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NASA NTRS1994

Results of a laboratory experiment that tests rotating unbalanced-mass devices for scanning gimbaled payloads and free-flying spacecraft

Rotating unbalanced-mass (RUM) devices are a new way to scan space-based, balloon-borne, and ground-based gimbaled payloads, like x-ray and gamma-ray telescopes. They can also be used to scan free-flying spacecraft. Circular scans, linear scans, and raster scans can be generated. A pair of RUM devices generates the basic scan motion and an auxiliary control system using torque motors, control moment gyros, or reaction wheels keeps the scan centered on the target and produces some complementary motion for raster scanning. Previous analyses and simulation results show that this approach offers significant power savings compared to scanning only with the auxiliary control system, especially with large payloads and high scan frequencies. However, these claims have never been proven until now. This paper describes a laboratory experiment which tests the concept of scanning a gimbaled payload with RUM devices. A description of the experiment is given and test results that prove the concept are presented. The test results are compared with those from a computer simulation model of the experiment and the differences are discussed.

Alhorn, D. C.↗

NASA NTRS1994

Rotating Unbalanced-Mass devices for scanning: Results from the proof-of-concept test

Rotating unbalanced-mass (RUM) devices are a new way to scan space-based, balloon-borne, and ground-based gimbaled payloads, like x-ray and gamma-ray telescopes. They can also be used to scan free-flying spacecraft. Circular scans, linear scans, and raster scans can be generated. A pair of RUM devices generates the basic scan motion and an auxiliary control system using torque motors, control moment gyros, or reaction wheels keeps the scan centered on the target and produces some complementary motion for raster scanning. Previous analyses and simulation results show that this approach offers significant power savings compared to scanning only with the auxiliary control system, especially with large payloads and high scan frequencies. However, these claims have never been proven until now. This paper describes a laboratory experiment which tests the concept of scanning a gimbaled payload with RUM devices. The test results are compared with those from a computer simulation model of the experiment and the differences are discussed.

Alhorn, Dean C.↗

NASA NTRS1994

Design, characterization and control of the Unique Mobility Corporation robot

Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

Velasco, Virgilio B., Jr.↗

DOE OSTI2020

Annual Performance of the Second-Generation Variable-Geometry Oscillating Surge Wave Energy Converter

Recent studies in wave energy have highlighted the need for a structured innovation approach in wave energy converter (WEC) design because cost-of-energy estimates have remained high. One specific innovation being investigated by the National Renewable Energy Laboratory is WEC geometry control, which uses control surfaces in combination with an oscillating surge WEC (OSWEC) to increase device availability and power generation while limiting structural costs. This study performs the first analysis of annual performance for a novel OSWEC with geometry control to understand how the geometry control affects availability, annual power generation, and structural loadings like the power-take-off (PTO) torque or surge foundation force. Device hydrodynamic coefficients are calculated using linear potential theory for six geometry configurations. A nonideal PTO system is assumed and quadratic viscous damping losses are considered. Annual performance is evaluated and compared for three U.S. wave energy sites. The WEC geometry and PTO system are controlled on a sea-state basis to optimize for power capture while remaining under limits set on motion amplitude and structural loads. Results indicate that geometry control can increase availability up to 25 days in an average year depending on design limits, increase average power generation, and significantly reduce peak structural loads.

30 DIRECT ENERGY CONVERSION↗

NASA NTRS2002

Sensorimotor integration in human postural control

It is generally accepted that human bipedal upright stance is achieved by feedback mechanisms that generate an appropriate corrective torque based on body-sway motion detected primarily by visual, vestibular, and proprioceptive sensory systems. Because orientation information from the various senses is not always available (eyes closed) or accurate (compliant support surface), the postural control system must somehow adjust to maintain stance in a wide variety of environmental conditions. This is the sensorimotor integration problem that we investigated by evoking anterior-posterior (AP) body sway using pseudorandom rotation of the visual surround and/or support surface (amplitudes 0.5-8 degrees ) in both normal subjects and subjects with severe bilateral vestibular loss (VL). AP rotation of body center-of-mass (COM) was measured in response to six conditions offering different combinations of available sensory information. Stimulus-response data were analyzed using spectral analysis to compute transfer functions and coherence functions over a frequency range from 0.017 to 2.23 Hz. Stimulus-response data were quite linear for any given condition and amplitude. However, overall behavior in normal subjects was nonlinear because gain decreased and phase functions sometimes changed with increasing stimulus amplitude. "Sensory channel reweighting" could account for this nonlinear behavior with subjects showing increasing reliance on vestibular cues as stimulus amplitudes increased. VL subjects could not perform this reweighting, and their stimulus-response behavior remained quite linear. Transfer function curve fits based on a simple feedback control model provided estimates of postural stiffness, damping, and feedback time delay. There were only small changes in these parameters with increasing visual stimulus amplitude. However, stiffness increased as much as 60% with increasing support surface amplitude. To maintain postural stability and avoid resonant behavior, an increase in stiffness should be accompanied by a corresponding increase in damping. Increased damping was achieved primarily by decreasing the apparent time delay of feedback control rather than by changing the damping coefficient (i.e., corrective torque related to body-sway velocity). In normal subjects, stiffness and damping were highly correlated with body mass and moment of inertia, with stiffness always about 1/3 larger than necessary to resist the destabilizing torque due to gravity. The stiffness parameter in some VL subjects was larger compared with normal subjects, suggesting that they may use increased stiffness to help compensate for their loss. Overall results show that the simple act of standing quietly depends on a remarkably complex sensorimotor control system.

