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At least 1,333 records · Page 74
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Fundamentals of Microgravity Vibration Isolation

In view of the utility of space vehicles as orbiting science laboratories, the need for vibration isolation systems for acceleration sensitive experiments has gained increasing visibility. This presentation provides a tutorial discussion of microgravity vibration isolation technology with the objective of elaborating on the relative merits of passive and active isolation approaches. The concepts of control bandwidth, isolation performance, and robustness will be addressed with illustrative examples. Concluding the presentation will be a suggested roadmap for future technology development activities to enhance the acceleration environment for microgravity science experiments.

Whorton, Mark S.↗
NASA NTRS2003

Balloon Borne Arc-Second Pointer Feasibility Study

For many years scientists have been utilizing stratospheric balloons as low-cost platforms on which to conduct space science experiments. A major hurdle in extending the range of experiments for which these vehicles are useful has been the imposition of the gondola dynamics on the accuracy with which an instrument can be kept pointed at a celestial target. A significant number of scientists have sought the ability to point their instruments with jitter in the arc-second range. This paper presents the design and analysis of a stratospheric balloon borne pointing system that is able to meet this requirement. The foundation for a high fidelity controller simulation is presented. The flexibility of the flight train is represented through generalized modal analysis. A multiple controller scheme is introduced for coarse and fine pointing. Coarse azimuth pointing is accomplished by an established pointing system, with extensive flight history, residing above the gondola structure. A pitch-yaw gimbal mount is used for fine pointing, providing orthogonal axes when nominally on target. Fine pointing actuation is from direct drive dc motors, eliminating backlash problems. An analysis of friction nonlinearities and a demonstration of the necessity in eliminating static fiction are provided. A unique bearing hub design is introduced that eliminates static fiction from the system dynamics. A control scheme involving linear accelerometers for enhanced disturbance rejection is also presented. Results from a linear analysis of the total system and the high fidelity simulation are given. This paper establishes that the proposed control strategy can be made robustly stable with significant design margins. Also demonstrated is the efficacy of the proposed system in rejecting disturbances larger than those considered realistic. Finally, we see that sub arc-second pointing stability can be achieved for a large instrument pointing at an inertial target.

Ward, Philip R.↗
NASA NTRS2003

Aeroservoelastic Model Validation and Test Data Analysis of the F/A-18 Active Aeroelastic Wing

Model validation and flight test data analysis require careful consideration of the effects of uncertainty, noise, and nonlinearity. Uncertainty prevails in the data analysis techniques and results in a composite model uncertainty from unmodeled dynamics, assumptions and mechanics of the estimation procedures, noise, and nonlinearity. A fundamental requirement for reliable and robust model development is an attempt to account for each of these sources of error, in particular, for model validation, robust stability prediction, and flight control system development. This paper is concerned with data processing procedures for uncertainty reduction in model validation for stability estimation and nonlinear identification. F/A-18 Active Aeroelastic Wing (AAW) aircraft data is used to demonstrate signal representation effects on uncertain model development, stability estimation, and nonlinear identification. Data is decomposed using adaptive orthonormal best-basis and wavelet-basis signal decompositions for signal denoising into linear and nonlinear identification algorithms. Nonlinear identification from a wavelet-based Volterra kernel procedure is used to extract nonlinear dynamics from aeroelastic responses, and to assist model development and uncertainty reduction for model validation and stability prediction by removing a class of nonlinearity from the uncertainty.

