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At least 1,207 records · Page 67

Modeling and Control for a Flexible Inverted Pendulum Robot

This report describes the tasks accomplished during Fall 2020 at the Kennedy Space Center under the scope of the Robotic Control System Design internship project. These tasks primarily supported development of an augmented adaptive control system for an inverted pendulum (IP) robotic system on a 4-wheel mobile base (Penny). This system serves as an analogue to the control problems in the flight of rockets in the initial and latter stages of launch, and methods developed as part of this research can later be applied to more complex IP systems, such as launch vehicles. To more accurately model launch vehicles, a flexible aluminum pendulum is used both on the hardware and in the simulated models. In order to capture the flexible dynamics of the system, hardware modifications were made to Penny (including installation of a rate gyro at the tip of the pendulum). Simulink models were created to control and model the hardware system, and Simscape models were created/updated to model the system in simulation. MATLAB programs were created throughout the internship to analyze data generated from hardware and simulation runs. Linear fixed-gain controllers have been applied to the simulated and hardware system, and work continues with augmenting these controllers using sensor blending and direct output adaptive control methods to improve stabilization of system states and cancel flex dynamics. In addition to describing the work done to support these modeling efforts, an Independent Research and Technology Development (IR&TD) proposal for a lunar simulation with soil deformation modeling developed during the internship is briefly described.

Nashir A Janmohamed↗

The Langley Stability and Transition Analysis Code (LASTRAC) : LST, Linear and Nonlinear PSE for 2-D, Axisymmetric, and Infinite Swept Wing Boundary Layers

During the past two decades, our understanding of laminar-turbulent transition flow physics has advanced significantly owing to, in a large part, the NASA program support such as the National Aerospace Plane (NASP), High-speed Civil Transport (HSCT), and Advanced Subsonic Technology (AST). Experimental, theoretical, as well as computational efforts on various issues such as receptivity and linear and nonlinear evolution of instability waves take part in broadening our knowledge base for this intricate flow phenomenon. Despite all these advances, transition prediction remains a nontrivial task for engineers due to the lack of a widely available, robust, and efficient prediction tool. The design and development of the LASTRAC code is aimed at providing one such engineering tool that is easy to use and yet capable of dealing with a broad range of transition related issues. LASTRAC was written from scratch based on the state-of-the-art numerical methods for stability analysis and modem software technologies. At low fidelity, it allows users to perform linear stability analysis and N-factor transition correlation for a broad range of flow regimes and configurations by using either the linear stability theory (LST) or linear parabolized stability equations (LPSE) method. At high fidelity, users may use nonlinear PSE to track finite-amplitude disturbances until the skin friction rise. Coupled with the built-in receptivity model that is currently under development, the nonlinear PSE method offers a synergistic approach to predict transition onset for a given disturbance environment based on first principles. This paper describes the governing equations, numerical methods, code development, and case studies for the current release of LASTRAC. Practical applications of LASTRAC are demonstrated for linear stability calculations, N-factor transition correlation, non-linear breakdown simulations, and controls of stationary crossflow instability in supersonic swept wing boundary layers.

Chang, Chau-Lyan↗

Nevada Higher Education Benefits from US Department of Energy (DOE) Environmental Management (EM) Nevada Program's Transfer of Geologic Samples - 20442

