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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Precise control of flexible manipulators

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam.

Cannon, R. H., Jr.↗
NASA NTRS2005

Modeling Visible/Near-Infrared Photometric Properties of Dustfall on a Known Substrate

We present a comprehensive visible/near-infrared two-layer radiative transfer modeling study using laboratory spectra of variable dust thicknesses deposited on substrates with known photometric parameters. The masking effects of Martian airfall dust deposition on rocks, soils, and lander/rover components provides the incentive to improve two-layer models [1-3]. It is believed that the model presented will facilitate understanding of the spectral and compositional properties of both the dust layer and substrate material, and allow for better compensation for dust deposition.

Sohl-Dickstein, J.↗
NASA NTRS1982

Integrated airframe propulsion control

Perturbation equations which describe flight dynamics and engine operation about a given operating point are combined to form an integrated aircraft/propulsion system model. Included in the model are the dependence of aerodynamic coefficients upon atmospheric variables along with the dependence of engine variables upon flight condition and inlet performance. An off-design engine performance model is used to identify interaction parameters in the model. Inclusion of subsystem interaction effects introduces coupling between flight and propulsion variables. To analyze interaction effects on control, consideration is first given to control requirements for separate flight and engine models. For the separate airframe model, feedback control provides substantial improvement in short period damping. For the integrated system, feedback control compensates for the coupling present in the model and provides good overall system stability. However, this feedback control law involves many non-zero gains. Analysis of suboptimal control strategies indicates that performance of the closed loop integrated system can be maintained with a feedback matrix in which the number of non-zero gains is small relative to the number of components in the feedback matrix.

Fennell, R. E.↗
NASA NTRS1984

Autonomous Integrated Receive System (AIRS) requirements definition. Volume 3: Performance and simulation

The autonomous and integrated aspects of the operation of the AIRS (Autonomous Integrated Receive System) are discussed from a system operation point of view. The advantages of AIRS compared to the existing SSA receive chain equipment are highlighted. The three modes of AIRS operation are addressed in detail. The configurations of the AIRS are defined as a function of the operating modes and the user signal characteristics. Each AIRS configuration selection is made up of three components: the hardware, the software algorithms and the parameters used by these algorithms. A comparison between AIRS and the wide dynamics demodulation (WDD) is provided. The organization of the AIRS analytical/simulation software is described. The modeling and analysis is for simulating the performance of the PN subsystem is documented. The frequence acquisition technique using a frequency-locked loop is also documented. Doppler compensation implementation is described. The technological aspects of employing CCD's for PN acquisition are addressed.

Chie, C. M.↗
NASA NTRS1998

High Pressure Water Stripping Using Multi-Orifice Nozzles

The use of multi-orifice rotary nozzles not only increases the speed and stripping effectiveness of high pressure water blasting systems, but also greatly increases the complexity of selecting and optimizing the operating parameters. The rotational speed of the nozzle must be coupled with the transverse velocity of the nozzle as it passes across the surface of the substrate being stripped. The radial and angular positions of each orifice must be included in the analysis of the nozzle configuration. Since orifices at the outer edge of the nozzle head move at a faster rate than the orifice located near the center, the energy impact force of the water stream from the outer orifice is spread over a larger area than the water streams from the inner orifice. Utilizing a larger diameter orifice in the outer radial positions increases the energy impact to compensate for its wider force distribution. The total flow rate from the combination of orifices must be monitored and kept below the pump capacity while choosing an orifice to insert in each position. The energy distribution from the orifice pattern is further complicated since the rotary path of all orifices in the nozzle head pass through the center section, contributing to the stripping in this area while only the outer most orifice contributes to the stripping in the shell area at the extreme outside edge of the nozzle. From t he outer most shell to the center section, more orifices contribute to the stripping in each progressively reduced diameter shell. With all these parameters to configure and each parameter change affecting the others, a computer model was developed to track and coordinate these parameters. The computer simulation responds by graphically indicating the cumulative affect from each parameter selected. The results from the proper choices in parameters is a well designed, highly efficient stripping system. A poorly chosen set of parameters will cause the nozzle to strip aggressively in some areas while leaving the coating untouched in adjacent sections. The high pressure water stripping system can be set to extremely aggressive conditions allowing stripping of hard to remove adhesives, paint systems, cladding and chromate conversion coatings. The energy force can be reduced to strip coatings from thin aluminum substrates without causing damage or deterioration to the substrate's surface. High pressure water stripping of aerospace components have thus proven to be an efficient and cost effective method for cleaning and removing coatings.

