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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2024

Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function

An adaptive shape servoing control method is presented in this article to manipulate a deformable object into a desired shape in 3-D. A finite-point-based representation of the deformable object is used and the deformation Jacobian matrix is approximated using Fourier series basis functions. The unknown parameters of the deformation Jacobian are learned by using the velocity applied to a control point on the object and corresponding change of positions of the points describing the entire object. An integral concurrent learning (ICL)-based parameter update law is designed along with a constrained controller to satisfy the state constraints on the motion of the control point using Barrier Lyapunov function analysis. ICL-based parameter update law uses data history of velocity and corresponding positions of the points along with their current values. An efficient algorithm to update the history stack using singular value maximization is proposed based on the structure of the regressor matrix. Simulations using a physical simulator and experiments using a robot platform are performed to validate the performance of the proposed controller on two different deformable objects.

Vrithik Raj Guthikonda↗
NASA NTRS2021

Safe Tracking Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Functions

This paper presents a novel, safe tracking control design method that learns the parameters of an uncertain Euler-Lagrange (EL) system online using adaptive learning laws. A barrier function (BF) is first used to transform the full-state constrained EL-dynamics into an equivalent unconstrained dynamics. An adaptive tracking controller is then developed along with the parameter update law in the transformed state space such that the states remain bounded for all time within a prescribed bound. A stability analysis is developed that considers the EL-dynamics’ uncertainty, yielding a semi-globally uniformly ultimately bounded (SGUUB) tracking error and the parameter estimation error. The controller design is validated in simulations using a two-link planar manipulator. The results show the proposed method’s ability to track the reference trajectory while remaining inside each of the predefined state bounds.

Robots↗
NASA NTRSDate not supplied

Flammability Test Method for Materials Intended for Use as Fire Barriers in Crewed Habitats

In some crewed-spacecraft applications, onboard materials are intentionally selected to function as hazard control barriers to prevent powered hardware and/or ignited flammable items from igniting nearby flammable materials by acting as non-breaching, non-flammable containment (e.g., cargo transfer bags, zero gravity stowage racks, and jettison stowage bags on the International Space Station). Historically, flammability self-extinguishment testing of broad acreage or outermost layer materials alone was believed to be sufficient to verify overall flammability compliance. Though required, testing on design features such as threaded seams and zippers was not performed due to the incorrect assumption that flammability performance would not be impacted. However, recent coupon level testing of layups and configurations consisting of multiple materials have revealed that these features may be more susceptible to ignition and fire propagation than the bulk material. Additionally, configurational coupon ignition and propagation testing does not explicitly determine a material’s ability to provide protection to vulnerable flammable hardware. The need to evaluate this gap in assessing material or layup effectiveness as fire barriers between ignition sources and flammable materials led to the development of a new configuration-based fire barrier test. Test setup, relevant configurations, and test validation are discussed. The new barrier test method establishes a configuration for the test apparatus, identifies a conservative ignitor configuration, and defines pass/fail criteria. Test setup, relevant configurations, and test validation are discussed.

Susana Harper↗
NASA NTRS2020

Squash-Box Feasibility Driven Differential Dynamic Programming

Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-shelf Non-Linear Programming (NLP) solvers, which enables its online operation. However, they cannot handle constraints, and are known to have poor convergence capabilities. In this paper, we propose a method to solve the optimal control problem with control bounds through a squashing function (i.e., a sigmoid, which is bounded by construction). It has been shown that a naive use of squashing functions damage the convergence rate. To tackle this, we first propose to add a quadratic barrier that avoids the difficulty of the plateau produced by the sigmoid. Second, we add an outer loop that adapts both the sigmoid and the barrier; it makes the optimal control problem with the squashing function converge to the original control-bounded problem. To validate our method, we present simulation results for different types of platforms including a multi-rotor, a biped, a quadruped and a humanoid robot.

