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NASA NTRS1991

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Murphy, Michael G.↗

NASA NTRS2003

Shuttle Payload Ground Command and Control: An Experiment Implementation Combustion Module-2 Software Development, STS-107

This presentation covers the design of a command and control architecture developed by the author for the Combustion Module-2 microgravity experiment, which flew aboard the STS-107 Shuttle mission, The design was implemented to satisfy a hybrid network that utilized TCP/IP for both the onboard segment and ground segment, with an intermediary unreliable transport for the space to ground segment. With the infusion of Internet networking technologies into Space Shuttle, Space Station, and spacecraft avionics systems, comes the need for robust methodologies for ground command and control. Considerations of high bit error links, and unreliable transport over intermittent links must be considered in such systems. Internet protocols applied to these systems, coupled with the appropriate application layer protections, can provide adequate communication architectures for command and control. However, there are inherent limitations and additional complexities added by the use of Internet protocols that must be considered during the design. This presentation will discuss the rationale for the: framework and protocol algorithms developed by the author. A summary of design considerations, implantation issues, and learned lessons will be will be presented. A summary of mission results using this communications architecture will be presented. Additionally, areas of further needed investigation will be identified.

Carek, David Andrew↗

DOE OSTI2013

Large-scale Manufacturing of Nanoparticulate-based Lubrication Additives for Improved Energy Efficiency and Reduced Emissions

