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NASA NTRS1991

Adaptive control with an expert system based supervisory level

Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up to the use of expert systems for more advanced supervision capabilities.

Sullivan, Gerald A.↗

NASA NTRS1979

Identification and dual adaptive control of a turbojet engine

The objective of this paper is to utilize the design methods of modern control theory to realize a dual-adaptive feedback control unit for a highly nonlinear single spool airbreathing turbojet engine. Using a very detailed and accurate simulation of the nonlinear engine as the data source, linear operating point models of unspecified dimension are identified. Feedback control laws are designed at each operating point for a prespecified set of sampling rates using sampled-data output regulator theory. The control system sampling rate is determined by an adaptive sampling algorithm in correspondence with turbojet engine performance. The result is a dual-adaptive control law that is functionally dependent upon the sampling rate selected and environmental operating conditions. Simulation transients demonstrate the utility of the dual-adaptive design to improve on-board computer utilization while maintaining acceptable levels of engine performance.

Merrill, W.↗

NASA NTRS1979

Identification and dual adaptive control of a turbojet engine

The objective of this paper is to utilize the design methods of modern control theory to realize a 'dual-adaptive' feedback control unit for a highly non-linear single spool airbreathing turbojet engine. Using a very detailed and accurate simulation of the non-linear engine as the data source, linear operating point models of unspecified dimension are identified. Feedback control laws are designed at each operating point for a prespecified set of sampling rates using sampled-data output regulator theory. The control system sampling rate is determined by an adaptive sampling algorithm in correspondence with turbojet engine performance. The result is a 'dual-adpative' control law that is functionally dependent upon the sampling rate selected and environmental operating conditions. Simulation transients demonstrate the utility of the dual-adaptive design to improve on-board computer utilization while maintaining acceptable levels of engine performance.

Merrill, W.↗

NASA NTRS2012

Optimal Control Modification for Time-Scale Separated Systems

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Adaptive Control↗

NASA NTRS2002

Development of MLPG and LBIE Methods for Nonlinear Problems of Fracture

The truly meshless local Petrov-Galerkin (MLPG) method holds a great promise in solving boundary value problems, using a local symmetric weak form as a natural approach. In the present paper, in the context of MLPG and the meshless interpolation of a moving least squares (MLS) type, a method which uses primary and secondary nodes in the domain and on the global boundary is introduced, in order to improve the accuracy of solution. The secondary nodes can be placed at any location where one needs to obtain a better resolution. The sub-domains for the shape functions in the MLS approximation are defined only from the primary nodes, and the secondary nodes use the same sub-domains. The shape functions based on the MLS approximation, in an integration domain, have a single type of a rational function, which reduces the difficulty of numerical integration to evaluate the weak form. The present method is very useful in an adaptive calculation, because the secondary nodes can be easily added and/or moved without an additional mesh. The essential boundary conditions can be imposed exactly, and non-convex boundaries can be treated without special techniques. Several numerical examples are presented to illustrate the performance of the present method.

Atluri, Satya N.↗

NASA NTRS1925

Astronomical Methods in Aerial Navigation

The astronomical method of determining position is universally used in marine navigation and may also be of service in aerial navigation. The practical application of the method, however, must be modified and adapted to conform to the requirements of aviation. Much of this work of adaptation has already been accomplished, but being scattered through various technical journals in a number of languages, is not readily available. This report is for the purpose of collecting under one cover such previous work as appears to be of value to the aerial navigator, comparing instruments and methods, indicating the best practice, and suggesting future developments. The various methods of determining position and their application and value are outlined, and a brief resume of the theory of the astronomical method is given. Observation instruments are described in detail. A complete discussion of the reduction of observations follows, including a rapid method of finding position from the altitudes of two stars. Maps and map cases are briefly considered. A bibliography of the subject is appended.