Brenner, Martin J.↗
NASA NTRS2005

Attitude Control System Design for the Solar Dynamics Observatory

The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

Starin, Scott R.↗
NASA NTRS2006

Small Body GN&C Research Report: A G-Guidance Enhancement to Increase Mission Functionality

G-Guidance is a robust G&C (guidance and control) algorithm developed under the small-body GN&C task. The G-Guidance scheme utilizes a model predictive control approach, along with a convexification of the governing dynamics, control constraints, and trajectory/state constraints. This report details an enhancement to the FY2005 G-Guidance algorithm; the addition of a fire-second approach helps to nullify velocity errors and hit desired final velocities much more precisely than the original Fire-first scheme developed in FY2005. The enhancement preserves the primary benefit of the algorithm, which is to ensure required thruster silent times during trajectory maneuvers. The fire-second scheme increases the versatility of the algorithm for missions employing G-Guidance. For instance, a landing sequence could employ the fire-second scheme to ensure a null final velocity at landing, whereas an ascent sequence could utilize a fire-first scheme to ensure there is no drift of the spacecraft toward the ground at the beginning of the maneuver. Examples are provided within to demonstrate a fire-first versus fire-second guidance scheme. As in the existing G-Guidance algorithm, the examples and schemes incorporate gravity models and thruster firing times into discrete dynamics that are solved as a optimal control problem to minimize fuel consumption or thruster energy expenditure.

velocity errors↗
NASA NTRS2006

Demonstration of a Balloon Borne Arc-Second Pointer Design

Many designs for utilizing stratospheric balloons as low-cost platforms on which to conduct space science experiments have been proposed throughout the years. A major hurdle in extending the range of experiments for which these vehicles are useful has been the imposition of the gondola dynamics on the accuracy with which an instrument can be kept pointed at a celestial target. A significant number of scientists have sought the ability to point their instruments with jitter in the arc-second range. This paper presents the design and analysis of a stratospheric balloon borne pointing system that is able to meet this requirement. The test results of a demonstration prototype of the design with similar ability are also presented. Discussion of a high fidelity controller simulation for design analysis is presented. The flexibility of the flight train is represented through generalized modal analysis. A multiple controller scheme is utilized for coarse and fine pointing. Coarse azimuth pointing is accomplished by an established pointing system, with extensive flight history, residing above the gondola structure. A pitch-yaw gimbal mount is used for fine pointing, providing orthogonal axes when nominally on target. Fine pointing actuation is from direct drive dc motors, eliminating backlash problems. An analysis of friction nonlinearities and a demonstration of the necessity in eliminating static friction are provided. A unique bearing hub design is introduced that eliminates static friction from the system dynamics. A control scheme involving linear accelerometers for enhanced disturbance rejection is also presented. Results from a linear analysis of the total system and the high fidelity simulation are given. Results from a generalized demonstration prototype are presented. Commercial off-the-shelf (COTS) hardware was used to demonstrate the efficacy and performance of the pointer design for a mock instrument. Sub-arcsecond pointing ability from a ground hang test setup is shown from the testing results. This paper establishes that the proposed control strategy can be made robustly stable with significant design margins. Also demonstrated is the efficacy of the proposed system in rejecting disturbances larger than those considered realistic. The system is implemented and demonstrates sub arc second pointing ability using COTS hardware. Finally, we see that sub arc-second pointing stability can be achieved for a large instrument pointing at an inertial target.

DeWeese, Keith D.↗
NASA NTRS2009

Presentation, Analysis, and Simulation of Active Alignment Strategies for the James Webb Space Telescope

This paper presents three characteristics in the simulated active alignment strategy of the James Webb Space Telescope. The first includes the analysis and comparison of a baseline active alignment strategy with a damped least squares strategy. This baseline utilizes prior knowledge by means of direct human operator interaction to engage sets of telescope compensators to target specific aberration signatures. The baseline is compared to a damped least-squares strategy that utilizes simultaneous engagement of all telescope compensators without explicit human operator inter<actiori to achieve a least-squares telescope compensation. Second, we discuss how the active alignment of the JWST is encapsulated in a linear optical model developed at the Space Telescope Science Institute. This linear optical model provides a framework for an efficient and robust description of the optical control properties of the JWST and clearly articulates the necessity for having a multi-instrument multi-field wavefront sensing strategy to overcome control system non independence and the effects of non-common path errors in the main wavefront sensing camera. Finally. we present analytical results that explicitly map the telescope wavefront responses to the telescope control modes, and we present Monte-Carlo optical performance simulation results that demonstrate the efficacy of the damped least-squares active alignment and the prior-knowledge active alignment schemes.

