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All sourcesNASA NTRSDOE OSTI
NASA NTRS1972

The computation of optimal control programmes using a modified successive sweep method.

A second-order method for numerically solving control optimization problems has been developed. The method, referred to as the modified sweep method (MSM), differs from the successive sweep method (SSM) proposed by McReynolds and Bryson (1965) in that the conditions for local control optimality are used to determine the control as an explicit function of the state variables and time. The control is eliminated from the problem and the solution to the resulting two-point boundary value problem can be obtained by linear perturbation methods. The modified sweep method proposed here uncouples the perturbation equations for the state variables and the Lagrange multipliers by using a generalized matrix-Riccati transformation of variables. The resulting algorithm for the numerical iteration process is concerned with determining the initial values of a set of Lagrange multipliers rather than correcting a numerical control programme over the entire time interval of interest.

Colunga, D.↗
NASA NTRS2010

A Concept and Implementation of Optimized Operations of Airport Surface Traffic

This paper presents a new concept of optimized surface operations at busy airports to improve the efficiency of taxi operations, as well as reduce environmental impacts. The suggested system architecture consists of the integration of two decoupled optimization algorithms. The Spot Release Planner provides sequence and timing advisories to tower controllers for releasing departure aircraft into the movement area to reduce taxi delay while achieving maximum throughput. The Runway Scheduler provides take-off sequence and arrival runway crossing sequence to the controllers to maximize the runway usage. The description of a prototype implementation of this integrated decision support tool for the airport control tower controllers is also provided. The prototype decision support tool was evaluated through a human-in-the-loop experiment, where both the Spot Release Planner and Runway Scheduler provided advisories to the Ground and Local Controllers. Initial results indicate the average number of stops made by each departure aircraft in the departure runway queue was reduced by more than half when the controllers were using the advisories, which resulted in reduced taxi times in the departure queue.

Jung, Yoon C.↗
NASA NTRS1987

Problems associated with reaction mass actuators used in conjunction with LQG control on the Mini-Mast

The work being done at NASA LaRC on developing control laws for the Mini-Mast experimental facility is reviewed with particular attention given to the problems associated with the stroke limit of the reaction mass actuators used in conjunction with the LQG control. An algorithm for converting the force commands of the LQG algorithm into position command for the reaction mass devices is described. It is shown that the position command can be used as an input to a local controller so that the relative position of the reaction mass would track the commanded relative position. The stabilization of the integration scheme makes it possible to avoid the position drift arising in the direct double integration method of converting force commands to position commands.

Ghosh, D.↗
NASA NTRS1991

Damping and structural control of the JPL phase 0 testbed structure

This paper describes recent advances in structural quieting technology as applied to active truss structures intended for high precision space based optics applications. The active structure incorporates piezoelectric active members which exert control forces internal to the structure and thereby improve the structure's dimensional stability. The control architecture involves two layers of feedback control. The first utilizes collocated measurements of force and velocity at the active member to achieve active damping, the second utilizes noncollocated measurements of acceleration at the location of a simulated optical component to achieve structural stabilization. The local control loops are based on the concept of impedance matching, the global control loops are designed using robust control methods. These two levels of control are intended to operate simultaneously; however, in this paper each approach is applied individually. The combined implementation is left for future work.

Fanson, James L.↗
NASA NTRS1976

Study and development of techniques for automatic control of remote manipulators

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

Shaket, E.↗
NASA NTRS1992

Attitude stabilization of a rigid spacecraft using momentum wheel actuators operating in a failure mode

In this paper, we demonstrate that, in fact, two momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished in a specific sense. The complete spacecraft dynamics cannot be stabilized to an equilibrium attitude. However, the spacecraft equations are small time locally controllable in a reduced nonlinear sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to an equilibrium attitude using a time-invariant continuous feedback control law, but a discontinuous feedback control strategy is constructed which asymptotically stabilizes an equilibrium attitude of the spacecraft. Consequently, arbitrary reorientation of the spacecraft can be accomplished using this discontinuous feedback control strategy.

