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At least 505 records · Page 28

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NASA NTRS1988

Robot trajectory tracking with self-tuning predicted control

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Cui, Xianzhong↗

NASA NTRS1988

High-dynamic GPS tracking

The results of comparing four different frequency estimation schemes in the presence of high dynamics and low carrier-to-noise ratios are given. The comparison is based on measured data from a hardware demonstration. The tested algorithms include a digital phase-locked loop, a cross-product automatic frequency tracking loop, and extended Kalman filter, and finally, a fast Fourier transformation-aided cross-product frequency tracking loop. The tracking algorithms are compared on their frequency error performance and their ability to maintain lock during severe maneuvers at various carrier-to-noise ratios. The measured results are shown to agree with simulation results carried out and reported previously.

Hinedi, S.↗

NASA NTRS1989

Application of a single area array detector for acquistion, tracking and point-ahead in space optical communications

Functions of acquisition, tracking, and point-ahead in space optical communications are being combined into a single system utilizing an area array detector. An analysis is presented of the feasibility concept. The key parameters are: optical power less than 1 pW at 0.86 micrometer, acquisition in less than 30 seconds in an acquisition field of view (FOV) of 1 mrad, tracking with 0.5 microrad rms noise at 1000 Hz update rate, and point ahead transfer function precision of 0.25 microrad over a region of 150 microrad. Currently available array detectors were examined. The most demanding specifications are low output noise, a high detection efficiency, a large number of pixels, and frame rates over 1kHz. A proof of concept (POC) demonstration system is currently being built utilizing the Kodak HS-40 detector (a 128 x 128 photodiode array with a 64 channel CCD readout architecture which can be operated at frame rates as high as 40,000/sec). The POC system implements a windowing scheme and special purpose digital signal processing electronic for matched filter acquisition and tracking algorithms.

Clark, D. L.↗

NASA NTRS1988

Analysis of the EM scattering from arbitrary open-ended waveguide cavities using axial Gaussian Beam tracking

The electromagnetic (EM) scattering from a planar termination located inside relatively arbitrarily shaped open-ended waveguide cavities with smoothly curved interior walls is analyzed using a Gaussian Beam (GB) expansion of the incident plane wave fields in the open end. The cavities under consideration may contain perfectly-conducting interior walls with or without a thin layer of material coating, or the walls may be characterized by an impedance boundary condition. In the present approach, the GB's are tracked only to the termination of the waveguide cavity via beam reflections from interior waveguide cavity walls. The Gaussian beams are tracked approximately only along their beam axes; this approximation which remains valid for relatively well focussed beams assumes that an incident GB gives rise to a reflected GB with parameters related to the incident beam and the radius of curvature of the wall. It is found that this approximation breaks down for GB's which come close to grazing a convex surface and when the width of the incident beam is comparable to the radius of curvature of the surface. The expansion of the fields at the open end depend on the incidence angle only through the expansion coefficients, so the GB's need to be tracked through the waveguide cavity only once for a wide range of incidence angles. At the termination, the sum of all the GB's are integrated using a result developed from a generalized reciprocity principle, to give the fields scattered from the interior of the cavity. The rim edge at the open end of the cavity is assumed to be sharp and the external scattering from the rim is added separately using Geometrical Theory of Diffraction. The results based on the present approach are compared with solutions based on the hybrid asymptotic modal method. The agreement is found to be very good for cavities made up of planar surfaces, and also for cavities with curved surfaces which are not too long with respect to their width.

Burkholder, R. J.↗

NASA NTRS1988

Tracking and stationkeeping for free-flying robots using sliding surfaces

The authors use the concept of sliding surfaces for generating two types of tracking control laws for a free-flying robot engaged in zero-gravity assembly tasks. Suction control, developed elsewhere for controlling manipulators with stationary bases, is used here to track workspace trajectories for manipulators mounted on mobile platforms. Zone control is formulated for the purpose of stationkeeping a robot maneuvering unit during payload manipulation. Experimental results are described for tests performed on an air-bearing robot tracking payload trajectories along a glass surface.

Carignan, Craig R.↗

NASA NTRS1989

System feasibility study of a microwave/millimeter-wave radar for space debris tracking

A 35 GHz millimeter-wave radar system has been studied for space debris tracking. The objective is to track the particles ranging in size from 4 mm to 80 mm up to a range of 25 km. The system requires various state-of-the-art technologies including phased arrays, monopulse tracking, pulse compression, high power transmitters, low noise receivers, and pulse integration signal processing techniques.

Chang, Kai↗

NASA NTRS1989

On the self-noise in QASK decision-feedback carrier tracking loops

Quadrature amplitude-shift keying (QASK) is often used for transmitting two digital data streams in bandwidth-constrained communication systems. Previous analyses of the tracking performance of a decision-feedback carrier tracking loop, which can be used to provide a carrier reference for a QASK signal set, have neglected the effects of the self-noise in the derivation of the loop resonance. The authors incorporate the effects of the self-noise into the analysis of decision-feedback carrier tracking loops. It is demonstrated that failure to account for the self-noise will only result in a conservative assessment of the system's performance, contrary to what might be expected. All results obtained are in closed form and can easily be evaluated numerically for performance prediction purposes.

Hinedi, Sami↗

NASA NTRS1989

Advanced technology for space communications, tracking, and robotic sensors

Technological advancements in tracking, communications, and robotic vision sensors are reviewed. The development of communications systems for multiple access, broadband, high data rate, and efficient operation is discussed. Consideration is given to the Tracking and Data Relay Satellite systems, GPS, and communications and tracking systems for the Space Shuttle and the Space Station. The use of television, laser, and microwave sensors for robotics and technology for autonomous rendezvous and docking operations are examined.

