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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 757 records · Page 42
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Contact control for advanced applications of light weight arms

Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

Book, Wayne J.↗
NASA NTRS1993

System identification of the Large-Angle Magnetic Suspension Test Facility (LAMSTF)

The Large-Angle Magnetic Suspension Test Facility (LAMSTF), a laboratory-scale research project to demonstrate the magnetic suspension of objects over wide ranges of attitudes, has been developed. This system represents a scaled model of a planned Large-Gap Magnetic Suspension System (LGMSS). The LAMSTF system consists of a planar array of five copper electromagnets which actively suspend a small cylindrical permanent magnet. The cylinder is a rigid body and can be controlled to move in five independent degrees of freedom. Five position variables are sensed indirectly by using infra-red light-emitting diodes and light-receiving phototransistors. The motion of the suspended cylinder is in general nonlinear and hence only the linear, time-invariant perturbed motion about an equilibrium state is considered. One of the main challenges in this project is the control of the suspended element over a wide range of orientations. An accurate dynamic model plans an essential role in controller design. The analytical model of the LAMSTF system includes highly unstable real poles (about 10 Hz) and low-frequency flexible modes (about 0.16 Hz). Projection filters are proposed to identify the state space model from closed-loop test data in time domain. A canonical transformation matrix is also derived to transform the identified state space model into the physical coordinate. The LAMSTF system is stabilized by using a linear quadratic regulator (LQR) feedback controller. The rate information is obtained by calculating the back difference of the sensed position signals. The reference inputs contain five uncorrelated random signals. This control input and the system reponse are recorded as input/output data to identify the system directly from the projection filters. The sampling time is 4 ms and the model is fairly accurate in predicting the step responses for different controllers while the analytical model has a deficiency in the pitch axis.

Huang, Jen-Kuang↗
NASA NTRS1998

Design of Constant Gain Dissipative Controllers for Eigensystem Assignment in Passive Systems

Partial eigensystem assignment with output feedback can lead to an unstable closed-loop system. However, output feedback with passive linear time-invariant systems, such as flexible space structures, is guaranteed to be stable if the controller is dissipative. This paper presents a novel approach for synthesis of dissipative output feedback gain matrices for assigning a selected number of closed-loop poles. Dissipativity of a gain matrix is known to be equivalent to positive semidefiniteness of the symmetric part of the matrix. A sequential procedure is presented to assign one self-conjugate pair of closed-loop eigenvalues at each step using dissipative output feedback gain matrices, while ensuring that the eigenvalues assigned in the previous steps are not disturbed. The problem of assigning one closed-loop pair is reduced to a constrained solution of a system of quadratic equations, and necessary and sufficient conditions for the existence of a solution are presented. A minimax approach is presented for determining parameters which satisfy these conditions. This method can assign as many closed-loop system poles as the number of control inputs. A numerical example of damping enhancement for a flexible structure is presented to demonstrate the approach.

Maghami, Peiman G.↗
DOE OSTI2021

BraggNN : fast X-ray Bragg peak analysis using deep learning

X-ray diffraction based microscopy techniques such as high-energy diffraction microscopy (HEDM) rely on knowledge of the position of diffraction peaks with high precision. These positions are typically computed by fitting the observed intensities in detector data to a theoretical peak shape such as pseudo-Voigt. As experiments become more complex and detector technologies evolve, the computational cost of such peak-shape fitting becomes the biggest hurdle to the rapid analysis required for real-time feedback in experiments. To this end, we propose BraggNN, a deep-learning based method that can determine peak positions much more rapidly than conventional pseudo-Voigt peak fitting. When applied to a test dataset, peak center-of-mass positions obtained from BraggNN deviate less than 0.29 and 0.57 pixels for 75 and 95% of the peaks, respectively, from positions obtained using conventional pseudo-Voigt fitting (Euclidean distance). When applied to a real experimental dataset and using grain positions from near-field HEDM reconstruction as ground-truth, grain positions using BraggNN result in 15% smaller errors compared with those calculated using pseudo-Voigt. Recent advances in deep-learning method implementations and special-purpose model inference accelerators allow BraggNN to deliver enormous performance improvements relative to the conventional method, running, for example, more than 200 times faster on a consumer-class GPU card with out-of-the-box software.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Atomic precision imaging with an on-chip scanning tunneling microscope integrated into a commercial ultrahigh vacuum STM system

