Monitor weather conditions for cloud seeding control
There are no author-identified significant results in this report.
Kahan, A. M.↗
SEARCH · Engineering Papers
Results for “control authority”
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Monitor weather conditions for cloud seeding control
There are no author-identified significant results in this report.
Kahan, A. M.↗
A control scheme for trajectory tracking of robot manipulators
The authors put forward a simple scheme for multivariable control of robot manipulators. The scheme is composed of an inner-loop stabilizing controller and an outerloop tracking controller. The inner loop utilizes a multivariable PD (proportional differential) controller to stabilize the robot by placing the poles at some desired locations. The outer loop uses a multivariable PID (proportional integral differential) controller to achieve input-output decoupling and trajectory tracking. The gains of the PD and PID controllers are related directly to the linearized robot model by simple closed-form expressions. The controller gains are updated online to cope with variations in the robot model for gross motion and payload change. Alternatively, the use of high-gain controllers for gross motion and payload change are discussed.
Tarokh, M.↗
Demonstration of Single Axis Combined Attitude Control and Energy Storage Using Two Flywheels
The energy storage and attitude control subsystems of the typical satellite are presently distinct and separate. Energy storage is conventionally provided by batteries, either NiCd or NiH, and active attitude control is accomplished with control moment gyros (CMGs) or reaction wheels. An overall system mass savings can be realized if these two subsystems are combined using multiple flywheels for simultaneous kinetic energy storage and momentum transfer. Several authors have studied the control of the flywheels to accomplish this and have published simulation results showing the feasibility and performance. This paper presents the first experimental results showing combined energy storage and momentum control about a single axis using two flywheels.
Kenny, Barbara H.↗
Improvements to Stitching Controls for Manufacturing Advanced Stitched Composites
Stitched composites have been extensively studied and have been shown to have benefits over unstitched composites for stiffened structures, including improved damage tolerance, reduced weight, and fewer fasteners. These benefits make stitched composites attractive from a performance perspective, however, the nature of stitching the preforms prior to infusion includes additional manufacturing steps and equipment compared to conventional resin infusion. Stitching of composite material structures at NASA Langley Research Center (LaRC) is performed at the Integrated Structural Assembly of Advanced Composites (ISAAC) facility using control algorithms developed by the lead author. Two deficiencies have been identified in the current control algorithms, and mitigations for these deficiencies were developed within the Hi-Rate Composite Aircraft Manufacturing (HiCAM) project and are presented herein. First, decoupling stitch translation and rotation takes more time for stitching since two robot operation control steps are executed for each stitch. Therefore, a method was developed to determine when to decouple the translation and rotation for stitching, which reduces stitch time by decoupling the operation control steps only when necessary to execute the stitch properly. Second, a correction to the sideslip stitching approach that eliminates a significant portion of the pre- and post-stitching activities was developed. The developed method adjusts the sideslip stitch angle based on the rotations of previous stitches to ensure that the width of the stitching seam remains constant along its length. Constant seam width eliminates observed overlap of the insertion and catcher thread portions for highly curved paths, which maintains the desired uniformity of through-the-thickness architecture along the seam and eliminates the local degradation of properties where the insertion needle is too close to, or crosses, the catcher needle portion of the seam.
stitching↗
Optimal control study for the Space Station Solar Dynamic power module
The authors present the design of an optimal control system for the Space Station Freedom's Solar Dynamic Fine Pointing and Tracking (SDFPT) module. A very large state model of six rigid body modes and 272 flexible modes is used in conjunction with classical LQG optimal control to produce a full-order controller which satisfies the requirements. The results obtained are compared with those of a classically designed PID (proportional plus integral plus derivative) controller that was implemented for a six-rigid-body-mode forty-flexible-mode model. A major difficulty with designing LQG controllers for large models is solving the Riccati equation that arises from the optimal formulation. A Riccati solver based on a Pade approximation to the matrix sign function is used. A symmetric version of this algorithm is derived for the special class of Hamiltonion matrices, thereby yielding, for large problems, a nearly twofold speed increase over a previous algorithm.
Papadopoulos, P. M.↗
Accommodation of practical constraints by a linear programming jet select
An experimental spacecraft control system will be incorporated into the Space Shuttle flight software and exercised during a forthcoming mission to evaluate its performance and handling qualities. The control system incorporates a 'phase space' control law to generate rate change requests and a linear programming jet select to compute jet firings. Posed as a linear programming problem, jet selection must represent the rate change request as a linear combination of jet acceleration vectors where the coefficients are the jet firing times, while minimizing the fuel expended in satisfying that request. This problem is solved in real time using a revised Simplex algorithm. In order to implement the jet selection algorithm in the Shuttle flight control computer, it was modified to accommodate certain practical features of the Shuttle such as limited computer throughput, lengthy firing times, and a large number of control jets. To the authors' knowledge, this is the first such application of linear programming. It was made possible by careful consideration of the jet selection problem in terms of the properties of linear programming and the Simplex algorithm. These modifications to the jet select algorithm may by useful for the design of reaction controlled spacecraft.
