Results for “positive feedback” — Page 48

DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

DOE OSTI2026

High-resolution in-beam video rate imaging with the ClearXCam for synchrotron beamlines

The ClearXCam detector is a new video rate imaging in-beam monitor based on a diamond sensor. Imaging with 2304 effective pixels is achieved by sequentially biasing one of 48 metal stripes on one side of a diamond sensor, while reading out the current from 48 stripes on the other side of the sensor. This system was characterized for real-time X-ray beam diagnostics at synchrotron beamline 17-BM at the National Synchrotron Light Source II. Significant results include: detection of in-beam structure via the imaging mode, beam focusing in one minute with real-time imaging feedback during a focusing event, linearity over five orders of magnitude, validation of a fast mode operating at 100 Hz, and sub-micron beam-positioning resolution. The system is now available commercially.

36 MATERIALS SCIENCE↗

DOE OSTI2026

Subplane Decusping for BWRs in MPACT

Control blade cusping can introduce significant error in boiling water reactor (BWR) calculations with MPACT when blade tips fall partway within an axial method of characteristics (MOC) plane, requiring homogenization of controlled and uncontrolled regions. This work implements subplane decusping for BWRs in MPACT by enabling BWR-compatible subplane coarse mesh finite difference (CMFD) and extending the existing decusping framework to represent between-assembly control blades that insert from the bottom of the core. The method resolves axial heterogeneity on a refined subplane mesh in the low-order solve and uses the resulting subplane flux shape to form flux-volume homogenized transport cross sections for the partially rodded MOC plane. The capability is evaluated using a single physics General Electric (GE)-14 assembly and a multiphysics Peach Bottom Unit 2 Type 1 assembly (PB2T1A) with thermal hydraulic feedback. In both cases, coarse axial meshes with and without subplane decusping are compared against fine mesh reference solutions over the full range of blade withdrawal positions. Subplane decusping reduces maximum/average eigenvalue errors from 3,369/220 pcm to 303/36 pcm for GE-14 and from 6,689/585 pcm to 1,582/109 pcm for PB2T1A. Additionally, it reduces pin power root mean square errors from 5.2%/0.8% to 1.8%/0.2% for GE-14 and from 6.9%/0.6% to 2.3%/0.1% for PB2T1A. These results demonstrate an effective, practical correction for BWR blade cusping in VERA-MPACT.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS1989

Using multiple sensors for printed circuit board insertion

As more and more activities are performed in space, there will be a greater demand placed on the information handling capacity of people who are to direct and accomplish these tasks. A promising alternative to full-time human involvement is the use of semi-autonomous, intelligent robot systems. To automate tasks such as assembly, disassembly, repair and maintenance, the issues presented by environmental uncertainties need to be addressed. These uncertainties are introduced by variations in the computed position of the robot at different locations in its work envelope, variations in part positioning, and tolerances of part dimensions. As a result, the robot system may not be able to accomplish the desired task without the help of sensor feedback. Measurements on the environment allow real time corrections to be made to the process. A design and implementation of an intelligent robot system which inserts printed circuit boards into a card cage are presented. Intelligent behavior is accomplished by coupling the task execution sequence with information derived from three different sensors: an overhead three-dimensional vision system, a fingertip infrared sensor, and a six degree of freedom wrist-mounted force/torque sensor.

Sood, Deepak↗

NASA NTRS1995

Controllable Bidirectional dc Power Sources For Large Loads

System redesigned for greater efficiency, durability, and controllability. Modern electronically controlled dc power sources proposed to supply currents to six electromagnets used to position aerodynamic test model in wind tunnel. Six-phase bridge rectifier supplies load with large current at voltage of commanded magnitude and polarity. Current-feedback circuit includes current-limiting feature giving some protection against overload.

