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Qualitative and quantitative aspects of the multiple model adaptive control method are detailed. The method represents a cascade of something which resembles a maximum a posteriori probability identifier (basically a bank of Kalman filters) and a bank of linear quadratic regulators. Major qualitative properties of the MMAC method are examined and principle reasons for unacceptable behavior are explored.
Ten years in the making the Center for Isotope Cosmochemistry and Geochronology (CICG) at NASA Johnson Space Center is designed to be a cooperative analytical facility where novel techniques are developed and performed. Our team works collaboratively to operate this integrated lab suite comprising sample preparation, metal-free clean chemistry, and mass spectrometers to measure a wide variety of elements and isotopes in astromaterials. Contamination control is enacted throughout by a positive pressure cascade of HEPA filtered air, weekly surface cleaning and particle counting. Astromaterials processing is performed with application-specific mortar and pestles, heavy liquid separation, a Frantz magnetic separator, as well as hand-picking using optical microscopes in laminar flow boxes. Microsampling is also carried out using a New Wave MicroMill. Elements for isotopic analysis are isolated from acid-digested samples using ion-exchange chromatography. Cross-contamination is minimized with dedicated laminar flow boxes and labware for different purification protocols. Instrumentation includes a ThermoFisher Element XR inductively coupled plasma mass spectrometer (ICP-MS) for quantification of elemental concentrations in dissolved sample solutions. For in situ analysis, a Teledyne Photon Machines Analyte Excite+ laser ablation system is coupled to the Element XR. The ThermoFisher Triton thermal ionization mass spectrometer (TIMS) is used to measure the isotopic composition of elements such as CA, K, Cr, Rb, Sr, Sm, Nd at high precision in processed samples. For a more diverse range of isotopic analyses, CICG houses a Nu Sapphire 1700 multi-collector inductively coupled plasma mass spectrometer (MC-ICP-MS), which is a large geometry instrument with a multi-pole collision cell for interference removal. An Applied Spectra Instruments J200 femto-second laser is planned for install this Fall and will be coupled to the Nu Sapphire 1700. NASA’s Internal Scientist Funding Model (ISFM)supports this facility. Advanced analytical geochemistry techniques are applied to targeted astromaterials to address important problems in planetary sciences, with a longer-term goal of preparing for samples collected and returned by space missions. CICG is open to collaborations on projects that utilize the facility’s unique capabilities and are within its research scope. We are particularly eager to support and share expertise with the next generation of planetary scientists.
This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.
Progress in the development of concepts for control of aircraft without moving parts or a separate source of power is described. The design and wind tunnel tests of a full scale fluidic rudder for a Cessna 172K aircraft, intended for subsequent flight tests were documented. The 172K fluidic rudder was designed to provide a control force equivalent to 3.3 degrees of deflection of the conventional rudder. In spite of an extremely thin airfoil, cascaded fluidic amplifiers were built to fit, with the capacity for generating the required level of control force. Wind tunnel tests demonstrated that the principles of lift control using ram air power are sound and reliable under all flight conditions. The tests also demonstrated that the performance of the 172K fluidic rudder is not acceptable for flight tests until the design of the scoop is modified to prevent interference with the lift control phenomenon.
A computationally efficient method for calculating near-optimal solutions to the three-objective, linear control allocation problem is disclosed. The control allocation problem is that of distributing the effort of redundant control effectors to achieve some desired set of objectives. The problem is deemed linear if control effectiveness is affine with respect to the individual control effectors. The optimal solution is that which exploits the collective maximum capability of the effectors within their individual physical limits. Computational efficiency is measured by the number of floating-point operations required for solution. The method presented returned optimal solutions in more than 90% of the cases examined; non-optimal solutions returned by the method were typically much less than 1% different from optimal and the errors tended to become smaller than 0.01% as the number of controls was increased. The magnitude of the errors returned by the present method was much smaller than those that resulted from either pseudo inverse or cascaded generalized inverse solutions. The computational complexity of the method presented varied linearly with increasing numbers of controls; the number of required floating point operations increased from 5.5 i, to seven times faster than did the minimum-norm solution (the pseudoinverse), and at about the same rate as did the cascaded generalized inverse solution. The computational requirements of the method presented were much better than that of previously described facet-searching methods which increase in proportion to the square of the number of controls.