The Nevada National Security Site (NNSS), formerly the Nevada Test Site, was the location of 100 historic atmospheric and 828 historic underground nuclear tests from 1951 to 1992. Related to this historic nuclear testing, geologic and hydrologic studies of the site were conducted utilizing the skills and the expertise of the U.S. Geological Survey (USGS) and national laboratories (Los Alamos National Laboratory, Lawrence Livermore National Laboratory), who were principal in leading the development of weapons and were responsible for specific underground testing programs. The subsurface samples and technical/scientific data associated with NNSS geologic studies (past and present) are preserved and stored at the USGS Mercury Core Library and Data Center located at the NNSS. Currently, the facility stores over 2,000,000 linear feet of cores and cuttings from more than 2,600 drill holes that can be accessed for study. Most of the samples and historic geologic work was focused directly on subsurface geologic settings that relate directly to historic underground nuclear testing. Since 1992, the United States has observed a unilateral moratorium on full-scale nuclear testing, and the U.S. Department of Energy (DOE) Environmental Management (EM) Nevada Program is now responsible for hydrogeologic characterization of the potential impacts to the natural groundwater systems that may have resulted from historic underground nuclear tests. As part of this effort, the EM Nevada Program Underground Test Area (UGTA) Activity has drilled and completed over 58 deep (2,000 - 7,000 ft.) characterization wells, totaling in excess of 170,000 linear feet of cuttings and core samples. Cutting samples were collected as triplicate samples for each respective depth interval, to account for potential later nondestructive/destructive analysis and to preserve samples for regulatory purposes. Recently, it was recognized by the EM Nevada Program that opportunities may exist to reduce the cost and floor space required for the storage of geologic samples at the Mercury Core Library without impacting the integrity and representative nature of the samples necessary for project execution. An initiative was sponsored by EM Nevada Program to evaluate several options: 1) disposal of a portion of cuttings and cores in a land fill setting; 2) reduction in sample volume through skeletonizing core and cuttings from wells to a representative but much smaller number of samples; and 3) solicit potential interest in the academic community where other geoscientists could freely access the samples for studies. The Nevada state university system through the Nevada Bureau of Mines and Geology responded positively to the opportunity to receive these NNSS samples from the EM Nevada Program. In June 2019, approximately 17,000 geologic samples, representing greater than 170,000 linear feet of drilling and weighing over 20,000 pounds, were shipped from the NNSS to the Great Basin Science Sample and Records Library located in Reno, Nevada. The benefits resulting from this transfer were realized by the EM Nevada Program in terms of cost and space savings for geologic sample storage at the NNSS. The transfer did not impact the EM Nevada Program mission as access to representative geologic samples for regulatory and scientific purposes was preserved. Moreover, the Nevada Bureau of Mines and Geology acquired a significant resource of subsurface geologic samples and supporting technical data to support academic and scientific studies in a complex volcanic setting in southwest Nevada. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Toward a scalable robust security-constrained optimal power flow using a proximal projection bundle method

Robust security-constrained optimal power flow (rSCOPF) aims to find the worst-case contingencies of alternating current optimal power flow (ACOPF) in power systems. With the rise of GPU architectures on the upcoming supercomputer architectures, optimization algorithms that rely on sparse linear algebra and indefinite linear systems are becoming increasingly hard to solve efficiently (e.g. interior-point method). To address this we revisit a maximin optimization formulation of the rSCOPF and the single-level mixed-integer semidefinite programming (MISDP) reformulation, which is obtained by taking the Lagrangian relaxation of the inner minimization ACOPF problem. In this paper, we focus on the development of a proximal projection bundle method (PPBM) for solving continuous relaxation node subproblems of the MISDP problem, based primarily on the well-known alternating direction method of multipliers. Cutting planes reminiscent of bundle method ideas are also applied in coordination with updates of the proximal parameter. The cutting-plane method can generate a large number of linear inequalities, leading to a large scale but decomposable quadratic programming (QP) subproblem that is amenable to GPUs. We present the numerical results on the IEEE 30, 57, 118, and 300-bus systems by using our PBMM method. We discuss the main computational bottleneck of our method, which is the time taken to solve each iteration of a QP subproblem instance of the PPBM, and how GPU architectures can accelerate this solution process.

bundle method↗

F100 multivariable control synthesis program: Evaluation of a multivariable control using a real-time engine simulation

The design, evaluation, and testing of a practical, multivariable, linear quadratic regulator control for the F100 turbofan engine were accomplished. NASA evaluation of the multivariable control logic and implementation are covered. The evaluation utilized a real time, hybrid computer simulation of the engine. Results of the evaluation are presented, and recommendations concerning future engine testing of the control are made. Results indicated that the engine testing of the control should be conducted as planned.

Szuch, J. R.↗

Optimal pre-scheduling of problem remappings

A large class of scientific computational problems can be characterized as a sequence of steps where a significant amount of computation occurs each step, but the work performed at each step is not necessarily identical. Two good examples of this type of computation are: (1) regridding methods which change the problem discretization during the course of the computation, and (2) methods for solving sparse triangular systems of linear equations. Recent work has investigated a means of mapping such computations onto parallel processors; the method defines a family of static mappings with differing degrees of importance placed on the conflicting goals of good load balance and low communication/synchronization overhead. The performance tradeoffs are controllable by adjusting the parameters of the mapping method. To achieve good performance it may be necessary to dynamically change these parameters at run-time, but such changes can impose additional costs. If the computation's behavior can be determined prior to its execution, it can be possible to construct an optimal parameter schedule using a low-order-polynomial-time dynamic programming algorithm. Since the latter can be expensive, the performance is studied of the effect of a linear-time scheduling heuristic on one of the model problems, and it is shown to be effective and nearly optimal.

