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NASA NTRS1979

Retarding potential analyzer for the Pioneer-Venus Orbiter Mission

The retarding potential analyzer on the Pioneer-Venus Orbiter Mission has been designed to measure most of the thermal plasma parameters within and near the Venusian ionosphere. Parameters include total ion concentration, concentrations of the more abundant ions, ion temperatures, ion drift velocity, electron temperature, and low-energy (0-50 eV) electron distribution function. To accomplish these measurements on a spinning vehicle with a small telemetry bit rate, several functions, including decision functions not previously used in RPA's, have been developed and incorporated into this instrument. The more significant functions include automatic electrometer ranging with background current compensation; digital, quadratic retarding potential step generation for the ion and low-energy electron scans; a current sampling interval of 2 ms throughout all scans; digital logic inflection point detection and data selection; and automatic ram direction detection. Extensive numerical simulation and plasma chamber tests have been conducted to verify adequacy of the design for the Pioneer Mission.

Knudsen, W. C.↗

NASA NTRS1992

External calibration of polarimetric radar images using distributed targets

A new technique is presented for calibrating polarimetric synthetic aperture radar (SAR) images using only the responses from natural distributed targets. The model for polarimetric radars is assumed to be X = cRST where X is the measured scattering matrix corresponding to the target scattering matrix S distorted by the system matrices T and R (in general T does not equal R(sup t)). To allow for the polarimetric calibration using only distributed targets and corner reflectors, van Zyl assumed a reciprocal polarimetric radar model with T = R(sup t); when applied for JPL SAR data, a heuristic symmetrization procedure is used by POLCAL to compensate the phase difference between the measured HV and VH responses and then take the average of both. This heuristic approach causes some non-removable cross-polarization responses for corner reflectors, which can be avoided by a rigorous symmetrization method based on reciprocity. After the radar is made reciprocal, a new algorithm based on the responses from distributed targets with reflection symmetry is developed to estimate the cross-talk parameters. The new algorithm never experiences problems in convergence and is also found to converge faster than the existing routines implemented for POLCAL. When the new technique is implemented for the JPL polarimetric data, symmetrization and cross-talk removal are performed on a line-by-line (azimuth) basis. After the cross-talks are removed from the entire image, phase and amplitude calibrations are carried out by selecting distributed targets either with azimuthal symmetry along the looking direction or with some well-known volume and surface scattering mechanisms to estimate the relative phases and amplitude responses of the horizontal and vertical channels.

Yueh, Simon H.↗

NASA NTRS1998

Ultrasonic Attenuation Results of Thermoplastic Resin Composites Undergoing Thermal and Fatigue Loading

As part of an effort to obtain the required information about new composites for aviation use, materials and NDE researchers at NASA are jointly performing mechanical and NDE measurements on new composite materials. The materials testing laboratory at NASA is equipped with environmental chambers mounted on load frames that can expose composite materials to thermal and loading cycles representative of flight protocols. Applying both temperature and load simultaneously will help to highlight temperature and load interactions during the aging of these composite materials. This report highlights our initial ultrasonic attenuation results from thermoplastic composite samples that have undergone over 4000 flight cycles to date. Ultrasonic attenuation measurements are a standard method used to assess the effects of material degradation. Recently, researchers have shown that they could obtain adequate contrast in the evaluation of thermal degradation in thermoplastic composites by using frequencies of ultrasound on the order of 24 MHz. In this study, we address the relationship of attenuation measured at lower frequencies in thermoplastic composites undergoing both thermal and mechanical loading. We also compare these thermoplastic results with some data from thermoset composites undergoing similar protocols. The composite s attenuation is reported as the slope of attenuation with respect to frequency, defined as b = Da(f)/Df. The slope of attenuation is an attractive parameter since it is quantitative, yet does not require interface corrections like conventional quantitative attenuation measurements. This latter feature is a consequence of the assumption that interface correction terms are frequency independent. Uncertainty in those correction terms can compromise the value of conventional quantitative attenuation data. Furthermore, the slope of the attenuation more directly utilizes the bandwidth information and in addition, the bandwidth can be adjusted in the post processing stage to compensate for the loss of dynamic range of the signal as the composites age.

Madaras, Eric I.↗

NASA NTRS2014

Near-Surface Meteorology During the Arctic Summer Cloud Ocean Study (ASCOS): Evaluation of Reanalyses and Global Climate Models.

