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At least 433 records · Page 24

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NASA NTRS1990

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1993

A multiple-scale model for compressible turbulent flows

A multiple-scale model for compressible turbulent flows is proposed. It is assumed that turbulent eddy shocklets are formed primarily by the 'collisions' of large energetic eddies. The extra straining of the large eddy, due to their interactions with shocklets, enhances the energy cascade to smaller eddies. Model transport equations are developed for the turbulent kinetic energies and the energy transfer rates of the different scale. The turbulent eddy viscosity is determined by the total turbulent kinetic energy and the rate of energy transfer from the large scale to the small scale, which is different from the energy dissipation rate. The model coefficients in the modeled turbulent transport equations depend on the ratio of the turbulent kinetic energy of the large scale to that of the small scale, which renders the model more adaptive to the characteristics of individual flow. The model is tested against compressible free shear layers. The results agree satisfactorily with measurements.

Liou, William W.↗

NASA NTRS1998

High Strain Rate Deformation Modeling of a Polymer Matrix Composite: Matrix Constitutive Equations - Part 1

Recently applications have exposed polymer matrix composite materials to very high strain rate loading conditions, requiring an ability to understand and predict the material behavior under these extreme conditions. In this first paper of a two part report, background information is presented, along with the constitutive equations which will be used to model the rate dependent nonlinear deformation response of the polymer matrix. Strain rate dependent inelastic constitutive models which were originally developed to model the viscoplastic deformation of metals have been adapted to model the nonlinear viscoelastic deformation of polymers. The modified equations were correlated by analyzing the tensile/ compressive response of both 977-2 toughened epoxy matrix and PEEK thermoplastic matrix over a variety of strain rates. For the cases examined, the modified constitutive equations appear to do an adequate job of modeling the polymer deformation response. A second follow-up paper will describe the implementation of the polymer deformation model into a composite micromechanical model, to allow for the modeling of the nonlinear, rate dependent deformation response of polymer matrix composites.

Goldberg, Robert K.↗

NASA NTRS1998

Oxidative Attack of Carbon/Carbon Substrates through Coating Pinholes

A critical issue with oxidation protected carbon/carbon composites used for spacecraft thermal protection is the formation of coating pinholes. In laboratory experiments, artificial pinholes were drilled through SiC-coatings on a carbon/carbon material and the material was oxidized at 600, 1000, and 1400 C at reduced pressures of air. The attack of the carbon/carbon was quantified by both weight loss and a novel cross-sectioning technique. A two-zone, one dimensional diffusion control model was adapted to analyze this problem. Agreement of the model with experiment was reasonable at 1000 and 1400 C; however results at lower temperatures show clear deviations from the theory suggesting that surface reaction control plays a role.

Jacobson, Nathan S.↗

NASA NTRS2009

Adapting Radio Control [RC) Models for Research Roles (158308)

Small Unmanned Aircraft Systems (UAS) have show to be useful for numerous observations that can be helpful in Earth science research and related applications. The potential benefits of small instrumented platforms operated within line-of-sight include high spatial resolution, quick response, minimum environmental impact, and affordability, Results to date suggest there is a strong future for small UASs operated for research and environmental monitoring purposes. For example, there is clearly significant potential for observations suitable for agricultural research and production activities. Local scale atmospheric measurements can be helpful in our understanding of water and carbon cycle processes, as well as provide monitoring of key environmental factors such as carbon dioxide and ozone. Recent work has included an emphasis on remote sensing coastal observations, w3h an eye towards related measurements in the polar regions. Specific elements associated with successfully utilizing these small airborne systems include mission definition, sensors and data systems, platform subsystems, airspace access and training.

