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At least 253 records · Page 14

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NASA NTRS1991

Compensation of distributed delays in integrated communication and control systems

The concept, analysis, implementation, and verification of a method for compensating delays that are distributed between the sensors, controller, and actuators within a control loop are discussed. With the objective of mitigating the detrimental effects of these network induced delays, a predictor-controller algorithm was formulated and analyzed. Robustness of the delay compensation algorithm was investigated relative to parametric uncertainties in plant modeling. The delay compensator was experimentally verified on an IEEE 802.4 network testbed for velocity control of a DC servomotor.

Ray, Asok↗

NASA NTRS1990

Workspace visualization and time-delay telerobotic operations

The paper examines the performance of telerobotic tasks where the operator and robot are physically separated, and a comunication time delay of up to several seconds between them exists. This situation is applicable to space robotic servicing-assembly-maintenance operations on low earth or geosynchronous orbits with a ground-based command station. Attention is given to two developments which address advanced time-delay teleoperations for unstructured tasks: (1) the 'phantom robot', a real-time predictive graphics simulator developed to allow teleoperator eye-to-hand coordination or robot free-space kinematics under a time delay of several seconds; and (2) shared compliance control, a modified form of automatic electromechanical impedance control employed in parallel with manual position control to permit soft contact and grasp compliance with workpiece geometry under a time delay of several seconds.

Schenker, P. S.↗

NASA NTRS1991

A method for determining transport delays in the flight simulation environment

This paper will describe the process of transport delay measurement along several points in the signal path for a piloted flight simulation. Several transport delay measurement techniques were compared to determine the accuracy and ease of use of each method. Measurements were made in both the frequency and time domain. The transport delays for individual pieces of equipment as well as the math model of the simulated vehicle are measured and broken out from the system's total transport delay.

Smith, R. M.↗

NASA NTRS1991

Simulation evaluation of the effects of time delay and motion on rotorcraft handling qualities

A study aimed at determining the effects of simulator characteristics on perceived handling qualities is discussed. Evaluations were conducted with a baseline set of rotorcraft dynamics, using a simple transfer-function model of an uncoupled helicopter, under different conditions of visual and overall time delays. As the visual and motion parameters were changed, differences in pilot opinion were found reflecting a change in the pilots' perceptions of handling qualities, rather than changes in the aircraft model itself. It is concluded that it is necessary to tailor the motion washout dynamics to suit the task, with reduced washouts for precision maneuvering as compared to aggressive maneuvering. Visual-delay data suggest that it may be better to allow some time delay in the visual path to minimize the mismatch between visual and motion, rather than eliminate the visual delay entirely through lead compensation.

Mitchell, David G.↗

NASA NTRS1992

Force-reflection and shared compliant control in operating telemanipulators with time delay

The performance of an advanced telemanipulation system in the presence of a wide range of time delays between a master control station and a slave robot is quantified. The contemplated applications include multiple satellite links to LEO, geosynchronous operation, spacecraft local area networks, and general-purpose computer-based short-distance designs. The results of high-precision peg-in-hole tasks performed by six test operators indicate that task performance decreased linearly with introduced time delays for both kinesthetic force feedback (KFF) and shared compliant control (SCC). The rate of this decrease was substantially improved with SCC compared to KFF. Task performance at delays above 1 s was not possible using KFF. SCC enabled task performance for such delays, which are realistic values for ground-controlled remote manipulation of telerobots in space.

Kim, Won S.↗

NASA NTRS1991

The effects of long delay and transmission errors on the performance of TP-4 implementations

A set of tools that allows us to measure and examine the effects of transmission delay and errors on the performance of TP-4 implementations has been developed. The tools give insight into both the large- and small-scale behaviors of an implementation. These tools have been systematically applied to a commercial implementation of TP-4. Measurements show, among other things, that a 2-second one-way transmission delay and an effective bit-error rate of 1 error per 100,000 bits can result in a 95 percent reduction in TP-4 throughput. The detailed statistics give insight into why transmission delay and errors affect this implementations so significantly and support a number of 'lessons learned' that could be applied to TP-4 implementations that operate more robustly across networks with long transmission delays and transmission errors.

Durst, Robert C.↗

NASA NTRS1991

Digital modelling, ideal state reconstructor, and control for time-delay sampled-data systems

The cascaded discrete-time state-space representation of a cascaded continuous-time system with fractional input delays is established. Based on the time-delay digital modelling, a practically implementable ideal state reconstructor is also established such that system states are exactly reconstructed via the measurement histories of inputs and outputs without a state observer. By utilizing the blockpulse function approximation the digital modelling of cascaded continuous-time systems with fractional input delays can be carried out, and an artificial input design method is proposed to determine the state feedback gain. Thus the practically implementable digital control law can be established for digital control of time-delay sampled-data systems. An illustrative example is shown to demonstrate the effectiveness of the proposed method.

