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At least 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Parameter estimation in space systems using recurrent neural networks

The identification of time-varying parameters encountered in space systems is addressed, using artificial neural systems. A hybrid feedforward/feedback neural network, namely a recurrent multilayer perception, is used as the model structure in the nonlinear system identification. The feedforward portion of the network architecture provides its well-known interpolation property, while through recurrency and cross-talk, the local information feedback enables representation of temporal variations in the system nonlinearities. The standard back-propagation-learning algorithm is modified and it is used for both the off-line and on-line supervised training of the proposed hybrid network. The performance of recurrent multilayer perceptron networks in identifying parameters of nonlinear dynamic systems is investigated by estimating the mass properties of a representative large spacecraft. The changes in the spacecraft inertia are predicted using a trained neural network, during two configurations corresponding to the early and late stages of the spacecraft on-orbit assembly sequence. The proposed on-line mass properties estimation capability offers encouraging results, though, further research is warranted for training and testing the predictive capabilities of these networks beyond nominal spacecraft operations.

Parlos, Alexander G.↗
NASA NTRS1991

Particle motion in the tail current sheet

Theory of particle motion in current sheets is reviewed. For small, approximately constant normal magnetic field, Bz, particles oscillate about the current sheet and 'live' within the sheet for one-half gyroperiod based on Bz. This lifetime replaces the mean collision time in the Lorentzian conductivity and thus gives rise to the concept of an inertial (or gyro-) conductivity. A substorm model by Coroniti utilizes this conductivity to allow reconnection to proceed without anomalous processes, due to wave-particle interactions. Chaotic particle orbits may at times be important to the dynamics, depending on parameters such as particle energy, current sheet thickness, and field line curvature. A current sheet model with neutral line predicts a ridge structure and asymmetries in the distribution function. Ion distributions near the plasma sheet boundary layer, during the CDAW 6 interval, are consistent with the model predictions. In recent studies by Mitchell et al. and Williams et al., the major current carriers during the growth phase of a substorm were found to be adiabatic electrons not more than 1 keV, but just before a current disruption event, the tail current was mainly carried by energetic ions undergoing current sheet oscillation.

Speiser, T. W.↗
NASA NTRS1992

Learning and tuning fuzzy logic controllers through reinforcements

A new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system is presented. In particular, our Generalized Approximate Reasoning-based Intelligent Control (GARIC) architecture: (1) learns and tunes a fuzzy logic controller even when only weak reinforcements, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto, Sutton, and Anderson to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and has demonstrated significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

Berenji, Hamid R.↗
NASA NTRS1990

Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

Colbaugh, R.↗
NASA NTRS1991

On controlling robots with redundancy

An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations.

Colbaugh, R.↗
NASA NTRS1992

Slew disturbance compensation for multiple payloads of a flexible spacecrafts

This paper extends an earlier developed mirror motion compensation (MMC) scheme (Chu, 1989, 1990) which calculates, on-board and in real time, the spacecraft motion induced by a slewing payload, to cases where one of the four conditions of the MMC scheme is not met. The analysis, the design methodology, and a case study related to the application of MMC to compensation for flexibility effects are presented. A sensitivity study is carried out to determine the compensation efficiency when uncertainties exist in parameters of the dynamic interaction model.

Mclaren, Mark D.↗
NASA NTRS1992

Learning and tuning fuzzy logic controllers through reinforcements

This paper presents a new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system. In particular, our generalized approximate reasoning-based intelligent control (GARIC) architecture (1) learns and tunes a fuzzy logic controller even when only weak reinforcement, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward neural network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto et al. (1983) to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and demonstrates significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

Berenji, Hamid R.↗
NASA NTRS1993

The application of active side arm controllers in helicopters

Eurocopter Deutschland (ECD) started simulation trials to investigate the particular problems of Side Arm Controllers (SAC) applied to helicopters. Two simulation trials have been performed. In the first trial, the handling characteristics of a 'passive' SAC and the basic requirements for the application of an 'active' SAC were evaluated in pilot-in-the-loop simulations, performing the tasks in a realistic scenario representing typical phases of a transport mission. The second simulation trial investigated the general control characteristics of the 'active' in comparison to the 'passive' control principle. A description of the SACs developed by ECD and the principle of the 'passive' and 'active' control concept is given, as well as specific ratings for the investigated dynamic and ergonomic parameters effecting SAC characteristics. The experimental arrangements, as well as the trials procedures of both simulation phases, are described and the results achieved are discussed emphasizing the advantages of the 'active' as opposed to the 'passive' SAC concept. This also includes the presentation of some critical aspects still to be improved and proposals to solve them.

