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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Steering Law Design for Redundant Single Gimbal Control Moment Gyro Systems

The correspondence between robotic manipulators and single gimbal Control Moment Gyro (CMG) systems was exploited to aid in the understanding and design of single gimbal CMG Steering laws. A test for null motion near a singular CMG configuration was derived which is able to distinguish between escapable and unescapable singular states. Detailed analysis of the Jacobian matrix null-space was performed and results were used to develop and test a variety of single gimbal CMG steering laws. Computer simulations showed that all existing singularity avoidance methods are unable to avoid Elliptic internal singularities. A new null motion algorithm using the Moore-Penrose pseudoinverse, however, was shown by simulation to avoid Elliptic type singularities under certain conditions. The SR-inverse, with appropriate null motion was proposed as a general approach to singularity avoidance, because of its ability to avoid singularities through limited introduction of torque error. Simulation results confirmed the superior performance of this method compared to the other available and proposed pseudoinverse-based Steering laws.

Bedrossian, Nazareth Sarkis↗
NASA NTRS1985

Automatic procedures generator for orbital rendezvous maneuver

This paper describes the development of an expert system for defining and dynamically updating procedures for an orbital rendezvous maneuver. The product of the expert system is a procedure represented by a Moore automaton. The construction is recursive and driven by a simulation of the rendezvousing bodies.

Kohn, W.↗
NASA NTRS1987

Observations of annual and El Nino thermal and flow variations at 0 deg, 110 deg W and 0 deg, 95 deg W during 1980-1985

The paper describes the low-frequency (i.e., time scales longer than a month) upper ocean (above 250 m) current and temperature moored measurements conducted from March 1980 to September 1985 at 0, 110 deg W and from July 1981 to November 1983 (i.e., including the period of the 1982-1983 El Nino) at 0, 95 deg W. Estimates of the annual cycle were removed from the observations to determine the current and temperature fluctuations due to the 1982-1983 El Nino. The circulation of the upper ocean was found to be dramatically altered during the El Nino: the normally westward flowing surface current in autumn months reversed direction, and the equatorial undercurrent, normally considered to be a permanent feature, disappeared. Associated with the El Nino was a massive redistribution of heat throughout the mixed layer and the thermocline.

Halpern, David↗
NASA NTRS1988

Digital processing of orbital radar data to enhance geologic structure - Examples from the Canadian Shield

Various digital enhancement techniques for SAR are compared using SIR-B and Seasat images of the Canadian Shield. The three best methods for enhancing geological structure were found to be: (1) a simple linear contrast stretch; (2) a mean or median low-pass filter to reduce speckle prior to edge enhancement or a K nearest-neighbor average to cosmetically reduce speckle; and (3) a modification of the Moore-Waltz (1983) technique. Three look directions were coregistered and several means of data display were investigated as means of compensating for radar azimuth biasing.

Masuoka, Penny M.↗
NASA NTRS1988

Ion beam releases at rocket altitudes

NASA Flight 29.015 was the third in a series of flights to study the electrodynamics of man-produced ion beams in the ionosphere. Much like an earlier flight (Moore at al., 1982 and 1983; Kaufman et al., 1985), plasma releases perpendicular to the earth's B field result in ions being measured, often at reduced energies, several hundred meters from the source along the magnetic field. Releases at 200-eV energy parallel to B, however, result in over-200-eV ions measured above the source. In addition, parallel ion releases result in two additional populations of ions seen near 90-deg pitch angle; one near the energy of the generator, and the other at considerably lower energy. The energization of parallel ions could result from the same process by which electrons were accelerated to the generator payload as measured on an earlier flight, presumably due to blockage of natural field-aligned currents by gun-related wave turbulence. This turbulence is also undoubtedly inherent in the mechanism by which a parallel beam of ions creates a perpendicular component.

Pollock, C. J.↗
NASA NTRS1988

Application of bifurcation theory to axial flow compressor instability

When a compression system goes unstable, the mode of response depends on the operating and system parameters, such as throttle setting and B parameter. Previous numerical work on the model developed by Moore and Greitzer (1986) has provided a limited picture of the parametric effects. Applying bifurcation theory to a single-harmonic version of the model has supplied much more complete information, defining the boundaries of each mode of response in the parameter space. Specifically, this is shown in a plot of B vs. throttle setting, which compares well with the corresponding map produced experimentally. The importance of the shape of the rotating stall characteristic is emphasized. The analysis shows a qualitative difference between classic surge and deep surge.

