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NASA NTRS2000

Assessment of Low Cycle Fatigue Behavior of Powder Metallurgy Alloy U720

The fatigue lives of modem powder metallurgy disk alloys are influenced by variabilities in alloy microstructure and mechanical properties. These properties can vary as functions of variables the different steps of materials/component processing: powder atomization, consolidation, extrusion, forging, heat treating, and machining. It is important to understand the relationship between the statistical variations in life and these variables, as well as the change in life distribution due to changes in fatigue loading conditions. The objective of this study was to investigate these relationships in a nickel-base disk superalloy, U720, produced using powder metallurgy processing. Multiple strain-controlled fatigue tests were performed at 538 C (1000 F) at limited sets of test conditions. Analyses were performed to: (1) assess variations of microstructure, mechanical properties, and LCF failure initiation sites as functions of disk processing and loading conditions; and (2) compare mean and minimum fatigue life predictions using different approaches for modeling the data from assorted test conditions. Significant variations in life were observed as functions of the disk processing variables evaluated. However, the lives of all specimens could still be combined and modeled together. The failure initiation sites for tests performed at a strain ratio R(sub epsilon) = epsilon(sub min)/epsilon(sub max) of 0 were different from those in tests at a strain ratio of -1. An approach could still be applied to account for the differences in mean and maximum stresses and strains. This allowed the data in tests of various conditions to be combined for more robust statistical estimates of mean and minimum lives.

Gabb, Tomothy P.↗

NASA NTRS2000

Laboratory Astrochemistry: Interstellar PAH Analogs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are though to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A major, dedicated, laboratory effort has been undertaken over the past years to measure the physical and chemical characteristics of these complex molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The Astrochemistry Laboratory program will be discussed through its multiple aspects: objectives, approach and techniques adopted, adaptability to the nature of the problem(s), results and implications for astronomy as well as for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. The discussion will also introduce the newest generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗

NASA NTRS2000

Laboratory Studies of Interstellar PAH Analogs

Salama, Farid↗

NASA NTRS2010

Throttling Characteristics of the RL10 Derivative Common Extensible Cryogenic Engine -- Demo 1.6 and 1.7 Test Results

The Common Extensible Cryogenic Engine (CECE) is a deep throttling cryogenic Lunar Module Descent Engine (LMDE) technology development demonstrator based on the Pratt & Whitney Rocketdyne (PWR) RL10 engine. Previous testing on this engine occurred during 2006 as Demo 1.0, then Demo 1.5 in 2007, Demo 1.6 in 2008 and finally Demo 1.7 in 2010. A review of Demo 1.0, 1.5, and preliminary results of 1.6 were reported in previous JANNAF papers. Demo 1.6 was tested at the PWR E-6 test facility in November 2008. The primary goal of this series was to mitigate low frequency combustion instability observed at low power levels. To mitigate the chug, the Demo 1.6 injector was modified from the previous configurations to include an approximately 0.050 inch thick teflon-type spray-on insulation to reduce heat transfer to the LOX manifold, which was believed to be a significant contributor to the low power instability. In addition, gaseous helium injection into the LOX manifold was used as a means to stabilize the system. Also explored in this test series was mitigation for a low power 1 Hz fuel system oscillation caused by sub-critical hydrogen boiling in the chamber cooling jacket. Reduced area gas venturis were utilized to avoid the 1 Hz fuel-size oscillation by keeping the cooling jacket supercritical down to lower engine power levels. Demo 1.7 began testing in March 2010. Its primary objectives were to demonstrate closed loop control capability on mixture ratio and chamber pressure, start to lower power levels and increased throttling ramp rates. Secondary test objectives that are discussed include multiple engine starts, higher mixture ratio excursions and additional time at low power level. While the complete test series and data reduction is not yet complete for Demo 1.7, an overview and up-to-date status is provided.

