter conditions representative of Climate Zone 5A (Chicago, IL) to complement the simulation results. The chamber tests focused on the hygrothermal performance of the wood fiber insulation and the sheathing board to assess the insulation's ability to manage moisture in a cold climate. Simulation and environmental chamber test results were analyzed to evaluate the insulation's consistency and efficacy across diverse climatic zones. Results show that with a proper moisture control strategy, both cavity and continuous wood fiber insulation can work properly in both new and retrofit constructions.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
The Hygrothermal Performance of Continuous and Cavity Wood Fiber Insulation
Wood fiber insulation is an emerging material known for its effective thermal performance and moisture management properties, making it a compelling alternative to conventional insulation. Its vapor permeability and ability to regulate indoor humidity contribute to improved building durability and comfort, particularly in varying climate conditions. The goal of this project is to characterize the hygrothermal performance of a new wood fiber insulation product line in U.S. climate zones and to facilitate the design and construction of the product in residential and light commercial building envelopes. This study investigates the thermal and hygrothermal performance of wood fiber insulation, both as continuous and cavity insulation. The research employs an exhaustive simulation task and an environmental chamber test of a wood fiber insulation. Over 400 simulations were conducted to study the hygrothermal characteristics of bio-based wood fiber insulation in various building envelope configurations across four climate zones. Environmental chamber tests were conducted under controlled winter conditions representative of Climate Zone 5A (Chicago, IL) to complement the simulation results. The chamber tests focused on the hygrothermal performance of the wood fiber insulation and the sheathing board to assess the insulation's ability to manage moisture in a cold climate. Simulation and environmental chamber test results were analyzed to evaluate the insulation's consistency and efficacy across diverse climatic zones. Results show that with a proper moisture control strategy, both cavity and continuous wood fiber insulation can work properly in both new and retrofit constructions.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Autonomous Agents and Intelligent Assistants for Exploration Operations
Human exploration of space will involve remote autonomous crew and systems in long missions. Data to earth will be delayed and limited. Earth control centers will not receive continuous real-time telemetry data, and there will be communication round trips of up to one hour. There will be reduced human monitoring on the planet and earth. When crews are present on the planet, they will be occupied with other activities, and system management will be a low priority task. Earth control centers will use multi-tasking "night shift" and on-call specialists. A new project at Johnson Space Center is developing software to support teamwork between distributed human and software agents in future interplanetary work environments. The Engineering and Mission Operations Directorates at Johnson Space Center (JSC) are combining laboratories and expertise to carry out this project, by establishing a testbed for hWl1an centered design, development and evaluation of intelligent autonomous and assistant systems. Intelligent autonomous systems for managing systems on planetary bases will commuicate their knowledge to support distributed multi-agent mixed-initiative operations. Intelligent assistant agents will respond to events by developing briefings and responses according to instructions from human agents on earth and in space.
Malin, Jane T.↗
Transport Aircraft System Identification Using Roll and Yaw Oscillatory Wind Tunnel Data
Continued studies have been undertaken to investigate and develop aerodynamic models that predict aircraft response in nonlinear unsteady flight regimes for transport configurations. The models retain conventional static and dynamic terms but replace conventional acceleration terms with indicial functions. In the Subsonic Fixed Wing Project of the NASA Fundamental Aeronautics Program and the Integrated Resilient Aircraft Controls project of the NASA Aviation Safety Program one aspect of the research is to apply these current developments to transport configurations to facilitate development of advanced simulation and control design technology. This paper continues development and application of a more general modeling methodology to the NASA Langley Generic Transport Model, a sub-scale flight test vehicle. In the present study models for the lateral-directional aerodynamics are developed.
