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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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At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Method and apparatus for adaptive force and position control of manipulators

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS1973

Servomechanism design techniques and applications - Aerospace problems.

Transistorized alternating-current servomechanisms for a basic position servo with rate feedback or network compensation are reviewed. Studies of optimum methods of control position variables in aerospace applications show that no single method is best for all cases. The optimum method is very much dependent upon available devices, generating sources, and load parameters. These are constraints difficult to identify for future aerospace missions. Design and application considerations are discussed, along with step-by-step design procedures. For illustration, specific design problems are used to exemplify the approach to solutions.

Lalli, V. R.↗
NASA NTRS1986

Model reference adaptive attitude control of spacecraft using reaction wheels

A nonlinear model reference adaptive control law for large angle rotational maneuvers of spacecraft using reaction wheels in the presence of uncertainty is presented. The derivation of control law does not require any information on the values of the system parameters and the disturbance torques acting on the spacecraft. The controller includes a dynamic system in the feedback path. The control law is a nonlinear function of the attitude error, the rate of the attitude error, and the compensator state. Simulation results are prsented to show that large angle rotational maneuvers can be performed in spite of the uncertainty in the system.

Singh, Sahjendra N.↗
NASA NTRS1987

Attitude control of a three rotor gyrostat in the presence of uncertainty

A nonlinear control law for large angle rotational maneuvers of spacecraft using reaction wheels in the presence of uncertainty is presented. The derivation of this suboptimal control law does not require any information on the values of the system parameters and the disturbance torques acting on the spacecraft. The controller includes a dynamic system in the feedback path. The control law is a nonlinear function of the attitude error, the rate of the attitude error and the compensator state. Simulation results are presented to show that large angle rotational maneuvers can be performed in spite of the uncertainty in the system.

Singh, Sahjendra N.↗
NASA NTRS1994

Rational positive real approximations for LQG optimal compensators arising in active stabilization of flexible structures

In this paper the approximation problem for a class of optimal compensators for flexible structures is considered. The particular case of a simply supported truss with an offset antenna is dealt with. The nonrational positive real optimal compensator transfer function is determined, and it is proposed that an approximation scheme based on a continued fraction expansion method be used. Comparison with the more popular modal expansion technique is performed in terms of stability margin and parameters sensitivity of the relative approximated closed loop transfer functions.

Desantis, A.↗
NASA NTRS2006

A Time Series Approach for Soil Moisture Estimation

Soil moisture is a key parameter in understanding the global water cycle and in predicting natural hazards. Polarimetric radar measurements have been used for estimating soil moisture of bare surfaces. In order to estimate soil moisture accurately, the surface roughness effect must be compensated properly. In addition, these algorithms will not produce accurate results for vegetated surfaces. It is difficult to retrieve soil moisture of a vegetated surface since the radar backscattering cross section is sensitive to the vegetation structure and environmental conditions such as the ground slope. Therefore, it is necessary to develop a method to estimate the effect of the surface roughness and vegetation reliably. One way to remove the roughness effect and the vegetation contamination is to take advantage of the temporal variation of soil moisture. In order to understand the global hydrologic cycle, it is desirable to measure soil moisture with one- to two-days revisit. Using these frequent measurements, a time series approach can be implemented to improve the soil moisture retrieval accuracy.

soil moisture↗
NASA NTRS1989

A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base

Emulating on earth the weightlessness of a manipulator floating in space requires knowledge of the manipulator's mass properties. A method for calculating these properties by measuring the reaction forces and moments at the base of the manipulator is described. A manipulator is mounted on a 6-DOF sensor, and the reaction forces and moments at its base are measured for different positions of the links as well as for different orientations of its base. A procedure is developed to calculate from these measurements some combinations of the mass properties. The mass properties identified are not sufficiently complete for computed torque and other dynamic control techniques, but do allow compensation for the gravitational load on the links, and for simulation of weightless conditions on a space emulator. The algorithm has been experimentally demonstrated on a PUMA 260 and used to measure the independent combinations of the 16 mass parameters of the base and three proximal links.

