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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Robust Fuzzy Controllers Using FPGAs

Electro-mechanical device controllers typically come in one of three forms, proportional (P), Proportional Derivative (PD), and Proportional Integral Derivative (PID). Two methods of control are discussed in this paper; they are (1) the classical technique that requires an in-depth mathematical use of poles and zeros, and (2) the fuzzy logic (FL) technique that is similar to the way humans think and make decisions. FL controllers are used in multiple industries; examples include control engineering, computer vision, pattern recognition, statistics, and data analysis. Presented is a study on the development of a PD motor controller written in very high speed hardware description language (VHDL), and implemented in FL. Four distinct abstractions compose the FL controller, they are the fuzzifier, the rule-base, the fuzzy inference system (FIS), and the defuzzifier. FL is similar to, but different from, Boolean logic; where the output value may be equal to 0 or 1, but it could also be equal to any decimal value between them. This controller is unique because of its VHDL implementation, which uses integer mathematics. To compensate for VHDL's inability to synthesis floating point numbers, a scale factor equal to 10(sup (N/4) is utilized; where N is equal to data word size. The scaling factor shifts the decimal digits to the left of the decimal point for increased precision. PD controllers are ideal for use with servo motors, where position control is effective. This paper discusses control methods for motion-base platforms where a constant velocity equivalent to a spectral resolution of 0.25 cm(exp -1) is required; however, the control capability of this controller extends to various other platforms.

Monroe, Author Gene S., Jr.↗
NASA NTRS1970

Protective garment ventilation system

A method and apparatus for ventilating a protective garment, space suit system, and/or pressure suits to maintain a comfortable and nontoxic atmosphere within is described. The direction of flow of a ventilating and purging gas in portions of the garment may be reversed in order to compensate for changes in environment and activity of the wearer. The entire flow of the ventilating gas can also be directed first to the helmet associated with the garment.

Lang, R.↗
NASA NTRS1984

Applications of the magneto-optical filter to stellar pulsation measurements

A proposed method of employing the Cacciani magneto-optical filter (MOF) for stellar seismology studies is described. The method relies on the fact that the separation of the filter bandpasses in the MOF can be changed by varying the level of input power to the filter cells. With the use of a simple servosystem the bandpass of a MOF can be tuned to compensate for the changes in the radial velocity of a star introduced by the orbital motion of the Earth. Such a tuned filter can then be used to record intensity fluctuations through the MOF bandpass over an extended period of time for each given star. Also, the use of a two cell version of the MOF makes it possible to alternately chop between the bandpass located in the stellar line wing and a second bandpass located in the stellar continuum. Rapid interchange between the two channels makes it possible for atmospheric-introduced noise to be removed from the time series.

Rhodes, E. J., Jr.↗
NASA NTRS1986

Applications of the magneto-optical filter to stellar pulsation measurements

A proposed method of employing the Cacciani magneto-optical filter (MOF) for stellar seismology studies is described. The method relies on the fact that the separation of the filter bandpasses in the MOF can be changed by varying the level of input power to the filter cells. With the use of a simple servosystem the bandpass of a MOF can be tuned to compensate for the changes in the radial velocity of a star introduced by the orbital motion of the earth. Such a tuned filter can then be used to record intensity fluctuations through the MOF bandpass over an extended period of time for each given star. Also, the use of a two cell version of the MOF makes it possible to alternately chop between the bandpass located in the stellar line wing and a second bandpass located in the stellar continuum. Rapid interchange between the two channels makes it possible for atmospheric-introduced noise to be removed from the time series.