In this article, we replace the Z axis of the piezotube of a conventional Ultrahigh-Vacuum (UHV) Scanning Tunneling Microscope (STM) with a one-degree-of-freedom Microelectromechanical-System (MEMS) nanopositioner. As a result, a hybrid system is realized in which motions in the XY plane are carried out by the piezotube, while the MEMS device performs the Z-axis positioning with a smaller footprint and higher sensitivity. With the proposed system and a feedback loop, STM imaging is conducted on an H-passivated Si (100)-2×1 sample in a UHV condition, demonstrating that this on-chip STM is conducive to atomic precision scanning tunneling microscopy.

Engineering↗
NASA NTRS1983

Some applications of direct adaptive control to large structural systems

Direct multivariable model reference adaptive control (DMMRAC) applications are considered with a representative example of a large structural system (LSS). Such applications have in the past been shown to be feasible for multivariable systems, provided that there exists a constant feedback gain matrix such that the resulting input-output transfer function is (simply) positive real.

Bar-Kana, I.↗
NASA NTRS1990

Containerless processing projects

The primary research objective was the examination of fundamental acoustics of the Drop Physics Module. An advanced chamber system was developed for acoustics and sample characterization. Sample interaction with an acoustic field was studied. The shaping of liquid drops by acoustic forces was also examined. The acoustic torque as a function of sample position and shape was studied along with levitated sample stability and the effects of feedback systems.

Source record↗
NASA NTRSDate not supplied

Demonstrating Early-Adopter Benefits of Submitting Multiple Trajectory Options for Airlines

A workshop at NASA Ames Research Center was held with airline industry stakeholders to demonstrate the impact of using Trajectory Options Sets (TOSs) during a Collaborative Trajectory Options Program (CTOP) for severe weather operations. The demonstration was conducted using apart-task Human-in-the-Loop (HITL) simulation of the Integrated Demand Management (IDM) concept, which is an air traffic management method that uses CTOP to deliver preconditioned traffic to the Time-Based Flow Management (TBFM) region. The demonstration addressed the following research objectives: first, determine who receives a greater benefit, TOS-participating or TOS-excluded airlines? Second, determine which method of trajectory selection yields a better solution, human/manual selection or automation? Finally, obtain feedback from stakeholders on their impression of the concept and recommendations for future work. The results showed that TOS-participating airlines received greater benefit in terms of total ground delay, ground delay savings, number of reroute options, and additional flight time, compared to TOS-excluded airlines. However, this result was dependent on the situational context, such as the number and location of flights. We found that all airlines benefitted when just a subset of airlines submitted TOS, but the greatest benefit went to the TOS-participating airlines. These benefits to the TOS-participating airlines were diminished as the number of TOS-participants in the system increased. Therefore, there was an “early-adopter” effect that suggested airlines could benefit by becoming the first to equip TOS without causing unfair disadvantages to those who do not equip TOS. In addition, we found that manual selection of trajectory options performed similarly to CTOP, but the CTOP solution was more efficient in terms of number of reroutes, additional flight time, and average ground delay for rerouted flights. Feedback from the stakeholders was solicited, and their overall impressions of the demonstrations were positive. They remarked that CTOP could do a better job than current day solutions, and they thought airlines could benefit from continuing to develop TOS capabilities.