Knorr, R.↗
NASA NTRS1994

NASA Workshop on Distributed Parameter Modeling and Control of Flexible Aerospace Systems

Although significant advances have been made in modeling and controlling flexible systems, there remains a need for improvements in model accuracy and in control performance. The finite element models of flexible systems are unduly complex and are almost intractable to optimum parameter estimation for refinement using experimental data. Distributed parameter or continuum modeling offers some advantages and some challenges in both modeling and control. Continuum models often result in a significantly reduced number of model parameters, thereby enabling optimum parameter estimation. The dynamic equations of motion of continuum models provide the advantage of allowing the embedding of the control system dynamics, thus forming a complete set of system dynamics. There is also increased insight provided by the continuum model approach.

Marks, Virginia B.↗
NASA NTRS1994

Utilitarian models of the solar nebula

Models of the primitive solar nebula based on a combination of theory, observations of T Tauri stars, and global conservation laws are presented. The models describe the motions of nebular gas, mixing of interstellar material during the formation of the nebula, and evolution of thermal structure in terms of several characteristic parameters. The parameters describe key aspects of the protosolar cloud (its rotation rate and collapse rate) and the nebula (its mass relative to the Sun, decay time, and density distribution). For most applications, the models are heuristic rather than predicted. Their purpose is to provide a realistic context for the interpretation of solar system data, and to distinquish those nebular characteristics that can be specified with confidence, independently of the assumtions of particular models, form those that are poorly constrained. It is demonstrated that nebular gas typically experienced large radial excursions during the evolution of the nebula and that both inward and outward mean radial velocities on the order of meters per second occured in the terrestrial planet region, with inward velocities predominant for most ofthe evolution. However, the time history of disk size, surface density, and radial velocities are sensitive to the total angular momentun of the protosolar cloud, which cannot be constrained by purely theoretical considerations.It is shown that a certain amount of 'formational' mixing of interstellar material was an inevitable consequenc of nebular mass and angular momentum transport during protostellar collapse, regardless of the specific transport mechanisms invloved. Even if the protosolar cloud was initially homogeneous, this mixing was important because it had the effect of mingling presolar material that had experienced different degrees of thermal processing during collapse and passage through the accertion shock. Nebular thermal structure is less sensitive to poorly constrained parameters than is dynamical history. A simple criterion is derived for the condition that silicate grains are evaporated at midplane, and it is argued that this condition was probably fulfilled early in nebular history. Cooling of a hot nebula due tocoagulation of dust and consequent local reduction of optical depth is examined, and it is shown how such a process leads naturally to an enrichment of rock-forming elements in the gas phase.

Cassen, Patrick↗
NASA NTRS1995

Description of and preliminary tests results for the Joint Damping Experiment (JDX)

An effort is currently underway to develop an experiment titled joint Damping E_periment (JDX) to fly on the Space Shuttle as Get Away Special Payload G-726. This project is funded by NASA's IN-Space Technology Experiments Program and is scheduled to fly in July 1995 on STS-69. JDX will measure the influence of gravity on the structural damping of a three bay truss having clearance fit pinned joints. Structural damping is an important parameter in the dynamics of space structures. Future space structures will require more precise knowledge of structural damping than is currently available. The mission objectives are to develop a small-scale shuttle flight experiment that allows researchers to: (1) characterize the influence of gravity and joint gaps on structural damping and dynamic behavior of a small-scale truss model, and (2) evaluate the applicability of low-g aircraft test results for predicting on-orbit behavior. Completing the above objectives will allow a better understanding and/or prediction of structural damping occurring in a pin jointed truss. Predicting damping in joints is quite difficult. One of the important variables influencing joint damping is gravity. Previous work has shown that gravity loads can influence damping in a pin jointed truss structure. Flying this experiment as a GAS payload will allow testing in a microgravity environment. The on-orbit data (in micro-gravity) will be compared with ground test results. These data will be used to help develop improved models to predict damping due to pinned joints. Ground and low-g aircraft testing of this experiment has been completed. This paper describes the experiment and presents results of both ground and low-g aircraft tests which demonstrate that damping of the truss is dramatically influenced by gravity.

Bingham, Jeffrey G.↗
NASA NTRS1995

Magnetohydrodynamic turbulence in the solar wind

The fluctuations in magnetic field and plasma velocity in solar wind, which possess many features of fully developed magnetohydrodynamic (MHD) turbulence, are discussed. Direct spacecraft observations from 0.3 to over 20 AU, remote sensing radio scintillation observations, numerical simulations, and various models provide complementary methods that show that the fluctuations in the wind parameters undergo significant dynamical evolution independent of whatever turbulence might exist in the solar photosphere and corona. The Cluster mission, with high time resolution particle and field measurements and its variable separation strategies, should be able to provide data for answering many questions on MHD turbulence.

