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Simpson (1988) has argued that the method of constant stimuli is as efficient as adaptive methods of threshold estimation and has supported this claim with simulations. It is shown that Simpson's simulations are not a reasonable model of the experimental process and that more plausible simulations confirm that adaptive methods are much more efficient that the method of constant stimuli.
Under our Jun. 1987 proposal, Magnetic Signatures of Near-Earth Distributed Currents, we proposed to render operational a modeling procedure that had been previously developed to compute the magnetic effects of distributed currents flowing in the magnetosphere-ionosphere system. After adaptation of the software to our computing environment we would apply the model to low altitude satellite orbits and would utilize the MAGSAT data suite to guide the analysis. During the first year, basic computer codes to run model systems of Birkeland and ionospheric currents and several graphical output routines were made operational on a VAX 780 in our research facility. Software performance was evaluated using an input matchstick ionospheric current array, field aligned currents were calculated and magnetic perturbations along hypothetical satellite orbits were calculated. The basic operation of the model was verified. Software routines to analyze and display MAGSAT satellite data in terms of deviations with respect to the earth's internal field were also made operational during the first year effort. The complete set of MAGSAT data to be used for evaluation of the models was received at the end of the first year. A detailed annual report in May 1989 described these first year activities completely. That first annual report is included by reference in this final report. This document summarizes our additional activities during the second year of effort and describes the modeling software, its operation, and includes as an attachment the deliverable computer software specified under the contract.
A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.
For domains where data are difficult to obtain due to human or resource limitations, an emphasis is needed to efficiently explore the dimensions of information spaces to acquire any given response of interest. Many disciplines are still making the transition from brute force, dense, full factorial exploration of their information spaces to a more efficient design of experiments approach; the latter being in use successfully for many decades in agricultural and automotive applications. Although this transition is still incomplete, groundwork must be laid for incorporating the next generation of algorithms to adaptively explore the information space in response to data collected, as well as any resulting empirical models (i.e., metamodels). The methodology in the present work was to compare metamodel quality using a fixed sampling technique compared to an adaptive sampling technique based on metamodel variance. In order to quantify metamodeling errors, a delta method was used to provide quantitative model variance estimates. The present methodology was applied to a design space with an air-breathing engine performance response. It was shown that competitive metamodel quality with lower associated error could be achieved for an adaptive sampling technique for the same level of effort as a fixed, a priori sampling technique.
CAD/CAE packages change on a continuous basis as the power of the tools increase to meet demands. End -users must adapt to new products as they come to market and replace legacy packages. CAE modeling has continued to evolve and is constantly becoming more detailed and complex. Though this comes at the cost of increased computing requirements Parallel processing coupled with appropriate hardware can minimize computation time. Users of Maya Thermal Model Generator (TMG) are faced with transitioning from NX I -deas to NX Space Systems Thermal (SST). It is important to understand what differences there are when changing software packages We are looking for consistency in results.
In this paper, an adaptive signal processing algorithm is joined with gain-scheduling for controlling the dynamics of high performance aircraft. A technique is presented for a reduced-order model (the longitudinal dynamics) of a high performance STOL aircraft. The actual controller views the nonlinear behavior of the aircraft as equivalent to a randomly switching sequence of linear models taken from a preliminary piecewise-linear fit of the system nonlinearities. The adaptive nature of the estimator is necessary to select the proper sequence of linear models along the flight trajectory. Nonlinear behavior is approximated by effective switching of the linear models at random times, with durations reflecting aircraft motion in response to pilot commands.
The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].
A control design methodology based on a nonlinear time-series reference model is presented. It is indicated by highly nonlinear simulations that such designs successfully stabilize troublesome aircraft maneuvers undergoing large changes in angle of attack as well as large electric power transients due to line faults. In both applications, the nonlinear controller was significantly better than the corresponding linear adaptive controller. For the electric power network, a flexible AC transmission system with series capacitor power feedback control is studied. A bilinear autoregressive moving average reference model is identified from system data, and the feedback control is manipulated according to a desired reference state. The control is optimized according to a predictive one-step quadratic performance index. A similar algorithm is derived for control of rapid changes in aircraft angle of attack over a normally unstable flight regime. In the latter case, however, a generalization of a bilinear time-series model reference includes quadratic and cubic terms in angle of attack.
