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At least 1,117 records · Page 62

All sources NASA NTRS DOE OSTI

DOE OSTI2026

Constellation: The autonomous control and data acquisition system for dynamic experimental setups

The operation of instruments and detectors in laboratory or beamline environments presents a complex challenge, requiring stable operation of multiple concurrent devices, often controlled by separate hardware and software solutions. These environments frequently undergo modifications, such as the inclusion of different auxiliary devices depending on the experiment or facility, adding further complexity. The successful management of such dynamic configurations demands a flexible and robust system capable of controlling data acquisition, monitoring experimental setups, enabling seamless reconfiguration, and integrating new devices with limited effort. This paper presents Constellation, a flexible and network-distributed control and data acquisition software framework tailored to laboratory and beamline environments, that addresses the limitations of existing solutions. The framework is designed with a focus on extensibility, providing a streamlined interface for instrument integration. It supports efficient system setup via network discovery mechanisms, promotes stability through autonomous operational features, and provides comprehensive documentation and supporting tools for operators and application developers such as controllers and logging interfaces. At the core of the architectural design is the autonomy of the individual components, called satellites, which can make independent decisions about their operation and communicate these decisions to other components. This paper introduces the design principles and framework architecture of Constellation, presents the available graphical user interfaces, shares insights from initial successful deployments, and provides an outlook on future developments and applications.

Autonomy↗

DOE OSTI2024

Online Model-Free DER Dispatch Via Adaptive Voltage Sensitivity Estimation and Chance Constrained Programming

This paper proposes an online data-driven distributed energy resource management system (DERMS) for distribution system optimal DER dispatch as well as voltage regulation. Here, the key innovation is to leverage the Local Sensitivity Factor (LSF) for transforming the DER control into a computationally efficient linear programming (LP) problem. By taking real-time measurements, the estimation of LSF eliminates the need for an accurate distribution system model as well as full nodal load information, which is difficult to achieve in practice. A robust recursive least squares method is also developed to ensure the robust estimation of LSF, which is initialized using reasonable values from model-derived LSFs. This allows the system to adapt to changing operational conditions effectively. A scenario-based, chance-constrained framework is further employed to ensure voltage remains within acceptable limits in the presence of measurement and estimation uncertainties. Test results on a real-world, 759-node distribution network located in western Colorado, U.S., validate the effectiveness and robustness of the proposed control approach and demonstrate its superior performance as compared to alternative methods.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1996

On longitudinal control of high speed aircraft in the presence of aeroelastic modes

Longitudinal control system design is considered for a linearized dynamic model of a supersonic transport aircraft concept characterized by relaxed static stability and significant aeroelastic interactions. Two LQG-type controllers are designed using the frequency-domain additive uncertainty formulation to ensure robustness to unmodeled flexible modes. The first controller is based on a 4th-order model containing only the rigid-body modes, while the second controller is based on an 8th-order model that additionally includes the two most prominent flexible modes. The performance obtainable from the 4th-order controller is not adequate, while the 8th-order controller is found to provide better performance. Frequency-domain and time-domain (Lyapunov) methods are subsequently used to assess the robustness of the 8th-order controller to parametric uncertainties in the design model.

Joshi, Suresh M.↗

DOE OSTI2021

Model Predictive Fault-Tolerant Tracking Control for PDF Control Systems With Packet Losses

In this article, a fault-tolerant tracking control strategy is investigated for nonlinear probability density function (PDF) control systems with the actuator fault, uncertainties, unknown disturbance, and random packet losses. The control input signal dropout and measurement signal dropouts are described as the independent Bernoulli distribution. An adaptive fault diagnosis (FD) observer based on the Lyapunov function is given to simultaneously estimate the fault, disturbance, and state with packet losses. Furthermore, different from the traditional robust fault-tolerant control (FTC), a new active fault-tolerant tracking controller is designed based on the model predictive control framework, which has better adaptive fault-tolerant performance. Finally, the validity of the proposed FTC method has been proved by a simulation study of a papermaking process.