Goldstein, Melvyn L.↗
NASA NTRS2000

Effects of Inert Dust Clouds on the Extinction of Strained, Laminar Flames at Normal and Micro Gravity

A combined experimental and detailed numerical study was conducted on the interaction between chemically inert solid particles and strained, atmospheric methane/air and propane/air laminar flames, both premixed and non-premixed. Experimentally, the opposed jet configuration was used with the addition of a particle seeder capable of operating in conditions of varying gravity. The particle seeding system was calibrated under both normal and micro gravity and a noticeable gravitational effect was observed. Flame extinction experiments were conducted at normal gravity by seeding inert particles at various number densities and sizes into the reacting gas phase. Experimental data were taken for 20 and 37 (mu) nickel alloy and 25 and 60 (mu) aluminum oxide particles. The experiments were simulated by solving along the stagnation streamline the conservation equations of mass, momentum, energy, and species conservation for both phases, with detailed descriptions of chemical kinetics, molecular transport, and thermal radiation. The experimental data were compared with numerical simulations, and insight was provided into the effects on extinction of the fuel type, equivalence ratio, flame configuration, strain rate. particle type. particle size. particle mass, delivery rate. the orientation of particle injection with respect to the flame and gravity. It was found that for the same injected solid mass, larger particles can result in more effective flame cooling compared to smaller particles, despite the fact that equivalent masses of the larger particles have smaller total surface area to volume ratio. This counter-intuitive finding resulted from the fact that the heat exchange between the two phases is controlled by the synergistic effect of the total contact area and the temperature difference between the two phases. Results also demonstrate that meaningful scaling of interactions between the two phases may not be possible due to the complexity of the couplings between the dynamic and thermal parameters of the problem.

Andac, M. Gurhan↗
NASA NTRS1988

Robot Design

Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

Source record↗
NASA NTRS2003

Progress in the Phase 0 Model Development of a STAR Concept for Dynamics and Control Testing

The paper describes progress in the development of a lightweight, deployable passive Synthetic Thinned Aperture Radiometer (STAR). The spacecraft concept presented will enable the realization of 10 km resolution global soil moisture and ocean salinity measurements at 1.41 GHz. The focus of this work was on definition of an approximately 1/3-scaled, 5-meter Phase 0 test article for concept demonstration and dynamics and control testing. Design requirements, parameters and a multi-parameter, hybrid scaling approach for the dynamically scaled test model were established. The El Scaling Approach that was established allows designers freedom to define the cross section of scaled, lightweight structural components that is most convenient for manufacturing when the mass of the component is small compared to the overall system mass. Static and dynamic response analysis was conducted on analytical models to evaluate system level performance and to optimize panel geometry for optimal tension load distribution.

Woods-Vedeler, Jessica A.↗
NASA NTRS2001

Efficient hemodynamic event detection utilizing relational databases and wavelet analysis

Development of a temporal query framework for time-oriented medical databases has hitherto been a challenging problem. We describe a novel method for the detection of hemodynamic events in multiparameter trends utilizing wavelet coefficients in a MySQL relational database. Storage of the wavelet coefficients allowed for a compact representation of the trends, and provided robust descriptors for the dynamics of the parameter time series. A data model was developed to allow for simplified queries along several dimensions and time scales. Of particular importance, the data model and wavelet framework allowed for queries to be processed with minimal table-join operations. A web-based search engine was developed to allow for user-defined queries. Typical queries required between 0.01 and 0.02 seconds, with at least two orders of magnitude improvement in speed over conventional queries. This powerful and innovative structure will facilitate research on large-scale time-oriented medical databases.

NASA Discipline Cardiopulmonary↗
NASA NTRS2004

Cross-Linked Nanotube Materials with Variable Stiffness Tethers

The constitutive properties of a cross-linked single-walled carbon nanotube material are predicted with a multi-scale model. The material is modeled as a transversely isotropic solid using concepts from equivalent-continuum modeling. The elastic constants are determined using molecular dynamics simulation. Some parameters of the molecular force field are determined specifically for the cross-linker from ab initio calculations. A demonstration of how the cross-linked nanotubes may affect the properties of a nanotube/polyimide composite is included using a micromechanical analysis.

Frankland, Sarah-Jane V.↗
NASA NTRS2005

Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance

Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.

Jones, Brandon M.↗