Upton, Robert S.↗
NASA NTRS2005

Some Improvements in H-PDLCs

Some improvements have been made in the formulation of holographically formed polymer-dispersed liquid crystals (H-PDLCs) and in the fabrication of devices made from these materials, with resulting improvements in performance. H-PDLCs are essentially volume Bragg gratings. Devices made from H-PDLCs function as electrically switchable reflective filters. Heretofore, it has been necessary to apply undesirably high drive voltages in order to switch H-PDLC devices. Many scientific papers on H-PDLCs and on the potential utility of H-PDLC devices for display and telecommunication applications have been published. However, until now, little has been published about improving quality control in synthesis of H-PDLCs and fabrication of H-PDLC devices to minimize (1) spatial nonuniformities within individual devices, (2) nonuniformities among nominally identical devices, and (3) variations in performance among nominally identical devices. The improvements reported here are results of a research effort directed partly toward solving these quality-control problems and partly toward reducing switching voltages. The quality-control improvements include incorporation of a number of process controls to create a relatively robust process, such that the H-PDLC devices fabricated in this process are more nearly uniform than were those fabricated in a prior laboratory-type process. The improved process includes ultrasonic mixing, ultrasonic cleaning, the use of a micro dispensing technique, and the use of a bubble press.

Crawford, Gregory P.↗
NASA NTRS2004

Hybrid Image-Plane/Stereo Manipulation

Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an end-effector (an instrument or tool) precisely with respect to a target (see figure). Unlike other stereoscopic machine-vision-based methods of controlling robots, this method is robust in the face of calibration errors and changes in calibration during operation. In this method, a stereoscopic pair of cameras on the robot first acquires images of the manipulator at a set of predefined poses. The image data are processed to obtain image-plane coordinates of known visible features of the end-effector. Next, there is computed an initial calibration in the form of a mapping between (1) the image-plane coordinates and (2) the nominal three-dimensional coordinates of the noted end-effector features in a reference frame fixed to the main robot body at the base of the manipulator. The nominal three-dimensional coordinates are obtained by use of the nominal forward kinematics of the manipulator arm that is, calculated by use of the currently measured manipulator joint angles and previously measured lengths of manipulator arm segments under the assumption that the arm segments are rigid, that the arm lengths are constant, and that there is no backlash. It is understood from the outset that these nominal three-dimensional coordinates are likely to contain possibly significant calibration errors, but the effects of the errors are progressively reduced, as described next. As the end-effector is moved toward the target, the calibration is updated repeatedly by use of data from newly acquired images of the end-effector and of the corresponding nominal coordinates in the manipulator reference frame. By use of the updated calibration, the coordinates of the target are computed in manipulator-reference-frame coordinates and then used to the necessary manipulator joint angles to position and orient the end-effector at the target with respect to the same kinematic model from the calibration step. As the end-effector/target distance decreases, the computed coordinates of the end-effector and target become more nearly affected by the same errors, so that the differences between their coordinates become increasingly precise. When the end-effector reaches the target, the remaining effective position error is the distance that corresponds to more than about one pixel in the stereoscopic images of the target.

