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At least 55 records · Page 3

Design of a nonlinear adaptive filter for suppression of shuttle pilot-induced oscillation tendencies

Analysis of a longitudinal pilot-induced oscillation (PIO) experienced just prior to touchdown on the final flight of the space shuttle's approach landing tests indicated that the source of the problem was a combination of poor basic handling qualities aggravated by time delays through the digital flight control computer and rate limiting of the elevator actuators due to high pilot gain. A nonlinear PIO suppression (PIOS) filter was designed and developed to alleviate the vehicle's PIO tendencies by reducing the gain in the command path. From analytical and simulator studies it was shown that the PIOS filter, in an adaptive fashion, can attenuate the command path gain without adding phase lag to the system. With the pitch attitude loop of a simulated shuttle model closed, the PIOS filter increased the gain margin by a factor of about two.

Smith, J. W.↗

Recursive Filtering And Smoothing In Robot Dynamics

Techniques developed originally for electronic systems also useful for multibody mechanical systems. Report summarizes methods developed to solve nonlinear forward-dynamics problem for robot of multiple-link arms connected by joints. Primary objective to show equivalence between recursive methods of dynamical analysis and some filtering and smoothing techniques from state-estimation theory.

Rodriguez, Guillermo↗

A Nonlinear, Human-Centered Approach to Motion Cueing with a Neurocomputing Solver

This paper discusses the continuation of research into the development of new motion cueing algorithms first reported in 1999. In this earlier work, two viable approaches to motion cueing were identified: the coordinated adaptive washout algorithm or 'adaptive algorithm', and the 'optimal algorithm'. In this study, a novel approach to motion cueing is discussed that would combine features of both algorithms. The new algorithm is formulated as a linear optimal control problem, incorporating improved vestibular models and an integrated visual-vestibular motion perception model previously reported. A control law is generated from the motion platform states, resulting in a set of nonlinear cueing filters. The time-varying control law requires the matrix Riccati equation to be solved in real time. Therefore, in order to meet the real time requirement, a neurocomputing approach is used to solve this computationally challenging problem. Single degree-of-freedom responses for the nonlinear algorithm were generated and compared to the adaptive and optimal algorithms. Results for the heave mode show the nonlinear algorithm producing a motion cue with a time-varying washout, sustaining small cues for a longer duration and washing out larger cues more quickly. The addition of the optokinetic influence from the integrated perception model was shown to improve the response to a surge input, producing a specific force response with no steady-state washout. Improved cues are also observed for responses to a sway input. Yaw mode responses reveal that the nonlinear algorithm improves the motion cues by reducing the magnitude of negative cues. The effectiveness of the nonlinear algorithm as compared to the adaptive and linear optimal algorithms will be evaluated on a motion platform, the NASA Langley Research Center Visual Motion Simulator (VMS), and ultimately the Cockpit Motion Facility (CMF) with a series of pilot controlled maneuvers. A proposed experimental procedure is discussed. The results of this evaluation will be used to assess motion cueing performance.

Telban, Robert J.↗

Estimation and detection of signals in multiplicative noise

A class of detection-estimation problems on matrix Lie groups is defined in which the observation noise is multiplicative in nature. By examining the differential versions of the hypotheses, which are bilinear in nature, it is possible to derive the relevant likelihood ratio formula and the associated optimal estimation equations for the signal given the observations and the assumption that the signal is present. These estimation equations are of interest in their own right, in that they represent a finite dimensional optimal solution to a nonlinear estimation problem and can be viewed as consisting of a Kalman-Bucy filter along with the on-line computation of the solution of the associated Riccati equation, which is driven by the observations. The usefulness of these results is illustrated via an example concerning the detection of an actuator failure in a rigid body rotational control system.

Willsky, A. S.↗

Filtering Image Records Using Wavelets and the Zakai Equation

Consider the problem of detecting and localizing a faint object moving In an "essentially stationary" background, using a sequence of two-dimensional low-SNR images of the scene. A natural approach consists of "digitizing" each snapshot into a discrete set of observations, sufficiently (perhaps not exactly) matched to the object In question, then tracking the object using an appropriate stochastic filter. The tracking would be expected to make up for the low signal-to-noise ratio, this allowing one to "coherently" process successive images in order to beat down the noise and localize the object. Thus, "tracking" here does not refer to the usual notion of detecting then tracking: rather, we track in order to detect The problem then becomes one of choosing the appropriate image representation as well as the optimal (and necessarily nonlinear filter. We propose exact and approximate solutions using wavelets and the Zakai equation. The smoothness of the wavelets used is required in the derivation of the evolution equation for the conditional density giving the filter, and their orthogonality makes it possible to carry out actual computations of the Ito- and change-of-gauge-terms in the algorithm effectively.