Navarro, Angel Santamaria↗
NASA NTRS1982

Barriers and dispersal surfaces in minimum-time interception

Minimum time interception of a target moving in a horizontal plane is analyzed as a one-player differential game. Dispersal points and points on the barrier are located for a class of pursuit evasion and interception problems. These points are determined by constructing cross sections of the isochrones and hence obtaining the barrier, dispersal, and control level surfaces. The game solution maps the controls as a function of the state within the capture region.

Rajan, N.↗
NASA NTRS1993

Surface compositional variations of Mo-47Re alloy as a function of temperature

Molybdenum-rhenium alloys are candidate materials for the National Aero-Space Plane (NASP) as well as for other applications in generic hypersonics. These materials are expected to be subjected to high-temperature (above 1200 C) casual hydrogen (below 50 torr), which could potentially degrade the material strength. Since the uptake of hydrogen may be controlled by the contaminant surface barriers, a study of Mo-47Re was conducted to examine the variations in surface composition as a function of temperature from 25 C to 1000 C. Pure molybdenum and rhenium were also examined and the results compared with those for the alloy. The analytical techniques employed were Auger electron spectroscopy, electron energy loss spectroscopy, ion scattering spectroscopy, and x ray photoelectron spectroscopy. The native surface was rich in metallic oxides that disappeared at elevated temperatures. As the temperature increased, the carbon and oxygen disappeared by 800 C and the surface was subsequently populated by the segregation of silicon, presumably from the grain boundaries. The alloy readily chemisorbed oxygen, which disappeared with heating. The disappearance temperature progressively increased for successive dosings. When the alloy was exposed to 800 torr of hydrogen at 900 C for 1 hour, no hydrogen interaction was observed.

Hoekje, S. J.↗
NASA NTRS1995

Modified Interior Distance Functions (Theory and Methods)

In this paper we introduced and developed the theory of Modified Interior Distance Functions (MIDF's). The MIDF is a Classical Lagrangian (CL) for a constrained optimization problem which is equivalent to the initial one and can be obtained from the latter by monotone transformation both the objective function and constraints. In contrast to the Interior Distance Functions (IDF's), which played a fundamental role in Interior Point Methods (IPM's), the MIDF's are defined on an extended feasible set and along with center, have two extra tools, which control the computational process: the barrier parameter and the vector of Lagrange multipliers. The extra tools allow to attach to the MEDF's very important properties of Augmented Lagrangeans. One can consider the MIDFs as Interior Augmented Lagrangeans. It makes MIDF's similar in spirit to Modified Barrier Functions (MBF's), although there is a fundamental difference between them both in theory and methods. Based on MIDF's theory, Modified Center Methods (MCM's) have been developed and analyzed. The MCM's find an unconstrained minimizer in primal space and update the Lagrange multipliers, while both the center and the barrier parameter can be fixed or updated at each step. The MCM's convergence was investigated, and their rate of convergence was estimated. The extension of the feasible set and the special role of the Lagrange multipliers allow to develop MCM's, which produce, in case of nondegenerate constrained optimization, a primal and dual sequences that converge to the primal-dual solutions with linear rate, even when both the center and the barrier parameter are fixed. Moreover, every Lagrange multipliers update shrinks the distance to the primal dual solution by a factor 0 less than gamma less than 1 which can be made as small as one wants by choosing a fixed interior point as a 'center' and a fixed but large enough barrier parameter. The numericai realization of MCM leads to the Newton MCM (NMCM). The approximation for the primal minimizer one finds by Newton Method followed by the Lagrange multipliers update. Due to the MCM convergence, when both the center and the barrier parameter are fixed, the condition of the MDF Hessism and the neighborhood of the primal ninimizer where Newton method is 'well' defined remains stable. It contributes to both the complexity and the numerical stability of the NMCM.