Bergmann, E.↗
Evaluation of remote sensing in control of pink cotton bollworm
The author has identified the following significant results. This investigation is attempting to evaluate the use of a satellite in monitoring the cotton production regulation program of the State of California as an aid in controlling pink bollworm infestation in the southern deserts of California. Color combined images of ERTS-1 multispectral images simulating color infrared are being used in crop identification. The status of each field is mapped from the imagery and is then compared to ground surveys taken at the time of each ERTS-1 overflight. Correlation has been to date 100%. A computer analysis will be performed to compare field status with the crop calendar in order to identify crops. Correlation is expected to be 80 to 90%. Cotton fields, because of their state regulated season which is exactly coincident with no other crop, are expected to be easily identified.
Lewis, L. N.↗
Discrete-time infinity control problem with measurement feedback
The paper is concerned with the discrete-time H(sub infinity) control problem with measurement feedback. The authors extend previous results by having weaker assumptions on the system parameters. The authors also show explicitly the structure of H(sub infinity) controllers. Finally, they show that it is in certain cases possible, without loss of performance, to reduce the dynamical order of the controllers.
Stoorvogel, A. A.↗
Access Control of Web and Java Based Applications
Cyber security has gained national and international attention as a result of near continuous headlines from financial institutions, retail stores, government offices and universities reporting compromised systems and stolen data. Concerns continue to rise as threats of service interruption, and spreading of viruses become ever more prevalent and serious. Controlling access to application layer resources is a critical component in a layered security solution that includes encryption, firewalls, virtual private networks, antivirus, and intrusion detection. In this paper we discuss the development of an application-level access control solution, based on an open-source access manager augmented with custom software components, to provide protection to both Web-based and Java-based client and server applications.
cybersecurity↗
Fuzzy Logic Trajectory Design and Guidance for Terminal Area Energy Management
The second generation reusable launch vehicle will leverage many new technologies to make flight to low earth orbit safer and more cost effective. One important capability will be completely autonomous flight during reentry and landing, thus making it unnecessary to man the vehicle for cargo missions with stringent weight constraints. Implementation of sophisticated new guidance and control methods will enable the vehicle to return to earth under less than favorable conditions. The return to earth consists of three phases--Entry, Terminal Area Energy Management (TAEM), and Approach and Landing. The Space Shuttle is programmed to fly all three phases of flight automatically, and under normal circumstances the astronaut-pilot takes manual control only during the Approach and Landing phase. The automatic control algorithms used in the Shuttle for TAEM and Approach and Landing have been developed over the past 30 years. They are computationally efficient, and based on careful study of the spacecraft's flight dynamics, and heuristic reasoning. The gliding return trajectory is planned prior to the mission, and only minor adjustments are made during flight for perturbations in the vehicle energy state. With the advent of the X-33 and X-34 technology demonstration vehicles, several authors investigated implementing advanced control methods to provide autonomous real-time design of gliding return trajectories thus enhancing the ability of the vehicle to adjust to unusual energy states. The bulk of work published to date deals primarily with the approach and landing phase of flight where changes in heading angle are small, and range to the runway is monotonically decreasing. These benign flight conditions allow for model simplification and fairly straightforward optimization. This project focuses on the TAEM phase of flight where mathematically precise methods have produced limited results. Fuzzy Logic methods are used to make onboard autonomous gliding return trajectory design robust to a wider energy envelope, and the possibility of control surface failures, thus increasing the flexibility of unmanned gliding recovery and landing.
Burchett, Bradley↗
Repetitive control in the presence of multiple periodic disturbances
In this paper, the authors introduce several methods for implementing repetitive control of systems subjected to noninteger multiple periodic disturbances. One method uses a single repetitive controller to learn at the common period of the disturbances. The second employs multiple p-integrator based repetitive controllers operating in parallel. The third method introduces the concept of sequenced repetitive controllers. Cross-talk elimination algorithms are proposed to improve the repetitive control performance in the presence of transients. A novel averaging algorithm is introduced for on-line and off-line control strategies.
Solcz, Edward J.↗
Development of a Work Control System for Propulsion Testing at NASA Stennis
This paper will explain the requirements and steps taken to develop the current Propulsion Test Directorate electronic work control system for Test Operations. The PTD Work Control System includes work authorization and technical instruction documents, such as test preparation sheets, discrepancy reports, test requests, pre-test briefing reports, and other test operations supporting tools. The environment that existed in the E-Complex test areas in the late 1990's was one of enormous growth which brought people of diverse backgrounds together for the sole purpose of testing propulsion hardware. The problem that faced us was that these newly formed teams did not have a consistent and clearly understood method for writing, performing or verifying work. A paper system was developed that would allow the teams to use the same forms, but this still presented problems in the large amount of errors occurring, such as lost paperwork and inconsistent implementation. In a sampling of errors in August 1999, the paper work control system encountered 250 errors out of 230 documents released and completed, for an error rate of 111%.