Baumgartner, Eric↗
NASA NTRS2018

Performance of Cassini Reaction Wheel Friction Compensation Scheme During Spin Rate Zero-Crossing and Drag Spikes

Cassini uses reaction wheels to achieve the spacecraft pointing stability that is needed during imaging operations of several science instruments. The Cassini flight software makes inflight estimates of reaction wheel bearing drag torque and the reaction wheel controller uses these estimates to achieve a high level of spacecraft pointing stability. However, the Cassini drag torque estimator was designed to accurately track the bearing drag torque only in the steady state. When the physical drag torque changes abruptly (for example, during a reaction wheel spin rate reversal or when wheel bearings experienced drag spikes), the drag estimator will not be able to track the physical drag closely. This will lead to a degradation in the spacecraft pointing stability performance. For Cassini, this was not a problem because of the significant performance margin in pointing stability. However, for missions that have very challenging pointing stability requirements and that must perform well in the presence of frequent wheel rate reversals, alternative drag-compensating control schemes must be considered. To this end, alternative drag torque compensating control schemes (such as the adaptive model reference control scheme) are briefly reviewed in this paper. Selected design features used in these friction compensation schemes may be incorporated in reaction wheel controller design to improve the robustness of spacecraft pointing stability performance with regard to a wide range of reaction wheel drag torque anomalous behavior.

Lee, Allan Y↗
NASA NTRS2018

Mission analysis for the EM-1 CubeSats EQUULEUS and OMOTENASHI

EQUULEUS is a Lunar L2 orbiter and a 6-Unit CubeSat by JAXA and the University of Tokyo. OMOTENASHI is a 6-Unit CubeSat by JAXA, the world’s smallest Lunar lander. EQUULEUS and OMOTENASHI are among the 13 secondary payloads selected by NASA to be launched with Exploration Mission-1 in 2019. Despite their limited size and cost, EQUULEUS and OMOTENASHI are challenging missions, especially in terms of trajectory design and control. EQUULEUS exploits the Earth-Sun-Moon chaotic dynamics and enter a libration point orbit around the L2 of the Earth-Moon system, using a new water propulsion system with low thrust and little propellant. This “Orbit Control Experiment” is one of the main objectives of the mission. OMOTENASHI executes a semi-hard landing that requires breaking the spacecraft to a stop just a few-hundred meters above the Moon’s surface. Both missions present new and unique challenges, where the design of the nominal trajectory is mainly driven by the constrains on orbital control capabilities, and operational and robustness considerations. This paper presents the current baselines, and give an overview of the new techniques developed for their design.

Oshima, Kenta↗
NASA NTRS2021

Equuleus Launch Window Analysis and Mission Design

This paper presents the trajectory design process for EQUULEUS, a 6U CubeSat developed by JAXA and the University of Tokyo that is scheduled to launch as a piggyback of NASA’s Artemis 1. After separation from the upper stage of the Space Launch System, EQUULEUS will maneuver along a low-energy transfer to an Earth–Moon quasi-rectilinear halo orbit in 1-to-4 resonance with the lunar synodic period. As a secondary payload, the trajectory of EQUULEUS needs to be compatible with the requirements of the primary mission, but also robust against disturbances and potential changes in the deployment state. Realistic initial conditions spanning two years of potential launch windows are processed and the solution structure for optimal lunar transfers is analyzed. A host of candidate solutions is presented, compatibly with the fuel and power limitations of EQUULEUS. The global understanding of the solution space is shown to be insightful for the design of robust trajectories for limited control-authority spacecraft.

Kawakatsu, Yasuhiro↗
DOE OSTI2014

Discriminating Projections for Estimating Face Age in Wild Images

We introduce a novel approach to estimating the age of a human from a single uncontrolled image. Current face age estimation algorithms work well in highly controlled images, and some are robust to changes in illumination, but it is usually assumed that images are close to frontal. This bias is clearly seen in the datasets that are commonly used to evaluate age estimation, which either entirely or mostly consist of frontal images. Using pose-specific projections, our algorithm maps image features into a pose-insensitive latent space that is discriminative with respect to age. Age estimation is then performed using a multi-class SVM. We show that our approach outperforms other published results on the Images of Groups dataset, which is the only age-related dataset with a non-trivial number of off-axis face images, and that we are competitive with recent age estimation algorithms on the mostly-frontal FG-NET dataset. We also experimentally demonstrate that our feature projections introduce insensitivity to pose.

