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At least 451 records · Page 25

All sources NASA NTRS DOE OSTI

NASA NTRS2005

Distributed Adaptive Control: Beyond Single-Instant, Discrete Variables

In extensive form noncooperative game theory, at each instant t, each agent i sets its state x, independently of the other agents, by sampling an associated distribution, q(sub i)(x(sub i)). The coupling between the agents arises in the joint evolution of those distributions. Distributed control problems can be cast the same way. In those problems the system designer sets aspects of the joint evolution of the distributions to try to optimize the goal for the overall system. Now information theory tells us what the separate q(sub i) of the agents are most likely to be if the system were to have a particular expected value of the objective function G(x(sub 1),x(sub 2), ...). So one can view the job of the system designer as speeding an iterative process. Each step of that process starts with a specified value of E(G), and the convergence of the q(sub i) to the most likely set of distributions consistent with that value. After this the target value for E(sub q)(G) is lowered, and then the process repeats. Previous work has elaborated many schemes for implementing this process when the underlying variables x(sub i) all have a finite number of possible values and G does not extend to multiple instants in time. That work also is based on a fixed mapping from agents to control devices, so that the the statistical independence of the agents' moves means independence of the device states. This paper also extends that work to relax all of these restrictions. This extends the applicability of that work to include continuous spaces and Reinforcement Learning. This paper also elaborates how some of that earlier work can be viewed as a first-principles justification of evolution-based search algorithms.

Wolpert, David H.↗

NASA NTRSDate not supplied

Hyperspectral Sounder Spectral Fingerprinting: Using Machine Learning Techniques to Enhance Model-Based Physical Inversion

Different retrieval algorithms have been developed to process top-of-atmosphere (TOA) spectral radiance data provided by hyperspectral infrared sounder missions. Those algorithms are either optimal estimation method (OEM) based schemes with radiative transfer calculation involved in the retrieval process, or machine learning based methods that allow ultra-efficient data procession but lack of radiometric consistency validation based on the directly measured information. Combining both approaches leverages their respective technical advantages, leading to more accurate results. This study introduces a hyperspectral sounder fingerprinting algorithm to explore this hybrid approach. This approach involves the use of a spectral information-based classification method to identify an reference geophysical state and the corresponding radiative kernel. This enables the efficient retrieval of geophysical variables of interest through a radiative kernel-based linear inversion procedure. The fingerprinting method has been applied to analyze a decade-long hyperspectral sounder data record.

Wan Wu↗

NASA NTRS1989

A robot arm simulation with a shared memory multiprocessor machine

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Kim, Sung-Soo↗

NASA NTRS1992

Power assist EVA glove development

Structural modeling of the EVA glove indicates that flexibility in the metacarpophalangeal (MCP) joint can be improved by selectively lowering the elasticity of the glove fabric. Two strategies are used to accomplish this. One method uses coil springs on the back of the glove to carry the tension in the glove skin due to pressurization. These springs carry the loads normally borne by the glove fabric, but are more easily deformed. An active system was also designed for the same purpose and uses gas filled bladders attached to the back of the EVA glove that change the dimensions of the back of the glove and allow the glove to bend at the MCP joint, thus providing greater flexibility at this joint. A threshold control scheme was devised to control the action of the joint actuators. Input to the controller was provided by thin resistive pressure sensors placed between the hand and the pressurized glove. The pressure sensors consist of a layer of polyester film that has a thin layer of ink screened on the surface. The resistivity of the ink is pressure dependent, so an extremely thin pressure sensor can be fabricated by covering the ink patch with another layer of polyester film and measuring the changing resistance of the ink with a bridge circuit. In order to sense the force between the hand and the glove at the MCP joint, a sensor was placed on the palmar face of the middle finger. The resultant signal was used by the controller to decide whether to fill or exhaust the bladder actuators on the back of the glove. The information from the sensor can also be used to evaluate the effectiveness of a given control scheme or glove design since the magnitude of the measured pressures gives some idea of the torque required to bend a glove finger at the MCP joint. Tests of this actuator, sensor, and control system were conducted in an 57.2 kPa glove box by performing a series of 90 degree finger bends with a glove without an MCP joint assembly, a glove with the coil spring assembly, and with the four fingered actuated glove. The tests of these three glove designs confirm the validity of the model.

