SEARCH · Engineering Papers

Results for “Hierarchical control”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 127 records · Page 7

All sources NASA NTRS DOE OSTI

NASA NTRS1987

Prototype space station automation system delivered and demonstrated at NASA

The Automated Subsystem Control for Life Support System (ASCLSS) program has successfully developed and demonstrated a generic approach to the automation and control of Space Station subsystems. The hierarchical and distributed real time controls system places the required controls authority at every level of the automation system architecture. As a demonstration of the automation technique, the ASCLSS system automated the Air Revitalization Group (ARG) of the Space Station regenerative Environmental Control and Life Support System (ECLSS) using real-time, high fidelity simulators of the ARG processess. This automation system represents an early flight prototype and an important test bed for evaluating Space Station controls technology including future application of ADA software in real-time control and the development and demonstration of embedded artificial intelligence and expert systems (AI/ES) in distributed automation and controls systems.

Block, Roger F.↗

NASA NTRS2021

FRESCO: A Framework for Spacecraft Systems Autonomy

Achieving the science exploration and defense goals of the following decades will require flight systems capable of operations with limited operator contact, system mode changes and retasking based on sensor data, and complex robotic operations. To support these capabilities, increasingly autonomous flight systems are required that can perform dedicated mission functions, e.g. payload targeting and communications, and system-level functions, e.g. planning and goal monitoring. Architecting an autonomous system requires a well-reasoned, self-consistent framework to avoid \textit{ad hoc} design choices that will introduce complexity and risk. The Framework for Robust Execution and Scheduling of Commands On-Board, FRESCO, is the result of lessons learned in developing a software architecture to enable autonomous solar system exploration. FRESCO generalizes this work to offer a modular, software-agnostic approach to developing verifiable architecture for autonomous space systems. FRESCO specifies guiding principles, functions, interfaces, and interactions from which mission-specific autonomous control architectures can be derived. FRESCO is a principled framework relying on explicit, state-based goal definitions, centralized management of state knowledge, clearly separated control boundaries, and hierarchical reasoning. Using components from FRESCO reference architecture, an autonomous decision-making architecture can be designed for spacecraft which can then be mapped to flight software architecture. FRESCO is flexibly defined to enable autonomous control of flight systems built using extensive software and hardware heritage. Finally, FRESCO-derived architectures support a spectrum of operator/spacecraft interactions, ranging from traditional commanding to goal-driven commanding with the ability to change mission goals autonomously. FRESCO has been used in defining the autonomy architectures for the ASTERIA mission and have been demonstrated in laboratory and software simulation for small body rendezvous and in-space servicing missions.

Kolcio, Ksenia↗

NASA NTRS1977

Adaptive control of a robotic manipulator

A control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. 'Adaptive control' in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.

Lewis, R. A.↗

NASA NTRS2017

Generating Real-Time Robotics Control Software from SysML

In this paper, we outline an approach for autogenerating real-time robotics control code from hierarchical state machines and hardware configurations encoded in Systems Modeling Language (SysML). We propose a software architecture that provides an abstract SysML layer with access to device state information and a set of primitive device commands, such as move actuator and release brake, allowing a user to build up a complete functional state machine directly in SysML. The SysML diagram is then exported to a standard SCXML file format and subsequently used to auto-generate hardware control code. Once this architecture is in place, the only explicit code elements that need to be written are the primitive device commands, which can be easily unit tested and reused across different systems. The motivation for this work was the need for a test bed that enables the rapid prototyping of mechanisms and control algorithms for a spacecraft that could ultimately be used for preparing Martian rock samples for their return to Earth. To this end, our software system was also designed to allow for the run-time specification of the hardware layout in SysML, with the hardware-level control functions kept agnostic to the specific parameters or communication bus of any particular device. Further, we outline a system for specifying both the state machine and hardware configuration in the MagicDraw IDE in such a way that the system can be simulated before any code is generated. The resultant software system is easy to debug, understand, and allows users to choose how much information is encoded as a visual or text-based representation.

Godart, Peter↗

NASA NTRS1981

An evaluation of the Interactive Software Invocation System (ISIS) for software development applications

The Interactive Software Invocation System (ISIS), which allows a user to build, modify, control, and process a total flight software system without direct communications with the host computer, is described. This interactive data management system provides the user with a file manager, text editor, a tool invoker, and an Interactive Programming Language (IPL). The basic file design of ISIS is a five level hierarchical structure. The file manager controls this hierarchical file structure and permits the user to create, to save, to access, and to purge pages of information. The text editor is used to manipulate pages of text to be modified and the tool invoker allows the user to communicate with the host computer through a RUN file created by the user. The IPL is based on PASCAL and contains most of the statements found in a high-level programming language. In order to evaluate the effectiveness of the system as applied to a flight project, the collection of software components required to support the Annular Suspension and Pointing System (ASPS) flight project were integrated using ISIS. The ASPS software system and its integration into ISIS is described.

