Results for “positive feedback” — Page 21

NASA NTRS1985

Development of an electrostatic positioner for space material processing

This paper describes an electrostatic positioning instrument which was developed at the Jet Propulsion Laboratory to enable experimenters to conduct containerless material science experiments in space. Samples that are to be studied are electrically charged and controlled by the electrostatic force produced by a set of properly arranged electrodes. Three different types of positioners are described, i.e., the dish type, the ring type, and the tetrahedral type. In all these systems, the positioning and the damping of the sample is accomplished by a feedback control system. The advantage of this electrostatic positioning method, in comparison to the other methods, such as acoustic and electromagnetic, lies in the fact that it can operate in a high vacuum and does not require the material to be electrically conductive as long as the material can carry a certain amount of charge.

Rhim, W. K.↗

NASA NTRS2007

The EPEC Algorithm for Vision Guided Manipulation: Analysis and Validation

This paper describes the simulated performance and experimental validation of a computationally efficient algorithm for improving positioning accuracy of robot arms using low speed feedback from fixed stereo cameras. The algorithm, called End-Effector Position Error Compensation (EPEC) is robust to visual occlusion of the end-effector and does not require high fidelity calibration of either the arm or stereo camera. The algorithm works by calculating an error vector between the locations of a fiducial on the arm's end-effector as predicted by arm kinematics and detected by a stereo camera triangulation. With this knowledge, the commanded target pose is adjusted to compensate for positioning errors. A simulation environment where arbitrary error can be introduced into arm-camera systems is introduced and used to provide an assessment of the performance of the algorithm under both ideal and degraded conditions.

manipulations↗

NASA NTRS2006

Demonstration of an Ice Contamination Effects Flight Training Device

The development of a piloted flight simulator called the Ice Contamination Effects Flight Training Device (ICEFTD) was recently completed. This device demonstrates the ability to accurately represent an iced airplane s flight characteristics and is utilized to train pilots in recognizing and recovering from aircraft handling anomalies that result from airframe ice formations. The ICEFTD was demonstrated at three recent short courses hosted by the University of Tennessee Space Institute. It was also demonstrated to a group of pilots at the National Test Pilot School. In total, eighty-four pilots and flight test engineers from industry and the regulatory community spent approximately one hour each in the ICEFTD to get a "hands on" lesson of an iced airplane s reduced performance and handling qualities. Additionally, pilot cues of impending upsets and recovery techniques were demonstrated. The purpose of this training was to help pilots understand how ice contamination affects aircraft handling so they may apply that knowledge to the operations of other aircraft undergoing testing and development. Participant feedback on the ICEFTD was very positive. Pilots stated that the simulation was very valuable, applicable to their occupations, and provided a safe way to explore the flight envelope. Feedback collected at each demonstration was also helpful to define additional improvements to the ICEFTD; many of which were then implemented in subsequent demonstrations

Ratvasky, Thomas P.↗

NASA NTRS2007

Effective Training for Flight in Icing Conditions

The development of a piloted flight simulator called the Ice Contamination Effects Flight Training Device (ICEFTD) was recently completed. This device demonstrates the ability to accurately represent an iced airplane s flight characteristics and is utilized to train pilots in recognizing and recovering from aircraft handling anomalies that result from airframe ice formations. The ICEFTD was demonstrated at three recent short courses hosted by the University of Tennessee Space Institute. It was also demonstrated to a group of pilots at the National Test Pilot School. In total, eighty-four pilots and flight test engineers from industry and the regulatory community spent approximately one hour each in the ICEFTD to get a "hands on" lesson of an iced airplane s reduced performance and handling qualities. Additionally, pilot cues of impending upsets and recovery techniques were demonstrated. The purpose of this training was to help pilots understand how ice contamination affects aircraft handling so they may apply that knowledge to the operations of other aircraft undergoing testing and development. Participant feedback on the ICEFTD was very positive. Pilots stated that the simulation was very valuable, applicable to their occupations, and provided a safe way to explore the flight envelope. Feedback collected at each demonstration was also helpful to define additional improvements to the ICEFTD; many of which were then implemented in subsequent demonstrations.

Barnhart, Billy P.↗

NASA NTRS1994

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

Kanda, Shinji↗

NASA NTRS1990

Balanced bridge feedback control system

In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

Lurie, Boris J.↗

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

Shieh, L. S.↗

NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗

NASA NTRS1989

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Seraji, Homayoun↗

NASA NTRS1990

Experiments On Active Members In Large Space Structures

Report discusses continuing research on structures including active members, which incorporate sensors, actuators, and electronic circuits to monitor and control vibrations. Describes experiments on two structures with active members, progress in design, testing, and simulation of behavior of active members. Objective is to develop systems to enhance performances of large, flexible structures in space. Also applicable to some terrestrial structures and testing equipment involving close tolerances in feedback control of forces and/or positions.