Polyak, Roman A.↗
NASA NTRS2015

Certification Considerations for Adaptive Systems

Advanced capabilities planned for the next generation of aircraft, including those that will operate within the Next Generation Air Transportation System (NextGen), will necessarily include complex new algorithms and non-traditional software elements. These aircraft will likely incorporate adaptive control algorithms that will provide enhanced safety, autonomy, and robustness during adverse conditions. Unmanned aircraft will operate alongside manned aircraft in the National Airspace (NAS), with intelligent software performing the high-level decision-making functions normally performed by human pilots. Even human-piloted aircraft will necessarily include more autonomy. However, there are serious barriers to the deployment of new capabilities, especially for those based upon software including adaptive control (AC) and artificial intelligence (AI) algorithms. Current civil aviation certification processes are based on the idea that the correct behavior of a system must be completely specified and verified prior to operation. This report by Rockwell Collins and SIFT documents our comprehensive study of the state of the art in intelligent and adaptive algorithms for the civil aviation domain, categorizing the approaches used and identifying gaps and challenges associated with certification of each approach.

Bhattacharyya, Siddhartha↗
NASA NTRS2013

Frequency Spectrum for Integration of Unmanned Aircraft

The goal of enabling the integration of unmanned aircraft systems (UAS) into the National Airspace System (NAS) in terms of UAS achieving routine access to the NAS has been established as a national goal in the United States. Among a number of technical barriers that must be overcome to meet this goal is the absence of standard, certifiable communications links supplying the control and non-payload communications (CNPC) function, essentially providing the link over which a pilot on the ground can control the unmanned aircraft (UA). The International Civil Aviation Organization (ICAO) has determined that the CNPC link must operate over protected aviation spectrum. Therefore protected aviation spectrum must be allocated for this function, approved through the processes of the International Telecommunications Union Radiocommunication Sector (ITU-R). Work has progressed in the definition of spectrum requirements for CNPC, and a portion of these requirements has been satisfied through new allocations approved at the ITU-R 2012 World Radiocommunication Conference (WRC-12). Additional work is ongoing or planned to satisfy the remaining spectrum requirements and define the specifications for the usage of CNPC spectrum allocations and develop supporting standards. This paper provides an overview of the status of RF spectrum for UAS CNPC. Issues that have been identified and ongoing analysis and research that will be necessary to fulfill spectrum requirements for UAS CNPC will be discussed. The results of this work will provide for the safe integration of UA into the NAS in both the LOS (Line of Sight) and BLOS (Beyond Line of Sight) realms.

aircraft communications↗
NASA NTRS1986

The expanded LaGrangian system for constrained optimization problems

Smooth penalty functions can be combined with numerical continuation/bifurcation techniques to produce a class of robust and fast algorithms for constrainted optimization problems. The key to the development of these algorithms is the Expanded Lagrangian System which is derived and analyzed in this work. This parameterized system of nonlinear equations contains the penalty path as a solution, provides a smooth homotopy into the first-order necessary conditions, and yields a global optimization technique. Furthermore, the inevitable ill-conditioning present in a sequential optimization algorithm is removed for three penalty methods: the quadratic penalty function for equality constraints, and the logarithmic barrier function (an interior method) and the quadratic loss function (an interior method) for inequality constraints. Although these techniques apply to optimization in general and to linear and nonlinear programming, calculus of variations, optimal control and parameter identification in particular, the development is primarily within the context of nonlinear programming.

Poore, A. B.↗
NASA NTRS1988

The expanded Lagrangian system for constrained optimization problems

Smooth penalty functions can be combined with numerical continuation/bifurcation techniques to produce a class of robust and fast algorithms for constrained optimization problems. The key to the development of these algorithms is the Expanded Lagrangian System which is derived and analyzed in this work. This parameterized system of nonlinear equations contains the penalty path as a solution, provides a smooth homotopy into the first-order necessary conditions, and yields a global optimization technique. Furthermore, the inevitable ill-conditioning present in a sequential optimization algorithm is removed for three penalty methods: the quadratic penalty function for equality constraints, and the logarithmic barrier function (an interior method) and the quadratic loss function (an interior method) for inequality constraints. Although these techniques apply to optimization in general and to linear and nonlinear programming, calculus of variations, optimal control and parameter identification in particular, the development is primarily within the context of nonlinear programming.

