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At least 1,531 records · Page 85
All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Application of Bounded Linear Stability Analysis Method for Metrics-Driven Adaptive Control

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics-driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a second order system that represents a pitch attitude control of a generic transport aircraft. The analysis shows that the system with the metrics-conforming variable adaptive gain becomes more robust to unmodeled dynamics or time delay. The effect of analysis time-window for BLSA is also evaluated in order to meet the stability margin criteria.

Bakhtiari-Nejad, Maryam↗
NASA NTRS1985

A self-adaptive-grid method with application to airfoil flow

A self-adaptive-grid method is described that is suitable for multidimensional steady and unsteady computations. Based on variational principles, a spring analogy is used to redistribute grid points in an optimal sense to reduce the overall solution error. User-specified parameters, denoting both maximum and minimum permissible grid spacings, are used to define the all-important constants, thereby minimizing the empiricism and making the method self-adaptive. Operator splitting and one-sided controls for orthogonality and smoothness are used to make the method practical, robust, and efficient. Examples are included for both steady and unsteady viscous flow computations about airfoils in two dimensions, as well as for a steady inviscid flow computation and a one-dimensional case. These examples illustrate the precise control the user has with the self-adaptive method and demonstrate a significant improvement in accuracy and quality of the solutions.

Nakahashi, K.↗
DOE OSTI2024

Control of a twisted domain wall motion supported by topology

We report the topology-mediated modulation of a twisted domain wall speed in a thick perpendicularly magnetized system. By exploiting the topological robustness of the direction of the Bloch wall component in the twisted domain wall, we show that the domain wall speed either increases or decreases depending on whether the transverse magnetic field is parallel or antiparallel to the Bloch wall component. The decrease in the speed is maintained until the antiparallel transverse reaches ~0.3 T, indicating that the twisted domain wall can offer wide controllability supported by the topological robustness which involves an injection of a Bloch point. We also demonstrate that the transverse magnetic field suppresses the Walker breakdown, allowing high mobility domain wall motion for a wide range of perpendicular driving fields.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS2003

The Role of Design-of-Experiments in Managing Flow in Compact Air Vehicle Inlets

It is the purpose of this study to demonstrate the viability and economy of Design-of-Experiments methodologies to arrive at microscale secondary flow control array designs that maintain optimal inlet performance over a wide range of the mission variables and to explore how these statistical methods provide a better understanding of the management of flow in compact air vehicle inlets. These statistical design concepts were used to investigate the robustness properties of low unit strength micro-effector arrays. Low unit strength micro-effectors are micro-vanes set at very low angles-of-incidence with very long chord lengths. They were designed to influence the near wall inlet flow over an extended streamwise distance, and their advantage lies in low total pressure loss and high effectiveness in managing engine face distortion. The term robustness is used in this paper in the same sense as it is used in the industrial problem solving community. It refers to minimizing the effects of the hard-to-control factors that influence the development of a product or process. In Robustness Engineering, the effects of the hard-to-control factors are often called noise , and the hard-to-control factors themselves are referred to as the environmental variables or sometimes as the Taguchi noise variables. Hence Robust Optimization refers to minimizing the effects of the environmental or noise variables on the development (design) of a product or process. In the management of flow in compact inlets, the environmental or noise variables can be identified with the mission variables. Therefore this paper formulates a statistical design methodology that minimizes the impact of variations in the mission variables on inlet performance and demonstrates that these statistical design concepts can lead to simpler inlet flow management systems.