Nicol, David M.↗

Overview of computational control research at UT Austin

An overview of current research activities at UT Austin is presented to discuss certain technical issues in the following areas: (1) Computer-Aided Nonlinear Control Design: In this project, the describing function method is employed for the nonlinear control analysis and design of a flexible spacecraft equipped with pulse modulated reaction jets. INCA program has been enhanced to allow the numerical calculation of describing functions as well as the nonlinear limit cycle analysis capability in the frequency domain; (2) Robust Linear Quadratic Gaussian (LQG) Compensator Synthesis: Robust control design techniques and software tools are developed for flexible space structures with parameter uncertainty. In particular, an interactive, robust multivariable control design capability is being developed for INCA program; and (3) LQR-Based Autonomous Control System for the Space Station: In this project, real time implementation of LQR-based autonomous control system is investigated for the space station with time-varying inertias and with significant multibody dynamic interactions.

Bong, Wie↗

High-Speed Ionic Synaptic Memory Based on 2D Titanium Carbide MXene

Synaptic devices with linear high-speed switching can accelerate learning in artificial neural networks (ANNs) embodied in hardware. Conventional resistive memories however suffer from high write noise and asymmetric conductance tuning, preventing parallel programming of ANN arrays. Electrochemical random-access memories (ECRAMs), where resistive switching occurs by ion insertion into a redox-active channel, aim to address these challenges due to their linear switching and low noise. ECRAMs using 2D materials and metal oxides however suffer from slow ion kinetics, whereas organic ECRAMs enable high-speed operation but face challenges toward on-chip integration due to poor temperature stability of polymers. Here, ECRAMs using 2D titanium carbide (Ti 3 C 2 T x ) MXene that combine the high speed of organics and the integration compatibility of inorganic materials in a single high-performance device are demonstrated. These ECRAMs combine the speed, linearity, write noise, switching energy, and endurance metrics essential for parallel acceleration of ANNs, and importantly, they are stable after heat treatment needed for back-end-of-line integration with Si electronics. The high speed and performance of these ECRAMs introduces MXenes, a large family of 2D carbides and nitrides with more than 30 stoichiometric compositions synthesized to date, as promising candidates for devices operating at the nexus of electrochemistry and electronics.

2D materials↗

A wing concept for supersonic maneuvering

A theoretical and experimental program in which a wing concept for supersonic maneuvering was developed and then demonstrated experimentally in a series of wind tunnel tests is described. For the typical fighter wing, the problem of obtaining efficient lift at supersonic maneuvering C sub 's occurs due to development of a strong crossflow shock, and boundary layer separation. A natural means of achieving efficient supersonic maneuvering is based on controlling the non-linear inviscid crossflow on the wing in a manner analogous to the supercritical aerodynamic methods developed for transonic speeds. The application of supercritical aerodynamics to supersonic speeds is carried out using Supercritical Conical Camber (SC3). This report provides an aerodynamic analysis of the effort, with emphasis on wing design using non-linear aerodynamics. The substantial experimental data base is described in three separate wind tunnel reports, while two of the computer programs used in the work are also described in a separate report. Based on the development program it appears that a controlled supercritical crossflow can be obtained reliably on fighter-type wing planforms, with an associated drag due to lift reduction of about 20% projected using this concept.

Mason, W. H.↗

Control system design and analysis using the INteractive Controls Analysis (INCA) program

The INteractive Controls Analysis (INCA) program was developed at the Goddard Space Flight Center to provide a user friendly efficient environment for the design and analysis of linear control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. Moreover, the results of the analytic tools imbedded in INCA have been flight proven with at least three currently orbiting spacecraft. This paper describes the INCA program and illustrates, using a flight proven example, how the package can perform complex design analyses with relative ease.