Haddad, Ziad S.↗

Identification of rotating assembly inertial and bearing parameters.

The problem of estimating the state of a turbopump rotating assembly and identifying unknown products of inertia and unknown bearing parameters is considered. A linearized, extended Kalman filtering approach has been used and found to be successful for both state estimation and parameter identification in an inherently nonlinear problem. The input data were simulated Bently test data obtained from a verified 12-dimensional state-space model and were compared with real Bently test data obtained from NASA. The results prove the feasibility of using this model and this type of test data to obtain the hidden parameters of a typical turbopump rotating assembly.

Alspach, D. L.↗

Dynamic sensing of 6-axis external force and moment applied to a robot end

A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.

Yokota, Masaru Uchiyama↗

Validation of a High-Order Prefactored Compact Scheme on Nonlinear Flows with Complex Geometries

Three benchmark problems are solved using a sixth-order prefactored compact scheme employing an explicit 10th-order filter with optimized fourth-order Runge-Kutta time stepping. The problems solved are the following: (1) propagation of sound waves through a transonic nozzle; (2) shock-sound interaction; and (3) single airfoil gust response. In the first two problems, the spatial accuracy of the scheme is tested on a stretched grid, and the effectiveness of boundary conditions is shown. The solution stability and accuracy near a shock discontinuity is shown as well. Also, 1-D nonlinear characteristic boundary conditions will be evaluated. In the third problem, a nonlinear Euler solver will be used that solves the equations in generalized curvilinear coordinates using the chain rule transformation. This work, continuing earlier work on flat-plate cascades and Joukowski airfoils, will focus mainly on the effect of the grid and boundary conditions on the accuracy of the solution. The grids were generated using a commercially available grid generator, GridPro/az3000.

Hixon, Ray↗

Analysis of High Order Difference Methods for Multiscale Complex Compressible Flows

Accurate numerical simulations of complex multiscale compressible viscous flows, especially high speed turbulence combustion and acoustics, demand high order schemes with adaptive numerical dissipation controls. Standard high resolution shock-capturing methods are too dissipative to capture the small scales and/or long-time wave propagations without extreme grid refinements and small time steps. An integrated approach for the control of numerical dissipation in high order schemes with incremental studies was initiated. Here we further refine the analysis on, and improve the understanding of the adaptive numerical dissipation control strategy. Basically, the development of these schemes focuses on high order nondissipative schemes and takes advantage of the progress that has been made for the last 30 years in numerical methods for conservation laws, such as techniques for imposing boundary conditions, techniques for stability at shock waves, and techniques for stable and accurate long-time integration. We concentrate on high order centered spatial discretizations and a fourth-order Runge-Kutta temporal discretizations as the base scheme. Near the bound-aries, the base scheme has stable boundary difference operators. To further enhance stability, the split form of the inviscid flux derivatives is frequently used for smooth flow problems. To enhance nonlinear stability, linear high order numerical dissipations are employed away from discontinuities, and nonlinear filters are employed after each time step in order to suppress spurious oscillations near discontinuities to minimize the smearing of turbulent fluctuations. Although these schemes are built from many components, each of which is well-known, it is not entirely obvious how the different components be best connected. For example, the nonlinear filter could instead have been built into the spatial discretization, so that it would have been activated at each stage in the Runge-Kutta time stepping. We could think of a mechanism that activates the split form of the equations only at some parts of the domain. Another issue is how to define good sensors for determining in which parts of the computational domain a certain feature should be filtered by the appropriate numerical dissipation. For the present study we employ a wavelet technique introduced in as sensors. Here, the method is briefly described with selected numerical experiments.

Sjoegreen, Bjoern↗

Static DC to DC Power Conditioning-Active Ripple Filter, 1 MHZ DC to DC Conversion, and Nonlinear Analysis

Dc to dc static power conditioning systems on unmanned spacecraft have as their inputs highly fluctuating dc voltages which they condition to regulated dc voltages. These input voltages may be less than or greater than the desired regulated voltages. The design of two circuits which address specific problems in the design of these power conditioning systems and a nonlinear analysis of one of the circuits are discussed. The first circuit design is for a nondissipative active ripple filter which uses an operational amplifier to amplify and cancel the sensed ripple voltage. A dc to dc converter operating at a switching frequency of 1 MHz is the second circuit discussed. A nonlinear analysis of the type of dc to dc converter utilized in designing the 1 MHz converter is included.