Anderson, Bernhard H.↗
DOE OSTI2021

Pycheron: A Python-Based Seismic Waveform Data Quality Control Software Package

Supplementing an existing high-quality seismic monitoring network with openly available station data could improve coverage and decrease magnitudes of completeness; however, this can present challenges when varying levels of data quality exist. Without discerning the quality of openly available data, using it poses significant data management, analysis, and interpretation issues. Incorporating additional stations without properly identifying and mitigating data quality problems can degrade overall monitoring capability. If openly available stations are to be used routinely, a robust, automated data quality assessment for a wide range of quality control (QC) issues is essential. To meet this need, we developed Pycheron, a Python-based library for QC of seismic waveform data. Pycheron was initially based on the Incorporated Research Institutions for Seismology’s Modular Utility for STAtistical kNowledge Gathering but has been expanded to include more functionality. Pycheron can be implemented at the beginning of a data processing pipeline or can process stand-alone data sets. Its objectives are to (1) identify specific QC issues; (2) automatically assess data quality and instrumentation health; (3) serve as a basic service that all data processing builds on by alerting downstream processing algorithms to any quality degradation; and (4) improve our ability to process orders of magnitudes more data through performance optimizations. This article provides an overview of Pycheron, its features, basic workflow, and an example application using a synthetic QC data set.

58 GEOSCIENCES↗
NASA NTRS2011

Passive Aerogravity Assisted Trajectories for a Mars Atmospheric Sample Return Mission

A number of studies have demonstrated that aerodynamic lift during a planetary low-altitude atmospheric flyby can increase the V(sub infinity) bending angle and the total delta V achievable from gravity assist. Aero-Gravity Assist (AGA) trajectories of this type require a significantly high spacecraft L/D (lift-to-drag) ratio and a fairly robust closed-loop guidance algorithm capable of providing a desired control authority for level, nearly constant-altitude atmospheric flight. The AGA concept has been described in some previous publications as one of the techniques for Mars and Venus atmospheric sample return mission design strategies. Recent analysis has demonstrated that passive, ballistic (zero-lift) aeropass trajectories could equally satisfy potential future sample return mission objectives and provide quite robust and simple alternatives to a complex guided AGA lifting trajectory design.

sample return missions↗
NASA NTRS2007

Proximity Navigation of Highly Constrained Spacecraft

Bandit is a 3-kg automated spacecraft in development at Washington University in St. Louis. Bandit's primary mission is to demonstrate proximity navigation, including docking, around a 25-kg student-built host spacecraft. However, because of extreme constraints in mass, power and volume, traditional sensing and actuation methods are not available. In particular, Bandit carries only 8 fixed-magnitude cold-gas thrusters to control its 6 DOF motion. Bandit lacks true inertial sensing, and the ability to sense position relative to the host has error bounds that approach the size of the Bandit itself. Some of the navigation problems are addressed through an extremely robust, error-tolerant soft dock. In addition, we have identified a control methodology that performs well in this constrained environment: behavior-based velocity potential functions, which use a minimum-seeking method similar to Lyapunov functions. We have also adapted the discrete Kalman filter for use on Bandit for position estimation and have developed a similar measurement vs. propagation weighting algorithm for attitude estimation. This paper provides an overview of Bandit and describes the control and estimation approach. Results using our 6DOF flight simulator are provided, demonstrating that these methods show promise for flight use.

Scarritt, S.↗
NASA NTRS1993

Robustness

The concept of rubustness includes design simplicity, component and path redundancy, desensitization to the parameter and environment variations, control of parameter variations, and punctual operations. These characteristics must be traded with functional concepts, materials, and fabrication approach against the criteria of performance, cost, and reliability. The paper describes the robustness design process, which includes the following seven major coherent steps: translation of vision into requirements, definition of the robustness characteristics desired, criteria formulation of required robustness, concept selection, detail design, manufacturing and verification, operations.