Murphy, Patrick C.↗
Solar Alpha Rotary Joint (SARJ) Lubrication Interval Test and Evaluation (LITE). Post-Test Grease Analysis
The Solar Alpha Rotary Joint (SARJ) is a mechanism of the International Space Station (ISS) that orients the solar power generating arrays toward the sun as the ISS orbits our planet. The orientation with the sun must be maintained to fully charge the ISS batteries and maintain all the other ISS electrical systems operating properly. In 2007, just a few months after full deployment, the starboard SARJ developed anomalies that warranted a full investigation including ISS Extravehicular Activity (EVA). The EVA uncovered unexpected debris that was due to degradation of a nitride layer on the SARJ bearing race. ISS personnel identified the failure root-cause and applied an aerospace grease to lubricate the area associated with the anomaly. The corrective action allowed the starboard SARJ to continue operating within the specified engineering parameters. The SARJ LITE (Lubrication Interval Test and Evaluation) program was initiated by NASA, Lockheed Martin, and Boeing to simulate the operation of the ISS SARJ for an extended time. The hardware was designed to test and evaluate the exact material components used aboard the ISS SARJ, but in a controlled area where engineers could continuously monitor the performance. After running the SARJ LITE test for an equivalent of 36+ years of continuous use, the test was opened to evaluate the metallography and lubrication. We have sampled the SARJ LITE rollers and plate to fully assess the grease used for lubrication. Chemical and thermal analysis of these samples has generated information that has allowed us to assess the location, migration, and current condition of the grease. The collective information will be key toward understanding and circumventing any performance deviations involving the ISS SARJ in the years to come.
Golden, Johnny L.↗
Hubble space telescope six-battery test bed
A test bed for a large space power system breadboard for the Hubble Space Telescope (HST) was designed and built to test the system under simulated orbital conditions. A discussion of the data acquisition and control subsystems designed to provide for continuous 24 hr per day operation and a general overview of the test bed is presented. The data acquisition and control subsystems provided the necessary monitoring and protection to assure safe shutdown with protection of test articles in case of loss of power or equipment failure over the life of the test (up to 5 years).
Pajak, J. A.↗
Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots
Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.
Chen, Vincent Wei-Kang↗
Sympathoadrenal responses to cold and ketamine anesthesia in the rhesus monkey
The effect of cold exposure on the sympathoadrenal system is investigated in eight adult rhesus monekys with and without ketamine anesthesia. It is found that a 3 hr cold exposure (12 c) was associated with a 175 percent increase above control levels of norepinephrine (NE) and a 100 percent increase in epinephrine (E). Also observed were decreases in the core temperature, mean skin temperature, and mean body temperature. No change in the plasma levels of NE and E from the control values was found during continuous infusion of ketamine; while the core temperature, mean skin temperature, and mean body temperature all showed greater declines with the addition of ketamine infusion to the cold exposure. Water exposure (28 C) under ketamine anesthesia resulted in a reduction of the core temperature to 33 C within 1 hr. Plasma levels of NE and E were found to be unchanged from control values at core temperatures of 35 and 33 C. It is concluded that the administration of ketamine abolishes both the thermoregulatory response and the catecholamine response to acute cold exposure.
Kolka, M. A.↗
Robustness of adaptive control algorithms in the presence of unmodeled dynamics
This paper reports the outcome of an exhaustive analytical and numerical investigation of stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances. The class of adaptive algorithms considered are those commonly referred to as model-reference adaptive control algorithms, self-tuning controllers, and dead-beat adaptive controllers; they have been developed for both continuous-time systems and discrete-time systems. The existing adaptive control algorithms have been proven to be globally asymptotically stable under certain assumptions, the key ones being (1) that the number of poles and zeroes of the unknown plant are known, and (2) that the primary performance criterion is related to good command following. These theoretical assumptions are too restrictive from an engineering point of view. Real plants always contain unmodeled high-frequency dynamics and small delays, and hence no upper bound on the number of the plant poles and zeroes exists. Also real plants are always subject to unmeasurable output additive disturbances, although these may be guide small. Hence, it is important to critically examine the stability robustness properties of the existing adaptive algorithms when some of the theoretical assumptions are removed; in particular, their stability and performance properties in the presence of unmodeled dynamics and output disturbances. Previously announced in STAR as N83-16061
Rohrs, C. E.↗
Position/force control in multiple-manipulator systems
Multiple-manipulator systems show great potential for accomplishing many tasks beyond the capabilities of a single manipulator. A fundamental task is the control of both the motion and the force of a common payload. Despite the recent progress in the motion and force control of multiple manipulators, there has been a continuing question on which physical force should be and can be controlled. The frequently used orthogonal decomposition is plagued by a unit inconsistency problem, rendering its physical interpretation difficult, if not impossible. This paper discusses one concept of internal force and shows how its regulation can be handled by the existing approaches. The many approaches to the position control of multiple manipulators are categorized, and a detailed outline of a straightforward form of multiple manipulator control is presented.