This project was funded under the Department of Energy (DOE) Lab Call on Nanomanufacturing for Energy Efficiency and was directed toward the development of novel boron-based nanocolloidal lubrication additives for improving the friction and wear performance of machine components in a wide range of industrial and transportation applications. Argonne's research team concentrated on the scientific and technical aspects of the project, using a range of state-of-the art analytical and tribological test facilities. Argonne has extensive past experience and expertise in working with boron-based solid and liquid lubrication additives, and has intellectual property ownership of several. There were two industrial collaborators in this project: Ashland Oil (represented by its Valvoline subsidiary) and Primet Precision Materials, Inc. (a leading nanomaterials company). There was also a sub-contract with the University of Arkansas. The major objectives of the project were to develop novel boron-based nanocolloidal lubrication additives and to optimize and verify their performance under boundary-lubricated sliding conditions. The project also tackled problems related to colloidal dispersion, larger-scale manufacturing and blending of nano-additives with base carrier oils. Other important issues dealt with in the project were determination of the optimum size and concentration of the particles and compatibility with various base fluids and/or additives. Boron-based particulate additives considered in this project included boric acid (H 3 BO 3 ), hexagonal boron nitride (h-BN), boron oxide, and borax. As part of this project, we also explored a hybrid MoS 2 + boric acid formulation approach for more effective lubrication and reported the results. The major motivation behind this work was to reduce energy losses related to friction and wear in a wide spectrum of mechanical systems and thereby reduce our dependence on imported oil. Growing concern over greenhouse gas emissions was also a major reason. The transportation sector alone consumes about 13 million barrels of crude oil per day (nearly 60% of which is imported) and is responsible for about 30% of the CO 2 emission. When we consider manufacturing and other energy-intensive industrial processes, the amount of petroleum being consumed due to friction and wear reaches more than 20 million barrels per day (from official energy statistics, U.S. Energy Information Administration). Frequent remanufacturing and/or replacement of worn parts due to friction-, wear-, and scuffing-related degradations also consume significant amounts of energy and give rise to additional CO 2 emission. Overall, the total annual cost of friction- and wear-related energy and material losses is estimated to be rather significant (i.e., as much as 5% of the gross national products of highly industrialized nations). It is projected that more than half of the total friction- and wear-related energy losses can be recovered by developing and implementing advanced friction and wear control technologies. In transportation vehicles alone, 10% to 15% of the fuel energy is spent to overcome friction. If we can cut down the friction- and wear-related energy losses by half, then we can potentially save up to 1.5 million barrels of petroleum per day. Also, less friction and wear would mean less energy consumption as well as less carbon emissions and hazardous byproducts being generated and released to the environment. New and more robust anti-friction and -wear control technologies may thus have a significant positive impact on improving the efficiency and environmental cleanliness of the current legacy fleet and future transportation systems. Effective control of friction in other industrial sectors such as manufacturing, power generation, mining and oil exploration, and agricultural and earthmoving machinery may bring more energy savings. Therefore, this project was timely and responsive to the energy and environmental objectives of DOE and our nation. In this project, most of the boron-based materials with known and potential anti-friction and -wear properties have been manufactured as colloidal additives and tested for their effectiveness in controlling friction and wear. Unlike other anti-friction and -wear additives, which consist of zinc, molybdenum, sulfur, phosphorus, and even chlorine, lubricious boron compounds considered in this project are made of boron, oxygen, nitrogen, and hydrogen, which are more environmentally benign. Among others, boric acid is a natural mineral (known in mineralogy as "sassolite"). Based on our earlier exploratory research, it was found to offer the best overall prospect in terms of performance improvements, environmental friendliness, and ease of manufacturing and, hence, cost effectiveness. Hexagonal boron nitride and borax also offered good prospects for improving the tribological properties of lubricated sliding surfaces. Boron oxide particles were found to be rather hard and somewhat abrasive and, hence, were not considered beyond the initial screening studies. In our bench-top tribological evaluation, we also demonstrated that those additives which worked well with engine oils could work equally well with very common gear oils. When added at appropriate concentrations, such gear oils were found to provide significant resistance to micropitting and scuffing failures in bench-top tribological test systems. Their traction coefficients were also reduced substantially and their scuffing limits were improved considerably. Such impressive tribological behavior of boron-based additives may have been due to their high chemical affinities to interact with sliding contact surfaces and to form slick and protective boundary films. Indeed, our surface studies have confirmed that most of the boron-based nanoparticulate additives prepared in our project possess a strong tendency to form a boron-rich boundary film on sliding contact surfaces. It is believed that the formation of such slick and highly durable boundary films is perhaps one of the fundamental reasons for their superior anti-friction, -wear, and -scuffing performance. Boron-based additives developed under this project have shown potential to reduce or replace the uses of environmentally unsafe sulfur- and phosphorus-bearing anti-wear and friction additives, such as zinc dialkyl dithiophosphate (ZDDP) and molybdenum dialkyl dithiocarbamate (MoDTC), in current lubricating oils. Because ZDDP and MoDTC were suspected of adversely impacting the performance of after-treatment catalysts in current engines, the Environmental Protection Agency (EPA) and other regulatory agencies are demanding that the concentrations of these catalysts in current oils be curtailed drastically. The boron-based nano-additives developed in this project may help reduce the use of ZDDP and MoDTC additives and, hence, help ease the poisoning effects on after-treatment catalysts. When used as lubricity additives, these boron additives can chemically interact with sliding or contacting surfaces and form a protective and slick boundary film, which can, in turn, help reduce friction and wear and increase resistance to scuffing. In the cases of traditional anti-friction and -wear additives mentioned, such protective boundary films result from phosphorus, sulfur, and other elements in the additive package, and again they have been under increased scrutiny in recent years, mainly because of their adverse effects on after-treatment devices. Overall, the boron-based nano-additive technology of this project was shown to hold promise for a broad range of industrial and transportation applications where lower friction and higher resistance to wear and scuffing are needed. Due to more stringent operating conditions of modern machinery, rolling, rotating, and sliding components have been failing to meet the projected lifetimes, mainly because of failures related to mechanical wear, corrosion, and scuffing. The novel boron-based additive technology developed under this project may help such machine components to function reliably by cutting down the friction and wear losses and by increasing resistance to scuffing.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2021

Modeling and Control of Cascaded Bridgeless Multilevel Rectifier Under Unbalanced Load Conditions

The goal of this project is to model and control a novel unidirectional cascaded multilevel bridgeless rectifier as an active front end in medium and high voltage applications. This topology has many advantages over a conventional cascaded H-bridge rectifier, such as lower implementation cost, higher reliability, and greater flexibility with similar power quality.The steady-state mathematical model is used to develop a method for the voltage balancing of dc cells. Power factor analysis is discussed to achieve unity power factor using fully controlled hbridge cells. Power loss, efficiency, and cost comparison studies between the traditional cascaded H-Bridge converter and the proposed bridgeless converter demonstrate the advantages. A novel control strategy is proposed to achieve dc voltage balancing, fast and robust grid synchronization and power factor correction under unbalanced load conditions. Simulation and experimental results validate the models and control method.

