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At least 217 records · Page 12

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NASA NTRS1986

Decentralized control experiments on NASA's flexible grid

Methods arising from the area of decentralized control are emerging for analysis and control synthesis for large flexible structures. In this paper the control strategy involves a decentralized model reference adaptive approach using a variable structure control. Local models are formulated based on desired damping and response time in a model-following scheme for various modal configurations. Variable structure controllers are then designed employing co-located angular rate and position feedback. In this scheme local control forces the system to move on a local sliding mode in some local error space. An important feature of this approach is that the local subsystem is made insensitive to dynamical interactions with other subsystems once the sliding surface is reached. Experiments based on the above have been performed for NASA's flexible grid experimental apparatus. The grid is designed to admit appreciable low-frequency structural dynamics, and allows for implementation of distributed computing components, inertial sensors, and actuation devices. A finite-element analysis of the grid provides the model for control system design and simulation; results of several simulations are reported on here, and a discussion of application experiments on the apparatus is presented.

Ozguner, U.↗

NASA NTRS1986

Control of robot manipulator compliance

Robotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1987

A five component electro-optical positioning system

The development of a five-component electrooptical positioning system for detecting the location of wind tunnel models within the test section is discussed. The system consists of three low power helium-neon lasers, five linear photodiode arrays, an assembly of optics that includes lenses and mirrors, and a signal conditioner. The system has been successfully installed and is currently in use at the 13-inch magnetic suspension and balance system (MSBS) at NASA Langley Research Center. Initially the system was developed as an auxiliary model position and attitude detecting system for that facility, but it has since been modified and interfaced with a PDP minicomputer to provide position feedback for the control loop.

Tcheng, Ping↗

NASA NTRS1988

The chemistry of Antarctic ozone 1960-1987

The factors that influence Antarctic ozone are examined with a view to understanding the observed historical trend. Researchers show that reduced ambient temperatures can dramatically enhance the efficiency of chemical removal processes. Attention is focused on positive feedback between levels of ozone, temperature, and rates of heterogeneous chemical reactions. ClO and its dimer, and high levels of these gases are maintained until the clouds evaporate, on 15 September for the simulation shown here.

Salawitch, R. J.↗

NASA NTRS1988

Effects of eletron heating on the current driven electrostatic ion cyclotron instability and plasma transport processes along auroral field lines

Fluid simulations of the plasma along auroral field lines in the return current region have been performed. It is shown that the onset of electrostatic ion cyclotron (EIC) related anomalous resistivity and the consequent heating of electrons leads to a transverse ion temperature that is much higher than that produced by the current driven EIC instability (CDICI) alone. Two processes are presented for the enhancement of ion heating by anomalous resistivity. The anomalous resistivity associated with the turbulence is limited by electron heating, so that CDICI saturates at transverse temperature that is substantially higher than in the absence of resistivity. It is suggested that this process demonstrates a positive feedback loop in the interaction between CDICI, anomalous resistivity, and parallel large-scale dynamics in the topside ionosphere.

Ganguli, Supriya B.↗

NASA NTRS1988

Model reference, sliding mode adaptive control for flexible structures

A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.

Yurkovich, S.↗

NASA NTRS1988

A study of cloud-generated radiative heating and its generation of available potential energy. I - Theoretical background. II - Results for a climatological zonal mean January

The effect of radiative heating and cooling by clouds on the available potential energy (APE) is theoretically discussed. It is shown that the cloud radiative contribution to the generation of APE is determined by the net cloud radiative heating and the efficiency factor, which is a function of the temperature distribution of the atmosphere. Results are presented for low and middle cloud effects for three atmospheric layers. Cloud radiative heating is found to be a single function of cloud optical thickness for all classes designed in terms of cloud top heights and optical thickness. Low clouds at low latitudes destroy APE an midclouds generate APE. A concept is developed to relate the cloud radiative heating to cloud heights and optical depths. Cloud-generated radiative heating is computed for January zonal mean conditions for low and midclouds. For both cases, the strongest influence is found in the low troposphere, with marked differences in signs and magnitudes. At extratropical latitudes, both cloud classes generate net radiative cooling. In the tropics, the effect of low cloud changes from net cooling to the net heating as the optical thickness increases, and midclouds cause net heating. A mechanism is described whereby this dependence produces a strong positive feedback effect on the development of SST anomalies in the tropical oceans.

