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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 559 records · Page 31

Dynamic coordination of two robot arms

This paper presents a new control method for coordinated control of two robot arms. The two arms are assumed to work on the same object simultaneously. The control method uses a dynamic coordinator acting on relative position and velocity task space errors and on relative force-torque errors between the two arms as sensed at the end effectors. This method is novel because the position and velocity error feedback could be superimposed with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

An approach to optical structures control

The stabilization of a large, spaceborne Cassegrain telescope is examined. Modal gain factors and known characteristics of disturbances are used to determine which structural model affect line of sight (LOS) the most and are candidates for active control. THe approach is to: (1) actively control and maintain alignment of optical components; (2) place structural control actuators for optimum impact on the selected modes for active vibration control; and (3) feed back the best available estimate of LOS error for direct LOS control. Local analog loops are used for lower bandwidth control and multivariable digital control for lower bandwidth control. The control law is synthesized in the frequency domain using the characteristic gain approach. Robustness is measured by employing conicity, which is an outgrowth of the positivity approach to robust feedback system design. The feasibility of the design approach will be demonstrated by conducting a lab experiment on a structure similar to a scaled version of the telescope.

Iwens, R. P.↗

Robust controller designs for second-order dynamic system: A virtual passive approach

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Juang, Jer-Nan↗

High temperature skin friction measurement

Skin friction measurement in the NASA Langley hypersonic propulsion facility is described. The sensor configuration utilized an existing balance, modified to provide thermal isolation and an increased standoff distance. For test run times of about 20 sec and ambient-air cooling of the test section and balance, the modified balance performed satisfactorily, even when it was subjected to acoustic and structural vibration. The balance is an inertially balanced closed-loop servo system where the current to a moving-coil motor needed to restore or null the output from the position sensor is a measure of the force or skin friction tending to displace the moving element. The accuracy of the sensor is directly affected by the position sensor in the feedback loop, in this case a linear-variable differential transformer which has proven to be influenced by temperature gradients.

Tcheng, Ping↗

Robust controller designs for second-order dynamic systems - A virtual passive approach

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gians are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Juang, Jer-Nan↗

Large-gap magnetic positioning system having advantageous configuration

A magnetic configuration was devised in which the positioned object is maintained in a stable orientation and position on one side of an opaque plane surface entirely by means of magnetic components on the other side of the plane. The system is effective with or without gravity, and can operate in any orientation. In this system, the positioned object need only contain a simple dipole magnet. The positioning components consist of a group of permanent magnets creating a magnetic field configuration which stabilizes the levitated dipole in all but one degree of freedom, and a magnetic position sensing and force feedback system to actively stabilize the object in the one unstable direction. The system utilizes very low power at equilibrium and can maintain gaps of 50 mm.

Chong, Paul↗

Completing the Loop: Linking Software Features to Failures

The PITS Modification Script has been under development. Testing, debugging, and optimization of the script are in progress. MSIS has begun population of ODC values from historic issue data. Design of the Linker Tool is also continuing. The quarterly review meeting held on December 17,2003, allowed for a venue to discuss installing the PITS Modification Script to the production version of PITS upon completion and incorporation of ODC into an IV&V project s issue tracking process. Feedback from NASA was positive although any global implementation will likely be timed to coordinate with other activities such as establishment of an IV&V Work Breakdown Structure.

Source record↗

Climate Response to the Increase in Tropospheric Ozone since Preindustrial Times: A Comparison between Ozone and Equivalent CO2 Forcings

We examine the characteristics of the climate response to anthropogenic changes in tropospheric ozone. Using a general circulation model, we have carried out a pair of equilibrium climate simulations with realistic present-day and preindustrial ozone distributions. We find that the instantaneous radiative forcing of 0.49 W m(sup -2) due to the increase in tropospheric ozone since preindustrial times results in an increase in global mean surface temperature of 0.28 C. The increase is nearly 0.4 C in the Northern Hemisphere and about 0.2 C in the Southern Hemisphere. The largest increases (greater than 0.8 C) are downwind of Europe and Asia and over the North American interior in summer. In the lower stratosphere, global mean temperatures decrease by about 0.2 C due to the diminished upward flux of radiation at 9.6 micrometers. The largest stratospheric cooling, up to 1.0 C, occurs over high northern latitudes in winter, with possibly important implications for the formation of polar stratospheric clouds. To identify the characteristics of climate forcing unique to tropospheric ozone, we have conducted two additional climate equilibrium simulations: one in which preindustrial tropospheric ozone concentrations were increased everywhere by 18 ppb, producing the same global radiative forcing as present-day ozone but without the heterogeneity; and one in which CO2 was decreased by 25 ppm relative to present day, with ozone at present-day values, to again produce the same global radiative forcing but with the spectral signature of CO2 rather than ozone. In the first simulation (uniform increase of ozone), the global mean surface temperature increases by 0.25 C, with an interhemispheric difference of only 0.03 C, as compared with nearly 0.2 C for the heterogeneous ozone increase. In the second simulation (equivalent CO2), the global mean surface temperature increases by 0.36 C, 30% higher than the increase from tropospheric ozone. The stronger surface warming from CO2 is in part because CO2 forcing (obscured by water vapor) is shifted relatively poleward where the positive ice-albedo feedback amplifies the climate response and in part because the magnitude of the CO2 forcing in the mid-troposphere is double that of ozone. However, we find that CO2 is far less effective than tropospheric ozone in driving lower stratospheric cooling at high northern latitudes in winter.

