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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Adaptive Control for Microgravity Vibration Isolation System

Most active vibration isolation systems that try to a provide quiescent acceleration environment for space science experiments have utilized linear design methods. In this paper, we address adaptive control augmentation of an existing classical controller that employs a high-gain acceleration feedback together with a low-gain position feedback to center the isolated platform. The control design feature includes parametric and dynamic uncertainties because the hardware of the isolation system is built as a payload-level isolator, and the acceleration Sensor exhibits a significant bias. A neural network is incorporated to adaptively compensate for the system uncertainties, and a high-pass filter is introduced to mitigate the effect of the measurement bias. Simulations show that the adaptive control improves the performance of the existing acceleration controller and keep the level of the isolated platform deviation to that of the existing control system.

Yang, Bong-Jun↗
NASA NTRS2017

Contributions of Mixed-Phase Clouds to Reduced Arctic Amplification

Earth’s Arctic is particularly sensitive to global warming. The climate record shows that Arctic changes in surface temperatures far exceed that of the global mean, a phenomenon referred to as Arctic amplification. Here, we show that warming of the Arctic atmosphere causes mixed-phase clouds in the region to contain less ice and more supercooled liquid, which in turn tends to increase their amount and thick- ness, thereby inducing a positive feedback mainly by increasing downward longwave (LW) radiation at the surface. The increased downward LW radiation decreases the positive lapse rate feedback in the Arctic, thus resulting in reduced Arctic amplification. The strength of this feedback depends on the initial mean-state supercooled liquid fraction (SLF) and the ice crystal effective radii. We also show that reduced precipitation rates can result from large mean-state ice effective radii being replaced by relatively more smaller liquid droplets in the cloud phase feedback, despite having high mean-state SLFs, demonstrating the importance of the representation of cloud microphysics in the Arctic.

Tan, Ivy↗
NASA NTRS1989

Preliminary results on noncollocated torque control of space robot actuators

In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.

Tilley, Scott W.↗
NASA NTRS1994

Century/millennium internal climate oscillations in an ocean-atmosphere-continental ice sheet model

We demonstrate in a simple climate model that there exist nonlinear feedbacks between the atmosphere, ocean, and ice sheets capable of producing century/millennium timescale internal oscillations resembling those seen in the paleoclimate record. Feedbacks involve meridional heat and salt transports in the North Atlantic, surface ocean freshwater fluxes associated with melting and growing continental ice sheets in the northen hemisphere and with Atlantic to Pacific water vapor transport. The positive feedback between the production of North Atlantic Deep Water (NADW) and the meridional salt transport by the Atlantic thermohaline circulation tends to destabilize the climate system, while the negative feedback between the freshwater flux, either to or from the continental ice sheets, and meridional heat flux to the high-latitude North Atlantic, accomplished by the thermohaline circulation, stabilizes the system. The thermohaline circulation plays a central role in both positive and negative feedbacks because of its transport of both heat and salt. Because of asymmetries between the growth and melt phases the oscillations are, in general, accompanied by a growing or decreasing ice volume over each cycle, which in the model is reflected by increasing or decreasing mean salinity.

Birchfield, Edward G.↗
NASA NTRS2004

Observations of the Upper Tropospheric Water Vapor Feedback in UARS MLS and HALOE Data

One of the biggest uncertainties in climate science today concerns the water vapor feedback. Most GCMs hold relative humidity fixed as the climate changes, which provides a strong positive feedback to warming due from anthropogenic greenhouse gas emissions. Some in the community, on the other hand, have speculated that tropospheric specific humidity will remain fixed as the climate changes. Observational studies have attempted to resolve this disagreement, but the results have been inconclusive, and few of the studies have focused on the upper troposphere (UT). This is a significant oversight: the surface temperature is especially sensitive to changes in water vapor in the UT owing to the cold temperatures found there. We present an analysis of UARS MLS and HALOE water vapor measurements at 21 5 hPa. We find strong evidence that the water vapor feedback in the UT is positive, but not as strong as fixed relative humidity scenarios. This suggests that GCMs are overestimating the sensitivity of the climate.