Wen, John T.↗
When Data Analytics Meet Site Operation: Benefits and Challenges
Demand for using data analytics for energy management in buildings is rising. Such analytics are required for advanced measurement and verification, commissioning, automated fault-detection and diagnosis, and optimal control. While novel analytics algorithms continue to be developed, bottlenecks and challenges arise when deploying them for demonstration, for a number of reasons that do not necessarily have to do with the algorithms themselves. It is important for developers of new technologies to be aware of the challenges and potential solutions during demonstration. Therefore, this paper describes a recent deployment of an automated, physical model-based, FDD and optimal control tool, highlighting its design and as-operated benefits that the tool provides. Furthermore, the paper presents challenges faced during deployment and testing along with solutions used to overcome these challenges. The challenges have been grouped into four categories: Data Management, Physical Model Development and Integration, Software Development and Deployment, and Operator Use. The paper concludes by discussing how challenges with this project generalize to common cases, how they could compare to other projects in their severity, and how they may be addressed.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Welding arc plasma physics
The problems of weld quality control and weld process dependability continue to be relevant issues in modern metal welding technology. These become especially important for NASA missions which may require the assembly or repair of larger orbiting platforms using automatic welding techniques. To extend present welding technologies for such applications, NASA/MSFC's Materials and Processes Lab is developing physical models of the arc welding process with the goal of providing both a basis for improved design of weld control systems, and a better understanding of how arc welding variables influence final weld properties. The physics of the plasma arc discharge is reasonably well established in terms of transport processes occurring in the arc column itself, although recourse to sophisticated numerical treatments is normally required to obtain quantitative results. Unfortunately the rigor of these numerical computations often obscures the physics of the underlying model due to its inherent complexity. In contrast, this work has focused on a relatively simple physical model of the arc discharge to describe the gross features observed in welding arcs. Emphasis was placed of deriving analytic expressions for the voltage along the arc axis as a function of known or measurable arc parameters. The model retains the essential physics for a straight polarity, diffusion dominated free burning arc in argon, with major simplifications of collisionless sheaths and simple energy balances at the electrodes.
Cain, Bruce L.↗
Theoretical and Analog Studies of the Effects of Nonlinear Stability Derivatives on the Longitudinal Motions of an Aircraft in Response to Step Control Deflections and to the Influence of Proportional Automatic Control
Through theoretical and analog results the effects of two nonlinear stability derivatives on the longitudinal motions of an aircraft have been investigated. Nonlinear functions of pitching-moment and lift coefficients with angle of attack were considered. Analog results of aircraft motions in response to step elevator deflections and to the action of the proportional control systems are presented. The occurrence of continuous hunting oscillations was predicted and demonstrated for the attitude stabilization system with proportional control for certain nonlinear pitching-moment variations and autopilot adjustments.
Curfman, Howard J , Jr↗
A Methodology for Actuating RCS Jets in a Continuous, Time-Accurate CFD Simulation
Computational fluid dynamics simulations of Mars entry vehicle reaction control systems have been used to gain a better understanding of the wide range of flow phenomena encountered during various phases of flight. One aspect of this is simulating the system during controlled flight. Current practices model the system in a continuously actuated state, but this methodology is unable to accurately model the dynamic behavior of the system during EDL. One method to improve this is to create a coupled CFD-RBD-Control simulation. The first step to this is establishing a method of accurately actuating an RCS jet during a time accurate CFD simulation. This paper presents a method to achieve this actuation. There are three phases to the methodology: establishing the off state, creating a ramping function that will initialize the jet flow, and establishing the on state. A test case of a jet in a supersonic crossflow is implemented to establish the success of the methodology in being able to actuate a jet in the midst of an ongoing CFD simulation. It shows significant improvement in boundary condition responsiveness for linear and exponential ramping functions in comparison to the step function. A preliminary demonstration of the methodology is presented for the MSL vehicle which shows significant advantages for the implementation of a linear ramping function over a step function.
Alexandra Hickey↗
A Methodology for Actuating RCS Jets in a Continuous, Time-Accurate CFD Simulation
Computational fluid dynamics simulations of Mars entry vehicle reaction control systems have been used to gain a better understanding of the wide range of flow phenomena encountered during various phases of flight. One aspect of this is simulating the system during controlled flight. Current practices model the system in a continuously actuated state, but this methodology is unable to accurately model the dynamic behavior of the system during EDL. One method to improve this is to create a coupled CFD-RBD-Control simulation. The first step to this is establishing a method of accurately actuating an RCS jet during a time accurate CFD simulation. This paper presents a method to achieve this actuation. There are three phases to the methodology: establishing the off state, creating a ramping function that will initialize the jet flow, and establishing the on state. A test case of a jet in a supersonic crossflow is implemented to establish the success of the methodology in being able to actuate a jet in the midst of an ongoing CFD simulation. It shows significant improvement in boundary condition responsiveness for linear and exponential ramping functions in comparison to the step function. A preliminary demonstration of the methodology is presented for the MSL vehicle which shows significant advantages for the implementation of a linear ramping function over a step function.