Tsai, J. S. H.↗

NASA NTRS1956

Effects of Variations in Combustion-chamber Configuration on Ignition Delay in a 50-pound-thrust Rocket

Ignition delays of a diallylaniline-triethylamine mixture and of triethyl trithioposphite with red fuming nitric acid were measured as a function of combustor dimensions, initial propellant temperature, and initial ambient pressure. Ignition delay increased with exhaust-nozzle diameter. Ignition delay also increased as propellant temperature decreased, but did not vary with initial ambient pressure except with the largest nozzle diameter. A correlation among ignition delay, combustor dimensions, and propellant temperature is presented, and the extension of the correlation to other systems is discussed.

Ladanyi, Dezso J↗

NASA NTRS1993

Computation of signal delays in RC networks

A model for signal delay computation in RC networks is presented. The strength of the paradigm is its generality and simplicity. The definition of delay is applicable to RC meshes with potential resistive attenuating paths to ground. The algorithms can also be applied to undriven circuits (static charge sharing) and circuits with initial charge. To compute the delays, each node in the network is explored locally to derive a system of sparse linear equations. The solutions of the system are delay values based on the Elmore time constant at each point in the circuit.

Hidalgo, Juan Carlos↗

NASA NTRS1993

Delay analysis of combinations of pass transistors and classical logic gates

Combinations of pass transistors and logic gates driving nonlinear capacitive loads are analyzed for the presence of characteristics that will permit easier and more accurate digital logic simulation. Accurate time delay models are developed by studying the nature of the response of simplified circuit models to variations of input waveform rise and fall times and output loading. The nonlinear effects of the CMOS logic devices are minimized to permit easier interpretation of the influence of nonlinear capacitive loads. The performance of a CMOS inverter with a complex nonlinear load consisting of a pass transistor that separates a range of capacitances is compared to the same inverter circuit with a linear capacitive load to develop an understanding of the unique requirements of modeling a nonlinear system. Several methods of modeling the delay of CMOS circuits are reviewed, and a multi-parameter linear model is described. General guidelines for designing CMOS circuits with complex load circuits are developed, emphasizing that the circuit output rise delays and fall delays must be separately analyzed.

Gibson, Jonathan S.↗

NASA NTRS1993

Measurement of multipath delay profile in land mobile satellite channels

Mobile satellite communication channel has been evaluated mainly with fading statistics of signal. When bandwidth of transmitting signal becomes wider, frequency selectivity of fading becomes a significant factor of the channel. Channel characteristics, not only signal variation but multipath delay spread should be evaluated. A multipath measurement system is proposed and developed for mobile satellite applications. With this system and ETS-V satellite, multipath delay profiles are measured in various environments including Tokyo metropolis and Sapporo city at 1.5 GHz. Results show that the maximum excess delay is within 1 microsec and the maximum delay spread is 0.2 microsecs at elevation angles of 40 to 47 degrees. In wideband signal transmission of about 1 MHz and more, designers should consider the effect of selective fading due to the multipath of land mobile satellite channel.

Ikegami, Tetsushi↗

NASA NTRS1994

A comparative survey of current and proposed tropospheric refraction-delay models for DSN radio metric data calibration

The standard tropospheric calibration model implemented in the operational Orbit Determination Program is the seasonal model developed by C. C. Chao in the early 1970's. The seasonal model has seen only slight modification since its release, particularly in the format and content of the zenith delay calibrations. Chao's most recent standard mapping tables, which are used to project the zenith delay calibrations along the station-to-spacecraft line of sight, have not been modified since they were first published in late 1972. This report focuses principally on proposed upgrades to the zenith delay mapping process, although modeling improvements to the zenith delay calibration process are also discussed. A number of candidate approximation models for the tropospheric mapping are evaluated, including the semi-analytic mapping function of Lanyi, and the semi-empirical mapping functions of Davis, et. al.('CfA-2.2'), of Ifadis (global solution model), of Herring ('MTT'), and of Niell ('NMF'). All of the candidate mapping functions are superior to the Chao standard mapping tables and approximation formulas when evaluated against the current Deep Space Network Mark 3 intercontinental very long baselines interferometry database.

Estefan, J. A.↗

NASA NTRS1995

Accuracy of wet troposphere radio path delay estimated from infrared emission

Several radio science applications require determination of the excess radio-propagation path delay caused by the Earth's atmosphere. These include very long baseline interferometry, spacecraft tracking, and potentially, detection of gravitational waves utilizing a link to a distant interplanetary spacecraft. At Ka band, the major source of variability of path delay is the fluctuations in the moisture content of the troposphere. The path delay characterization requirements for a planned gravitational wave experiment are novel and challenging. the error contribution to the phase observations due to path delay variation must be reduced by nearly two orders of magnitude over that occurring naturally on time scales of 100 to 10,000 seconds. Current approaches relying on microwave water vapor radiometry with ancillary data can deliver one order of magnitude calibration of these fluctuations, and more advanced systems are under development within the 2001-2002 time frame of the Cassini Mission to Saturn. The current work evaluates the potential for an alternative observational approach, using a ground-based Fourier transform spectrometer.

