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At least 1,063 records · Page 59

New multirate sampled-data control law structure and synthesis algorithm

A new multirate sampled-data control law structure is defined and a new parameter-optimization-based synthesis algorithm for that structure is introduced. The synthesis algorithm can be applied to multirate, multiple-input/multiple-output, sampled-data control laws having a prescribed dynamic order and structure, and a priori specified sampling/update rates for all sensors, processor states, and control inputs. The synthesis algorithm is applied to design two-input, two-output tip position controllers of various dynamic orders for a sixth-order, two-link robot arm model.

Berg, Martin C.↗

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗

Capaciflector Camera

Sensing electrodes arranged in rows and columns used to generate capacitive images. Sensors of this type installed on robot arms, and three-dimensional capacitance images that they generate used by robot-control circuits to prevent collisions with capacitively sensed objects, to image and identify these objects, and to navigate amongst them.

Vranish, John M.↗

Robotic Waterjet System

NASA needed a way to safely strip old paint and thermal protection material from reusable components from the Space Shuttle; to meet this requirement, Marshall Space Flight Center teamed with United Technologies' USBI Company and developed a stripping system based on hydroblasting. United Technology spun off a new company, Waterjet Systems, to commercialize and market the technology. The resulting ARMS (Automated Robotic Maintenance Systems), employ waterblasts at 55,000 pounds per square inch controlled by target-sensitive robots. The systems are used on aircraft and engine parts, and the newest application is on ships, where it not only strips but catches the ensuing wastewater. This innovation results in faster, cheaper stripping with less clean-up and reduced environmental impact.

Source record↗

Robots for Aircraft Maintenance

Marshall Space Flight Center charged USBI (now Pratt & Whitney) with the task of developing an advanced stripping system based on hydroblasting to strip paint and thermal protection material from Space Shuttle solid rocket boosters. A robot, mounted on a transportable platform, controls the waterjet angle, water pressure and flow rate. This technology, now known as ARMS, has found commercial applications in the removal of coatings from jet engine components. The system is significantly faster than manual procedures and uses only minimal labor. Because the amount of "substrate" lost is minimal, the life of the component is extended. The need for toxic chemicals is reduced, as is waste disposal and human protection equipment. Users of the ARMS work cell include Delta Air Lines and the Air Force, which later contracted with USBI for development of a Large Aircraft Paint Stripping system (LARPS). LARPS' advantages are similar to ARMS, and it has enormous potential in military and civil aircraft maintenance. The technology may also be adapted to aircraft painting, aircraft inspection techniques and paint stripping of large objects like ships and railcars.

Source record↗

Extended Duration: The SIRIUS 21 Crew Perspective

The SIRIUS (Scientific International Research In a Unique terrestrial Station) missions represent a collaborative effort between NASA and Russia’s Institute for Biomedical Problems (IBMP) to conduct a series of long duration isolation and confinement spaceflight analog missions. Three missions of 17-day, 4-month, and 8-month duration (SIRIUS 17, 19, and 21) have been completed at IBMP’s Ground-Based Experimental Complex / Nazemnyy eksperimental'nyy kompleks (NEK) in Moscow, Russia. The international SIRIUS 21 crew comprising representatives from the United States, United Arab Emirates and Russia recently completed the 8-month analog lunar mission. The extended duration mission included simulated lunar transit, orbital, and surface operations with corresponding deep space communication delay, during which the crew participated in nearly 70 studies, eight of which were sponsored by NASA’s Human Research Program. The studies examined the effect of isolation and confinement on the behavioral health of research subjects, and investigated medical countermeasures, team performance, crew dynamics, crew autonomy, food system risks, consequences of confinement and associated physiological stressors. SIRIUS 21 crewmembers also participated in operational tasks such as Rover and CubeSat assembly, simulated lunar sample assessment, VR activities, robotic arm training, environmental systems monitoring, exercise, greenhouse maintenance and 3D printing. Communication with Mission Control was limited to 30-minute periods every two hours. Since access to the internet and email was restricted, simulated ground support provided the Crew’s primary source of daily news and mission information. This panel discussion will include presentations from the US SIRIUS 21 crewmembers – William Brown and Ashley Kowalski – about their experience participating in the mission and science. A facilitated question and answer session will follow with attendees encouraged to ask questions and join in discussion with the SIRIUS 21 crewmembers about their experiences. William Brown came to SIRIUS 21 with experience spread across multiple industries, including the military, defense contracting, healthcare consulting, software engineering, and logistics. He has lived in the Middle East, Central Asia, and Russia. A former Boren Scholar, Brown is fluent in Russian. He holds a Master of International Business degree from the University of South Carolina’s Darla Moore School of Business. Prior to that, he earned a bachelor’s degree in Russian language, literature, and culture from the University of South Carolina. There, he also completed additional undergraduate coursework in computer science. Ashley Kowalski is a Project Leader in The Aerospace Corporation’s International Partnerships Department, where she works with, represents, and provides technical support to the the U.S. Space Force Space Systems Command International Affairs (SSC/IA) office. Through her numerous national and international assignments (Russia, China, and Germany), she has worked on topics related to international space systems, national security space systems, civil systems (including human spaceflight and civil launch projects), space policy, satellite industry analysis, and satellite manufacturing start-ups. She is proficient in Russian and German, and fluent in Polish. Kowalski received her Bachelor of Science and Master of Science degrees in mechanical and aerospace engineering from George Washington University in 2011 and 2012, respectively.