Sander, W. A., III↗

Filtering of non-linear instabilities

For Courant numbers larger than one and cell Reynolds numbers larger than two, oscillations and in some cases instabilities are typically found with implicit numerical solutions of the fluid dynamics equations. This behavior has sometimes been associated with the loss of diagonal dominance of the coefficient matrix. It is shown that these problems can be related to the choice of the spatial differences, with the resulting instability related to aliasing or nonlinear interaction. Appropriate filtering can reduce the intensity of these oscillations and possibly eliminate the instability. These filtering procedures are equivalent to a weighted average of conservation and nonconservation differencing. The entire spectrum of filtered equations retains a three point character as well as second order spatial accuracy. Burgers equation was considered as a model.

Khosla, P. K.↗

Estimation of nonlinear pilot model parameters including time delay.

Investigation of the feasibility of using a Kalman filter estimator for the identification of unknown parameters in nonlinear dynamic systems with a time delay. The problem considered is the application of estimation theory to determine the parameters of a family of pilot models containing delayed states. In particular, the pilot-plant dynamics are described by differential-difference equations of the retarded type. The pilot delay, included as one of the unknown parameters to be determined, is kept in pure form as opposed to the Pade approximations generally used for these systems. Problem areas associated with processing real pilot response data are included in the discussion.

Schiess, J. R.↗

Filtering of non-linear instabilities

For Courant numbers larger than one and cell Reynolds numbers larger than two, oscillations and in some cases instabilities are typically found with implicit numerical solutions of the fluid dynamics equations. This behavior has sometimes been associated with the loss of diagonal dominance of the coefficient matrix. It is shown here that these problems can in fact be related to the choice of the spatial differences, with the resulting instability related to aliasing or nonlinear interaction. Appropriate 'filtering' can reduce the intensity of these oscillations and in some cases possibly eliminate the instability. These filtering procedures are equivalent to a weighted average of conservation and non-conservation differencing. The entire spectrum of filtered equations retains a three-point character as well as second-order spatial accuracy. Burgers equation has been considered as a model. Several filters are examined in detail, and smooth solutions have been obtained for extremely large cell Reynolds numbers.

Khosla, P. K.↗

Towards sub-optimal stochastic control of partially observable stochastic systems

A class of multidimensional stochastic control problems with noisy data and bounded controls encountered in aerospace design is examined. The emphasis is on suboptimal design, the optimality being taken in quadratic mean sense. To that effect the problem is viewed as a stochastic version of the Lurie problem known from nonlinear control theory. The main result is a separation theorem (involving a nonlinear Kalman-like filter) suitable for Lurie-type approximations. The theorem allows for discontinuous characteristics. As a byproduct the existence of strong solutions to a class of non-Lipschitzian stochastic differential equations in dimensions is proven.

Ruzicka, G. J.↗

Towards sub-optimal stochastic control of partially observable stochastic systems

The paper deals with a class of multidimensional stochastic control problems with noisy data and bounded controls encountered in aerospace design. The emphasis is on suboptimal design, the optimality being taken in quadratic mean sense. To that effect the problem is viewed as a stochastic version of the Lurie problem known from nonlinear control theory. The main result is a separation theorem (involving a nonlinear Kalman-like filter) suitable for Lurie-type approximations. The theorem allows for discontinuous characteristics. As a byproduct the existence of strong solutions to a class of non-Lipschitzian stochastic differential equations in n dimensions is proved.

Ruzicka, G. J.↗

A Stabilized Sparse-Matrix U-D Square-Root Implementation of a Large-State Extended Kalman Filter

The full nonlinear Kalman filter sequential algorithm is, in theory, well-suited to the four-dimensional data assimilation problem in large-scale atmospheric and oceanic problems. However, it was later discovered that this algorithm can be very sensitive to computer roundoff, and that results may cease to be meaningful as time advances. Implementations of a modified Kalman filter are given.

data assimilation modified Kalman filter sequentia↗

Nonlinear estimation theory applied to the interplanetary orbit determination problem.

Martingale theory and appropriate smoothing properties of Loeve (1953) have been used to develop a modified Gaussian second-order filter. The performance of the filter is evaluated through numerical simulation of a Jupiter flyby mission. The observations used in the simulation are on-board measurements of the angle between Jupiter and a fixed star taken at discrete time intervals. In the numerical study, the influence of each of the second-order terms is evaluated. Five filter algorithms are used in the simulations. Four of the filters are the modified Gaussian second-order filter and three approximations derived by neglecting one or more of the second-order terms in the equations. The fifth filter is the extended Kalman-Bucy filter which is obtained by neglecting all of the second-order terms.

Tapley, B. D.↗