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DOE OSTI2021

Ultrafast method for scanning tunneling spectroscopy

A scanning tunneling microscope (STM) combines unique capabilities in imaging and spectroscopy with atomic precision, and it can obtain energy-resolved spectroscopic data with atomic resolution. In this paper, we utilize a recently proposed modification to the STM feedback control loop to acquire high quality d 2 I/dV 2 images. We have developed a constant differential conductance imaging method by closing the STM feedback loop with a high precision dI/dV measurement. In this mode, the tip’s vertical position is adjusted so as to keep the differential conductance constant during raster scanning of the surface. Based on this imaging mode, we propose a new technique to acquire fast and reliable scanning tunneling spectroscopy (STS) data simultaneously with the imaging.

47 OTHER INSTRUMENTATION↗

NASA NTRS1985

Development of a sensitivity analysis technique for multiloop flight control systems

This report presents the development and application of a sensitivity analysis technique for multiloop flight control systems. This analysis yields very useful information on the sensitivity of the relative-stability criteria of the control system, with variations or uncertainties in the system and controller elements. The sensitivity analysis technique developed is based on the computation of the singular values and singular-value gradients of a feedback-control system. The method is applicable to single-input/single-output as well as multiloop continuous-control systems. Application to sampled-data systems is also explored. The sensitivity analysis technique was applied to a continuous yaw/roll damper stability augmentation system of a typical business jet, and the results show that the analysis is very useful in determining the system elements which have the largest effect on the relative stability of the closed-loop system. As a secondary product of the research reported here, the relative stability criteria based on the concept of singular values were explored.

Vaillard, A. H.↗

NASA NTRS1989

Algorithms for computing the multivariable stability margin

Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems.

Tekawy, Jonathan A.↗

NASA NTRS1991

Synthesis of structural/control systems robust with respect to design variable tolerances

A methodology is presented for the synthesis of control augmented structures which can be modeled as an assemblage of beam, truss, and nonstructural mass elements augmented by a robust noncollocated direct output feedback control system. The control system is robust in the sense that it can tolerate manufacturing and realization errors. The robust control system is synthesized using a constraint buffering technique in conjunction with the approximation concepts approach to system synthesis. All of the design constraints on the system, including the dynamic stability, are buffered by a nonlinear quantity that is a function of acceptable tolerances on the design variables and the sensitivity of the constraints to changes in these design variables. Numerical results which illustrate the effectiveness of the method presented are given.

Thomas, H. L.↗

NASA NTRS1992

Joystick With Cable Springs Offers Better Feel

Improved joystick allows motion in 6 degrees of freedom, biased toward central position and orientation by 16 segments of cable serving as springs. Improvement in feel and control results from nonlinear compliance of cable-spring assembly. Nonlinear variations accommodate natural reactions of hand and brain. Operator functions as part of feedback control loop. More comfortable, increases ability to exert control and reduces fatigue.

Kerley, James↗

NASA NTRS1992

Adaptive attitude stability and control for Space Station/Orbiter berthing operations

The fully coupled, systematically linearized equations of motion are used for attitude control system design of an early Space Station Freedom flight configuration. These equations are valid around any estimated spacecraft equilibrium point. A full state feedback controller, incorporating gain scheduled adaptation of the attitude gains, is developed for use during spacecraft on-orbit operations characterized by significant mass properties variations. Feasibility of the gain adaptation is demonstrated via a Space Station Freedom/Orbiter berthing operation scenario. The attitude controller transient performance during gain adaptation appear satisfactory.

Parlos, Alexander G.↗

NASA NTRS1998

Feedback Linearized Aircraft Control Using Dynamic Cell Structure

A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.

Jorgensen, C. C.↗

NASA NTRS1994

Design and evaluation of a Stochastic Optimal Feed-forward and Feedback Technology (SOFFT) flight control architecture

This paper describes the design and evaluation of a stochastic optimal feed-forward and feedback technology (SOFFT) control architecture with emphasis on the feed-forward controller design. The SOFFT approach allows the designer to independently design the feed-forward and feedback controllers to meet separate objectives and then integrate the two controllers. The feed-forward controller has been integrated with an existing high-angle-of-attack (high-alpha) feedback controller. The feed-forward controller includes a variable command model with parameters selected to satisfy level 1 flying qualities with a high-alpha adjustment to achieve desired agility guidelines, a nonlinear interpolation approach that scales entire matrices for approximation of the plant model, and equations for calculating feed-forward gains developed for perfect plant-model tracking. The SOFFT design was applied to a nonlinear batch simulation model of an F/A-18 aircraft modified for thrust vectoring. Simulation results show that agility guidelines are met and that the SOFFT controller filters undesired pilot-induced frequencies more effectively during a tracking task than a flight controller that has the same feedback control law but does not have the SOFFT feed-forward control.