Poore, A. B.↗
NASA NTRS2007

High Temperature Materials for Chemical Propulsion Applications

Radiation or passively cooled thrust chambers are used for a variety of chemical propulsion functions including apogee insertion, reaction control for launch vehicles, and primary propulsion for planetary spacecraft. The performance of these thrust chambers is limited by the operating temperature of available materials. Improved oxidation resistance and increased operating temperatures can be achieved with the use of thermal barrier coatings such as zirconium oxide (ZrO2) and hafnium oxide (HfO2). However, previous attempts to include these materials showed cracking and spalling of the oxide layer due to poor bonding. Current research at NASA's Marshall Space Flight Center (MSFC) has generated unique, high temperature material options for in-space thruster designs that are capable of up to 2500 C operating temperatures. The research is focused on fabrication technologies to form low cost Iridium,qF_.henium (Ir/Re) components with a ceramic hot wall created as an integral, functionally graded material (FGM). The goal of this effort is to further de?celop proven technologies for embedding a protective ceramic coating within the Ir/Re liner to form a robust functional gradient material. Current work includes the fabrication and testing of subscale samples to evaluate tensile, creep, thermal cyclic/oxidation, and thermophysical material properties. Larger test articles have also being fabricated and hot-fire tested to demonstrate the materials in prototype thrusters at 1O0 lbf thrust levels.

Elam, Sandra↗
NASA NTRS2011

A Multifunctional Coating for Autonomous Corrosion Control

This slide presentation reviews the effects of corrosion on various structures at the Kennedy Space Center, and the work to discover a corrosion control coating that will be autonomous and will indicate corrosion at an early point in the process. Kennedy Space Center has many environmental conditions that are corrosive: ocean salt spray, heat, humidity, sunlight and acidic exhaust from the Solid Rocket Boosters (SRBs). Presented is a chart which shows the corrosion rates of carbon steel at various locations. KSC has the highest corrosion rates with 42.0 mils/yr, leading the next highest Galeta Point Beach, in the Panama Canal Zone with 27 mils/yr corrosion. A chart shows the changes in corrosion rate with the distance from the ocean. The three types of corrosion protective coatings are described: barrier (passive), Barrier plus active corrosion inhibiting components, and smart. A smart coating will detect and respond actively to changes in its environment in a functional and predictable manner and is capable of adapting its properties dynamically. The smart coating uses microcapsules, particles or liquid drops coated in polymers, that can detect and control the corrosion caused by the environment. The mechanism for a pH sensitive microcapsule and the hydrophobic core microcapsule are demonstrated and the chemistry is reviewed. When corrosion begins, the microcapsule will release the contents of the core (indicator, inhibitor, and self healing agent) in close proximity to the corrosion. The response to a pH increase is demonstrated by a series of pictures that show the breakdown of the microcapsule and the contents release. An example of bolt corrosion is used, as an example of corrosion in places that are difficult to ascertain. A comparison of various coating systems is shown.

Calle, L. M.↗
NASA NTRS2010

Projection Operator: A Step Towards Certification of Adaptive Controllers

One of the major barriers to wider use of adaptive controllers in commercial aviation is the lack of appropriate certification procedures. In order to be certified by the Federal Aviation Administration (FAA), an aircraft controller is expected to meet a set of guidelines on functionality and reliability while not negatively impacting other systems or safety of aircraft operations. Due to their inherent time-variant and non-linear behavior, adaptive controllers cannot be certified via the metrics used for linear conventional controllers, such as gain and phase margin. Projection Operator is a robustness augmentation technique that bounds the output of a non-linear adaptive controller while conforming to the Lyapunov stability rules. It can also be used to limit the control authority of the adaptive component so that the said control authority can be arbitrarily close to that of a linear controller. In this paper we will present the results of applying the Projection Operator to a Model-Reference Adaptive Controller (MRAC), varying the amount of control authority, and comparing controller s performance and stability characteristics with those of a linear controller. We will also show how adjusting Projection Operator parameters can make it easier for the controller to satisfy the certification guidelines by enabling a tradeoff between controller s performance and robustness.

