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At least 523 records · Page 29

Generalized bilateral control of robot arms

This paper summarizes the theory of a new form of bilateral or force-reflecting manual control of remote robot (slave) arms. The mathematics of workspace representation, command structure, kinematic and dynamic control coordination required for implementing the new form of generalized bilateral control through computer programs is presented. The paper concludes with a brief description of implementation organization of the new system using a six-degree-of-freedom backdrivable hand controller, a PUMA 560 robot arm and a distributed net of microcomputers organized in two groups: one at the remote work site and one at the control station.

Bejczy, A. K.↗

Structural dynamics branch research and accomplishments to FY 1992

This publication contains a collection of fiscal year 1992 research highlights from the Structural Dynamics Branch at NASA LeRC. Highlights from the branch's major work areas--Aeroelasticity, Vibration Control, Dynamic Systems, and Computational Structural Methods are included in the report as well as a listing of the fiscal year 1992 branch publications.

Lawrence, Charles↗

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Lee, Jeh Won↗

Redundant asynchronous microprocessor system for fault tolerant flight control and navigation

Unlike their synchronized counterparts, redundant channels in an asynchronous flight system can, under no-fault conditions, exhibit cross-channel data disparities. Sources of these errors are examined in terms of the general, individual functions of the flight control and navigation application in the asynchronous digital environment. The effects of asynchronism on trajectory programmers, dynamic control algorithms and data reconstruction processes are examined in terms of data skews, data latencies, and clock rate uncertainties. An example is presented in which time corrections are applied to reduce the data disparities. Practical limitations of the approach of the example are discussed.

Dunn, W. R.↗

Assessment of international payload requirements on the dual keel space station - A systems analysis capabilities example

In the early stages of spacecraft conceptual design, an investigation of subsystem requirements and their impacts on the total system provides insight into many aspects of the spacecraft design. Such an analysis has been performed on the dual keel space station to examine the system effects contributed by three international payloads provided by the Canadian, Japanese, and European Space Agencies. This example is used to illustrate some capabilities of available computer-driven tools and methods for a system analysis. Two space station configurations were examined, one without international payloads (the baseline configuration for the study) and one with the three international payloads. Each configuration was evaluated to define viewing limitations, rigid body dynamics and controls, structural dynamics, orbit lifetime, environmental control and life support, and thermal management effects. The performance, based on each subsystem evaluation, was then compared for the two configurations, and the results and recommendations are presented.

Allen, C. L.↗

Residual circulations calculated from satellite data: Their relations to observed temperature and ozone distributions

Monthly mean residual circulations were calculated from eight years of satellite data. The diabatic circulation is usually found to give a good approximation to the residual circulation, but this is not always the case. In particular, an example is shown at 60 deg S and 30 mbar where the diabatic and residual circulations show very different annual variations. Correlations between the vertical component of the residual circulation and temperature and ozone were computed. The computations indicate that yearly variations of temperatures in the tropics are under radiative control, except during stratospheric warmings. Interannual variations in seasonal mean temperatures are shown to be under dynamical control everywhere. Correlations between seasonal means of the vertical component of the residual circulation and ozone mixing ratios are consistent with what would be expected from the ozone variations being due to differences in the ozone transport, although transport effects cannot easily be distinguished from photochemical effects above the altitude of the ozone mixing ratio peak. Finally, variations in total ozone are examined in comparison with residual circulation variations. A one to two month phase lag is seen in the annual variation in the total ozone at 60 deg N with respect to the maximum downward residual motions. This phase lag is greater at 60 deg N than at 60 deg S. There is evidence at 60 deg S of a greater downward trend in the mean zonal ozone maxima than there is in the minima. A decreasing trend in the maximum descending motion is seen to accompany the ozone trend at 60 deg S.

Geller, Marvin A.↗

Residual circulations calculated from satellite data - Their relations to observed temperature and ozone distributions

Monthly mean residual circulations were calculated from eight years of satellite data. The diabatic circulation is usually found to give a good approximation to the residual circulation, but this is not always the case. In particular, an example is shown at 60 deg S and 30 mbar where the diabatic and residual circulations show very different annual variations. Correlations between the vertical component of the residual circulation and temperature and ozone were computed. The computations indicate that yearly variations of temperatures in the tropics are under radiative control, except during stratospheric warmings. Interannual variations in seasonal mean temperatures are shown to be under dynamical control everywhere. Correlations between seasonal means of the vertical component of the residual circulation and ozone mixing ratios are consistent with what would be expected from the ozone variations being due to differences in the ozone transport, although transport effects cannot easily be distinguished from photochemical effects above the altitude of the ozone mixing ratio peak. Finally, variations in total ozone are examined in comparison with residual circulation variations. A one to two month phase lag is seen in the annual variation in the total ozone at 60 deg N with respect to the maximum downward residual motions. This phase lag is greater at 60 deg N than at 60 deg S. There is evidence at 60 deg S of a greater downward trend in the mean zonal ozone maxima than there is in the minima. A decreasing trend in the maximum descending motion is seen to accompany the ozone trend at 60 deg S.