Krishnan, Hariharan↗
NASA NTRS2017

Washboard Terrain on Pluto

Washboard texture or patterning consists of fields of parallel to sub-parallel ridges typically spaced ~1-2 km crest to crest and a few 100 m in amplitude (Fig. 4a in Moore et al., 2016, Science, 351, 1284-1293). For the most part, underlying topography can be easily discerned. We will refer to discrete, well-bounded patches of these landforms as Washboard Terrain (WT). WT is observed to occur along the rim, and just beyond the rim, of Sputnik basin from the West to NNW. Where it is seen in high-resolution data, it has clearly defined limits, beyond which it would be able to be seen if it were there. WT doesn't occur at very low latitudes or very high latitudes (ranging from 22degN to 62degN). WT seems to occur most conspicuously on relatively level, gently sloping terrain. It is restricted to elevations between approximately 2 km to less than +1.5 km (i.e. not at high elevations). The most noticeable regional aspect of the area in which WT occurs is the sinuous valley network, which is suspected to have been formed, or at least substantially modified, by glaciation. WT also appears to occur mainly on an intermediate-albedo reddish material, where seen in enhanced color data. Where it occurs in level terrain, WT tends to trend ENE - there doesn't seem to be a strong local control of its orientation in response to valley drainage directions. WT can display a greater range of orientations where it occurs in higher-relief (not higher elevation) settings such as spurs. WT appears superposed on very ancient landscapes, but is itself cratered locally by clusters of small (approximately 1-3 km) craters, which may be secondaries. This implies that WT may be intermediate in age. Of several working hypotheses, we currently provisionally favor that WT may be akin to terrestrial recessional moraines (or de Geer moraines) associated with the retreat of a higher stand of N2 glaciation that once overfilled Sputnik basin. These putative moraine features may owe their spacing to superseasonal retreat on Milankovitch timescales of approximately 1 Ma. If this hypothesis has validity, then perhaps the intermediate-albedo reddish material may be akin to ground moraine deposits.

Moore, Jeffrey M.↗
NASA NTRS2010

Interaction Between Strategic and Local Traffic Flow Controls

The loosely coordinated sets of traffic flow management initiatives that are operationally implemented at the national- and local-levels have the potential to under, over, and inconsistently control flights. This study is designed to explore these interactions through fast-time simulations with an emphasis on identifying inequitable situations in which flights receive multiple uncoordinated delays. Two operationally derived scenarios were considered in which flights arriving into the Dallas/Fort Worth International Airport were first controlled at the national-level, either with a Ground Delay Program or a playbook reroute. These flights were subsequently controlled at the local level. The Traffic Management Advisor assigned them arrival scheduling delays. For the Ground Delay Program scenarios, between 51% and 53% of all arrivals experience both pre-departure delays from the Ground Delay Program and arrival scheduling delays from the Traffic Management Advisor. Of the subset of flights that received multiple delays, between 5.7% and 6.4% of the internal departures were first assigned a pre-departure delay by the Ground Delay Program, followed by a second pre-departure delay as a result of the arrival scheduling. For the playbook reroute scenario, Dallas/Fort Worth International Airport arrivals were first assigned pre-departure reroutes based on the MW_2_DALLAS playbook plan, and were subsequently assigned arrival scheduling delays by the Traffic Management Advisor. Since the airport was operating well below capacity when the playbook reroute was in effect, only 7% of the arrivals were observed to receive both rerouting and arrival scheduling delays. Findings from these initial experiments confirm field observations that Ground Delay Programs operated in conjunction with arrival scheduling can result in inequitable situations in which flights receive multiple uncoordinated delays.

Grabbe, Son↗
NASA NTRS1990

A laboratory breadboard system for dual-arm teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Bejczy, A. K.↗
NASA NTRS1979

Impact crater and basin control of igneous processes on Mars

The possible role of impact craters in controlling local Martian endogenic activity is reviewed. Martian impact craters exhibiting evidence for endogenic modification are considered, including the style of modification. In addition, the cooling history of a mafic body intruded beneath impact craters of different sizes which contain water-ice deposits are examined, and results are related to modified Martian craters. This analysis is extended to basin-sized structures, and evidence for impact basin control of major volcanic and tectonic provinces is considered.

Schultz, P. H.↗
NASA NTRS1982

Nonlinear multivariable design by total synthesis

The Nominal Design Problem (NDP) is extended to nonlinear cases, and a new case study of robust feedback synthesis for gas turbine control design is presented. The discussion of NDP extends and builds on earlier Total Synthesis Problem theory and ideas. Some mathematical preliminaries are given in which a bijection from a set S onto a set T is considered, with T admitting the structure of an F-vector space. NDP is then discussed for a nonlinear plant, and nonlinear nominal design is defined and characterized. The design of local controllers for a turbojet and the scheduling of these controls into a global control are addressed.