Hoppe, David T.↗
NASA NTRS1999

High Pressure Water Stripping Using Multi-Orifice Nozzles

The use of multi-orifice rotary nozzles greatly increases the speed and stripping effectiveness of high pressure water blasting systems, but also greatly increases the complexity of selecting and optimizing the operating parameters. The rotational speed of the nozzle must be coupled with its transverse velocity as it passes across the surface of the substrate being stripped. The radial and angular positions of each orifice must be included in the analysis of the nozzle configuration. Orifices at the outer edge of the nozzle head move at a faster rate than the orifices located near the center. The energy transmitted to the surface from the impact force of the water stream from an outer orifice is therefore spread over a larger area than energy from an inner orifice. Utilizing a larger diameter orifice in the outer radial positions increases the total energy transmitted from the outer orifice to compensate for the wider distribution of energy. The total flow rate from the combination of all orifices must be monitored and should be kept below the pump capacity while choosing orifice to insert in each position. The energy distribution from the orifice pattern is further complicated since the rotary path of all the orifices in the nozzle head pass through the center section. All orifices contribute to the stripping in the center of the path while only the outer most orifice contributes to the stripping at the edge of the nozzle. Additional orifices contribute to the stripping from the outer edge toward the center section. With all these parameters to configure and each parameter change affecting the others, a computer model was developed to track and coordinate these parameters. The computer simulation graphically indicates the cumulative affect from each parameter selected. The result from the proper choices in parameters is a well designed, highly efficient stripping system. A poorly chosen set of parameters will cause the nozzle to strip aggressively in some areas while leaving the coating untouched in adjacent sections. The high pressure water stripping system can be set to extremely aggressive conditions allowing stripping of hard to remove adhesives, paint systems, and even cladding and chromate conversion coatings. The energy force can also be reduced to strip coatings from thin aluminum substrates without causing any damage or deterioration to the substrate's surface. High pressure water stripping of aerospace components has thus proven to be an efficient and cost effective method for cleaning and removing coatings.

Hoppe, David↗
DOE OSTI2022

Surface chemistry on a polarizable surface: Coupling of CO with KTaO 3 (001)

Polarizable materials attract attention in catalysis because they have a free parameter for tuning chemical reactivity. Their surfaces entangle the dielectric polarization with surface polarity, excess charge, and orbital hybridization. How this affects individual adsorbed molecules is shown for the incipient ferroelectric perovskite KTaO 3 . This intrinsically polar material cleaves along (001) into KO- and TaO 2 -terminated surface domains. At TaO 2 terraces, the polarity-compensating excess electrons form a two-dimensional electron gas and can also localize by coupling to ferroelectric distortions. TaO 2 terraces host two distinct types of CO molecules, adsorbed at equivalent lattice sites but charged differently as seen in atomic force microscopy/scanning tunneling microscopy. Temperature-programmed desorption shows substantially stronger binding of the charged CO; in density functional theory calculations, the excess charge favors a bipolaronic configuration coupled to the CO. These results pinpoint how adsorption states couple to ferroelectric polarization.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1978

Description of a computer simulation of an orbital SAR system

A computer simulation of an orbital SAR system has been developed in order to predict SAR performance for a wide variety of system and environmental parameters. The objectives of the simulation are: (1) to assess the effect of various antenna patterns on the SAR image, (2) to assess the effect of various SAR parameters on the system's ability to detect small differences in the radar cross section of adjacent homogeneous areas, and (3) to assess the effect of mapping geometry on SAR image quality. The simulation is implemented as seven programs: (1) simulation control, (2) terrain model, (3) slant range computation, (4) production of IPQ video, (5) motion compensation, (6) Doppler processor, and (7) postprocessor and display.

