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NASA NTRS2010

Controlling Precision Stepper Motors in Flight Using (Almost) No Parts

This concept allows control of high-performance stepper motors with minimal parts count and minimal flight software complexity. Although it uses a small number of common flight-qualified parts and simple control algorithms, it is capable enough to meet demanding system requirements. Its programmable nature makes it trivial to implement changes to control algorithms both during integration & test and in flight. Enhancements such as microstepping, half stepping, back-emf compensation, and jitter reduction can be tailored to the requirements of a large variety of stepper motor based applications including filter wheels, focus mechanisms, antenna tracking subsystems, pointing and mobility. The hardware design (using an H-bridge motor controller IC) was adapted from JPL's MER mission, still operating on Mars. This concept has been fully developed and incorporated into the MCS instrument on MRO, currently operating in Mars orbit. It has been incorporated into the filter wheel mechanism and linear stage (focus) mechanism for the AMT instrument. On MCS/MRO, two of these circuits control the elevation and azimuth of the MCS telescope/radiometer assembly, allowing the instrument to continuously monitor the limb of the Martian atmosphere. Implementation on MCS/MRO resulted in a 4:1 reduction in the volume and mass required for the motor driver electronics (100:25 square inches of PCB space), producing a very compact instrument. In fact, all of the electronics for the MCS instrument are packaged within the movable instrument structure. It also saved approximately 3 Watts of power. Most importantly, the design enabled MCS to meet very its stringent maximum allowable torque disturbance requirements.

Randall, David↗

NASA NTRS1990

Inverse dynamics of adaptive structures used as space cranes

As a precursor to the real-time control of fast moving adaptive structures used as space cranes, a formulation is given for the flexibility induced motion relative to the nominal motion (i.e., the motion that assumes no flexibility) and for obtaining the open loop time varying driving forces. An algorithm is proposed for the computation of the relative motion and driving forces. The governing equations are given in matrix form with explicit functional dependencies. A simulator is developed to implement the algorithm on a digital computer. In the formulations, the distributed mass of the crane is lumped by two schemes, vz., 'trapezoidal' lumping and 'Simpson's rule' lumping. The effects of the mass lumping schemes are shown by simulator runs.

Das, S. K.↗

DOE OSTI2024

Thermal Adaptation of Enzyme‐Mediated Processes Reduces Simulated Soil CO2 Fluxes Upon Soil Warming

Abstract Understanding factors influencing carbon effluxes from soils to the atmosphere is important in a world experiencing climatic change. Two important uncertainties related to soil organic carbon (SOC) stock responses to a changing climate are (a) whether soil microbial communities acclimate or adapt to changes in soil temperature and (b) how to represent this process in SOC models. To further explore these issues, we included thermal adaptation of enzyme‐mediated processes in a mechanistic SOC model (ReSOM) using the macromolecular rate theory. Thermal adaptation is defined here to encompass all potential responses of soil microbes and microbial communities following a change in temperature. To assess the effects of thermal adaptation of enzyme‐mediated processes on simulated SOC losses, ReSOM was applied to data collected from a 13‐year soil warming experiment. Results show that a model omitting thermal adaptation of enzyme‐mediated processes substantially overestimates observed CO 2 effluxes during the initial years of soil warming. The bias against observed CO 2 effluxes was lower for models including thermal adaptation of enzyme‐mediated processes. In addition, for a simulated linear 3°C soil warming over 100 years, models including thermal adaptation of enzyme‐mediated processes simulated SOC losses of a factor of three smaller than models omitting this process. As thermal adaptation of microbial community characteristics is generally not included in models simulating feedback between the soil, biosphere and atmosphere, we encourage future studies to assess the potential impact that microbial adaptation has on soil carbon – climate feedback representations in models. Plain Language Summary A major uncertainty in projecting how much soil organic carbon (SOC) will be converted to CO 2 as a consequence of climate change is related to how soil microbes may adapt to increasing soil temperatures. While this “microbial thermal adaptation” has been shown to occur in short‐term lab incubation experiments, its effect on SOC cycling on a decadal timescale is not clear. To address this knowledge gap, a mechanistic SOC model was used to simulate data collected from a 13‐year soil warming experiment, to assess how microbial thermal adaptation affects predicted SOC losses upon soil warming. The model results show that incorporating microbial thermal adaptation into the model led to reduced CO 2 effluxes from the soil to the atmosphere compared to the common approach of omitting this mechanism. Our results imply that projected SOC losses for the decades to come may be reduced when this mechanism is incorporated in land models. We therefore advocate for more research on the mechanisms controlling microbial thermal adaptation, and how to implement this mechanism in SOC models. Key Points A crucial aspect of soil organic carbon (SOC) models is the representation of soil microbes Predicted soil CO 2 fluxes upon soil warming are reduced when accounting for microbial thermal adaptation On a centennial time scale, this thermal adaptation results in up to a factor of three lower predicted SOC loss