Larchev, Gregory V.↗
NASA NTRS1994

Breaking down barriers in cooperative fault management: Temporal and functional information displays

At the highest level, the fundamental question addressed by this research is how to aid human operators engaged in dynamic fault management. In dynamic fault management there is some underlying dynamic process (an engineered or physiological process referred to as the monitored process - MP) whose state changes over time and whose behavior must be monitored and controlled. In these types of applications (dynamic, real-time systems), a vast array of sensor data is available to provide information on the state of the MP. Faults disturb the MP and diagnosis must be performed in parallel with responses to maintain process integrity and to correct the underlying problem. These situations frequently involve time pressure, multiple interacting goals, high consequences of failure, and multiple interleaved tasks.

Potter, Scott S.↗
NASA NTRS1997

Influence of Zero-Shear on Yeast Development

The objective of the research was to begin evaluating the effect of zero-shear on the development of the cell wall of Saccharomyces cerevisiae employing the High Aspect Rotating-Wall Vessel (HARV) NASA bioreactor. This particular yeast has enormous potential for research as a model eukaryotic system on the International Space Station, as well as the production of food stuffs' at the future lunar colony. Because the cell wall is the barrier between the cell and the environment, its form and function as influenced by microgravity is of great importance. Morphologic studies revealed that the circularity and total area of the individual yeast cells were essentially the same in both the control and test HARV's. The growth rates were also essentially the same. In zero-shear, the yeast grew in clumps consisting of rudimentary pseudohyphae in contrast to solitary budding cells in the control. Based upon mechanical and sonic shear applied to the yeast cells, those grown in zero-shear had stronger cell walls and septa. This suggests that there are structural differences, most likely related to the chitin skeleton of the cell wall. From this research further NASA support was obtained to continue the work. Investigations will deal with gene expression and ultrastructure. These will lead to a clearer assessment of the value of S. cerevisiae eukaryotic as a model for space station research.

McGinnis, Michael R.↗
NASA NTRS1992

Metric transition

This report describes NASA's metric transition in terms of seven major program elements. Six are technical areas involving research, technology development, and operations; they are managed by specific Program Offices at NASA Headquarters. The final program element, Institutional Management, covers both NASA-wide functional management under control of NASA Headquarters and metric capability development at the individual NASA Field Installations. This area addresses issues common to all NASA program elements, including: Federal, state, and local coordination; standards; private industry initiatives; public-awareness initiatives; and employee training. The concluding section identifies current barriers and impediments to metric transition; NASA has no specific recommendations for consideration by the Congress.

Source record↗
NASA NTRS1986

Aperture plane potential control for thermal ion measurements

The effects produced by the addition of an aperture plane to control the bias around an instrument for low-energy ion measurements on satellites collecting data in the plasmasphere and over the polar cap are analyzed. The analysis is based on the design and functions of the retarding ion mass spectrometer (RIMS) on the DE 1 satellite. The NASA Charging Analyzer Program, which treats the spacecraft as a cylinder, was used to generate one set of predictions. A second model involves solution of the Laplace equation with the spacecraft treated as a sphere. Both models were used to predict the barrier height expected at the aperture in response to the bias induced to offset the potential. Comparisons with plasma data show that in the thin sheath regime of the plasmasphere the detectors act as if the potential is shifted, thereby lowering the energy resolution of the instrument. Outside the plasmasphere the barrier height dominates the spin curve variations more than the potential. Partial potential control is available from induced bias apertures if control is active and guided by electron detectors with sensitivities in the 0.5-50.0 eV energy range.

Olsen, R. C.↗