Crow, G. L.↗
NASA NTRS1986

Optimal output fast feedback in two-time scale control of flexible arms

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

Siciliano, B.↗
NASA NTRS2006

Software Tools for Developing and Simulating the NASA LaRC CMF Motion Base

The NASA Langley Research Center (LaRC) Cockpit Motion Facility (CMF) motion base has provided many design and analysis challenges. In the process of addressing these challenges, a comprehensive suite of software tools was developed. The software tools development began with a detailed MATLAB/Simulink model of the motion base which was used primarily for safety loads prediction, design of the closed loop compensator and development of the motion base safety systems1. A Simulink model of the digital control law, from which a portion of the embedded code is directly generated, was later added to this model to form a closed loop system model. Concurrently, software that runs on a PC was created to display and record motion base parameters. It includes a user interface for controlling time history displays, strip chart displays, data storage, and initializing of function generators used during motion base testing. Finally, a software tool was developed for kinematic analysis and prediction of mechanical clearances for the motion system. These tools work together in an integrated package to support normal operations of the motion base, simulate the end to end operation of the motion base system providing facilities for software-in-the-loop testing, mechanical geometry and sensor data visualizations, and function generator setup and evaluation.

Bryant, Richard B., Jr.↗
NASA NTRS1987

Guidance simulation and test support for differential GPS flight experiment

Three separate tasks which supported the test preparation, test operations, and post test analysis of the NASA Ames flight test evaluation of the differential Global Positioning System (GPS) are presented. Task 1 consisted of a navigation filter design, coding, and testing to optimally make use of GPS in a differential mode. The filter can be configured to accept inputs from external censors such as an accelerometer and a barometric or radar altimeter. The filter runs in real time onboard a NASA helicopter. It processes raw pseudo and delta range measurements from a single channel sequential GPS receiver. The Kalman filter software interfaces are described in detail, followed by a description of the filter algorithm, including the basic propagation and measurement update equations. The performance during flight tests is reviewed and discussed. Task 2 describes a refinement performed on the lateral and vertical steering algorithms developed on a previous contract. The refinements include modification of the internal logic to allow more diverse inflight initialization procedures, further data smoothing and compensation for system induced time delays. Task 3 describes the TAU Corp participation in the analysis of the real time Kalman navigation filter. The performance was compared to that of the Z-set filter in flight and to the laser tracker position data during post test analysis. This analysis allowed a more optimum selection of the parameters of the filter.

Geier, G. J.↗
DOE OSTI2022

The Global Atmosphere‐aerosol Model ICON‐A‐HAM2.3–Initial Model Evaluation and Effects of Radiation Balance Tuning on Aerosol Optical Thickness