Van de Broek, Marijn↗

DOE OSTI2020

Microsimulation of Energy and Flow Effects from Optimal Automated Driving in Mixed Traffic

In this paper we study the energy and traffic impact of a proposed Anticipative Cruise Controller in a PTV VISSIM microsimulation environment. We dissect our controller into two parts: 1. the unconnected mode, active when following a human-driven vehicle, and 2. the connected mode, active when following another automated vehicle equipped with connectivity. Probabilistic constraints balance safety considerations with inter-vehicle compactness, and vehicle constraints for acceleration capabilities are expressed through the use of powertrain maps. Emergent highway traffic scenarios are then modeled using time headway distributions from empirical traffic data. To study the impact of automation over a range of demands of free-flow to stop-and-go, we vary vehicle flux from low to high and vary automated vehicle penetration from low to high. When examining all-human driving scenarios, network capacity failed to meet demand in high-volume scenarios, such as rush-hour traffic. We further find that with connected automated vehicles introduced, network capacity was improved to support the high-volume scenarios. Finally, we examine energy efficiencies of the fleet for conventional, electric, and hybrid vehicles. We find that automated vehicles perform at a 10%-20% higher energy efficiency over human drivers when considering conventional powertrains, and find that automated vehicles perform at a 3%-9% higher energy efficiency over human drivers when considering electric and hybrid powertrains. Due to secondary effects of smoothing traffic flow and reducing unnecessary braking, energy benefits also apply to human-driven vehicles that interact with automated ones. Such simulated humans were found to drive up to 10% more energy-efficiently than they did in the baseline all-human scenario.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS1979

Optimal control of the Shuttle-Tethered-Subsatellite system

Alternate control laws based on an application of the linear regulator problem are developed for possible use in the operation of the Shuttle-Tethered-Subsatellite system. Control is assumed to be provided only by modulating the tension level in the tether as a function of the difference between actual and commanded tether line length, length rate, in (orbital) plane swing angle and swing angle rate. Necessary and sufficient conditions for stability of the (linear) system motion in the vicinity of its nominal local vertical orientation are developed. By proper selection of the state and control penalty matrices it is possible to obtain faster responses with no increase in maximum power levels for use in station keeping when compared with alternate control strategies. The weighting matrices are adjusted in a piecewise adaptive manner to provide control law gains in order to achieve a smooth deployment history. Successful retrieval is dependent mainly on the initial conditions and the rate at which the commanded length is reduced.

Bainum, P. M.↗

DOE OSTI2024

Autonomous closed-loop mechanistic investigation of molecular electrochemistry via automation

Abstract Electrochemical research often requires stringent combinations of experimental parameters that are demanding to manually locate. Recent advances in automated instrumentation and machine-learning algorithms unlock the possibility for accelerated studies of electrochemical fundamentals via high-throughput, online decision-making. Here we report an autonomous electrochemical platform that implements an adaptive, closed-loop workflow for mechanistic investigation of molecular electrochemistry. As a proof-of-concept, this platform autonomously identifies and investigates an EC mechanism, an interfacial electron transfer ( E step) followed by a solution reaction ( C step), for cobalt tetraphenylporphyrin exposed to a library of organohalide electrophiles. The generally applicable workflow accurately discerns the EC mechanism’s presence amid negative controls and outliers, adaptively designs desired experimental conditions, and quantitatively extracts kinetic information of the C step spanning over 7 orders of magnitude, from which mechanistic insights into oxidative addition pathways are gained. This work opens opportunities for autonomous mechanistic discoveries in self-driving electrochemistry laboratories without manual intervention.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRSDate not supplied