Beij, K Hilding↗

NASA NTRS1983

Experimental implementation of parameter adaptive control on a free-free beam

A method for identifying modal parameters has been integrated with a modal control scheme and implemented on an experimental beam at the NASA Langley Research Center. This work is the culmination of several studies to develop adaptive control schemes for large flexible spacecraft. The identification scheme is an equation-error technique which generates modal frequency and damping estimates on-line from a set of distributed displacement measurements. The control law is a modal pole placement technique with the objective of vibration suppression. Integration of the identification and control schemes is achieved through a series of tests which validate the identified parameters before they are used for control gain updating. Results using a low order controller show that control gains can be updated in real time based on the validated parameters to improve the performance of the closed loop system. Important factors in the implementation are the test criterion and the a priori assumption of mode shapes.

Williams, J. P.↗

NASA NTRS2016

Analysis of Retinal Vascular Branching in Human Subjects Undergoing 70-Day Head-Down Tilt by NASAs VESGEN Software

Significant risks for visual impairment were discovered recently in astronauts following spaceflight, especially after long-duration missions. We hypothesize that microgravity-induced fluid shifts result in pathological changes within the retinal vasculature that precede visual and other ocular impairments. We therefore are analyzing retinal vessels in healthy subjects before and after head-down tilt (HDT), a ground-based microgravity analog with NASA's VESsel GENeration Analysis (VESGEN) software. Methods. Spectralis® infrared (IR) fundus images were collected from both eyes of 6 subjects before and after 70 days of bed rest at 6 degree HDT (NASA Campaign 11). For our retrospective study, branching patterns in arterial and venous trees are mapped by VESGEN into vessel branching generations (Gx) that are quantified by parameters such as densities of vessel length (Lv), area (Av), number (Nv) and fractal dimension (Df) as described previously for diabetic retinopathy (IOVS 51(1):498). Results are further assigned by VESGEN into groups of large (G1-3), medium (G4-6) and small (G≥7) vessels. Results. All subjects remained asymptomatic throughout duration of HDT. To date, we have analyzed one IR image from each of the 12 eyes. Interestingly, two groups of the masked study population identified by VESGEN are distinguished by the presence or absence of small veins (G≥7). For example, L≥7 and Av≥7 are 2.7+/-1.3 E-4 px/px2 and 7.2+/-3.6 E-4 px2/px2 in 6 retinas, but 0 in the other 6 retinas. Nonetheless, the space-filling properties of the entire venous trees were remarkably uniform by all parameters, such as Df = 1.56+/-0.02 for 6 retinas with G≥7 and 1.55+/-0.02 for retinas without G≥7. No small arteries (G≥7) were detected. Conclusions. For our preliminary masked analysis, two groups of venous trees with and without small veins (G≥7) were clearly revealed by VESGEN. Upon completing all images and unmasking the subject status of before and after HDT, we will determine whether differences in the presence or absence of small veins are important correlates, and perhaps reliable predictors, of other ocular and physiological adaptations to prolonged head-down tilt and microgravity. Clinical methods for examining adaptive microvascular remodeling in the retina to microgravity space flight are not currently established.

Fractal↗

NASA NTRS1992

Laser power beams obtained by the dynamic selection of emitting elements in an array

A method for partially correcting the spatial coherence of an array of laser beams is discussed. The method trades far-field intensity for simplistic implementation and array lifetime extension, resulting in a quasi-coherent array with features of adaptive optics. An algorithm for implementing the method is described and feasible options for improvement are presented. A computer experiment used the algorithm and fast Fourier transforms to calculate typical far-field intensity distributions of such arrays. The far-field distributions illustrate beam power concentration, beam steering, and (indirectly) extended lifetime of the array.