Sain, M. K.↗
NASA NTRS1993

On structuring the rules of a fuzzy controller

Since the pioneering work of Zadeh and Mamdani and Assilian, fuzzy logic control has emerged as one of the most active and fruitful research areas. The applications of fuzzy logic control can be found in many fields such as control of stream generators, automatic train operation systems, elevator control, nuclear reactor control, automobile transmission control, etc. In this paper, two new structures of hierarchical fuzzy rule-based controller are proposed to reduce the number of rules in a complete rule set of a controller. In one approach, the overall system is split into sub-systems which are treated independently in parallel. A coordinator is then used to take into account the interactions. This is done via an iterating information exchange between the lower level and the coordinator level. From the point of view of information used, this structure is very similar to central structure in that the coordinator can have at least in principle, all the information that the local controllers have.

Zhou, Jun↗
NASA NTRS1993

Precision slew/settle technologies for flexible spacecraft

Many spacecraft missions in the next decade will require both a high degree of agility and precision pointing. Agility includes both rotational maneuvering for retargeting and translational motion for orbit adjustment and threat avoidance. The major challenge associated with such missions is the need for control over a wide range of amplitudes and frequencies, ranging from tens of degrees at less than 1 Hz to a few micron radians at hundreds of Hz. TRW's internally funded Precision Control of Agile Spacecraft (PCAS) project is concerned with developing and validating in hardware the tools necessary to successfully complete the combined agile maneuvering/precision pointing missions. Development has been undertaken on a number of fronts for quietly slewing flexible structures. Various methods for designing slew torque profiles have been investigated. Prime candidates for slew/settle scenarios include Inverse Dynamics and Parameterized Function Space. Joint work with Processor Bayo at the University of California, Santa Barbara and Professor Flashner at the University of Southern California has led to promising torque profile design methods. Active and passive vibration suppression techniques also play a key role for rapid slew/settle mission scenarios. Active members with local control loops and passive members with high loss factor viscoelastic material have been selected for hardware verification. Progress in each of these areas produces large gains in the quiet slewing of flexible spacecraft. The main thrust of the effort to date has been the development of a modular testbed for hardware validation of the precision control concepts. The testbed is a slewing eighteen foot long flexible truss. Active and passive members can be interchanged with the baseline aluminum members to augment the inherent damping in the system. For precision control the active members utilize control laws running on a high speed digital structural control processor. Tip and midspan motions of the truss are determined using optical sensors while accelerometers can be used to monitor the motions of other points of interest. Preliminary results indicate that a mix of technologies produces the greatest benefit. For example, shaping the torque profile produces large improvements in slew/settle performance, but without added damping settling times may still be excessive. With the introduction of moderate amounts of damping, slew/settle performance is vastly improved. On the other hand, introducing damping without shaping the torque profile may not yield the desired level of performance.

Manning, R. A.↗
NASA NTRS2011

Diagnosing the Nature of Land-Atmosphere Coupling During the 2006-7 Dry/Wet Extremes in the U.S. Southern Great Plains

Land-atmosphere interactions play a critical role in determining the diurnal evolution of both planetary boundary layer (PBL) and land surface temperature and moisture states. The degree of coupling between the land surface and PBL in numerical weather prediction and climate models remains largely unexplored and undiagnosed due to the complex interactions and feedbacks present across a range of scales. Further, uncoupled systems or experiments (e.g., the Project for Intercomparison of Land Parameterization Schemes, PILPS) may lead to inaccurate water and energy cycle process understanding by neglecting feedback processes such as PBL-top entrainment. In this study, a framework for diagnosing local land-atmosphere coupling (LoCo) is presented using a coupled mesoscale model with a suite of PBL and land surface model (LSM) options along with observations during the summers of200617 in the U.S. Southern Great Plains. Specifically, the Weather Research and Forecasting (WRF) model has been coupled to NASA's Land Information System (LIS), which provides a flexible and high-resolution representation and initialization of land surface physics and states. A range of diagnostics exploring the links and feedbacks between soil moisture and precipitation are examined for the dry/wet extremes of this region, along with the sensitivity of PBL-LSM coupling to perturbations in soil moisture. As such, this methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which is serving as a testbed for LoCo experiments to evaluate coupling diagnostics within the community.