Devine, Matthew K.↗

NASA NTRS2004

Software for Autonomous Spacecraft Maneuvers

The AutoCon computer programs facilitate and accelerate the planning and execution of orbital control maneuvers of spacecraft while analyzing and resolving mission constraints. AutoCon-F is executed aboard spacecraft, enabling the spacecraft to plan and execute maneuvers autonomously; AutoCon-G is designed for use on the ground. The AutoCon programs utilize advanced techniques of artificial intelligence, including those of fuzzy logic and natural-language scripting, to resolve multiple conflicting constraints and automatically plan maneuvers. These programs can be used to satisfy requirements for missions that involve orbits around the Earth, the Moon, or any planet, and are especially useful for missions in which there are requirements for frequent maneuvers and for resolution of complex conflicting constraints. During operations, the software targets new trajectories, places and sizes maneuvers, and controls spacecraft burns. AutoCon-G provides a userfriendly graphical interface, and can be used effectively by an analyst with minimal training. AutoCon-F reduces latency and supports multiple-spacecraft and formation-flying missions. The AutoCon architecture supports distributive processing, which can be critical for formation- control missions. AutoCon is completely object-oriented and can easily be enhanced by adding new objects and events. AutoCon-F was flight demonstrated onboard GSFC's EO-1 spacecraft flying in formation with Landsat-7.

Bristow, John↗

NASA NTRS1985

A software toolbox for robotics

A method for programming cooperating manipulators, which is guided by a geometric description of the task to be performed, is given. For this a suitable language must be used and a method for describing the workplace and the objects in it in geometric terms. A task level command language and its implementation for concurrently driven multiple robot arm is described. The language is suitable for driving a cell in which manipulators, end effectors, and sensors are controlled by their own dedicated processors. These processors can communicate with each other through a communication network. A mechanism for keeping track of the history of the commands already executed allows the command language for the manipulators to be event driven. A frame based world modeling system is utilized to describe the objects in the work environment and any relationships that hold between these objects. This system provides a versatile tool for managing information about the world model. Default actions normally needed are invoked when the data base is updated or accessed. Most of the first level error recovery is also invoked by the database by utilizing the concepts of demons. The package can be utilized to generate task level commands in a problem solver or a planner.

Sanwal, J. C.↗

DOE OSTI2020

Optimization-based control using input convex neural networks

Input convex neural networks (ICNNs) are a family of deep learning models where the outputs are constructed to be convex functions of the inputs. By parameterizing system models using ICNNs, optimization-based control problems can be solved as convex optimization problems, leading to improved performance and robustness. This work proposes a novel framework where the control objective function and constraints are modelled using ICNNs. A case study of optimization-based control with output constraints is conducted on a process with input multiplicity and nonminimum phase behavior. The simulation results demonstrate improved economic yield compared with normal neural networks. Additionally, the input convexity formulation is compared with simple regularization techniques, and unique benefits such as improved data efficiency and robustness of the proposed formulation are shown. Finally, by explicitly incorporating prior knowledge about convexity, this framework provides a good balance between the universal approximation power of deep learning and computational feasibility required by control.

42 ENGINEERING↗

NASA NTRS1991

Fiber optic TV direct

The objective of the operational television (OTV) technology was to develop a multiple camera system (up to 256 cameras) for NASA Kennedy installations where camera video, synchronization, control, and status data are transmitted bidirectionally via a single fiber cable at distances in excess of five miles. It is shown that the benefits (such as improved video performance, immunity from electromagnetic interference and radio frequency interference, elimination of repeater stations, and more system configuration flexibility) can be realized if application of the proven fiber optic transmission concept is used. The control system will marry the lens, pan and tilt, and camera control functions into a modular based Local Area Network (LAN) control network. Such a system does not exist commercially at present since the Television Broadcast Industry's current practice is to divorce the positional controls from the camera control system. The application software developed for this system will have direct applicability to similar systems in industry using LAN based control systems.

