Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “adaptive algorithm”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRS1999

Real-time Adaptive Control Using Neural Generalized Predictive Control

The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.

Haley, Pam↗
NASA NTRS2009

Fully Automated Detection of Cloud and Aerosol Layers in the CALIPSO Lidar Measurements

Accurate knowledge of the vertical and horizontal extent of clouds and aerosols in the earth s atmosphere is critical in assessing the planet s radiation budget and for advancing human understanding of climate change issues. To retrieve this fundamental information from the elastic backscatter lidar data acquired during the Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) mission, a selective, iterated boundary location (SIBYL) algorithm has been developed and deployed. SIBYL accomplishes its goals by integrating an adaptive context-sensitive profile scanner into an iterated multiresolution spatial averaging scheme. This paper provides an in-depth overview of the architecture and performance of the SIBYL algorithm. It begins with a brief review of the theory of target detection in noise-contaminated signals, and an enumeration of the practical constraints levied on the retrieval scheme by the design of the lidar hardware, the geometry of a space-based remote sensing platform, and the spatial variability of the measurement targets. Detailed descriptions are then provided for both the adaptive threshold algorithm used to detect features of interest within individual lidar profiles and the fully automated multiresolution averaging engine within which this profile scanner functions. The resulting fusion of profile scanner and averaging engine is specifically designed to optimize the trade-offs between the widely varying signal-to-noise ratio of the measurements and the disparate spatial resolutions of the detection targets. Throughout the paper, specific algorithm performance details are illustrated using examples drawn from the existing CALIPSO dataset. Overall performance is established by comparisons to existing layer height distributions obtained by other airborne and space-based lidars.

Vaughan, Mark A.↗
NASA NTRS1987

Solid modelling for the manipulative robot arm (power) and adaptive vision control for space station missions

The structure of a flexible arm derived from concatenation of the Stewart-Table-based links were studied. Solid modeling provides not only a realistic simulation, but is also essential for studying vision algorithms. These algorithms could be used for the adaptive control of the arm, using the well-known algorithms such as shape from shading, edge detection, orientation, etc. Details of solid modeling and its relation to vision based adaptive control are discussed.

Harrand, V.↗
NASA NTRS1984

Scanning wind-vector scatterometers with two pencil beams

A scanning pencil-beam scatterometer for ocean windvector determination has potential advantages over the fan-beam systems used and proposed heretofore. The pencil beam permits use of lower transmitter power, and at the same time allows concurrent use of the reflector by a radiometer to correct for atmospheric attenuation and other radiometers for other purposes. The use of dual beams based on the same scanning reflector permits four looks at each cell on the surface, thereby improving accuracy and allowing alias removal. Simulation results for a spaceborne dual-beam scanning scatterometer with a 1-watt radiated power at an orbital altitude of 900 km is described. Two novel algorithms for removing the aliases in the windvector are described, in addition to an adaptation of the conventional maximum likelihood algorithm. The new algorithms are more effective at alias removal than the conventional one. Measurement errors for the wind speed, assuming perfect alias removal, were found to be less than 10%.

Kirimoto, T.↗
NASA NTRS1994

A comparison of spectral decorrelation techniques and performance evaluation metrics for a wavelet-based, multispectral data compression algorithm

Future space-based, remote sensing systems will have data transmission requirements that exceed available downlinks necessitating the use of lossy compression techniques for multispectral data. In this paper, we describe several algorithms for lossy compression of multispectral data which combine spectral decorrelation techniques with an adaptive, wavelet-based, image compression algorithm to exploit both spectral and spatial correlation. We compare the performance of several different spectral decorrelation techniques including wavelet transformation in the spectral dimension. The performance of each technique is evaluated at compression ratios ranging from 4:1 to 16:1. Performance measures used are visual examination, conventional distortion measures, and multispectral classification results. We also introduce a family of distortion metrics that are designed to quantify and predict the effect of compression artifacts on multi spectral classification of the reconstructed data.

Matic, Roy M.↗
NASA NTRS2014

Space Launch System Implementation of Adaptive Augmenting Control

Given the complex structural dynamics, challenging ascent performance requirements, and rigorous flight certification constraints owing to its manned capability, the NASA Space Launch System (SLS) launch vehicle requires a proven thrust vector control algorithm design with highly optimized parameters to robustly demonstrate stable and high performance flight. On its development path to preliminary design review (PDR), the stability of the SLS flight control system has been challenged by significant vehicle flexibility, aerodynamics, and sloshing propellant dynamics. While the design has been able to meet all robust stability criteria, it has done so with little excess margin. Through significant development work, an adaptive augmenting control (AAC) algorithm previously presented by Orr and VanZwieten, has been shown to extend the envelope of failures and flight anomalies for which the SLS control system can accommodate while maintaining a direct link to flight control stability criteria (e.g. gain & phase margin). In this paper, the work performed to mature the AAC algorithm as a baseline component of the SLS flight control system is presented. The progress to date has brought the algorithm design to the PDR level of maturity. The algorithm has been extended to augment the SLS digital 3-axis autopilot, including existing load-relief elements, and necessary steps for integration with the production flight software prototype have been implemented. Several updates to the adaptive algorithm to increase its performance, decrease its sensitivity to expected external commands, and safeguard against limitations in the digital implementation are discussed with illustrating results. Monte Carlo simulations and selected stressing case results are shown to demonstrate the algorithm's ability to increase the robustness of the integrated SLS flight control system.

