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All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Robust control with structured perturbations

Two important problems in the area of control systems design and analysis are discussed. The first is the robust stability using characteristic polynomial, which is treated first in characteristic polynomial coefficient space with respect to perturbations in the coefficients of the characteristic polynomial, and then for a control system containing perturbed parameters in the transfer function description of the plant. In coefficient space, a simple expression is first given for the l(sup 2) stability margin for both monic and non-monic cases. Following this, a method is extended to reveal much larger stability region. This result has been extended to the parameter space so that one can determine the stability margin, in terms of ranges of parameter variations, of the closed loop system when the nominal stabilizing controller is given. The stability margin can be enlarged by a choice of better stabilizing controller. The second problem describes the lower order stabilization problem, the motivation of the problem is as follows. Even though the wide range of stabilizing controller design methodologies is available in both the state space and transfer function domains, all of these methods produce unnecessarily high order controllers. In practice, the stabilization is only one of many requirements to be satisfied. Therefore, if the order of a stabilizing controller is excessively high, one can normally expect to have a even higher order controller on the completion of design such as inclusion of dynamic response requirements, etc. Therefore, it is reasonable to have a lowest possible order stabilizing controller first and then adjust the controller to meet additional requirements. The algorithm for designing a lower order stabilizing controller is given. The algorithm does not necessarily produce the minimum order controller; however, the algorithm is theoretically logical and some simulation results show that the algorithm works in general.

Keel, Leehyun↗
NASA NTRS1992

Min and max are the only continuous ampersand-, V-operations for finite logics

Experts usually express their degrees of belief in their statements by the words of a natural language (like 'maybe', 'perhaps', etc.). If an expert system contains the degrees of beliefs t(A) and t(B) that correspond to the statements A and B, and a user asks this expert system whether 'A&B' is true, then it is necessary to come up with a reasonable estimate for the degree of belief of A&B. The operation that processes t(A) and t(B) into such an estimate t(A&B) is called an &-operation. Many different &-operations have been proposed. Which of them to choose? This can be (in principle) done by interviewing experts and eliciting a &-operation from them, but such a process is very time-consuming and therefore, not always possible. So, usually, to choose a &-operation, the finite set of actually possible degrees of belief is extended to an infinite set (e.g., to an interval (0,1)), define an operation there, and then restrict this operation to the finite set. Only this original finite set is considered. It is shown that a reasonable assumption that an &-operation is continuous (i.e., that gradual change in t(A) and t(B) must lead to a gradual change in t(A&B)), uniquely determines min as an &-operation. Likewise, max is the only continuous V-operation. These results are in good accordance with the experimental analysis of 'and' and 'or' in human beliefs.

Kreinovich, Vladik↗
NASA NTRS2001

Implementation of a General Real-Time Visual Anomaly Detection System Via Soft Computing

The intelligent visual system detects anomalies or defects in real time under normal lighting operating conditions. The application is basically a learning machine that integrates fuzzy logic (FL), artificial neural network (ANN), and generic algorithm (GA) schemes to process the image, run the learning process, and finally detect the anomalies or defects. The system acquires the image, performs segmentation to separate the object being tested from the background, preprocesses the image using fuzzy reasoning, performs the final segmentation using fuzzy reasoning techniques to retrieve regions with potential anomalies or defects, and finally retrieves them using a learning model built via ANN and GA techniques. FL provides a powerful framework for knowledge representation and overcomes uncertainty and vagueness typically found in image analysis. ANN provides learning capabilities, and GA leads to robust learning results. An application prototype currently runs on a regular PC under Windows NT, and preliminary work has been performed to build an embedded version with multiple image processors. The application prototype is being tested at the Kennedy Space Center (KSC), Florida, to visually detect anomalies along slide basket cables utilized by the astronauts to evacuate the NASA Shuttle launch pad in an emergency. The potential applications of this anomaly detection system in an open environment are quite wide. Another current, potentially viable application at NASA is in detecting anomalies of the NASA Space Shuttle Orbiter's radiator panels.

Dominguez, Jesus A.↗
NASA NTRS1999

Space Shuttle Main Engine: Advanced Health Monitoring System

The main gola of the Space Shuttle Main Engine (SSME) Advanced Health Management system is to improve flight safety. To this end the new SSME has robust new components to improve the operating margen and operability. The features of the current SSME health monitoring system, include automated checkouts, closed loop redundant control system, catastropic failure mitigation, fail operational/ fail-safe algorithms, and post flight data and inspection trend analysis. The features of the advanced health monitoring system include: a real time vibration monitor system, a linear engine model, and an optical plume anomaly detection system. Since vibration is a fundamental measure of SSME turbopump health, it stands to reason that monitoring the vibration, will give some idea of the health of the turbopumps. However, how is it possible to avoid shutdown, when it is not necessary. A sensor algorithm has been developed which has been exposed to over 400 test cases in order to evaluate the logic. The optical plume anomaly detection (OPAD) has been developed to be a sensitive monitor of engine wear, erosion, and breakage.