Mccaughan, F. E.↗
NASA NTRS1988

Numerical results for axial flow compressor instability

Using Cornell's supercomputing facilities, an extensive study of the Moore-Greitzer model was carried out, which gives accurate and reliable information about compressor instability. The bifurcation analysis in the companion paper shows the dependence of the mode of compressor response on the shape of the rotating stall characteristic. The numerical results verify and extend this with a more accurate representation of the characteristic. The effect of the parameters on the shape of the rotating stall characteristic is investigated, and it is found that the parameters with the strongest effects are the inlet length, and the shape of the compressor pressure rise vs. mass flow diagram (i.e. tall diagrams vs. shallow diagrams). The effects of inlet guide vane loss on the characteristic are discussed.

Mccaughan, F. E.↗
NASA NTRS1988

A parametric LQ approach to multiobjective control system design

The synthesis of a constant parameter output feedback control law of constrained structure is set in a multiple objective linear quadratic regulator (MOLQR) framework. The use of intuitive objective functions such as model-following ability and closed-loop trajectory sensitivity, allow multiple objective decision making techniques, such as the surrogate worth tradeoff method, to be applied. For the continuous-time deterministic problem with an infinite time horizon, dynamic compensators as well as static output feedback controllers can be synthesized using a descent Anderson-Moore algorithm modified to impose linear equality constraints on the feedback gains by moving in feasible directions. Results of three different examples are presented, including a unique reformulation of the sensitivity reduction problem.

Kyr, Douglas E.↗
NASA NTRS1989

Antarctic Ocean polynyas

The spatial and temporal variability of sea ice concentrations derived from Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) brightness temperatures are presented. Emphasis is on the continental shelf region of the Ross Sea during 1984, when supporting data were obtained from oceanographic stations and moored instruments. The effects of the large spring polynya in the Ross Sea on summer insolation, surface heat layer storage, and late autumn ice formation are described.

Jacobs, Stanley S.↗
NASA NTRS1988

An estimate of equatorial wave energy flux at 9- to 90-day periods in the Central Pacific

Deep fluctuations in current along the equator in the Central Pacific are dominated by coherent structures which correspond closely to narrow-band propagating equatorial waves. Currents were measured roughly at 1500 and 3000 m depths at five moorings between 144 and 148 deg W from January 1981 to March 1983, as part of the Pacific Equatorial Ocean Dynamics program. In each frequency band resolved, a single complex empirical orthogonal function accounts for half to three quarters of the observed variance in either zonal or meridional current. Dispersion for equatorial first meridional Rossby and Rossby gravity waves is consistent with the observed vertical-zonal coherence structure. The observations indicate that energy flux is westward and downward in long first meridional mode Rossby waves at periods 45 days and longer, and eastward and downward in short first meridional mode Rossby waves and Rossby-gravity waves at periods 30 days and shorter. A local minimum in energy flux occurs at periods corresponding to a maximum in upper-ocean meridional current energy contributed by tropical instability waves. Total vertical flux across the 9- to 90-day period range is 2.5 kW/m.

Eriksen, Charles C.↗
NASA NTRS1988

Moorable spectroradiometers in the BIOWATT experiment

A new oceanographic instrument, the MER-2020, has been developed for the long term measurement of bio-optical properties. This instrument is a self-contained reflectance spectroradiometer with 40 megabytes of internal data storage and battery power permitting deployments for as long as 6 months. It can serve as the control and recording center for a variety of other sensors including fluorometers, transmissometers, temperature and conductivity probes. Instruments of this type were deployed at depths to 70 meters on a 5000 meter mooring during the BIOWATT experiment between February and November 1987. Measurements of the spectral diffuse attenuation coefficient and of the remote sensed reflectance from the ten month period in 1987 in the Northern Sargasso Sea are presented. In addition, the temperature, pressure, package orientation and sunlight stimulated natural fluorescence of phytoplankton are discussed. This instrument will be a key part of in situ optical calibration for future remote color sensors, and presently permits direct measurement of long term optical variability, important in visibility and communication problems.

Booth, C. R.↗
NASA NTRS1988

A parametric LQ approach to multiobjective control system design

The synthesis of a constant parameter output feedback control law of constrained structure is set in a multiple-objective linear quadratic regulator (MOLQR) framework. The use of intuitive objective functions such as model-following ability and closed-loop trajectory sensitivity allows multiple-objective decision-making techniques, such as the surrogate worth tradeoff method, to be applied. For the continuous-time deterministic problem with an infinite time horizon, dynamic compensators as well as static output feedback controllers can be synthesized using a descent Anderson-Moore algorithm modified to impose linear equality constraints on the feedback gains by moving in feasible directions. Results of three different examples are presented, including a unique reformulation of the sensitivity reduction problem.