Improvements in Iterative Convergence of FUN3D Solutions

This paper presents a hierarchical adaptive nonlinear iteration method (HANIM) implemented in NASA computational fluid dynamics code, FUN3D, to improve robustness and computational efficiency of FUN3Dsolutions. In contrast to the baseline iterative solver that relies on an approximate Jacobian, a simple multicolor Gauss-Seidel point-implicit iteration scheme, and linear CFL ramping, HANIM is based upon a hierarchy of modules including pre conditioner, generalized conjugate residual, realizability check, nonlinear control,and CFL adaption modules. HANIM performance is systematically compared with the performance of the baseline solver. The iterative solutions are compared for three aerodynamic benchmark cases: a subsonic separated flow around a hemisphere cylinder, a supersonic flow through a long duct, and a subsonic flow over the NASA wing-body juncture model. Two Reynolds-averaged Navier-Stokes turbulence models are used in these computations, namely, the negative variant of the linear one-equation Spalart-Allmar as model and its nonlinear extension based on quadratic constitutive relations.

Li Wang↗

DOE OSTI2020

SunDial – An Integrated SHINES System to Enable High-penetration Feeder-level PV

The Project Team of Fraunhofer USA, National Grid, and IPKeys developed and conducted a pilot deployment of the SunDial system, a virtual power plant platform that enables high-penetrations of solar PV to be integrated into the distribution grid. The pilot was conducted over a 15-month period from August 2018 through October 2019 on a National Grid distribution feeder in Shirley, MA. A vendor-agnostic control platform (the “Global Scheduler”) optimally shaped the net load for a virtual portfolio of non-co-located DERs based on user-defined policy objectives. The goal of the SunDial project was to simplify and reduce the risk associated with the deployment of solar in high-penetration environments by: (1) Developing an open-source, vendor-agnostic dispatch platform that can be readily adapted to optimize control of DERs over a variety of use cases; (2) Developing auto-calibrating load and solar prediction methodologies that can be readily implemented and scaled to new deployments; (3) Developing a methodology to use demand-side management with traditional electrochemical energy storage to provide “load shaping” services in high solar penetration environments; (4) Using grid-scale storage to minimize short-term intermittency association with PV production; and (5) Deploying on the National Grid distribution system to gain experience on the potential for (and limits of) integrated storage with demand-side management.

14 SOLAR ENERGY↗

NASA NTRSDate not supplied

Improvements in Iterative Convergence of FUN3D Solutions

This paper presents a hierarchical adaptive nonlinear iteration method (HANIM) implemented in the NASA computational fluid dynamics code, FUN3D, to improve robustness and computational efficiency. In contrast to the legacy FUN3D iterative solver that relies on an approximate Jacobian, a simple multicolor Gauss-Seidel point-implicit iteration scheme, and linear Courant-Friedrichs-Lewy number (CFL) ramping, HANIM is based upon a hierarchy of modules including preconditioner, generalized conjugate residual, realizability check, nonlinear control, and CFL adaption modules. HANIM performance is systematically compared with the performance of the legacy solver of FUN3D and a baseline solver based on a preconditioner alone. Iterative solutions are compared for three benchmark cases: a subsonic separated flow around a hemisphere cylinder, a supersonic flow through a long duct, and a subsonic flow over the NASA wing-fuselage juncture model. Two Reynolds-averaged Navier-Stokes turbulence models are used in these computations, namely, the negative variant of the linear one-equation Spalart-Allmaras model and its nonlinear extension based on quadratic constitutive relations.

CFD↗

NASA NTRS2014

Biomechanics of the Treadmill Locomotion on the International Space Station

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments with a 12-camera system. During flight, each crewmember completed up to 6 data collection sessions spread across their missions, performing their normal exercise prescription for the test day, resulting in varying data collection protocols between sessions. Motion data were collected by a single HD video camera positioned to view the crewmembers' left side, and tape markers were placed on their feet, legs, and neck on specific landmarks. Before data collection, the crewmembers calibrated the video camera. Video data were collected during the entire exercise session at 30 Hz. Kinematic data were used to determine left leg hip, knee, and ankle range of motion and contact time, flight time, and stride time for each stride. 129 trials in weightlessness were analyzed. Mean time-normalized strides were found for each trial, and cross-correlation procedures were used to examine the strength and direction of relationships between segment movement pattern timing in each gravitational condition. Cross-correlation analyses between gravitational conditions revealed highly consistent movement patterns at each joint. Peak correlation coefficients occurred at 0% phase, indicating there were no lags in movement timing. Joint ranges of motion were similar between gravitational conditions, with some slight differences between subjects. Motion patterns in weightlessness were highly consistent at a given speed with those occurring in 1G, indicating that despite differing sensory input, subjects maintain running kinematics. The data suggest that individuals are capable of compensating for loss of limb weight when creating movement strategies. These results have important implications for creating training programs for use in weightlessness as practitioners can have greater confidence in running motions transferring across gravitational environments. Furthermore, these results have implications for use by researchers investigating motor control mechanisms and investigating hypotheses related to movement strategies when using sensory input that is dependent upon gravity.