Cascaded Bridgeless Rectifier, Power factor analys↗

DOE OSTI2025

Hybrid Energy Management with Real-Time Control of a High-Power EV Charging Site

Decarbonization of transportation systems is driving higher capacity energy storage and faster charging power requirements in electric vehicles (EVs). Given the potential advantages - such as increased efficiency, reduced inverter capacity, and less total cable mass - there is a demand in the industry for more DC distribution for high-power charging (HPC) hubs. However, the cost-effective, adaptive, and robust operation of the DC-coupled HPC hub necessitates a robust site energy management system (SEMS). Validating SEMS operation using a digital twin of an HPC hub in a real-time simulator (RTS) platform is crucial before field deployment. In this study, we propose a hybrid energy management site controller designed to achieve high-level, long-term operational objectives while managing low-level power sharing control between hub assets. We develop a centralized model predictive controller (MPC) to optimize hub operating points and use these points to update the droop parameters of the site energy storage system (ESS). This approach ensures the hub follows an optimal operating point while maintaining the flexibility to respond to load surges. We tested and verified our proposed approach both offline and on a Controller Hardware-in-the-loop (C-HIL) simulation platform integrated with a SEMS framework, demonstrating real-time site operation and validating a cost-effective and robust site controller.

ADVANCED PROPULSION SYSTEMS↗

NASA NTRS2013

Adaptive Control for Linear Uncertain Systems with Unmodeled Dynamics Revisited via Optimal Control Modification

This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.

Unmodeled Dynamics↗

NASA NTRS1991

Priority scheme planning for the robust SSM/PMAD testbed

Whenever mixing priorities of manually controlled resources with those of autonomously controlled resources, the space station module power management and distribution (SSM/PMAD) environment requires cooperating expert system interaction between the planning function and the priority manager. The elements and interactions of the SSM/PMAD planning and priority management functions are presented. Their adherence to cooperating for common achievement are described. In the SSM/PMAD testbed these actions are guided by having a system planning function, KANT, which has insight to the executing system and its automated database. First, the user must be given access to all information which may have an effect on the desired outcome. Second, the fault manager element, FRAMES, must be informed as to the change so that correct diagnoses and operations take place if and when faults occur. Third, some element must engage as mediator for selection of resources and actions to be added or removed at the user's request. This is performed by the priority manager, LPLMS. Lastly, the scheduling mechanism, MAESTRO, must provide future schedules adhering to the user modified resource base.

Elges, Michael R.↗

NASA NTRS2013

Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

Abdallah, Muhammad E↗

NASA NTRS2002

MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

Wells, S. R.↗

DOE OSTI2017

Perfect quantum state engineering by the combination of the counterdiabatic driving and the reverse-engineering technique

We propose a method to design shortcuts to adiabaticity for implementing perfect quantum state engineering by the combination of the counterdiabatic driving and the reverse engineering technique. Based on the method, we can design simple schemes to realize the intended dynamics. For the sake of clearness, we apply this method to several examples including two-level, three-level and four-level system. We show that fast quantum state engineering can be realized by utilizing simply-designed auxiliary Hamiltonian. Furthermore, a suitable choice of the control parameters can eliminate the additional couplings in the introduced auxiliary Hamiltonian. Numerical simulation reveals that the constructed scheme is reliable and robust against various dissipation effects and the fluctuations of control parameters in current technology. - Highlights: • Fast and feasible quantum state engineering can be realized by using the method. • The method allows one to control accurately the evolution of the system. • The scheme is fast and robust against dissipation effects and parameter errors. • The scheme can be generalized to realize N-dimensional quantum state engineering.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2023