Main, John A.↗

NASA NTRS1991

Discretized Newton-relaxation solution of high resolution flux-difference split schemes

A method is presented for the implicit solution of high resolution flux-difference split schemes for which it is impractical to obtain the Jacobian matrix analytically. The method is used frequently in numerical schemes for solving nonlinear systems of equations, but apparently has not been used to date for approximating the Jacobian of the Roe numerical flux vectors. The method consists of obtaining a discretized Jacobian by using simple finite-differences of the flux vectors, and then using this discretized Jacobian in a Newton-relaxation solution method. The method is applied to both compressible and incompressible flows. Numerical results are presented that demonstrate the method works for both inviscid and viscous flows.

Whitfield, David L.↗

NASA NTRS1993

The theoretical accuracy of Runge-Kutta time discretizations for the initial boundary value problem: A careful study of the boundary error

The conventional method of imposing time dependent boundary conditions for Runge-Kutta (RK) time advancement reduces the formal accuracy of the space-time method to first order locally, and second order globally, independently of the spatial operator. This counter intuitive result is analyzed in this paper. Two methods of eliminating this problem are proposed for the linear constant coefficient case: (1) impose the exact boundary condition only at the end of the complete RK cycle, (2) impose consistent intermediate boundary conditions derived from the physical boundary condition and its derivatives. The first method, while retaining the RK accuracy in all cases, results in a scheme with much reduced CFL condition, rendering the RK scheme less attractive. The second method retains the same allowable time step as the periodic problem. However it is a general remedy only for the linear case. For non-linear hyperbolic equations the second method is effective only for for RK schemes of third order accuracy or less. Numerical studies are presented to verify the efficacy of each approach.

Carpenter, Mark H.↗

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 NTRS1997

Adaptive Fuzzy Control of a Direct Drive Motor

Medina, E.↗

NASA NTRS1997

A Spherical to Plane Wave Transformation Using a Reflectarray

A reflectarray has generally been used as a replacement for a reflector antenna. Using in this capacity, different configurations (prime focus, offset etc.) and various applications (dual frequency, scanning etc.) have been demonstrated with great success. Another potential application that has not been explored previously is the use of reflectarrays to compensate for phase errors in space power combining applications such as space-fed lens and power combining amplifier. In these applications, it is required to convert a spherical wave to a plane wave with proper phase correction added to each element of the reflectarray. This paper reports an experiment to investigate the feasibility of using a reflectarray as an alternative to a lens in space power combining. The experiment involves transforming a spherical wave from a orthomode horn to a plane wave at the horn aperture. The reflcctarray consists of square patches terminated in open stubs to provide necessary phase compensation. In this paper, preliminary results will be presented and the feasibility of such compensation scheme will be discussed.

Zaman, Afroz J.↗

NASA NTRS1981

Combining LANDSAT MSS, aerial photographs and ground measurements to estimate rangeland productivity

The production of a vegetation map of over 2.2 million acres with detail down to the plant community level, and the production of estimates of rangeland productivity (pounds of usable forage per acre for cattle) for a 500,000 acre subset of area with a design goal for accuracy and precision of + or - 20% at the 80% confidence level, are considered. The data consist of five groups: maps of area, LANDSAT data, digital terrain data, large scale aerial photography, and ground plots. An outline of the data acquisition and data reduction schemes are presented.

Gialdini, M. J.↗

NASA NTRS1992

Active control of sound transmission/radiation from elastic plates by vibration inputs. II - Experiments

Actively controlled harmonic force inputs were applied experimentally to reduce the sound transmitted through an elastic circular plate. The control implementation used a time domain least mean square adaptive algorithm with two error sensors. The control forces were applied directly to the plate by point force vibration inputs, while the error information and performance were measured in the radiated acoustic field by microphones. Test cases were also performed in which the error sensors were accelerometers mounted on the plate. When accelerometers were used as error sensors, the controller performance was degraded; leading to the conclusion that minimizing plate motion does not necessarily lead to an associated decrease in radiated sound levels. In contrast, the results show excellent attenuation of the transmitted sound field when microphone error sensors were used. This result was consistent over a range of frequencies. In addition, the experimental results are compared to previously derived analytical results and the effect of using a point or global minimization scheme is discussed.