Abstract The Hamburg Aerosol Module version 2.3 (HAM2.3) from the ECHAM6.3‐HAM2.3 global atmosphere‐aerosol model is coupled to the recently developed icosahedral nonhydrostatic ICON‐A (icon‐aes‐1.3.00) global atmosphere model to yield the new ICON‐A‐HAM2.3 atmosphere‐aerosol model. The ICON‐A and ECHAM6.3 host models use different dynamical cores, parameterizations of vertical mixing due to sub‐grid scale turbulence, and parameter settings for radiation balance tuning. Here, we study the role of the different host models for simulated aerosol optical thickness (AOT) and evaluate impacts of using HAM2.3 and the ECHAM6‐HAM2.3 two‐moment cloud microphysics scheme on several meteorological variables. Sensitivity runs show that a positive AOT bias over the subtropical oceans is remedied in ICON‐A‐HAM2.3 because of a different default setting of a parameter in the moist convection parameterization of the host models. The global mean AOT is biased low compared to MODIS satellite instrument retrievals in ICON‐A‐HAM2.3 and ECHAM6.3‐HAM2.3, but the bias is larger in ICON‐A‐HAM2.3 because negative AOT biases over the Amazon, the African rain forest, and the northern Indian Ocean are no longer compensated by high biases over the sub‐tropical oceans. ICON‐A‐HAM2.3 shows a moderate improvement with respect to AOT observations at AERONET sites. A multivariable bias score combining biases of several meteorological variables into a single number is larger in ICON‐A‐HAM2.3 compared to standard ICON‐A and standard ECHAM6.3. In the tropics, this multivariable bias is of similar magnitude in ICON‐A‐HAM2.3 and in ECHAM6.3‐HAM2.3. In the extra‐tropics, a smaller multivariable bias is found for ICON‐A‐HAM2.3 than for ECHAM6.3‐HAM2.3.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1989

On the reverse flow ceiling jet in pool fire-ventilation crossflow interactions in a simulated aircraft cabin interior

The behavior of the reverse flow ceiling jet against the ventilation flow from 0.58 to 0.87 m/s was investigated in a 1/3 scale model of a wide body aircraft interior. For all tests, strong reverse-flow ceiling jets of hot gases were detected well upstream of the fire. Both thicknesses of the reverse-flow ceiling jet and the smoke layer increased with the fire-crossflow parameter. The thickness of the smoke layer where the smoke flows along the main flow below the reverse-flow ceiling jet was almost twice that of the reverse-flow ceiling jet. Detailed spatial and time-varying temperatures of the gas in the test section were measured, and velocity profiles were also measured using a temperature compensated hot film.

Kwack, E. Y.↗
NASA NTRS2005

Video Mosaicking for Inspection of Gas Pipelines

A vision system that includes a specially designed video camera and an image-data-processing computer is under development as a prototype of robotic systems for visual inspection of the interior surfaces of pipes and especially of gas pipelines. The system is capable of providing both forward views and mosaicked radial views that can be displayed in real time or after inspection. To avoid the complexities associated with moving parts and to provide simultaneous forward and radial views, the video camera is equipped with a wide-angle (>165 ) fish-eye lens aimed along the axis of a pipe to be inspected. Nine white-light-emitting diodes (LEDs) placed just outside the field of view of the lens (see Figure 1) provide ample diffuse illumination for a high-contrast image of the interior pipe wall. The video camera contains a 2/3-in. (1.7-cm) charge-coupled-device (CCD) photodetector array and functions according to the National Television Standards Committee (NTSC) standard. The video output of the camera is sent to an off-the-shelf video capture board (frame grabber) by use of a peripheral component interconnect (PCI) interface in the computer, which is of the 400-MHz, Pentium II (or equivalent) class. Prior video-mosaicking techniques are applicable to narrow-field-of-view (low-distortion) images of evenly illuminated, relatively flat surfaces viewed along approximately perpendicular lines by cameras that do not rotate and that move approximately parallel to the viewed surfaces. One such technique for real-time creation of mosaic images of the ocean floor involves the use of visual correspondences based on area correlation, during both the acquisition of separate images of adjacent areas and the consolidation (equivalently, integration) of the separate images into a mosaic image, in order to insure that there are no gaps in the mosaic image. The data-processing technique used for mosaicking in the present system also involves area correlation, but with several notable differences: Because the wide-angle lens introduces considerable distortion, the image data must be processed to effectively unwarp the images (see Figure 2). The computer executes special software that includes an unwarping algorithm that takes explicit account of the cylindrical pipe geometry. To reduce the processing time needed for unwarping, parameters of the geometric mapping between the circular view of a fisheye lens and pipe wall are determined in advance from calibration images and compiled into an electronic lookup table. The software incorporates the assumption that the optical axis of the camera is parallel (rather than perpendicular) to the direction of motion of the camera. The software also compensates for the decrease in illumination with distance from the ring of LEDs.

