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At least 1,261 records · Page 70
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Results of an integrated structure/control law design sensitivity analysis

A design sensitivity analysis method for Linear Quadratic Cost, Gaussian (LQG) optimal control laws, which predicts change in the optimal control law due to changes in fixed problem parameters using analytical sensitivity equations is discussed. Numerical results of a design sensitivity analysis for a realistic aeroservoelastic aircraft example are presented. In this example, the sensitivity of the optimally controlled aircraft's response to various problem formulation and physical aircraft parameters is determined. These results are used to predict the aircraft's new optimally controlled response if the parameter was to have some other nominal value during the control law design process. The sensitivity results are validated by recomputing the optimal control law for discrete variations in parameters, computing the new actual aircraft response, and comparing with the predicted response. These results show an improvement in sensitivity accuracy for integrated design purposes over methods which do not include changes in the optimal control law. Use of the analytical LQG sensitivity expressions is also shown to be more efficient than finite difference methods for the computation of the equivalent sensitivity information.

Gilbert, Michael G.↗
NASA NTRS1987

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗
NASA NTRS1988

Design of a simple active controller to suppress helicopter air resonance

A coupled rotor/fuselage helicopter analysis with the important effects of blade torsional flexibility, unsteady aerodynamics, and forward flight is presented. Using this mathematical model, a nominal configuration is selected that experiences an air resonance instability throughout most of its flight envelope. A simple multivariable compensator using conventional swashplate inputs and a single body roll rate measurement is then designed. The controller design is based on a linear estimator in conjunction with optimal feedback gains, and the design is done in the frequency domain using the Loop Transfer Recovery method. The controller is shown to suppress the air resonance instability throughout wide range helicopter loading conditions and forward flight speeds.

Takahashi, M. D.↗
NASA NTRS1988

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗
NASA NTRS1989

First and second order convex approximation strategies in structural optimization

In this paper, various methods based on convex approximation schemes are discussed that have demonstrated strong potential for efficient solution of structural optimization problems. First, the convex linearization method (Conlin) is briefly described, as well as one of its recent generalizations, the method of moving asymptotes (MMA). Both Conlin and MMA can be interpreted as first-order convex approximation methods that attempt to estimate the curvature of the problem functions on the basis of semiempirical rules. Attention is next directed toward methods that use diagonal second derivatives in order to provide a sound basis for building up high-quality explicit approximations of the behavior constraints. In particular, it is shown how second-order information can be effectively used without demanding a prohibitive computational cost. Various first-order and second-order approaches are compared by applying them to simple problems that have a closed form solution.

Fleury, C.↗
NASA NTRS1989

A simple active controller to suppress helicopter air resonance in hover and forward flight

A coupled rotor/fuselage helicopter analysis with the important effects of blade torsional flexibility, unsteady aerodynamics, and forward flight is presented. This model is used to illustrate the effect of unsteady aerodynamics, forward flight, and torsional flexibility on air resonance. Next, a nominal configuration, which experiences air resonance in forward flight, is selected. A simple multivariable compensator using conventional swashplate inputs and a single body roll rate measurement is then designed. The controller design is based on a linear estimator in conjunction with optimal feedback gains, and the design is done in the frequency domain using the loop-transfer recovery method. The controller is shown to suppress the air resonance instability throughout wide range helicopter loading conditions and forward flight speeds.

Friedmann, P. P.↗
NASA NTRS1990

Real time control for NASA robotic gripper

The ability to easily manipulate objects in a zero gravity environment will pay a key role in future space activities. Emphasis will be placed on robotic manipulation. This will serve to increase astronaut safety and utility in addition to several other benefits. The aim is to develop control laws for the zero gravity robotic end effectors. A hybrid force/position controller will be used. Sensory data available to the controller are obtained from an array of strain gauges and a linear potentiometer. Applying well known optimal control theoretical principles, the control which minimizes the transition time between positions is obtained. A robust force control scheme is developed which allows the desired holding force to be achieved smoothly without oscillation. In addition, an algorithm is found to determine contact force and contact location.

