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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Atmospheric drag perturbations on the Mars Observer Orbiter

The nominal launch date of the Mars Observer spacecraft is 09 - 16 - 02, with Mars encounter on 08 - 19 - 93 and the mapping orbit established on 12 - 06 - 93. Because this orbit is nearly circular at low altitude (361 km), both gravity and atmospheric drag will dominate the orbital evolution and are also the major error sources. This paper provides: (1) a summary of atmospheric density and errors for the Mars Observer orbit and time frame, (2) an assessment of spacecraft-position errors using current density estimates, and (3) an estimate of atmospheric density modeling improvement directly from the Doppler data acquired during flight operations. With an improved gravity field model, reconstructed spacecraft-position errors are at the level of 0.5 km (1sigma). However, when predicting the spacecraft's position over 14 days, the density error (at the 90-percent confidence level) dominates, yielding a down-track error of almost 70 km. By modeling the mean atmospheric density, this error can be reduced by at least a factor of two.

Esposito, P. B.↗
NASA NTRS1988

Robot arm force control through system linearization by nonlinear feedback

Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.

Tarn, T. J.↗
NASA NTRS1988

Local position control: A new concept for control of manipulators

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Kelly, Frederick A.↗
DOE OSTI2024

Positioning Accuracy in a Concurrent Robot-CNC Hybrid Manufacturing System

Abstract Additive manufacturing (AM) has gained notoriety for offering advantages over traditional manufacturing methods, such as increased design complexity and flexibility. However, it has not found widespread use beyond rapid prototyping. One hindrance to the acceptance of AM processes in industry is the time and cost of fabrication per component. While metal AM by itself can be inexpensive, extra manufacturing steps in the form of subtractive manufacturing (SM) may need to be performed to reach final part tolerances, leading to hybrid additive-subtractive manufacturing (HASM) of a part, which increases time and cost. A potential area to reduce cost is through increasing the efficiency of the HASM process by conducting additive and subtractive manufacturing simultaneously. Usually, HASM is performed in a process where AM is completed in one machine or cell and transferred to another machine or cell for SM in a sequential assembly line process. This efficiency decreases part cost, but high aspect ratio parts or parts with internal geometry that require interleaved additive deposition and machining cannot be produced. One unexplored solution to simultaneous HASM that allows for interleaved operations is to operate the deposition head and machining spindle concurrently within the same machine envelope, known as concurrent HASM (CHASM). In this type of process, both AM and SM occur simultaneously on a batch of small parts or a single large part, maintaining a high efficiency without sacrificing the full range of complex geometries that AM allows for. A potential approach to the single-machine method could be to combine a robot and mill within the same envelope. A challenge to this approach, however, is control of both systems. Most machine controllers have limited external communication or, if a robot has been integrated, only offer movement of either the robot or mill at any given time. As a result, systems must pause either the AM or SM process to switch between them rather than working simultaneously. The present work investigates the positional accuracy of such a CHASM system comprised of a robotic arm and a 3-axis mill. Open-loop tests with limited communication between machines are performed on the system to verify positional error during concurrent robot-mill movements. Under certain conditions, it is demonstrated that position error can stay within 2 mm for the duration of a single layer; however, these tests show that, generally, the open-loop positioning performance of the system is inadequate for CHASM without part-specific hand-tuning of parameters. Based on these results, a set of requirements for successful robot-CNC CHASM is proposed for future integrations.

Goodwin, Jesse↗
NASA NTRS1985

Technology research for strapdown inertial experiment and digital flight control and guidance

A helicopter flight-test program to evaluate the performance of Honeywell's Tetrad - a strapdown, laser gyro, inertial navitation system is discussed. The results of 34 flights showed a mean final navigational velocity error of 5.06 knots, with a standard deviation of 3.84 knots; a corresponding mean final position error of 2.66 n.mi., with a standard deviation of 1.48 n.m.; and a modeled mean-position-error growth rate for the 34 tests of 1.96 knots, with a standard deviation of 1.09 knots. Tetrad's four-ring laser gyros provided reliable and accurate angular rate sensing during the test program and on sensor failures were detected during the evaluation. Criteria suitable for investigating cockpit systems in rotorcraft were developed. This criteria led to the development of two basic simulators. The first was a standard simulator which could be used to obtain baseline information for studying pilot workload and interactions. The second was an advanced simulator which integrated the RODAAS developed by Honeywell into this simulator. The second area also included surveying the aerospace industry to determine the level of use and impact of microcomputers and related components on avionics systems.