age estimation↗
DOE OSTI2017

Multi-Megawatt-Scale Power-Hardware-in-the-Loop Interface for Testing Ancillary Grid Services by Converter-Coupled Generation: Preprint

Power-hardware-in-the-loop (PHIL) is a simulation tool that can support electrical systems engineers in the development and experimental validation of novel, advanced control schemes that ensure the robustness and resiliency of electrical grids that have high penetrations of low-inertia variable renewable resources. With PHIL, the impact of the device under test on a generation or distribution system can be analyzed using a real-time simulator (RTS). PHIL allows for the interconnection of the RTS with a 7 megavolt ampere (MVA) power amplifier to test multi-megawatt renewable assets available at the National Wind Technology Center (NWTC). This paper addresses issues related to the development of a PHIL interface that allows testing hardware devices at actual scale. In particular, the novel PHIL interface algorithm and high-speed digital interface, which minimize the critical loop delay, are discussed.

17 WIND ENERGY↗
DOE OSTI2021

BioSecure Digital Twin: Manufacturing Innovation and Cybersecurity Resilience

U.S. national security, prosperity, economy, and well-being require secure, flexible, and resilient Biopharmaceutical Manufacturing. The COVID-19 pandemic reaffirmed that the biomedical production value-chain is vulnerable to disruption and has been under attack from sophisticated nation-state adversaries. Current cyber defenses are inadequate, and the integrity of critical production systems and processes are inherently vulnerable to cyber-attacks, human error, and supply chain disruptions. The following chapter explores how a BioSecure Digital Twin will improve U.S. manufacturing resilience and preparedness to respond to these hazards by significantly improving monitoring, integrity, security, and agility of our manufacturing infrastructure and systems. The BioSecure Digital Twin combines a scalable manufacturing framework with a robust platform for monitoring and control to increase U.S. biopharma manufacturing resilience. Then, the chapter discusses some of the inherent vulnerabilities and challenges at the nexus of health and advanced manufacturing. Next, the chapter highlights that as the Pandemic evolves, we need agility and resilience to overcome significant obstacles. This section highlights an innovative application of Cyber Informed Engineering to developing and deploying a BioSecure Digital Twin to improve the resilience and security of the biopharma industrial supply chain and production processes. Finally, the chapter concludes with a process framework to complement the Digital Twin platform, called the Biopharma (Observe, Orient, Decide, Act) OODA Loop Framework (BOLF), a four-step approach to decision-making outputs from the Digital Twin. The BOLF will help end users leverage twin technology by distilling the available information, focusing the data on context, and rapidly making the best decision while remaining cognizant of changes that can be made as more data becomes available.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2016

Facility Improvements and Modifications to Extend the Operational Life of the Modular Caustic-Side Solvent Extraction Process - 16082