Fanson, James L.↗

NASA NTRS1991

The radiative effects of clouds and their impact on climate

The radiative effects of clouds on the climate system are reviewed on the basis of data published over the last 15-20 years and some relevant unpublished model studies. Emphasis is placed on the impact of clouds on the incoming and outgoing radiation at the top of the atmosphere and the two-way interaction of clouds with other variables of the climate system, i.e., the cloud/climate feedback problem, as revealed by climate model simulations. Investigations aimed at determining the overall effects of clouds on the climate system (climate forcing) show that clouds have a net cooling effect. Two estimates of the global annual average effect of clouds on the net flux at the top of the atmosphere, based on recent satellite observations, show wide discrepancies. The sign of cloud feedback is found to be positive when the spatial distribution of clouds is allowed to vary in response to climate change. It is concluded that clouds may have a strong influence on climate change, but the magnitude of this influence is unknown.

Arking, Albert↗

NASA NTRS1992

Hand/Eye Coordination For Fine Robotic Motion

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

Lokshin, Anatole M.↗

NASA NTRS1992

TDS and BMT for CASES ADF (ADF RAMS), acceptance test

The Controls, Astrophysics, and Structures Experiment (CASES) is a proposed experiment to collect x ray images of the galactic center and solar disk with unprecedented resolution. This requires precision pointing and suppression of vibrations in the long, flexible structure that comprises the 32-m x ray telescope optical bench. Two separate electro-optical sensors systems are provided for the ground test facility (GTF). The Boom Motion Tracker (BMT) measures eigenvector data for post-mission use in system identification. The Tip Displacement Sensor (TDS) measures boom tip position and is used as feedback for the closed-loop control system that stabilizes the boom. The deployment and testing of the BMT and TDS systems is summarized.

Davis, Hugh W.↗

NASA NTRS1993

Structural control sensors for the CASES GTF

CASES (Controls, Astrophysics and Structures Experiment in Space) is a proposed space experiment to collect x-ray images of the galactic center and solar disk with unprecedented resolution. This requires precision pointing and suppression of vibrations in the long flexible structure that comprises the 32-m x-ray telescope optical bench. Two separate electro-optical sensor systems are provided for the ground test facility (GTF). The Boom Motion Tracker (BMT) measures eigenvector data for post-mission use in system identification. The Tip Displacement Sensor (TDS) measures boom tip position and is used as feedback for the closed-loop control system that stabilizes the boom. Both the BMT and the TDS have met acceptance specifications and were delivered to MSFC in February 1992. This paper describes the sensor concept, the sensor configuration as implemented in the GTF, and the results of characterization and performance testing.

Davis, Hugh W.↗

NASA NTRS1994

Flight testing a propulsion-controlled aircraft emergency flight control system on an F-15 airplane

Flight tests of a propulsion-controlled aircraft (PCA) system on an F-15 airplane have been conducted at the NASA Dryden Flight Research Center. The airplane was flown with all flight control surfaces locked both in the manual throttles-only mode and in an augmented system mode. In the latter mode, pilot thumbwheel commands and aircraft feedback parameters were used to position the throttles. Flight evaluation results showed that the PCA system can be used to land an airplane that has suffered a major flight control system failure safely. The PCA system was used to recover the F-15 airplane from a severe upset condition, descend, and land. Pilots from NASA, U.S. Air Force, U.S. Navy, and McDonnell Douglas Aerospace evaluated the PCA system and were favorably impressed with its capability. Manual throttles-only approaches were unsuccessful. This paper describes the PCA system operation and testing. It also presents flight test results and pilot comments.

Burcham, F. W., Jr.↗

NASA NTRS1998

Adaptive Fuzzy Control of a Direct Drive Motor: Experimental Aspects

This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is experimentally verified. The real-time performance is compared with simulation results.

Medina, E.↗

NASA NTRS2000

Reconfigurable Flight Control Using Nonlinear Dynamic Inversion with a Special Accelerometer Implementation

This paper presents an approach to on-line control design for aircraft that have suffered either actuator failure, missing effector surfaces, surface damage, or any combination. The approach is based on a modified version of nonlinear dynamic inversion. The approach does not require a model of the baseline vehicle (effectors at zero deflection), but does require feedback of accelerations and effector positions. Implementation issues are addressed and the method is demonstrated on an advanced tailless aircraft. An experimental simulation analysis tool is used to directly evaluate the nonlinear system's stability robustness.

Bacon, Barton J.↗

NASA NTRS1997

Adaptive Fuzzy Control of a Direct Drive Motor

This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is verified by simulation results.

Medina, E.↗