Williams, M. D.↗

NASA NTRS1983

Parameter testing for lattice filter based adaptive modal control systems

For Large Space Structures (LSS), an adaptive control system is highly desirable. The present investigation is concerned with an 'indirect' adaptive control scheme wherein the system order, mode shapes, and modal amplitudes are estimated on-line using an identification scheme based on recursive, least-squares, lattice filters. Using the identified model parameters, a modal control law based on a pole-placement scheme with the objective of vibration suppression is employed. A method is presented for closed loop adaptive control of a flexible free-free beam. The adaptive control scheme consists of a two stage identification scheme working in series and a modal pole placement control scheme. The main conclusion from the current study is that the identified parameters cannot be directly used for controller design purposes.

Sundararajan, N.↗

NASA NTRS1994

Linear stability of a layered fluid with mobile surface plates

We develop a general method of calculating the linear stability of a fluid with homogeneous layers that is heated from below. The method employs a propagator technique to obtain expressions for the fluid velocity, stress, and temperature. The principal advantage of the method is the ease with which solutions are adapted to a wide variety of boundary conditions and fluid properties. We demonstrate the utility of the method using three examples which quantify the effects of (1) rheological layering, (2) mobile plates at the surface, and (3) multiple phase transitions. Each example is presented in the context of Earth's mantle. In the first example, we predict that convection becomes confined to the upper mantle once the viscosity increase between the upper and lower mantle exceeds a factor of 2000, consistent with the nonlinear calculations of Davies (1977). In the second example we find that the heat flux variations in a convecting fluid with variably sized, surface plates can be attributed, in part, to changes in the critical Rayleigh number. The linear stability of a fluid with multiple phase transitions is significantly affects by the locations of the transitions. We find that phase transitions have their largest effect when they are located at the center of the fluid layer and become much less important when they are located near the exterior boundaries.

Buffett, B. A.↗

NASA NTRS1982

Random element method for numerical modeling of diffusional processes

The random element method is a generalization of the random vortex method that was developed for the numerical modeling of momentum transport processes as expressed in terms of the Navier-Stokes equations. The method is based on the concept that random walk, as exemplified by Brownian motion, is the stochastic manifestation of diffusional processes. The algorithm based on this method is grid-free and does not require the diffusion equation to be discritized over a mesh, it is thus devoid of numerical diffusion associated with finite difference methods. Moreover, the algorithm is self-adaptive in space and explicit in time, resulting in an improved numerical resolution of gradients as well as a simple and efficient computational procedure. The method is applied here to an assortment of problems of diffusion of momentum and energy in one-dimension as well as heat conduction in two-dimensions in order to assess its validity and accuracy. The numerical solutions obtained are found to be in good agreement with exact solution except for a statistical error introduced by using a finite number of elements, the error can be reduced by increasing the number of elements or by using ensemble averaging over a number of solutions.

Ghoniem, A. F.↗

NASA NTRS2010

Wavefront Control and Image Restoration with Less Computing

PseudoDiversity is a method of recovering the wavefront in a sparse- or segmented- aperture optical system typified by an interferometer or a telescope equipped with an adaptive primary mirror consisting of controllably slightly moveable segments. (PseudoDiversity should not be confused with a radio-antenna-arraying method called pseudodiversity.) As in the cases of other wavefront- recovery methods, the streams of wavefront data generated by means of PseudoDiversity are used as feedback signals for controlling electromechanical actuators of the various segments so as to correct wavefront errors and thereby, for example, obtain a clearer, steadier image of a distant object in the presence of atmospheric turbulence. There are numerous potential applications in astronomy, remote sensing from aircraft and spacecraft, targeting missiles, sighting military targets, and medical imaging (including microscopy) through such intervening media as cells or water. In comparison with prior wavefront-recovery methods used in adaptive optics, PseudoDiversity involves considerably simpler equipment and procedures and less computation. For PseudoDiversity, there is no need to install separate metrological equipment or to use any optomechanical components beyond those that are already parts of the optical system to which the method is applied. In Pseudo- Diversity, the actuators of a subset of the segments or subapertures are driven to make the segments dither in the piston, tilt, and tip degrees of freedom. Each aperture is dithered at a unique frequency at an amplitude of a half wavelength of light. During the dithering, images on the focal plane are detected and digitized at a rate of at least four samples per dither period. In the processing of the image samples, the use of different dither frequencies makes it possible to determine the separate effects of the various dithered segments or apertures. The digitized image-detector outputs are processed in the spatial-frequency (Fourier-transform) domain to obtain measures of the piston, tip, and tilt errors over each segment or subaperture. Once these measures are known, they are fed back to the actuators to correct the errors. In addition, measures of errors that remain after correction by use of the actuators are further utilized in an algorithm in which the image is phase-corrected in the spatial-frequency domain and then transformed back to the spatial domain at each time step and summed with the images from all previous time steps to obtain a final image having a greater signal-to-noise ratio (and, hence, a visual quality) higher than would otherwise be attainable.

