Adaptation and Learning in Robotics and Automation
The paper attempts to describe the reciprocal impact that adaptive control, learning theory,.
Robotics and Automation↗
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Results for “Adaptive control”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Low Temperature Performance of High-Speed Neural Network Circuits
Artificial neural networks, derived from their biological counterparts, offer a new and enabling computing paradigm specially suitable for such tasks as image and signal processing with feature classification/object recognition, global optimization, and adaptive control. When implemented in fully parallel electronic hardware, it offers orders of magnitude speed advantage. Basic building blocks of the new architecture are the processing elements called neurons implemented as nonlinear operational amplifiers with sigmoidal transfer function, interconnected through weighted connections called synapses implemented using circuitry for weight storage and multiply functions either in an analog, digital, or hybrid scheme.
artificial neural networks image processing signal↗
Adaptive Spacecraft Attitude Control With Application to Space Station
The attitude control problem of earth orbiting platforms is considered.
adaptive control attitude control space station mo↗
Investigation of Liner Characteristics in the NASA Langley Curved Duct Test Rig
The Curved Duct Test Rig (CDTR), which is designed to investigate propagation of sound in a duct with flow, has been developed at NASA Langley Research Center. The duct incorporates an adaptive control system to generate a tone in the duct at a specific frequency with a target Sound Pressure Level and a target mode shape. The size of the duct, the ability to isolate higher order modes, and the ability to modify the duct configuration make this rig unique among experimental duct acoustics facilities. An experiment is described in which the facility performance is evaluated by measuring the sound attenuation by a sample duct liner. The liner sample comprises one wall of the liner test section. Sound in tones from 500 to 2400 Hz, with modes that are parallel to the liner surface of order 0 to 5, and that are normal to the liner surface of order 0 to 2, can be generated incident on the liner test section. Tests are performed in which sound is generated without axial flow in the duct and with flow at a Mach number of 0.275. The attenuation of the liner is determined by comparing the sound power in a hard wall section downstream of the liner test section to the sound power in a hard wall section upstream of the liner test section. These experimentally determined attenuations are compared to numerically determined attenuations calculated by means of a finite element analysis code. The code incorporates liner impedance values educed from measured data from the NASA Langley Grazing Incidence Tube, a test rig that is used for investigating liner performance with flow and with (0,0) mode incident grazing. The analytical and experimental results compare favorably, indicating the validity of the finite element method and demonstrating that finite element prediction tools can be used together with experiment to characterize the liner attenuation.
Gerhold, Carl H.↗
Electrostatically shaped membranes
Disclosed is a method and apparatus for electrostatically shaping a membrane suitable for use in antennas or the like, comprising an electrically conductive thin membrane where the periphery of said membrane is free to move in at least one direction, a first charge on the electrically conductive thin membrane to electrostatically stiffen the membrane, a second charge which shapes the electrostatically stiffened thin membrane and a restraint for limiting the movement of at least one point of the thin membrane relative to the second charge. Also disclosed is a method and apparatus for adaptively controlling the shape of the thin membrane by sensing the shape of the membrane and selectively controlling the first and second charge to achieve a desired performance characteristic of the membrane.
Silverberg, Larry M.↗
Baseline Assessment and Prioritization Framework for IVHM Integrity Assurance Enabling Capabilities
Fundamental to vehicle health management is the deployment of systems incorporating advanced technologies for predicting and detecting anomalous conditions in highly complex and integrated environments. Integrated structural integrity health monitoring, statistical algorithms for detection, estimation, prediction, and fusion, and diagnosis supporting adaptive control are examples of advanced technologies that present considerable verification and validation challenges. These systems necessitate interactions between physical and software-based systems that are highly networked with sensing and actuation subsystems, and incorporate technologies that are, in many respects, different from those employed in civil aviation today. A formidable barrier to deploying these advanced technologies in civil aviation is the lack of enabling verification and validation tools, methods, and technologies. The development of new verification and validation capabilities will not only enable the fielding of advanced vehicle health management systems, but will also provide new assurance capabilities for verification and validation of current generation aviation software which has been implicated in anomalous in-flight behavior. This paper describes the research focused on enabling capabilities for verification and validation underway within NASA s Integrated Vehicle Health Management project, discusses the state of the art of these capabilities, and includes a framework for prioritizing activities.