Singer, Chirs↗
NASA NTRS2003

The Integration of Fieldbus Devices to an Existing DCS

Existing analog strain gauge transducers and signal conditioners were replaced with new Foundation Fieldbus Transmitters in the Distributed Control System, DCS, at the NASA Glenn Research Center (GRC). The reasons for implementing this upgrade and an evaluation of the results of the project are the subjects of this paper. Problems and advantages with the original transducers and the newly installed transmitters are described and compared. Detail of the physical network layer between the Foundation Fieldbus Transmitters, Programmable Logic Controllers (PLCs), Multipurpose Micro-Processor (MMPs) and the operator workstations are illustrated. The complex nature of the facility and methods of future control of the associated processes are also discussed.

Sadhukhan, Debashis↗
NASA NTRS1992

Strongly transitive fuzzy relations: A more adequate way to describe similarity

The notion of a transitive closure of a fuzzy relation is very useful for clustering in pattern recognition, for fuzzy databases, etc. It is based on translating the standard definition of transitivity and transitive closure into fuzzy terms. This definition works fine, but to some extent it does not fully capture our understanding of transitivity. The reason is that this definition is based on fuzzifying only the positive side of transitivity: if R(a,b) and R(b,c), then R(a,c); but transitivity also includes a negative side: if R(a,b) and not R(a,c), then not R(b,c). In classical logic, this negative statement follows from the standard 'positive' definition of transitivity. In fuzzy logic, this negative part of the transitivity has to be formulated as an additional demand. A strongly transitive fuzzy relation as the one that satisfies both the positive and the negative transitivity demands is defined, the existence of strongly transitive closure is proven, and the relationship between strongly transitive similarity and clustering are found.

Kreinovich, Vladik YA.↗
NASA NTRS1991

The characterization of a crack-tip field

The stress intensity factor, K, has been successfully used as a measure of fracture toughness, and stress intensity factor range, Delta K, correlates well with the fatigue crack growth rate. This paper gives a deductive logic to demonstrate rigorously that, in the case of small-scale yielding, K and Delta K are capable of characterizing the elastic-plastic crack-tip field both under a monotonic loading and cyclic fatigue loading. This capability to characterize the entire crack-tip field is the underlying reason for the successful application of K and Delta K to linear fracture mechanics.

Liu, H. W.↗
NASA NTRS1993

Modifications to an interactive model of the human body during exercise: With special emphasis on thermoregulation

Since 1988 an interactive computer model of the human body during exercise has been under development by a number of undergraduate students in the Department of Chemical Engineering at Iowa State University. The program, written under the direction of Dr. Richard C. Seagrave, uses physical characteristics of the user, environmental conditions and activity information to predict the onset of hypothermia, hyperthermia, dehydration, or exhaustion for various levels and durations of a specified exercise. The program however, was severely limited in predicting the onset of dehydration due to the lack of sophistication with which the program predicts sweat rate and its relationship to sensible water loss, degree of acclimatization, and level of physical training. Additionally, it was not known whether sweat rate also depended on age and gender. For these reasons, the goal of this creative component was to modify the program in the above mentioned areas by applying known information and empirical relationships from literature. Furthermore, a secondary goal was to improve the consistency with which the program was written by modifying user input statements and improving the efficiency and logic of the program calculations.

Scherb, Megan Kay↗
NASA NTRS2016

A Vision and Roadmap for Increasing User Autonomy in Flight Operations in the National Airspace

The purpose of Air Transportation is to move people and cargo safely, efficiently and swiftly to their destinations. The companies and individuals who use aircraft for this purpose, the airspace users, desire to operate their aircraft according to a dynamically optimized business trajectory for their specific mission and operational business model. In current operations, the dynamic optimization of business trajectories is limited by constraints built into operations in the National Airspace System (NAS) for reasons of safety and operational needs of the air navigation service providers. NASA has been developing and testing means to overcome many of these constraints and permit operations to be conducted closer to the airspace user's changing business trajectory as conditions unfold before and during the flight. A roadmap of logical steps progressing toward increased user autonomy is proposed, beginning with NASA's Traffic Aware Strategic Aircrew Requests (TASAR) concept that enables flight crews to make informed, deconflicted flight-optimization requests to air traffic control. These steps include the use of data communications for route change requests and approvals, integration with time-based arrival flow management processes under development by the Federal Aviation Administration (FAA), increased user authority for defining and modifying downstream, strategic portions of the trajectory, and ultimately application of self-separation. This progression takes advantage of existing FAA NextGen programs and RTCA standards development, and it is designed to minimize the number of hardware upgrades required of airspace users to take advantage of these advanced capabilities to achieve dynamically optimized business trajectories in NAS operations. The roadmap is designed to provide operational benefits to first adopters so that investment decisions do not depend upon a large segment of the user community becoming equipped before benefits can be realized. The issues of equipment certification and operational approval of new procedures are addressed in a way that minimizes their impact on the transition by deferring a change in the assignment of separation responsibility until a large body of operational data is available to support the safety case for this change in the last roadmap step.This paper will relate the roadmap steps to ongoing activities to clarify the economics-based transition to these technologies for operational use.

