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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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At least 109 records · Page 6

All sources NASA NTRS DOE OSTI

NASA NTRS2005

Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

Burken, John J.↗

NASA NTRS2010

Compact, Lightweight Servo-Controllable Brakes

Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

Lovchik, Christopher S.↗

NASA NTRS2015

Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the de- scribed dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

Propulsion↗

NASA NTRS2015

Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the described dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

Control Theory↗

NASA NTRS2016

Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

aeroservoelasticity↗

NASA NTRS2021

Dual Quaternion Visual Servo Control

This paper focuses on a dual quaternion-based estimation and control approach for position-based visual servoing (PBVS). The pose estimation of the camera is achieved using a dual quaternion-based Extended Kalman Filter (EKF), which estimates the position and orientation of the camera based on feature points acquired through a sequence of camera images. Based on the estimation, a dual quaternion control law is developed to regulate the camera to the desired pose. Leveraging the local exponential stability of the EKF and the global exponential stability of the designed controller, a nonlinear separation principle is used to prove the stability of the joint estimation and control for PBVS. The method is distinguished from other PBVS methods in the sense that a compact representation of dual quaternion is used to represent the pose, and a joint stability of estimator and controller for PBVS in dual quaternion space is presented. The proposed dual quaternion PBVS method is validated using a simulation.

Quaternions↗

NASA NTRS2022

Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation

In this paper, we propose an adaptive shape servoing method to deform a soft object into a desired 3-D shape. The high dimensional representation and the unknown deformation properties of the soft object pose a challenge to actively manipulate its shape. To address this issue, we develop a method to compute the deformation Jacobian matrix in real-time. The Jacobian is estimated using a set of basis functions and its corresponding parameters to capture the dynamics of the system and relate the applied input motion to changes in the soft object's shape. An integral concurrent learning (ICL) based adaptive update law is derived using Lyapunov analysis to estimate the deformation parameters and prove its convergence. A physics-based simulation is used to validate the proposed method and controller by performing manipulation tasks with different desired configurations. The performance is compared with a standard gradient update law to demonstrate the accuracy and robustness of our approach.

Vrithik Raj Guthikonda↗

NASA NTRS2024

Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function

An adaptive shape servoing control method is presented in this article to manipulate a deformable object into a desired shape in 3-D. A finite-point-based representation of the deformable object is used and the deformation Jacobian matrix is approximated using Fourier series basis functions. The unknown parameters of the deformation Jacobian are learned by using the velocity applied to a control point on the object and corresponding change of positions of the points describing the entire object. An integral concurrent learning (ICL)-based parameter update law is designed along with a constrained controller to satisfy the state constraints on the motion of the control point using Barrier Lyapunov function analysis. ICL-based parameter update law uses data history of velocity and corresponding positions of the points along with their current values. An efficient algorithm to update the history stack using singular value maximization is proposed based on the structure of the regressor matrix. Simulations using a physical simulator and experiments using a robot platform are performed to validate the performance of the proposed controller on two different deformable objects.

Vrithik Raj Guthikonda↗

DOE OSTI2013

Visual-servoing optical microscopy

The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time; quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

47 OTHER INSTRUMENTATION↗

DOE OSTI2016

HAWC2 and BeamDyn: Comparison Between Beam Structural Models for Aero-Servo-Elastic Frameworks: Preprint

This work presents a comparison of two beam codes for aero-servo-elastic frameworks: a new structural model for the aeroelastic code HAWC2 and a new nonlinear beam model, BeamDyn, for the aeroelastic modularization framework FAST v8. The main goal is to establish the suitability of the two approaches to model the structural behaviour of modern wind turbine blades in operation. Through a series of benchmarking structural cases of increasing complexity, the capability of the two codes to simulate highly nonlinear effects is investigated and analyzed. Results show that even though the geometrically exact beam theory can better model effects such as very large deflections, rotations, and structural couplings, an approach based on a multi-body formulation assembled through linear elements is capable of computing accurate solutions for typical nonlinear beam theory benchmarking cases.

17 WIND ENERGY↗

DOE OSTI2016

HAWC2 and BeamDyn: Comparison Between Beam Structural Models for Aero-Servo-Elastic Frameworks

17 WIND ENERGY↗

DOE OSTI2018

Visual Servoing System for the Removal of the Elements of a Prefilter in a NPP - 18429

The maintenance of the prefilters of the condensate demineralizers in a BWR reactor nuclear plant, could represents a real problem given the substances (radioactive particles) captured by the filtering elements (called 'candles'). This trapped material can produce high doses on the personnel participating in this maintenance work. Thus, it is desirable to automate the maintenance activities required to remove the used filtering elements. Then we designed a robotic manipulator capable of detaching, one by one, the filtering elements from their fastening structure. The manipulator deposits the 'candles' into a container as they are detached, and at the end, it is automatically transported, to a storage area. The work here presented, proposes the application of the 'visual servoing control' technique to automate the operation of the robotic arm. This would minimize the intervention of human operators, reducing maintenance times and radiation dose to the personnel. The methodology is based on techniques of artificial vision and uses, in addition to a video camera, a device capable of generating a laser line, which when projected onto 3D space, creates what is known as a laser plane. This plane upon striking the candles will generate circumferential arcs in the video camera images, and these figures will be used to detect the 3D point that will guide the manipulator to take the filtering element. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1963