NASA Discipline Neuroscience↗

NASA NTRS1973

Fluidic emergency roll control system

A fluidic emergency roll control system for aircraft stabilization in the event of primary flight control failure was evaluated. The fluidic roll control units were designed to provide roll torque proportional to an electrical command as operated by two diametrically opposed thrust nozzles located in the wing tips. The control package consists of a solid propellant gas generator, two diametrically opposed vortex valve modulated thrust nozzles, and an electromagnetic torque motor. The procedures for the design, development, and performance testing of the system are described.

Haefner, K. B.↗

NASA NTRS1993

Parametric motion control of robotic arms: A biologically based approach using neural networks

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

Bock, O.↗

NASA NTRS2015

Iodine Satellite

This project is a collaborative effort to mature an iodine propulsion system while reducing risk and increasing fidelity of a technology demonstration mission concept. 1 The FY 2014 tasks include investments leveraged throughout NASA, from multiple mission directorates, as a partnership with NASA Glenn Research Center (GRC), a NASA Marshall Space Flight Center (MSFC) Technology Investment Project, and an Air Force partnership. Propulsion technology is often a critical enabling technology for space missions. NASA is investing in technologies to enable high value missions with very small and low-cost spacecraft, even CubeSats. However, these small spacecraft currently lack any appreciable propulsion capability. CubeSats are typically deployed and drift without any ability to transfer to higher value orbits, perform orbit maintenance, or deorbit. However, the iodine Hall system can allow the spacecraft to transfer into a higher value science orbit. The iodine satellite (iSAT) will be able to achieve a (Delta)V of >500 m/s with <1 kg of solid iodine propellant, which can be stored in an unpressurized benign state prior to launch. The iSAT propulsion system consists of the 200 W Hall thruster, solid iodine propellant tank, a power processing unit, and the necessary valves and tubing to route the iodine vapor. The propulsion system is led by GRC, with critical hardware provided by the Busek Co. The propellant tank begins with solid iodine unpressurized on the ground and in-flight before operations, which is then heated via tank heaters to a temperature at which solid iodine sublimates to iodine vapor. The vapor is then routed through tubing and custom valves to control mass flow to the thruster and cathode assembly. 2 The thruster then ionizes the vapor and accelerates it via magnetic and electrostatic fields, resulting in thrust with a specific impulse >1,300 s. The iSAT spacecraft, illustrated in figure 1, is currently a 12U CubeSat. The spacecraft chassis will be constructed from aluminum with a finish to prevent iodine-driven corrosion. The iSAT spacecraft includes full three-axis control using wheels, magnetic torque rods, inertial management unit, and a suite of sensors and optics. The spacecraft will leverage heat generated by spacecraft components and radiators for a passive thermal control system.

Dankanich, John↗

NASA NTRS2008

Control System for Bearingless Motor-generator

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

Kascak, Peter E.↗

NASA NTRS2010

Control system for bearingless motor-generator

Kascak, Peter E.↗

DOE OSTI2023

Cycloidal wave energy converter using fixed differential buoyancy to control operating torques

A floating mooring system for a single CycWEC applies counter forces and torques to keep a generator suitably stationary for power generation without requiring fixed attachments to the ocean floor or requiring a large frame interconnecting multiple CycWECs. The mooring system uses floats or floatation structure with differential ballasting to counter operating torque and drag plates to counter reactive forces. The floatation structures may be used to float the CycWEC for transport to a deployment location, where changing the overall ballasting of the floatation structures submerges the CycWEC to a desired depth and differential ballasting in the floatation structures counts expected operating torques.

