Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “robustness”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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

At least 1,603 records · Page 89
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Performance Robustness of Manipulator Collision Controller

In this paper, we propose that the manipulator impact control problem be approached from a stochastic optimal control perspective. The reason is that not only is such approach be able to model uncertainties in contact environment, force sensing, as well as manipulator dynamics, the controllers obtained is optimally robust in terms of performance. This result is verified by analyses and simulations.

model uncertainties contact environment force sens↗
NASA NTRS1993

Mue-Synthesis Robust Control: What's Wrong and how to fix it?

The theory of mue-synthesis introduced in [1,2] provides, in principle, a broadly applicabel theory for the optimal synthesis of multiloop feedback control lows that robustly meet performance and disturbance attenuation specifications despite unknown-but-bounded nonlinearities and parameter variation.

Multiloop Feedback↗
NASA NTRS2004

Robust local search for spacecraft operations using adaptive noise

Randomization is a standard technique for improving the performance of local search algorithms for constraint satisfaction. However, it is well-known that local search algorithms are constraints satisfaction. However, it is well-known that local search algorithms are to the noise values selected. We investigate the use of an adaptive noise mechanism in an iterative repair-based planner/scheduler for spacecraft operations. Preliminary results indicate that adaptive noise makes the use of randomized repair moves safe and robust; that is, using adaptive noise makes it possible to consistently achieve, performance comparable with the best tuned noise setting without the need for manually tuning the noise parameter.

planning↗
NASA NTRS2006

Robust Joining and Integration of Advanced Ceramics and Composites: Challenges, Opportunities, and Realities

Advanced ceramics and fiber reinforced composites are under active consideration for use in a wide variety of high temperature applications within the aeronautics, space transportation, energy, and nuclear industries. The engineering designs of ceramic and composite components require fabrication and manufacturing of large and complex shaped parts of various thicknesses. In many instances, it is more economical to build up complex shapes by joining simple geometrical shapes. In addition, these components have to be joined or assembled with metallic sub-components. Thus, joining and attachment have been recognized as enabling technologies for successful utilization of ceramic components in various demanding applications. In this presentation, various challenges and opportunities in design, fabrication, and testing of high temperature joints in advanced ceramics and ceramic matrix composites will be presented. Silicon carbide based advanced ceramics and fiber reinforced composites in different shapes and sizes, have been joined using an affordable, robust ceramic joining technology. In addition, some examples of metal-ceramic brazing will also be presented. Microstructure and high temperature mechanical properties of joints in silicon carbide ceramics and composites will be reported. Various joint design philosophies and design issues in joining of ceramics and composites will be discussed.

Singh, Mrityunjay↗
NASA NTRS2006

Robust Joining and Integration Technologies for Advanced Metallic, Ceramic, and Composite Systems

Robust integration and assembly technologies are critical for the successful implementation of advanced metallic, ceramic, carbon-carbon, and ceramic matrix composite components in a wide variety of aerospace, space exploration, and ground based systems. Typically, the operating temperature of these components varies from few hundred to few thousand Kelvin with different working times (few minutes to years). The wide ranging system performance requirements necessitate the use of different integration technologies which includes adhesive bonding, low temperature soldering, active metal brazing, diffusion bonding, ARCJoinT, and ultra high temperature joining technologies. In this presentation, a number of joining examples and test results will be provided related to the adhesive bonding and active metal brazing of titanium to C/C composites, diffusion bonding of silicon carbide to silicon carbide using titanium interlayer, titanium and hastelloy brazing to silicon carbide matrix composites, and ARCJoinT joining of SiC ceramics and SiC matrix composites. Various issues in the joining of metal-ceramic systems including thermal expansion mismatch and resulting residual stresses generated during joining will be discussed. In addition, joint design and testing issues for a wide variety of joints will be presented.

Singh, M.↗
NASA NTRS2006

Robust Bioinformatics Recognition with VLSI Biochip Microsystem

A microsystem architecture for real-time, on-site, robust bioinformatic patterns recognition and analysis has been proposed. This system is compatible with on-chip DNA analysis means such as polymerase chain reaction (PCR)amplification. A corresponding novel artificial neural network (ANN) learning algorithm using new sigmoid-logarithmic transfer function based on error backpropagation (EBP) algorithm is invented. Our results show the trained new ANN can recognize low fluorescence patterns better than the conventional sigmoidal ANN does. A differential logarithmic imaging chip is designed for calculating logarithm of relative intensities of fluorescence signals. The single-rail logarithmic circuit and a prototype ANN chip are designed, fabricated and characterized.