Dessler, A. E.↗
NASA NTRS2021

Evidence that Horizontal Moisture Advection Regulates the Ubiquitous Amplification of Rainfall Variability over Tropical Oceans

The column moist static energy (MSE) budget equation approximates the processes associated with column moistening and drying in the tropics, and is therefore predictive of precipitation amplification and decay. We use ERA-Interim (ERA-I) and TRMM 3B42 data to investigate day-to-day convective variability and distinguish the roles of horizontal MSE (or moisture) advection versus vertical advection, sources, and sinks. Over tropical convergence zones, results suggest that horizontal moisture advection is a primary driver of day-to-day precipitation fluctuations; when drying via horizontal moisture advection is smaller (greater) than Chikira’s “column process,” precipitation tends to amplify (decay). In the absence of horizontal moisture advection, precipitation tends to increase spontaneously almost universally through a positive column process feedback. This bulk positive feedback is characterized by negative effective gross moist stability (GMS), which is maintained throughout the tropical convergence zones. How this positive feedback is achieved varies geographically, depending on the shape of vertical velocity (omega) profiles. In regions where omega profiles are top-heavy, the effective GMS is negative primarily owing to strong feedbacks between convection and diabatic MSE sources (radiative and surface fluxes). In these regions, vertical MSE advection stabilizes the atmosphere (positive vertical GMS). Where omega profiles are bottom-heavy, by contrast, a positive feedback is primarily driven by import of MSE through a shallow circulation (negative vertical GMS). The diabatic feedback and vertical GMS are in a seesaw balance, offsetting one another. Our results suggest that ubiquitous convective variability is amplified by the same mechanism as moisture-mode instability.

horizontal moisture advection↗
NASA NTRS1992

Variable-Compliance Couplings For Heavy Lifting

New coupling devices contain manual or electronically controlled, motorized drives that vary stiffnesses. Short, clamped lengths of cable provide compliance. Using threaded rods, cables stretched, relaxed, or folded to make coupling more or less stiff. In more-advanced device, brackets holding cables moved by stepping motor via gearbox and ball screw. Motor operates under computer control with position feedback. Control computer commands greater stiffness during operations requiring precise positioning, and greater compliance to accommodate manufacturing tolerances. Intended for use in wrist joints of robotic manipulators and other industrial equipment that must lift heavy objects.

Kerley, James↗
NASA NTRS1987

On a theory of the evolution of surface cold fronts

The governing vorticity and divergence equations in the surface layer are derived and the roles of the different terms and feedback mechanisms are investigated in semigeostrophic and nongeostrophic cold-frontal systems. A planetary boundary layer model is used to perform sensitivity tests to determine that in a cold front the ageostrophic feedback mechanism as defined by Orlanski and Ross tends to act as a positive feedback mechanism, enhancing vorticity and convergence growth. Therefore, it cannot explain the phase shift between convergence and vorticity as simulated by Orlanski and Ross. An alternative plausible, though tentative, explanation in terms of a gravity wave is offered. It is shown that when the geostrophic deformation increases, nonlinear terms in the divergence equation may become important and further destabilize the system.

Levy, Gad↗
NASA NTRSDate not supplied

On the Nature of the Arctic’s Positive Lapse Rate Feedback Cause or Symptom of Arctic Amplification