Ryan, Robert↗
NASA NTRS2006

Robust Coordination for Large Sets of Simple Rovers

The ability to coordinate sets of rovers in an unknown environment is critical to the long-term success of many of NASA;s exploration missions. Such coordination policies must have the ability to adapt in unmodeled or partially modeled domains and must be robust against environmental noise and rover failures. In addition such coordination policies must accommodate a large number of rovers, without excessive and burdensome hand-tuning. In this paper we present a distributed coordination method that addresses these issues in the domain of controlling a set of simple rovers. The application of these methods allows reliable and efficient robotic exploration in dangerous, dynamic, and previously unexplored domains. Most control policies for space missions are directly programmed by engineers or created through the use of planning tools, and are appropriate for single rover missions or missions requiring the coordination of a small number of rovers. Such methods typically require significant amounts of domain knowledge, and are difficult to scale to large numbers of rovers. The method described in this article aims to address cases where a large number of rovers need to coordinate to solve a complex time dependent problem in a noisy environment. In this approach, each rover decomposes a global utility, representing the overall goal of the system, into rover-specific utilities that properly assign credit to the rover s actions. Each rover then has the responsibility to create a control policy that maximizes its own rover-specific utility. We show a method of creating rover-utilities that are "aligned" with the global utility, such that when the rovers maximize their own utility, they also maximize the global utility. In addition we show that our method creates rover-utilities that allow the rovers to create their control policies quickly and reliably. Our distributed learning method allows large sets rovers be used unmodeled domains, while providing robustness against rover failures and changing environments. In experimental simulations we show that our method scales well with large numbers of rovers in addition to being robust against noisy sensor inputs and noisy servo control. The results show that our method is able to scale to large numbers of rovers and achieves up to 400% performance improvement over standard machine learning methods.

Tumer, Kagan↗
NASA NTRS2009

Adjustment of Adaptive Gain with Bounded Linear Stability Analysis to Improve Time-Delay Margin for Metrics-Driven Adaptive Control

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a linear damaged twin-engine generic transport model of aircraft. The analysis shows that the system with the adjusted adaptive gain becomes more robust to unmodeled dynamics or time delay.

Bakhtiari-Nejad, Maryam↗
NASA NTRS1995

Dissipative rendering and neural network control system design

Model-based control system designs are limited by the accuracy of the models of the plant, plant uncertainty, and exogenous signals. Although better models can be obtained with system identification, the models and control designs still have limitations. One approach to reduce the dependency on particular models is to design a set of compensators that will guarantee robust stability to a set of plants. Optimization over the compensator parameters can then be used to get the desired performance. Conservativeness of this approach can be reduced by integrating fundamental properties of the plant models. This is the approach of dissipative control design. Dissipative control designs are based on several variations of the Passivity Theorem, which have been proven for nonlinear/linear and continuous-time/discrete-time systems. These theorems depend not on a specific model of a plant, but on its general dissipative properties. Dissipative control design has found wide applicability in flexible space structures and robotic systems that can be configured to be dissipative. Currently, there is ongoing research to improve the performance of dissipative control designs. For aircraft systems that are not dissipative active control may be used to make them dissipative and then a dissipative control design technique can be used. It is also possible that rendering a system dissipative and dissipative control design may be combined into one step. Furthermore, the transformation of a non-dissipative system to dissipative can be done robustly. One sequential design procedure for finite dimensional linear time-invariant systems has been developed. For nonlinear plants that cannot be controlled adequately with a single linear controller, model-based techniques have additional problems. Nonlinear system identification is still a research topic. Lacking analytical models for model-based design, artificial neural network algorithms have recently received considerable attention. Using their universal approximation property, neural networks have been introduced into nonlinear control designs in several ways. Unfortunately, little work has appeared that analyzes neural network control systems and establishes margins for stability and performance. One approach for this analysis is to set up neural network control systems in the framework presented above. For example, one neural network could be used to render a system to be dissipative, a second strictly dissipative neural network controller could be used to guarantee robust stability.

Gonzalez, Oscar R.↗
DOE OSTI2020

Comparison of Optimal Energy Management Strategies Using Dynamic Programming, Model Predictive Control, and Constant Velocity Prediction

Due to the recent advancements in autonomous vehicle technology, future vehicle velocity predictions are becoming more robust which allows fuel economy (FE) improvements in hybrid electric vehicles through optimal energy management strategies (EMS). A realworld highway drive cycle (DC) and a controls-oriented 2017 Toyota Prius Prime model are used to study potential FE improvements. We proposed three important metrics for comparison: (1) perfect full drive cycle prediction using dynamic programming, (2) 10-second prediction horizon model predictive control (MPC), and (3) 10-second constant velocity prediction. These different velocity predictions are put into an optimal EMS derivation algorithm to derive optimal engine torque and engine speed. The results show that the constant velocity prediction algorithm outperformed the baseline control strategy but underperformed the MPC strategy with an average 1.58% and 2.45% of FE improvement with highway and city-highway DC. Also, using a 10-second prediction window MPC strategy provided FE improvement results close to the full drive cycle prediction case. MPC has the potential to achieve 60%-65% and 70% - 80% of global FE improvement over highway and city-highway DC respectively.