Kyr, Doug↗
NASA NTRS1988

Observations of 20-day period meridional current oscillations in the upper ocean along the Pacific Equator

Prominent oscillations of the meridional current, with a mean period of approximately 20 days, is observed in the upper ocean from May 1979 to October 1985 using moored current measurements along the Pacific equator at 95, 110, 124, 140, and 152 deg W, as well as off (but near) the equator at 110 and 140 deg W. The fluctuations are relatively narrowband in frequency. A 95 percent statistically significant peak in the power spectra of the meridional current occurs at 110, 124, and 140 deg W, but not at 95 and 152 deg W where the spectral peaks are smaller. The dominant wave period decreases by about 4 percent from 110 to 140 deg W. The wave amplitude decreases with depth, and the wave is essentially confined to the upper 80 m. The penetration depth of the oscillation is greatest at 110 deg W and least at 140 deg W.

Halpern, David↗
NASA NTRS1989

Detection of 17.5-day period meridional current oscillations in the equatorial Western Pacific Ocean during 1985

The first long-term, near equatorial, near surface moored current measurements recorded in the Pacific Ocean west of 160 deg W were made at 0 deg, 150 deg E during August 2, 1985 to February 1, 1986. These data revealed 17.5-day period oscillations of the meridional current. Prior to these measurements, these waves had only been observed eastward of about 165 deg W, which also was the westernmost extent of their appearance in ocean general circulation model simulations. The 17.5-day period waves also occurred in simultaneous current measurements at 140 deg W, where the wave amplitude was 3 times greater. At both sites the 17.5-day period wave amplitude was more than 50 percent of the record-length standard deviations of the meridional current component. A wider spectral bandwidth and a smaller tendency towards rectilinear motion occurred at 150 E than at 140 W.

Halpern, David↗
NASA NTRS1989

Estimates of equatorial upwelling between 140 deg and 110 deg W during 1984

The equation of continuity is used to estimate profiles of vertical velocity between 25 and 120 m from moored current measurements in arrays nested within the triangle with vertices located at 1 deg 30 arcmins S, 140 deg W and along the equator at 140 deg and 110 deg W during December 1983 through March 1984 and May-September 1984. All directions of the 4- to 5-month mean values were upward. The ensemble averaged mean vertical velocity was 0.000022 m/s. Upwelling speeds decreased eastward.

Halpern, David↗
NASA NTRS1988

New insights in the numerical reliability properties of existing Kalman filter implementations

The convergence properties of Kalman filter algorithms are investigated analytically. A theoretical error analysis is performed on four types of algorithms, as defined by Anderson and Moore (1979): (1) a conventional Kalman filter, (2) a square-root (SR) covariance filter, (3) the Chandrasekhar SR filter, and (4) an SR information filter. The derivations are given in detail, and numerical results for the flight-path reconstruction problem studied by Verhaegen (1987) are presented in tables and graphs. It is shown that error propagation in algorithms (1) and (2) is sensitive to the condition number of the innovation-signal covariance matrix and the spectral norm of the filter state-transition matrix, whereas other parameters are dominant in (3) and (4). Filter (2) is found to be the most reliable for the class of problems studied.

Verhaegen, M. H.↗
NASA NTRS1988

A study of rain effects on radar scattering from water waves

Results are presented from a laboratory investigation of microwave power return due to rain-generated short waves on a wind wave surface. The wind wave tank, sensor, and data processing methods used in the study are described. The study focuses on the response of a 36-GHz radar system, orientated 30 deg from nadir and pointing upwind, to surface waves generated by various combinations of rain and wind. The results show stronger radar signal levels due to short surface waves generated by rain impacting the wind wave surface, supporting the results of Moore et al. (1979) for a 14-GHz radar.

Bliven, Larry F.↗
NASA NTRS1989

Observations of wind-forced deep ocean currents in the North Pacific

The role of the quasi-steady Sverdrup balance in the midlatitude atmospheric response in the North Pacific was investigated by examining 200 instrument-years of moored current measurements in the deep ocean across the breadth of the midlatitude North Pacific. These data provide evidence of a seasonal modulation in the ocean eddy kinetic energy beneath the thermocline at several locations north of 35 deg N, which was often found to be in phase with the local atmospheric forcing function. Results of the measurements indicate that, throughout the midlatitude North Pacific, topography plays a crucial role in the wind forced response; the bottom slope tends to enhance the beta effect in this basin. Topography narrows the available bandwidth for forced barotropic Rossby waves, facilitating a quasi-steady topographic Sverdrup response over most of the basin. However, the enhanced beta effect reduces the magnitude of the ocean's response to wind forcing.

Koblinsky, C. J.↗