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NASA NTRS2002

Space-Time Controls on Carbon Sequestration Over Large-Scale Amazon Basin

A major research focus of the LBA Ecology Program is an assessment of the carbon budget and the carbon sequestering capacity of the large scale forest-pasture system that dominates the Amazonia landscape, and its time-space heterogeneity manifest in carbon fluxes across the large scale Amazon basin ecosystem. Quantification of these processes requires a combination of in situ measurements, remotely sensed measurements from space, and a realistically forced hydrometeorological model coupled to a carbon assimilation model, capable of simulating details within the surface energy and water budgets along with the principle modes of photosynthesis and respiration. Here we describe the results of an investigation concerning the space-time controls of carbon sources and sinks distributed over the large scale Amazon basin. The results are derived from a carbon-water-energy budget retrieval system for the large scale Amazon basin, which uses a coupled carbon assimilation-hydrometeorological model as an integrating system, forced by both in situ meteorological measurements and remotely sensed radiation fluxes and precipitation retrieval retrieved from a combination of GOES, SSM/I, TOMS, and TRMM satellite measurements. Brief discussion concerning validation of (a) retrieved surface radiation fluxes and precipitation based on 30-min averaged surface measurements taken at Ji-Parana in Rondonia and Manaus in Amazonas, and (b) modeled carbon fluxes based on tower CO2 flux measurements taken at Reserva Jaru, Manaus and Fazenda Nossa Senhora. The space-time controls on carbon sequestration are partitioned into sets of factors classified by: (1) above canopy meteorology, (2) incoming surface radiation, (3) precipitation interception, and (4) indigenous stomatal processes varied over the different land covers of pristine rainforest, partially, and fully logged rainforests, and pasture lands. These are the principle meteorological, thermodynamical, hydrological, and biophysical control paths which perturb net carbon fluxes and sequestration, produce time-space switching of carbon sources and sinks, undergo modulation through atmospheric boundary layer feedbacks, and respond to any discontinuous intervention on the landscape itself such as produced by human intervention in converting rainforest to pasture or conducting selective/clearcut logging operations.

Smith, Eric A.↗

NASA NTRS2022

SAGE III/ISS Ozone and NO2 Validation Using Diurnal Scaling Factors

We developed a set of solar zenith angle, latitude- and altitude-dependent scaling factors to account for the diurnal variability in ozone (O3) and nitrogen dioxide (NO2) when comparing Stratospheric Aerosol and Gas Experiment (SAGE) III/ISS observations to observations from other times of day. The scaling factors are calculated as a function of solar zenith angle from the four-dimensional output of a global atmospheric chemistry model simulation of 2017–2020 that shows good agreement with observed vertical profiles. Using a global atmospheric chemistry model allows us to account for both chemically and dynamically driven variability. Both year-specific scale factors and a multi-year monthly climatology are available to decrease the uncertainty in inter-instrument comparisons and allow consistent comparisons between observations from different times of day. We describe the variability in the diurnal scale factors as a function of space and time. The quasi-biennial oscillation (QBO) appears to be a contributing factor to interannual variability in the NO2 scaling factors, leading to differences between years that switch sign with altitude. We show that application of these scaling factors improves the comparison between SAGE III/ISS and OSIRIS NO2 and between SAGE III/ISS and OMPS LP, OSIRIS, and ACE-FTS O3 observations. The comparisons between SAGE III/ISS O3 for sunrise or sunset vs. Microwave Limb Sounder (MLS) daytime or nighttime observations are also more consistent when we apply the diurnal scaling factors. There is good agreement between SAGE III/ISS V5.2 ozone and correlative measurements, with differences within 5 % between 20 and 50 km when corrected for diurnal variability. Similarly, the SAGE III/ISS V5.2 NO2 agreement with correlative measurement is mostly within 10 %. While the scale factors were designed for use with SAGE III/ISS observations, they can easily be applied to other observation intercomparisons as well.