Tripp, John S.↗

NASA NTRS1998

A Survey of Flight Crew Experience with FANS-1 ATC Datalink

A survey was used to collect data from Boeing 747-400 pilots who fly with three international carriers about their operational experience using FANS-1 CPDLC (controller-pilot datalink communication) for oceanic communication with air traffic control (ATC). The survey provides data characterizing the operators' experiences performing all routine datalink communication tasks, with the goal of determining how well the FANS-1 CPDLC system supports task performance, the problems flight crews experience when using the system, and the possible operational consequences of those problems. Survey questions were developed from an analysis of activities performed by pilots when using FANS-1 CPDLC. Seven routine tasks were identified: (1) preflight initialization; (2) ATC facility logon; (3) monitoring ATC facility handoffs; (4) monitoring integrity of FANS- 1 CPDLC connection; (5) responding to ATC communications; (6) sending ATC requests; and (7) sending ATC position reports. A decomposition of each task described its information requirements, task timing requirements, user interface actions, company procedures and documentation, and the available cues and feedback provided by the interface. This analysis was used to determine where the system might provide poor support for task performance, and survey questions were developed to determine whether operator experience reflected problems in these areas.

Smith, Nancy↗

NASA NTRS2012

An Initial Examination for Verifying Separation Algorithms by Simulation

An open question in algorithms for aircraft is what can be validated by simulation where the simulation shows that the probability of undesirable events is below some given level at some confidence level. The problem is including enough realism to be convincing while retaining enough efficiency to run the large number of trials needed for high confidence. The paper first proposes a goal based on the number of flights per year in several regions. The paper examines the probabilistic interpretation of this goal and computes the number of trials needed to establish it at an equivalent confidence level. Since any simulation is likely to consider the algorithms for only one type of event and there are several types of events, the paper examines under what conditions this separate consideration is valid. This paper is an initial effort, and as such, it considers separation maneuvers, which are elementary but include numerous aspects of aircraft behavior. The scenario includes decisions under uncertainty since the position of each aircraft is only known to the other by broadcasting where GPS believes each aircraft to be (ADS-B). Each aircraft operates under feedback control with perturbations. It is shown that a scenario three or four orders of magnitude more complex is feasible. The question of what can be validated by simulation remains open, but there is reason to be optimistic.

White, Allan L.↗

NASA NTRS2024

Development of Weighout Process and Evaluations for Underwater Partial Gravity EVA Simulations

For the upcoming Artemis lunar missions, astronauts will needto train in a spacesuit where partial gravity can be simulated such as NASA Neutral Buoyancy Lab (NBL). At the NBL, dive weights and foam can be added around the spacesuit to attaina satisfactory center of buoyancy (CB) and center of gravity (CG) location to simulate the lunar gravity (1/6thG) effects. If CG and CB are not co-located properly, incorrect righting moments can be introduced, and both simulation quality and EVA task performance can be impaired. Based on the findings from the initial testingusing xEMU spacesuits, it was observed that the weigh-out method (i.e., determination of the weights and foam quantities and position) needed further development to improve the simulation quality, especially for the subjects who experienced excessive instability. This paper aims to present the on-going effort to improve the weigh-out process for enabling NBL lunar EVA simulations. For this effort, a human-suit model was created to use suit CAD and 3D human body scansto estimate both CB and CG location for each suited subject. NBL weigh-out testing was performed to characterize the effects of CG and CB positioning, in which the 3D human-suit model was used to determine optimal weigh-out combinations of weights and foam. Postural, balance, and subjective feedback were gathered for each weigh-out configuration. The results indicated that, as the CB was shifted higher and the CB and CG located closer to each other, the subject tended to be more stable and their EVA performance improved. A high CB location was then prioritized across 4 additional subjects in both small and large size spacesuits. When compared to the initial xEMU test series, improved performance was observed across all subjects as the CB moved higher and aligned closer to the system CG.