Metcalf, V. L.↗

NASA NTRS1994

An approximate Riemann solver for magnetohydrodynamics (that works in more than one dimension)

An approximate Riemann solver is developed for the governing equations of ideal magnetohydrodynamics (MHD). The Riemann solver has an eight-wave structure, where seven of the waves are those used in previous work on upwind schemes for MHD, and the eighth wave is related to the divergence of the magnetic field. The structure of the eighth wave is not immediately obvious from the governing equations as they are usually written, but arises from a modification of the equations that is presented in this paper. The addition of the eighth wave allows multidimensional MHD problems to be solved without the use of staggered grids or a projection scheme, one or the other of which was necessary in previous work on upwind schemes for MHD. A test problem made up of a shock tube with rotated initial conditions is solved to show that the two-dimensional code yields answers consistent with the one-dimensional methods developed previously.

Powell, Kenneth G.↗

NASA NTRSDate not supplied

Exploring Sustained Food Production in the Veggie Vegetable Production System

Since 2014, the Veggie vegetable production system on the International Space Station has intermittently supplied astronaut crews with fresh produce. To assess the potential for continuous crop production in Veggie and develop a baseline for future space crop production systems, a 120-day study was conducted to determine methodology for inputs, optimal yield, food safety standards, and crew involvement. ‘Amara’ mustard and ‘Red Russian’ kale were grown as initial crops, followed by ‘Extra Dwarf’ pakchoi and shungiku as final crops. Previous grow-outs in Veggie have included harvests at 28-35 days after initiation. In this study, a 56-day grow-out with multiple harvests from the same plants was compared to the conventional, single harvest Veggie schedule. Unlike previous Veggie studies which grew all plants simultaneously, this test staggered initiation and harvest, aiming for consistent and increased production. Plant pillows were initiated in pairs weekly and positioned to reduce shading. Completed pillows were immediately replaced with fresh ones. The multi-harvest scheme used fewer pillows, totaling 46% less pillow mass than the single harvest method. Yield varied by crop and harvest scheme, when compared as fresh edible biomass production across 56-day time increments. ‘Red Russian’ kale yielded similarly across harvest schemes. In the multiple-harvest schedule, ‘Amara’ mustard and shungiku yielded 23% to 25% higher, respectively, while ‘Extra Dwarf’ pakchoi had 43% lower yield. Microbial analysis of the plants indicated no culturable human pathogens. Microbial load of a given plant appeared to depend more on system age than plant age; across harvest methods, aerobic plate counts from final crops were higher than those of initial crops. This project also considered the complexity of crew involvement in a continuous production scenario. New crew procedures that periodically remove plant material from the Veggie root mat would be needed under continuous production to prevent potential pathogens and unpleasant odors. This study supports future space crop production scenarios and was funded by NASA’s Human Research Program.

Jess M Bunchek↗

NASA NTRSDate not supplied

Sustained Veggie: A Continuous Food Production Comparison

The International Space Station’s Veggie system intermittently supplies the crew with fresh produce. To assess the potential for continuous crop production in Veggie and develop a baseline for future space crop production systems, a 120-day study was conducted to determine methodology for inputs, optimal yield, and crew involvement. ‘Amara’ mustard and ‘Red Russian’ kale were grown as initial crops, followed by ‘Extra Dwarf’ pak choi and shungiku as final crops. Previous grow-outs in Veggie have included harvests at 28-35days after initiation. In this study, a 56-day grow-out with multiple harvests from the same plants was compared to the conventional, single harvest Veggie schedule. Unlike previous Veggie studies which grew all plants simultaneously, this test staggered initiation and harvest, aiming for consistent and increased production. Plant pillows were initiated in pairs weekly and positioned to reduce shading. Completed pillows were immediately replaced with fresh ones. The multi-harvest scheme used fewer pillows, totaling 46% less pillow mass than the single harvest method. Scaled to 56-day increments, yield varied by crop and harvest scheme. ‘Red Russian’ kale yielded similarly across harvest schemes. In the multiple-harvest schedule, ‘Amara’ mustard and shungiku yielded 23% to 25% higher, respectively, while ‘Extra Dwarf’ pak choi had43% lower yield. Microbial analysis of the plants indicated no culturable human pathogens. Microbial load of a given plant appears to depend more on system age than plant age. Across harvest methods, aerobic plate counts from final crops were higher than those of initial crops. This project also considered the complexity of crew involvement in a continuous production scenario. New crew procedures that periodically remove plant material from the Veggie root mat are needed under continuous production to prevent potential pathogens and unpleasant odors. This study supports future space crop production scenarios and was funded by NASA’s Human Research Program.