Noland, M. S.↗

NASA NTRS1976

Linear regulator design for stochastic systems by a multiple time scales method

A hierarchically-structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems is considered. The controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short period modes of the longitudinal dynamics of the F-8 aircraft.

Teneketzis, D.↗

NASA NTRS1977

Linear regulator design for stochastic systems by a multiple time-scales method

This short paper develops a hierarchically structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems. It is proved that the controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short-period modes of the longitudinal dynamics of the F-8 aircraft.

Teneketzis, D.↗

NASA NTRS1976

Linear regulator design for stochastic systems by a multiple time scales method

This paper develops a hierarchically-structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems. It is proved that the controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short period modes of the longitudinal dynamics of the F-8 aircraft.

Teneketzis, D.↗

NASA NTRS1986

Multiply scaled constrained nonlinear equation solvers

To improve the numerical stability of nonlinear equation solvers, a partitioned multiply scaled constraint scheme is developed. This scheme enables hierarchical levels of control for nonlinear equation solvers. To complement the procedure, partitioned convergence checks are established along with self-adaptive partitioning schemes. Overall, such procedures greatly enhance the numerical stability of the original solvers. To demonstrate and motivate the development of the scheme, the problem of nonlinear heat conduction is considered. In this context the main emphasis is given to successive substitution-type schemes. To verify the improved numerical characteristics associated with partitioned multiply scaled solvers, results are presented for several benchmark examples.

Padovan, Joe↗

NASA NTRS1988

Low level image processing techniques using the pipeline image processing engine in the flight telerobotic servicer

The sensory processing system for the NASA/NBS Standard Reference Model (NASREM) for telerobotic control is described. This control system architecture was adopted by NASA of the Flight Telerobotic Servicer. The control system is hierarchically designed and consists of three parallel systems: task decomposition, world modeling, and sensory processing. The Sensory Processing System is examined, and in particular the image processing hardware and software used to extract features at low levels of sensory processing for tasks representative of those envisioned for the Space Station such as assembly and maintenance are described.

Nashman, Marilyn↗

NASA NTRS1987

Space telerobotics technology demonstration program

The paper reports the ongoing development of a telerobot demonstrator. The demonstrator is implemented as a laboratory-based research testbed, and will show proof-of-concept for supervised automation of space assembly, servicing, and repair operations. The demonstrator system features a hierarchically layered intelligent control architecture which enables automated planning and run-time sequencing of complex tasks by a supervisory human operator. The demonstrator also provides a full bilateral force-reflecting hand control teleroperations capability. The operator may switch smoothly between the automated and teleroperated tasking modes in run-time, either on a preplanned or operator-designated basis.

Szirmay, S. Z.↗

NASA NTRS1987

The NASA telerobot technology demonstrator

The ongoing development of a telerobot technology demonstrator is reported. The demonstrator is implemented as a laboratory-based research testbed, and will show proof-of-concept for supervised automation of space assembly, servicing, and repair operations. The demonstrator system features a hierarchically layered intelligent control architecture which enables automated planning and run-time sequencing of complex tasks by a supervisory human operator. The demonstrator also provides a full bilateral force-reflecting hand control teleoperations capability. The operator may switch smoothly between the automated and teleoperated tasking modes in run-time, either on a preplanned or operator-designated basis.

Schenker, P. S.↗

NASA NTRS1987

A hierarchically distributed architecture for fault isolation expert systems on the space station

The Space Station Axiomatic Fault Isolating Expert Systems (SAFTIES) system deals with the hierarchical distribution of control and knowledge among independent expert systems doing fault isolation and scheduling of Space Station subsystems. On its lower level, fault isolation is performed on individual subsystems. These fault isolation expert systems contain knowledge about the performance requirements of their particular subsystem and corrective procedures which may be involved in repsonse to certain performance errors. They can control the functions of equipment in their system and coordinate system task schedules. On a higher level, the Executive contains knowledge of all resources, task schedules for all systems, and the relative priority of all resources and tasks. The executive can override any subsystem task schedule in order to resolve use conflicts or resolve errors that require resources from multiple subsystems. Interprocessor communication is implemented using the SAFTIES Communications Interface (SCI). The SCI is an application layer protocol which supports the SAFTIES distributed multi-level architecture.