Rhodes, Edward J., Jr.↗
NASA NTRS1989

A simple active controller to suppress helicopter air resonance in hover and forward flight

A coupled rotor/fuselage helicopter analysis with the important effects of blade torsional flexibility, unsteady aerodynamics, and forward flight is presented. This model is used to illustrate the effect of unsteady aerodynamics, forward flight, and torsional flexibility on air resonance. Next, a nominal configuration, which experiences air resonance in forward flight, is selected. A simple multivariable compensator using conventional swashplate inputs and a single body roll rate measurement is then designed. The controller design is based on a linear estimator in conjunction with optimal feedback gains, and the design is done in the frequency domain using the loop-transfer recovery method. The controller is shown to suppress the air resonance instability throughout wide range helicopter loading conditions and forward flight speeds.

Friedmann, P. P.↗
NASA NTRS1991

Calculation Of Pneumatic Attenuation In Pressure Sensors

Errors caused by attenuation of air-pressure waves in narrow tubes calculated by method based on fundamental equations of flow. Changes in ambient pressure transmitted along narrow tube to sensor. Attenuation of high-frequency components of pressure wave calculated from wave equation derived from Navier-Stokes equations of viscous flow in tube. Developed to understand and compensate for frictional attenuation in narrow tubes used to connect aircraft pressure sensors with pressure taps on affected surfaces.

Whitmore, Stephen A.↗
NASA NTRS1996

Load Balancing Unstructured Adaptive Grids for CFD Problems

Mesh adaption is a powerful tool for efficient unstructured-grid computations but causes load imbalance among processors on a parallel machine. A dynamic load balancing method is presented that balances the workload across all processors with a global view. After each parallel tetrahedral mesh adaption, the method first determines if the new mesh is sufficiently unbalanced to warrant a repartitioning. If so, the adapted mesh is repartitioned, with new partitions assigned to processors so that the redistribution cost is minimized. The new partitions are accepted only if the remapping cost is compensated by the improved load balance. Results indicate that this strategy is effective for large-scale scientific computations on distributed-memory multiprocessors.

Biswas, Rupak↗
NASA NTRS2006

Effect of DC Offset on the T-Wave Residuum Parameter

The T-wave residuum (TWR) is a relatively new 12-lead ECG parameter that may reflect cardiac repolarization heterogeneity. TWR shows clinical promise and may become an important diagnostic tool if accurate, consistent, and convenient methods for its calculation can be developed. However, there are discrepancies between the methods that various investigators have used to calculate TWR, as well as some questions about basic methodology and assumptions that require resolution. The presence of a DC offset or very low frequency AC component to the ECG is often observed. Many researchers have attempted to compensate for these by high pass filters and by median beat techniques. These techniques may help minimize the contribution of a low frequency AC component to the TWR, but they will not eliminate a DC offset inherent within the instrumentation. The present study examined the presence of DC offsets in the ECG record, and their effect on TWR. Specifically, in healthy individuals, a DC offset was added to all 8 channels collectively or to each channel selectively. Even with offsets that were relatively small compared to T-wave amplitude, the addition of either collectively or individually applied offsets was observed to produce very significant changes in the TWR, affecting its value by as much as an order of magnitude. These DC offsets may arise from at least two possible sources: a transient artifact from EMG or electrode movement resulting in a transient baseline offset in one or more channels. Since highpass filters have a settling time of several seconds, these artifacts will contribute to a transitory baseline offset lasting 1020 cycles. The machine hardware may also introduce an offset. Regardless of the cause or source of a DC offset, this study demonstrates that offsets have a very significant impact on TWR, and that future studies must not ignore their presence, but rather more appropriately compensate for them.

Scott, N.↗
NASA NTRS2013

Surface Reflectance of Mars Observed by CRISM-MRO: 1. Multi-angle Approach for Retrieval of Surface Reflectance from CRISM Observations (mars-reco)