Bland, Geoffrey L.↗

NASA NTRS2003

Adaptation of Mesoscale Weather Models to Local Forecasting

Methodologies have been developed for (1) configuring mesoscale numerical weather-prediction models for execution on high-performance computer workstations to make short-range weather forecasts for the vicinity of the Kennedy Space Center (KSC) and the Cape Canaveral Air Force Station (CCAFS) and (2) evaluating the performances of the models as configured. These methodologies have been implemented as part of a continuing effort to improve weather forecasting in support of operations of the U.S. space program. The models, methodologies, and results of the evaluations also have potential value for commercial users who could benefit from tailoring their operations and/or marketing strategies based on accurate predictions of local weather. More specifically, the purpose of developing the methodologies for configuring the models to run on computers at KSC and CCAFS is to provide accurate forecasts of winds, temperature, and such specific thunderstorm-related phenomena as lightning and precipitation. The purpose of developing the evaluation methodologies is to maximize the utility of the models by providing users with assessments of the capabilities and limitations of the models. The models used in this effort thus far include the Mesoscale Atmospheric Simulation System (MASS), the Regional Atmospheric Modeling System (RAMS), and the National Centers for Environmental Prediction Eta Model ( Eta for short). The configuration of the MASS and RAMS is designed to run the models at very high spatial resolution and incorporate local data to resolve fine-scale weather features. Model preprocessors were modified to incorporate surface, ship, buoy, and rawinsonde data as well as data from local wind towers, wind profilers, and conventional or Doppler radars. The overall evaluation of the MASS, Eta, and RAMS was designed to assess the utility of these mesoscale models for satisfying the weather-forecasting needs of the U.S. space program. The evaluation methodology includes objective and subjective verification methodologies. Objective (e.g., statistical) verification of point forecasts is a stringent measure of model performance, but when used alone, it is not usually sufficient for quantifying the value of the overall contribution of the model to the weather-forecasting process. This is especially true for mesoscale models with enhanced spatial and temporal resolution that may be capable of predicting meteorologically consistent, though not necessarily accurate, fine-scale weather phenomena. Therefore, subjective (phenomenological) evaluation, focusing on selected case studies and specific weather features, such as sea breezes and precipitation, has been performed to help quantify the added value that cannot be inferred solely from objective evaluation.

Manobianco, John T.↗

NASA NTRS2022

Tropical peatland hydrology simulated with a global land surface model

Tropical peatlands are among the most carbon-dense ecosystems on Earth, and their water storage dynamics strongly control these carbon stocks. The hydrological functioning of tropical peatlands differs from that of northern peatlands, which has not yet been accounted for in global land surface models (LSMs). Here, we integrated tropical peat-specific hydrology modules into a global LSM for the first time, by utilizing the peatland-specific model structure adaptation (PEATCLSM) of the NASA Catchment Land Surface Model (CLSM). We developed literature-based parameter sets for natural (PEATCLSM(Trop,Nat)) and drained (PEATCLSM(Trop,Drain)) tropical peatlands. Simulations with PEATCLSM(Trop,Nat) were compared against those with the default CLSM version and the northern version of PEATCLSM (PEATCLSM(North,Nat)) with tropical vegetation input. All simulations were forced with global meteorological reanalysis input data for the major tropical peatland regions in Central and South America, the Congo Basin, and Southeast Asia. The evaluation against a unique and extensive data set of in situ water level and eddy covariance-derived evapotranspiration showed an overall improvement in bias and correlation compared to the default CLSM version. Over Southeast Asia, an additional simulation with PEATCLSM(Trop,Drain) was run to address the large fraction of drained tropical peatlands in this region. PEATCLSM(Trop,Drain) outperformed CLSM, PEATCLSM(North,Nat) and PEATCLSM(Trop,Nat) over drained sites. Despite the overall improvements of PEATCLSM(Trop,Nat) over CLSM, there are strong differences in performance between the three study regions. We attribute these performance differences to regional differences in accuracy of meteorological forcing data, and differences in peatland hydrologic response that are not yet captured by our model.