Miksell, Steve↗

NASA NTRS1987

Real-time hierarchically distributed processing network interaction simulation

The Telerobot Testbed is a hierarchically distributed processing system which is linked together through a standard, commercial Ethernet. Standard Ethernet systems are primarily designed to manage non-real-time information transfer. Therefore, collisions on the net (i.e., two or more sources attempting to send data at the same time) are managed by randomly rescheduling one of the sources to retransmit at a later time interval. Although acceptable for transmitting noncritical data such as mail, this particular feature is unacceptable for real-time hierarchical command and control systems such as the Telerobot. Data transfer and scheduling simulations, such as token ring, offer solutions to collision management, but do not appropriately characterize real-time data transfer/interactions for robotic systems. Therefore, models like these do not provide a viable simulation environment for understanding real-time network loading. A real-time network loading model is being developed which allows processor-to-processor interactions to be simulated, collisions (and respective probabilities) to be logged, collision-prone areas to be identified, and network control variable adjustments to be reentered as a means of examining and reducing collision-prone regimes that occur in the process of simulating a complete task sequence.

Zimmerman, W. F.↗

NASA NTRS1987

Geometric reasoning

Cognitive robot systems are ones in which sensing and representation occur, from which task plans and tactics are determined. Such a robot system accomplishes a task after being told what to do, but determines for itself how to do it. Cognition is required when the work environment is uncontrolled, when contingencies are prevalent, or when task complexity is large; it is useful in any robotic mission. A number of distinguishing features can be associated with cognitive robotics, and one emphasized here is the role of artificial intelligence in knowledge representation and in planning. While space telerobotics may elude some of the problems driving cognitive robotics, it shares many of the same demands, and it can be assumed that capabilities developed for cognitive robotics can be employed advantageously for telerobotics in general. The top level problem is task planning, and it is appropriate to introduce a hierarchical view of control. Presented with certain mission objectives, the system must generate plans (typically) at the strategic, tactical, and reflexive levels. The structure by which knowledge is used to construct and update these plans endows the system with its cognitive attributes, and with the ability to deal with contingencies, changes, unknowns, and so on. Issues of representation and reasoning which are absolutely fundamental to robot manipulation, decisions based upon geometry, are discussed here, not AI task planning per se.

Woodbury, R. F.↗

NASA NTRS1987

Space Station flight telerobotic servicer functional requirements development

The Space Station flight telerobotic servicer (FTS), a flight robotic system for use on the first Space Station launch, is described. The objectives of the FTS program include: (1) the provision of an alternative crew EVA by supporting the crew in assembly, maintenance, and servicing activities, and (2) the improvement of crew safety by performing hazardous tasks such as spacecraft refueling or thermal and power system maintenance. The NASA/NBS Standard Reference Model provides the generic, hierarchical, structured functional control definition for the system. It is capable of accommodating additional degrees of machine intelligence in the future.

Oberright, John↗

NASA NTRS1993

Management of space networks

NASA has proposed missions to the Moon and Mars that reflect three areas of emphasis: human presence, exploration, and space resource development for the benefit of Earth. A major requirement for such missions is a robust and reliable communications architecture. Network management--the ability to maintain some degree of human and automatic control over the span of the network from the space elements to the end users on Earth--is required to realize such robust and reliable communications. This article addresses several of the architectural issues associated with space network management. Round-trip delays, such as the 5- to 40-min delays in the Mars case, introduce a host of problems that must be solved by delegating significant control authority to remote nodes. Therefore, management hierarchy is one of the important architectural issues. The following article addresses these concerns, and proposes a network management approach based on emerging standards that covers the needs for fault, configuration, and performance management, delegated control authority, and hierarchical reporting of events. A relatively simple approach based on standards was demonstrated in the DSN 2000 Information Systems Laboratory, and the results are described.

Markley, R. W.↗

NASA NTRS1996

Analysis of the access patterns at GSFC distributed active archive center

The Goddard Space Flight Center (GSFC) Distributed Active Archive Center (DAAC) has been operational for more than two years. Its mission is to support existing and pre Earth Observing System (EOS) Earth science datasets, facilitate the scientific research, and test Earth Observing System Data and Information System (EOSDIS) concepts. Over 550,000 files and documents have been archived, and more than six Terabytes have been distributed to the scientific community. Information about user request and file access patterns, and their impact on system loading, is needed to optimize current operations and to plan for future archives. To facilitate the management of daily activities, the GSFC DAAC has developed a data base system to track correspondence, requests, ingestion and distribution. In addition, several log files which record transactions on Unitree are maintained and periodically examined. This study identifies some of the users' requests and file access patterns at the GSFC DAAC during 1995. The analysis is limited to the subset of orders for which the data files are under the control of the Hierarchical Storage Management (HSM) Unitree. The results show that most of the data volume ordered was for two data products. The volume was also mostly made up of level 3 and 4 data and most of the volume was distributed on 8 mm and 4 mm tapes. In addition, most of the volume ordered was for deliveries in North America although there was a significant world-wide use. There was a wide range of request sizes in terms of volume and number of files ordered. On an average 78.6 files were ordered per request. Using the data managed by Unitree, several caching algorithms have been evaluated for both hit rate and the overhead ('cost') associated with the movement of data from near-line devices to disks. The algorithm called LRU/2 bin was found to be the best for this workload, but the STbin algorithm also worked well.

Johnson, Theodore↗