Sarah A. Strode↗

NASA NTRS2002

Controls on Variations of Surface Energy, Water, and Carbon Budgets within Large-Scale Amazon Basin

A key research focus of the LBA Research Program is understanding the space-time variations in interlinked surface energy, water, and carbon budgets, the controls on these variations, and the implications of these controls on the carbon sequestering capacity of the large scale forest-pasture system that dominates the Amaz6nia landscape. Quantification of these variations and controls are investigated by a combination of in situ measurements, remotely sensed measurements from space, and a realistically forced hydrometeorological model coupled to a carbon assimilation model, capable of simulating details within the surface energy and water budgets along with the principle processes of photosynthesis and respiration. Herein we describe the results of an investigation concerning the space-time controls of carbon sources and sinks distributed over the large scale Amazon basin. The results are derived from a carbon-water-energy budget retrieval system for the large scale Amazon basin, which uses a coupled carbon assimilation-hydrometeorological model as an integrating system, forced by both in situ meteorological measurements and remotely sensed radiation and precipitation fluxes obtained from a combination of GOES, SSM/I, TOMS, and TRh4M satellite measurements. Results include validation of (a) retrieved surface radiation and precipitation fluxes based on 30-min averaged surface measurements taken at Ji-Parani in Rondania and Manaus in Amazonas, and (b) modeled sensible, latent, and C02 fluxes based on tower measurements taken at Reserva Jaru, Manaus and Fazenda Nossa Senhora. The space-time controls on carbon sequestration are partitioned into sets of factors classified by: (1) above canopy meteorology, (2) incoming surface radiation, (3) precipitation interception, and (4) indigenous stomatal processes varied over the different land covers of pristine rainforest, partially, and fully logged rainforests, and pasture lands. These are the principle meteorological, thermodynamical, hydrological, and biophysical control paths which perturb net carbon fluxes and sequestration, produce time-space switching of carbon sources and sinks, undergo modulation through atmospheric boundary layer feedbacks, and respond to any discontinuous intervention on the landscape itself such as produced by human intervention in converting rainforest to pasture or conducting selective/clearcut logging operations. The results demonstrate how relative carbon sequestration capacity of the Amazonian ecosystem responds to these controls, and how interpretation of space-time heterogeneities in carbon sequestration depends on a fairly exact quantification of the interacting non-linear properties of photosynthesis in response to incoming solar flux, air-canopy temperatures, and leaf water interception -- and soil respiration in response to upper layer soil temperature and water content. The results also show how the interpretation of the control processes is highly sensitive to the scales at which the surface fluxes are analyzed.

Smith, Eric A.↗

NASA NTRSDate not supplied

An Integrated Software Architecture for Solar Cruiser Mission Design and Navigation

Solar Cruiser is a solar sailing mission, riding as a secondary payload to the Interstellar Mapping and Acceleration Probe (IMAP) mission, expected to launch in February of 2025. The Solar Cruiser vehicle will generate thrust via a complex, low-thrust solar sail. The extreme low-thrust nature of the solar sail will leave Solar Cruiser highly sensitive to external environmental effects (such as solar radiation pressure and high-order gravitational perturbations) throughout the entirety of flight. Because of this, preliminary & operational optimization routines must be intricately tied to high-order predictive propagation models to ensure the greatest possible confidence in mission success. The Solar Cruiser Mission Design and Navigation (MDNav) team has designed a software tool suite, employing the latest in software containerization technology, to accomplish this task, allowing for seamless development across several users and operating systems. Combining JPL’s Monte toolkit with University of Alabama’s high-performance optimizer, ASSET, the proposed architecture allows for instant verification of optimized trajectories within the same development environment that the optimization takes place, removing the need for mission designers and navigators to switch between tools. The MDNav software suite itself is separated from the development and operational scripts to be used in flight, which allows for maintaining a low-footprint version control profile – thus avoiding unnecessary file bloating. This paper discusses the historical differences between previous iterations of the Solar Cruiser MDNav tool suite and the current iteration, planned operational interfaces of the tool with other software and subsystems, and the planned path forward in maintaining containerization services for the software throughout the lifetime of Solar Cruiser.

solar cruiser↗

NASA NTRSDate not supplied

Do Better Satellite Precipitation Algorithms Improve Landslide Hazard Assessment?