bioinformatics↗
NASA NTRS2006

Efficient and Robust Data Collection Using Compact Micro Hardware, Distributed Bus Architectures and Optimizing Software

Future In-Space propulsion systems for exploration programs will invariably require data collection from a large number of sensors. Consider the sensors needed for monitoring several vehicle systems states of health, including the collection of structural health data, over a large area. This would include the fuel tanks, habitat structure, and science containment of systems required for Lunar, Mars, or deep space exploration. Such a system would consist of several hundred or even thousands of sensors. Conventional avionics system design will require these sensors to be connected to a few Remote Health Units (RHU), which are connected to robust, micro flight computers through a serial bus. This results in a large mass of cabling and unacceptable weight. This paper first gives a survey of several techniques that may reduce the cabling mass for sensors. These techniques can be categorized into four classes: power line communication, serial sensor buses, compound serial buses, and wireless network. The power line communication approach uses the power line to carry both power and data, so that the conventional data lines can be eliminated. The serial sensor bus approach reduces most of the cabling by connecting all the sensors with a single (or redundant) serial bus. Many standard buses for industrial control and sensor buses can support several hundreds of nodes, however, have not been space qualified. Conventional avionics serial buses such as the Mil-Std-1553B bus and IEEE 1394a are space qualified but can support only a limited number of nodes. The third approach is to combine avionics buses to increase their addressability. The reliability, EMI/EMC, and flight qualification issues of wireless networks have to be addressed. Several wireless networks such as the IEEE 802.11 and Ultra Wide Band are surveyed in this paper. The placement of sensors can also affect cable mass. Excessive sensors increase the number of cables unnecessarily. Insufficient number of sensors may not provide adequate coverage of the system. This paper also discusses an optimal technique to place and validate sensors.

micro hardware↗
NASA NTRS2005

Probabilistic Reasoning for Plan Robustness

A planning system must reason about the uncertainty of continuous variables in order to accurately project the possible system state over time. A method is devised for directly reasoning about the uncertainty in continuous activity duration and resource usage for planning problems. By representing random variables as parametric distributions, computing projected system state can be simplified in some cases. Common approximation and novel methods are compared for over-constrained and lightly constrained domains. The system compares a few common approximation methods for an iterative repair planner. Results show improvements in robustness over the conventional non-probabilistic representation by reducing the number of constraint violations witnessed by execution. The improvement is more significant for larger problems and problems with higher resource subscription levels but diminishes as the system is allowed to accept higher risk levels.

autonomous planning↗
NASA NTRS2008

Up the Technology Readiness Level (TRL) Scale to Demonstrate a Robust, Long Life, Liquid Rocket Engine Combustion Chamber, or...Up the Downstairs

Advanced vacuum plasma spray (VPS) technology, utilized to successfully apply thermal barrier coatings to space shuttle main engine turbine blades, was further refined as a functional gradient material (FGM) process for space furnace cartridge experiments at 1600 C and for robust, long life combustion chambers for liquid rocket engines. A VPS/FGM 5K (5,000 lb. thrust) thruster has undergone 220 hot firing tests, in pristine condition, showing no wear, blanching or cooling channel cracks. Most recently, this technology has been applied to a 40K thruster, with scale up planned for a 194K Ares I, J-2X engine.

Holmes, Richard↗
NASA NTRS2008

Robust, optimal subsonic airfoil shapes

Method system, and product from application of the method, for design of a subsonic airfoil shape, beginning with an arbitrary initial airfoil shape and incorporating one or more constraints on the airfoil geometric parameters and flow characteristics. The resulting design is robust against variations in airfoil dimensions and local airfoil shape introduced in the airfoil manufacturing process. A perturbation procedure provides a class of airfoil shapes, beginning with an initial airfoil shape.

Rai, Man Mohan↗
NASA NTRS2005

Robust and Opportunistic Planning for Planetary Exploration

This slide presentation discusses the use of robust planning for rover vehicles to enable planetary exploration. The objective of this work is to use onboard planning, scheduling and execution techniques to enable a rover to take autonomous action to take advantage of new opportunities, and to respond to unexpected problems, and to improve the overall utilization of rover resources.

onboard science analysis↗
NASA NTRS2009

Robust Software Architecture for Robots

Robust Real-Time Reconfigurable Robotics Software Architecture (R4SA) is the name of both a software architecture and software that embodies the architecture. The architecture was conceived in the spirit of current practice in designing modular, hard, realtime aerospace systems. The architecture facilitates the integration of new sensory, motor, and control software modules into the software of a given robotic system. R4SA was developed for initial application aboard exploratory mobile robots on Mars, but is adaptable to terrestrial robotic systems, real-time embedded computing systems in general, and robotic toys.