Alexandra Hickey↗
Overview of NASA GRC Stirling Technology Development
The Stirling Radioisotope Generator (SRG) is currently being developed by Lockheed Martin Astronautics (LMA) under contract to the Depar1ment of Energy (DOE). The generator will be a high efficiency electric power source for NASA Space Science missions with the capability to operate in the vacuum of deep space or in an atmosphere such as on the surface of Mars. High system efficiency is obtained through the use of free-piston Stirling power conversion technology. Power output of the generator will be greater than 100 watts at the beginning of life with the decline in power being largely due to the decay of the plutonium heat source. In suppOl1 of the DOE SRG project, the NASA Glenn Research Center (GRC) has established a near-term technology effort to provide some of the critical data to ensure a successful transition to flight for what will be the first dynamic power system used in space. Initially, a limited number of technical areas were selected for the GRC effort, however this is now being expanded to more thoroughly cover a range of technical issues. The tasks include in-house testing of Stirling convertors and controllers, materials evaluation and heater head life assessment, structural dynamics, electromagnetic interference, organics evaluation, and reliability analysis. Most of these high-level tasks have several subtasks within. There is also an advanced technology effort that is complementary near-term technology effort. Many of the tests make use of the 55-We Technology Demonstration Convel10r (TDC). There have been multiple controller tests to support the LMA flight controller design effort. Preparation is continuing for a thermal/vacuum system demonstration. A pair of flight prototype TDC's have recently been placed on an extended test with unattended, continuous operation. Heater head life assessment efforts continue, with the material data being refined and the analysis moving toward the system perspective. Long-term magnet aging tests are continuing to characterize any possible aging in the strength or demagnetization resistance of the permanent magnets used in the linear alternator. In a parallel effort, higher performance magnets are also being evaluated. A reliability effort is being initiated that will help to guide the development activities with an increased focus on the necessary components and subsystems. Some other disciplines that are active in the GRC technology effort include structural dynamics, linear alternator analysis, EMI/EMC, controls, and mechanical design evaluation. This paper will provide an overview of some of the GRC technical efforts, including the current status, and a description of future efforts.
Schreiber, Jeffrey↗
Gnu-RL: A Precocial Reinforcement Learning Solution for Building HVAC Control Using a Differentiable MPC Policy
Reinforcement learning (RL) was first demonstrated to be a feasible approach to controlling heating, ventilation, and air conditioning (HVAC) systems more than a decade ago. However, there has been limited progress towards a practical and scalable RL solution for HVAC control. While one can train an RL agent in simulation, it is not cost-effective to create a model for each thermal zone or building. Likewise, existing RL agents generally take a long time to learn and are opaque to expert interrogation, making them unattractive for real-world deployment. To tackle these challenges, we propose Gnu-RL: a novel approach that enables practical deployment of RL for HVAC control and re- quires no prior information other than historical data from exist- ing HVAC controllers. To achieve this, Gnu-RL adopts a recently- developed Differentiable Model Predictive Control (MPC) policy, which encodes domain knowledge on planning and system dynam- ics, making it both sample-efficient and interpretable. Prior to any interaction with the environment, a Gnu-RL agent is pre-trained on historical data using imitation learning, which enables it to match the behavior of the existing controller. Once it is put in charge of controlling the environment, the agent continues to improve its policy end-to-end, using a policy gradient algorithm. We evaluate Gnu-RL on both an EnergyPlus model and a real- world testbed. In both experiments, our agents were directly de- ployed in the environment after offline pre-training on expert demonstration. In the simulation experiment, our approach saved 6.6% energy compared to the best published RL result for the same environment, while maintaining a higher level of occupant comfort. Next, Gnu-RL was deployed to control the HVAC of a real-world conference room for a three-week period. Our results show that Gnu-RL saved 16.7% of cooling demand compared to the existing controller and tracked temperature set-point better.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