Satellites make it possible to estimate precipitation in near real time. Given the challenges of achieving global coverage by other means, these data are used widely. However, few systems for landslide hazard assessment rely on satellite precipitation estimates. This could be due in part to perceptions of accuracy, although latency, spatial resolution, and other factors may also be important. We test whether recent changes to data streams from the Global Precipitation Measurement mission (GPM) have improved its potential for use in landslide prediction. Specifically, we examine data produced by the Integrated Multi-satellitERetrievals for the GPM (IMERG) algorithm, which was upgraded to version 7 this year. IMERG relies upon other algorithms, including the Goddard Profiling Algorithm (GPROF) and the GPM Combined Radar-Radiometer Algorithm (CORRA). Many changes have been made during the switch from IMERG version 6 to version 7. These include upgrading CORRA and GPROF to version 7, to improve the accuracy of precipitation in frozen, mountainous, and coastal areas. The measured intensity of some storms has been enhanced with a new algorithm, the Scheme for Histogram Adjustment with Ranked Precipitation Estimates in the Neighborhood. Combined with many others, these changes to IMERG should improve its utility for landslide hazard assessment in a variety of contexts. To test this idea, we retrain the global Landslide Hazard Assessment for Situational Awareness (LHASA) model twice—first with data from IMERG version 6B and second with 7B. Since current daily rainfall is the most important variable in determining outcomes predicted by LHASA, it should reflect changes made to that input. First, we grid the landslides at a daily, thirty-arcsecond resolution. This serves as the response variable. At each of these sites current and antecedent rainfall are extracted, along with antecedent snow mass and soil moisture, slope, and PGA. In addition, one million grid cells are selected at random points to represent conditions under which landslides (probably) do not occur. After merging these data, we hold back 20% of the dataset for validation purposes and train a machine-learning model with the rest. We assess both the model’s overall ability to identify landslides and its ability to predict specific large landslide disasters.

Thomas A Stanley↗

NASA NTRS1996

Performance Evaluation in Network-Based Parallel Computing

Network-based parallel computing is emerging as a cost-effective alternative for solving many problems which require use of supercomputers or massively parallel computers. The primary objective of this project has been to conduct experimental research on performance evaluation for clustered parallel computing. First, a testbed was established by augmenting our existing SUNSPARCs' network with PVM (Parallel Virtual Machine) which is a software system for linking clusters of machines. Second, a set of three basic applications were selected. The applications consist of a parallel search, a parallel sort, a parallel matrix multiplication. These application programs were implemented in C programming language under PVM. Third, we conducted performance evaluation under various configurations and problem sizes. Alternative parallel computing models and workload allocations for application programs were explored. The performance metric was limited to elapsed time or response time which in the context of parallel computing can be expressed in terms of speedup. The results reveal that the overhead of communication latency between processes in many cases is the restricting factor to performance. That is, coarse-grain parallelism which requires less frequent communication between processes will result in higher performance in network-based computing. Finally, we are in the final stages of installing an Asynchronous Transfer Mode (ATM) switch and four ATM interfaces (each 155 Mbps) which will allow us to extend our study to newer applications, performance metrics, and configurations.

Dezhgosha, Kamyar↗

NASA NTRSDate not supplied

An Integrated Software Architecture for Solar Cruiser Mission Design and Navigation

Solar Cruiser is a solar sailing mission, riding as a secondary payload to the Interstellar Mapping and Acceleration Probe (IMAP) mission, slated to launch in February of 2025. The Solar Cruiser vehicle will generate thrust via a complex, low-thrust solar sail. The extreme low-thrust nature of the solar sail will leave Solar Cruiser highly sensitive to external environmental effects (such as solar radiation pressure and high-order gravitational perturbations) throughout the entirety of flight. Because of this, preliminary operational optimization routines must be intricately tied to high-order predictive propagation models to ensure the greatest possible confidence in mission success. The Solar Cruiser Mission Design and Navigation (MDNav) team has designed a software tool suite, employing the latest in software containerization technology, to accomplish this task; allowing for seamless development across several users and operating systems. Combining JPL’s Monte toolkit with high-performance optimizers written by the University of Alabama, the proposed architecture allows for instant verification of optimized trajectories within the same development environment that the optimization takes place, removing the need for mission designers and navigators to switch between tools. The MDNav suite image deployment process is separated from the development and operational scripts to be used in flight, which allows for maintaining a low-footprint version control profile without unnecessary file bloating. This paper discusses the historical differences between previous iterations of the Solar Cruiser MDNav tool suite and the current iteration, planned operational interfaces of the tool with other software and subsystems, and the planned path forward in maintaining containerization services for the software throughout the lifetime of Solar Cruiser.