Lyon, Richard G.↗

NASA NTRS1981

Analytical verification of undesirable properties of direct model reference adaptive control algorithms

The present investigation is concerned with a new method, called 'final approach analysis', which has been developed to analyze the dynamic properties of a class of direct adaptive control algorithms. Particular attention is given to the robustness of these algorithms to a number of aspects. These aspects are related to the generation of high frequencies in the plant control signal, to excessive bandwidth of the adaptive control loop resulting in excitation of unmodeled dynamics, and, consequently, leading to dynamic instability of the closed-loop adaptive system, and, thirdly, to noise corrupted measurements. The final approach analysis is useful because it can be used in a constructive way to adjust the adaptive gains so as to limit the closed-loop system bandwidth and to ameliorate some of the undesirable characteristics of existing adaptive algorithms.

Rohrs, C. E.↗

NASA NTRS2008

A Grid Sourcing and Adaptation Study Using Unstructured Grids for Supersonic Boom Prediction

NASA created the Supersonics Project as part of the NASA Fundamental Aeronautics Program to advance technology that will make a supersonic flight over land viable. Computational flow solvers have lacked the ability to accurately predict sonic boom from the near to far field. The focus of this investigation was to establish gridding and adaptation techniques to predict near-to-mid-field (<10 body lengths below the aircraft) boom signatures at supersonic speeds using the USM3D unstructured grid flow solver. The study began by examining sources along the body the aircraft, far field sourcing and far field boundaries. The study then examined several techniques for grid adaptation. During the course of the study, volume sourcing was introduced as a new way to source grids using the grid generation code VGRID. Two different methods of using the volume sources were examined. The first method, based on manual insertion of the numerous volume sources, made great improvements in the prediction capability of USM3D for boom signatures. The second method (SSGRID), which uses an a priori adaptation approach to stretch and shear the original unstructured grid to align the grid and pressure waves, showed similar results with a more automated approach. Due to SSGRID s results and ease of use, the rest of the study focused on developing a best practice using SSGRID. The best practice created by this study for boom predictions using the CFD code USM3D involved: 1) creating a small cylindrical outer boundary either 1 or 2 body lengths in diameter (depending on how far below the aircraft the boom prediction is required), 2) using a single volume source under the aircraft, and 3) using SSGRID to stretch and shear the grid to the desired length.

Carter, Melissa B.↗

NASA NTRS2010

Low field SQUID MRI devices, components and methods

Low field SQUID MRI devices, components and methods are disclosed. They include a portable low field (SQUID)-based MRI instrument and a portable low field SQUID-based MRI system to be operated under a bed where a subject is adapted to be located. Also disclosed is a method of distributing wires on an image encoding coil system adapted to be used with an NMR or MRI device for analyzing a sample or subject and a second order superconducting gradiometer adapted to be used with a low field SQUID-based MRI device as a sensing component for an MRI signal related to a subject or sample.

Penanen, Konstantin I.↗

NASA NTRS2011

Low field SQUID MRI devices, components and methods

Penanen, Konstantin I.↗

NASA NTRS2013

Low Field Squid MRI Devices, Components and Methods

Penanen, Konstantin I.↗