Kassak, John E.↗

NASA NTRS2000

Laboratory Astrochemistry: Interstellar PAHs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are thought to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A major, dedicated, laboratory effort has been undertaken to measure the physical and chemical characteristics of these complex molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The Astrochemistry Laboratory program will be discussed through its multiple aspects: (1) objectives, (2) approach and techniques adopted, (3) adaptability to the nature of the problem(s), and (4) results and implications for astronomy as well as for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. The discussion will also introduce the newest generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗

NASA NTRS2011

Multi-Parameter Aerosol Scattering Sensor

This work relates to the development of sensors that measure specific aerosol properties. These properties are in the form of integrated moment distributions, i.e., total surface area, total mass, etc., or mathematical combinations of these moment distributions. Specifically, the innovation involves two fundamental features: a computational tool to design and optimize such sensors and the embodiment of these sensors in actual practice. The measurement of aerosol properties is a problem of general interest. Applications include, but are not limited to, environmental monitoring, assessment of human respiratory health, fire detection, emission characterization and control, and pollutant monitoring. The objectives for sensor development include increased accuracy and/or dynamic range, the inclusion in a single sensor of the ability to measure multiple aerosol properties, and developing an overall physical package that is rugged, compact, and low in power consumption, so as to enable deployment in harsh or confined field applications, and as distributed sensor networks. Existing instruments for this purpose include scattering photometers, direct-reading mass instruments, Beta absorption devices, differential mobility analyzers, and gravitational samplers. The family of sensors reported here is predicated on the interaction of light and matter; specifically, the scattering of light from distributions of aerosol particles. The particular arrangement of the sensor, e.g. the wavelength(s) of incident radiation, the number and location of optical detectors, etc., can be derived so as to optimize the sensor response to aerosol properties of practical interest. A key feature of the design is the potential embodiment as an extremely compact, integrated microsensor package. This is of fundamental importance, as it enables numerous previously inaccessible applications. The embodiment of these sensors is inherently low maintenance and high reliability by design. The novel and unique features include the underlying computational underpinning that allows the optimization for specific applications, and the physical embodiment that affords the construction of a compact, durable, and reliable integrated package. The advantage appears in the form of increased accuracy relative to existing instruments, and the applications enabled by the physical attributes of the resulting configuration

Greenberg, Paul S.↗

NASA NTRS1998

Preliminary Work for Examining the Scalability of Reinforcement Learning

Researchers began studying automated agents that learn to perform multiple-step tasks early in the history of artificial intelligence (Samuel, 1963; Samuel, 1967; Waterman, 1970; Fikes, Hart & Nilsonn, 1972). Multiple-step tasks are tasks that can only be solved via a sequence of decisions, such as control problems, robotics problems, classic problem-solving, and game-playing. The objective of agents attempting to learn such tasks is to use the resources they have available in order to become more proficient at the tasks. In particular, each agent attempts to develop a good policy, a mapping from states to actions, that allows it to select actions that optimize a measure of its performance on the task; for example, reducing the number of steps necessary to complete the task successfully. Our study focuses on reinforcement learning, a set of learning techniques where the learner performs trial-and-error experiments in the task and adapts its policy based on the outcome of those experiments. Much of the work in reinforcement learning has focused on a particular, simple representation, where every problem state is represented explicitly in a table, and associated with each state are the actions that can be chosen in that state. A major advantage of this table lookup representation is that one can prove that certain reinforcement learning techniques will develop an optimal policy for the current task. The drawback is that the representation limits the application of reinforcement learning to multiple-step tasks with relatively small state-spaces. There has been a little theoretical work that proves that convergence to optimal solutions can be obtained when using generalization structures, but the structures are quite simple. The theory says little about complex structures, such as multi-layer, feedforward artificial neural networks (Rumelhart & McClelland, 1986), but empirical results indicate that the use of reinforcement learning with such structures is promising. These empirical results make no theoretical claims, nor compare the policies produced to optimal policies. A goal of our work is to be able to make the comparison between an optimal policy and one stored in an artificial neural network. A difficulty of performing such a study is finding a multiple-step task that is small enough that one can find an optimal policy using table lookup, yet large enough that, for practical purposes, an artificial neural network is really required. We have identified a limited form of the game OTHELLO as satisfying these requirements. The work we report here is in the very preliminary stages of research, but this paper provides background for the problem being studied and a description of our initial approach to examining the problem. In the remainder of this paper, we first describe reinforcement learning in more detail. Next, we present the game OTHELLO. Finally we argue that a restricted form of the game meets the requirements of our study, and describe our preliminary approach to finding an optimal solution to the problem.