Salter, Carole A.↗
NASA NTRS1992

Software For Integer Programming

Improved Exploratory Search Technique for Pure Integer Linear Programming Problems (IESIP) program optimizes objective function of variables subject to confining functions or constraints, using discrete optimization or integer programming. Enables rapid solution of problems up to 10 variables in size. Integer programming required for accuracy in modeling systems containing small number of components, distribution of goods, scheduling operations on machine tools, and scheduling production in general. Written in Borland's TURBO Pascal.

Fogle, F. R.↗
NASA NTRS1992

Vision-based stereo ranging as an optimal control problem

The recent interest in the use of machine vision for flight vehicle guidance is motivated by the need to automate the nap-of-the-earth flight regime of helicopters. Vision-based stereo ranging problem is cast as an optimal control problem in this paper. A quadratic performance index consisting of the integral of the error between observed image irradiances and those predicted by a Pade approximation of the correspondence hypothesis is then used to define an optimization problem. The necessary conditions for optimality yield a set of linear two-point boundary-value problems. These two-point boundary-value problems are solved in feedback form using a version of the backward sweep method. Application of the ranging algorithm is illustrated using a laboratory image pair.

Menon, P. K. A.↗
NASA NTRS2003

Intelligent Control Approaches for UAVs

This talk will present overviews of various intelligent control technologies currently being developed and studied at the NASA Ames Research Center as applicable to Unmanned Aerial Vehicles (UAVs), Mars flyers, and to the next generation of flight controllers for manned aircraft. The approaches being examined include: (a) direct adaptive dynamic inverse controller, (b) adaptive critic-based optimal trajectory generator; (c) optimal allocation technique based on linear programming; (4) immunized maneuvering using autopilot building blocks. These approaches can utilize, but do not require, fault detection and isolation information. Piloted and unmanned simulation studies are performed to examine if the intelligent flight control techniques adequately: 1) match flying qualities of modem fly-by-wire flight controllers under nominal conditions; 2) improve performance under failure conditions when sufficient control authority is available; and 3) achieve intelligent maneuvering capabilities for unmanned vehicles. Results obtained so far will be presented and discussed.

KrisnaKumar, Kalmanje↗
NASA NTRS2010

Messaging with Cost-Optimized Interstellar Beacons

On Earth, how would we build galactic-scale beacons to attract the attention of extraterrestrials, as some have suggested we should do? From the point of view of expense to a builder on Earth, experience shows an optimum trade-off. This emerges by minimizing the cost of producing a desired power density at long range, which determines the maximum range of detectability of a transmitted signal. We derive general relations for cost-optimal aperture and power. For linear dependence of capital cost on transmitter power and antenna area, minimum capital cost occurs when the cost is equally divided between antenna gain and radiated power. For nonlinear power-law dependence, a similar simple division occurs. This is validated in cost data for many systems; industry uses this cost optimum as a rule of thumb. Costs of pulsed cost-efficient transmitters are estimated from these relations by using current cost parameters ($/W, $/sq m) as a basis. We show the scaling and give examples of such beacons. Galactic-scale beacons can be built for a few billion dollars with our present technology. Such beacons have narrow "searchlight" beams and short "dwell times" when the beacon would be seen by an alien observer in their sky. More-powerful beacons are more efficient and have economies of scale: cost scales only linearly with range R, not as R(exp 2), so number of stars radiated to increases as the square of cost. On a cost basis, they will likely transmit at higher microwave frequencies, -10 GHz. The natural corridor to broadcast is along the galactic radius or along the local spiral galactic arm we are in. A companion paper asks "If someone like us were to produce a beacon, how should we look for it?"

Benford, James↗
NASA NTRSDate not supplied

Optimized Combined Compact Differencing Methods for Computational Aeroacoustics

The sixth order Combined Compact Differencing (CCD) scheme of Chu and Fan is optimized, resulting in exceptional performance. Results indicate that the best of these optimized schemes can accurately propagate linear simple harmonic waves with fewer than three points per wavelength, while using a three point differencing stencil. Stable and accurate boundary treatments for these schemes are given, and the performance of these schemes is assessed using a benchmark problem.