Rapidly Viable Sustained Grid

Rapid recovery of power flow, possibly after a blackout, is a crucial need arising in scenarios that are increasingly becoming more frequent; here, solutions for rapid viability of power while the grid is being restored are urgently needed to keep critical infrastructure (CI) online. Increasingly, after the initial recovery phase, sustenance of reliable power requires assistive services to the grid for long periods of time. Even though the need is urgent, there is only sparse effort present toward a comprehensive framework/strategy for making power rapidly viable with an emphasis on sustained grid ancillary services; which is the focus of this proposal. The proposed concept envisions four phases. In the first phase, when a large portion of power is disrupted (see Figure 1(a)), emphasis is on bringing CI online with the objective of maximizing the time horizon of power viability using resources available at the CI. In the second phase (Figure 1(b)), neighborhood resources are tightly coordinated that forms the CI’s central-core (CC) to provide guaranteed viability of CI over a longer horizon. In the third phase, self-organizing power networks are expanded in a distributed layer supporting the central-core (Figure 1(c)). In the fourth phase, separate CI-networks coalesce and are controlled in a coordinated fashion to provide grid ancillary services (AS), such as primary frequency control and enhancing grid resiliency. With time, system efficiencies and penetration of renewables increase, while the time-horizon of guaranteed sustenance of CI is maximized. Under proposed work, the concept will be instantiated with a focus on medical centers as CI. Comprehensive power hardware in the loop strategies and emulated field tests will guide and validate devised solutions. A strong T2M effort to commercialize resulting technology is outlined. The proposed technology will be transformative for the grid. It will fundamentally change the way large contingencies are managed where power systems and critical infrastructure transition from being fragile to being robust using intelligent, self-organizing control for coordinating resources, enhanced resiliency and use of sustainable energy sources.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1994

Time-delay control of a magnetic levitated linear positioning system

In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.

Tarn, J. H.↗

NASA NTRS2008

Telescope Multi-Field Wavefront Control with a Kalman Filter

An effective multi-field wavefront control (WFC) approach is demonstrated for an actuated, segmented space telescope using wavefront measurements at the exit pupil, and the optical and computational implications of this approach are discussed. The integration of a Kalman Filter as an optical state estimator into the wavefront control process to further improve the robustness of the optical alignment of the telescope will also be discussed. Through a comparison of WFC performances between on-orbit and ground-test optical system configurations, the connection (and a possible disconnection) between WFC and optical system alignment under these circumstances are analyzed. Our MACOS-based computer simulation results will be presented and discussed.

optical state estimation and correction↗

NASA NTRS2000

Development of a Design Methodology for Reconfigurable Flight Control Systems

A methodology is presented for the design of flight control systems that exhibit stability and performance-robustness in the presence of actuator failures. The design is based upon two elements. The first element consists of a control law that will ensure at least stability in the presence of a class of actuator failures. This law is created by inner-loop, reduced-order, linear dynamic inversion, and outer-loop compensation based upon Quantitative Feedback Theory. The second element consists of adaptive compensators obtained from simple and approximate time-domain identification of the dynamics of the 'effective vehicle' with failed actuator(s). An example involving the lateral-directional control of a fighter aircraft is employed both to introduce the proposed methodology and to demonstrate its effectiveness and limitations.

Hess, Ronald A.↗

NASA NTRS2001

Optimal Control Design Using an H2 Method for the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT)

The acceleration environment on the International Space Station (ISS) will likely exceed the requirements of many micro-gravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for micro-gravity science experiments. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform for mounting science payloads from the nominal acceleration environment. The system utilizes payload acceleration, relative position, and relative orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current command to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. This paper presents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for both frequency-weighted H(sub 2) and H(sub infinity) norms. Comparison of the performance and robustness to plant uncertainty for these two optimal control design approaches are included in the discussion.