Peatland↗

NASA NTRS2024

Design, Development, and Use of a Lunar Lander Simulation for NASA's Artemis Program

This paper describes the design, development, and initial use of a generalized and configurable lunar lander simulation to support NASA’s Artemis Program. This simulation is being developed for the Crew Compartment Office (CrewCo) in the Human Landing Systems (HLS) program and is called the HLS CrewCo Lander Simulation (HCLS). The HCLS provides insight into the challenges associated with returning humans to the Moon and the particular difficulties of operating at the Lunar South Pole. A generalized lunar landing spacecraft based on a government reference design has been modeled but the simulation can be modified and adapted to model vendor designs as well. The simulation architecture and toolsets provide a flexible framework that allows for quickly prototyping and evaluating various aspects of a piloted lunar landing system. This includes the modeling of all principal human controlled flight phases: rendezvous and docking with crew transfer systems; docked orbital outpost operations; undocking and lunar transfer; lunar orbital operations; lunar deorbit, descent, and landing (DDL); lunar surface operations; lunar ascent; and return to the orbital outpost. The flexibility of the simulation allows for the integrated evaluation of potential vehicle subsystems, crew displays, guidance and control modes, and trajectory designs. The purpose of the HCLS is not to design the ideal lunar lander, but rather to understand the strengths and weaknesses of vehicle design choices.

Edwin Z Crues↗

NASA NTRS2024

Teachers’ Use and Adaptation of A Model-Based Climate Curriculum: A Three-Year Longitudinal Study

Foregrounding climate education in formal science learning environments provides students with opportunities to develop critical climate-related knowledge and skills. However, research has shown many challenges to teaching and learning about Earth’s climate and global climate change (GCC). This longitudinal study aims to establish how secondary science teachers, over time, implement model-based climate curricula in support of students’ climate and GCC education by utilizing EzGCM. The model (EzGCM) is a data-driven, computer-based climate modeling tool use to explore global climate data. Multiple sources of data collection, including teacher interviews, classroom observations, and daily reflections, were employed to address the research question: “How did two teachers’ implementation strategies evolve over the three-year study while utilizing a model-based, climate-focused curriculum?” This study provides insight into how and why these resources [model-based climate education curricula] are utilized in science learning environments, thereby informing ongoing efforts to enhance climate education and, in doing so, preparing the next generation of climate-literate adults prepared to confront this most critical global challenge of our age. The findings showed while both teachers engaged in increasingly model-centric instructional practices, these changes were modest. Furthermore, both teacher’s observed classroom practices were less model-centric than the designed curriculum. Ultimately emphasizing the transition from existing practices to improved ones, rather than seeking the perfect approach, the study offers practical insights that can honestly assist secondary educators in real-world settings by highlighting state of climate education in secondary science classrooms.

Secondary science teaching↗

NASA NTRS2024

Design, Development, and Use of a Lunar Lander Simulation for NASA’s Artemis Program

James Gentile↗

NASA NTRS1980

The reduced order model problem in distributed parameter systems adaptive identification and control

The research concerning the reduced order model problem in distributed parameter systems is reported. The adaptive control strategy was chosen for investigation in the annular momentum control device. It is noted, that if there is no observation spill over, and no model errors, an indirect adaptive control strategy can be globally stable. Recent publications concerning adaptive control are included.

Johnson, C. R., Jr.↗

DOE OSTI2022

Hybrid large-eddy simulation with adaptive downstream anisotropic eddy viscosity model

Turbulence pervades most flows of engineering interest, and its prediction remains a challenge on both accuracy and cost. One promising predictive approach that reduces cost combines large-eddy simulation (LES) with simulation based on Reynolds averaged Navier–Stokes equations (RANS). This study presents a method to overcome stability and accuracy issues associated with these hybrid LES-RANS methods. The method developed involves extracting the Reynolds stresses from the upstream LES solution and then using that information to convert the downstream RANS model from a scalar eddy-viscosity model to an anisotropic nonlinear eddy-viscosity model. The method developed differs from the downstream tensorial eddy-viscosity model by being independent of the coordinate system. The method developed was evaluated by computing film cooling of a flat plate with the coolant injected through one row of circular holes. Results obtained show instabilities at the LES-to-RANS interface to be eliminated. Also, the method developed yielded solutions that compare reasonably well with those from LES, even though a significant portion of the flow is computed by the adapted anisotropic RANS model instead of LES, which significantly reduced the number of grid points and computational time needed. Since modification of the downstream RANS model is based on information extracted from the upstream LES solution, the method developed is adaptive to the problem being studied.