optimization↗

NASA NTRS2009

Protocol for Communication Networking for Formation Flying

An application-layer protocol and a network architecture have been proposed for data communications among multiple autonomous spacecraft that are required to fly in a precise formation in order to perform scientific observations. The protocol could also be applied to other autonomous vehicles operating in formation, including robotic aircraft, robotic land vehicles, and robotic underwater vehicles. A group of spacecraft or other vehicles to which the protocol applies could be characterized as a precision-formation- flying (PFF) network, and each vehicle could be characterized as a node in the PFF network. In order to support precise formation flying, it would be necessary to establish a corresponding communication network, through which the vehicles could exchange position and orientation data and formation-control commands. The communication network must enable communication during early phases of a mission, when little positional knowledge is available. Particularly during early mission phases, the distances among vehicles may be so large that communication could be achieved only by relaying across multiple links. The large distances and need for omnidirectional coverage would limit communication links to operation at low bandwidth during these mission phases. Once the vehicles were in formation and distances were shorter, the communication network would be required to provide high-bandwidth, low-jitter service to support tight formation-control loops. The proposed protocol and architecture, intended to satisfy the aforementioned and other requirements, are based on a standard layered-reference-model concept. The proposed application protocol would be used in conjunction with conventional network, data-link, and physical-layer protocols. The proposed protocol includes the ubiquitous Institute of Electrical and Electronics Engineers (IEEE) 802.11 medium access control (MAC) protocol to be used in the datalink layer. In addition to its widespread and proven use in diverse local-area networks, this protocol offers both (1) a random- access mode needed for the early PFF deployment phase and (2) a time-bounded-services mode needed during PFF-maintenance operations. Switching between these two modes could be controlled by upper-layer entities using standard link-management mechanisms. Because the early deployment phase of a PFF mission can be expected to involve multihop relaying to achieve network connectivity (see figure), the proposed protocol includes the open shortest path first (OSPF) network protocol that is commonly used in the Internet. Each spacecraft in a PFF network would be in one of seven distinct states as the mission evolved from initial deployment, through coarse formation, and into precise formation. Reconfiguration of the formation to perform different scientific observations would also cause state changes among the network nodes. The application protocol provides for recognition and tracking of the seven states for each node and for protocol changes under specified conditions to adapt the network and satisfy communication requirements associated with the current PFF mission phase. Except during early deployment, when peer-to-peer random access discovery methods would be used, the application protocol provides for operation in a centralized manner.

Jennings, Esther↗

NASA NTRS2006

Avoiding Obstructions in Aiming a High-Gain Antenna

The High Gain Antenna Pointing and Obstruction Avoidance software performs computations for pointing a Mars Rover high-gain antenna for communication with Earth while (1) avoiding line-of-sight obstructions (the Martian terrain and other parts of the Rover) that would block communication and (2) taking account of limits in ranges of motion of antenna gimbals and of kinematic singularities in gimbal mechanisms. The software uses simplified geometric models of obstructions and of the trajectory of the Earth in the Martian sky(see figure). It treats all obstructions according to a generalized approach, computing and continually updating the time remaining before interception of each obstruction. In cases in which the gimbal-mechanism design allows two aiming solutions, the algorithm chooses the solution that provides the longest obstruction-free Earth-tracking time. If the communication session continues until an obstruction is encountered in the current pointing solution and the other solution is now unobstructed, then the algorithm automatically switches to the other position. This software also notifies communication- managing software to cease transmission during the switch to the unobstructed position, resuming it when the switch is complete.

Edmonds, Karina↗

NASA NTRS1975

Instruction manual, optical effects module electronic controller and processor, model OEMCP

The OEM-1 electronic module is discussed; it is comprised of four subsystems: the signal processing and display; the stepper motor controls; the chopper controls; and the dc-dc invertor. The OEM-1 module controls the sample wheel so that the relative transmittance of the samples can be compared to the clear aperture position. The 3-1/2 digit digital voltmeter displays the clear aperture signal level as well as the ratio of the remaining sample positions relative to the clear aperture position. The sample wheel position is decoded so that the signals and ratios can be correlated to the data. The OEM is automatically reset to the I sub o on initial turn-on and can be reset to the '0' position by actuating a front panel switch. The sample wheel can be interrupted to change samples or induce a longer integration time if desired by a front panel command. Integration times from 1 - 50 seconds are provided at the front panel, and BCD data for external interfacing is provided.