Cotton, William B.↗
NASA NTRS2014

Model Checking Degrees of Belief in a System of Agents

Reasoning about degrees of belief has been investigated in the past by a number of authors and has a number of practical applications in real life. In this paper we present a unified framework to model and verify degrees of belief in a system of agents. In particular, we describe an extension of the temporal-epistemic logic CTLK and we introduce a semantics based on interpreted systems for this extension. In this way, degrees of beliefs do not need to be provided externally, but can be derived automatically from the possible executions of the system, thereby providing a computationally grounded formalism. We leverage the semantics to (a) construct a model checking algorithm, (b) investigate its complexity, (c) provide a Java implementation of the model checking algorithm, and (d) evaluate our approach using the standard benchmark of the dining cryptographers. Finally, we provide a detailed case study: using our framework and our implementation, we assess and verify the situational awareness of the pilot of Air France 447 flying in off-nominal conditions.

MAS Verification↗
NASA NTRS2004

An Exploratory Study of Cost Engineering in Axiomatic Design: Creation of the Cost Model Based on an FR-DP Map

Large complex projects cost large sums of money throughout their life cycle for a variety of reasons and causes. For such large programs, the credible estimation of the project cost, a quick assessment of the cost of making changes, and the management of the project budget with effective cost reduction determine the viability of the project. Cost engineering that deals with these issues requires a rigorous method and systematic processes. This paper introduces a logical framework to a&e effective cost engineering. The framework is built upon Axiomatic Design process. The structure in the Axiomatic Design process provides a good foundation to closely tie engineering design and cost information together. The cost framework presented in this paper is a systematic link between the functional domain (FRs), physical domain (DPs), cost domain (CUs), and a task/process-based model. The FR-DP map relates a system s functional requirements to design solutions across all levels and branches of the decomposition hierarchy. DPs are mapped into CUs, which provides a means to estimate the cost of design solutions - DPs - from the cost of the physical entities in the system - CUs. The task/process model describes the iterative process ot-developing each of the CUs, and is used to estimate the cost of CUs. By linking the four domains, this framework provides a superior traceability from requirements to cost information.

Lee, Taesik↗
NASA NTRS1989

DEVS representation of dynamical systems - Event-based intelligent control

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Zeigler, Bernard P.↗
NASA NTRS2003

Integrating Oil Debris and Vibration Measurements for Intelligent Machine Health Monitoring

A diagnostic tool for detecting damage to gears was developed. Two different measurement technologies, oil debris analysis and vibration were integrated into a health monitoring system for detecting surface fatigue pitting damage on gears. This integrated system showed improved detection and decision-making capabilities as compared to using individual measurement technologies. This diagnostic tool was developed and evaluated experimentally by collecting vibration and oil debris data from fatigue tests performed in the NASA Glenn Spur Gear Fatigue Rig. An oil debris sensor and the two vibration algorithms were adapted as the diagnostic tools. An inductance type oil debris sensor was selected for the oil analysis measurement technology. Gear damage data for this type of sensor was limited to data collected in the NASA Glenn test rigs. For this reason, this analysis included development of a parameter for detecting gear pitting damage using this type of sensor. The vibration data was used to calculate two previously available gear vibration diagnostic algorithms. The two vibration algorithms were selected based on their maturity and published success in detecting damage to gears. Oil debris and vibration features were then developed using fuzzy logic analysis techniques, then input into a multi sensor data fusion process. Results show combining the vibration and oil debris measurement technologies improves the detection of pitting damage on spur gears. As a result of this research, this new diagnostic tool has significantly improved detection of gear damage in the NASA Glenn Spur Gear Fatigue Rigs. This research also resulted in several other findings that will improve the development of future health monitoring systems. Oil debris analysis was found to be more reliable than vibration analysis for detecting pitting fatigue failure of gears and is capable of indicating damage progression. Also, some vibration algorithms are as sensitive to operational effects as they are to damage. Another finding was that clear threshold limits must be established for diagnostic tools. Based on additional experimental data obtained from the NASA Glenn Spiral Bevel Gear Fatigue Rig, the methodology developed in this study can be successfully implemented on other geared systems.