Atmospheric measurements from the Arctic Summer Cloud Ocean Study (ASCOS) are used to evaluate the performance of three atmospheric reanalyses (European Centre for Medium Range Weather Forecasting (ECMWF)- Interim reanalysis, National Center for Environmental Prediction (NCEP)-National Center for Atmospheric Research (NCAR) reanalysis, and NCEP-DOE (Department of Energy) reanalysis) and two global climate models (CAM5 (Community Atmosphere Model 5) and NASA GISS (Goddard Institute for Space Studies) ModelE2) in simulation of the high Arctic environment. Quantities analyzed include near surface meteorological variables such as temperature, pressure, humidity and winds, surface-based estimates of cloud and precipitation properties, the surface energy budget, and lower atmospheric temperature structure. In general, the models perform well in simulating large-scale dynamical quantities such as pressure and winds. Near-surface temperature and lower atmospheric stability, along with surface energy budget terms, are not as well represented due largely to errors in simulation of cloud occurrence, phase and altitude. Additionally, a development version of CAM5, which features improved handling of cloud macro physics, has demonstrated to improve simulation of cloud properties and liquid water amount. The ASCOS period additionally provides an excellent example of the benefits gained by evaluating individual budget terms, rather than simply evaluating the net end product, with large compensating errors between individual surface energy budget terms that result in the best net energy budget.

surface energy↗

NASA NTRS2011

Adaptive Control of Non-Minimum Phase Modal Systems Using Residual Mode Filters2

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. This paper will be divided into two parts. Here in Part I we will review the basic adaptive control approach and introduce the primary ideas. In Part II, we will present the RMF methodology and complete the proofs of all our results. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.

Balas, Mark J.↗

NASA NTRS1988

Optimization of slender wings for center-of-pressure shift due to change in Mach number

It is observed that the center of pressure on a wing shifts as the Mach number is changed. Such shifts are in general undesirable and are sometimes compensated for by actively shifting the center of gravity of the aircraft or by using active stability controls. To avoid this complication, it is desirable to design the wings of a high speed aircraft so as to minimize the extent of the center-of-pressure shifts. This, together with a desire to minimize the center-of-pressure shifts in missile control surfaces, provides the motivation for this project. There are many design parameters which affect center-of-pressure shifts, but it is expected that the largest effects are due to the wing planform. Thus, for the sake of simplicity, this study is confined to an investigation of thin, flat, (i.e., no camber or twist), relatively slender, pointed wings flying at a small angle of attack. Once the dependence of the center of pressure on planform and Mach number is understood, we can expect to investigate the sensitivity of the center-of-pressure shifts to various other parameters.

Andersen, Carl M.↗

NASA NTRS1990

Generalized compliant motion task description and execution within a complete telerobotic system

A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.

Backes, Paul G.↗

NASA NTRS1991

Parameter trade-offs for imaging spectroscopy systems

With the advent of the EOS era and of configurable sensors, users of these instruments are faced with the twin problems of specifying data acquisition parameters and extracting desired information from the voluminous data. An application of a system model is made to explore system parameter trade-offs for a model sensor based on the High Resolution Imaging Spectrometer. Radiometric performance was studied, along with the effect on classification accuracy of several system parameters. Using a model scene based on typical agricultural reflectance and atmospheric conditions, the atmosphere and sensor are seen to have significant effects on the mean received signal and noise performance. The effect of random uncorrelated errors in the radiometric calibration of the detector array is seen to degrade system performance, especially in the spectral bands below 1 micron. Accurate pixel-to-pixel relative radiometric calibration and the use of the Image Motion Compensation option are seen to improve classification accuracy, especially at high solar zenith angles. Feature sets chosen from characteristics of the scene performed best overall, but ones chosen based on signal-to-noise ratios were seen to be more robust.

Kerekes, John P.↗

NASA NTRS1993

Effects of simulator motion and visual characteristics on rotorcraft handling qualities evaluations

The pilot's perceptions of aircraft handling qualities are influenced by a combination of the aircraft dynamics, the task, and the environment under which the evaluation is performed. When the evaluation is performed in a groundbased simulator, the characteristics of the simulation facility also come into play. Two studies were conducted on NASA Ames Research Center's Vertical Motion Simulator to determine the effects of simulator characteristics on perceived handling qualities. Most 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 time delays and motion command washout filters. Differences in pilot opinion were found as the visual and motion parameters were changed, reflecting a change in the pilots' perceptions of handling qualities, rather than changes in the aircraft model itself. The results indicate a need for tailoring the motion washout dynamics to suit the task. Visual-delay data are inconclusive but 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 NTRS2011

Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

Frost, Susan A.↗

NASA NTRS1997

Physiological Response of Plants Grown on Porous Ceramic Tubes

This research involves the manipulation of the root-zone water potential for the purposes of discriminating the rate limiting step in the inorganic nutrient uptake mechanism utilized by higher plants. This reaction sequence includes the pathways controlled by the root-zone conditions such as water tension and gradient concentrations. Furthermore, plant based control mechanisms dictated by various protein productions are differentiated as well. For the nutrients limited by the environmental availability, the kinetics were modeled using convection and diffusion equations. Alternatively, for the nutrients dependent upon enzyme manipulations, the uptakes are modeled using Michaelis-Menten kinetics. In order to differentiate between these various mechanistic steps, an experimental apparatus known as the Porous Ceramic Tube - Nutrient Delivery System (PCT-NDS) was used. Manipulation of the applied suction pressure circulating a nutrient solution through this system imposes a change in the matric component of the water potential. This compensates for the different osmotic components of water potential dictated by nutrient concentration. By maintaining this control over the root-zone conditions, the rate limiting steps in the uptake of the essential nutrients into tomato plants (Lycopersicon esculentum cv. Cherry Elite) were differentiated. Results showed that the uptake of some nutrients were mass transfer limited while others were limited by the enzyme kinetics. Each of these were adequately modeled with calculations and discussions of the parameter estimations provided.

Tsao, David↗

NASA NTRS2010

An Assessment of the Surface Longwave Direct Radiative Effect of Airborne Saharan Dust During the NAMMA Field Campaign

In September 2006, NASA Goddard s mobile ground-based laboratories were deployed to Sal Island in Cape Verde (16.73degN, 22.93degW) to support the NASA African Monsoon Multidisciplinary Analysis (NAMMA) field study. The Atmospheric Emitted Radiance Interferometer (AERI), a key instrument for spectrally characterizing the thermal IR, was used to retrieve the dust IR aerosol optical depths (AOTs) in order to examine the diurnal variability of airborne dust with emphasis on three separate dust events. AERI retrievals of dust AOT are compared with those from the coincident/collocated multifilter rotating shadow-band radiometer (MFRSR), micropulse lidar (MPL), and NASA Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) sensors. The retrieved AOTs are then inputted into the Fu-Liou 1D radiative transfer model to evaluate local instantaneous direct longwave radiative effects (DRE(sub LW)) of dust at the surface in cloud-free atmospheres and its sensitivity to dust microphysical parameters. The top-of-atmosphere DRE(sub LW) and longwave heating rate profiles are also evaluated. Instantaneous surface DRE(sub LW) ranges from 2 to 10 W/sq m and exhibits a strong linear dependence with dust AOT yielding a DRE(sub LW) of 16 W/sq m per unit dust AOT. The DRE(sub LW) is estimated to be approx.42% of the diurnally averaged direct shortwave radiative effect at the surface but of opposite sign, partly compensating for the shortwave losses. Certainly nonnegligible, the authors conclude that DRE(sub LW) can significantly impact the atmospheric energetics, representing an important component in the study of regional climate variation.

Hansell, R. A.↗

NASA NTRS2011

Evaluating Suit Fit Using Performance Degradation

The Mark III suit has multiple sizes of suit components (arm, leg, and gloves) as well as sizing inserts to tailor the fit of the suit to an individual. This study sought to determine a way to identify the point an ideal suit fit transforms into a bad fit and how to quantify this breakdown using mobility-based physical performance data. This study examined the changes in human physical performance via degradation of the elbow and wrist range of motion of the planetary suit prototype (Mark III) with respect to changes in sizing and as well as how to apply that knowledge to suit sizing options and improvements in suit fit. The methods implemented in this study focused on changes in elbow and wrist mobility due to incremental suit sizing modifications. This incremental sizing was within a range that included both optimum and poor fit. Suited range of motion data was collected using a motion analysis system for nine isolated and functional tasks encompassing the elbow and wrist joints. A total of four subjects were tested with motions involving both arms simultaneously as well as the right arm only. The results were then compared across sizing configurations. The results of this study indicate that range of motion may be used as a viable parameter to quantify at what stage suit sizing causes a detriment in performance; however the human performance decrement appeared to be based on the interaction of multiple joints along a limb, not a single joint angle. The study was able to identify a preliminary method to quantify the impact of size on performance and to develop a means to gauge tolerances around optimal size. More work is needed to improve the assessment of optimal fit and to compensate for multiple joint interactions.