Santanello, Joseph A.↗
NASA NTRS1994

The SAX Italian scientific satellite. The on-board implemented automation as a support to the ground control capability

This paper presents the capabilities implemented in the SAX system for an efficient operations management during its in-flight mission. SAX is an Italian scientific satellite for x-ray astronomy whose major mission objectives impose quite tight constraints on the implementation of both the space and ground segment. The most relevant mission characteristics require an operative lifetime of two years, performing scientific observations both in contact and in noncontact periods, with a low equatorial orbit supported by one ground station, so that only a few minutes of communications are available each orbit. This operational scenario determines the need to have a satellite capable of performing the scheduled mission automatically and reacting autonomously to contingency situations. The implementation approach of the on-board operations management, through which the necessary automation and autonomy are achieved, follows a hierarchical structure. This has been achieved adopting a distributed avionic architecture. Nine different on-board computers, in fact, constitute the on-board data management system. Each of them performs the local control and monitors its own functions while the system level control is performed at a higher level by the data handling applications software. The SAX on-board architecture provides the ground operators with different options of intervention by three classes of telecommands. The management of the scientific operations will be scheduled by the operation control center via dedicated operating plans. The SAX satellite flight mode is presently being integrated at Alenia Spazio premises in Turin for a launch scheduled for the end of 1995. Once in orbit, the SAX satellite will be subject to intensive check-out activities in order to verify the required mission performances. An overview of the envisaged procedure and of the necessary on-ground activities is therefore depicted as well.

Martelli, Andrea↗
NASA NTRS2011

Diagnosing the Nature of Land-Atmosphere Coupling During the 2006-7 Dry/Wet Extremes in the U.S. Southern Great Plains

Land-atmosphere interactions play a critical role in determining the. diurnal evolution of both planetary boundary layer (PBL) and land surface temperature and moisture states. The degree of coupling between the land surface and PBL in numerical weather prediction and climate models remains largely unexplored and undiagnosed due to the complex interactions and feedbacks present across a range of scales. Further, uncoupled systems or experiments (e.g., the Project for Intercomparison of Land Parameterization Schemes, PILPS) may lead to inaccurate water and energy cycle process understanding by neglecting feedback processes such as PBL-top entrainment. In this study, a framework for diagnosing local land-atmosphere coupling (LoCo) is presented using a coupled mesoscale model with a suite of PBL and land surface model (LSM) options along with observations during the summers of 200617 in the U.S. Southern Great Plains. Specifically, the Weather Research and Forecasting (WRF) model has been coupled to NASA's Land Information System (LIS), which provides a flexible and high-resolution representation and initialization of land surface physics and states. A range of diagnostics exploring the links and feedbacks between soil moisture and precipitation are examined for the dry/wet extremes of this region, along with the sensitivity of PBL-LSM coupling to perturbations in soil moisture. As such, this methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which is serving as a testbed for LoCo experiments to evaluate coupling diagnostics within the community.

Santanello, Joseph A., Jr.↗
NASA NTRS2009

Modeling and Observational Framework for Diagnosing Local Land-Atmosphere Coupling on Diurnal Time Scales

Land-atmosphere interactions play a critical role in determining the diurnal evolution of both planetary boundary layer (PBL) and land surface temperature and moisture states. The degree of coupling between the land surface and PBL in numerical weather prediction and climate models remains largely unexplored and undiagnosed due to the complex interactions and feedbacks present across a range of scales. Further, uncoupled systems or experiments (e.g., the Project for Intercomparison of Land Parameterization Schemes, PILPS) may lead to inaccurate water and energy cycle process understanding by neglecting feedback processes such as PBL-top entrainment. In this study, a framework for diagnosing local land-atmosphere coupling is presented using a coupled mesoscale model with a suite of PBL and land surface model (LSM) options along with observations during field experiments in the U. S. Southern Great Plains. Specifically, the Weather Research and Forecasting (WRF) model has been coupled to the Land Information System (LIS), which provides a flexible and high-resolution representation and initialization of land surface physics and states. Within this framework, the coupling established by each pairing of the available PBL schemes in WRF with the LSMs in LIS is evaluated in terms of the diurnal temperature and humidity evolution in the mixed layer. The co-evolution of these variables and the convective PBL is sensitive to and, in fact, integrative of the dominant processes that govern the PBL budget, which are synthesized through the use of mixing diagrams. Results show how the sensitivity of land-atmosphere interactions to the specific choice of PBL scheme and LSM varies across surface moisture regimes and can be quantified and evaluated against observations. As such, this methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which will serve as a testbed for future experiments to evaluate coupling diagnostics within the community.

Santanello, Joseph A., Jr.↗
NASA NTRS1972

Map the distribution of glaciofluvial deposits and associated glacial landforms

The author has identified the following significant results. Relatively little good usable ERTS-1 imagery has been received to date for data extraction. Of three U-2 aircraft support missions flown in Maine, only photography from the 20 September flight is cloud free and of excellent quality. Controlled local contract photography flown in August and September is of generally excellent quality. Low altitude ground truth photography is useful. The system of image and photo filing is discussed, and the limited work involving image and photo comparison is described.

Woodman, R. G.↗