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At least 577 records · Page 32
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

Intelligent Control of Flexible-Joint Robotic Manipulators

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Colbaugh, R.↗
NASA NTRS2001

Challenges Facing Design and Analysis Tools

The design and analysis of future aerospace systems will strongly rely on advanced engineering analysis tools used in combination with risk mitigation procedures. The implications of such a trend place increased demands on these tools to assess off-nominal conditions, residual strength, damage propagation, and extreme loading conditions in order to understand and quantify these effects as they affect mission success. Advances in computer hardware such as CPU processing speed, memory, secondary storage, and visualization provide significant resources for the engineer to exploit in engineering design. The challenges facing design and analysis tools fall into three primary areas. The first area involves mechanics needs such as constitutive modeling, contact and penetration simulation, crack growth prediction, damage initiation and progression prediction, transient dynamics and deployment simulations, and solution algorithms. The second area involves computational needs such as fast, robust solvers, adaptivity for model and solution strategies, control processes for concurrent, distributed computing for uncertainty assessments, and immersive technology. Traditional finite element codes still require fast direct solvers which when coupled to current CPU power enables new insight as a result of high-fidelity modeling. The third area involves decision making by the analyst. This area involves the integration and interrogation of vast amounts of information - some global in character while local details are critical and often drive the design. The proposed presentation will describe and illustrate these areas using composite structures, energy-absorbing structures, and inflatable space structures. While certain engineering approximations within the finite element model may be adequate for global response prediction, they generally are inadequate in a design setting or when local response prediction is critical. Pitfalls to be avoided and trends for emerging analysis tools will be described.

Knight, Norman F., Jr.↗
NASA NTRS2001

Integrated Modeling for the Next Generation Space Telescope "Yardstick" Concept

The so-called NASA "Yardstick" design concept for the Next Generation Space Telescope presents unique challenges for systems-level analysis. Simulations that integrate controls, optics, thermal, and structural models are required to evaluate baseline performance, study design sensitivities, and perform design optimization. An integrated modeling approach was chosen using a combination of commercial off-the-shelf and "in-house" developed codes. The resulting capability provides a foundation for linear and non-linear analysis, using both the time and frequency-domain methods. It readily allows various combinations of design parameters and environmental loads to be evaluated directly in terms of key science-related metrics, in this case the scalar RMS (root mean square) line-of-sight and RMS wavefront errors. This presentation first addresses the development of the component, or discipline, models for the Yardstick design. It will then proceed to present the integration of the component models, using linear-systems approaches, in order to support two of the most critical baseline performance analyses: jitter and thermal-elastic stability of the optical telescope assembly (OTA). The results of the jitter analysis indicate that disturbances from the reaction wheels coupled with the lightly-damped and highly-flexible structure present significant challenges to the baseline line-of-sight control architecture. Vibration isolation will be required to meet jitter error requirements. The results of the thermal-elastic analysis indicate that the mirror segment displacements due to ground-to-orbit cool-down of the telescope are within the expected capture range of the segment rigid-body control actuators. This means we will be able to align and phase the primary mirror. However, the results for the analysis of the thermal transient response following an attitude maneuver (slew) show that this telescope design is not sufficiently stable, passively, to meet the wavefront error requirements. Structural re-design is one possibility; alternatively, active thermal control of the OTA may be considered. The Yardstick integrated models were successfully used to demonstrate the feasibility of two thermal control strategies.

Mosier, Gary E.↗
NASA NTRS2001

En-route Sector Buffering Capacity

Using point mass dynamic model for aircraft, we investigate the efficiency of velocity control in the case of an en-route sector subject to an output rate restriction. Velocity control can only be a temporary solution to the problem of an input rate larger than the output rate. This translates into a maximum number of aircraft that can be controlled before a bottom speed limit is reached. We, derive this number, both analytically and through simulations. Two control strategies are simulated and analyzed and their differences are exhibited.

