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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Using Dedal to share and reuse distributed engineering design information

The overall goal of the project is to facilitate the reuse of previous design experience for the maintenance, repair and redesign of artifacts in the electromechanical engineering domain. An engineering team creates information in the form of meeting summaries, project memos, progress reports, engineering notes, spreadsheet calculations and CAD drawings. Design information captured in these media is difficult to reuse because the way design concepts are referred to evolve over the life of a project and because decisions, requirements and structure are interrelated but rarely explicitly linked. Based on protocol analysis of the information seeking behavior of designer's, we defined a language to describe the content and the form of design records and implemented this language in Dedal, a tool for indexing, modeling and retrieving design information. We first describe the approach to indexing and retrieval in Dedal. Next we describe ongoing work in extending Dedal's capabilities to a distributed environment by integrating it with World Wide Web. This will enable members of a design team who are not co-located to share and reuse information.

Baya, Vinod↗
NASA NTRS2003

Modeling and Evaluation of Miles-in-Trail Restrictions in the National Air Space

Miles-in-trail restrictions impact flights in the national air space on a daily basis and these restrictions routinely propagate between adjacent Air Route Traffic Control Centers. Since overly restrictive or ineffective miles-in-trail restrictions can reduce the overall efficiency of the national air space, decision support capabilities that model miles-in-trail restrictions should prove to be very beneficial. This paper presents both an analytical formulation and a linear programming approach for modeling the effects of miles-in-trail restrictions. A methodology for monitoring the conformance of an existing miles-in-trail restriction is also presented. These capabilities have been implemented in the Future ATM Concepts Evaluation Tool for testing purposes. To allow alternative restrictions to be evaluated in post-operations, a new mode of operation, which is referred to as the hybrid-playback mode, has been implemented in the simulation environment. To demonstrate the capabilities of these new algorithms, the miles-in-trail restrictions, which were in effect on June 27, 2002 in the New York Terminal Radar Approach Control, are examined. Results from the miles-in-trail conformance monitoring functionality are presented for the ELIOT, PARKE and WHITE departure fixes. In addition, the miles-in-trail algorithms are used to assess the impact of alternative restrictions at the PARKE departure fix.

Grabbe, Shon↗
NASA NTRS1988

NASA standard: Trend analysis techniques

This Standard presents descriptive and analytical techniques for NASA trend analysis applications. Trend analysis is applicable in all organizational elements of NASA connected with, or supporting, developmental/operational programs. Use of this Standard is not mandatory; however, it should be consulted for any data analysis activity requiring the identification or interpretation of trends. Trend Analysis is neither a precise term nor a circumscribed methodology, but rather connotes, generally, quantitative analysis of time-series data. For NASA activities, the appropriate and applicable techniques include descriptive and graphical statistics, and the fitting or modeling of data by linear, quadratic, and exponential models. Usually, but not always, the data is time-series in nature. Concepts such as autocorrelation and techniques such as Box-Jenkins time-series analysis would only rarely apply and are not included in this Standard. The document presents the basic ideas needed for qualitative and quantitative assessment of trends, together with relevant examples. A list of references provides additional sources of information.

Source record↗
NASA NTRS2015

Static Aeroelastic Modeling of a Sub-Scale Wind Tunnel Model with Novel Flap Concept

This paper examines the static aeroelastic modeling of a flexible wind tunnel model equipped with a novel control effector known as the Variable Camber Continuous Trailing Edge Flap (VCCTEF) system. The wind tunnel model is an approximately 10 percent sub-scale version of a wing designed to be equipped on a commerical transport aircraft such as the full-scale NASA Generic Transport Model (GTM). The structure of the model is made highly flexible such that a 10 percent of semi-span wing tip deflection is expected at a design lift condition, and a representation of the VCCTEF concept is incorporated on the model. Static aeroelastic modeling is conducted by using a representative single beam structural finite-element model coupled to a vortex-lattice aerodynamic model. The resulting aeroelastic model of the flexible wind tunnel model is compared against experimental wind tunnel test results from the actual model tested at the University of Washington Aeronautical Laboratory (UWAL). Comparison cases are made using reference and VICON measurements of VCCTEF flap deflections from the wind tunnel test data, and percent errors between the lift curve parameters are presented. The results show up to a maximum percent of error of <10% with regards to lift curve slope values between the aeroelastic model and the UWAL test data. The agreement of lift curve slope values from the aeroelastic model and experimental test results serves as validation for the coupled vortex-lattice finite-element static aeroelastic model.