Seyed Pouyan Sabahi↗

NASA NTRS2024

Development of Weigh-out Process and Evaluations for Underwater Partial Gravity Simulations

For the upcoming Artemis lunar missions, astronauts will need to train in a spacesuit where partial gravity can be simulated such as the NASA Neutral Buoyancy Lab (NBL). At the NBL, dive weights and foam can be added around the spacesuit to attain a satisfactory center of buoyancy (CB) and center of gravity (CG) location to simulate the lunar gravity (1/6thG) effects. If CG and CB are not co-located properly, incorrect righting moments can be introduced, and both simulation quality and EVA task performance can be impaired. Based on the findings from the initial testing using xEMU spacesuits, it was observed that the weigh-out method (i.e., determination of the weights and foam quantities and position) needed further development to improve the simulation quality, especially for the subjects who experienced excessive instability. This paper aims to present the on-going effort to improve the weigh-out process for enabling NBL lunar EVA simulations. For this effort, a human-suit model was created to use suit CAD and 3D human body scans to estimate both CB and CG location for each suited subject. NBL weigh-out testing was performed to characterize the effects of CG and CB positioning, in which the 3D human-suit model was used to determine optimal weigh-out combinations of weights and foam. Postural, balance, and subjective feedback were gathered for each weigh-out configuration. The results indicated that, as the CB was shifted higher and the CB and CG located closer to each other, the subject tended to be more stable and their EVA performance improved. A high CB location was then prioritized across 4 additional subjects in both small and large size spacesuits. When compared to the initial xEMU test series, improved performance was observed across all subjects as the CB moved higher and aligned closer to the system CG.

Pouyan Sabahi↗

NASA NTRSDate not supplied

xEMU Suit Integrated Audio Communications System: Ambient and EVA Pressure Testing System Performance

Testing across several airlock and EVA thermal and pressure scenarios has demonstrated that the Integrated Audio System of NASA’s Exploration Extravehicular Mobility Unit (xEMU) spacesuits transmits and receives intelligible audio communications without the use of a commcap or similar worn device. The xEMU audio system consists of internal loudspeakers and digital microphones (Integrated Communications System –ICS) combined with an adaptive Acoustic Echo Canceller (AEC), outbound voice operated transmission (VOX), and automatic gain control (AGC). Transducers are mounted in an “exploded commcap” configuration with helmet-attached speakers near the ears and three microphones positioned at the collar. The AGC removes inbound audio signals (e.g.,suit, Mission Control, Lander, C&W tones) from the outbound comms stream, reducing echo and feedback (squeal) in low-noise suit environments. The reduction of worn communication equipment increases crewmember comfort, range of movement, and situational awareness. However, test results also highlight the need for proper fan, duct, pump, and gas flow integration with suit acoustics and audio. Ductwork may serve as waveguides for various component and structure-borne noise. Sharply angled ducts can generate turbulent-flow noise. Gas flow from inlets above the crewmember’s head can generate noise when cascading over the faceplate and collar (or commcap) microphones. Sufficient acoustic noise levels (1) require increased gain to boost inbound audio, and (2) may distort signals resulting in AEC disruption or artifacts. Suit-noise levels decline with reduced pressure (density), but then elevated speech and audio effort/power become necessary. Whether the Integrated Audio System, commcap, or other device is used, suit acoustic noise can mask speech in outbound comms. This reduces intelligibility and requires other AECs/devices to suppress comms noise. Yet, adjusting a few components may yield significant improvement. We discuss xEMU audio functionality, demonstrate how acoustical treatment combined with inbound signal conditioning improved clarity during tests, and discuss future modifications.

xEMU↗

NASA NTRS2024

Development of Weigh-out Process and Evaluations for Underwater Partial Gravity Simulations