West, Harry↗
NASA NTRS1993

A comparative study of Full Navier-Stokes and Reduced Navier-Stokes analyses for separating flows within a diffusing inlet S-duct

A three-dimensional implicit Full Navier-Stokes (FNS) analysis and a 3D Reduced Navier Stokes (RNS) initial value space marching solution technique has been applied to a class of separated flow problems within a diffusing S-duct configuration characterized by vortex-liftoff. Both the FNS and the RNS solution technique were able to capture the overall flow physics of vortex lift-off, and gave remarkably similar results which agreed reasonably well with the experimental measured averaged performance parameters of engine face total pressure recovery and distortion. However, the Full Navier-Stokes and Reduced Navier-Stokes also consistently predicted separation further downstream in the M2129 inlet S-duct than was indicated by experimental data, thus compensating errors were present in the two Navier-Stokes analyses. The difficulties encountered in the Navier-Stokes separations analyses of the M2129 inlet S-duct center primarily on turbulence model issues, and these focused on two distinct but different phenomena, namely, (1) characterization of low skin friction adverse pressure gradient flows, and (2) description of the near wall behavior of flows characterized by vortex lift-off.

Anderson, B. H.↗
NASA NTRS2001

An Experimental Study of the Operating Temperature in a Loop Heat Pipe with Two Evaporators and Two Condensers

This paper presents a comprehensive experimental study of the loop operating temperature in a loop heat pipe (LHP) which has two parallel evaporators and two parallel condensers. In a single evaporator LHP, it is well known that the loop operating temperature is a function of the heat load, the sink temperature and the ambient temperature. The objective of the present study emphasizes on the stability of the loop operating temperature and parameters that affects the loop operation. Tests results show that the loop operating temperature is a function of the total system heat load, sink temperature, ambient temperature, and beat load distribution between the two evaporators. Under most conditions, only one compensation chamber (CC) contains two-phase fluid and controls the loop operating temperature, and the other CC is completely filled with liquid. Moreover, as the test condition changes, control of the loop operating temperature often shifted from one CC to another. In spite of complex interactions between various components, the test loop has demonstrated very robust operation even during fast transients.

Ku, Jentung↗
NASA NTRS2001

TRMM Data Assimilation at NASA

We give an overview of the research at NASA in assimilating tropical rainfall and total precipitable water (TPW) retrievals derived from the TRMM Microwave Imager (TMI) and the Special Sensor Microwave/ Imager (SSM/I) instruments. Global analyses currently contain order-one errors in the primary fields of the hydrological cycle such as precipitation, evaporation, moisture, and the related cloud fields, especially in the tropics. We show that an effective strategy to assimilate tropical rainfall data is to use observations to compensate for errors in moisture tendencies produced by the assimilation model. Results show that assimilating TMI and SSM/I surface rainrates and TPW estimates improves shortrange forecasts and reduces state-dependent systematic errors in the hydrological cycle and related climate parameters such as cloud, radiation, and the large-scale circulation in the tropics. The study provides a demonstration of the potential of using rainfall and moisture observations derived from passive microwave instruments to improve the quality of 4-dimensional global datasets for climate analysis and weather forecasting applications.

Hou, Arthur Y.↗
NASA NTRS2007

The Influence of Antenna Pattern on Faraday Rotation in Remote Sensing at L-band

Faraday rotation is a change in the polarization vector of electromagnetic radiation that occurs as the waves propagate from the Earth surface through the ionosphere to a spaceborne sensor. This change can cause errors in monitoring parameters at the surface such as soil moisture and sea surface salinity and it is an important consideration for radiometers on future missions in space such as NASA's Aquarius mission and ESA's SMOS mission. Two prominent strategies for compensating for Faraday rotation are using a sum of the signal at two polarizations and using the correlation between the signals at the two polarizations. These strategies work for an idealized antenna. This paper evaluates the strategies in the context of realistic antennas such as will be built for the Aquarius radiometer. Realistic antennas will make small differences that need to be included in planning for retrieval algorithms in future missions.

LeVine, David M.↗
NASA NTRS1972

Conceptual design and analysis of an infared horizon sensor with compensation for atmospheric variability

A horizon detection logic, based on a ratio-of-integrated-radiance concept, which detects the earth's horizon at a relatively stable height under all geographic and meteorological conditions was evaluated by computer simulation on a body of synthesized radiance profiles. An error-sensitivity analysis of the concept was performed, and optimum design parameter values for a sensor were determined. A conceptual design for an improved 15 micron sensor based on this analysis is discussed.