Aeroelasticity↗
NASA NTRS2005

Fundamentals of Modeling, Data Assimilation, and High-performance Computing

This lecture will introduce the concepts of modeling, data assimilation and high- performance computing as it relates to the study of atmospheric composition. The lecture will work from basic definitions and will strive to provide a framework for thinking about development and application of models and data assimilation systems. It will not provide technical or algorithmic information, leaving that to textbooks, technical reports, and ultimately scientific journals. References to a number of textbooks and papers will be provided as a gateway to the literature.

Rood, Richard B.↗
NASA NTRS2006

Space and Ground Trades for Human Exploration and Wearable Computing

Human exploration of the Moon and Mars will present unique trade study challenges as ground system elements shift to planetary bodies and perhaps eventually to the bodies of human explorers in the form of wearable computing technologies. This presentation will highlight some of the key space and ground trade issues that will face the Exploration Initiative as NASA begins designing systems for the sustained human exploration of the Moon and Mars, with an emphasis on wearable computing. We will present some preliminary test results and scenarios that demonstrate how wearable computing might affect the trade space noted below. We will first present some background on wearable computing and its utility to NASA's Exploration Initiative. Next, we will discuss three broad architectural themes, some key ground and space trade issues within those themes and how they relate to wearable computing. Lastly, we will present some preliminary test results and suggest guidance for proceeding in the assessment and creation of a value-added role for wearable computing in the Exploration Initiative. The three broad ground-space architectural trade themes we will discuss are: 1. Functional Shift and Distribution: To what extent, if any, should traditional ground system functionality be shifted to, and distributed among, the Earth, Moon/Mars, and the human. explorer? 2. Situational Awareness and Autonomy: How much situational awareness (e.g. environmental conditions, biometrics, etc.) and autonomy is required and desired, and where should these capabilities reside? 3. Functional Redundancy: What functions (e.g. command, control, analysis) should exist simultaneously on Earth, the Moon/Mars, and the human explorer? These three themes can serve as the axes of a three-dimensional trade space, within which architectural solutions reside. We will show how wearable computers can fit into this trade space and what the possible implications could be for the rest of the ground and space architecture(s). We intend this to be an example of explorer-centric thinking in a fully integrated explorer paradigm, where integrated explorer refers to a human explorer having instant access to all relevant data, knowledge of the environment, science models, health and safety-related events, and other tools and information via wearable computing technologies. The trade study approach will include involvement from the relevant stakeholders (Constellation Systems, CCCI, EVA Project Office, Astronaut office, Mission Operations, Space Life Sciences, etc.) to develop operations concepts (and/or operations scenarios) from which a basic high-level set of requirements could be extracted. This set of requirements could serve as a foundation (along with stakeholder buy-in) that would help define the trade space and assist in identifying candidate technologies for further study and evolution to higher-level technology readiness levels.

Lupisella, Mark↗
NASA NTRS2019

A Unified Level of Service Model for NASA Earth Science Data Stewardship

During the past year, the Interagency Implementation and Concepts Team (IMPACT) reviewed existing service models in use at various NASA data centers in an effort to produce a unified, cohesive, and comprehensive Level of Service Model for all of NASA Distributed Active Archive Centers (DAACs). NASA DAACs are responsible for ensuring NASA Earth Science data are accurately and securely ingested, distributed, supported, and preserved. The term “Service" as used here refers to the spectrum of data management activities and outputs provided by DAACs in support of the data cared fo by each data cente. The unified Level-of- Service (LoS) model described in this presentation utilizes both the NASA-defined data product category and the data processing level to easily identify an appropriate level-of-service to be applied to a data product throughout the full data life cycle. This LoS model is to be used by DAACs when appraising incoming data in order to determine the appropriate and required services to provide. The LoS model utilizes a 3-level system in which services build upon previous levels and thereby require greater commitment and effort both on the part of the DAAC personnel and the data producer at the highest level. The LoS model description also contains examples of ways to communicate with data producers and data users what services can be expected, thereby bringing more consistent user experiences across the enterprise. In this presentation, we will outline the features of the LoS model and describe how it relates to the FAIR data practices and the NOAA Maturity Matrix model.