Siegel, Stefan G.↗

DOE OSTI2018

Magneto-ionic control of magnetism using a solid-state proton pump

Voltage-gated ion transport as a means of manipulating magnetism electrically could enable ultralow-power memory, logic and sensor technologies. Earlier work made use of electric-field-driven O 2– displacement to modulate magnetism in thin films by controlling interfacial or bulk oxidation states. However, elevated temperatures are required and chemical and structural changes lead to irreversibility and device degradation. Here we show reversible and non-destructive toggling of magnetic anisotropy at room temperature using a small gate voltage through H + pumping in all-solid-state heterostructures. We achieve 90° magnetization switching by H + insertion at a Co/GdO x interface, with no degradation in magnetic properties after >2,000 cycles. We then demonstrate reversible anisotropy gating by hydrogen loading in Pd/Co/Pd heterostructures, making metal–metal interfaces susceptible to voltage control. The hydrogen storage metals Pd and Pt are high spin–orbit coupling materials commonly used to generate perpendicular magnetic anisotropy, Dzyaloshinskii–Moriya interaction, and spin–orbit torques in ferromagnet/heavy-metal heterostructures. Furthermore, our work provides a platform for voltage-controlled spin–orbitronics.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

NASA NTRS1991

Stabilization of large space structures by linear reluctance actuators

Application of magnetic forces are considered for stabilization of vibrations of flexible space structures. Three electromagnetic phenomena are studied, such as: (1) magnetic body force; (2) reluctance torque; and (3) magnetostriction, and their application is analyzed for stabilization of a beam. The magnetic body force actuator uses the force that exists between poles of magnets. The reluctance actuator is configured in such a way that the reluctance of the magnetic circuit will be minimum when the beam is straight. Any bending of the beam increases the reluctance and hence generates a restoring torque that reduces bending. The gain of the actuator is controlled by varying the magnetizing current. Since the energy density of a magnetic device is much higher compared to piezoelectric or thermal actuators, it is expected that the reluctance actuator will be more effective in controlling the structural vibrations.

Biswas, Saroj K.↗

NASA NTRS1983

Space Telescope pointing control

The Space Telescope Pointing Control System is used to slew the optical axis of the telescope from one target star region of the celestial sphere to the next, and to maintain precision pointing on the target star. A digital computer is employed in the processing of attitude and rate sensor data, in order to generate torque commands for the reaction wheels. The System comprises four major elements: a command generator, the electronic control system, attitude update processing, and momentum management. Emphasis is given to control-related flexibility effects of the Space Telescope's solar cell array and vehicle, and the acquisition methodology and development testing employed, in addition to Pointing Control System design features.

Dougherty, H.↗

DOE OSTI2025

Comparison of wind-farm control strategies under realistic offshore wind conditions: wake quantities of interest

Wind-farm control strategies aim to increase the efficiency, and therefore lower the levelized cost of energy, of wind farms. This is done by using turbine settings such as the yaw angle, blade pitch angles, or generator torque to manipulate the wake that negatively affects downstream turbines in the farm. Two inherently different wind-farm control methods have been identified in the literature: wake steering (WS) and active wake mixing (AWM). As one of two companion papers focused on understanding practical aspects of these two wind-farm control strategies using large-eddy simulation (LES), we below analyze the wake quantities of interest for a single wind turbine performing WS and AWM, while the companion article (Frederik et al., 2025) focuses on turbine quantities of interest including power and structural loads for the same computational setup and also includes two-turbine arrays with full and partial wake overlap. The simulations, which are based in the LES solver AMR-Wind, are tailored to have inflow conditions representative of measurements from a site off the East Coast of the US, including with strong veer and low turbulence. The turbine, which is modeled in OpenFAST and coupled to the LES, is the IEA 15 MW, an open-source offshore design. After presenting an overview of the wake recovery for the different wake-control cases, the analysis probes the fluid-dynamic causes for the different performance of the arrays reported in the companion article by examining control volumes around the wakes and the budget of the mean-flow kinetic energy (MKE) within these volumes. In the high veer environment considered, the MKE recovery is dominated by mean convection, and this is shown to especially benefit the WS strategy when a neighboring turbine is directly downstream: there is ≈65 % more available power for a downstream turbine than in the baseline case, and this power is gained primarily through mean convection on the left-tip and top-tip faces of the control volume. However, the case with imperfect knowledge of the exact wind direction favors the pulse-type AWM strategy, largely because of ≈9 % increased turbulent entrainment from aloft versus the baseline that could be related to an apparent resistance to skewing in the pulsed wake. The general reduced effectiveness of helix-type and other individual-pitch-based AWM strategies for inflow with high veer and low turbulence as reported in the companion paper is due, in part, to low magnitudes of phase-averaged turbulent entrainment. Two main findings of this study are thus that veer has a significant impact on the effectiveness of different wake-control strategies and that pulse-type AWM may be a useful strategy when the objective is power maximization in realistic, offshore flow environments with imperfect knowledge of the exact wake overlap position on the downstream turbine.