Krishen, Kumar↗

NASA NTRS1990

Frequency-Tracking-Error Detector

Frequency-tracking-error detector compares average period of output signal from band-pass tracking filter with average period of signal of frequency 100 f(sub 0) that controls center frequency f(sub 0) of tracking filter. Measures difference between f(sub 0) and frequency of one of periodic components in output of bearing sensor. Bearing sensor is accelerometer, strain gauge, or deflectometer mounted on bearing housing. Detector part of system of electronic equipment used to measure vibrations in bearings in rotating machinery.

Randall, Richard L.↗

NASA NTRS1990

Frequency Synthesizer For Tracking Filter

Digital frequency-synthesizing subsystem generates trains of pulses, free of jitter, for use as frequency-control signals in tracking filters. Part of assembly of electronic equipment used to measure vibrations in bearings in rotating machinery. Designed to meet requirements for tracking narrow-band cage-rotation and ball-pass components of vibrations, as discussed in "Frequency-Tracking Error Detector" (MFS-29538) and "Ball-Pass Cage-Modulation Detector" (MFS-29539). Synthesizer includes preset counter, output of which controls signal for ball-pass filter. Input to this preset counter updated every 2 microseconds: responds almost immediately, effectively eliminating relatively long response time (lock-in time) and phase jitter.

Randall, Richard L.↗

NASA NTRS1988

Independent Orbiter Assessment (IOA): Assessment of the communication and tracking subsystem, volume 1

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed and analysis of the Communication and Tracking hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were then compared to the NASA FMEA/CIL baseline. A resolution of each discrepancy from the comparison is provided through additional analysis as required. This report documents the results of that comparison for the Orbiter Communication and Tracking hardware. The IOA product for the Communication and Tracking consisted of 1,108 failure mode worksheets that resulted in 298 critical items being identified. Comparison was made to the NASA baseline which consists of 697 FMEAs and 239 CIL items. The comparison determined if there were any results which had been found by IOA but were not in the NASA baseline. This comparison produced agreement on all but 407 FMEAs which caused differences in 294 CIL items. Volume 1 contains the subsystem description, assessment results, ground rules and assumptions, and some of the IOA worksheets.

Long, W. C.↗

NASA NTRS1989

Performance of the all-digital data-transition tracking loop in the advanced receiver

The performance of the all-digital data-transition tracking loop (DTTL) with coherent or noncoherent sampling is described. The effects of few samples per symbol and of noncommensurate sampling rates and symbol rates are addressed and analyzed. Their impacts on the loop phase-error variance and the mean time to lose lock (MTLL) are quantified through computer simulations. The analysis and preliminary simulations indicate that with three to four samples per symbol, the DTTL can track with negligible jitter because of the presence of earth Doppler rate. Furthermore, the MTLL is also expected to be large engough to maintain lock over a Deep Space Network track.

Cheng, U.↗

NASA NTRS1989

Photon statistical limitations for daytime optical tracking

Tracking of interplanetary spacecraft equipped with optical communication systems by using astrometric instruments is being investigated by JPL. Existing instruments are designed to work at night and, for bright sources, are limited by tropospheric errors. To provide full coverage of the solar system, astrometric tracking instruments must either be capable of daytime operation or be space-based. The integration times necessary for the ground-based daytime photon statistical errors to reach a given accuracy level (5 to 50 nanoradians) were computed for an ideal astrometric instrument. The required photon statistical integration times are found to be shorter than the tropospheric integrations times for the ideal detector. Since the astrometric need not be limited by photon statistics even under daytime conditions, it may be fruitful to investigate instruments for daytime optical tracking.

Folkner, W. M.↗

NASA NTRS1990

Adaptive tracking for complex systems using reduced-order models

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Carignan, Craig R.↗

NASA NTRS1989

Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented.

Berger, Alan D.↗

NASA NTRS1989

The effects of control order, feedback, practice, and input device on tracking performance and perceived workload

The present experiment examined the influence of several task-related factors on tracking performance and concomitant workload. The manipulated factors included tracking order, the presence or absence of knowledge of performance, and the control device. Summed root mean square error (rmse) and perceived workload were measured at the termination of each trial. Perceived workload was measured using the NASA Task Load Index (TLX) and the Subjective Workload Assessment Technique (SWAT). Results indicated a large and expected effect for track order on both performance and the perception of load. In general, trackball input was more accurate and judged for lower load than input using a mouse. The presence or absence of knowledge of performance had little effect on either performance or workload. There were a number of interactions between factors shown in performance that were mirrored by perceived workload scores. Results from each workload scale were equivalent in terms of sensitivity to task manipulations. The pattern of results affirm the utility of these workload measures in assessing the imposed load of multiple task-related variables.

Hancock, P. A.↗

NASA NTRS1990

Precise tracking of remote sensing satellites with the Global Positioning System

The Global Positioning System (GPS) can be applied in a number of ways to track remote sensing satellites at altitudes below 3000 km with accuracies of better than 10 cm. All techniques use a precise global network of GPS ground receivers operating in concert with a receiver aboard the user satellite, and all estimate the user orbit, GPS orbits, and selected ground locations simultaneously. The GPS orbit solutions are always dynamic, relying on the laws of motion, while the user orbit solution can range from purely dynamic to purely kinematic (geometric). Two variations show considerable promise. The first one features an optimal synthesis of dynamics and kinematics in the user solution, while the second introduces a novel gravity model adjustment technique to exploit data from repeat ground tracks. These techniques, to be demonstrated on the Topex/Poseidon mission in 1992, will offer subdecimeter tracking accuracy for dynamically unpredictable satellites down to the lowest orbital altitudes.

Yunck, Thomas P.↗

NASA NTRS1989

Application of a single area array detector for acquisition, tracking and point-ahead in space optical communications

Clark, D. L.↗