A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).
The paper considers the problem of designing a learning control system (LCS) that is capable of meeting design requirements over many possible operating conditions of the plant by adjusting, in a prescribed manner, the feedforward and feedback gains of the plant. The approach utilizes the best features of two methods, gain scheduling and adaptive control. The LCS was implemented using two models, one representing the longitudinal dynamics and the other the lateral dynamics of the simulated plant. A block diagram illustrating the functional organization of an LCS is presented.
Supervisory decision making and control behavior within a C(3) oriented, ground based weapon system is being studied. The program involves empirical investigation of the sequence of control strategies used during engagement of aircraft targets. An engagement is conceptually divided into several stages which include initial information processing activity, tracking, and ongoing adaptive control decisions. Following a brief description of model parameters, two experiments which served as initial investigation into the accuracy of assumptions regarding the importance of situation assessment in procedure selection are outlined. Preliminary analysis of the results upheld the validity of the assumptions regarding strategic information processing and cue-criterion relationship learning. These results indicate that this model structure should be useful in studies of supervisory decision behavior.
Although graphite fibers behave in an essentially elastic manner, the polymeric matrix of graphite/epoxy composites is a viscoelastic material which exhibits creep and delayed failures. The creep process is quite slow at room temperature, but may be accelerated by higher temperatures, moisture absorption, and other factors. Techniques are being studied to predict long-term behavior of general laminates based on short-term observations of the unidirectional material at elevated temperatures. A preliminary numerical procedure based on lamination theory is developed for predicting creep and delayed failures in laminated composites. A modification of the Findley nonlinear power law is used to model the constitutive behavior of a lamina. An adaptation of the Tsai-Hill failure criterion is used to predict the time-dependent strength of a lamina. Predicted creep and delayed failure results are compared with typical experimental data.
The problem of providing data communications over a land mobile radio channel is considered, taking into account error detection combined with retransmission on request as a means of obtaining reliability in digital data transmission. The considered systems are referred to as automatic RQ (repeat-request) or ARQ. It is pointed out that the distinguishing features of a land mobile radio (LMR) system, as far as the ARQ protocol is concerned, are a frequency or pair of frequencies shared by a large population of half-duplex users which cannot transmit and receive simultaneously. A description is presented of those variations of ARQ which are adaptable to an LMR system. A new channel model for a fading LMR channel is developed, and several ARQ protocols and some new protocol combinations are described. The relationships are developed for a description of the various protocols in terms of channel failure probabilities. Undetected error probabilities are developed and compared.
Instrument for calibrating strain-gauge balances uses hydraulic actuators and load cells. Eliminates effects of nonparallelism, nonperpendicularity, and changes of cable directions upon vector sums of applied forces. Errors due to cable stretching, pulley friction, and weight inaccuracy also eliminated. New instrument rugged and transportable. Set up quickly. Developed to apply known loads to wind-tunnel models with encapsulated strain-gauge balances, also adapted for use in calibrating dynamometers, load sensors on machinery and laboratory instruments.
Program adapts to available information about particular engine. Mathematical model of internal-combustion engine constructed and implemented as computer program suitable for use on large digital computer systems. ZMOTTO program calculates Otto-cycle performance parameters as well as working-fluid compositions and properties throughout cycle for number of consecutive cycles and for variety of input parameters. Written in standard FORTRAN IV.
This paper presents and compares several system identification techniques proposed for use with higher harmonic control algorithms designed to alleviate helicopter vibration. All method for actively controlling helicopter vibration require the knowledge of how the vibration outputs are related to the control inputs. Off-line or batch identification methods for obtaining this knowledge are presented first. Then the more advanced, adaptive identification techniques proposed to track the helicopter model parameters in flight are discussed. Considerations regarding system identifiability, identification algorithm stability, and computer implementation are also discussed.
Simulation results are presented to address the problem of measurement noise in the design of adaptive controllers for large flexible space structures. In order to reduce the unrealistically high overall control demand resulting from the presence of leakage terms, a method has been developed for the introduction of noise filters into the adaptive controller while at the same time ensuring the global stability of the adaptive algorithm. A branch filter allows filtering of the output error without introducing phase lag into the adaptive loop. The technique is demonstrated in the simulation of an adaptive payload articulation control for a Space Station model.
Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.