17 WIND ENERGY↗

NASA NTRS1974

Robot arm dynamics and control

Variations in total inertia and gravity loads at the joint outputs are treated along with the relative importance of gravity and acceleration-generated reaction torques or forces versus inertia torques or forces. The relation between the dynamical state equations in explicit terms and servoing the manipulator is briefly discussed in the framework of state variable feedback control which also forms the basis of adaptive manipulator control. Exact state equations were determined for total inertia and gravity loads at the joint outputs as a function of joint variables, using the constant inertial and geometric parameters of the individual links defined in the respective link coordinate frames. The range of maximum variations in total inertia and gravity loads at the joint outputs was calculated for both no load and load in the hand. The main result is the construction of a set of greatly simplified state equations which describe the total inertia and gravity load variations at the output of the six joints with an average error of less than 5%.

Bejczy, A. K.↗

DOE OSTI2025

Nanoscale Quantum Imaging of Field-Free Deterministic Switching of a Chiral Antiferromagnet

Recently, unconventional spin-orbit torques (SOTs) with tunable spin generation have opened new pathways for designing novel magnetization control for cutting-edge spintronics innovations. A leading research thrust is to develop field-free deterministic magnetization switching for implementing scalable and energy favorable magnetic recording and storage, which have been demonstrated in conventional ferromagnetic and antiferromagnetic material systems. Here, in this work, we extend this advanced magnetization control strategy to chiral antiferromagnet Mn 3 ⁢Sn using spin currents with out-of-plane canted polarization generated from low-symmetry van der Waals (vdW) material WTe 2 . Numerical calculations suggest that dampinglike SOT of spins injected perpendicular to the kagome plane of Mn 3⁢ Sn serves as a driving force to rotate the chiral magnetic order, while the fieldlike SOT of spin currents with polarization parallel to the kagome plane provides the bipolar deterministicity to the magnetic switching in the absence of an external magnetic field. We further introduce scanning quantum microscopy to visualize nanoscale evolutions of Mn 3 ⁢Sn magnetic domains during the field-free switching process, corroborating the exceptionally large magnetic switching ratio up to 90%. Our results highlight the opportunities provided by hybrid SOT material platforms consisting of noncollinear antiferromagnets and low-symmetry vdW spin source materials for developing next-generation spintronic logic devices.

2-dimesional systems↗

DOE OSTI2025

Comparison of wind farm control strategies under realistic offshore wind conditions: turbine quantities of interest

Abstract. Wind farm flow control is a strategy to increase the efficiency and therefore lower the levelized cost of energy of a wind farm. This is done using turbine settings such as the yaw angle, blade pitch angles, or generator torque to manipulate the flow behind the turbine, affecting downstream turbines in the farm. Two inherently different wind farm flow control methods have been identified in the literature: wake steering and wake mixing. This paper focuses on comparing the turbine quantities of interest between these methods for a simple two-turbine wind farm setup, while a companion article (Brown et al., 2025) focuses on the wake quantities of interest for a single wind turbine setup. Both papers use the same set of wind farm simulations based on high-fidelity large-eddy simulations (LESs) coupled with OpenFAST turbine models. First, precursor simulations are executed in order to match wind conditions measured with lidars in an offshore wind farm off the east coast of the USA. These measurements show general wind conditions that exhibit substantially higher vertical wind shear and veer than any of the LES studies performed with wind farm flow control strategies currently available in the literature. The precursors are used to evaluate the effectiveness of the control methods. In the LES, the wind veer leads to highly skewed wakes, which have considerable influence on the power uplift of wind farm flow control strategies. In addition to a baseline controller, four different control strategies, each of which uses either pitch or yaw control, are performed on the upstream turbine of a simple two-turbine wind farm. Assuming that the wind direction is known and constant over time, the simulations show that wake steering is generally the superior wind farm flow control strategy, considering both wind farm power production and turbine damage equivalent loads when substantial wind veer is present. This result is consistent over different wind speeds and wind directions. On the other hand, for similar wind conditions with lower veer, wake mixing was found to yield the highest power production, although at the expense of generally higher loads. This leads us to conclude that the effect of wind veer, which has so far not usually been considered, can not be neglected when determining the optimal wind farm flow control strategy.

17 WIND ENERGY↗