Radiative energy fluxes exiting the atmosphere towards the surface and to space are sensitive to the vertical structure of temperature. Under anthropogenic forcing, this sensitivity gives rise to the lapse-rate feedback. Shown to be negative in the tropics and positive in the Arctic, studies argue that the lapse-rate feedback is the primary cause of Arctic Amplification. While mechanistically the negative tropical lapse-rate feedback is understood, the mechanics of the positive Arctic lapse-rate feedback are less clear. Previous arguments state that the Arctic’s stable stratification is the origin of its positive lapse-rate feedback. We present results using CMIP5 and CMIP6 model output that arguing that the magnitude, spatial variability, seasonality, and inter-model spread in the Arctic lapse-rate feedback is controlled by surface properties and atmosphere-ocean-sea ice energy exchanges, not the degree of stable stratification. We argue that the Arctic’s positive lapse-rate feedback is a seasonal and regional phenomenon that manifests from local surface characteristics and surface albedo, ice insulation, and thermal inertia feedbacks that cause surface warming to outpace atmospheric warming in sea ice-retreat regions. We view the Arctic’s positive lapse-rate feedback as a symptom rather than the primary cause of Arctic Amplification.

Patrick C Taylor↗
NASA NTRS1987

Cloud-radiation interactions - Effects of cirrus optical thickness feedbacks

The paper is concerned with a cloud-radiation feedback mechanism which may be an important component of the climate changes expected from increased atmospheric concentrations of carbon dioxide and other trace greenhouse gases. A major result of the study is that cirrus cloud optical thickness feedbacks may indeed tend to increase the surface warming due to trace gas increases. However, the positive feedback from cirrus appears to be generally weaker than the negative effects due to lower clouds. The results just confirm those of earlier research indicating that the net effect of cloud optical thickness feedbacks may be a negative feedback which may substantially (by a factor of about 2) reduce the surface warming due to the doubling of CO2, even in the presence of cirrus clouds.

Somerville, Richard C. J.↗
NASA NTRS1991

A vision-based end-point control for a two-link flexible manipulator

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Obergfell, Klaus↗
NASA NTRS1980

The DSN programming system

The Deep Space Network programming system is described by a heuristic model. Interaction with two elements of that system, anomaly reporting and the MBASIC (trademark) language, is described in detail. Feedback from anomaly reporting indicates that the methodology resulted in a low anomaly rate and thereby also provided positive feedback. The need to reduce operating costs prompted the implementation of the MBASIC (trademark) language as a compiler.

Irvine, A. P.↗
NASA NTRS1995

Observation of local cloud and moisture feedbacks over high ocean and desert surface temperatures

New data on clouds and moisture, made possible by reanalysis of weather satellite observations, show that the atmosphere reacts to warm clusters of very high sea surface temperatures in the western Pacific Ocean with increased moisture, cloudiness, and convection, suggesting a negative feedback limiting the sea surface temperature rise. The reverse was observed over dry and hot deserts where both moisture and cloudiness decrease, suggesting a positive feedback perpetuating existing desert conditions. In addition, the observations show a common critical surface temperature for both oceans and land; the distribution of atmospheric moisture is observed to reach a maximum value when the daily surface temperatures approach 304 +/- 1 K. These observations reveal complex dynamic-radiative interactions where multiple processes act simultaneously at the surface as well as in the atmosphere to regulate the feedback processes.

Chahine, Moustafa T.↗
NASA NTRS2013

CGILS: Results from the First Phase of an International Project to Understand the Physical Mechanisms of Low Cloud Feedbacks in Single Column Models

1] CGILS-the CFMIP-GASS Intercomparison of Large Eddy Models (LESs) and single column models (SCMs)-investigates the mechanisms of cloud feedback in SCMs and LESs under idealized climate change perturbation. This paper describes the CGILS results from 15 SCMs and 8 LES models. Three cloud regimes over the subtropical oceans are studied: shallow cumulus, cumulus under stratocumulus, and well-mixed coastal stratus/stratocumulus. In the stratocumulus and coastal stratus regimes, SCMs without activated shallow convection generally simulated negative cloud feedbacks, while models with active shallow convection generally simulated positive cloud feedbacks. In the shallow cumulus alone regime, this relationship is less clear, likely due to the changes in cloud depth, lateral mixing, and precipitation or a combination of them. The majority of LES models simulated negative cloud feedback in the well-mixed coastal stratus/stratocumulus regime, and positive feedback in the shallow cumulus and stratocumulus regime. A general framework is provided to interpret SCM results: in a warmer climate, the moistening rate of the cloudy layer associated with the surface-based turbulence parameterization is enhanced; together with weaker large-scale subsidence, it causes negative cloud feedback. In contrast, in the warmer climate, the drying rate associated with the shallow convection scheme is enhanced. This causes positive cloud feedback. These mechanisms are summarized as the "NESTS" negative cloud feedback and the "SCOPE" positive cloud feedback (Negative feedback from Surface Turbulence under weaker Subsidence-Shallow Convection PositivE feedback) with the net cloud feedback depending on how the two opposing effects counteract each other. The LES results are consistent with these interpretations