Carestia, R. A.↗
NASA NTRS1983

Flight test results of the strapdown ring laser gyro tetrad inertial navigation system

A helicopter flight test program undertaken to evaluate the performance of Tetrad (a strap down, laser gyro, inertial navigation system) is described. The results of 34 flights show a mean final navigational velocity error of 5.06 knots, with a standard deviation of 3.84 knots; a corresponding mean final position error of 2.66 n. mi., with a standard deviation of 1.48 n. mi.; and a modeled mean position error growth rate for the 34 tests of 1.96 knots, with a standard deviation of 1.09 knots. No laser gyro or accelerometer failures were detected during the flight tests. Off line parity residual studies used simulated failures with the prerecorded flight test and laboratory test data. The airborne Tetrad system's failure--detection logic, exercised during the tests, successfully demonstrated the detection of simulated ""hard'' failures and the system's ability to continue successfully to navigate by removing the simulated faulted sensor from the computations. Tetrad's four ring laser gyros provided reliable and accurate angular rate sensing during the 4 yr of the test program, and no sensor failures were detected during the evaluation of free inertial navigation performance.

Carestia, R. A.↗
NASA NTRS1986

An intermediate-sensitivity survey at high Galactic latitude with HEAO A-1

A 314 square degree region of sky at high galactic latitude was mapped in 0.5-20 keV X-rays using summed data from the HEAO A-1 experiment. 21 sources are detected above a 5 sigma threshold corresponding to a limiting flux of about 0.2 UFU. This limit is at a decade intermediate to those achieved in the full-sky surveys, Uhuru, Ariel 5, and the HEAO A-2 experiment, and to those achieved in the Einstein partial-sky surveys. The HEAO A-1 detectors also complement these other instruments in terms of spectral response characteristics. A table of source intensities and positional error boxes for the 21 source detections is presented. A graphical representation of the positional error boxes is also presented. Identifications for 14 sources are proposed. A number-flux curve representing all high galactic latitude X-ray sources detected with HEAO A-1 has been constructed. The number-flux curve appears to be consistent with d log N/d log S = -1.5.

Shrader, C. R.↗
NASA NTRS2010

Kriging as a Means of Improving WAAS Availability

The Wide Area Augmentation System (WAAS), an augmentation of the Global Positioning System (GPS), provides safe and reliable use of GPS signals for airline navigation over much of North America. Currently the largest source of positioning error in the system is signal delay caused by the ionosphere. To allow the user to take account of such error, WAAS computes and broadcasts ionospheric vertical delays at a set of regularly-spaced grid points. In addition, WAAS computes and broadcasts a safety-critical integrity bound at each ionospheric grid point (IGP) called the Grid Ionospheric Vertical Error (GIVE). GIVEs are constructed to be sufficiently large to protect the user against positioning error due to the presence of ionospheric irregularity. In the initial operating capability (IOC) of WAAS, the vertical delay estimate at each IGP is determined from a planar fit of neighboring slant delay measurements, projected to vertical using an obliquity factor specified by the standard thin-shell model of the ionosphere. In WAAS Follow-On (WFO) Release 3, however, the vertical delay will be estimated by an established, geo-statistical technique known as kriging. Compared to the planar fit model, the kriging model is found, in general, to match better the observed random structure of the vertical delay. This paper presents the kriging methodology that will be used to estimate the vertical delay and its uncertainty at each IGP, and it assesses the subsequent improvement in WAAS availability enabled by kriging.