Jess M Bunchek↗

NASA NTRSDate not supplied

Updates to Implicit Edge-Based Gradient Methods

In this paper, we report updates to the implicit edge-based gradient methods originally introduced in [H. Nishikawa, AIAA Paper 2020-3048, 2020]. First, we clarify the relationship between gradient accuracy and truncation error and show that the quadratic method involves a free parameter. Then, we provide a complete description and a simplified matrix form of the implicit gradient systems including a consistent boundary treatment, and derive a set of parameters for achieving fourth-order gradient accuracy on regular tetrahedral grids. A stability analysis is performed for a relaxation scheme used to solve the implicit gradient systems, and the result serves as a guide for choosing parameters. Numerical results are shown for accuracy verification and also for realistic inviscid flow problems in three dimensions, including flows with shock waves.

Weighted Least-Squares↗

NASA NTRSDate not supplied

Advances in Automation of Overset Structured Volume Mesh Generation and Domain Connectivity

Automation of overset structured surface mesh generation has recently been accomplished by the creation of face, edge, and node meshes based on Boundary Representation solids as the geometry input. The current work continues the automation effort in overset volume mesh generation and domain connectivity based on the auto-generated surface meshes. All near-body curvilinear volume meshes are automatically generated using hyperbolic methods. Automation of this step is enabled by appropriate surface grid point distribution, and selection of boundary-splay and smoothing parameters based on concave and convex surface features. The off-body domain is covered by two automatically generated grid systems. The first contains a single Cartesian mesh with a uniform core enclosing all near-body volume meshes and stretched layers that extend to the far field, while the second consists of a set of small stretched Cartesian grids covering pockets of off-body orphan points. With high quality mesh overlap mostly guaranteed by the surface meshing scheme, orphan points that need to be covered by the second Cartesian mesh system are located away from the fine grid spacing region near the wall. Using line-segment and ray-pierce tests against the surface grids, hole-cutting is accomplished on both near and off-body volume grids resulting in appropriate clearances from the wall. The complete mesh generation automation process is demonstrated on five test cases where flow solutions are also computed and compared with solutions obtained using other methods.

TTT↗

NASA NTRS1993

A simple parallel prefix algorithm for compact finite-difference schemes

A compact scheme is a discretization scheme that is advantageous in obtaining highly accurate solutions. However, the resulting systems from compact schemes are tridiagonal systems that are difficult to solve efficiently on parallel computers. Considering the almost symmetric Toeplitz structure, a parallel algorithm, simple parallel prefix (SPP), is proposed. The SPP algorithm requires less memory than the conventional LU decomposition and is highly efficient on parallel machines. It consists of a prefix communication pattern and AXPY operations. Both the computation and the communication can be truncated without degrading the accuracy when the system is diagonally dominant. A formal accuracy study was conducted to provide a simple truncation formula. Experimental results were measured on a MasPar MP-1 SIMD machine and on a Cray 2 vector machine. Experimental results show that the simple parallel prefix algorithm is a good algorithm for the compact scheme on high-performance computers.

Sun, Xian-He↗

NASA NTRS1982

The ground segment

The LMSS ground segment consists of two types of terminals, mobile and fixed. The salient features of these two components of the LMSS ground segment are discussed. Factors surrounding selection of a modulation scheme for the LMSS are presented. The mobile vehicle antenna, which with its attendant mechanical and electrical requirements pose a challenging problem to the LMSS designers, is covered.

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