Smith, Deborah↗
NASA NTRS2012

Preliminary Assessment of Variable Speed Power Turbine Technology on Civil Tiltrotor Size and Performance

A Large Civil Tiltrotor (LCTR) conceptual design was developed as part of the NASA Heavy Lift Rotorcraft Systems Investigation in order to establish a consistent basis for evaluating the benefits of advanced technology for large tiltrotors. The concept has since evolved into the second-generation LCTR2, designed to carry 90 passengers for 1,000 nm at 300 knots, with vertical takeoff and landing capability. This paper performs a preliminary assessment of variable-speed power turbine technology on LCTR2 sizing, while maintaining the same, advanced technology engine core. Six concepts were studied; an advanced, single-speed engine with a conventional power turbine layout (Advanced Conventional Engine, or ACE) using a multi-speed (shifting) gearbox. There were five variable-speed power turbine (VSPT) engine concepts, comprising a matrix of either three or four turbine stages, and fixed or variable guide vanes; plus a minimum weight, twostage, fixed-geometry VSPT. The ACE is the lightest engine, but requires a multi-speed (shifting) gearbox to maximize its fuel efficiency, whereas the VSPT concepts use a lighter, fixed-ratio gearbox. The NASA Design and Analysis of Rotorcraft (NDARC) design code was used to study the trades between rotor and engine efficiency and weight. Rotor performance was determined by Comprehensive Analytical Model of Rotorcraft Aerodynamics and Dynamics (CAMRAD II), and engine performance was estimated with the Numerical Propulsion System Simulation (NPSS). Design trades for the ACE vs. VSPT are presented in terms of vehicle gross and empty weight, propulsion system weight and mission fuel burn for the civil mission. Because of its strong effect on gearbox weight and on both rotor and engine efficiency, rotor speed was chosen as the reference design variable for comparing design trades. Major study assumptions are presented and discussed. Impressive engine power-to-weight and fuel efficiency reduced vehicle sensitivity to propulsion system choice. The 10% weight penalty for multi-speed gearbox was more significant than most engine technology weight penalties to the vehicle design because drive system weight is more than two times engine weight. Based on study assumptions, fixed-geometry VSPT concept options performed better than their variable-geometry counterparts. Optimum design gross weights varied 1% or less and empty weights less than 2% among the concepts studied, while optimum fuel burns varied up to 5%. The outcome for some optimum configurations was so unexpected as to recommend a deeper look at the underlying technology assumptions.

Snyder, Christopher A.↗
NASA NTRSDate not supplied

A Model-Based Framework for NASA Science Mission Formulation

This paper details an effort to implement NASA systems engineering standards and practices using a Digital System Model (DSM), which we also refer to as the system architecture model (SAM). Creating a SAM at the beginning of a design effort helps systems engineer identify errors, inconsistencies, and miscommunications as early as possible. Such issues can then be resolved before it becomes costly and requires significant rework to do so. A pre-formulation SAM also enables advanced trade studies at the earliest stage of concept development. This results in “win-wins” where architecture changes can reduce cost without decreasing effectiveness, or increase effectiveness without increasing cost. SAMs also streamline the creation of project documentation and facilitate superior dialogue between science, engineering, and management stakeholders. Common artifacts such as Master Equipment Lists (MELs), Science Traceability Matrices (STMs), and Mission Traceability Matrices (MTMs), can be automatically maintained through requirements and structural models in the SAM. Key performance parameters (and changes to them) can be tied to simulations in the SAM, allowing far more rapid and extensive trade space exploration. As will be shown in this work, these advantages have been realized for the first time in an actual NASA Goddard Space Flight Center (GSFC) pre-phase A and phase A concept study. Modelbased design tools have been developed in a general, modular manner to maximize reuse on future programs. Focus is placed on structural and requirements architecture modeling. Data is ingested into the SAM from existing discipline model outputs (e.g. MS Excel spreadsheets) and used to update a SysML structural model. A mission requirements model is created within the SAM, containing mission specific as well as standard GSFC mission requirements. With the linked requirements model and structural model, automated compliance checking will be performed as mission parameters evolve without the need for discipline engineers to work directly with the SAM in SysML.