A robust error control coding scheme is presented. The scheme is a cascaded forward error correction (FEC) scheme supported by parity retransmissions for further error correction in the erroneous data words. The error performance and throughput efficiency of the scheme are analyzed. Two specific schemes are proposed for NASA near earth satellite communications. It is shown that both schemes provide high reliability and throughput efficiency even for high channel bit error rates in the range of .002. The schemes are suitable for high data rate file transfer.
The fluid dynamics of a high-speed jet are governed by the instability waves that form in the free-shear boundary layer of the jet. Jet excitation manipulates the growth and saturation of particular instability waves to control the unsteady flow structures that characterize the energy cascade in the jet.The results may include jet noise mitigation or a reduction in the infrared signature of the jet. The Localized Arc Filament Plasma Actuators (LAFPA) have demonstrated the ability to excite a high-speed jets in laboratory experiments. Extending and optimizing this excitation technology, however, is a complex process that will require many tests and trials. Computational simulations can play an important role in understanding and optimizing this actuator technology for real-world applications. Previous research has focused on developing a suitable actuator model and coupling it with the appropriate computational fluid dynamics (CFD) methods using two-dimensional spatial flow approximations. This work is now extended to three-dimensions (3-D) in space. The actuator model is adapted to a series of discrete actuators and a 3-D LES simulation of an excited jet is run. The results are used to study the fluid dynamics near the actuator and in the jet plume.
Tests were conducted on a high tip speed, highly loaded front compressor stage having low aspect ratio rotor and stator airfoils. The stator airfoils were designed by the controlled diffusion procedure recently developed by P&WA for designing transonic cascade airfoils. The rotor blades consisted of multiple-circular-arc airfoil sections. The stage had a tip speed of 442 m/sec (1450 ft/sec), a hub/tip ratio of 0.597, a rotor aspect ratio of 1.3, and a stator aspect ratio of 1.45. At design speed the rotor-stator stage achieved an adiabatic efficiency of 89.1% at design flow and pressure ratio. Surge margin was 14%. The stage efficiency exceeded the design goal by 0.6 percentage points. The rotor efficiency was 92.4%, exceeding design by 0.3 percentage points. The controlled diffusion stator demonstrated a lower minimum loss over the multiple-circular-arc stator from the root to 70 percent span. A surge diffusion factor of 0.72 was reached at both the rotor tip and the stator root. The NAS3-22008 program demonstrated its intent: high efficiency and loading levels with low aspect ratio blades and the controlled diffusion stator in the unfavorable front stage environment.
The identification of the parameters of the optimal control model from input-output data of the human operator is considered. Accepting the basic structure of the model as a cascade of a full-order observer and a feedback law, and suppressing the inherent optimality of the human controller, the parameters to be identified are the feedback matrix, the observer gain matrix, and the intensity matrices of the observation noise and the motor noise. The identification of the parameters is a statistical problem, because the system and output are corrupted by noise, and therefore the solution must be based on the statistics (probability density function) of the input and output data of the human operator. However, based on the statistics of the input-output data of the human operator, no distinction can be made between the observation and the motor noise, which shows that the model suffers from overparameterization.
A mode-tracking system that includes a mode-controlling subsystem has been incorporated into an external-cavity (EC) quantum cascade laser that operates in a mid-infrared wavelength range. The mode-tracking system makes it possible to perform mode-hop-free wavelength scans, as needed for high-resolution spectroscopy and detection of trace gases. The laser includes a gain chip, a beam-collimating lens, and a diffraction grating. The grating is mounted on a platform, the position of which can be varied to effect independent control of the EC length and the grating angle. The position actuators include a piezoelectric stage for translation control and a motorized stage for coarse rotation control equipped with a piezoelectric actuator for fine rotation control. Together, these actuators enable control of the EC length over a range of about 90 m with a resolution of 0.9 nm, and control of the grating angle over a coarse-tuning range of +/-6.3deg and a fine-tuning range of +/-520 microrad with a resolution of 10 nrad. A mirror mounted on the platform with the grating assures always the same direction of the output laser beam.