Mickley L. J.↗

Land-Atmosphere Coupling at the U.S. Southern Great Plains: A Comparison on Local Convective Regimes Between ARM Observations, Reanalysis, and Climate Model Simulations

Using the 9-yr warm-season observations at the Atmospheric Radiation Measurement Southern Great Plains site, we assess the land-atmosphere (L-A) coupling in North American Regional Reanalysis (NARR) and two climate models: hindcasts with the Community Atmosphere Model version 5.1 by Cloud-Associated Parameterizations Testbed (CAM5-CAPT) and nudged runs with the Energy Exascale Earth System Model Atmosphere Model version 1 Regionally Refined Model (EAMv1-RRM). We focus on three local convective regimes and diagnose model behaviors using the Local Coupling metrics (Santanello et al. 2018). NARR agrees well with observations except a slightly warmer and drier surface with higher downwelling shortwave radiation and lower evaporative fraction. On clear-sky days, it shows warmer and drier early-morning conditions in both models with significant underestimates in surface evaporation by EAMv1-RRM. On the majority of the ARM-observed shallow cumulus days, there is no or little low-level clouds in either model. When captured in models, the simulated shallow cumulus shows much less cloud fraction and lower cloud bases than observed. On the days with late-afternoon deep convection, models tend to present a stable early-morning lower atmosphere more frequently than the observations, suggesting that the deep convection is triggered more often by elevated instabilities. Generally, CAM5-CAPT can reproduce the local L-A coupling processes to some extent due to the constrained early-morning conditions and large-scale winds. EAMv1-RRM exhibits large precipitation deficits and warm and dry biases towards mid-to-late summers, which may be an amplification through a positive L-A feedback among initial atmosphere and land states, convection triggering and large-scale circulations.

land-atmosphere↗

Evaluating Precipitation Features and Rainfall Characteristics in a Multi‐Scale Modeling Framework

Cloud and precipitation systems are simulated with a multi‐scale modeling framework (MMF) and compared over the Tropics and Subtropics against the Tropical Rainfall Measuring Mission (TRMM) Radar‐defined Precipitation Features (RPFs) product. A methodology, in close analogy to the TRMM RPFs, is developed to produce simulated precipitation features (PFs) from the output of the embedded two‐dimensional (2D) cloud‐resolving models (CRMs) within an MMF. Despite the limitations of 2D CRMs, the simulated population distribution, horizontal and vertical structure of PFs, and the geographical location and local rainfall contribution of mesoscale convective systems (MCSs) are in good agreement with the TRMM observations. However, some model discrepancies are found and can be identified and quantified within the PF distributions. Using model biases in relative population and rainfall contributions, PFs can be characterized into four size categories: small, medium to large, very large, and extremely large. Four different major mechanisms might account for the model biases in each different category: (1) the two‐dimensionality of the CRMs, (2) a positive convection‐wind‐evaporation feedback loop, (3) an artificial dynamic constraint in a bounded CRM domain with cyclic boundaries, and (4) the limited CRM domain size. The second and fourth mechanisms tend to contribute to the excessive tropical precipitation biases commonly found in most MMFs, whereas the other mechanisms reduce rainfall contributions from small and very large PFs. MMF sensitivity experiments with various CRM domain sizes and grid spacings showed that larger domains (higher resolutions) tend to shift PF populations toward larger (smaller) sizes.