Stuhlmann, R.↗

NASA NTRS1990

An in-flight interaction of the X-29A canard and flight control system

Many of today's high performance airplanes use high gain, digital flight control systems. These sytems are liable to couple with the aircraft's structural dynamics and aerodynamics to cause an aeroservoelastic interaction. These interactions can be stable or unstable depending upon damping and phase relationships within the system. The details of an aeroservoelastic interaction experienced in flight by the X-29A forward-swept wing airplane. A 26.5-Hz canard pitch mode response was aliased by the digital sampling rate in the canard position feedback loop of the flight control system, resulting in a 13.5-Hz signal being commanded to the longitudinal control surfaces. The amplitude of this commanded signal increased as the wear of the canard seals increased, as the feedback path gains were increased, and as the canard aerodynamic loading decreased. The resultant control surface deflections were of sufficient amplitude to excite the structure. The flight data presented shows the effect of each component (structural dynamics, aerodynamics, and flight control system) for this aeroservoelastic interaction.

Kehoe, Michael W.↗

NASA NTRS1990

An intercomparison of intraseasonal variability in general circulation models and observations

Low frequency oscillations appearing in three GCM seasonal cycle integrations are compared with the analyses of the European Center for Medium Range Weather Forecasting (ECMWF). All three models have the same resolution: 4 deg latitude by 5 deg longitude, with 9 levels. The dominant phase speeds and the differential vertical structure of the heating profiles in the GCMs are in general agreement with current theory involving the positive feedback between latent heating and moist static stability. All three GCMs fail to capture the detailed evolution in the different stages of the development and decay of the oscillation. The results suggest that an improvement in the boundary layer moisture processes may be crucial for a better simulation of the oscillation.

Park, Chung-Kyu↗

NASA NTRS1989

Observational determination of the greenhouse effect

Satellite measurements are used to quantify the atmospheric greenhouse effect, defined here as the infrared radiation energy trapped by atmospheric gases and clouds. The greenhouse effect is found to increase significantly with sea surface temperature. The rate of increase gives compelling evidence for the positive feedback between surface temperature, water vapor and the greenhouse effect; the magnitude of the feedback is consistent with that predicted by climate models. This study demonstrates an effective method for directly monitoring, from space, future changes in the greenhouse effect.

Raval, A.↗

NASA NTRS1990

Electromechanical propellant control system actuator

New control mechanism technologies are currently being sought to provide alternatives to hydraulic actuation systems. The Propulsion Laboratory at Marshall Space Flight Center (MSFC) is involved in the development of electromechanical actuators (EMA's) for this purpose. Through this effort, an in-house designed electromechanical propellant valve actuator has been assembled and is presently being evaluated. This evaluation will allow performance comparisons between EMA and hydraulics systems. The in-house design consists of the following hardware: a three-phase brushless motor, a harmonic drive, and an output spline which will mate with current Space Shuttle Main Engine (SSME) propellant control valves. A resolver and associated electronics supply position feedback for the EMA. System control is provided by a solid-state electronic controller and power supply. Frequency response testing has been performed with further testing planned as hardware and test facilities become available.

Myers, W. Neill↗

NASA NTRS1990

The effects of cloud radiative forcing on an ocean-covered planet

Cumulus anvil clouds, whose importance has been emphasized by observationalists in recent years, exert a very powerful influence on deep tropical convection by tending to radiatively destabilize the troposphere. In addition, they radiatively warm the column in which they reside. Their strong influence on the simulated climate argues for a much more refined parameterization in the General Circulation Model (GCM). For Seaworld, the atmospheric cloud radiative forcing (ACRF) has a powerful influence on such basic climate parameters as the strength of the Hadley circulation, the existence of a single narrow InterTropical Convergence Zone (ITCZ), and the precipitable water content of the atmosphere. It seems likely, however, that in the real world the surface CRF feeds back negatively to suppress moist convection and the associated cloudiness, and so tends to counteract the effects of the ACRF. Many current climate models have fixed sea surface temperatures but variable land-surface temperatures. The tropical circulations of such models may experience a position feedback due to ACRF over the oceans, and a negative or weak feedback due to surface CRF over the land. The overall effects of the CRF on the climate system can only be firmly established through much further analysis, which can benefit greatly from the use of a coupled ocean-atmospheric model.