This article addresses the correction for aerosol effects in near-simultaneous multiangle observations acquired by the Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) aboard the Mars Reconnaissance Orbiter. In the targeted mode, CRISM senses the surface of Mars using 11 viewing angles, which allow it to provide unique information on the scattering properties of surface materials. In order to retrieve these data, however, appropriate strategies must be used to compensate the signal sensed by CRISM for aerosol contribution. This correction is particularly challenging as the photometric curve of these suspended particles is often correlated with the also anisotropic photometric curve of materials at the surface. This article puts forward an innovative radiative transfer based method named Multi-angle Approach for Retrieval of Surface Reflectance from CRISM Observations (MARS-ReCO). The proposed method retrieves photometric curves of surface materials in reflectance units after removing aerosol contribution. MARS-ReCO represents a substantial improvement regarding previous techniques as it takes into consideration the anisotropy of the surface, thus providing more realistic surface products. Furthermore, MARS-ReCO is fast and provides error bars on the retrieved surface reflectance. The validity and accuracy of MARS-ReCO is explored in a sensitivity analysis based on realistic synthetic data. According to experiments, MARS-ReCO provides accurate results (up to 10 reflectance error) under favorable acquisition conditions. In the companion article, photometric properties of Martian materials are retrieved using MARS-ReCO and validated using in situ measurements acquired during the Mars Exploration Rovers mission.

CRISM/MRO↗
NASA NTRS1975

Two self-test methods applied to an inertial system problem

The paper describes two self-test procedures applied to the problem of estimating the biases in accelerometers and gyroscopes on an inertial platform. The first technique is the weighted sum-squared residual (WSSR) test, with which accelerator bias jumps are easily isolated, but gyro bias jumps are difficult to isolate. The WSSR method does not take full advantage of the knowledge of system dynamics. The other technique is a multiple hypothesis method developed by Buxbaum and Haddad (1969). It has the advantage of directly providing jump isolation information, but suffers from computational problems. It might be possible to use the WSSR to detect state jumps and then switch to the BH system for jump isolation and estimate compensation.

Willsky, A. S.↗
NASA NTRS1988

Developments in the simulation of a geopotential research mission

An essential element of any satellite system that will be used to recover information about high degree and order terms in the geopotential model of the earth is one or more low altitude (about 160 km) satellites equipped with a drag compensation mechanism. To study the effects of various error sources and to test the new theoretical and numerical techniques that will be developed for such a mission, two simulated scenarios have been used with a geopotential model complete to degree and order 360 and Encke's method to numerically integrate the equations of motion. The two scenarios include the low-low dual satellite system with integrated, one-way Doppler measurements and the single satellite system with gradiometer measurements. The simulations include a reference orbit which is assumed to be available from conventional tracking systems.

Schutz, B. E.↗
NASA NTRS1994

Failure tolerant operation of kinematically redundant manipulators

Redundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on the manipulator's range of motion to guarantee completion of a task.

Lewis, Christopher L.↗
NASA NTRS1995

Method for the calculation of spacecraft umbra and penumbra shadow terminator points

A method for calculating orbital shadow terminator points is presented. The current method employs the use of an iterative process which is used for an accurate determination of shadow points. This calculation methodology is required since orbital perturbation effects can introduce large errors when a spacecraft orbits a planet in a high altitude and/or highly elliptical orbit. To compensate for the required iteration methodology, all reference frame change definitions and calculations are performed with quaternions. Quaternion algebra significantly reduces the computational time required for the accurate determination of shadow terminator points.

Ortizlongo, Carlos R.↗
NASA NTRS2010

System and method for correcting attitude estimation

A system includes an angular rate sensor disposed in a vehicle for providing angular rates of the vehicle, and an instrument disposed in the vehicle for providing line-of-sight control with respect to a line-of-sight reference. The instrument includes an integrator which is configured to integrate the angular rates of the vehicle to form non-compensated attitudes. Also included is a compensator coupled across the integrator, in a feed-forward loop, for receiving the angular rates of the vehicle and outputting compensated angular rates of the vehicle. A summer combines the non-compensated attitudes and the compensated angular rates of the to vehicle to form estimated vehicle attitudes for controlling the instrument with respect to the line-of-sight reference. The compensator is configured to provide error compensation to the instrument free-of any feedback loop that uses an error signal. The compensator may include a transfer function providing a fixed gain to the received angular rates of the vehicle. The compensator may, alternatively, include a is transfer function providing a variable gain as a function of frequency to operate on the received angular rates of the vehicle.