Patel, Amol Arvind↗
DOE OSTI2020

On the Formalization of Development and Assessment Process for Digital Twins in the Nearly Autonomous Management and Control System

In recent years, the autonomous control system has been encouraged in advanced reactors for restoring economic viability, simplifying the operation and maintenance, and enabling remote-site power generations [1]. Since the reactor is expected to be operated for a long period of time with a limited number of individuals onsite, it is recommended that the autonomous control system should have access to very realistic models of the state of processes in the whole lifecycle, together with these process behaviors in interaction with their environment in the real world. As a result, digital twin (DT) technology is suggested in autonomous control systems. DT is defined as a digital representation of a physical object or system, which contains a record for the histories of loads, operation and maintenance status, predictions for the near-term transient of important state variables, and decision-making process [2]. Since machine learning (ML) can recognize patterns within a complex system in real-time applications, it has been used to build DTs in the autonomous control systems for advanced reactors. Meanwhile, due to the rareness of operation data in accident scenarios, the development and assessment of DTs is expected to be mainly driven by simulations. Although the capability and feasibility of ML-based DTs are recognized in improving the safety and efficiency of reactor control, a major concern from the regulatory commission and the nuclear industry is whether the information from a DT is developed and assessed in accordance with expectation and requirements by the target decision. Such concerns not only affect the acceptance criteria for DTs, but also values that can be extracted from DTs and autonomous control system during operations. Inspired by the success of formal methods in improving the reliability and robustness of computer programming and software development, it is suggested that the development and assessment process (DAP) for both separate DTs and integral control system should be formalized in a transparent, consistent, and improvable manner. In this study, a digital-twin development and assessment process (DT-DAP) is proposed by adapting the evaluation model development and assessment process (EMDAP) [3] to requirements by the autonomous control system, ML algorithms, and DT technology. To demonstrate the framework, a baseline nearly autonomous management and control (NAMAC) system with ML-based DTs for diagnosis and prognosis is developed and assessed based on the framework. It is found that with selected testing methods and techniques, the DT-DAP can help identify errors in DTs and NAMAC which would otherwise be left unverified. Meanwhile, it is found that the DT-DAP can improve the DTs and NAMAC by continuously learning and iterating through different elements.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS1994

Neural Network for Positioning Space Station Solar Arrays

As a shuttle approaches the Space Station Freedom for a rendezvous, the shuttle's reaction control jet firings pose a risk of excessive plume impingement loads on Freedom solar arrays. The current solution to this problem, in which the arrays are locked in a feathered position prior to the approach, may be neither accurate nor robust, and is also expensive. An alternative solution is proposed here: the active control of Freedom's beta gimbals during the approach, positioning the arrays dynamically in such a way that they remain feathered relative to the shuttle jet most likely to cause an impingement load. An artificial neural network is proposed as a means of determining the gimbal angles that would drive plume angle of attack to zero. Such a network would be both accurate and robust, and could be less expensive to implement than the current solution. A network was trained via backpropagation, and results, which compare favorably to the current solution as well as to some other alternatives, are presented. Other training options are currently being evaluated.