Bauer, Frank H.↗

Model for radial dependence of frequency distributions for energy imparted in nanometer volumes from HZE particles

This paper develops a deterministic model of frequency distributions for energy imparted (total energy deposition) in small volumes similar to DNA molecules from high-energy ions of interest for space radiation protection and cancer therapy. Frequency distributions for energy imparted are useful for considering radiation quality and for modeling biological damage produced by ionizing radiation. For high-energy ions, secondary electron (delta-ray) tracks originating from a primary ion track make dominant contributions to energy deposition events in small volumes. Our method uses the distribution of electrons produced about an ion's path and incorporates results from Monte Carlo simulation of electron tracks to predict frequency distributions for ions, including their dependence on radial distance. The contribution from primary ion events is treated using an impact parameter formalism of spatially restricted linear energy transfer (LET) and energy-transfer straggling. We validate our model by comparing it directly to results from Monte Carlo simulations for proton and alpha-particle tracks. We show for the first time frequency distributions of energy imparted in DNA structures by several high-energy ions such as cosmic-ray iron ions. Our comparison with results from Monte Carlo simulations at low energies indicates the accuracy of the method.

Non-NASA Center↗

Deterministic and Monte Carlo Nuclear Data Adjustment Methods [Slides]

For the Bayesian Monte Carlo methodology, a need to understand convergence of the posterior moments as a function of the number of parameter realizations is required. In high-dimensional systems, it can be very costly to sample entire parameter space and perform functional evaluation for every realization. Bayesian Monte Carlo allows one to relax the GLLS approximations of model linearity and prior/posterior PDF shape. The Bayesian Stochastic Collocation Method is a deterministic approach to “sample” the parameter space. It allows one to relax the GLLS approximations of model linearity and posterior PDF shape. Higher-order posterior moments (i.e., skewness, kurtosis, etc.) can be studied through polynomial expansion. Tensor product quadrature scales poorly and can use sparse grid quadrature methods.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

Boland, J. S., III↗

Foster-Miller's development of dry coal feed systems

Dry coal feeder systems developed for pressurized conversion processes were carried through a laboratory scale development program. These concepts include: (1) a centrifugal solids feeder; (2) a fluidized piston feeder; (3) a linear pocket feeder; and (4) a compacted coal plug feeder. Results of laboratory model testing of all concepts are reviewed.

Harding, J. C.↗

Aerodynamic Analysis of Low-Speed Wing-Flap Systems

SUBAERF program developed for aerodynamic analysis and design of lowspeed wing-flap systems. SUBAERF based on linearized theory lifting-surface solution. Low speed aerodynamic analysis method used in SUBAERF provides estimates of wing performance which include effects of attainable leading edge thrust and vortex lift.

Carlson, H. W.↗

Breadboard stellar tracker system test report

BASD has, in the past, developed several unique position tracking algorithms for charge transfer device (CTD) sensors. These algorithms provide an interpixel transfer function with the following characteristics: (1) high linearity; (2) simplified track logic; (3) high gain; and (4) high noise rejection. A previous test program using the GE charge injection device (CID) showed that accuracy for BASD's breadboard was limited to approximately 2% of a pixel (1 sigma) whereas analysis and simulation indicated the limit should be less than 0.5% of a pixel, assuming the limit to be detector response and dark current noise. The test program was conducted under NASA contract No. NAS8-34263. The test approach for that program did not provide sufficient data to identify the sources of error and left open the amount of contribution from parameters such as image distribution, geometric distortion and system alignment errors.

Kollodge, J. C.↗

LANDSAT instruments characterization

The present CALDUMP tape consists of five calibration files and one reduced calibration file. The calibration files, each with data of 200 pixels, cover an entire calibration region starting from the 6251 minor frame (mf). Program LEE.FOR was developed to edit these five files into seven .CAL files in the TAE mode. Program PCAL.FOR reads the .CAL files and plots the 1000 pixels of any scan line in linear or log scale. The typical spectra of the calibration region of forward and reverse scans are shown. The positions of the start and the end of shutter obscuration and the calibration pulse are shifted increasingly or decreasingly from Channel 1 to Channel 16, due to the timing of data acquisition. To produce TRAPP usable input files are, the following procedures need to be taken: (1) determine the start of shutter obscuration position; (2) determine the calibration pulse and background region relative to the start of shutter obscuration; and (3) determine the end of shutter obscuration position.

Lee, Y.↗