Cooper, Eric G.↗
Emergency Landing Planning for Damaged Aircraft
Considerable progress has been made over the last 15 years on building adaptive control systems to assist pilots in flying damaged aircraft. Once a pilot has regained control of a damaged aircraft, the next problem is to determine the best site for an emergency landing. In general, the decision depends on many factors including the actual control envelope of the aircraft, distance to the site, weather en route, characteristics of the approach path, characteristics of the runway or landing site, and emergency facilities at the site. All of these influence the risk to the aircraft, to the passengers and crew, and to people and property on the ground. We describe an ongoing project to build and demonstrate an emergency landing planner that takes these various factors into consideration and proposes possible routes and landing sites to the pilot, ordering them according to estimated risk. We give an overview of the system architecture and input data, describe our preliminary modeling of risk, and describe how we search the space of landing sites and routes.
Meuleau, Nicolas↗
Validation through Full-Scale Flight Exploration
Objectives: a) Regain Stable Platform: 1) Metrics analogous to stability margins needed for adaptive control systems; 2) Avoid adverse structural interactions. b) Maneuverability: 1) Control vehicle within new constraints; 2) Respect structural limitations; 3) Inform pilot of new performance limitations. c) Provide ability to safely land airplane: 1) Develop safest recovery trajectory.
Bosworth, John T.↗
Construction of Low Dissipative High Order Well-Balanced Filter Schemes for Non-Equilibrium Flows
The goal of this paper is to generalize the well-balanced approach for non-equilibrium flow studied by Wang et al. [26] to a class of low dissipative high order shock-capturing filter schemes and to explore more advantages of well-balanced schemes in reacting flows. The class of filter schemes developed by Yee et al. [30], Sjoegreen & Yee [24] and Yee & Sjoegreen [35] consist of two steps, a full time step of spatially high order non-dissipative base scheme and an adaptive nonlinear filter containing shock-capturing dissipation. A good property of the filter scheme is that the base scheme and the filter are stand alone modules in designing. Therefore, the idea of designing a well-balanced filter scheme is straightforward, i.e., choosing a well-balanced base scheme with a well-balanced filter (both with high order). A typical class of these schemes shown in this paper is the high order central difference schemes/predictor-corrector (PC) schemes with a high order well-balanced WENO filter. The new filter scheme with the well-balanced property will gather the features of both filter methods and well-balanced properties: it can preserve certain steady state solutions exactly; it is able to capture small perturbations, e.g., turbulence fluctuations; it adaptively controls numerical dissipation. Thus it shows high accuracy, efficiency and stability in shock/turbulence interactions. Numerical examples containing 1D and 2D smooth problems, 1D stationary contact discontinuity problem and 1D turbulence/shock interactions are included to verify the improved accuracy, in addition to the well-balanced behavior.
Wang, Wei↗
Flight Exploration of Advanced Integrated Concepts
Presentation outlining past efforts in adaptive controls research and the proposed approach for future work in flight exploration of advanced integrated concepts.
Bosworth, John T.↗
A Piezoelectric PZT Ceramic Mulitlayer Stack for Energy Harvesting Under Dynamic Forces
Piezoelectric energy harvesting transducers (PEHTs) are commonly used in motion/vibration energy scavenging devices. To date, most researchers have focused on energy harvesting at narrow bandwidths around the mechanical resonance frequency, and most piezoelectric harvesting devices reported in the literature have very low effective piezoelectric coefficient (d(sub eff)) (< 10(exp 4) pC/N). For instance, more than 80% of PEHT related papers are on transverse "31" mode cantilever beam type PEHTs (CBPEHTs) having piezoelectric coefficients of about 100 pC/N. The level of harvested electrical power for CBPEHTs is on the order of microW even at resonance mode. In order to harvest more electrical energy across broader bandwidth, high effective piezoelectric coefficient structures are needed. In this study, we investigate a "33" longitudinal mode, piezoelectric PZT ceramic multilayer stack (PZT-Stack) with high effective piezoelectric coefficient for high-performance PEHTs. The PZT-Stack is composed of 300 layers of 0.1 mm thick PZT plates, with overall dimensions of 32.4 mm X 7.0 mm X 7.0 mm. Experiments were carried out with dynamic forces in a broad bandwidth ranging from 0.5 Hz to 25 kHz. The measured results show that the effective piezoelectric coefficient of the PZT-stack is about 1 X 10(exp 5) pC/N at off-resonance frequencies and 1.39 X 10(exp 6) pC/N at resonance, which is order of magnitude larger than that of traditional PEHTs. The effective piezoelectric coefficients (d(sub eff)) do not change significantly with applied dynamic forces having root mean square (RMS) values ranging from 1 N to 40 N. In resonance mode, 231 mW of electrical power was harvested at 2479 Hz with a dynamic force of 11.6 N(sub rms), and 7.6 mW of electrical power was generated at a frequency of 2114 Hz with 1 N(sub rms) dynamic force. In off-resonance mode, an electrical power of 18.7 mW was obtained at 680 Hz with a 40 N(sub rms) dynamic force. A theoretical model of energy harvesting for the PZT-Stack is established. The modeled results matched well with experimental measurements. This study demonstrated that high effective piezoelectric coefficient structures enable PEHTs to harvest more electrical energy from mechanical vibrations or motions, suggesting an effective design for high-performance low-footprint PEHTs with potential applications in military, aerospace, and portable electronics. In addition, this study provides a route for using piezoelectric multilayer stacks for active or semi-active adaptive control to damp, harvest or transform unwanted dynamic vibrations into useful electrical energy.