DeWitt, John↗

NASA NTRS1996

Immobile Robots: AI in the New Millennium

A new generation of sensor rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biosphere-like life support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. To accomplish this, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves in order to survive decades of autonomous operations. Achieving these large scale modeling and configuration tasks will require a tight coupling between the higher level coordination function provided by symbolic reasoning, and the lower level autonomic processes of adaptive estimation and control. To be economically viable they will need to be programmable purely through high level compositional models. Self modeling and self configuration, coordinating autonomic functions through symbolic reasoning, and compositional, model-based programming are the three key elements of a model-based autonomous systems architecture that is taking us into the New Millennium.

Williams, Brian C.↗

NASA NTRS2016

Simulation of an Electromechanical Spin Motor System of a Control Moment Gyroscope

A two-phase brushless DC motor (BDCM) with pulse-width modulated (PWM) voltage drive is simulated to control the flywheel speed of a control moment gyroscope (CMG). An overview of a double-gimballed control moment gyroscope (DGCMG) assembly is presented along with the CMG torque effects on the spacecraft. The operating principles of a two-phase brushless DC motor are presented and the system's electro-mechanical equations of motion are developed for the root-mean-square (RMS) currents and wheel speed. It is shown that the system is an extremely "stiff" set of first-order equations for which an implicit Euler integrator is required for a stable solution. An adaptive proportional voltage controller is presented which adjusts the PWM voltages depending on several control modes for speed, current, and torque. The simulation results illustrate the interaction between the electrical system and the load dynamics and how these influence the overall performance of the system. As will be shown, the CMG spin motor model can directly provide electrical power use and thermal power output to spacecraft subsystems for effective (average) calculations of CMG power consumption.

Inampudi, Ravi↗

NASA NTRS2004

Nonlinear filtering and limiting in high order methods for ideal and non-ideal MHD

The various filtering mechanisms and base scheme options of the newly developed adaptive numerical dissipation control in spatially high order filter schemes for the ideal and non-ideal magnetohydrodynamics (MHD) equations are investigated. These filter schemes are applicable to complex unsteady MHD high-speed shock/shear/turbulence problems. They also provide a natural and efficient way for the minimization of Div(B) numerical error. The type of spatial base scheme to be used in conjunction with our filter idea is very general. For example, spectral, compact and non-compact spatially central finite difference schemes are possible candidates. The adaptive numerical dissipation mechanism consists of automatic detection of different flow features as distinct sensors to signal the appropriate type and amount of numerical dissipation/filter where needed and to leave the rest of the region free from numerical dissipation contamination. The numerical dissipation considered consists of high order linear dissipation for the suppression of high frequency oscillation and the nonlinear dissipative portion of high-resolution shock-capturing methods for discontinuity capturing. The applicable nonlinear dissipative portion of high-resolution shock-capturing methods is also very general. The objective of this paper is to investigate the performance of using compact and non-compact central base schemes in conjunction with three commonly used types of nonlinear numerical dissipation for both the ideal and non-ideal MHD. This extended abstract shows the performance of three nonlinear filters in conjunction with a sixth-order non-compact spatial central base scheme. In the final paper, the high order compact spatial central base scheme will be illustrated and compared with the non-compact base scheme. The reason for the investigation of the high order compact spatial central base scheme over the non-compact base scheme is to evaluate if additional accuracy can be gained in regions of fine scale turbulence that are away from shocks/shears.

Yee,H. C.↗

NASA NTRS2019

Towards Resilient Autonomous Navigation of Drones

Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.