Magruder, Darby↗
NASA NTRS1991

Compensator design for stability enhancement with collocated controllers

A continuum model rather than a finite element model is used. The optimal compensator design is formulated as a stochastic regulator problem and is shown to be solvable by the general infinite-dimensional theory developed by the author despite the lack of exponential stabilizability. Infinite-dimensional steady-state Riccati equations characterizing the feedback control gain and the Kalman filter gain operators can be solved explicitly. The associated performance indexes including the mean-square control-effort are calculated in closed form. As a first approximation, the compensator transfer function can be realized as a bank of bandpass filters in parallel centered at the undamped mode frequencies. Numerical calculations for the gain and bandwidths for a typical configuration are presented. The performance of the compensator is evaluated when in fact in the true model there is no actuator noise. The theoretical problem involved is to show that the infinite-dimensional stochastic process is asymptotically stationary. It is possible to calculate the steady-state covariance in closed form and thereby calculate performance indexes of interest explicitly, facilitating the choice of optimal design parameters.

Balakrishnan, A. V.↗
NASA NTRS1954

Development of Turbulence-Measuring Equipment

Hot wire turbulence-measuring equipment has been developed to meet the more stringent requirements involved in the measurement of fluctuations in flow parameters at supersonic velocities. The higher mean speed necessitates the resolution of higher frequency components than at low speed, and the relatively low turbulence level present at supersonic speed makes necessary an improved noise level for the equipment. The equipment covers the frequency range from 2 to about 70,000 cycles per second. Constant-current operation is employed. Compensation for hot-wire lag is adjusted manually using square-wave testing to indicate proper setting. These and other features make the equipment adaptable to all-purpose turbulence work with improved utility and accuracy over that of older types of equipment. Sample measurements are given to demonstrate the performance.

Kovasznay, Leslie S G↗
NASA NTRS1988

Salinity stress inhibits bean leaf expansion by reducing turgor, not wall extensibility

Treatment of bean (Phaseolus vulgaris L.) seedlings with low levels of salinity (50 or 100 millimolar NaCl) decreased the rate of light-induced leaf cell expansion in the primary leaves over a 3 day period. This decrease could be due to a reduction in one or both of the primary cellular growth parameters: wall extensibility and cell turgor. Wall extensibility was assessed by the Instron technique. Salinity did not decrease extensibility and caused small increases relative to the controls after 72 hours. On the other hand, 50 millimolar NaCl caused a significant reduction in leaf bulk turgor at 24 hours; adaptive decreases in leaf osmotic potential (osmotic adjustment) were more than compensated by parallel decreases in xylem tension potential and the leaf apoplastic solute potential, resulting in a decreased leaf water potential. It is concluded that in bean seedlings, mild salinity initially affects leaf growth rate by a decrease in turgor rather than by a reduction in wall extensibility. Moreover, long-term salinization (10 days) resulted in an apparent mechanical adjustment, i.e. an increase in wall extensibility, which may help counteract reductions in turgor and maintain leaf growth rates.

NASA Discipline Number 40-10↗
DOE OSTI2020

Two-stage nonlinear compression of high-power femtosecond laser pulses

Two-stage compression of laser pulses with a power of 250 TW is experimentally realised by broadening their spectrum during self-phase modulation in fused silica and subsequent dispersion compensation upon reflection from chirping mirrors. A five-fold decrease in the duration is demonstrated, from 75 to 15 fs, with a B-integral value of about 5 at each stage. It is possible to avoid small-scale self-focusing due to self-filtering of the laser beam during free propagation in vacuum. With optimal parameters of the dispersive mirror, the pulse can be compressed to a duration of less than 5 fs. (paper)

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