GPS↗
NASA NTRS1991

Systematic methods for knowledge acquisition and expert system development

Nine cooperating rule-based systems, collectively called AUTOCREW, were designed to automate functions and decisions associated with a combat aircraft's subsystem. The organization of tasks within each system is described; performance metrics were developed to evaluate the workload of each rule base, and to assess the cooperation between the rule-bases. Each AUTOCREW subsystem is composed of several expert systems that perform specific tasks. AUTOCREW's NAVIGATOR was analyzed in detail to understand the difficulties involved in designing the system and to identify tools and methodologies that ease development. The NAVIGATOR determines optimal navigation strategies from a set of available sensors. A Navigation Sensor Management (NSM) expert system was systematically designed from Kalman filter covariance data; four ground-based, a satellite-based, and two on-board INS-aiding sensors were modeled and simulated to aid an INS. The NSM Expert was developed using the Analysis of Variance (ANOVA) and the ID3 algorithm. Navigation strategy selection is based on an RSS position error decision metric, which is computed from the covariance data. Results show that the NSM Expert predicts position error correctly between 45 and 100 percent of the time for a specified navaid configuration and aircraft trajectory. The NSM Expert adapts to new situations, and provides reasonable estimates of hybrid performance. The systematic nature of the ANOVA/ID3 method makes it broadly applicable to expert system design when experimental or simulation data is available.

Belkin, Brenda L.↗
NASA NTRS2015

An Upper Bound on High Speed Satellite Collision Probability When Only One Object has Position Uncertainty Information

Upper bounds on high speed satellite collision probability, PC †, have been investigated. Previous methods assume an individual position error covariance matrix is available for each object. The two matrices being combined into a single, relative position error covariance matrix. Components of the combined error covariance are then varied to obtain a maximum PC. If error covariance information for only one of the two objects was available, either some default shape has been used or nothing could be done. An alternative is presented that uses the known covariance information along with a critical value of the missing covariance to obtain an approximate but potentially useful Pc upper bound.

Frisbee, Joseph H., Jr.↗
NASA NTRS1972

Improved navigation by combining VOR/DME information with air or inertial data

The improvement was determined in navigational accuracy obtainable by combining VOR/DME information (from one or two stations) with air data (airspeed and heading) or with data from an inertial navigation system (INS) by means of a maximum-likelihood filter. It was found that the addition of air data to the information from one VOR/DME station reduces the RMS position error by a factor of about 2, whereas the addition of inertial data from a low-quality INS reduces the RMS position error by a factor of about 3. The use of information from two VOR/DME stations with air or inertial data yields large factors of improvement in RMS position accuracy over the use of a single VOR/DME station, roughly 15 to 20 for the air-data case and 25 to 35 for the inertial-data case. As far as position accuracy is concerned, at most one VOR station need be used. When continuously updating an INS with VOR/DME information, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy.

Bobick, J. C.↗
NASA NTRS1994

Null Result in gamma-ray burst lensed echo search

We have searched for gravitational-lens-induced echoes between gamma-ray bursts (GRBs) in Burst and Transient Source Experiment (BATSE) data. The search was conducted in two phases. In the first phase we compared all GRBs in a brightness-complete sample of the first 260 GRBs with recorded angular positions having at least a 5% chance of being coincident from their combined positional error. In the second phase, we compared all GRB light curves of the first 611 GRBs with recorded angular positions having at least a 55% chance of being coincident from their combined positional error. No unambiguous gravitational lens candidate pairs were found in either phase, although a 'library of close calls' was accumulated for future reference. This result neither excludes nor significantly constrains a cosmological origin for GRBs.

Nemiroff, R. J.↗
NASA NTRS1999

The Utility and Validity of Kinematic GPS Positioning for the Geosar Airborne Terrain Mapping Radar System