42 ENGINEERING↗

NASA NTRS2003

Bio-inspired Computing for Robots

Living creatures may provide algorithms to enable active sensing/control systems in robots. Active sensing could enable planetary rovers to feel their way in unknown environments. The surface of Jupiter's moon Europa consists of fractured ice over a liquid sea that may contain microbes similar to those on Earth. To explore such extreme environments, NASA needs robots that autonomously survive, navigate, and gather scientific data. They will be too far away for guidance from Earth. They must sense their environment and control their own movements to avoid obstacles or investigate a science opportunity. To meet this challenge, CICT's Information Technology Strategic Research (ITSR) Project is funding neurobiologists at NASA's Jet Propulsion Laboratory (JPL) and selected universities to search for biologically inspired algorithms that enable robust active sensing and control for exploratory robots. Sources for these algorithms are living creatures, including rats and electric fish.

Laufenberg, Larry↗

NASA NTRS1995

Dynamic neural networks based on-line identification and control of high performance motor drives

In the automated and high-tech industries of the future, there wil be a need for high performance motor drives both in the low-power range and in the high-power range. To meet very straight demands of tracking and regulation in the two quadrants of operation, advanced control technologies are of a considerable interest and need to be developed. In response a dynamics learning control architecture is developed with simultaneous on-line identification and control. the feature of the proposed approach, to efficiently combine the dual task of system identification (learning) and adaptive control of nonlinear motor drives into a single operation is presented. This approach, therefore, not only adapts to uncertainties of the dynamic parameters of the motor drives but also learns about their inherent nonlinearities. In fact, most of the neural networks based adaptive control approaches in use have an identification phase entirely separate from the control phase. Because these approaches separate the identification and control modes, it is not possible to cope with dynamic changes in a controlled process. Extensive simulation studies have been conducted and good performance was observed. The robustness characteristics of neuro-controllers to perform efficiently in a noisy environment is also demonstrated. With this initial success, the principal investigator believes that the proposed approach with the suggested neural structure can be used successfully for the control of high performance motor drives. Two identification and control topologies based on the model reference adaptive control technique are used in this present analysis. No prior knowledge of load dynamics is assumed in either topology while the second topology also assumes no knowledge of the motor parameters.

Rubaai, Ahmed↗

NASA NTRS2018

Working Fluid Trade Study for a Two-Phase Mechanically Pumped Loop Thermal Control System

NASA Jet Propulsion Laboratory is investigating a two-phase mechanically pumped fluid loop (MPFL) technology for spacecraft thermal control for future planetary space science mission concepts. The two-phase technology combines the potential of single-phase MPFL and the passive two-phase heat pipe systems. Previous two-phase MPFL studies at JPL have identified an evaporator system with a separated flow architecture as providing a robust light mass thermal control system with very high spatial and temporal thermal stability required by the science instruments on these missions. These studies have further identified the thermophysical properties of the working fluid to be key to the performance of a two-phase fluid loop. This paper describes the methodology used in the selection of the working fluids for optimizing the performance of the two-phase MPFL. A high level model was developed that includes the constraints and boundaries driven by the system components. The performance of fluids from the REFPROP database are investigated and rated for this system. The working fluid attributes such as cost, hazardous properties, and heritage were taken into account in this selection. A typical spacecraft dissipating 1000 W and a fluid loop consisting of an evaporator, accumulator, radiator, and associated tubing components is used as an example in this study.

Daimaru, Takuro↗

DOE OSTI2020

A high-temperature mixed potential CO gas sensor for in situ combustion control

An in situ, accurate and robust sensor that can sustain a high temperature of above 1000 °C is needed for on-site combustion monitoring because it can give real-time and local data to the control system to adjust the overall combustion efficiency. In this work, we find that nickel oxide (NiO) is a promising sensing material for CO which is a direct indicator of the status of the combustion process of a power plant. Under the conditions of 0.5–3% O 2 and 1000 °C, the fabricated yttrium-stabilized zirconia (YSZ)-based mixed potential sensor using porous NiO demonstrates good sensitivity to CO, showing a signal as high as 36 mV to 1000 ppm CO. The effects of gas transport, structure and geometry of the NiO electrode on the sensing performance are studied. Results show that fast gas transport is much beneficial to improved sensitivity. NiO having a porous structure is much more sensitive to CO than that having a dense structure. But the t90 (time to achieve 90% final signal magnitude) of the former is much longer due to slower gas diffusion inside the pores. It's worth noting that the NiO sensor exhibits a positive relationship with the CO content, opposite to other reported results of mixed potential sensors to detect CO. We find that this might be due to the electrochemical reduction, instead of oxidation of CO during the interaction with NiO at 1000 °C. Selectivity tests on how CO 2 , CH 4 and steam affect CO sensing are also demonstrated. NiO is insensitive to even 10% CO 2 . CH 4 does not shift the average value of the CO sensing response. However, it makes the sensing signal fluctuate more intensively. 2% steam exerts a great influence on NiO sensitivity to CO: it magnifies the sensitivity of the porous NiO electrode to a low CO range of 0–100 ppm, but inhibits its sensitivity to a CO range of 100 ppm to 1000 ppm. Lastly, an 11 day stability test demonstrates the promising stability property of the proposed NiO-based YSZ sensor.