Parker, J. W.↗

NASA NTRS1996

A Demonstration of Precise Calibration of Tropospheric Delay Fluctuations with Water Vapor Radiometers

The ability of water vapor radiometers (WVRs) to calibrate changes in tropospheric delay was demonstrated during very long baseline radio interferometer (VLBI) observations at Goldstone, California. WVR measurements reduced the observed VLBI delay variations over a 13 hr period by a factor of approx. = 2.5. When applied to shorter time scales, a approx. = 50% reduction in 100-700 s delay variations was achieved during conditions of high tropospheric activity. Thermal WVR noise precluded calibration of short time scale delay fluctuations during quiet tropospheric conditions.

Teitelbaum, L. P.↗

NASA NTRS1998

Assessment Regarding Impact of Atmospheric Conditions on Space Shuttle Launch Delays

The atmospheric environment definition has played a key role in the development and operation of the NASA Space Shuttle as it has in other NASA Space Vehicle Programs. The objective of any definition of natural environment design requirements for a space vehicle development is to insure that the vehicle will perform safely and in a timely manner relative to the mission(s) for which the vehicle is being developed. The NASA Space Shuttle has enjoyed the longest tenure of any Space Vehicle from an operational standpoint. As such, it has provided a wealth of information on many engineering aspects of a Space Vehicle plus the influence of the atmosphere on operational endeavors. The atmospheric environment associated with the NASA Space Shuttle launches at the NASA Kennedy Space Center in Florida has been reviewed and studied over the entire NASA Space Shuttle flight history. The results of the analysis of atmospheric environment related launch delays relative to other sources of launch delays has been assessed. This paper will provide a summary of those conditions as well as mission analysis examples focused on atmospheric constraints for launch. Atmospheric conditions associated with NASA Space Shuttle launch delays will be presented to provide a reference as to the type conditions experienced which have mainly caused the delays.

Johnson D. L.↗

NASA NTRS2000

Tropospheric Delay Signal in SAR Interferogram and its Correction for Precise Surface Change Detection

Synthetic Aperture Radar (SAR) interferometry has become an important tool for measuring the surface deformation and mapping topography. The largest error source of the SAR interferometry measurements is differential atmospheric delay of water vapor. It reflects detailed distribution of water vapor in troposphere at data acquisition. We found phase difference associated with atmospheric waves and severe local atmospheric phenomena in interferograms. To distinguish phase difference associated with surface deformation from tropospheric effect, we need several SAR interferograms including the time period of the deformation. Averaging the interferograms is an effective way to reduce the tropospheric delay from horizontal inhomogeneity of the water vapor distribution. Apart from the tropospheric delay of the horizontal water vapor inhomogeneity, we often find the differential phase correlated to the topography (elevation) in interferograms, which might cause error in interpretation of surface deformation. This phase is due to the differential tropospheric delay caused by the topography and vertical change of water vapor between two images in different atmospheric condition. Theoretical calculation shows that the phase difference can be approximated by linear expression of the elevation. We applied a simple and effective correction method that the error is removed by subtracting the DEM (Digital Elevation Model) multiplied a coefficient.

Fujiwara, Satoshi↗

NASA NTRS1992

Mechanism of delayed intracranial hypertension after cerebroventricular infusions in conscious rats

Prior studies showed that cerebroventricular infusions of artificial cerebrospinal fluid, 8 microliter/min for 10 min, followed by a 10 min rest and a 24 h infusion of 0.5 microliters/min, raised cerebrospinal fluid pressure (CSFp) of conscious, unrestrained rats after about 2 h. Here, we report that the 10 min infusion alone evoked a delayed, prolonged rise in CSFp. Pressure during the infusion itself rose and recovered quickly, as is usually reported. Pressure/volume tests, used to calculate resistance to outflow (Ro) and compliance (C), revealed that infusions increased Ro and decreased C, after a delay (P less than 0.05). The rise in CSFp after infusion was blocked by pretreatment with acetazolamide + ouabain (P less than 0.05), but the delayed changes in Ro and C were unaffected. We suggest that the 10 min infusion of a sterile, balanced salt solution has a primary effect that increases Ro; as CSF synthesis continues, C is exhausted and the delayed rise in CSFp ensues. This non-traumatic method of raising CSFp may be a useful method to study intracranial fluid dynamics.

NASA Center ARC↗

NASA NTRS2006

Consequences of Feeder Delays for the Success of A380 Operations

Due to existing slot and infrastructure constraints at international hub-and-spoke airports, an increase in feeder traffic seems only possible if larger feeder aircraft are used. Using a case study of Lufthansa German Airlines at Frankfurt International Airport, three possible A380 routes (Beijing, Tokyo-Narita, Los Angeles) were examined to assess the extent to which delays of feeder traffic may impact the economic performance of very large aircraft. On the basis of today s delays and anticipated traffic growth in the future, we found that between 9.5% and 13.5% of connecting passengers are unable to transfer to their respective intercontinental flights. In addition, the results demonstrate that a further increase in delays can be detrimental to the profitable operation of very large aircraft, as demonstrated by two out of three simulated routes. We suggest options for airlines operating very large aircraft to counteract the negative impacts of feeder delays.

Ruehle, Jens↗