Dugail, David↗
NASA NTRS1995

Initial Closed Operation of the CELSS Test Facility Engineering Development Unit

As part of the NASA Controlled Ecological Life Support System (CELSS) Program, a CELSS Test Facility (CTF) is being planned for installation on the Space Station. The CTF will be used to provide data on the productivity and efficiency of a variety of CELSS higher plant crops grown sequentially from seed to harvest in the microgravity environment of the Space Station. Stringent environmental control will be maintained while fundamental crop productivity issues, such as carbon dioxide uptake and oxygen production rates, water transpiration rates, and biomass accumulation rates are obtained for comparison with ground-based data. In order to obtain an early realistic determination of the subsystem and system requirements necessary to provide the appropriate environmental conditions specified for CTF crop productivity experiments, an Engineering Development Unit (EDU) has been constructed and is undergoing initial operational testing at NASA Ames Research Center. The EDU is a ground-based testbed which will be used to characterize the integrated performance of major subsystem technologies, to evaluate hardware candidates and control strategies required for the CTF, and to further define the ability to meet CTF requirements within present Space Station constraints. This paper describes the initial closed operational testing of the EDU. Measured performance data are compared with the specified functional requirements and results from initial closed testing are presented. Plans for future science and technology testing are discussed.

Kliss, Mark↗
NASA NTRS1999

Developing a Fundamental Model for an Integrated GPS/INS State Estimation System with Kalman Filtering

This work will demonstrate the integration of sensor and system dynamic data and their appropriate models using an optimal filter to create a robust, adaptable, easily reconfigurable state (motion) estimation system. This state estimation system will clearly show the application of fundamental modeling and filtering techniques. These techniques are presented at a general, first principles level, that can easily be adapted to specific applications. An example of such an application is demonstrated through the development of an integrated GPS/INS navigation system. This system acquires both global position data and inertial body data, to provide optimal estimates of current position and attitude states. The optimal states are estimated using a Kalman filter. The state estimation system will include appropriate error models for the measurement hardware. The results of this work will lead to the development of a "black-box" state estimation system that supplies current motion information (position and attitude states) that can be used to carry out guidance and control strategies. This black-box state estimation system is developed independent of the vehicle dynamics and therefore is directly applicable to a variety of vehicles. Issues in system modeling and application of Kalman filtering techniques are investigated and presented. These issues include linearized models of equations of state, models of the measurement sensors, and appropriate application and parameter setting (tuning) of the Kalman filter. The general model and subsequent algorithm is developed in Matlab for numerical testing. The results of this system are demonstrated through application to data from the X-33 Michael's 9A8 mission and are presented in plots and simple animations.

Canfield, Stephen↗
NASA NTRS1998

Minimization of Retinal Slip Cannot Explain Human Smooth-Pursuit Eye Movements

Existing models assume that pursuit attempts a direct minimization of retinal image motion or "slip" (e.g. Robinson et al., 1986; Krauzlis & Weisberger, 1989). Using occluded line-figure stimuli, we have previously shown that humans can accurately pursue stimuli for which perfect tracking does not zero retinal slip (Neurologic ARCO). These findings are inconsistent with the standard control strategy of matching eye motion to a target-motion signal reconstructed by adding retinal slip and eye motion, but consistent with a visual front-end which estimates target motion via a global spatio-temporal integration for pursuit and perception. Another possible explanation is that pursuit simply attempts to minimize slip perpendicular to the segments (and neglects parallel "sliding" motion). To resolve this, 4 observers (3 naive) were asked to pursue the center of 2 types of stimuli with identical velocity-space descriptions and matched motion energy. The line-figure "diamond" stimulus was viewed through 2 invisible 3 deg-wide vertical apertures (38 cd/m2 equal to background) such that only the sinusoidal motion of 4 oblique line segments (44 cd/m2 was visible. The "cross" was identical except that the segments exchanged positions. Two trajectories (8's and infinity's) with 4 possible initial directions were randomly interleaved (1.25 cycles, 2.5s period, Ax = Ay = 1.4 deg). In 91% of trials, the diamond appeared rigid. Correspondingly, pursuit was vigorous (mean Again: 0.74) with a V/H aspect ratio approx. 1 (mean: 0.9). Despite a valid rigid solution, the cross however appeared rigid in 8% of trials. Correspondingly, pursuit was weaker (mean Hgain: 0.38) with an incorrect aspect ratio (mean: 1.5). If pursuit were just minimizing perpendicular slip, performance would be the same in both conditions.