Source record↗

NASA NTRS1984

A Summary Description of a Computer Program Concept for the Design and Simulation of Solar Pond Electric Power Generation Systems

A solar pond electric power generation subsystem, an electric power transformer and switch yard, a large solar pond, a water treatment plant, and numerous storage and evaporation ponds. Because a solar pond stores thermal energy over a long period of time, plant operation at any point in time is dependent upon past operation and future perceived generation plans. This time or past history factor introduces a new dimension in the design process. The design optimization of a plant must go beyond examination of operational state points and consider the seasonal variations in solar, solar pond energy storage, and desired plant annual duty-cycle profile. Models or design tools will be required to optimize a plant design. These models should be developed in order to include a proper but not excessive level of detail. The model should be targeted to a specific objective and not conceived as a do everything analysis tool, i.e., system design and not gradient-zone stability.

Source record↗

NASA NTRS2012

Scientific Verification of Faraday Rotation Modulators: Detection of Diffuse Polarized Galactic Emission

The design and performance of a wide bandwidth linear polarization-modulator based on the Faraday effect is described. Faraday Rotation Modulators (FRMs) are solid-state polarization switches that are capable of modulation up to approx 10 kHz. Six FRMs were utilized during the 2006 observing season in the Background Imaging of Cosmic Extragalactic Polarization (BICEP) experiment; three FRMs were used at each of BICEP fs 100 and 150 GHz frequency bands. The technology was verified through high signal-to-noise detection of Galactic polarization using two of the six FRMs during four observing runs in 2006. The features exhibit strong agreement with BICEP fs measurements of the Galaxy using non-FRM pixels and with the Galactic polarization models. This marks the first detection of high signal-to-noise mm-wave celestial polarization using fast, active optical modulation. The performance of the FRMs during periods when they were not modulated was also analyzed and compared to results from BICEP fs 43 pixels without FRMs.

Moyerman, S.↗

NASA NTRSDate not supplied

An Integrated Software Architecture for Solar Cruiser Mission Design and Navigation

Solar Cruiser is a solar sailing mission, riding as a secondary payload to the Interstellar Mapping and Acceleration Probe (IMAP) mission, expected to launch in February of 2025. The Solar Cruiser vehicle will generate thrust via a complex, low-thrust solar sail. The extreme low-thrust nature of the solar sail will leave Solar Cruiser highly sensitive to external environmental effects (such as solar radiation pressure and high-order gravitational perturbations) throughout the entirety of flight. Because of this, preliminary & operational optimization routines must be intricately tied to high-order predictive propagation models to ensure the greatest possible confidence in mission success. The Solar Cruiser Mission Design and Navigation (MDNav) team has designed a software tool suite, employing the latest in software containerization technology, to accomplish this task, allowing for seamless development across several users and operating systems. Combining JPL’s Monte toolkit with high-performance optimizers written by researchers at the University of Alabama, the proposed architecture allows for instant verification of optimized trajectories within the same development environment that the optimization takes place, removing the need for mission designers and navigators to switch between tools. The MDNav software suite itself is separated from the development and operational scripts to be used in flight, which allows for maintaining a low-footprint version control profile – thus avoiding unnecessary file bloating. This paper discusses the historical differences between previous iterations of the Solar Cruiser MDNav tool suite and the current iteration, planned operational interfaces of the tool with other software and subsystems, and the planned path forward in maintaining containerization services for the software throughout the lifetime of Solar Cruiser.

Containerization↗

NASA NTRS2002

Pulsed Electromagnetic Acceleration of Plasma: A Review

Much have been learned in the acceleration mechanisms involved in accelerating a plasma electromagnetically in the laboratory over the last 40 years since the early review by Winston Bostik of 1963, but the accumulated understanding is very much scattered throughout the literature. This literature extends back at least to the early sixties and includes Rosenbluth's snowplow model, discussions by Ralph Lovberg, Colgate's boundary-layer model of a current sheet, many papers from the activity at Columbia by Robert Gross and his colleagues, and the relevant, 1-D unsteady descriptions developed from the U. of Maryland theta-pinch studies. Recent progress on the understanding of the pulsed penetration of magnetic fields into collisionless or nearly collisionless plasmas are also be reviewed. Somewhat more recently, we have the two-dimensional, unsteady results in the collisional regime associated with so-called wall-instability in large radius pinch discharges and also in coaxial plasma guns (e.g., Plasma Flow Switch). Among other things, for example, we have the phenomenon of a high- density plasma discharge propagating in a cooaxial gun as an apparently straight sheet (vs paraboloid) because mass re-distribution (on a microsecond timescale) compensates for the 1/r- squared variation of magnetic pressure. We will attempt to collate some of this vast material and bring some coherence tc the development of the subject.