For the upcoming Artemis lunar missions, astronauts will need to train in a spacesuit where partial gravity can be simulated such as the NASA Neutral Buoyancy Lab (NBL). At the NBL, dive weights and foam can be added around the spacesuit to attain a satisfactory center of buoyancy (CB) and center of gravity (CG) location to simulate the lunar gravity (1/6thG) effects. If CG and CB are not co-located properly, incorrect righting moments can be introduced, and both simulation quality and EVA task performance can be impaired. Based on the findings from the initial testing using xEMU spacesuits, it was observed that the weigh-out method (i.e., determination of the weights and foam quantities and position) needed further development to improve the simulation quality, especially for the subjects who experienced excessive instability. This paper aims to present the on-going effort to improve the weigh-out process for enabling NBL lunar EVA simulations. For this effort, a human-suit model was created to use suit CAD and 3D human body scans to estimate both CB and CG location for each suited subject. NBL weigh-out testing was performed to characterize the effects of CG and CB positioning, in which the 3D human-suit model was used to determine optimal weigh-out combinations of weights and foam. Postural, balance, and subjective feedback were gathered for each weigh-out configuration. The results indicated that, as the CB was shifted higher and the CB and CG located closer to each other, the subject tended to be more stable and their EVA performance improved. A high CB location was then prioritized across 4 additional subjects in both small and large size spacesuits. When compared to the initial xEMU test series, improved performance was observed across all subjects as the CB moved higher and aligned closer to the system CG.

Pouyan Sabahi↗

NASA NTRSDate not supplied

xEMU Suit Integrated Audio Communications System: Ambient and EVA Pressure Testing System Performance

Testing across several airlock and EVA thermal and pressure scenarios has demonstrated that the Integrated Audio System of NASA’s Exploration Extravehicular Mobility Unit (xEMU) spacesuits transmits and receives intelligible audio communications without the use of a commcap or similar worn device. The xEMU audio system consists of internal loudspeakers and digital microphones (Integrated Communications System –ICS) combined with an adaptive Acoustic Echo Canceller (AEC), outbound voice operated transmission (VOX), and automatic gain control (AGC). Transducers are mounted in an “exploded commcap” configuration with helmet-attached speakers near the ears and three microphones positioned at the collar. The AGC removes inbound audio signals (e.g.,suit, Mission Control, Lander, C&W tones) from the outbound comms stream, reducing echo and feedback (squeal) in low-noise suit environments. The reduction of worn communication equipment increases crewmember comfort, range of movement, and situational awareness. However, test results also highlight the need for proper fan, duct, pump, and gas flow integration with suit acoustics and audio. Ductwork may serve as waveguides for various component and structure-borne noise. Sharply angled ducts can generate turbulent-flow noise. Gas flow from inlets above the crewmember’s head can generate noise when cascading over the faceplate and collar (or commcap) microphones. Sufficient acoustic noise levels (1) require increased gain to boost inbound audio, and (2) may distort signals resulting in AEC disruption or artifacts. Suit-noise levels decline with reduced pressure (density), but then elevated speech and audio effort/power become necessary. Whether the Integrated Audio System, commcap, or other device is used, suit acoustic noise can mask speech in outbound comms. This reduces intelligibility and requires other AECs/devices to suppress comms noise. Yet, adjusting a few components may yield significant improvement. We discuss xEMU audio functionality, demonstrate how acoustical treatment combined with inbound signal conditioning improved clarity during tests, and discuss future modifications.

xEMU↗

NASA NTRSDate not supplied

Development of Weigh-Out Process and Evaluations for Underwater Partial Gravity Simulations

For the upcoming Artemis lunar missions, astronauts will need to train in a spacesuit where partial gravity can be simulated such as the NASA Neutral Buoyancy Lab (NBL). At the NBL, dive weights and foam can be added around the spacesuit to attain a satisfactory center of buoyancy (CB) and center of gravity (CG) location to simulate the lunar gravity (1/6thG) effects. If CG and CB are not co-located properly, incorrect righting moments can be introduced, and both simulation quality and EVA task performance can be impaired. Based on the findings from the initial testing using xEMU spacesuits, it was observed that the weigh-out method (i.e., determination of the weights and foam quantities and position) needed further development to improve the simulation quality, especially for the subjects who experienced excessive instability. This paper aims to present the on-going effort to improve the weigh-out process for enabling NBL lunar EVA simulations. For this effort, a human-suit model was created to use suit CAD and 3D human body scans to estimate both CB and CG location for each suited subject. NBL weigh-out testing was performed to characterize the effects of CG and CB positioning, in which the 3D human-suit model was used to determine optimal weigh-out combinations of weights and foam. Postural, balance, and subjective feedback were gathered for each weigh-out configuration. The results indicated that, as the CB was shifted higher and the CB and CG located closer to each other, the subject tended to be more stable and their EVA performance improved. A high CB location was then prioritized across 4 additional subjects in both small and large size spacesuits. When compared to the initial xEMU test series, improved performance was observed across all subjects as the CB moved higher and aligned closer to the system CG.