Dempsey, Paula J.↗
NASA NTRS1995

Cooperative control theory and integrated flight and propulsion control

The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multivariable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. In these example evaluations, the significance of these interactions was underscored. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important nonlinear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multivariable techniques, including model-following formulations of LQG and/or H infinity methods, showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods. The major contributions of the second phase of the grant was the development of conditions under which no decentralized controller could achieve closed loop system requirements on stability and/or performance. Sought were conditions that depended only on properties of the plant and the requirement, and independent of any particular control law or synthesis approach. Therefore, they could be applied a priori, before synthesis of a candidate control law. Under this grant, such conditions were found regarding stability, and encouraging initial results were obtained regarding performance.

Schmidt, David K.↗
NASA NTRS2003

Fuzzy Logic Trajectory Design and Guidance for Terminal Area Energy Management

The second generation reusable launch vehicle will leverage many new technologies to make flight to low earth orbit safer and more cost effective. One important capability will be completely autonomous flight during reentry and landing, thus making it unnecessary to man the vehicle for cargo missions with stringent weight constraints. Implementation of sophisticated new guidance and control methods will enable the vehicle to return to earth under less than favorable conditions. The return to earth consists of three phases--Entry, Terminal Area Energy Management (TAEM), and Approach and Landing. The Space Shuttle is programmed to fly all three phases of flight automatically, and under normal circumstances the astronaut-pilot takes manual control only during the Approach and Landing phase. The automatic control algorithms used in the Shuttle for TAEM and Approach and Landing have been developed over the past 30 years. They are computationally efficient, and based on careful study of the spacecraft's flight dynamics, and heuristic reasoning. The gliding return trajectory is planned prior to the mission, and only minor adjustments are made during flight for perturbations in the vehicle energy state. With the advent of the X-33 and X-34 technology demonstration vehicles, several authors investigated implementing advanced control methods to provide autonomous real-time design of gliding return trajectories thus enhancing the ability of the vehicle to adjust to unusual energy states. The bulk of work published to date deals primarily with the approach and landing phase of flight where changes in heading angle are small, and range to the runway is monotonically decreasing. These benign flight conditions allow for model simplification and fairly straightforward optimization. This project focuses on the TAEM phase of flight where mathematically precise methods have produced limited results. Fuzzy Logic methods are used to make onboard autonomous gliding return trajectory design robust to a wider energy envelope, and the possibility of control surface failures, thus increasing the flexibility of unmanned gliding recovery and landing.

Burchett, Bradley↗
NASA NTRS1994

Cooperative control theory and integrated flight and propulsion control

This report documents the activities and research results obtained under a grant (NAG3-998) from the NASA Lewis Research Center. The focus of the research was the investigation of dynamic interactions between airframe and engines for advanced ASTOVL aircraft configurations, and the analysis of the implications of these interactions on the stability and performance of the airframe and engine control systems. In addition, the need for integrated flight and propulsion control for such aircraft was addressed. The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multi variable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important non-linear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multi variable techniques, included model-following formulations of LQG and/or H (infinity) methods showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods.

Schmidt, David K.↗
NASA NTRS1990

Time and truth in plans

Some of the logical components of a rule based planning and scheduling system are described. The researcher points out a deficiency in the conventional truth maintenance approach to this class of problems and suggests a new mechanism which overcomes the problem. This extension of the idea of justification truth maintenance may seem at first to be a small philosophical step. However, it embodies a process of basic human reasoning which is so common and automatic as to escape conscious detection without careful introspection. It is vital to any successful implementation of a rule based planning reasoner.

Hazelton, Lyman R., Jr.↗
NASA NTRS1993

The StarView intelligent query mechanism

The StarView interface is being developed to facilitate the retrieval of scientific and engineering data produced by the Hubble Space Telescope. While predefined screens in the interface can be used to specify many common requests, ad hoc requests require a dynamic query formulation capability. Unfortunately, logical level knowledge is too sparse to support this capability. In particular, essential formulation knowledge is lost when the domain of interest is mapped to a set of database relation schemas. Thus, a system known as QUICK has been developed that uses conceptual design knowledge to facilitate query formulation. By heuristically determining strongly associated objects at the conceptual level, QUICK is able to formulate semantically reasonable queries in response to high-level requests that specify only attributes of interest. Moreover, by exploiting constraint knowledge in the conceptual design, QUICK assures that queries are formulated quickly and will execute efficiently.

Semmel, R. D.↗