42 ENGINEERING↗

NASA NTRS1987

Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.

Skowronski, J. M.↗

DOE OSTI2020

Economic Model for Estimation of GDP Losses in the MACCS Offsite Consequence Analysis Code

The MACCS (MELCOR Accident Consequence Code System) code is the U.S. Nuclear Regulatory Commission (NRC) tool used to perform probabilistic health and economic consequence assessments for atmospheric releases of radionuclides. It is also used by international organizations, both reactor owners and regulators. It is intended and most commonly used for hypothetical accidents that could potentially occur in the future rather than to evaluate past accidents or to provide emergency response during an ongoing accident. It is designed to support probabilistic risk and consequence analyses and is used by the NRC, U.S. nuclear licensees, the Department of Energy, and international vendors, licensees, and regulators. This report describes the modeling framework, implementation, verification, and benchmarking of a GDP-based model for economic losses that has recently been developed as an alternative to the original cost-based economic loss model in MACCS. The GDP-based model has its roots in a code developed by Sandia National Laboratories for the Department of Homeland Security to estimate short-term losses from natural and manmade accidents, called the Regional Economic Accounting analysis tool (REAcct). This model was adapted and modified for MACCS and is now called the Regional Disruption Economic Impact Model (RDEIM). It is based on input-output theory, which is widely used in economic modeling. It accounts for direct losses to a disrupted region affected by an accident, indirect losses to the national economy due to disruption of the supply chain, and induced losses from reduced spending by displaced workers. RDEIM differs from REAcct in its treatment and estimation of indirect loss multipliers, elimination of double counting associated with inter-industry trade in the affected area, and that it is designed to be used to estimate impacts for extended periods that can occur from a major nuclear reactor accident, such as the one that occurred at the Fukushima Daiichi site in Japan. Most input-output models do not account for economic adaptation and recovery, and in this regard RDEIM differs from its parent, REAcct, because it allows for a user-definable national recovery period. Implementation of a recovery period was one of several recommendations made by an independent peer review panel to ensure that RDEIM is state-of-practice. For this and several other reasons, RDEIM differs from REAcct. Both the original and the RDEIM economic loss models account for costs from evacuation and relocation, decontamination, depreciation, and condemnation. Where the original model accounts for an expected rate of return, based on the value of property, that is lost during interdiction, the RDEIM model instead accounts for losses of GDP based on the industrial sectors located within a county. The original model includes costs for disposal of crops and milk that the RDEIM model currently does not, but these costs tend to contribute insignificantly to the overall losses. This document discusses three verification exercises to demonstrate that the RDEIM model is implemented correctly in MACCS. It also describes a benchmark study at five nuclear power plants chosen to represent the spectrum of U.S. commercial sites. The benchmarks provide perspective on the expected differences between the RDEIM and the original cost-based economic loss models. The RDEIM model is shown to consistently predict larger losses than the original model, probably in part because it accounts for national losses by including indirect and induced losses; whereas, the original model only accounts for regional losses. Nonetheless, the RDEIM model predicts losses that are remarkably consistent with the original cost-based model, differing by 16% at most for the five sites combined with three source terms considered in this benchmark.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS1986

Adaptive control robustness in flexible aircraft application

This paper presents the application of a model reference adaptive control (MRAC) algorithm to flexible aircraft flight control. The algorithm is an adaptive version of the Command Generator Tracking (CGT) control technique. This technique forces a dynamic system to follow a reduced-order model, allowing it to cope with the problem of unmodeled dynamics. The studies were made via simulation, using for the plant an aircraft dynamic model similar to the B1 bomber. This model is of a large aircraft with a reasonable amount of structural flexibility. In particular, flight configurations were analyzed where the influence of the flexible modes make it difficult to control the aircraft. The results indicate that the algorithm has good robustness properties vis-a-vis unmodeled dynamics and can force the flexible aircraft to follow rigid body responses.