MBSE↗
NASA NTRS2002

Evaluation of High-Performance Space Nuclear Electric Generators for Electric Propulsion Application

Electric propulsion applications are enhanced by high power-to-mass ratios for their electric power sources. At multi-megawatt levels, we can expect thrust production systems to be less than 5 kg/kWe. Application of nuclear electric propulsion to human Mars missions becomes an attractive alternative to nuclear thermal propulsion if the propulsion system is less than about 10 kg/kWe. Recent references have projected megawatt-plus nuclear electric sources at specific mass values from less than 1 kg/kWe to about 5 kg/kWe. Various assumptions are made regarding power generation cycle (turbogenerator; MHD (magnetohydrodynamics)) and reactor heat source design. The present paper compares heat source and power generation options on the basis of a parametric model that emphasizes heat transfer design and realizable hardware concept. Pressure drop (important!) is included in the power cycle analysis, and MHD and turbogenerator cycles are compared. Results indicate that power source specific mass less than 5 kg/kWe is attainable, even if peak temperatures achievable are limited to 1500 K. Projections of specific mass less than 1 kg/kWe are unrealistic, even at the highest peak temperatures considered.

Woodcock, Gordon↗
NASA NTRS2002

Opportunities for Breakthroughs in Large-Scale Computational Simulation and Design

Opportunities for breakthroughs in the large-scale computational simulation and design of aerospace vehicles are presented. Computational fluid dynamics tools to be used within multidisciplinary analysis and design methods are emphasized. The opportunities stem from speedups and robustness improvements in the underlying unit operations associated with simulation (geometry modeling, grid generation, physical modeling, analysis, etc.). Further, an improved programming environment can synergistically integrate these unit operations to leverage the gains. The speedups result from reducing the problem setup time through geometry modeling and grid generation operations, and reducing the solution time through the operation counts associated with solving the discretized equations to a sufficient accuracy. The opportunities are addressed only at a general level here, but an extensive list of references containing further details is included. The opportunities discussed are being addressed through the Fast Adaptive Aerospace Tools (FAAST) element of the Advanced Systems Concept to Test (ASCoT) and the third Generation Reusable Launch Vehicles (RLV) projects at NASA Langley Research Center. The overall goal is to enable greater inroads into the design process with large-scale simulations.

Alexandrov, Natalia↗
NASA NTRS2002

A model for live mission data systems using the OAIS reference model

Space sciences are confronted with overwhelming volume of data. The data rates are increasing, the granularity of registered observations is continuously refining, and computer technology allows producing terabytes of images and catalogs. The inexpensive emerging storage technologies, combined with the availability of high-speed communications will offer the infrastructure for extremely large data repositories to be accessible on-line. Mission data will be quickly accessible almost immediately after it has been collected from space observations. On-line science will demand for new tools and technologies for data access, data analysis, and data discovery. These trends will enhance the archival operational concepts mainly related to the long-term information preservation, placing an equally important emphasis on rapid data production, and dissemination to consumers.

mission data systems srchive system OAIS data mana↗
NASA NTRS1973

A simplified scheme for computing radiation transfer in the troposphere

A scheme is presented, for the heating of clear and cloudy air by solar and infrared radiation transfer, designed for use in tropospheric general circulation models with coarse vertical resolution. A bulk transmission function is defined for the infrared transfer. The interpolation factors, required for computing the bulk transmission function, are parameterized as functions of such physical parameters as the thickness of the layer, the pressure, and the mixing ratio at a reference level. The computation procedure for solar radiation is significantly simplified by the introduction of two basic concepts. The first is that the solar radiation spectrum can be divided into a scattered part, for which Rayleigh scattering is significant but absorption by water vapor is negligible, and an absorbed part for which absorption by water vapor is significant but Rayleigh scattering is negligible. The second concept is that of an equivalent cloud water vapor amount which absorbs the same amount of radiation as the cloud.