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (IFSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., a California mapping sciences company, and the California Department of Conservation (CaIDOC), with funding provided by the U.S. Army Corps of Engineers Topographic Engineering Center (TEC) and the U.S. Defense Advanced Research Projects Agency (DARPA). IFSAR data processing requires high-accuracy platform position and attitude knowledge. On 9 GeoSAR, these are provided by one or two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The EGIs provide real-time high-accuracy attitude and moderate-accuracy position data, while the Ashtech data, post-processed differentially with data from a nearby ground station using Ashtech PNAV software, provide high-accuracy differential GPS positions. These data are optimally combined using a Kalman filter within the GeoSAR motion measurement software, and the resultant position and orientation information are used to process the dual frequency (X-band and P-band) radar data to generate high-accuracy, high -resolution terrain imagery and digital elevation models (DEMs). GeoSAR requirements specify sub-meter level planimetric and vertical accuracies for the resultant DEMS. To achieve this, platform positioning errors well below one meter are needed. The goal of GeoSAR is to obtain 25 cm or better 3-D positions from the GPS systems on board the aircraft. By imaging a set of known point target corner-cube reflectors, the GeoSAR system can be calibrated. This calibration process yields the true position of the aircraft with an uncertainty of 20- 50 cm. This process thus allows an independent assessment of the accuracy of our GPS-based positioning systems. We will present an overview of the GeoSAR motion measurement system, focusing on the use of GPS and the blending of position data from the various systems. We will present the results of our calibration studies that relate to the accuracy the GPS positioning. We will discuss the effects these positioning, errors have on the resultant DEM products and imagery.

Freedman, Adam↗
NASA NTRS1973

Flight calibration tests of a nose-boom-mounted fixed hemispherical flow-direction sensor

Flight calibrations of a fixed hemispherical flow angle-of-attack and angle-of-sideslip sensor were made from Mach numbers of 0.5 to 1.8. Maneuvers were performed by an F-104 airplane at selected altitudes to compare the measurement of flow angle of attack from the fixed hemispherical sensor with that from a standard angle-of-attack vane. The hemispherical flow-direction sensor measured differential pressure at two angle-of-attack ports and two angle-of-sideslip ports in diametrically opposed positions. Stagnation pressure was measured at a center port. The results of these tests showed that the calibration curves for the hemispherical flow-direction sensor were linear for angles of attack up to 13 deg. The overall uncertainty in determining angle of attack from these curves was plus or minus 0.35 deg or less. A Mach number position error calibration curve was also obtained for the hemispherical flow-direction sensor. The hemispherical flow-direction sensor exhibited a much larger position error than a standard uncompensated pitot-static probe.

Armistead, K. H.↗
NASA NTRS1959

Review of Aircraft Altitude Errors Due to Static-Pressure Source and Description of Nose-Boom Installations for Aerodynamic Compensation of Error

A brief review of airplane altitude errors due to typical pressure installations at the fuselage nose, the wing tip, and the vertical fins is presented. A static-pressure tube designed to compensate for the position errors of fuselage-nose installations in the subsonic speed range is described. This type of tube has an ogival nose shape with the static-pressure orifices located in the low-pressure region near the tip. The results of wind-tunnel tests of these compensated tubes at two distances ahead of a model of an aircraft showed the position errors to be compensated to within 1/2 percent of the static pressure through a Mach number range up to about 1.0. This accuracy of sensing free-stream static pressure was extended up to a Mach number of about 1.15 by use of an orifice arrangement for producing approximate free-stream pressures at supersonic speeds and induced pressures for compensation of error at subsonic speeds.

Gracey, William↗
NASA NTRS1989

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

Hill, R. E.↗
NASA NTRS1973

All digital precision processing of ERTS images

The author has identified the following significant results. Experimentation was conducted to evaluate the performance of the Sequential Similarity Detection Algorithm (SSDA) to detect and locate ground central points (GCP) automatically using MSS data. Recent experiments with ERTS data having a temporal separation of from 17 to 72 days between the search area and the GCP have shown that the algorithm can find the GCP's and with an overall probability of 88%. Band 5 appears to give the best results. A modified reseau detection algorithm has been applied to 2 RBV scenes separated by a 12 day period. The algorithm correctly located all 486 reseaus. No false reseaus were located in a companion experiment. Changes in apparent reseau position, due to camera characteristics, were never greater than 3 picture elements in either axis. The positional error of a geometrically corrected image has been predicted by the use of an APL program. The maximum deviation of the GCP's from true UTM coordinate position was computed to be 190 meters. The RMS positional error of all GCP's was 106 meters. Further refinement of the algorithm is expected to reduce the errors.

Bernstein, R.↗
NASA NTRS2014

Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.

Coon, Craig R.↗