Clouse, Jeff↗

NASA NTRS1993

Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Ballhaus, W. L.↗

NASA NTRS1995

Three-dimensional object tracking system and method employing plural sensors and plural processors for performing parallel processing

A multiple sensor/multiple processor 3-D tracking system includes multiple sensor (camera) and DSP combinations and a controller connected so as to create a parallel computer from the multiple DSPs. The camera/DSP combinations and the controller are connected together to form a ring. For 3-D position measurement and tracking applications, each camera/DSP combination is programmed with an identical program to function as a node in a true parallel computer, and the transformation equations are solved in a distributed fashion using the entire parallel machine. The distributed processor processes the camera x and y point measurements in a distributed and parallel fashion to yield a solution to the coordinate transformation equations much more quickly than is possible with multiple camera/DSP combinations and a single processor.

Welch, Sharon S.↗

NASA NTRS1991

Theoretical constraints in the design of multivariable control systems

The research being performed under NASA Grant NAG1-1361 involves a more clear understanding and definition of the constraints involved in the pole-zero placement or assignment process for multiple input, multiple output systems. Complete state feedback to more than a single controller under conditions of complete controllability and observability is redundant if pole placement alone is the design objective. The additional feedback gains, above and beyond those required for pole placement can be used for eignevalue assignment or zero placement of individual closed loop transfer functions. Because both poles and zeros of individual closed loop transfer functions strongly affect the dynamic response to a pilot command input, the pole-zero placement problem is important. When fewer controllers than degrees of freedom of motion are available, complete design freedom is not possible, the transmission zeros constrain the regions of possible pole-zero placement. The effect of transmission zero constraints on the design possibilities, selection of transmission zeros and the avoidance of producing non-minimum phase transfer functions is the subject of the research being performed under this grant.

Rynaski, E. G.↗

NASA NTRS2013

Advanced Caution and Warning System, Final Report - 2011

The work described in this report is a continuation of the ACAWS work funded in fiscal year (FY) 2010 under the Exploration Technology Development Program (ETDP), Integrated Systems Health Management (ISHM) project. In FY 2010, we developed requirements for an ACAWS system and vetted the requirements with potential users via a concept demonstration system. In FY 2011, we developed a working prototype of aspects of that concept, with placeholders for technologies to be fully developed in future phases of the project. The objective is to develop general capability to assist operators with system health monitoring and failure diagnosis. Moreover, ACAWS was integrated with the Discrete Controls (DC) task of the Autonomous Systems and Avionics (ASA) project. The primary objective of DC is to demonstrate an electronic and interactive procedure display environment and multiple levels of automation (automatic execution by computer, execution by computer if the operator consents, and manual execution by the operator).

