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At least 523 records · Page 29
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

A new approach to adaptive control of manipulators

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Seraji, H.↗
NASA NTRS1988

Adaptive parallel logic networks

Adaptive, self-organizing concurrent systems (ASOCS) that combine self-organization with massive parallelism for such applications as adaptive logic devices, robotics, process control, and system malfunction management, are presently discussed. In ASOCS, an adaptive network composed of many simple computing elements operating in combinational and asynchronous fashion is used and problems are specified by presenting if-then rules to the system in the form of Boolean conjunctions. During data processing, which is a different operational phase from adaptation, the network acts as a parallel hardware circuit.

Martinez, Tony R.↗
NASA NTRS1988

An averaging analysis of discrete-time indirect adaptive control

An averaging analysis of indirect, discrete-time, adaptive control systems is presented. The analysis results in a signal-dependent stability condition and accounts for unmodeled plant dynamics as well as exogenous disturbances. This analysis is applied to two discrete-time adaptive algorithms: an unnormalized gradient algorithm and a recursive least-squares (RLS) algorithm with resetting. Since linearization and averaging are used for the gradient analysis, a local stability result valid for small adaptation gains is found. For RLS with resetting, the assumption is that there is a long time between resets. The results for the two algorithms are virtually identical, emphasizing their similarities in adaptive control.

Phillips, Stephen M.↗
NASA NTRS1987

Concept of adaptive structures

The concept of adaptive structures is brought up in connection with the need in ultra lightweight structural systems to maintain desired properties and configurations without human intervention when subjected to dynamic, thermal, and other environmental forces. Examples are large antenna structures and flexible robotic structures. In the both cases such adaptivity would allow less massive structural members to be employed under normal loading conditions. During special circumstances when unusually large loads are encountered, temporary stiffening would allow the use of less sturdy structures, resulting in large savings in their cost, and in increasing their mobility and efficiency. Within the framework of a finite-dimensional representation of structural dynamics, the adaptivity can be implemented by the dependence of the stiffness matrix (k) upon the expected load (Q), or expected (programmed) changes in configurations, i.e., (k) = (k(t)) where the dependence upon time is programmed in advance. In order to sustain unexpected loads the adaptive structure can be provided by feedback force control, or by a parametrical stiffness control.

Zak, Michail↗
NASA NTRS1989

Comparison of airfoil results from an adaptive wall test section and a porous wall test section

Two wind tunnel investigations were conducted to assess two different wall interference alleviation/correction techniques: adaptive test section walls and classical analytical corrections. The same airfoil model has been tested in the adaptive wall test section of the NASA-Langley 0.3 m Transonic Cryogenic Tunnel (TCT) and in the National Aeronautical Establishment (NAE) High Reynolds Number 2-D facility. The model has a 9 in. chord and a CAST 10-2/DOA 2 airfoil section. The 0.3 m TCT adaptive wall test section has four solid walls with flexible top and bottom walls. The NAE test section has porous top and bottom walls and solid side walls. The aerodynamic results corrected for top and bottom wall interference at Mach numbers from 0.3 to 0.8 at a Reynolds number of 10 by 1,000,000. Movement of the adaptive walls was used to alleviate the top and bottom wall interference in the test results from the NASA tunnel.

Mineck, Raymond E.↗
NASA NTRS1987

Adaptive hybrid control of manipulators

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Seraji, H.↗
NASA NTRS1989

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗
NASA NTRS1989

Design of an adaptive controller for a telerobot manipulator

The design of a joint-space adaptive control scheme is presented for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly-varying. The implementation of the derived control scheme does not need the computation of the manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1988

Decentralized adaptive control

A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.

Oh, B. J.↗
NASA NTRS1989

The effect of adaptive grid on hypersonic nozzle flow calculations

Adaptive grid has been applied to the numerical study of generic hypersonic nozzles for the NASP vehicle to evaluate the effect of adaptive grid on solution accuracy. Several cases are calculated with and without adaptive grids; the numerical results are compared with experimental data wherever available, and with numerical results from other researchers. The present work shows that in most situations, especially when free shear layers and shocks exist in the flowfield, adaptive grid is essential in improving solution accuracy.

Hsu, Andrew T.↗
NASA NTRS1989

Adaptive structures

The fundamental principles of the adaptive structures concept and its applications to current and planned space missions are reviewed and illustrated with diagrams, drawings, graphs, and photographs. An adaptive structure is defined as one which can be modified to meet mission requirements, either by remote commands or automatically in response to external stimuli. Topics addressed include the need for adaptive structures, analytical models, ground testing, sensor/actuator-structure interactions, structural concepts, active damping, wave propagation in large structures, the selection of active member locations, and on-orbit system identification. Particular attention is given to adaptive structures being developed for the NASA Large Deployable Reflector and Optical Interferometer projects.

Wada, Ben K.↗
NASA NTRS1988

A self-adaptive computational method for transonic turbulent flow past a real projectile

An attempt to develop an effective solution-adaptive computational method for complex unsteady flow problems is reported. The adaptive grid generation technique is critically examined to understand its application to self-adaptive computational procedures. A complex flow problem involving an impulsive Mach 0.96 transonic turbulent flow past a real secant-ogive-cylinder-boattail projectile, including the base flow region at zero angle of attack, is considered. The coupling of the grid generation code to the unsteady Navier-Stokes code makes it possible to generate a new grid network adaptive to the computed solution at every time step.