Thio, Y. C. Francis↗

NASA NTRS2012

Performance status of the Atmospheric Infrared Sounder ten years after launch

The Atmospheric Infrared Sounder (AIRS) is a hyperspectral infrared instrument on the EOS Aqua Spacecraft, launched on May 4, 2002. AIRS has 2378 infrared channels ranging from 3.7 μm to 15.4 μm and a 13.5 km footprint at nadir. The AIRS is a “facility” instrument developed by NASA as an experimental demonstration of advanced technology for remote sensing and the benefits of high resolution infrared spectra to science investigations. AIRS, in conjunction with the Advanced Microwave Sounding Unit (AMSU), produces temperature profiles with 1K/km accuracy on a global scale, as well as water vapor profiles and trace gas amounts for CO2, CO, SO2, O3 and CH4. AIRS data are used for weather forecasting, climate process studies and validating climate models. The AIRS instrument has far exceeded its required design life of 5 years, with over 10 years of operations as of September 2012. While the instrument has performed exceptionally well, with little signs of wear, the AIRS Project continues to monitor and maintain the health of AIRS, characterize its behavior and improve performance where possible. Radiometric stability has been monitored and trending shows better than 16 mK/year stability. Spectral calibration stability is better than 1 ppm/year, and a new gain table was recently uploaded to recover 100 significantly degraded or dead channels by switching to their redundant counterpart. At this time we expect the AIRS to continue to perform well for the next decade.

Strow, Larrabee↗

NASA NTRS2007

The Operation and Evolution of the Swift X-ray Telescope

The Swift X-ray Telescope (XRT) is a CCD based X-ray telescope designed for localization, spectroscopy and long term light curve monitoring of Gamma-Ray Bursts and their X-ray afterglows. Since the launch of Swift in November 2004, the XRT has undergone significant evolution in the way it is operated. Shortly after launch there was a failure of the thermo-electric cooler on the XRT CCD, which led to the XRT team being required to devise a method of keeping the XRT CCD temperature below 50C utilizing only passive cooling by minimizing the exposure of the XRT radiator to the Earth. We present in this paper an update on how the modeling of this passive cooling method has improved in first -1000 days since the method was devised, and the success rate of this method in day-to-day planning. We also discuss the changes to the operational modes and onboard software of the XRT. These changes include improved rapid data product generation in order to improve speed of rapid Gamma-Ray Burst response and localization to the community; changes to the way XRT observation modes are chosen in order to better fine tune data aquisition to a particular science goal; reduction of "mode switching" caused by the contamination of the CCD by Earth light or high temperature effects.

Kennea, Jamie↗

NASA NTRS2005

Carbon nanotube Schottky diodes using Ti-Schottky and Pt-ohmic contacts for high frequency applications

We have demonstrated Schottky diodes using semiconducting single-walled nanotubes (s-SWNTs) with titanium Schottky and platinum Ohmic contacts for high-frequency applications. The diodes are fabricated using angled evaporation of dissimilar metal contacts over an s-SWNT. The devices demonstrate rectifying behavior with large reverse bias breakdown voltages of greater than 15 V. To decrease the series resistance, multiple SWNTs are grown in parallel in a single device, and the metallic tubes are burnt-out selectively. At low biases these diodes showed ideality factors in the range of 1.5 to 1.9. Modeling of these diodes as direct detectors at room temperature at 2.5 terahertz (THz) frequency indicates noise equivalent powers (NEP) potentially comparable to that of the state-of-the-art gallium arsenide solid-state Schottky diodes, in the range of 10-13 W(square root)xHz.

semiconducting↗

NASA NTRS1987

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Cetinkunt, Sabri↗