Agha-mohammadi, Ali-akbar↗

DOE OSTI2021

Managing the techno-economic impacts of partial string failure in multistring energy storage systems

The role of energy storage systems (ESSs) is becoming increasingly important for today’s electric power systems. Unavailability of an ESS assigned to critical grid services may cause unwanted disruption of those services and hence, may have a significant techno-economic impact. Like any physical equipment, an ESS is vulnerable to various types of faults. Failure of one or more strings in a multistring ESS does not have to be the cause of shutting down the entire ESS. It can still operate with a partial number of strings and continue providing critical services to the grid, if there are no reliability or safety issues and is acceptable under applicable standards. However, it is important to make sure that the control strategies are adaptable to the changes in ESS capacity caused by failed strings. Also, depending on the previous operation and type of failure, the reallocation of duty cycle burden among available strings could be non-uniform. These complexities suggest that mitigation of the impact of partial failure in multistring ESSs is not trivial and needs careful consideration. This is the topic of this paper. The proposed work investigates the impact of partial failure of a large multistring ESS on the assigned service and develops strategies to adjust the ESS control duty cycles for reducing such impacts. In doing so, the paper proposes a novel two-stage framework that plans for the multistring failure using robust optimization theory and then adjusts in real-time using a rule-based algorithm, based on the real-time information on the power availability of the string. Illustrations provided in this work are based on frequency regulation use-case, which is a common application for many utility-scale ESSs. A 750 kilowatt (kW)/1500 kilowatt-hour (kWh) 3-string ESS is used for the demonstration in this work and the efficacy of the proposed method is demonstrated and compared against methods that do not incorporate string failure in their strategy. In particular, here we show that revenue loss of 93% can be incurred when partial string failure is not included in operation and planning. These losses in revenue are reduced by 60% with the proposed method.

25 ENERGY STORAGE↗

NASA NTRS1987

DACS II - A distributed thermal/mechanical loads data acquisition and control system

A distributed data acquisition and control system has been developed for the NASA Flight Loads Research Facility. The DACS II system is composed of seven computer systems and four array processors configured as a main computer system, three satellite computer systems, and 13 analog input/output systems interconnected through three independent data networks. Up to three independent heating and loading tests can be run concurrently on different test articles or the entire system can be used on a single large test such as a full scale hypersonic aircraft. Thermal tests can include up to 512 independent adaptive closed loop control channels. The control system can apply up to 20 MW of heating to a test specimen while simultaneously applying independent mechanical loads. Each thermal control loop is capable of heating a structure at rates of up to 150 F per second over a temperature range of -300 to +2500 F. Up to 64 independent mechanical load profiles can be commanded along with thermal control. Up to 1280 analog inputs monitor temperature, load, displacement and strain on the test specimens with real time data displayed on up to 15 terminals as color plots and tabular data displays. System setup and operation is accomplished with interactive menu-driver displays with extensive facilities to assist the users in all phases of system operation.

Zamanzadeh, Behzad↗

DOE OSTI2026

Signal Whisperers: Enhancing Wireless Reception Using DRL-Guided Reflector Arrays

This paper presents a multi-agent reinforcement learning (MARL) approach for controlling adjustable metallic reflector arrays to enhance wireless signal reception in non-line-of-sight (NLOS) scenarios. Unlike conventional reconfigurable intelligent surfaces (RIS) that require complex channel estimation, our system employs a centralized training with decentralized execution (CTDE) paradigm where individual agents corresponding to reflector segments autonomously optimize reflector element orientation in three-dimensional space using spatial intelligence based on user location information. Through extensive ray-tracing simulations with dynamic user mobility, the proposed multi-agent beam-focusing framework demonstrates substantial performance improvements over single-agent reinforcement learning baselines, while maintaining rapid adaptation to user movement within one simulation step. Comprehensive evaluation across varying user densities and reflector configurations validates system scalability and robustness. The results demonstrate the potential of learning-based approaches for adaptive wireless propagation control.

deep reinforcement learning↗

NASA NTRS2000

Optimizing Sensor and Actuator Arrays for ASAC Noise Control

This paper summarizes the development of an approach to optimizing the locations for arrays of sensors and actuators in active noise control systems. A type of directed combinatorial search, called Tabu Search, is used to select an optimal configuration from a much larger set of candidate locations. The benefit of using an optimized set is demonstrated. The importance of limiting actuator forces to realistic levels when evaluating the cost function is discussed. Results of flight testing an optimized system are presented. Although the technique has been applied primarily to Active Structural Acoustic Control systems, it can be adapted for use in other active noise control implementations.

Palumbo, Dan↗