Integrated Demand Management↗
NASA NTRS2022

Increasing Cognitive Reserve with Software - Pilot (ICARUS-Pilot)

The ICARUS-Pilot study sought to quantify and assess the potential benefit of using commercial-off-the-shelf (COTS) cognitive training software to improve cognitive performance in an astronaut-like terrestrial population. Five volunteer research subjects were recruited from the JSC employee population to mimic characteristics of the NASA astronaut population (age, education/discipline). Subject cognitive performance was assessed before and after executing eighteen sessions of remote cognitive training using six exercises within an adaptive app-based COTS software package (BrainHQ, Posit Science) on study-provided tablets. Pre- and post-training cognitive performance was measured using internal BrainHQ assessments as well as Cognition Test Battery (CTB), an independent software test developed specifically for NASA and used currently in research studies on astronauts. BrainHQ exercises were posited to map well or partially to several CTB sub-tests. Subjects provided feedback on their study experience formally via survey at the conclusion of testing and informally throughout the study if they encountered issues.

cognitive training↗
NASA NTRS2003

Modeling and Validation of a Propellant Mixer for Controller Design

A mixing chamber used in rocket engine testing at the NASA Stennis Space Center is modelled by a system of two nonlinear ordinary differential equations. The mixer is used to condition the thermodynamic properties of cryogenic liquid propellant by controlled injection of the same substance in the gaseous phase. The three inputs of the mixer are the positions of the valves regulating the liquid and gas flows at the inlets, and the position of the exit valve regulating the flow of conditioned propellant. Mixer operation during a test requires the regulation of its internal pressure, exit mass flow, and exit temperature. A mathematical model is developed to facilitate subsequent controller designs. The model must be simple enough to lend itself to subsequent feedback controller design, yet its accuracy must be tested against real data. For this reason, the model includes function calls to thermodynamic property data. Some structural properties of the resulting model that pertain to controller design, such as uniqueness of the equilibrium point, feedback linearizability and local stability are shown to hold under conditions having direct physical interpretation. The existence of fixed valve positions that attain a desired operating condition is also shown. Validation of the model against real data is likewise provided.

Richter, Hanz↗
DOE OSTI2020

Constraining the properties of gaseous halos via cross-correlations of upcoming galaxy surveys and thermal Sunyaev-Zel’dovich maps

The thermal Sunyaev-Zel’dovich (tSZ) effect induces a Compton-$\mathit{y}$ distortion in cosmic microwave background (CMB) temperature maps that is sensitive to a line-of-sight integral of the ionized gas pressure. By correlating the positions of galaxies with maps of the Compton-$\mathit{y}$ distortion, one can probe baryonic feedback processes and study the thermodynamic properties of a significant fraction of the gas in the Universe. Using a model fitting approach, we forecast how well future galaxy and CMB surveys will be able to measure these correlations, and show that powerful constraints on halo pressure profiles can be obtained. In this work, our forecasts are focused on correlations between galaxies and halos identified by the upcoming Dark Energy Spectroscopic Instrument survey and tSZ maps from the Simons Observatory and CMB-S4 experiments, but have general applicability to other surveys, such as the Large Synoptic Survey Telescope. We include prescriptions for observational systematics, such as halo miscentering and halo mass bias, demonstrating several important degeneracies with pressure profile parameters. Assuming modest priors on these systematics, we find that measurements of halo-$\mathit{y}$ and galaxy-$\mathit{y}$ correlations with future surveys yield tight constraints on the pressure profiles of group-scale dark matter halos, and enable current feedback models to either be confirmed or ruled out.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Ultrafast method for scanning tunneling spectroscopy

A scanning tunneling microscope (STM) combines unique capabilities in imaging and spectroscopy with atomic precision, and it can obtain energy-resolved spectroscopic data with atomic resolution. In this paper, we utilize a recently proposed modification to the STM feedback control loop to acquire high quality d 2 I/dV 2 images. We have developed a constant differential conductance imaging method by closing the STM feedback loop with a high precision dI/dV measurement. In this mode, the tip’s vertical position is adjusted so as to keep the differential conductance constant during raster scanning of the surface. Based on this imaging mode, we propose a new technique to acquire fast and reliable scanning tunneling spectroscopy (STS) data simultaneously with the imaging.