Wind tunnel tests were performed to examine the concept of aircraft controls without moving parts, and aircraft stabilization by means of scoop-fed slots. Results of wind tunnel tests, in the framework of a NASA program, to determine the force-control characteristics of a symmetrical airfoil with scoop-fed slots are discussed. Further tests showed that a fluidic amplifier could be built into the airfoil and operate with ram air. A fluidic rudder was then developed, consisting of cascaded fluidic amplifiers necessary to couple low-level fluidic sensors with slot flow control of the aerodynamic force on the vertical tail.
The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.
BACKGROUND: Controlled release of transforming growth factor-beta1 (TGF-beta1) to a bone defect may be beneficial for the induction of a bone regeneration cascade. The objectives of this work were to assess the feasibility of using biodegradable polymer microparticles as carriers for controlled TGF-beta1 delivery and the effects of released TGF-beta1 on the proliferation and differentiation of marrow stromal cells in vitro. METHODS: Recombinant human TGF-beta1 was incorporated into microparticles of blends of poly(DL-lactic-co-glycolic acid) (PLGA) and poly(ethylene glycol) (PEG). Fluorescein isothiocynate-labeled bovine serum albumin (FITC-BSA) was co-encapsulated as a porogen. The effects of PEG content (0, 1, or 5% by weight [wt%]) and buffer pH (3, 5, or 7.4) on the protein release kinetics and the degradation of PLGA were determined in vitro for as long as 28 days. Rat marrow stromal cells were seeded on a biodegradable poly(propylene fumarate) (PPF) substrate. The dose response and biological activity of released TGF-beta1 was determined after 3 days in culture. The effects of TGF-beta1 released from PLGA/PEG microparticles on marrow stromal cell proliferation and osteoblastic differentiation were assessed during a 21-day period. RESULTS: TGF-beta1 was encapsulated along with FITC-BSA into PLGA/PEG blend microparticles and released in a multiphasic fashion including an initial burst for as long as 28 days in vitro. Increasing the initial PEG content resulted in a decreased cumulative mass of released proteins. Aggregation of FITC-BSA occurred at lower buffer pH, which led to decreased release rates of both proteins. The degradation of PLGA was increased at higher PEG content and significantly accelerated at acidic pH conditions. Rat marrow stromal cells cultured on PPF substrates showed a dose response to TGF-beta1 released from the microparticles similar to that of added TGF-beta1, indicating that the activity of TGF-beta1 was retained during microparticle fabrication and after growth factor release. At an optimal TGF-beta1 dosage of 1.0 ng/ml after 3 days, the released TGF-beta1 enhanced the proliferation and osteoblastic differentiation of marrow stromal cells over 21 days of culture, with increased total cell number, alkaline phosphatase activity, and osteocalcin production. CONCLUSIONS: PLGA/PEG blend microparticles can serve as delivery vehicles for controlled release of TGF-beta1, and the released growth factor enhances marrow stromal cell proliferation and osteoblastic differentiation in vitro. CLINICAL RELEVANCE: Controlled release of TGF-beta1 from PLGA/PEG microparticles is representative of emerging tissue engineering technologies that may modulate cellular responses to encourage bone regeneration at a skeletal defect site.
The objective is to verify the capability of a cascade variable conductance heat pipe (CVCHP) system to provide precise temperature control of long life spacecraft without the need for a feedback heater or other power sources for temperature adjustment under conditions of widely varying power input and ambient environment. Solar energy is the heat source and space the heat sink for thermally loading two series connected variable conductance heat pipes. Electronics and power supply equipment requirements are minimal. A 7.5 V lithium battery supplies the power for thermistor type temperature sensors for monitoring system performance, and a 28 V lithium battery supplies power for valve actuation.