Single Column Models↗
NASA NTRS1995

Automatic releveling of calibration stands for wind tunnel force and moment measurement instrumentation

Wind tunnel force and moment measuring instrumentation at NASA LaRC are calibrated by applying NIST certified dead loads, to generate forces and moments in three orthogonal axes, in twenty five percent increments, up to full-load and down to no-load in a nine point continuous procedure, using specially built calibration stands. The measuring instruments deflect upon the application of loads. These deflections must be cancelled to minimize loading interactions. The older calibration stands, integrated with AC induction motors, or DC motors, have provisions for manually releveling the loading point after each load. A newer stand, with integrated DC stepper motors, relevels automatically under software control. It was proposed to extend automation to the old stands. An algorithm to control the unwieldy induction motors to relevel a calibration stand, to within two arcseconds of horizontal direction automatically, was developed. The system developed uses coasting prediction and load adaptation in a general type robust stability control configuration with noncoincidental feedback. Automatic releveling cuts the releveling time to approximately half of the time required to do it manually. The principal constraint for shorter times is the time constant of the angular position feedback transducer.

Perazza, Manuel Rodriguez↗
NASA NTRS2007

Neuro-Motor Responses to Daily Centrifugation in Bed-Rested Subjects

It is well known from numerous space flight studies that exposure to micro-g produces both morphological and neural adaptations in the major postural muscles. However, the characteristics and mechanism of these changes, particularly when it may involve the central nervous system are not defined. Furthermore, it is not known what role unloading of the muscular system may have on central changes in sensorimotor function or if centrifugation along the +Gz direction (long body axis) can mitigate both the peripheral changes in muscle function and modification of the central changes in sensorimotor adaptation to the near weightless environment of space flight. The purpose of this specific effort was, therefore, to investigate the efficacy of artificial gravity (AG) as a method for maintaining sensorimotor function in micro-g. Eight male subjects were exposed to daily 1 hr centrifugation during a 21 day 6 degree head-down bed rest study. Seven controls were placed on the centrifuge without rotation. The radius and angular velocity of the centrifuge were adjusted such that each subject experienced a centripetal acceleration of 2.5g at the feet, and approximately 1.0g at the heart. Both the tendon (MSR) and functional stretch reflexes (FSR) were collected using an 80 lb. ft. servomotor controlled via position feedback to provide a dorsiflexion step input to elicit the MSR, and the same step input with a built in 3 sec hold to evoke the FSR. EMG data were obtained from the triceps surae. Supplementary torque, velocity and position data were collected with the EMG responses. All data were digitized and sampled at 4 kHz. Only the MSR data has been analyzed at this time, and preliminary results suggest that those subjects exposed to active centrifugation (treatment group) show only minor changes in MSR peak latency times, either as a function of time spent in bed rest or exposure to centrifugation, while the control subjects show delays in the MSR peak latencies that are typical of bed rested subjects. There also appears to be a trend in the treatment group where centrifugation results in peak latencies that are shorter than the control group. This trend is supported by the observation that peak reflex amplitudes are larger (up to 40% in magnitude)than those of the control subjects. Furthermore, centrifugation tends, by day 21 of bed rest, to normalize the peak amplitudes to the amplitudes observed prior to bed rest or centrifugation. From a preliminary point of view, centrifugation appears to have a positive effect on the sensorimotor system, and specifically on those muscles that provide anti-gravity and postural support.