Pouyan Sabahi↗

NASA NTRS1998

A Method for Integrating Thrust-Vectoring and Actuated Forebody Strakes with Conventional Aerodynamic Controls on a High-Performance Fighter Airplane

A method, called pseudo controls, of integrating several airplane controls to achieve cooperative operation is presented. The method eliminates conflicting control motions, minimizes the number of feedback control gains, and reduces the complication of feedback gain schedules. The method is applied to the lateral/directional controls of a modified high-performance airplane. The airplane has a conventional set of aerodynamic controls, an experimental set of thrust-vectoring controls, and an experimental set of actuated forebody strakes. The experimental controls give the airplane additional control power for enhanced stability and maneuvering capabilities while flying over an expanded envelope, especially at high angles of attack. The flight controls are scheduled to generate independent body-axis control moments. These control moments are coordinated to produce stability-axis angular accelerations. Inertial coupling moments are compensated. Thrust-vectoring controls are engaged according to their effectiveness relative to that of the aerodynamic controls. Vane-relief logic removes steady and slowly varying commands from the thrust-vectoring controls to alleviate heating of the thrust turning devices. The actuated forebody strakes are engaged at high angles of attack. This report presents the forward-loop elements of a flight control system that positions the flight controls according to the desired stability-axis accelerations. This report does not include the generation of the required angular acceleration commands by means of pilot controls or the feedback of sensed airplane motions.

Lallman, Frederick J.↗

DOE OSTI2024

Mechanochemical topological defects in an active nematic

We propose a reaction-diffusion system that converts topological information of an active nematic into chemical signals. We show that a curvature-activated reaction dipole is sufficient for creating a system that dynamically senses topology by producing a concentration field possessing local extrema coinciding with ±$\frac{1}{2}$ defects. The enabling term is analogous to polarization charge density seen in dielectric materials. We demonstrate the ability of this system to identify defects in both passive and active nematics. Our results illustrate that a relatively simple feedback scheme, expressed as a system of partial differential equations, is capable of producing chemical signals in response to inherently nonlocal structures in anisotropic media. Here, we posit that such coarse-grained systems can help generate testable hypotheses for regulated processes in biological systems, such as morphogenesis, and motivate the creation of bio-inspired materials that utilize dynamic coupling between nematic structure and biochemistry.

42 ENGINEERING↗

NASA NTRS1981

Speed control for synchronous motors

Feedback circuit controls fluctuations in speed of synchronous ac motor. Voltage proportional to phase angle is developed by phase detector, rectified, amplified, compared to threshold, and reapplied positively or negatively to motor excitation circuit. Speed control reduces wow and flutter of audio turntables and tape recorders, and enhances hunting in gyroscope motors.

Packard, H.↗

NASA NTRS2014

Design and Lessons Learned on the Development of a Cryogenic Pupil Select Mechanism (PSM)

Calibration and testing of the instruments on the Integrated Science Instrument Module (ISIM) of the James Webb Space Telescope (JWST) is being performed by the use of a cryogenic, full-field, optical simulator that was constructed for this purpose. The Pupil Select Mechanism (PSM) assembly is one of several mechanisms and optical elements that compose the Optical Telescope Element SIMulator, or OSIM. The PSM allows for several optical elements to be inserted into the optical plane of OSIM, introducing a variety of aberrations, distortions, obscurations, and other calibration states into the pupil plane. The following discussion focuses on the details of the design evolution, analysis, build, and test of this mechanism along with the challenges associated with creating a sub arc-minute positioning mechanism operating in an extreme cryogenic environment. In addition, difficult challenges in the control system design will be discussed including the incorporation of closed-loop feedback control into a system that was designed to operate in an open-loop fashion.