Xu, Tian-Bing↗
An Integrated Framework for Model-Based Distributed Diagnosis and Prognosis
Diagnosis and prognosis are necessary tasks for system reconfiguration and fault-adaptive control in complex systems. Diagnosis consists of detection, isolation and identification of faults, while prognosis consists of prediction of the remaining useful life of systems. This paper presents a novel integrated framework for model-based distributed diagnosis and prognosis, where system decomposition is used to enable the diagnosis and prognosis tasks to be performed in a distributed way. We show how different submodels can be automatically constructed to solve the local diagnosis and prognosis problems. We illustrate our approach using a simulated four-wheeled rover for different fault scenarios. Our experiments show that our approach correctly performs distributed fault diagnosis and prognosis in an efficient and robust manner.
Bregon, Anibal↗
Using Powder Cored Tubular Wire Technology to Enhance Electron Beam Freeform Fabricated Structures
Electron Beam Freeform Fabrication (EBF3) is an additive manufacturing technique, developed at NASA Langley Research Center, capable of fabricating large scale aerospace parts. Advantages of using EBF3 as opposed to conventional manufacturing methods include, decreased design-to-product time, decreased wasted material, and the ability to adapt controls to produce geometrically complex parts with properties comparable to wrought products. However, to fully exploit the potential of the EBF3 process development of materials tailored for the process is required. Powder cored tubular wire (PCTW) technology was used to modify Ti-6Al-4V and Al 6061 feedstock to enhance alloy content, refine grain size, and create a metal matrix composite in the as-solidified structures, respectively.
Gonzales, Devon↗
Real-Time Global Nonlinear Aerodynamic Modeling for Learn-To-Fly
Flight testing and modeling techniques were developed to accurately identify global nonlinear aerodynamic models for aircraft in real time. The techniques were developed and demonstrated during flight testing of a remotely-piloted subscale propeller-driven fixed-wing aircraft using flight test maneuvers designed to simulate a Learn-To-Fly scenario. Prediction testing was used to evaluate the quality of the global models identified in real time. The real-time global nonlinear aerodynamic modeling algorithm will be integrated and further tested with learning adaptive control and guidance for NASA Learn-To-Fly concept flight demonstrations.
Morelli, Eugene A.↗
UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations
Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.
Davila, Carlos G.↗
NASA's Learn-to-Fly Project Overview
Learn-to-Fly (L2F) is an advanced technology development effort aimed at assessing the feasibility of real-time, self-learning flight vehicles. Specifically, research has been conducted on merging real-time aerodynamic modeling, learning adaptive control, and other disciplines with the goal of using this “learn to fly” methodology to replace the current iterative vehicle development paradigm, substantially reducing the typical ground and flight testing requirements for air vehicle design. Recent activities included an aggressive flight test program with unique fully autonomous fight test vehicles to rapidly advance L2F technology. This paper presents an overview of the project and key components.
Heim, Eugene H. D.↗
Autonomy @ NASA for Aeronautics
NASA has been exploring the use of artificial intelligence technologies to improve vehicle and airspace capabilities for over 20 years. This research has ranged from the use of neural nets to allow adaptive control, to autonomous rotorcraft operations, to real-time prognostics, to an eventual goal of autonomous vehicles operating in an autonomous airspace, in the context of smart communities. Examples of past research and future directions in autonomy for aeronautics will be presented.
Van Dalsem, William R.↗
MRAC with Time-Varying Reference Model from Convex Combination
An extension of model reference adaptive control is presented that accommodates use of a time-varying reference model. Specifically, the reference model is taken to be a time-varying convex combination of two linear, time-invariant models. The design is intended to act as a way to smoothly transition between two different reference models without resorting to a scheduled switch. It also provides the ability to use an interpolated reference model when the plant is operating between design points. The time variation of the combination must satisfy some requirements to ensure stability but is otherwise user choice. Subject to these requirements, bounded tracking error behavior is demonstrated via Lyapunov stability analysis for the single-input, single-output, output feedback case. Tracking error convergence is asymptotic when time variation ceases. The proposed design is demonstrated in simulation of a numerical model.
Hashemi, Kelley E.↗