Graham, Ronald E.↗
NASA NTRS2000

Fixed-Order Mixed Norm Designs for Building Vibration Control

This study investigates the use of H2, mu-synthesis, and mixed H2/mu methods to construct full order controllers and optimized controllers of fixed dimensions. The benchmark problem definition is first extended to include uncertainty within the controller bandwidth in the form of parametric uncertainty representative of uncertainty in the natural frequencies of the design model. The sensitivity of H2 design to unmodeled dynamics and parametric uncertainty is evaluated for a range of controller levels of authority. Next, mu-synthesis methods are applied to design full order compensators that are robust to both unmodeled dynamics and to parametric uncertainty. Finally, a set of mixed H2/mu compensators are designed which are optimized for a fixed compensator dimension. These mixed norm designs recover the H2 design performance levels while providing the same levels of robust stability as the mu designs. It is shown that designing with the mixed norm approach permits higher levels of controller authority for which the H2 designs are destabilizing. The benchmark problem is that of an active tendon system. The controller designs are all based on the use of acceleration feedback.

Whorton, Mark S.↗
DOE OSTI2020

Comparison of Optimal Energy Management Strategies Using Dynamic Programming, Model Predictive Control, and Constant Velocity Prediction

Due to the recent advancements in autonomous vehicle technology, future vehicle velocity predictions are becoming more robust which allows fuel economy (FE) improvements in hybrid electric vehicles through optimal energy management strategies (EMS). A real- world highway drive cycle (DC) and a controls-oriented 2017 Toyota Prius Prime model are used to study potential FE improvements. We proposed three important metrics for comparison: (1) perfect full drive cycle prediction using dynamic programming, (2) 10-second prediction horizon model predictive control (MPC), and (3) 10-second constant velocity prediction. These different velocity predictions are put into an optimal EMS derivation algorithm to derive optimal engine torque and engine speed. The results show that the constant velocity prediction algorithm outperformed the baseline control strategy but underperformed the MPC strategy with an average 1.58% and 2.45% of FE improvement with highway and city-highway DC. Also, using a 10-second prediction window MPC strategy provided FE improvement results close to the full drive cycle prediction case. MPC has the potential to achieve 60%-65% and 70% - 80% of global FE improvement over highway and city-highway DC respectively.

Patel, Amol Arvind↗
NASA NTRS1992

Linear-quadratic-Gaussian synthesis with reduced parameter sensitivity

We present a method for improving the tolerance of a conventional LQG controller to parameter errors in the plant model. The improvement is achieved by introducing additional terms reflecting the structure of the parameter errors into the LQR cost function, and also the process and measurement noise models. Adjusting the sizes of these additional terms permits a trade-off between robustness and nominal performance. Manipulation of some of the additional terms leads to high gain controllers while other terms lead to low gain controllers. Conditions are developed under which the high-gain approach asymptotically recovers the robustness of the corresponding full-state feedback design, and the low-gain approach makes the closed-loop poles asymptotically insensitive to parameter errors.

Lin, J. Y.↗
DOE OSTI2025

Should I stay or should I flow? An exploration of phase‐separated metallosupramolecular liquid crystal polymers

Abstract Dynamic liquid crystalline polymers (dLCPs) incorporate both liquid crystalline mesogens and dynamic bonds into a single polymeric material. These dual functionalities impart order‐dependent thermo‐responsive mechano‐optical properties and enhanced reprocessability/programmability enabling their use as soft actuators, adaptive adhesives, and damping materials. While many previous works studying dynamic LCPs utilize dynamic covalent bonds, metallosupramolecular bonds provide a modular platform where a series of materials can be accessed from a single polymeric feedstock through the variation of the metal ion used. A series of dLCPs were prepared by the addition of metal salts to a telechelic 2,6‐bisbenzimidazolylpyridine (Bip) ligand endcapped LCP to form metallosupramolecular liquid crystal polymers (MSLCPs). The resulting MSLCPs were found to phase separate into hard and soft phases which aids in their mechanical robustness. Variations of the metal salts used to access these materials allowed for control of the thermomechanical, viscoelastic, and adhesive properties with relaxations that can be tailored independently of the mesogenic transition. This work demonstrates that by accessing phase separation through the incorporation of metallosupramolecular moieties, highly processable yet robust MSLCP materials can be realized. This class of materials opens the door to LCPs with bulk flow behavior that can also be utilized as multi‐level adhesives.

Chemistry↗