47 OTHER INSTRUMENTATION↗
NASA NTRS1986

Kinematic observers for active control of helicopter rotor vibration

A simple scheme for estimating the state variables of a helicopter rotor is presented. The method incorporates the use of blade-mounted accelerometers and/or position transducers to reconstruct modal displacements and velocities. The design of the observer structure and feedback gains is simplified by the fact that the method requires only knowledge of basic kinematic relationships between the various modal quantities. The observer structure described is particularly well-suited to control problems where the use of a traditional Kalman Filter approach would be too complex or costly. The technique can be viewed as decreasing the requirements on observer complexity while increasing the need for an enhanced sensor complement.

Mckillip, Robert M., Jr.↗
NASA NTRS1987

Hand trigger system for bi-lateral gripping control in teleoperation

A device for human operator control of a robotic gripper has been developed and preliminary evaluation has been performed. The JPL Force Reflecting Hand Trigger system features an instrumented index finger trigger with load cell detection of finger force, a servo-controlled, lead-screw-driven backdrive capability by which the trigger's position can be made to follow that of the remotely controlled gripper, and a novel feedback mechanism by which clamping force or some other signal can be fed back by a swiveling motion, also servo-controlled, of the trigger surface (force reflection). This system has undergone preliminary testing in which the amount of force reflection is varied and dynamic force-tracking response is observed.

Fiorini, Paolo↗
NASA NTRS1991

Antarctic Sea ice variations and seasonal air temperature relationships

Data through 1987 are used to determine the regional and seasonal dependencies of recent trends of Antarctic temperature and sea ice. Lead-lag relationships involving regional sea ice and air temperature are systematically evaluated, with an eye toward the ice-temperature feedbacks that may influence climatic change. Over the 1958-1087 period the temperature trends are positive in all seasons. For the 15 years (l973-l987) for which ice data are available, the trends are predominantly positive only in winter and summer, and are most strongly positive over the Antarctic Peninsula. The spatially aggregated trend of temperature for this latter period is small but positive, while the corresponding trend of ice coverage is small but negative. Lag correlations between seasonal anomalies of the two variables are generally stronger with ice lagging the summer temperatures and with ice leading the winter temperatures. The implication is that summer temperatures predispose the near-surface waters to above-or below-normal ice coverage in the following fall and winter.

Weatherly, John W.↗
NASA NTRS2011

Optical Communications Link to Airborne Transceiver

An optical link from Earth to an aircraft demonstrates the ability to establish a link from a ground platform to a transceiver moving overhead. An airplane has a challenging disturbance environment including airframe vibrations and occasional abrupt changes in attitude during flight. These disturbances make it difficult to maintain pointing lock in an optical transceiver in an airplane. Acquisition can also be challenging. In the case of the aircraft link, the ground station initially has no precise knowledge of the aircraft s location. An airborne pointing system has been designed, built, and demonstrated using direct-drive brushless DC motors for passive isolation of pointing disturbances and for high-bandwidth control feedback. The airborne transceiver uses a GPS-INS system to determine the aircraft s position and attitude, and to then illuminate the ground station initially for acquisition. The ground transceiver participates in link-pointing acquisition by first using a wide-field camera to detect initial illumination from the airborne beacon, and to perform coarse pointing. It then transfers control to a high-precision pointing detector. Using this scheme, live video was successfully streamed from the ground to the aircraft at 270 Mb/s while simultaneously downlinking a 50 kb/s data stream from the aircraft to the ground.

Regehr, Martin W.↗
NASA NTRS1989

Response to reflected-force feedback to fingers in teleoperations

Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Sutter, P. H.↗