Ostroff, Aaron J.↗

DOE OSTI2023

"Traffic smoothing using explicit local controllers"

The dissipation of stop-and-go waves attracted recent attention as a traffic management problem, which can be efficiently addressed by automated driving. As part of the 100 automated vehicles experiment named MegaVanderTest, feedback controls were used to induce strong dissipation via velocity smoothing. More precisely, a single vehicle driving differently in one of the four lanes of I-24 in the Nashville area was able to regularize the velocity profile by reducing oscillations in time and velocity differences among vehicles. Quantitative measures of this effect were possible due to the innovative I-24 MOTION system capable of monitoring the traffic conditions for all vehicles on the roadway. This paper presents the control design, the technological aspects involved in its deployment, and, finally, the results achieved by the experiment.

Hayat, Amaury↗

DOE OSTI2023

High-throughput feedback-enabled optogenetic stimulation and spectroscopy in microwell plates

Abstract The ability to perform sophisticated, high-throughput optogenetic experiments has been greatly enhanced by recent open-source illumination devices that allow independent programming of light patterns in single wells of microwell plates. However, there is currently a lack of instrumentation to monitor such experiments in real time, necessitating repeated transfers of the samples to stand-alone analytical instruments, thus limiting the types of experiments that could be performed. Here we address this gap with the development of the optoPlateReader (oPR), an open-source, solid-state, compact device that allows automated optogenetic stimulation and spectroscopy in each well of a 96-well plate. The oPR integrates an optoPlate illumination module with a module called the optoReader, an array of 96 photodiodes and LEDs that allows 96 parallel light measurements. The oPR was optimized for stimulation with blue light and for measurements of optical density and fluorescence. After calibration of all device components, we used the oPR to measure growth and to induce and measure fluorescent protein expression in E. coli . We further demonstrated how the optical read/write capabilities of the oPR permit computer-in-the-loop feedback control, where the current state of the sample can be used to adjust the optical stimulation parameters of the sample according to pre-defined feedback algorithms. The oPR will thus help realize an untapped potential for optogenetic experiments by enabling automated reading, writing, and feedback in microwell plates through open-source hardware that is accessible, customizable, and inexpensive.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1976

Long term performance of the advanced thermal control flight experiment

The Advanced Thermal Control Flight Experiment (ATFE) is providing the first zero-g flight data for the performance of a thermal diode heat pipe and an electrical Feedback Controlled Heat Pipe (FCHP). The temperature stability derived from the melting and freezing of octadecane is also being evaluated in this experiment. Flight data for the different operational modes are compared to ground test data, and the performance of the individual components is analyzed. Also, the ATFE's long term behavior from launch through September 30, 1975, is evaluated. The temperature control capability of a thermal diode, phase change material, and FCHP was demonstrated over more than 500 days of flight operation and each of these components should be considered in future applications. Both the diode and FCHP transport more than 20 W in the normal and passive modes during maximum conditions. Up to 30 W has been carried by the FCHP when the auxiliary heater is applied. The "OFF-conductance" of the diode has improved substantially in flight. A 1.4 W decrease in backflow has been realized by more complete blockage. The variable conductance behavior of the FCHP is essentially unchanged with time and relative to ground tests. Degradation of the radiator and reservoir surfaces have resulted in a partial loss of control by the FCHP during normal mode operation; however, manual control at an elevated set point has demonstrated the FCHP's ability to provide regulated temperature control to within + or - 2 C. The same pipe when operated as a passive VCHP controlled at 35 + or - 10 C with the same test conditions.

Brennan, P. J.↗

NASA NTRS1979

Robustness with observers

The paper describes an adjustment procedure for observer-based linear control systems which asymptotically achieves the same loop transfer functions (and hence the same relative stability, robustness, and disturbance rejection properties) as full-state feedback control implementations. Full-state loop-transfer properties can be recovered asymptotically if the plant is minimum phase; this occurs at the expense of noise performance.