S. E. Whiting↗

Follow-the-Leader Control for the PIPS Prototype Hardware

This report describes the payload inspection and processing system (PIPS), an automated system programmed off-line for inspection of space shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-degree of freedom (DOF) serpentine truss manipulator capable of snake like motions to avoid obstacles. During the summer of 1995, the author worked on the same project, developing a follow-the-leader (FTL) algorithm in graphical simulation which ensures whole arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1996 work was to control the prototype PIPS hardware in follow-the-leader mode. The project was successful in providing FTL control in hardware. The STS-82 payload mockup was used in the laboratory to demonstrate serpentine motions to avoid obstacles in a realistic environment.

Williams, Robert L. II↗

NASA Tech Briefs, April 2010

Topics covered include: Active and Passive Hybrid Sensor; Quick-Response Thermal Actuator for Use as a Heat Switch; System for Hydrogen Sensing; Method for Detecting Perlite Compaction in Large Cryogenic Tanks; Using Thin-Film Thermometers as Heaters in Thermal Control Applications; Directional Spherical Cherenkov Detector; AlGaN Ultraviolet Detectors for Dual-Band UV Detection; K-Band Traveling-Wave Tube Amplifier; Simplified Load-Following Control for a Fuel Cell System; Modified Phase-meter for a Heterodyne Laser Interferometer; Loosely Coupled GPS-Aided Inertial Navigation System for Range Safety; Sideband-Separating, Millimeter-Wave Heterodyne Receiver; Coaxial Propellant Injectors With Faceplate Annulus Control; Adaptable Diffraction Gratings With Wavefront Transformation; Optimizing a Laser Process for Making Carbon Nanotubes; Thermogravimetric Analysis of Single-Wall Carbon Nanotubes; Robotic Arm Comprising Two Bending Segments; Magnetostrictive Brake; Low-Friction, Low-Profile, High-Moment Two-Axis Joint; Foil Gas Thrust Bearings for High-Speed Turbomachinery; Miniature Multi-Axis Mechanism for Hand Controllers; Digitally Enhanced Heterodyne Interferometry; Focusing Light Beams To Improve Atomic-Vapor Optical Buffers; Landmark Detection in Orbital Images Using Salience Histograms; Efficient Bit-to-Symbol Likelihood Mappings; Capacity Maximizing Constellations; Natural-Language Parser for PBEM; Policy Process Editor for P(sup 3)BM Software; A Quality System Database; Trajectory Optimization: OTIS 4; and Computer Software Configuration Item-Specific Flight Software Image Transfer Script Generator.

Source record↗

Generation of off-axis aspherics

A method for precise generation of optical surfaces is described. The work is turned about one axis, while a grinding head or cutting tool is gradually moved across by an arm turning about a second axis. This geometry can be used to directly generate spherical surfaces or aspherical surfaces presently termed 'hulahoids'. The properties of these surfaces are analyzed to determine how well large paraboloids and their off-axis segments can be generated. Very close approximations are possible. For example, 1.5-m segments of a 10-m paraboloid differ by only 0.6 microns peak-to-peak from the best fit hulahoid when the focal ratio is f/2, and 60 microns when it is f/0.4. For accurate generation the cutting tool may need numerically controlled travel of 1 mm or less, with the position set as a function of the swing arm angle.