Messer, Elizabeth A.↗
Atlantic Tropical Cyclogenetic Processes during SOP-3 NAMMA in the GEOS-5 Global Data Assimilation and Forecast System
This article investigates the role of the Saharan Air Layer (SAL) in tropical cyclogenetic processes associated with a non-developing and a developing African easterly wave observed during the Special Observation Period (SOP-3) phase of the 2006 NASA African Monsoon Multidisciplinary Analyses (NAMMA). The two waves are chosen because both interact heavily with Saharan air. A global data assimilation and forecast system, the NASA GEOS-5, is being run to produce a set of high-quality global analyses, inclusive of all observations used operationally but with denser satellite information. In particular, following previous works by the same Authors, the quality-controlled data from the Atmospheric Infrared Sounder (AIRS) used to produce these analyses have a better coverage than the one adopted by operational centers. From these improved analyses, two sets of 31 5-day high resolution forecasts, at horizontal resolutions of both half and quarter degrees, are produced. Results show that very steep moisture gradients are associated with the SAL in forecasts and analyses even at great distance from the Sahara. In addition, a thermal dipole (warm above, cool below) is present in the non-developing case. Moderate Resolution Imaging Spectroradiometer (MODIS) show that aerosol optical thickness is higher in the non-developing case. Altogether, results suggest that radiative effect of dust may play some role in producing a thermal structure less favorable to cyclogenesis. Results also indicate that only global horizontal resolutions on the order of 20-30 kilometers can capture the large-scale transport and the fine thermal structure of the SAL, inclusive of the sharp moisture gradients, reproducing the effect of tropical cyclone suppression which has been hypothesized by previous authors from observational and regional modeling perspectives. These effects cannot be fully represented at lower resolutions. Global resolution of a quarter of a degree is a minimum critical threshold to investigate Atlantic tropical cyclogenesis from a global modeling perspective.
Reale, Oreste↗
Atlantic Tropical Cyclogenetic Processes During SOP-3 NAMMA in the GEOS-5 Global Data Assimilation and Forecast System
This article investigates the role of the Saharan air layer (SAL) in tropical cyclogenetic processes associated with a nondeveloping and a developing African easterly wave observed during the Special Observation Period (SOP-3) phase of the 2006 NASA African. Monsoon Multidisciplinary Analyses (NAMMA). The two waves are chosen because they both interact heavily with Saharan air. A glottal data assimilation and forecast system, the NASA Goddard Earth Observing System. version 5 (GEOS-5), is being run to produce a set of high-9 uality global analyses, inclusive of all observations used operationally but with additional satellite information. In particular, following previous works by the same authors, the duality-controlled data from the Atmospheric Infrared Sounder (AIRS) used to produce these analyses have a better coverage than the one adopted by operational centers. From these improved analyses, two sets of 31 five-day high-resolution forecasts, at horizontal resolutions of both half and quarter degrees, are produced. Results indicate that very steep moisture gradients are associated with the SAL in forecasts and analyses, even at great distances from their source over the Sahara. In addition, a thermal dipole in the vertiieat (warm above, cool below) is present in the nondeveloping case. The Moderate Resolution Imaging Spoctroradiometer (MODIS) aboard NASA's Terra and Aqua satellites shows that aerosol optical thickness, indicative of more dust as opposed to other factors, is higher in the nondeveloping case. Altogether, results suggest that the radiative effect of dust may play some role in producing a thermal structure less favorable to cyclogenesis. Results also indicate that only global horizontal resolutions on the order of 20-30 km can capture the large-scale transport and the tine thermal structure of the SAL, inclusive of the sharp moisture gradients, reproducing the effect of tropical cyclone suppression that has been hypothesized by previous authors from observational and regional modeling perspectives. Thcse effects cannot be fully represented at lower resolutions, therefore global resolution of a quarter of a degree is a minimum critical threshold necessary to investigate Atlantic tropical cyclogenesis from a global modeling perspective
Reale, Oreste↗
Control of nonlinear systems using terminal sliding modes
The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.
Venkataraman, S. T.↗
Flight management - Pilot procedures and system interfaces for the 1980-1990's
In the air transportation system of the 1980-1990's, aircraft must perform with greater precision in time and position than is possible today. Rapid development in electronics technology makes renovation in airborne-system concepts feasible. The Ames Research Center is conducting research on pilot procedures and pilot-system interfaces for such systems. Research on various pilot-system interface devices and manned simulations was conducted to study rules of distributed decision making authority among pilots and controllers with various airborne display concepts, and a pilot-oriented command logic for the control of avionic systems was studied. Results are summarized, and ongoing work and future research plans described.
Wempe, T. E.↗
Stability analysis of multiple rigid robot manipulators holding a common rigid object
The authors consider several possible control structures for multiple-arm systems by regarding either joint torques, tip force, or a generalized acceleration of the control input. They emphasize the first case, since a class of relatively model-independent control laws can be generated for both motion and internal force control. The recently developed move/squeeze orthogonal subspace decomposition coupled with the energy Lyapunov function formulation provides a basic analytical framework within which motion and force control are considered as independent problems. Simulation results of two three-link planar arms are included to demonstrate good transient performance for both motion and force that can be attained with the full dynamics control paradigm.
Wen, John T.↗