Spirkovska, Lilly↗

DOE OSTI2021

Progress on Optimizing Wind Farms and Rotor Designs Using Adjoints

Modern wind plants are increasingly tasked with multiple performance objectives. In addition to designing plants that maximize power output and minimize the levelized cost of energy (LCOE), the design and operation of wind plants is increasingly influenced by challenges regarding grid integration of variable generation renewables. This places a growing emphasis on making wind plants more controllable and predictable. WindSE is a Reynolds-averaged Navier-Stokes (RANS) model designed around analytical gradient and adjoint methods, with the ability to capture terrain-induced effects, as shown in Figure 1. The recent addition of an unsteady solver with an actuator line method (ALM) and ongoing work to enable massively parallel optimizations gives it a unique niche to explore coupled plant-level controls and design problems. This code is an open source python package built on the FEniCS framework that utilizes fast, parallel PETSc solvers to model fluid flow throughout wind-farm scale domains. Two recent studies performed using WindSE demonstrate the capability to optimize under a wide variety of flow conditions and objective functions. In the first, we present an optimization focused on modifying the layout of a wind farm with a fixed number of turbines for maximum total power output [1]. This study highlights the ability to quickly perform simulations using the steady Navier-Stokes solver combined with rotors represented as actuator disks while also stressing the importance of capturing terrain-induced effects. Gradient-based optimization using the RANS equations is viable due to the inclusion of efficiently computed adjoint derivatives. We interpret the physical results of the optimal layout and also discuss the computational cost of scaling to larger problems. In the second study, we present the capabilities of the unsteady Navier-Stokes solver, where rotor-blade profiles represented by actuator lines are optimized to enhance wake steering effects and overall power production [2]. We quantify the wind plant performance gains obtained from this type of simultaneous control co-design optimization as compared to optimizing the blade design and yaw independently. Figure 2 shows the differences between a baseline two-turbine system and an optimized system where we fine-tune the blade chord profile. Results and challenges from each study are quickly summarized and used to motivate the current development efforts within WindSE. Current and future work is focused on enabling higher-resolution studies with more degrees of freedom through parallelization of both the simulation and optimization algorithms. We present benchmarking results to show that WindSE performs well in both weak- and strong-scaling tests and further demonstrate that the optimizer obtains the same convergence rates in both shared- and distributed-memory environments. Using larger wind farms, we can study deep-array effects within an optimization context, allowing the use of objective functions that have been previously unstudied. As an example, we present ongoing work on a blockage metric which characterizes the loss of available kinetic energy due to wake effects from multiple upstream turbines.

adjoint optimization↗

NASA NTRS1992

Controlled Ecological Life Support System (CELSS) modeling

Attention is given to CELSS, a critical technology for the Space Exploration Initiative. OCAM (object-oriented CELSS analysis and modeling) models carbon, hydrogen, and oxygen recycling. Multiple crops and plant types can be simulated. Resource recovery options from inedible biomass include leaching, enzyme treatment, aerobic digestion, and mushroom and fish growth. The benefit of using many small crops overlapping in time, instead of a single large crop, is demonstrated. Unanticipated results include startup transients which reduce the benefit of multiple small crops. The relative contributions of mass, energy, and manpower to system cost are analyzed in order to determine appropriate research directions.

Drysdale, Alan↗

NASA NTRS1989

The Real Time Interactive Display Environment (RTIDE), a display building tool developed by Space Shuttle flight controllers

NASA's Mission Control Center, located at Johnson Space Center, is incrementally moving from a centralized architecture to a distributed architecture. Starting with STS-29, some host-driven console screens will be replaced with graphics terminals driven by workstations. These workstations will be supplied realtime data first by the Real Time Data System (RTDS), a system developed inhouse, and then months later (in parallel with RTDS) by interim and subsequently operational versions of the Mission Control Center Upgrade (MCCU) software package. The Real Time Interactive Display Environment (RTIDE) was built by Space Shuttle flight controllers to support the rapid development of multiple new displays to support Shuttle flights. RTIDE is a display building tool that allows non-programmers to define object-oriented, event-driven, mouseable displays. Particular emphasis was placed on upward compatibility between RTIDE versions, ability to acquire data from different data sources, realtime performance, ability to modularly upgrade RTIDE, machine portability, and a clean, powerful user interface. The operational and organizational factors that drove RTIDE to its present form, the actual design itself, simulation and flight performance, and lessons learned in the process are discussed.

Kalvelage, Thomas A.↗