Geller, Marvin A.↗

Langley Research Center Photogrammetric Measurements of Solar Array Dynamics: Preliminary Results

The NASA Langley Research Center participated in the Solar Array Experiment with two primary objectives: (1) to study the structural and control dynamics of a new class of large, lightweight, low-frequency space structures, and (2) to develop technology for remote video measurement of structural motions. The shuttle orbiter's closed circuit television (CCTV) system was used to provide recorded video images of the solar array from four locations in the payload bay, two on the forward bulkhead and two on the aft bulkhead. White reflective targets were placed on the array to provide discrete points at which to track array motion. A dynamic test consisted of a quiescent period in which orbiter operations were inhibited and crew motion restricted, an excitation period, and a free decay period. The orbiter was placed in free drift while in a gravity gradient orientation and dynamics tests were timed to occur at orbital noon so that the Sun would illuminate one side of the array and Earth albedo the other. The CCTV system was turned on during the quiescent period, approximately 3 minutes prior to excitation. Video from all four CCTV cameras was recorded continuously through the excitation and free-decay periods for a total test record of 8 to 10 minutes.

Brumfield, M. L.↗

Control of the SCOLE configuration using distributed parameter models

A continuum model for the SCOLE configuration has been derived using transfer matrices. Controller designs for distributed parameter systems have been analyzed. Pole-assignment controller design is considered easy to implement but stability is not guaranteed. An explicit transfer function of dynamic controllers has been obtained and no model reduction is required before the controller is realized. One specific LQG controller for continuum models had been derived, but other optimal controllers for more general performances need to be studied.

Hsiao, Min-Hung↗

A Preliminary Data Model for Orbital Flight Dynamics in Shuttle Mission Control

The Orbital Flight Dynamics group in Shuttle Mission Control is investigating new user interfaces in a project called RIOTS [RIOTS 2000]. Traditionally, the individual functions of hardware and software guide the design of displays, which results in an aggregated, if not integrated interface. The human work system has then been designed and trained to navigate, operate and integrate the processors and displays. The aim of RIOTS is to reduce the cognitive demands of the flight controllers by redesigning the user interface to support the work of the flight controller. This document supports the RIOTS project by defining a preliminary data model for Orbital Flight Dynamics. Section 2 defines an information-centric perspective. An information-centric approach aims to reduce the cognitive workload of the flight controllers by reducing the need for manual integration of information across processors and displays. Section 3 describes the Orbital Flight Dynamics domain. Section 4 defines the preliminary data model for Orbital Flight Dynamics. Section 5 examines the implications of mapping the data model to Orbital Flight Dynamics current information systems. Two recurring patterns are identified in the Orbital Flight Dynamics work the iteration/rework cycle and the decision-making/information integration/mirroring role relationship. Section 6 identifies new requirements on Orbital Flight Dynamics work and makes recommendations based on changing the information environment, changing the implementation of the data model, and changing the two recurring patterns.

ONeill, John↗

Application of digital computer APU modeling techniques to control system design.

Study of the required controls for a H2-O2 auxiliary power unit (APU) technology program for the Space Shuttle. A steady-state system digital computer program was prepared and used to optimize initial system design. Analytical models of each system component were included. The program was used to solve a nineteen-dimensional problem, and then time-dependent differential equations were added to the computer program to simulate transient APU system and control. Some system parameters were considered quasi-steady-state, and others were treated as differential variables. The dynamic control analysis proceeded from initial ideal control modeling (which considered one control function and assumed the others to be ideal), stepwise through the system (adding control functions), until all of the control functions and their interactions were considered. In this way, the adequacy of the final control design over the required wide range of APU operating conditions was established.

Bailey, D. A.↗

Structural dynamics branch research and accomplishments for fiscal year 1987

This publication contains a collection of fiscal year 1987 research highlights from the Structural Dynamics Branch at NASA Lewis Research Center. Highlights from the branch's four major work areas, Aeroelasticity, Vibration Control, Dynamic Systems, and Computational Structural Methods, are included in the report as well as a complete listing of the FY87 branch publications.