Angel, J. R. P.↗

Geophysical Retrievals in an Artificial Intelligence (AI) Framework for Illuminating Processes Controlling Water Cycle

Focal Area(s): This white paper responds to Focal Area #3: Insight gleaned from complex data (both observed and simulated) using AI, big data analytics, and other advanced methods, including explainable AI and physics- or knowledge-guided AI. Science Challenge: This white paper addresses the water-cycle and data-model integration grand challenge. It leverages data from the Atmospheric Radiation Measurement (ARM) Climate Research Facility, and Next-Generation Ecosystem Experiment (NGEE), and Science Focus Area (SFA). The white paper focuses on controlling cloud, precipitation, and radiative properties as observed and simulated by the Earth System Models (ESM). The described framework can be readily applied to any other ensemble of instruments, including satellites and other ground-based networks.

54 ENVIRONMENTAL SCIENCES↗

The ARM Data System and Archive

Every observationally based research program needs a way to collect data from instruments, convert the data from its raw format into a more usable format, apply quality control, process it into higher-order data products, store the data, and make the data available to its scientific community. This data flow is illustrated pictorially in Fig. 11-1. These are the basic requirements of any scientific data system, and ARM’s data system would have to address these requirements and more. This research provides one view of the development of the ARM data system, which includes the ARM Data Archive, and some of the notable decisions that were made along the way.

97 MATHEMATICS AND COMPUTING↗

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗

Midlatitude Oceanic Cloud and Precipitation Properties as Sampled By the ARM Eastern North Atlantic Observatory

Marine low clouds are critical to the climate system because of their extensive coverage and associated controls on boundary layer dynamics and radiative energy balance. The primary foci for this study are marine low cloud observations over a heavily instrumented site on the Azores archipelago in the eastern North Atlantic (ENA) and their associated raindrop size distribution (DSD) properties, relative low-cloud contributions to the precipitation, and additional sampling (instrument, environmental) considerations. The contribution from low clouds (e.g., cloud top < 4 km) to the overall precipitation over midlatitude oceans is poorly understood, in part because of the lack of coupled, high-quality measurements of precipitation and low-cloud properties. Cloud regime and precipitation breakdowns performed for a multi-year record emphasize the diurnal precipitation cycle and DSD characteristics for both low and deeper clouds. Results demonstrate that marine low clouds over this ENA location account for a significant (45%) contribution to the total rainfall and exhibit a diurnal cycle in cloud (thickness, top, base) and precipitation characteristics similar to satellite records. Additional controls on observed surface rainfall characteristics of low clouds allowed by the extended ground-based facility datasets are also explored. From those analyses, it is suggested that the synoptic state exerts a significant control on low-cloud and surface precipitation properties.

Giangrande, Scott↗

Biomechanics of the Treadmill Locomotion on the International Space Station

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments with a 12-camera system. During flight, each crewmember completed up to 6 data collection sessions spread across their missions, performing their normal exercise prescription for the test day, resulting in varying data collection protocols between sessions. Motion data were collected by a single HD video camera positioned to view the crewmembers' left side, and tape markers were placed on their feet, legs, and neck on specific landmarks. Before data collection, the crewmembers calibrated the video camera. Video data were collected during the entire exercise session at 30 Hz. Kinematic data were used to determine left leg hip, knee, and ankle range of motion and contact time, flight time, and stride time for each stride. 129 trials in weightlessness were analyzed. Mean time-normalized strides were found for each trial, and cross-correlation procedures were used to examine the strength and direction of relationships between segment movement pattern timing in each gravitational condition. Cross-correlation analyses between gravitational conditions revealed highly consistent movement patterns at each joint. Peak correlation coefficients occurred at 0% phase, indicating there were no lags in movement timing. Joint ranges of motion were similar between gravitational conditions, with some slight differences between subjects. Motion patterns in weightlessness were highly consistent at a given speed with those occurring in 1G, indicating that despite differing sensory input, subjects maintain running kinematics. The data suggest that individuals are capable of compensating for loss of limb weight when creating movement strategies. These results have important implications for creating training programs for use in weightlessness as practitioners can have greater confidence in running motions transferring across gravitational environments. Furthermore, these results have implications for use by researchers investigating motor control mechanisms and investigating hypotheses related to movement strategies when using sensory input that is dependent upon gravity.