Jiun-Dar Chern↗

GUI for Computational Simulation of a Propellant Mixer

Control Panel is a computer program that generates a graphical user interface (GUI) for computational simulation of a rocket-test-stand propellant mixer in which gaseous hydrogen (GH2) is injected into flowing liquid hydrogen (LH2) to obtain a combined flow having desired thermodynamic properties. The GUI is used in conjunction with software that models the mixer as a system having three inputs (the positions of the GH2 and LH2 inlet valves and an outlet valve) and three outputs (the pressure inside the mixer and the outlet flow temperature and flow rate). The user can specify valve characteristics and thermodynamic properties of the input fluids via userfriendly dialog boxes. The user can enter temporally varying input values or temporally varying desired output values. The GUI provides (1) a set-point calculator function for determining fixed valve positions that yield desired output values and (2) simulation functions that predict the response of the mixer to variations in the properties of the LH2 and GH2 and manual- or feedback-control variations in valve positions. The GUI enables scheduling of a sequence of operations that includes switching from manual to feedback control when a certain event occurs.

Figueroa, Fernando↗

Entry Attitude Controller for the Mars Science Laboratory

This paper describes the preliminary concept for the RCS 3-axis attitude controller for the exo-atmospheric and guided entry phases of the Mars Science Laboratory Entry, Descend and Landing. The entry controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via simulation.

Mars↗

Attitude Controller for the Atmospheric Entry of the Mars Science Laboratory

This paper describes the attitude controller for the atmospheric entry of the Mars Science Laboratory (MSL). The controller will command 8 RCS thrusters to control the 3- axis attitude of the entry capsule. The Entry Controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback path. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D control structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via computer simulations.

attitude controller↗

A New Force Balanced Accelerometer Using Tunneling Tip Position Sensing

In this paper, we report the initial development of a single-axis bulk micromachined accelerometer. The device employs an electron tunneling tip as a position detector in a force feedback control system. Control electrodes are placed above and below the proof mass and act as electrostatic force plates. Using the force plates, the position of the proof mass relative to the tunneling tip can be controlled.

accelerometers sensors position detectors↗

Clinical Verification of Image Warping as a Potential Aid for the Visually Handicapped

The bulk of this research was to designed determine potential of the Programmable Remapper (PR) as a device to enhance vision for the visually handicapped. This research indicated that remapping would have potential as a low vision device if the eye position could be monitored with feedback to specify the proper location of the remapped image. This must be accomplished at high rate so that there is no lag of the image behind the eye position. Since at this time, there is no portable eye monitor device (at a reasonable cost) that will operate under the required conditions, it would not be feasible to continue with remapping experiments for patients with central field defects. However, since patients with peripheral field defects do not have the same eye positioning requirements, they may indeed benefit from this technology. Further investigations must be performed to determine plausibility of this application of remapping.

Loshin, David↗

Control of parallel manipulators using force feedback

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Nanua, Prabjot↗

Explicit construction of quadratic Lyapunov functions for the small gain, positivity, circle, and Popov theorems and their application to robust stability

Lyapunov function proofs of sufficient conditions for asymptotic stability are given for feedback interconnections of bounded real and positive real transfer functions. Two cases are considered: (1) a proper bounded real (resp., positive real) transfer function with a bounded real (resp., positive real) time-varying memoryless nonlinearity; and (2) two strictly proper bounded real (resp., positive real) transfer functions. A similar treatment is given for the circle and Popov theorems. Application of these results to robust stability with time-varying bounded real, positive real, and sector-bounded uncertainty is discussed.

Haddad, Wassim M.↗

GCM Simulations of Cirrus Clouds and Cloud Feedbacks

Cirrus clouds are a particularly uncertain component of general circulation model (GCM simulations of long-term climate change for a variety of reasons: (1) They encompass a wide range of optical thicknesses and altitudes, from thin tropopause cirrus to thick anvil cirrus that descend to the freezing level, and thus can exert both positive and negative forcing and feedback on the climate; (2) The dynamical processes that create them are poorly resolved in climate GCMs and different in the tropics and midlatitudes; (3) Predictions of their formation and microphysical properties depend on the accuracy of dynamical transports of small concentrations of water vapor to and within the upper troposphere; (4) The relative humidity conditions at which they form depends on the nature and concentration of nucleating particles and is poorly understood; (5) They are more difficult to observe than other cloud types, and hence their parameterization is more loosely constrained by available data. We will illustrate the potential sensitivity of the perturbed climate to uncertainties in cirrus cloud formulation. We will also examine the processes that form cirrus in climate models and discuss the accuracy with which climate GCMs represent these processes. We will also discuss ways in which GCM grid-scale parameterizations might be derived from cloud-scale observations. Finally, we will emphasize the types of global observations needed to constrain parameterizations of cirrus in climate GCMs.

DelGenio, Anthony D.↗