Stone, Leland S.↗
NASA NTRS2002

Analysis of High Order Difference Methods for Multiscale Complex Compressible Flows

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

Sjoegreen, Bjoern↗
NASA NTRS2003

Balloon Borne Arc-Second Pointer Feasibility Study

For many years scientists have been utilizing stratospheric balloons as low-cost platforms on which to conduct space science experiments. A major hurdle in extending the range of experiments for which these vehicles are useful has been the imposition of the gondola dynamics on the accuracy with which an instrument can be kept pointed at a celestial target. A significant number of scientists have sought the ability to point their instruments with jitter in the arc-second range. This paper presents the design and analysis of a stratospheric balloon borne pointing system that is able to meet this requirement. The foundation for a high fidelity controller simulation is presented. The flexibility of the flight train is represented through generalized modal analysis. A multiple controller scheme is introduced for coarse and fine pointing. Coarse azimuth pointing is accomplished by an established pointing system, with extensive flight history, residing above the gondola structure. A pitch-yaw gimbal mount is used for fine pointing, providing orthogonal axes when nominally on target. Fine pointing actuation is from direct drive dc motors, eliminating backlash problems. An analysis of friction nonlinearities and a demonstration of the necessity in eliminating static fiction are provided. A unique bearing hub design is introduced that eliminates static fiction from the system dynamics. A control scheme involving linear accelerometers for enhanced disturbance rejection is also presented. Results from a linear analysis of the total system and the high fidelity simulation are given. This paper establishes that the proposed control strategy can be made robustly stable with significant design margins. Also demonstrated is the efficacy of the proposed system in rejecting disturbances larger than those considered realistic. Finally, we see that sub arc-second pointing stability can be achieved for a large instrument pointing at an inertial target.

Ward, Philip R.↗
NASA NTRS2000

Analysis and Modeling of Ground Operations at Hub Airports

Building simple and accurate models of hub airports can considerably help one understand airport dynamics, and may provide quantitative estimates of operational airport improvements. In this paper, three models are proposed to capture the dynamics of busy hub airport operations. Two simple queuing models are introduced to capture the taxi-out and taxi-in processes. An integer programming model aimed at representing airline decision-making attempts to capture the dynamics of the aircraft turnaround process. These models can be applied for predictive purposes. They may also be used to evaluate control strategies for improving overall airport efficiency.

Atkins, Stephen↗
NASA NTRS2003

Input-Output Modeling and Control of the Departure Process of Congested Airports

A simple queueing model of busy airport departure operations is proposed. This model is calibrated and validated using available runway configuration and traffic data. The model is then used to evaluate preliminary control schemes aimed at alleviating departure traffic congestion on the airport surface. The potential impact of these control strategies on direct operating costs, environmental costs and overall delay is quantified and discussed.

Pujet, Nicolas↗
NASA NTRS2003

Active Control of Jets in Cross-Flow for Film Cooling Applications

Jets in cross-flow have applications in film cooling of gas turbine vanes, blades and combustor liners. Their cooling effectiveness depends on the extent to which the cool jet-fluid adheres to the cooled component surface. Lift-off of the cooling jet flow or other mechanisms promoting mixing, cause loss of cooling effectiveness as they allow the hot "free-stream" fluid to come in contact with the component surface. The premise of this project is that cooling effectiveness can be improved by actively controlling (e.9. forcing, pulsing) the jet flow. Active control can be applied to prevent/delay lift-off and suppress mixing. Furthermore, an actively controlled film-cooling system coupled with appropriate sensory input (e.g. temperature or heat flux) can adapt to spatial and temporal variations of the hot-gas path. Thus, it is conceivable that the efficiency of film-cooling systems can be improved, resulting in coolant fluid economy. It is envisioned that Micro Electro-Mechanical Systems (MEMS) will play a role in the realization of such systems. As a first step, a feasibility study will be conducted to evaluate the concept, identify actuation and sensory elements and develop a control strategy. Part of this study will be the design of a proof-of-concept experiment and collection of necessary data.