Katayama, A.↗
NASA NTRS2005

Vehicle Integrated Performance Analysis, the VIPA Experience: Reconnecting with Technical Integration

Today's NASA is facing significant challenges and changes. The Exploration initiative indicates a large increase in projects with limited increase in budget. The Columbia report has criticized NASA for its lack of insight and technical integration impacting its ability to provide safety. The Aldridge report is advocating NASA find new ways of doing business. Very early in the Space Launch Initiative (SLI) program a small team of engineers at MSFC were asked to propose a process for performing a system level assessment of a launch vehicle. The request was aimed primarily at providing insight and making NASA a "smart buyer." Out of this effort the VIPA team was created. The difference between the VIPA effort and many integration attempts is that VIPA focuses on using experienced people from various disciplines and a process which focuses them on a technically integrated assessment. Most previous attempts have focused on developing an all encompassing software tool. In addition, VIPA anchored its process formulation in the experience of its members and in early developmental Space Shuttle experience. The primary reference for this is NASA-TP-2001-210092, "Launch Vehicle Design Process: Characterization, Technical Integration, and Lessons Learned," and discussions with its authors. The foundations of VIPA's process are described. The VIPA team also recognized the need to drive detailed analysis earlier in the design process. Analyses and techniques typically done in later design phases, are brought forward using improved computing technology. The intent is to allow the identification of significant sensitivities, trades, and design issues much earlier in the program. This process is driven by the T-model for Technical Integration described in the aforementioned reference. VIPA's approach to performing system level technical integration is discussed in detail. Proposed definitions are offered to clarify this discussion and the general systems integration dialog. VIPA's capabilities and process can now be used to significantly enhance the development and monitoring of realizable project requirements. This is done through the use of VIPA's V-model. Starting with a given concept, VIPA's assessment validates the concept's stated performance, identifies significant issues either with the concept or the requirements, and then re-integrates these issues to determine impacts. This process is discussed along with a description of how it may be integrated into a program's insight and review process. The VIPA process has been employed successfully on several projects including SLI, Orbital Space Plane (OSP), and several heavy lift concepts for Exploration. It has also been proposed for use on the Jupiter Icy Moon (JIMO) spacecraft. The VIPA process has gained favor with both engineering and project organizations for being responsive and insightful. Selected results from these assessments will be presented.

McGhee, David S.↗
NASA NTRS2015

Bridging the Technology Readiness "Valley of Death" Utilizing Nanosats

Incorporating new technology is a hallmark of space missions. Missions demand ever-improving tools and techniques to allow them to meet the mission science requirements. In Earth Science, these technologies are normally expressed in new instrument capabilities that can enable new measurement concepts, extended capabilities of existing measurement techniques, or totally new detection capabilities, and also, information systems technologies that can enhance data analysis or enable new data analyses to advance modeling and prediction capabilities. Incorporating new technologies has never been easy. There is a large development step beyond demonstration in a laboratory or on an airborne platform to the eventual space environment that is sometimes referred to as the "technology valley of death." Studies have shown that non-validated technology is a primary cause of NASA and DoD mission delays and cost overruns. With the demise of the New Millennium Program within NASA, opportunities for demonstrating technologies in space have been rare. Many technologies are suitable for a flight project after only ground testing. However, some require validation in a relevant or a space flight environment, which cannot be fully tested on the ground or in airborne systems. NASA's Earth Science Technology Program has initiated a nimble program to provide a fairly rapid turn-around of space validated technologies, and thereby reducing future mission risk in incorporating new technologies. The program, called In-Space Validation of Earth Science Technology (InVEST), now has five tasks in development. Each are 3U CubeSats and they are targeted for launch opportunities in the 2016 time period. Prior to formalizing an InVEST program, the technology program office was asked to demonstrate how the program would work and what sort of technologies could benefit from space validation. Three projects were developed and launched, and have demonstrated the technologies that they set out to validate. This paper will provide a brief status of the pre-InVEST CubeSats, and discuss the development and status of the InVEST program. Figure