20 FOSSIL-FUELED POWER PLANTS↗

NASA NTRS2018

Working Fluid Trade Study for a Two-Phase Mechanically Pumped Loop Thermal Control System

NASA Jet Propulsion Laboratory is investigating a two-phase mechanically pumped fluid loop (MPFL) technology for spacecraft thermal control for future planetary space science mission concepts. The two-phase technology combines the potential of single-phase MPFL and the passive two-phase heat pipe systems. Previous two-phase MPFL studies4,5 at JPL have identified an evaporator system with a separated flow architecture as providing a robust light mass thermal control system with very high spatial and temporal thermal stability required by the science instruments on these missions. These studies have further identified the thermophysical properties of the working fluid to be key to the performance of a two-phase fluid loop. This paper describes the methodology used in the selection of the working fluids for optimizing the performance of the two-phase MPFL. A high level model was developed that includes the constraints and boundaries driven by the system components. The performance of fluids from the REFPROP database were investigated and rated for this system. The working fluid attributes such as cost, hazardous properties, and heritage were taken into account in this selection. A typical spacecraft dissipating 1000 W and a fluid loop consisting of an evaporator, accumulator, radiator, and associated tubing components was used as an example in this study.

Daimaru, Takuro↗

DOE OSTI2025

Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles

Motion sickness is a common condition experienced by drivers of skid-steer vehicles, primarily caused by zero crossing and oscillations in undamped systems. This study proposes an observer-based nonlinear control scheme to reduce transient oscillations and zero-crossing phenomena in skid-steer vehicles, thereby potentially alleviating motion sickness. Reducing transient oscillations and zero crossing in the transient response may alleviate motion sickness. A nonlinear damping controller is designed to improve transient response by reducing oscillations and zero-crossing. To design the controller, a reduced-order kinematic model based on coordinate transformation is developed. This transformation not only converts the system modeling into a controllable form but also enhances control performance. Modeling error is addressed by considering the distance between the center of the vehicle and the sensor location. Despite these improvements, model uncertainties and external disturbances remain, which may degrade control performance. To ensure robustness and estimate such disturbances, a high-order sliding mode observer (HOSMO) is incorporated. The effectiveness of the proposed method is validated through MATLAB/Simulink and TruckMaker simulations. From the simulation results, it was shown that the proposed method reduced the mean squared error of the tracking error to within 10 % compared to the state feedback controller with the HOSMO.

Seo, Jiwon [Chung-Ang University, Seoul (Korea, Re↗

DOE OSTI2024

A Measurement-Based Adaptive Voltage Regulation Method Considering Topology Changes

This paper proposes an online adaptive data-driven distributed energy resource (DER) dispatch optimization method for voltage control considering topology changes. By using a local sensitivity factor (LSF)-enabled voltage control, traditional DER control can be reformulated into a linear programming (LP) problem, leading to faster computation speeds. Power injection alteration and topology changes are two common operational changes in the distribution network that can affect the LSF and voltage control performance. To address this issue, a robust estimation method is developed to adjust the sensitivity matrix at each time step for the time-varying power injection changes. When topology changes occur, only the allocated predominant LSF submatrices are updated based on measurement data, allowing for a fast adaptation to the system reconfiguration. Results obtained from a real distribution feeder in Southern California demonstrate its robustness as compared to traditional volt-var control and constant LSF matrix dispatch control methods.

DERs↗

NASA NTRS1985

On the Stability of Collocated Controllers in the Presence or Uncertain Nonlinearities and Other Perils

Robustness properties are investigated for two types of controllers for large flexible space structures, which use collocated sensors and actuators. The first type is an attitude controller which uses negative definite feedback of measured attitude and rate, while the second type is a damping enhancement controller which uses only velocity (rate) feedback. It is proved that collocated attitude controllers preserve closed loop global asymptotic stability when linear actuator/sensor dynamics satisfying certain phase conditions are present, or monotonic increasing nonlinearities are present. For velocity feedback controllers, the global asymptotic stability is proved under much weaker conditions. In particular, they have 90 phase margin and can tolerate nonlinearities belonging to the (0,infinity) sector in the actuator/sensor characteristics. The results significantly enhance the viability of both types of collocated controllers, especially when the available information about the large space structure (LSS) parameters is inadequate or inaccurate.