Calhoun, Phillip C.↗

DOE OSTI2019

Investigating the role of innate immunity in viral encephalitis caused by Rift Valley fever virus

Rift Valley Fever Virus (RVFV) is a category A biodefense pathogen due to its potential for intentional spread by aerosols and the lack of a licensed vaccine or antiviral therapeutic. Although the brain is a major target of viral replication and tissue damage following aerosol infection, little is known about innate immune responses to RVFV in the brain. We are investigating the responses of resident innate immune cells of the brain (microglia and astrocytes) during RVFV infection, in order to identify how these cells are capable of controlling RVFV replication. Microglia mount a robust response to RVFV that is dependent upon mitochondrial antiviral-signaling protein (MAVS) and independent of toll-like receptors 3 and 7. Mice genetically modified to have nonfunctional MAVS (MAVS "knock out" or KO mice) have significantly higher viral loads in the brain following intranasal infection, but surprisingly, many markers of immune activity were similarly upregulated in the brains of MAVS KO and wild type (WT, or “normal”) mice. This is in contrast to the in vitro response, where microglia and astrocytes derived from MAVS KO mice were unresponsive to RVFV infection. RNA-sequencing analysis of infected brain tissue revealed that key antiviral genes are not activated in the MAVS KO animals. These results are an important step towards understanding the molecular pathways responsible for controlling RVFV infection in the brain and lay the groundwork for the development of targeted therapies for the prevention of RVFV encephalitis.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2013

Genetic Control and Comparative Genomic Analysis of Flowering Time in Setaria (Poaceae)

We report the first study on the genetic control of flowering in Setaria, a panicoid grass closely related to switchgrass, and in the same subfamily as maize and sorghum. A recombinant inbred line mapping population derived from a cross between domesticated Setaria italica (foxtail millet) and its wild relative Setaria viridis (green millet), was grown in eight trials with varying environmental conditions to identify a small number of quantitative trait loci (QTL) that control differences in flowering time. Many of the QTL across trials colocalize, suggesting that the genetic control of flowering in Setaria is robust across a range of photoperiod and other environmental factors. A detailed comparison of QTL for flowering in Setaria, sorghum, and maize indicates that several of the major QTL regions identified in maize and sorghum are syntenic orthologs with Setaria QTL, although the maize large effect QTL on chromosome 10 is not. Several Setaria QTL intervals had multiple LOD peaks and were composed of multiple syntenic blocks, suggesting that observed QTL represent multiple tightly linked loci. Candidate genes from flowering time pathways identified in rice and Arabidopsis were identified in Setaria QTL intervals, including those involved in the CONSTANS photoperiod pathway. However, only three of the approximately seven genes cloned for flowering time in maize colocalized with Setaria QTL. This suggests that variation in flowering time in separate grass lineages is controlled by a combination of conserved and lineage specific genes.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Characterization of quantum dot-like emitters in programmable arrays of nanowrinkles of 1L-WSe2

When combined with nanostructured substrates, two-dimensional semiconductors can be engineered with strain to tailor light–matter interactions on the nanoscale. Recently, room-temperature nanoscale exciton localization with controllable wrinkling in 1L-WSe2 was achieved using arrays of gold nanocones. Here, the characterization of quantum dot-like states and single-photon emitters in the 1L-WSe2/nanocone system is reported. The nanocones induce a wide range of strains, and as a result, a diverse ensemble of narrowband, potential single-photon emitters is observed. The distribution of emitter energies reveals that most reside in two spectrally isolated bands, leaving a less populated intermediate band that is spectrally isolated from the ensembles. The spectral isolation is advantageous for high-purity quantum light emitters, and anti-bunched emission from one of these states is confirmed up to 25 K. Although the spatial distribution of strain is expected to influence the orientation of the transition dipoles of the emitters, multimodal emission polarization anisotropy and atomic force microscopy reveal that the macroscopic orientation of the wrinkles is not a good predictor of dipole orientation. Finally, the emission is found to change with thermal cycling from 4 to 290 K and back to 4 K, highlighting the need to control factors such as temperature-induced strain to enhance the robustness of this quantum emitter platform. The initial characterization here shows that controlled nanowrinkles of 1L-WSe2 generate quantum light in addition to uncovering potential challenges that need to be addressed for their adoption into quantum photonic technologies.

Physics↗