PSM Design↗

NASA NTRS2012

The Influence of Ozone Precursor Emissions from Four World Regions on Tropospheric Composition and Radiative Climate Forcing

Ozone (O3) precursor emissions influence regional and global climate and air quality through changes in tropospheric O3 and oxidants, which also influence methane (CH4) and sulfate aerosols (SO4 (sup 2-)). We examine changes in the tropospheric composition of O3, CH4, SO4 (sup 2-) and global net radiative forcing (RF) for 20% reductions in global CH4 burden and in anthropogenic O3 precursor emissions (NOx, NMVOC, and CO) from four regions (East Asia, Europe and Northern Africa, North America, and South Asia) using the Task Force on Hemispheric Transport of Air Pollution Source-Receptor global chemical transport model (CTM) simulations, assessing uncertainty (mean plus or minus 1 standard deviation) across multiple CTMs. We evaluate steady state O3 responses, including long-term feedbacks via CH4. With a radiative transfer model that includes greenhouse gases and the aerosol direct effect, we find that regional NOx reductions produce global, annually averaged positive net RFs (0.2 plus or minus 0.6 to 1.7 2 mWm(sup -2)/Tg N yr(sup -1), with some variation among models. Negative net RFs result from reductions in global CH4 (-162.6 plus or minus 2 mWm(sup -2) for a change from 1760 to 1408 ppbv CH4) and regional NMVOC (-0.4 plus or minus 0.2 to 0.7 plus or minus 0.2 mWm(sup -2)/Tg C yr(sup -1) and CO emissions (-0.13 plus or minus 0.02 to -0.15 plus or minus 0.02 mWm(sup-2)/Tg CO yr(sup-1). Including the effect of O3 on CO2 uptake by vegetation likely makes these net RFs more negative by -1.9 to- 5.2 mWm(sup -2)/Tg N yr(sup -1), -0.2 to -0.7 mWm(sup -2)/Tg C yr(sup -1), and -0.02 to -0.05 mWm(sup -2)/ Tg CO yr(sup -1). Net RF impacts reflect the distribution of concentration changes, where RF is affected locally by changes in SO4 (sup -2), regionally to hemispherically by O3, and globally by CH4. Global annual average SO4 2 responses to oxidant changes range from 0.4 plus or minus 2.6 to -1.9 plus or minus 1.3 Gg for NOx reductions, 0.1 plus or minus 1.2 to -0.9 plus or minus 0.8 Gg for NMVOC reductions, and -0.09 plus or minus 0.5 to -0.9 plus or minus 0.8 Gg for CO reductions, suggesting additional research is needed. The 100-year global warming potentials (GWP(sub 100)) are calculated for the global CH4 reduction (20.9 plus or minus 3.7 without stratospheric O3 or water vapor, 24.2 plus or minus 4.2 including those components), and for the regional NOx, NMVOC, and CO reductions (18.7 plus or minus 25.9 to 1.9 plus or minus 8.7 for NOx, 4.8 plus or minus 1.7 to 8.3 plus or minus 1.9 for NMVOC, and 1.5 plus or minus 0.4 to 1.7 plus or minus 0.5 for CO). Variation in GWP(sub 100) for NOx, NMVOC, and CO suggests that regionally specific GWPs may be necessary and could support the inclusion of O3 precursors in future policies that address air quality and climate change simultaneously. Both global net RF and GWP100 are more sensitive to NOx and NMVOC reductions from South Asia than the other three regions.

ozone↗