Joshi, S. M.↗

NASA NTRS1990

Improved configuration control for redundant robots

This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Seraji, H.↗

NASA NTRS2020

Nonlinear Slosh Damping Testing and Analysis for Launch Vehicle Propellant Tanks

Propellant tank slosh damping models for launch vehicle ascent analysis typically employ linear models for bare-wall damping, or assume a single, low-amplitude wave height for baffled configurations. A higher fidelity damping model would incorporate nonlinear effects to increase damping as slosh wave amplitude increases. This paper provides an overview of a technical assessment performed by the NASA Engineering and Safety Center (NESC) to evaluate lateral slosh damping as a function of lateral force (or wave) amplitude for multiple tank configurations. The increased fidelity of nonlinear slosh damping models, if leveraged, has the potential to reduce over-conservatism associated with the use of linear slosh damping models. This can provide design flexibility to enhance launch vehicle flight control performance, reduce baffle design requirements and/or increase robustness in targeted areas such as control-structure interaction during ascent.

Tannen S VanZwieten↗

DOE OSTI2018

Mechanically Robust, Ultraelastic Hierarchical Foam with Tunable Properties via 3D Printing

We present a mechanically robust, ultraelastic foam with controlled multiscale architectures and tunable mechanical/conductive performance is fabricated via 3D printing. Hierarchical porosity, including both macro- and microscaled pores, are produced by the combination of direct ink writing (DIW), acid etching, and phase inversion. The thixotropic inks in DIW are formulated by a simple one-pot process to disperse duo nanoparticles (nanoclay and silica nanoparticles) in a polyurethane suspension. The resulting lightweight foam exhibits tailorable mechanical strength, unprecedented elasticity (standing over 1000 compression cycles), and remarkable robustness (rapidly and fully recover after a load more than 20 000 times of its own weight). Surface coating of carbon nanotubes yields a conductive elastic foam that can be used as piezoresistivity sensor with high sensitivity. For the first time, this strategy achieves 3D printing of elastic foam with controlled multilevel 3D structures and mechanical/conductive properties. In conclusion, the facile ink preparation method can be utilized to fabricate foams of various materials with desirable performance via 3D printing.

36 MATERIALS SCIENCE↗

NASA NTRS1989

Global models: Robot sensing, control, and sensory-motor skills

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.

Schenker, Paul S.↗

NASA NTRS1992

Needs for supervised space robots in space exploration

The areas of application for space robots in the Space Exploration Initiative (SEI) are examined by reviewing the roles of SEI supervised robots particularly with planet-surface systems (PSSs). Treatment is given to both teleoperated conventional robot systems and autonomous intelligent systems for comparison in terms of safety, reliability, and productivity. Two development stages are proposed including one with a robotic actor, human observer, and a human supervisor and a second in which a closed-loop control and monitoring system is established. The use of remote control is shown to require robustness, self-calibration and -diagnosis, adjustable autonomy, and multitask capability. The requirements of intelligent control are also listed so that the PSSs of the SEI can be used to enable surface exploration, local-resource utilization potential, and reductions of human tasks.

Erickson, Jon D.↗

NASA NTRS1993

Towards autonomous fuzzy control

The efficient implementation of on-line adaptation in real time is an important research problem in fuzzy control. The goal is to develop autonomous self-organizing controllers employing system-independent control meta-knowledge which enables them to adjust their control policies depending on the systems they control and the environments in which they operate. An autonomous fuzzy controller would continuously observe system behavior while implementing its control actions and would use the outcomes of these actions to refine its control policy. It could be designed to lie dormant when its control actions give rise to adequate performance characteristics but could rapidly and autonomously initiate real-time adaptation whenever its performance degrades. Such an autonomous fuzzy controller would have immense practical value. It could accommodate individual variations in system characteristics and also compensate for degradations in system characteristics caused by wear and tear. It could also potentially deal with black-box systems and control scenarios. On-going research in autonomous fuzzy control is reported. The ultimate research objective is to develop robust and relatively inexpensive autonomous fuzzy control hardware suitable for use in real time environments.

Shenoi, Sujeet↗