Margerum, Sarah E.↗

NASA NTRS1976

Summary of studies for a solar optical telescope in space: 1968-1976

The primary objective of this review is to tabulate the basic recommendations of several solar telescope studies. A primary matrix, listing some of the basic optical parameters, was compiled and forms the basis for a table. From this table it is apparent that a strong consensus exists on the configuration of the telescope and on its fundamental dimensionless parameters. Other tables presented in this document address the basic approach of each study to the telescope design as well as to the design of critical subsystems. These subsystem problems include the material, coating, configuration, mounting, launch locks, and thermal control of the primary mirror, the structure of the main telescope and the instrument bay, the mechanisms for radiation rejection, thermal control, and meteoroid shielding, and methods of maintaining image quality by proper alignment and by image motion compensation.

Bremer, J.↗

NASA NTRS1982

An analytical prediction of pilot ratings utilizing human pilot model

In order to analytically predict pilot ratings, an evaluation method of a manual control system which consists of an aircraft and a human pilot, is proposed and examined. The method is constructed upon the assumptions that the control mission determines the critical frequency the pilot should bring to his focus, and that the degree of closed-loop stability and the human compensation necessary to attain the stability determine the human subjective evaluation of the system. As a result, a simple evaluation chart is introduced. The chart enables prediction of the subjective evaluation, if the controlled element dynamics and the mission are given. The chart is in good accord with almost all of the existing results of pilot ratings. This method has the following advantages: (1) simplicity, in a sense that the method needs to evaluate only two typical controlled element parameters, namely, the gain slope and the phase at the critical control frequency; (2) applicability to unstable controlled elements; (3) predictability of controllability limits of manual control; (4) possibility of estimating human compensatory dynamics.

Tanaka, K.↗

NASA NTRS2006

Effect of DC Offset on the T-Wave Residuum Parameter

The T-wave residuum (TWR) is a relatively new 12-lead ECG parameter that may reflect cardiac repolarization heterogeneity. TWR shows clinical promise and may become an important diagnostic tool if accurate, consistent, and convenient methods for its calculation can be developed. However, there are discrepancies between the methods that various investigators have used to calculate TWR, as well as some questions about basic methodology and assumptions that require resolution. The presence of a DC offset or very low frequency AC component to the ECG is often observed. Many researchers have attempted to compensate for these by high pass filters and by median beat techniques. These techniques may help minimize the contribution of a low frequency AC component to the TWR, but they will not eliminate a DC offset inherent within the instrumentation. The present study examined the presence of DC offsets in the ECG record, and their effect on TWR. Specifically, in healthy individuals, a DC offset was added to all 8 channels collectively or to each channel selectively. Even with offsets that were relatively small compared to T-wave amplitude, the addition of either collectively or individually applied offsets was observed to produce very significant changes in the TWR, affecting its value by as much as an order of magnitude. These DC offsets may arise from at least two possible sources: a transient artifact from EMG or electrode movement resulting in a transient baseline offset in one or more channels. Since highpass filters have a settling time of several seconds, these artifacts will contribute to a transitory baseline offset lasting 1020 cycles. The machine hardware may also introduce an offset. Regardless of the cause or source of a DC offset, this study demonstrates that offsets have a very significant impact on TWR, and that future studies must not ignore their presence, but rather more appropriately compensate for them.

Scott, N.↗

NASA NTRS1985

Optimum dimensions of power solenoids for magnetic suspension

Design optimization of power solenoids for controllable and stabilizable magnetic suspensions with force compensation in a wind tunnel is shown. It is assumed that the model of a levitating body is a sphere of ferromagnetic material with constant magnetic permeability. This sphere, with a radius much smaller than its distance from the solenoid above, is to be maintained in position on the solenoid axis by balance of the vertical electromagnetic force and the force of gravitation. The necessary vertical (axial) force generated by the solenoid is expressed as a function of relevant system dimensions, solenoid design parameters, and physical properties of the body. Three families of curves are obtained which depict the solenoid power for a given force as a function of the solenoid length with either outside radius or inside radius as a variable parameter and as a function of the outside radius with inside radius as a variable parameter. The curves indicate the optimum solenoid length and outside radius, for minimum power, corresponding to a given outside radius and inside radius, respectively.

Kaznacheyev, B. A.↗

NASA NTRS1987

Telerobotics - Display, control, and communication problems

An experimental telerobotics simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth and elevation were arranged to be near optimal. Quantitative comparisons were made possible, utilizing control performance measures such as root mean square error. There was a distinct preference for controlling the manipulator in end-effector Cartesian space for the primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematis, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. The fact that neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.

Stark, Lawrence↗