Earth Science↗
NASA NTRS2010

Toward Right-Fidelity Rotorcraft Conceptual Design

The aviation Advanced Design Office (ADO) of the US Army Aeroflightdynamics Directorate (AMRDEC) performs conceptual design of advanced Vertical Takeoff and Landing (VTOL) concepts in support of the Army's development and acquisition of new aviation systems. In particular, ADO engages in system synthesis to assess the impact of new technologies and their application to satisfy emerging warfighter needs and requirements. Fundamental to ADO being successful in accomplishing its role; is the ability to evaluate a wide array of proposed air vehicle concepts, and independently synthesize new concepts to inform Army and DoD decision makers about the tradespace in which decisions will be made (Figure 1). ADO utilizes a conceptual design (CD) process in the execution of its role. Benefiting from colocation with NASA rotorcraft researchers at the Ames Research Center, ADO and NASA have engaged in a survey of the current rotorcraft PD practices and begun the process of improving those capabilities to enable effective design and development of the next generation of VTOL systems. A unique aspect of CD in ADO is the fact that actual designs developed in-house are not intended to move forward in the development process. Rather, they are used as reference points in discussions about requirements development and technology impact. The ultimate products of ADO CD efforts are technology impact assessments and specifications which guide industry design activity. The fact that both the requirement and design are variables in the tradespace adds to the complexity of the CD process. A frequent need is ability to assess the relative "cost" of variations in requirement for a diverse set of VTOL configurations. Each of these configurations may have fundamentally different response characteristics to this requirement variation, and such insight into how different requirements drive different designs is a critical insight ADO attempts to provide decision makers. The processes and tools utilized are driven by the timeline in which questions must be answered. This can range from quick "back-of-the-envelope" assessments of a configuration made in an afternoon, to more detailed tradespace explorations that can take upwards of a year to complete. A variety of spreadsheet based tools and conceptual design codes are currently in use. The in-house developed conceptual sizing code RC (Rotorcraft) has been the preferred tool of choice for CD activity for a number of years. Figure 2 illustrates the long standing coupling between RC and solid modeling tools for layout, as well as a number of ad-hoc interfaces with external analyses. RC contains a sizing routine that is built around the use of momentum theory for rotors, classic finite wing theory, a referred parameter engine model, and semi-emperical weight estimation techniques. These methods lend themselves to rapid solutions, measured in seconds and minutes. The successful use of RC, however requires careful consideration of model input parameters and judicious comparison with existing aircraft to avoid unjustified extrapolation of results. RC is in fact a legacy of a series of codes whose development started in the early 1970s, and is best suited to the study of conventional helicopters and XV-15 style tiltrotors. Other concepts have been analyzed with RC, but typically it became necessary to modify the source code and methods for each unique configuration. Recent activity has lead to the development of a new code, NASA Design and Analysis of Rotorcraft (NDARC). NDARC uses a similar level of analytical fidelity as RC, but is built on a new framework intended to improve modularity and ability to rapidly model a wider array of concepts. Critical to achieving this capability is the decomposition of the aircraft system into a series of fundamental components which can then be assembled to form a wide-array of configurations. The paper will provide an overview of NDARC and its capabilities.

Sinsay, Jeffrey D.↗
NASA NTRS2000

A Solution Methodology and Computer Program to Efficiently Model Thermodynamic and Transport Coefficients of Mixtures

A solution methodology has been developed to efficiently model multi-specie, chemically frozen, thermally perfect gas mixtures. The method relies on the ability to generate a single (composite) set of thermodynamic and transport coefficients prior to beginning a CFD solution. While not fundamentally a new concept, many applied CFD users are not aware of this capability nor have a mechanism to easily and confidently generate new coefficients. A database of individual specie property coefficients has been created for 48 species. The seven coefficient form of the thermodynamic functions is currently used rather then the ten coefficient form due to the similarity of the calculated properties, low temperature behavior and reduced CPU requirements. Sutherland laminar viscosity and thermal conductivity coefficients were computed in a consistent manner from available reference curves. A computer program has been written to provide CFD users with a convenient method to generate composite specie coefficients for any mixture. Mach 7 forebody/inlet calculations demonstrated nearly equivalent results and significant CPU time savings compared to a multi-specie solution approach. Results from high-speed combustor analysis also illustrate the ability to model inert test gas contaminants without additional computational expense.

Ferlemann, Paul G.↗
NASA NTRS1987

Adaptive control of robotic manipulators

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Seraji, H.↗