DeWitt, John↗

Disturbance observer-based dynamic optimal setting control

This paper deals with optimal operational control problems using a novel approach where a performance index is optimized by controller design together with set-points reselection. Firstly, the operational indices are obtained by employing some optimization algorithms. The controller is then designed for each closed loop to ensure the controlled variables can track the set points in the ideal situation. Taking advantage of disturbance observers, the set-points are reselected dynamically to minimize the effect caused by unexpected noises or disturbances. In the proposed method, the controller structure or parameters are never changed no matter what kind of disturbances affect the whole system. Finally, simulations on a 3 degrees of freedom robotic arm model are given to demonstrate the effectiveness and convenience of the proposed strategy.

Optimal control, Observer design, Setting Control↗

MSFC-TVC | TB-03: Derivation of Thrust Vector Control (TVC) Actuator-Force / Gimbal-Torque Transformation Matrix

Thrust vector control (TVC) systems for rocket engine propulsion traditionally use a simple linear relationship to convert between actuator forces and torques about the engine gimbal’s center-of-rotation (COR). As shown in Equation (1), the torque about the gimbal COR is proportional to the applied actuator force and the TVC moment arm (MA)—the perpendicular distance between the TVC actuator’s line-of-action (LOA) and the engine gimbal’s COR. While this fundamental relationship remains valid and accurate in a two-dimensional (2D), one-degree-of-freedom (1-DOF) context—particularly in its non-linear formulation as described in the ER63 Technical Bulletin TB-02 (Derivation of Thrust Vector Control (TVC) Engine-Gimbal / Actuator Moment-Arm Geometry)—it becomes limited when extended to three-dimensional (3D), two-degree-of-freedom (2-DOF) analyses. In 3D, out-of-plane angular displacements can arise, causing the gimbaled engine plane-of-motion to become non-coplanar with the respective actuator plane-of-motion. Such misalignments occur due to the rod-end (RE) and/or tail-stock (TE) mounting geometry of individual TVC actuators. These geometric complexities lead to inaccuracies in calculating engine torques and corresponding actuator forces if only the traditional TVC MA relationship is employed. For higher gimbal angular displacements (e.g., greater than 5 degrees), these inaccuracies become more pronounced, necessitating a more robust mathematical framework. This document presents a comprehensive 3D (2-DOF) derivation of a transformation matrix that accurately converts between gimbaled engine torques and TVC actuator forces. By incorporating the necessary geometric and rotational considerations, this new approach corrects the limitations of the traditional TVC MA method. Subsequent sections compare the newly formulated approach to the traditional method, demonstrating its enhanced accuracy and reliability for a broad range of gimbaled engine conditions.

Thrust Vector Control↗

An innovative exercise method to simulate orbital EVA work - Applications to PLSS automatic controls

An exercise method has been proposed which may satisfy the current need for a laboratory simulation representative of muscular, cardiovascular, respiratory, and thermoregulatory responses to work during orbital extravehicular activity (EVA). The simulation incorporates arm crank ergometry with a unique body support mechanism that allows all body position stabilization forces to be reacted at the feet. By instituting this exercise method in laboratory experimentation, an advanced portable life support system (PLSS) thermoregulatory control system can be designed to more accurately reflect the specific work requirements of orbital EVA.

Lantz, Renee↗

Recursive Linearization Of Dynamical Models Of Manipulators

Report shows how spatial-operator algebra developed by authors used to derive linearized mathematical models of dynamics of robotic manipulators. Aspects of spatial-operator algebra also described in "Robot Control Based On Spatial-Operator Algebra" (NPO-17918), "Unified Formulation Of Dynamics Of Robot Arms" (NPO-18040), and "Spatial-Operator Algebra For Robotic Manipulators" (NPO-17770).

Jain, Abhinandan↗