Reschke, Millard F.↗
NASA NTRS1992

Autonomous Space Processor for Orbital Debris (ASPOD)

A project in the Advanced Design Program at the University of Arizona is described. The project is named the Autonomous Space Processor for Orbital Debris (ASPOD) and is a Universities Space Research Association (USRA) sponsored design project. The development of ASPOD and the students' abilities in designing and building a prototype spacecraft are the ultimate goals of this project. This year's focus entailed the development of a secondary robotic arm and end-effector to work in tandem with an existent arm in the removal of orbital debris. The new arm features the introduction of composite materials and a linear drive system, thus producing a light-weight and more accurate prototype. The main characteristic of the end-effector design is that it incorporates all of the motors and gearing internally, thus not subjecting them to the harsh space environment. Furthermore, the arm and the end-effector are automated by a control system with positional feedback. This system is composed of magnetic and optical encoders connected to a 486 PC via two servo-motor controller cards. Programming a series of basic routines and sub-routines allowed the ASPOD prototype to become more autonomous. The new system is expected to perform specified tasks with a positional accuracy of 0.5 cm.

Ramohalli, Kumar↗
NASA NTRS2002

Observer-Based Magnetic Bearing Controller Developed for Aerospace Flywheels

A prototype of a versatile, observer-based magnetic bearing controller for aerospace flywheels was successfully developed and demonstrated on a magnetic bearing test rig (see the photograph) and an actual flywheel module. The objective of this development included a fast, yet low risk, control development process, and a robust, high-performance controller for a large variety of flywheels. This required a good system model, an efficient development procedure, and a model-based controller that addressed the key problems associated with flywheel and bearing imbalance, sensor error, and vibration. The model used in this control development and tuning procedure included the flexible rotor dynamics and motor-induced vibrations. Such a model was essential for low-risk scheduling of speed-dependent control parameters and for reliable evaluation of novel control strategies. The successfully tested control prototype utilized an extended Kalman filter to estimate the true rotor principal-axis motion from the raw sensor position feedback. For control refinement, the extended Kalman filter also estimated and eliminated the combined effects of mass-imbalance and sensor runouts from the input data. A key advantage of the design based on the extended Kalman filter is its ability to accurately estimate both the rotor's principal-axis position and gyroscopic rates with the least amount of phase lag. This is important for control parameter scheduling to dampen the gyroscopic motions. Because of large uncertainties in the magnetic bearing and imbalance characteristics, this state-estimation scheme alone is insufficient for containing the rotor motion within the desired 1-mil excursion radius. A nonlinear gain adjustment based on an estimation of the principal-axis orbit size was needed to provide a coarse (nonoptimal), but robust, control of the orbit growth. Control current minimization was achieved with a (steepest gradient) search of synchronous errors in the principal-axis position input data. Actual flywheel tests of this observer-based controller (developed entirely in-house) at the NASA Glenn Research Center showed that the model correctly predicted the rotor orbit growth as a function of rotational speed, and it demonstrated the capability of gain adjustments to arrest this growth. Data from these tests on an actual flywheel module spun to 26,000 rpm proved that the controller was able to contain the shaft motion to within much less than 0.5 mils of radial excursion with axis currents less than 300 mA in root-mean-square estimate. The test speed range was limited because of thermal expansion concerns for this particular flywheel unit, not because of any deficiency in the controller. Simulations for this unit indicated that the controller should be robust up to its top operating speed of 60,000 rpm. Aside from these important achievements, and most significantly, it took less than 1 week to adapt this controller from the simple test rig to the actual flywheel and to demonstrate full five-axis levitation and control. This demonstration showed that both the controller and the model-based development and tuning framework are easily adaptable to a wide range of rotors and bearing configurations and, hence, are capable of reducing design risks and costs for many future flywheel technology developments.

Le, Dzu K.↗