Sanchez, E. N.↗

DOE OSTI2021

Decentralized Filtering Adaptive Neural Network Control for Uncertain Switched Interconnected Nonlinear Systems

This article presents a novel decentralized filtering adaptive neural network control framework for uncertain switched interconnected nonlinear systems. Each subsystem has its own decentralized controller based on the established decentralized state predictor. For each subsystem, the nonlinear uncertainties are approximated by a Gaussian radial basis function (GRBF) neural network incorporated with a piecewise constant adaptive law, where the adaptive law will update adaptive parameters from the error dynamics between the host system and the decentralized state predictor by discarding the unknowns, whereas a decentralized filtering control law is derived to cancel both local and mismatched uncertainties from other subsystems, as well as achieve the local objective tracking of the host system. The achievement of global objective depends on the achievement of local objective for each subsystem. The matched uncertainties are canceled directly by adopting their opposite in the control signal, whereas a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. By exploiting the average dwell time principle, the error bounds between the real system and the virtual reference system, which defines the best performance that can be achieved by the closed-loop system, are derived. A numerical example is given to illustrate the effectiveness of the decentralized filtering adaptive neural network control architecture by comparing against the model reference adaptive control (MRAC).

Average dwell time, decentralized, filtering adapt↗

NASA NTRS1982

Adaptive control in the presence of unmodeled dynamics

Stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances were investigated. The class of adaptive algorithms considered are those commonly referred to as model reference adaptive control algorithms, self-tuning controllers, and dead beat adaptive controllers, developed for both continuous-time systems and discrete-time systems. A unified analytical approach was developed to examine the class of existing adaptive algorithms. It was discovered that all existing algorithms contain an infinite gain operator in the dynamic system that defines command reference errors and parameter errors; it is argued that such an infinite gain operator appears to be generic to all adaptive algorithms, whether they exhibit explicit or implicit parameter identification. It is concluded that none of the adaptive algorithms considered can be used with confidence in a practical control system design, because instability will set in with a high probability.

Rohrs, C. E.↗

NASA NTRS1986

Applications of a Venus thermospheric circulation model

A variety of Pioneer Venus observations suggest a global scale, day-to-night Venus thermospheric circulation. Model studies of the dynamics and energetics of the Venus thermosphere are presented in order to address new driving, mixing and cooling mechanisms for an improved model simulation. The adopted approach was to reexamine the circulation by first using a previous two dimensional code to quantify those physical processes which can be inferred from the Pioneer Venus observations. Specifically, the model was used to perform sensitivity studies to determine the degree to which eddy cooling, eddy or wave drag, eddy diffusion and 15 micrometer radiational cooling are necessary to bring the model temperature and composition fields into agreement with observations. Three EUV heating cases were isolated for study. Global temperature and composition fields in good agreement with Pioneer data were obtained. Large scale horizontal winds 220 m/s were found to be consistent with the observed cold nightside temperatures and dayside bulges of O, CO and CO2. Observed dayside temperatures were obtained by using a 7 to 19% EUV heating efficiency profile. The enhanced 15 micrometer cooling needed for thermal balance is obtained using the best rate coefficient available for atomic O collisional excitation of CO2(0,1,0). Eddy conduction was not found to be a viable cooling mechanism due to the weakened global circulation. The strong 15 micrometer damping and low EUV efficiency imply a very weak dependence of the general circulation to solar cycle variability. The NCAR terrestrial thermospheric general circulation model was adapted for Venus inputs using the above two dimensional model parameters, to give a three dimensional benchmark for future Venus modelling work.

Bougher, S. W.↗