Computational Aeroacoustics↗
DOE OSTI2018

Design and Performance Testing of a Linear Array of Position-Sensitive Virtual Frisch-Grid CdZnTe Detectors for Uranium Enrichment Measurements

Abstract— Arrays of position-sensitive virtual Frisch-grid CdZnTe (CZT) detectors with enhanced energy resolution have been proposed for spectroscopy and imaging of gamma-ray sources in different applications. The flexibility of the array design, which can employ CZT crystals with thicknesses up to several centimeters in the direction of electron drift, allows for integration into different kinds of field-portable instruments. These can include small hand-held devices, compact gamma cameras and large field-of-view imaging systems. In this work, we present results for a small linear array of such detectors optimized for the low-energy region, 50-400 keV gamma-rays, which is principally intended for incorporation into hand-held instruments. There are many potential application areas for such instruments, including uranium enrichment measurements, storage monitoring, dosimetry and other safeguards-related tasks that can benefit from compactness and isotope-identification capability. The array described here provides a relatively large area with a minimum number of readout channels, which potentially allows the developers to avoid using an ASIC-based electronic readout by substituting it with hybrid preamplifiers followed by digitizers. The array prototype consists of six (5x5.7x25 mm3) CZT detectors positioned in a line facing the source to achieve a maximum exposure area (~10 cm2). Each detector is furnished with 5 mm-wide charge-sensing pads placed near the anode. The pad signals are converted into X-Y coordinates for each interaction event, which are combined with the cathode signals (for determining the Z coordinates) to give 3D positional information for all interaction points. This information is used to correct the response non-uniformity caused by material inhomogeneity, which therefore allows the usage of standard-grade (unselected) CZT crystals, while achieving high-resolution spectroscopic performance for the instrument. In this presentation we describe the design of the array, the results from detailed laboratory tests, and preliminary results from measurements taken during a field test.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Design and Performance Testing of a Linear Array of Position-Sensitive Virtual Frisch-Grid CdZnTe Detectors for Uranium Enrichment Measurements

Arrays of position-sensitive virtual Frisch-grid CdZnTe (CZT) detectors with enhanced energy resolution have been proposed for spectroscopy and imaging of gamma-ray sources in different applications. The flexibility of the array design, which can employ CZT crystals with thicknesses up to several centimeters in the direction of electron drift, allows for integration into different kinds of field-portable instruments. These can include small hand-held devices, compact gamma cameras and large field-of-view imaging systems. In this work, we present results for a small linear array of such detectors optimized for the low-energy region, 50-400 keV gamma-rays, which is principally intended for incorporation into hand-held instruments. There are many potential application areas for such instruments, including uranium enrichment measurements, storage monitoring, dosimetry and other safeguards-related tasks that can benefit from compactness and isotope-identification capability. The array described here provides a relatively large area with a minimum number of readout channels, which potentially allows the developers to avoid using an ASIC-based electronic readout by substituting it with hybrid preamplifiers followed by digitizers. The array prototype consists of six (5x5.7x25 mm3) CZT detectors positioned in a line facing the source to achieve a maximum exposure area (~10 cm2). Each detector is furnished with 5 mm-wide charge-sensing pads placed near the anode. The pad signals are converted into X-Y coordinates for each interaction event, which are combined with the cathode signals (for determining the Z coordinates) to give 3D positional information for all interaction points. This information is used to correct the response non-uniformity caused by material inhomogeneity, which therefore allows the usage of standard-grade (unselected) CZT crystals, while achieving high-resolution spectroscopic performance for the instrument. In this presentation we describe the design of the array, the results from detailed laboratory tests, and preliminary results from measurements taken during a field test.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Scalable Approaches to Selecting Key Entities in Large Networked Infrastructure Systems