Savannah River Remediation, LLC (SRR) is working to remove, stabilize, and dispose of approximately 36.7 million gallons (138.9 million liters) of liquid radioactive waste currently stored in 43 underground waste tanks, and ultimately close waste tanks. In 2008, as an interim salt treatment system to remove cesium from high level waste salt solutions prior to the Salt Waste Processing Facility start up, the Modular Caustic-Side Solvent Extraction Unit (MCU) initiated the removal of cesium from liquid radioactive salt waste prior to disposal. The MCU was designed and built for an expected three-year operational life and five-year design life. The first MCU cold runs began in June 2007 and hot startup was completed in April 2008. MCU remains in hot operation to this day, aiding in multiple, high-level tank closures. In an effort to continue liquid waste disposition at the Savannah River Site (SRS), equipment upgrades and operational improvements have been made to extend the life of the MCU beyond the original three years. Several pieces of fixed equipment have been converted into removable equipment which reduces the downtime associated with equipment change-outs and thereby reduces the dose to workers and processing impacts. Multiple pumps and filters have been upgraded to more robust designs. Process monitoring and controls have been upgraded to improve process performance. Redundant centrifugal contactor vibration equipment has been installed on each contactor in order to better assess the reliability, processing performance, and lifetime of the contactors. A new Solvent Hold Tank (SHT) Sampler has been installed to minimize the organic cross-contamination within the sampler, dose to workers, and sample analysis time. To increase processing availability and aid in visually obtained data, camera port has been added to the Salt Solution Feed Tank (SSFT). In order to decrease the overall background dose to the workers, the Process Vessel Ventilation (PVV) duct work now has the capability to be flushed to remove contamination. The caustic wash addition system has been modified to be a once-through system to improve equipment reliability, decrease downtime, and decrease dose to workers. In addition, the solvent that MCU utilizes to extract Cesium out of salt waste has been upgraded to Next Generation Solvent (NGS) which is based on MaxCalix extractant instead of a BobCalix extractant. Further, these upgrades and improvements have allowed MCU to be able to process at higher flow rates (up to 8.5 GPM) and with increased throughput (as high as 1.3 million gallons in FY13 and 5.3 million gallons since hot operations initiated) that have allowed SRR to continue the disposition of nuclear salt waste. The continued operation of MCU ensures more curies are stabilized into a glass matrix at SRS's Defense Waste Processing Facility (DWPF) and less curies are retained within South Carolina at SRS's Saltstone Disposal Facility (SDF). Unique challenges associated with modifying and improving a demonstration plant that is in hot operations and was designed to be temporary with a limited plant footprint have been successfully overcome. Further, creative strategies for removing old equipment have been utilized given the limited decontamination agents available for use that will not interfere with the organic solvent. This paper presents and discusses the deployment of these upgrades and operational improvements to MCU in order to allow continued, increased salt waste processing beyond the initial design life. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Remote Aerial Inspection Vehicle Design and Evaluation - 18428

This work details the system integration of an aerial vehicle with advanced capabilities for precise inspection in confined, unstructured environments. High levels of uncertainty and varying environmental conditions are significant challenges that degrade the performance of robot subsystems, including state estimation and navigation. The methods presented in this paper outline three methodologies to minimize uncertainty and maintain fast, safe navigation in cluttered, enclosed environments: (i) a state estimation framework that performs sensor fusion of laser odometry and localization using an Unscented Kalman Filter (ii) Robust Experience-driven Predictive Control, an adaptive control strategy to bound state uncertainty and guarantee safety in the presence of model perturbations (iii) an adaptive teleoperation scheme to generate smooth control inputs and infer user intent for an enhanced teleoperation interface. These methodologies are evaluated individually and implemented on a micro-aerial vehicle for testing with varying levels of noise and state uncertainty representing the conditions within the target domain. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

Learning with Adaptive Conservativeness for Distributionally Robust Optimization: Incentive Design for Voltage Regulation: Preprint

Information asymmetry between the Distribution System Operator (DSO) and Distributed Energy Resource Aggregators (DERAs) obstructs designing effective incentives for voltage regulation. To capture this effect, we employ a Stackelberg game-theoretic framework, where the DSO seeks to overcome the information asymmetry and refine its incentive strategies by learning from DERA behavior over multiple iterations. We introduce a model-based online learning algorithm for the DSO, aimed at inferring the relationship between incentives and DERA responses. Given the uncertain nature of these responses, we also propose a distributionally robust incentive design model to control the probability of voltage regulation failure and then reformulate it into a convex problem. This model allows the DSO to periodically revise distribution assumptions on uncertain parameters in the decision model of the DERA. Finally, we present a gradient-based method that permits the DSO to adaptively modify its conservativeness level, measured by the size of a Wasserstein metric-based ambiguity set, according to historical voltage regulation performance. The effectiveness of our proposed method is demonstrated through numerical experiments.

distribution system operator↗