Aghazanian, Hrand↗
NASA NTRS2009

A Robust Mechanical Sensing System for Unmanned Sea Surface Vehicles

The need for autonomous navigation and intelligent control of unmanned sea surface vehicles requires a mechanically robust sensing architecture that is watertight, durable, and insensitive to vibration and shock loading. The sensing system developed here comprises four black and white cameras and a single color camera. The cameras are rigidly mounted to a camera bar that can be reconfigured to mount multiple vehicles, and act as both navigational cameras and application cameras. The cameras are housed in watertight casings to protect them and their electronics from moisture and wave splashes. Two of the black and white cameras are positioned to provide lateral vision. They are angled away from the front of the vehicle at horizontal angles to provide ideal fields of view for mapping and autonomous navigation. The other two black and white cameras are positioned at an angle into the color camera's field of view to support vehicle applications. These two cameras provide an overlap, as well as a backup to the front camera. The color camera is positioned directly in the middle of the bar, aimed straight ahead. This system is applicable to any sea-going vehicle, both on Earth and in space.

Kulczycki, Eric A.↗
NASA NTRS2007

Robust Mapping of Incoherent Fiber-Optic Bundles

A method and apparatus for mapping between the positions of fibers at opposite ends of incoherent fiber-optic bundles have been invented to enable the use of such bundles to transmit images in visible or infrared light. The method is robust in the sense that it provides useful mapping even for a bundle that contains thousands of narrow, irregularly packed fibers, some of which may be defective. In a coherent fiber-optic bundle, the input and output ends of each fiber lie at identical positions in the input and output planes; therefore, the bundle can be used to transmit images without further modification. Unfortunately, the fabrication of coherent fiber-optic bundles is too labor-intensive and expensive for many applications. An incoherent fiber-optic bundle can be fabricated more easily and at lower cost, but it produces a scrambled image because the position of the end of each fiber in the input plane is generally different from the end of the same fiber in the output plane. However, the image transmitted by an incoherent fiber-optic bundle can be unscrambled (or, from a different perspective, decoded) by digital processing of the output image if the mapping between the input and output fiber-end positions is known. Thus, the present invention enables the use of relatively inexpensive fiber-optic bundles to transmit images.

Roberts, Harry E.↗
NASA NTRS2007

Robust, Flexible Motion Control for the Mars Explorer Rovers

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Maimone, Mark↗
NASA NTRS2010

Advanced Vacuum Plasma Spray (VPS) for a Robust, Longlife and Safe Space Shuttle Main Engine (SSME)

In 1984, the Vacuum Plasma Spray Lab was built at NASA/Marshall Space Flight Center for applying durable, protective coatings to turbine blades for the space shuttle main engine (SSME) high pressure fuel turbopump. Existing turbine blades were cracking and breaking off after five hot fire tests while VPS coated turbine blades showed no wear or cracking after 40 hot fire tests. Following that, a major manufacturing problem of copper coatings peeling off the SSME Titanium Main Fuel Valve Housing was corrected with a tenacious VPS copper coating. A patented VPS process utilizing Functional Gradient Material (FGM) application was developed to build ceramic lined metallic cartridges for space furnace experiments, safely containing gallium arsenide at 1260 degrees centigrade. The VPS/FGM process was then translated to build robust, long life, liquid rocket combustion chambers for the space shuttle main engine. A 5K (5,000 Lb. thrust) thruster with the VPS/FGM protective coating experienced 220 hot firing tests in pristine condition with no wear compared to the SSME which showed blanching (surface pulverization) and cooling channel cracks in less than 30 of the same hot firing tests. After 35 of the hot firing tests, the injector face plates disintegrated. The VPS/FGM process was then applied to spraying protective thermal barrier coatings on the face plates which showed 50% cooler operating temperature, with no wear after 50 hot fire tests. Cooling channels were closed out in two weeks, compared to one year for the SSME. Working up the TRL (Technology Readiness Level) to establish the VPS/FGM process as viable technology, a 40K thruster was built and is currently being tested. Proposed is to build a J-2X size liquid rocket engine as the final step in establishing the VPS/FGM process TRL for space flight.

Holmes, Richard R.↗