Josselson, Robert H.↗
NASA NTRS1989

Design Of Combined Stochastic Feedforward/Feedback Control

Methodology accommodates variety of control structures and design techniques. In methodology for combined stochastic feedforward/feedback control, main objectives of feedforward and feedback control laws seen clearly. Inclusion of error-integral feedback, dynamic compensation, rate-command control structure, and like integral element of methodology. Another advantage of methodology flexibility to develop variety of techniques for design of feedback control with arbitrary structures to obtain feedback controller: includes stochastic output feedback, multiconfiguration control, decentralized control, or frequency and classical control methods. Control modes of system include capture and tracking of localizer and glideslope, crab, decrab, and flare. By use of recommended incremental implementation, control laws simulated on digital computer and connected with nonlinear digital simulation of aircraft and its systems.

Halyo, Nesim↗
NASA NTRS1998

Some Formal Aspects of Human-Machine Interaction

While automated control systems such as autopilots and medical devices are introduced at a rapid pace, it is widely recognized that user interaction with these machines is problematic (Abbott, Slotte, & Stimson, 1996). One factor commonly cited in the literature is the discrepancy between the machine's behavior and the user's expectations. Design guidelines to reduce this discrepancy focus on two elements: (1) improvement of the "feedback" about what the automation is actually doing, and (2) improvement of the user's "mental model" of the automation (Norman, 1990; Sarter and Woods, 1995). This presentation describes a methodology for investigating these two elements via a formal (Le., mathematical) approach. The method involves two representations: (1) a finite state model of the machine's behavior (2) a finite state model of the user's knowledge and expectations about the machine's behavior. In the analysis phase we compare these two models and identify discrepancies. Such discrepancies can be compensated by augmenting the display and/or the user's model. A taxonomy of these discrepancies will be discussed using examples from automated Eight control systems of modern "glass cockpit" jetliners.

Degani, Asaf↗
NASA NTRS1986

Tests with three-dimensional adjustments in the rectangular working section of the French T2 wind tunnel with an AS 07-type swept-back wing model

The results obtained on the AS 07 wing and the working section walls for three types of configurations are reported. The first, called non-adapted, corresponds to the divergent upper and lower rectilinear walls which compensate for limit layer thickening. It can serve as a basis for complete flow calculations. The second configuration corresponds to wall shapes determined from calculations which tend to minimize interference at the level of the fuselage. Finally, the third configuration, called two-dimensional adaptation, uses the standard method for T2 profile tests. This case was tested to determine the influence of wall shape and error magnitude. These results are not sufficient to validate the three-dimensional adaptation; they must be coordinated with calculations or with unlimited atmosphere tests.

Blanchard, A.↗
NASA NTRS1991

Frame Shift/warp Compensation for the ARID Robot System

The Automatic Radiator Inspection Device (ARID) is a system aimed at automating the tedious task of inspecting orbiter radiator panels. The ARID must have the ability to aim a camera accurately at the desired inspection points, which are in the order of 13,000. The ideal inspection points are known; however, the panel may be relocated due to inaccurate parking and warpage. A method of determining the mathematical description of a translated as well as a warped surface by accurate measurement of only a few points on this surface is developed here. The method uses a linear warp model whose effect is superimposed on the rigid body translation. Due to the angles involved, small angle approximations are possible, which greatly reduces the computational complexity. Given an accurate linear warp model, all the desired translation and warp parameters can be obtained by knowledge of the ideal locations of four fiducial points and the corresponding measurements of these points on the actual radiator surface. The method uses three of the fiducials to define a plane and the fourth to define the warp. Given this information, it is possible to determine a transformation that will enable the ARID system to translate any desired inspection point on the ideal surface to its corresponding value on the actual surface.

Latino, Carl D.↗