Doyle, J. C.↗

NASA NTRS1981

On-line optimization of aircraft altitude and flight path angle dynamics

The optimization of aircraft altitude and flight path angle dynamics is addressed in a form suitable for on-line computation and control. The approach here is a direct extension of the work reported by Calise (1979), where singular perturbation methods were used to optimize position, energy and heading dynamics; it thus represents an optimal control solution that models all of the primary trajectory related dynamics. It is pointed out that the resulting algorithm can be regarded as a nonlinear feedback control law. The minimum time intercept of a fixed terminal point is used in setting the framework in which the analytical results are developed. The main theoretical result is that the dynamics, while not completely separable, can be approximated by singular perturbation methods when the control model includes relative position dynamics.

Calise, A. J.↗

NASA NTRS1984

NASA/Howard University Large Space Structures Institute

Basic research on the engineering behavior of large space structures is presented. Methods of structural analysis, control, and optimization of large flexible systems are examined. Topics of investigation include the Load Correction Method (LCM) modeling technique, stabilization of flexible bodies by feedback control, mathematical refinement of analysis equations, optimization of the design of structural components, deployment dynamics, and the use of microprocessors in attitude and shape control of large space structures. Information on key personnel, budgeting, support plans and conferences is included.

Broome, T. H., Jr.↗

NASA NTRS1989

Controller reduction for effective interdisciplinary design of active structures

Control problems of large aerospace structures are intrinsically interdisciplinary and require strategies which address the complete interaction between flexible structures, electromechanical actuators and sensors, and feedback control algorithms. Current research and future directions which will require an interdisciplinary team effort in dynamics, control and optimization of such structures are being surveyed. It is generally agreed that the dynamics of space structures require large scale discrete modeling, resulting in thousands of discrete unknowns. Proven control strategies, on the other hand, employ a low order controller that is based on a reduced order model of structures. Integration of such low order controllers and large scale dynamics models often leads to serious deterioration of the closed loop stability margin and even instability. To alleviate this stability deterioration while low order controllers remain effective, the following approach was investigated: (1) retain low order controllers based on reduced order models of structures as the basic control strategy; (2) introduce a compensator that will directly account for the deterioration of stability margin due to controller-structure integration; and (3) assess overall performance of the integrated control structure system by developing measures of suboptimality in the combination of (1) and (2). The benefits include: simplicity in the design of basic controllers, thus facilitating the optimization of structure control interactions; increased understanding of the roles of the compensator so as to modify the structure as well as the basic controller, if necessary, for improved performance; and adaptability to localize controllers by viewing the compensator as a systems integration filter.

Balas, Mark J.↗

NASA NTRS1973

Application of modern control theory to the design of optimum aircraft controllers

A procedure is described for synthesis of optimal aircraft control systems by application of the concepts of optimal control theory to time-invariant linear systems with quadratic performance criteria. Essential in this synthesis procedure is the solution of the Riccati matrix equation which results in a constant linear feedback control law for an output regulator which maintains a plant in an equilibrium in the presence of impulse disturbances. An algorithm is derived for designing maneuverable output regulators with selected state variables for feedback.

Power, L. J.↗

DOE OSTI2024

Simultaneous control of the electron temperature and safety factor profiles in DIII-D using model-based optimal control techniques

Future tokamak power plants will likely operate using a single, well-defined plasma scenario, either in steady state or for very long pulse lengths. In order to enhance the robustness of the scenario, feedback controllers for a variety of plasma properties will be necessary to counteract any disturbances and ensure safe operation. However, only a limited set of actuators will be available to control many different quantities. Because of this, it is necessary to develop controllers that are able to regulate multiple plasma properties using a limited set of actuators. To this end, a controller has been developed for the simultaneous regulation of both the electron temperature and safety factor profiles in DIII-D. This algorithm uses a linear quadratic integral control synthesis approach based on a linearized model of the dynamics of the two profiles. Two neural network surrogate models, NubeamNet and MMMnet, are included to improve the fidelity of the model. Furthermore, the controller has been tested in simulation using COTSIM, and has demonstrated the ability to simultaneously track changes in both the electron temperature and safety factor targets, including changes in both the magnitude and the shape of the profiles.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS1978

Synthesis of finite settling time discrete systems

A new finite settling time (FST) control law is presented. The performance and the flexibility of this dual-rate, sampled-data law as applied to the class of error driven, feedback control systems are demonstrated. A hybrid analog/digital simulation is performed in order to illustrate the practical aspects of this type of finite settling time design.

Gatlin, J. A.↗