Randall, David A.↗

NASA NTRS1990

Planetary circulations in the presence of transient and self-induced heating

The linearized global primitive equation model of Salby and Garcia (1987) was modified to study tropospheric circulations and their interaction with tropical convection. The vertical resolution was increased to approximately 1.5 km, with the effective vertical domain extending the approximately 40 km (higher altitudes in the calculation are used to ensure the radiation upper boundary condition is satisfied). A formal wave conditional instability of the second kind (CISK) parameterization was introduced. That parameterization allows low-frequency disturbances to interact with convection by organizing surface moisture. Boundary layer friction has two important effects in these calculations: it exaggerates surface convergence near the equator by driving the flow out of geostrophic balance; and it introduces a phase shift between the convergence pattern and the circulation, which drives the heating out of quadrature with the temperature field and allows a positive feedback to take place. The observational complement of this theoretical work involves Global Cloud Imagery (GCI) composited from six satellites in the International Satellite Cloud Climatology Project (ISCCP) which were simultaneously observing the Earth's cloud field. Having global coverage, horizontal resolution of half a degree, and produced synoptically every 3 hours, the GCI affords an unprecendented view of global convection. A full year (1983 to 1984) of GCI has now been successfully created. Among other phenomena, that imagery reveals a regular progression of easterly waves in the convective pattern of the Western Pacific. Those disturbances have odd symmetry about the equator and organize convection into a pattern with similar symmetry. In time-mean maps of cloud cover, these propagating disturbances produce a split Inter-Tropical Convergence Zone (ITCZ) in the western Pacific.

Salby, Murry L.↗

NASA NTRS1991

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Nguyen, Charles C.↗

NASA NTRS1991

An experimental study of nonlinear dynamic system identification

A technique based on the Minimum Model Error optimal estimation approach is employed for robust identification of a nonlinear dynamic system. A simple harmonic oscillator with quadratic position feedback was simulated on an analog computer. With the aid of analog measurements and an assumed linear model, the Minimum Model Error Algorithm accurately identifies the quadratic nonlinearity. The tests demonstrate that the method is robust with respect to prior ignorance of the nonlinear system model and with respect to measurement record length, regardless of initial conditions.

Stry, Greselda I.↗

NASA NTRS1991

Non-developmental item computer systems and the malicious software threat

The following subject areas are covered: a DOD development system - the Army Secure Operating System; non-development commercial computer systems; security, integrity, and assurance of service (SI and A); post delivery SI and A and malicious software; computer system unique attributes; positive feedback to commercial computer systems vendors; and NDI (Non-Development Item) computers and software safety.

Bown, Rodney L.↗

NASA NTRS1991

Simulations of the effect of a warmer climate on atmospheric humidity

Increases in the concentration of water vapor constitute the single largest positive feedback in models of global climate warming caused by greenhouse gases. It has been suggested that sinking air in the regions surrounding deep cumulus clouds will dry the upper troposphere and eliminate or reverse the direction of water vapor feedback. This hypothesis has been tested by performing an idealized simulation of climate change with two different versions of a climate model which both incorporate drying due to subsidence of clear air but differ in their parameterization of moist convection and stratiform clouds. Despite increased drying of the upper troposphere by cumulus clouds, upper-level humidity increases in the warmer climate because of enhanced upward moisture transport by the general circulation and increased accumulation of water vapor and ice at cumulus cloud tops.

Del Genio, Anthony D.↗

NASA NTRS1992

Robotic Gripper With Force Control And Optical Sensors

Robotic gripper locates, measures, recognizes and manipulates objects in assembly-line setting. Fiber-optic sensors in fingertips help locate and identify object. Gripper grasps object and determines size from finger-position feedback, while grasped under force control. Prototype handles geranium cuttings in commercial greenhouse, basic concept and design modified for other objects (rods or nuts), including sorting to size.

Montgomery, James L.↗