Jalink, A., Jr.↗
NASA NTRS1985

Control of a Flexible Space Antenna: A Finite Dimensional Perspective Based on Distributed Parameter Theory

The methods presented are based on results from infinite dimensional control theory, but they can be described and used in a finite dimensional context. This blend leads to an approach which employs powerful ideas on convergence, and is also quite practical for systems of realistic complexity. Appropriate reduced order models are generated simultaneously with the development of the compensator. The required models change as a function of changes in the performance demanded, sensor and actuator location, inherent damping, disturbances, etc. Thus they are driven by the control and estimation problems at hand. The compensators which emerge are very close to the ideal compensators which would be obtained with a very large order model. However, some simplification is frequently possible. The method of balanced realizations was found to be effective for this purpose.

Mingori, D. L.↗
NASA NTRS1989

AVHRR image navigation - Summary and review

The navigation of imagery from polar orbiting weather satellites includes the correction for geometric distortions due to earth shape/earth rotation, satellite orbit variations, and satellite attitude along with the resampling of the satellite image to a selected geographic map projection. The routine image navigation procedure also compensates for the distortion of the satellite imagery due to the nonlinear scanning of the sensor system. This paper reviews general methods for performing this image navigation, ranging from a method that assumes no orbital information and, thus, relies on nominal orbital parameter values and image corrections computed by matching ground control points (GCPs), to a method that uses high-quality satellite ephemeris data to make the correction with a limited number of GCPs. A procedure to optimize the image navigation by using a spatial remapping, or interpolation, is introduced and outlined. Recommendations are made for people interested in the processing of AVHRR imagery.

Emery, William J.↗
NASA NTRS1990

A real-time signal combining system for Ka-band feed arrays using maximum-likelihood weight estimates

A real-time digital signal combining system for use with Ka-band feed arrays is proposed. The combining system attempts to compensate for signal-to-noise ratio (SNR) loss resulting from antenna deformations induced by gravitational and atmospheric effects. The combining weights are obtained directly from the observed samples by using a sliding-window implementation of a vector maximum-likelihood parameter estimator. It is shown that with averaging times of about 0.1 second, combining loss for a seven-element array can be limited to about 0.1 dB in a realistic operational environment. This result suggests that the real-time combining system proposed here is capable of recovering virtually all of the signal power captured by the feed array, even in the presence of severe wind gusts and similar disturbances.

Vilnrotter, V. A.↗
NASA NTRSDate not supplied

Flight Metal Plasma Thruster (MPT) Development, Qualification, and Thrust Measurement Campaign

A torsional thrust stand, calibrated for impulse bits in the range of 0.1mNs -0.5 mNs, was used to measure impulse bits during two campaigns at the NASA/GRC VF-3 Vacuum test Facility. Metal Plasma Thrusters (MPTs) with targets of Molybdenum, Copper and Stainless Steel (as used in upper stages of launch vehicles that are abandoned in LEO) were tested. This paper describes data from Mo targets (called pucks). The Cu and ss data will be presented elsewhere. Model predictions (based on a simple circuit model and published plasma parameters) were validated by data from the calibrated torsional thrust stand. The Metal Plasma Thruster uses solid metal propellant, hence requires no liquids, gases, flow valves or flow controls and has no moving parts. Total impulse ~5000Ns/U provides orbit raising and drag compensation capability.

Electric Propulsion↗
NASA NTRSDate not supplied

Flight MPT Development, Qualification and Thrust Measurement Campaign

A torsional thrust stand, calibrated for impulse bits in the range of 0.1mNs -0.5 mNs, was used to measure impulse bits during two campaigns at the NASA/GRC VF-3 Vacuum test Facility. Metal Plasma Thrusters (MPTs) with targets of Molybdenum, Copper and Stainless Steel (as used in upper stages of launch vehicles that are abandoned in LEO) were tested. This paper describes data from Mo targets (called pucks). The Cu and ss data will be presented elsewhere. Model predictions (based on a simple circuit model and published plasma parameters) were validated by data from the calibrated torsional thrust stand. The Metal Plasma Thruster uses solid metal propellant, hence requires no liquids, gases, flow valves or flow controls and has no moving parts. Total impulse ~5000Ns/U provides orbit raising and drag compensation capability.

Electric Propulsion↗
NASA NTRS1974

Internal thermotopography and shifts in general thermal balance in man under special heat transfer conditions

Thermal regulation for astronauts working in pressure suits in open space provides for protection by a system of artificial heat removal and compensation to counteract possible changes in the heat regulating function of the human body that occur under the complex effects of space flight conditions. Most important of these factors are prolonged weightlessness, prolonged limitation of motor activity, and possible deviations of microclimatic environmental parameters.

Gorodinskiy, S. M.↗