This work aims at bringing advances in discrete optimization algorithms to solving practical engineering problems at scale. Often times, in many engineering design problems, there is a need to select a small set of influential or representative elements from a large ground set of entities in an optimal fashion. Submodular optimization provides for a formal way to solve such problems. Common examples with infrastructure systems involve sensor placement and identification of key entities with certain objectives. However, scaling these approaches to large infrastructure systems can be challenging because of the high computational complexity of the overall framework that include the optimization algorithms as well as high-complexity compute-oracles that provide the necessary objective function values. In this work, we explore a well-studied and widely-applicable paradigm, namely leader-selection in a multi-agent networked setting in the context of scalable methodologies. We demonstrate novel frameworks that utilize variations of accelerated submodular optimization algorithms along with linear-algebraic methods that can help accelerate the oracle computations. We further explore this combination in conjunction with graph partitioning paradigms to take advantage of the accelerated algorithms in a distributed setting. Finally we demonstrate the key findings on a practical problem in an operational setting. For this, we leverage an example road network with approximately 18k nodes and 27k edges in a traffic control application, where we seek a limited number of k=200 key intersections. This problem can be solved in a serial setting in just under 5 hours providing more than 2 orders of magnitude speed-up over methods that do not consider acceleration techniques.

Visweswara Sathanur, Arun↗
DOE OSTI2024

Data-Driven Unit Commitment Refinement - a Scalable Approach for Complex Modern Power Grids

Integration of renewable generation, which is often intermittent and decentralized, substantially increases the stochasticity and complexity of power grid operations. Future power systems planning will require significant computational capability to evaluate balance between demand and supply under varying conditions, both temporally and spatially. The standard approach for generation unit commitment is to use mixed-integer linear programming to find the optimal generation schedule considering ramping and generator constraints. In the future grid this poses computational scalability challenges because generation and demand are not known with certainty due to stochasticity in weather and complexity of the grid. To address this challenge, we present a data-driven unit commitment approach that can efficiently include stochastic weather impacts and contingency considerations to improve unit commitment. Our approach uses graph-based data analytics techniques on solutions to the security constrained (and possibly stochastic) economic dispatch problem to identify potential improvements to a given unit commitment. Recent breakthroughs in fully-parallel stochastic economic dispatch software allow this approach to be scalably deployed. Simulations on synthetic South Carolina and Texas grids show this method can improve grid reliability with security constraints over a set of contingencies, while also meaningfully lowering total generation cost.

Holt, Timothy↗
DOE OSTI2026

Optimization techniques in self-similar compressible flow

We investigate the one-dimensional (1D) inviscid compressible flow equations for an ideal gas through the lens of optimization techniques. It is the case that, to our knowledge, optimization analysis applied to the so-called “linear velocity” solutions of the Euler compressible flow equations has not been previously conducted. Through both gradient-based and variational techniques, new variants of well-studied flow scenarios, i.e., self-similar, 1D, linear velocity solution class to idealized inviscid compressible flow equations, are determined, as encoded in both the kinematic and thermodynamic properties of this self-similar solution class. With the kinematics of the said solutions being driven by a self-similar “scale radius” and the thermodynamics being driven separately through the appearance of an arbitrary function, a myriad of new solution classes is possible. Acting as a guide to more realistic physical circumstances as well as discovery, it is the hope that the presented cases serve as the framework for future investigations into the intersection of self-similarity and optimization techniques. Fields of study that may find this work to be of interest include aerodynamic design, flow control, inertial confinement fusion, physics-informed neural networks, and other related areas of interest.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1974

System design optimization for a Mars-roving vehicle and perturbed-optimal solutions in nonlinear programming

Work in two somewhat distinct areas is presented. First, the optimal system design problem for a Mars-roving vehicle is attacked by creating static system models and a system evaluation function and optimizing via nonlinear programming techniques. The second area concerns the problem of perturbed-optimal solutions. Given an initial perturbation in an element of the solution to a nonlinear programming problem, a linear method is determined to approximate the optimal readjustments of the other elements of the solution. Then, the sensitivity of the Mars rover designs is described by application of this method.

Pavarini, C.↗