Source record↗

Structural dynamics branch research and accomplishments

Summaries are presented of fiscal year 1989 research highlights from the Structural Dynamics Branch at NASA Lewis Research Center. Highlights from the branch's major work areas include aeroelasticity, vibration control, dynamic systems, and computation structural methods. A listing of the fiscal year 1989 branch publications is given.

Source record↗

Control of Future Air Traffic Systems via Complexity Bound Management

The complexity of the present system for managing air traffic has led to "discreteness" in approaches to creating new concepts: new concepts are created as point designs, based on experience, expertise, and creativity of the proposer. Discrete point designs may be highly successful but they are difficult to substantiate in the face of equally strong substantiation of competing concepts, as well as the state of the art in concept evaluation via simulations. Hybrid concepts may present a compromise - the golden middle. Yet a hybrid of sometimes in principle incompatible concepts forms another point design that faces the challenge of substantiation and validation. We are faced with the need to re-design the air transportation system ab initio. This is a daunting task, especially considering the problem of transitioning from the present system to any fundamentally new system. However, design from scratch is also an opportunity to reconsider approaches to new concept development. In this position paper we propose an approach, Optimized Parametric Functional Design, for systematic development of concepts for management and control of airspace systems, based on optimization formulations in terms of required system functions and states. This reasoning framework, realizable in the context of ab initio system design, offers an approach to deriving substantiated airspace management and control concepts. With growing computational power, we hope that the approach will also yield a methodology for actual dynamic control of airspace

Alexandrov, Natalia↗

Issues in the design of an executive controller shell for Space Station automation

A major goal of NASA's Systems Autonomy Demonstration Project is to focus research in artificial intelligence, human factors, and dynamic control systems in support of Space Station automation. Another goal is to demonstrate the use of these technologies in real space systems, for both round-based mission support and on-board operations. The design, construction, and evaluation of an intelligent autonomous system shell is recognized as an important part of the Systems Autonomy research program. His paper describes autonomous systems and executive controllers, outlines how these intelligent systems can be utilized within the Space Station, and discusses a number of key design issues that have been raised during some preliminary work to develop an autonomous executive controller shell at NASA Ames Research Center.

Erickson, William K.↗

X-38 Application of Dynamic Inversion Flight Control

This paper summarizes the application of a nonlinear dynamic inversion (DI) flight control system (FCS) to an autonomous flight test vehicle in NASA's X-38 Project, a predecessor to the International Space Station (ISS) Crew Return Vehicle (CRV). Honeywell's Multi-Application Control-H (MACH) is a parameterized FCS design architecture including both model-based DI rate-compensation and classical P+I command-tracking. MACH was adopted by X-38 in order to shorten the design cycle time for different vehicle shapes and flight envelopes and evolving aerodynamic databases. Specific design issues and analysis results are presented for the application of MACH to the 3rd free flight (FF3) of X-38 Vehicle 132 (V132). This B-52 drop test, occurring on March 30, 2000, represents the first flight test of MACH and one of the first few known applications of DI in the primary FCS of an autonomous flight test vehicle.

Wacker, Roger↗

Actuators for actively controlled space structures

A free-flying platform of about 4 x 17 m overall dimensions, carrying a variety of imaging and sounding payloads, calls for an intelligent structure with active dynamic control of structural resonances. The actuators for such a structure must be lightweight, require low power, and allow integration into the structure without degradation of its integrity; the dc-to-100 Hz dynamic range required may entail several types of actuators, as is presently emphasized. Broadband damping of higher-order modes requires modeling of the structure with a distributed array of sensors and actuators.

Studer, P.↗

Comparative evaluation of three shaft seals proposed for high performance turbomachinery

Experimental pressure profiles and leak rate characteristics for three shaft seal prototype model configurations proposed for the space shuttle turbopump were assessed in the concentric and fully eccentric, to point of rub, positions without the effects of rotation. The parallel-cylindrical configuration has moderate to good stiffness with a higher leak rate. It represents a simple concept, but for practical reasons and possible increases in stability, all such seals should be conical-convergent. The three-stepdown-sequential, parallel-cylindrical seal is converging and represents good to possible high stiffness when fluid separation occurs, with a significant decrease in leak rate. Such seals can be very effective. The three-stepdown-sequential labyrinth seal of 33-teeth (i.e., 12-11-10 teeth from inlet to exit) provides excellent leak control but usually has very poor stiffness, depending on cavity design. The seal is complex and not recommended for dynamic control.

Hendricks, R. C.↗