Nikitopoulos, Dimitris E.↗
NASA NTRS2003

Synthetic Jets

Current investigation of synthetic jets and synthetic jets in cross-flow examined the effects of orifice geometry and dimensions, momentum-flux ratio, cluster of orifices, pitch and yaw angles as well as streamwise development of the flow field. This comprehensive study provided much needed experimental information related to the various control strategies. The results of the current investigation on isolated and clustered synthetic jets with and without cross-flow will be further analyzed and documented in detail. Presentations at national conferences and publication of peer- reviewed journal articles are also expected. Projected publications will present both the mean and turbulent properties of the flow field, comparisons made with the data available in an open literature, as well as recommendations for the future work.

Milanovic, Ivana M.↗
NASA NTRS2001

Self-Timed Digital System Design

A timing and control strategy that can be used to realize synchronous systems with a level of performance that approaches that of asynchronous circuits or systems was developed in this work. This approach is based upon a single-phase synchronous circuit/system architecture with a variable period clock. The handshaking signals required for asynchronous self-timed circuits are not needed. Dynamic power supply current monitoring is used to generate the timing information, that is comparable to the completion signal found in self-timed circuits; this timing information is used to modify the circuit clock period.

Walker, Alvernon↗
NASA NTRS2001

An Approach for Self-Timed Synchronous CMOS Circuit Design

In this letter we present a timing and control strategy that can be used to realize synchronous systems with a level of performance that approaches that of asynchronous circuits or systems. This approach is based upon a single-phase synchronous circuit/system architecture with a variable period clock. The handshaking signals required for asynchronous self-timed circuits are not needed. Dynamic power supply current monitoring is used to generate the timing information, that is comparable to the completion signal found in self-timed circuits; this timing information is used to modi@ the circuit clock period. This letter is concluded with an example of the proposed approach applied to a static CMOS ripple-carry adder.

Walker, Alvernon↗
NASA NTRS2004

Effects of Elevated Free-Stream Turbulence on Active Control of a Separation Bubble

The Effects of elevated free-stream turbulence (FST) on the natural and periodically excited separation bubbles were studied experimentally, due to the relevance of this flow to low-pressure turbine blades at low Reynolds numbers. A bubble was formed at the leading edge of a flat plate and the FST level was altered by placing a grid across the flow at different locations upstream of the plate. The mixing across the separated shear-layer, forming the free boundary of the bubble, increased due to the elevated FST and due to nominally two-dimensional periodic excitation, both flattening and shortening the bubble. Periodic excitation at frequencies that were at least an order of magnitude lower than those associated with the initial shear-layer instability, were very effective at low FST, because the amplitudes of the excitation frequency and its harmonic were amplified over the bubble. High frequency excitation (F+ 3, based on the length of the baseline low FST bubble) had a major effect close to the separation location, while farther downstream the excited fluctuations rapidly decayed in the reattachment region. Low frequency excitation, that generated waves comparable to the length of the unperturbed bubble (F+ 1) were less effective and their magnitude decayed at a slower rate downstream of reattachment. An increase in the level of the FST reduced the net effect of the periodic excitation on the mixing enhancement and subsequent reattachment process, probably due to a destructive interference between the nominally 2D excitation and the random (in space and time) FST, reducing the spanwise coherence and therefore the effectiveness of the current control strategy. However, even at the reduced effectiveness of 2D periodic excitation at elevated FST, it accelerated the reattachment process and the recovery rate of the reattached boundary layer, enhancing the boundary layer resistance to repeat separation and reducing its momentum loss further downstream.

Ashpis, D.↗
NASA NTRS2003

An Experimental Study of Synthetic Jets from Rectangular Orifices

During the past two summers Professor Milanovic conducted Wind tunnel experiments on steady jets-in-cross-flow and synthetic jets. In her anticipated visit during the upcoming summer, she will continue and complete the research on synthetic jets involving 2-dimensional orifices of different aspect ratio as well as inclined slots. In addition, experiments will be conducted on pulsatile jets-in-cross-flow. The pulsation will be provided via an oscillating valve at controllable frequencies. The experiment will involve mainly hot-wire anemometer measurements in the low-speed wind tunnel. Overall goal will be to obtain database and investigate flow control strategies. The research will be of fundamental nature.

Milanovic, Ivana M.↗