Hsu, C.-C.↗
NASA NTRS1989

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

Carignan, Craig R.↗
NASA NTRS1989

Adaptive clutter rejection filters for airborne Doppler weather radar applied to the detection of low altitude windshear

An optimum adaptive clutter rejection filter for use with airborne Doppler weather radar is presented. The radar system is being designed to operate at low-altitudes for the detection of windshear in an airport terminal area where ground clutter returns may mask the weather return. The coefficients of the adaptive clutter rejection filter are obtained using a complex form of a square root normalized recursive least squares lattice estimation algorithm which models the clutter return data as an autoregressive process. The normalized lattice structure implementation of the adaptive modeling process for determining the filter coefficients assures that the resulting coefficients will yield a stable filter and offers possible fixed point implementation. A 10th order FIR clutter rejection filter indexed by geographical location is designed through autoregressive modeling of simulated clutter data. Filtered data, containing simulated dry microburst and clutter return, are analyzed using pulse-pair estimation techniques. To measure the ability of the clutter rejection filters to remove the clutter, results are compared to pulse-pair estimates of windspeed within a simulated dry microburst without clutter. In the filter evaluation process, post-filtered pulse-pair width estimates and power levels are also used to measure the effectiveness of the filters. The results support the use of an adaptive clutter rejection filter for reducing the clutter induced bias in pulse-pair estimates of windspeed.

Keel, Byron M.↗
NASA NTRS1989

Experience with some repeat tests on the 9 inch chord CAST-10-2/DOA 2 airfoil model in the Langley 0.3-m TCT adaptive wall test section

A co-operative testing program is in progress between the Langley Research Center (NASA) and the National Aeronautical Establishment (NAE, Canada) to validate two different techniques of airfoil testing at transonic speeds. The procedure employed is to test the same airfoil model in the NAE two-dimensional tunnel and the Langley 0.3-m Transonic Cryogenic Tunnel (0.3-m TCT). The airfoil model used in testing was CAST-10-2/DOA-2 super-critical airfoil. The Langley 0.3-m TCT has a relatively small cross section of 13 in x 13 in, giving a (h/c) ratio of 1.44 for the same 9 in chord model. The approach employed in the 0.3-m TCT aims towards eliminating the wall effects by using active walls. The top and bottom walls are flexible. By changing the wall shapes during a test in an iterative manner, the wall interference effects are reduced. The method employed to change the wall shapes is the adaptive wall technique. The current test program provided an opportunity to validate the adaptive wall technique in the 0.3-m TCT. The relatively long chord airfoil represents a severe test case to test the efficacy of the adaptive wall technique under cryogenic conditions. The program also involved removal of side wall boundary-layer thus increasing the complexity of the wall adaptation technique. This paper deals with some salient results obtained regarding repeatability of test data and possible residual interference effects.

Murthy, A. V.↗
NASA NTRS1989

A Simple Algebraic Grid Adaptation Scheme with Applications to Two- and Three-dimensional Flow Problems

An algebraic adaptive grid scheme based on the concept of arc equidistribution is presented. The scheme locally adjusts the grid density based on gradients of selected flow variables from either finite difference or finite volume calculations. A user-prescribed grid stretching can be specified such that control of the grid spacing can be maintained in areas of known flowfield behavior. For example, the grid can be clustered near a wall for boundary layer resolution and made coarse near the outer boundary of an external flow. A grid smoothing technique is incorporated into the adaptive grid routine, which is found to be more robust and efficient than the weight function filtering technique employed by other researchers. Since the present algebraic scheme requires no iteration or solution of differential equations, the computer time needed for grid adaptation is trivial, making the scheme useful for three-dimensional flow problems. Applications to two- and three-dimensional flow problems show that a considerable improvement in flowfield resolution can be achieved by using the proposed adaptive grid scheme. Although the scheme was developed with steady flow in mind, it is a good candidate for unsteady flow computations because of its efficiency.

Hsu, Andrew T.↗
NASA NTRS1990

A time-accurate adaptive grid method and the numerical simulation of a shock-vortex interaction

A time accurate, general purpose, adaptive grid method is developed that is suitable for multidimensional steady and unsteady numerical simulations. The grid point movement is performed in a manner that generates smooth grids which resolve the severe solution gradients and the sharp transitions in the solution gradients. The temporal coupling of the adaptive grid and the PDE solver is performed with a grid prediction correction method that is simple to implement and ensures the time accuracy of the grid. Time accurate solutions of the 2-D Euler equations for an unsteady shock vortex interaction demonstrate the ability of the adaptive method to accurately adapt the grid to multiple solution features.

Bockelie, Michael J.↗
NASA NTRS1990

Adaptive structures

Current research in the field of advanced adaptive structures for space applications is reviewed. A classification of adaptive structures is proposed whereby such structures are subdivided into adaptive, sensory, controlled, active, and intelligent structures. The definition and properties of each type of adaptive structures are presented, and methods of structure control are discussed.

Wada, B. K.↗