Since the baseline International Space Station (ISS) External Active Thermal Control System (EATCS) was changed from a two-phase mechanically pumped system to a single phase cascade system in the fall of 1993, two-phase EATCS research has continued at a low level at JSC. One of-the lessons of the ISS EATCS selection was that two-phase thermal control systems must have significantly lower power than comparable single phase systems to overcome their larger radiator area, larger line and fluid mass, and perceived higher technical risk. Therefore, research at JSC has concentrated on low power mechanically pumped two-phase EATCSs. In the presentation, the results of a study investigating the trade of single and two-phase mechanically pumped EATCSs for space vehicles will be summarized. The low power two-phase mechanically pumped EATCS system under development at JSC will be described in detail and the current design status of the subscale test unit will be reviewed. Also, performance predictions for a full size EATCS will be presented. In addition to the discussion of two-phase mechanically pumped EATCS development at JSC, two-phase technologies under development for biological water processing will be discussed. These biological water processor technologies are being prepared for a 2001 flight experiment and subsequent usage on the TransHab module on the International Space Station.
Aspects of IECM debriefing are considered, taking into account preliminary results of the induced environment contamination monitor measurements of STS-2, the humidity monitor and dew point hygrometer, the induced environment contamination monitor cascade impactor, the optical effects module and passive sample array, temperature-controlled quartz crystal microbalance measurements on STS-2, camera/photometer results, the mass spectrometer, and a summary regarding the induced environment contamination monitor/space transport system. Other subjects explored are related to contamination management and control, contamination/optical degradation, and contamination assessments and measurements. Attention is given to approaches for controlling contamination before launch, the coronagraph as the ultimate device to monitor orbiting particulates in the Space Transport System environment, and the contamination sensitivity of typical mirror coatings.
The purpose was to investigate and evaluate the interchange of application- specific data among multiple programs each carrying out part of the analysis and design task. This has been carried out previously by creating a custom program to read data produced by one application and then write that data to a file whose format is specific to the second application that needs all or part of that data. In this investigation, data of interest is described using the XML markup language that allows the data to be stored in a text-string. Software to transform output data of a task into an XML-string and software to read an XML string and extract all or a portion of the data needed for another application is used to link two independent applications together as part of an overall design effort. This approach was initially used with a standard analysis program, Lapin, along with standard applications a standard spreadsheet program, a relational database program, and a conventional dialog and display program to demonstrate the successful sharing of data among independent programs. See Engineering Analysis Using a Web-Based Protocol by J.D. Schoeffler and R.W. Claus, NASA TM-2002-211981, October 2002. Most of the effort beyond that demonstration has been concentrated on the inclusion of more complex display programs. Specifically, a custom-written windowing program organized around dialogs to control the interactions have been combined with an independent CAD program (Open Cascade) that supports sophisticated display of CAD elements such as lines, spline curves, and surfaces and turbine-blade data produced by an independent blade design program (UD0300).
To clarify the mechanism of skeletal muscle wasting during spaceflights, we investigated whether intramuscular gene expression profiles are affected, by using DNA microarray methods. Male rats sent on the 17-day NASA STS-90 Neurolab spaceflight were sacrificed 24 hours after return to earth (MG group). Ground control rats were maintained for 17 days in flight-simulated cages (CS group). Spaceflight induced a 19% and 23% loss of tibialis anterior and gastrocnemius muscle mass, respectively, as compared to ground controls. Muscle RNA was analyzed by the Clontech Atlas DNA expression array in four rats, with two MG/ CS pairs for the tibialis anterior, and one pair for the gastrocnemius. Alterations in gene expression were verified for selected genes by reverse-transcription PCR. In both muscles of MG rats, mRNAs for 12 genes were up-regulated by over 2-fold, and 38 were down-regulated compared to controls. There was inhibition of genes for cell proliferation and growth factor cascades, including cell cycle genes and signal transduction proteins, such as p21 Cip1, retinoblastoma (Rb), cyclins G1/S, -E and -D3, MAP kinase 3, MAD3, and ras related protein RAB2. These data indicate that following exposure to microgravity, there is downregulation of genes involved in regulation of muscle satellite cell replication.