VanZwieten, Tannen S.↗
NASA NTRS2014

Space Launch System Implementation of Adaptive Augmenting Control

Given the complex structural dynamics, challenging ascent performance requirements, and rigorous flight certification constraints owing to its manned capability, the NASA Space Launch System (SLS) launch vehicle requires a proven thrust vector control algorithm design with highly optimized parameters to provide stable and high-performance flight. On its development path to Preliminary Design Review (PDR), the SLS flight control system has been challenged by significant vehicle flexibility, aerodynamics, and sloshing propellant. While the design has been able to meet all robust stability criteria, it has done so with little excess margin. Through significant development work, an Adaptive Augmenting Control (AAC) algorithm has been shown to extend the envelope of failures and flight anomalies the SLS control system can accommodate while maintaining a direct link to flight control stability criteria such as classical gain and phase margin. In this paper, the work performed to mature the AAC algorithm as a baseline component of the SLS flight control system is presented. The progress to date has brought the algorithm design to the PDR level of maturity. The algorithm has been extended to augment the full SLS digital 3-axis autopilot, including existing load-relief elements, and the necessary steps for integration with the production flight software prototype have been implemented. Several updates which have been made to the adaptive algorithm to increase its performance, decrease its sensitivity to expected external commands, and safeguard against limitations in the digital implementation are discussed with illustrating results. Monte Carlo simulations and selected stressing case results are also shown to demonstrate the algorithm's ability to increase the robustness of the integrated SLS flight control system.

Wall, John H.↗
NASA NTRS1994

Efficient and Accurate Explicit Integration Algorithms with Application to Viscoplastic Models

Several explicit integration algorithms with self-adative time integration strategies are developed and investigated for efficiency and accuracy. These algorithms involve the Runge-Kutta second order, the lower Runge-Kutta method of orders one and two, and the exponential integration method. The algorithms are applied to viscoplastic models put forth by Freed and Verrilli and Bodner and Partom for thermal/mechanical loadings (including tensile, relaxation, and cyclic loadings). The large amount of computations performed showed that, for comparable accuracy, the efficiency of an integration algorithm depends significantly on the type of application (loading). However, in general, for the aforementioned loadings and viscoplastic models, the exponential integration algorithm with the proposed self-adaptive time integration strategy worked more (or comparably) efficiently and accurately than the other integration algorithms. Using this strategy for integrating viscoplastic models may lead to considerable savings in computer time (better efficiency) without adversely affecting the accuracy of the results. This conclusion should encourage the utilization of viscoplastic models in the stress analysis and design of structural components.

Arya, Vinod K.↗
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↗
NASA NTRS2005

Development of Advanced Verification and Validation Procedures and Tools for the Certification of Learning Systems in Aerospace Applications

Adaptive control technologies that incorporate learning algorithms have been proposed to enable automatic flight control and vehicle recovery, autonomous flight, and to maintain vehicle performance in the face of unknown, changing, or poorly defined operating environments. In order for adaptive control systems to be used in safety-critical aerospace applications, they must be proven to be highly safe and reliable. Rigorous methods for adaptive software verification and validation must be developed to ensure that control system software failures will not occur. Of central importance in this regard is the need to establish reliable methods that guarantee convergent learning, rapid convergence (learning) rate, and algorithm stability. This paper presents the major problems of adaptive control systems that use learning to improve performance. The paper then presents the major procedures and tools presently developed or currently being developed to enable the verification, validation, and ultimate certification of these adaptive control systems. These technologies include the application of automated program analysis methods, techniques to improve the learning process, analytical methods to verify stability, methods to automatically synthesize code, simulation and test methods, and tools to provide on-line software assurance.

Jacklin, Stephen↗
NASA NTRS1975

Adaptive statistical pattern classifiers for remotely sensed data

A technique for the adaptive estimation of nonstationary statistics necessary for Bayesian classification is developed. The basic approach to the adaptive estimation procedure consists of two steps: (1) an optimal stochastic approximation of the parameters of interest and (2) a projection of the parameters in time or position. A divergence criterion is developed to monitor algorithm performance. Comparative results of adaptive and nonadaptive classifier tests are presented for simulated four dimensional spectral scan data.

Gonzalez, R. C.↗
NASA NTRS2009

An Autonomous Onboard Targeting Algorithm Using Finite Thrust Maneuvers

In earlier investigations, the adaptation and implementation of a modified two-level corrections process as the onboard targeting algorithm for the Trans-Earth Injection phase of Orion is presented. The objective of that targeting algorithm is to generate the times of ignition and magnitudes of the required maneuvers such that the desired state at entry interface is achieved. In an actual onboard flight software implementation, these times of ignition and maneuvers are relayed onto Flight Control for command and execution. Although this process works well when the burn durations or burn arcs are small, this might not be the case during a contingency situation when lower thrust engines are employed to perform the maneuvers. Therefore, a new version of the modified two-level corrections process is formulated to handle the case of finite burn arcs. This paper presents the development and formulation of that finite burn modified two-level corrections process which can again be used as an onboard targeting algorithm for the Trans-Earth Injection phase of Orion. Additionally, performance results and a comparison between the two methods are presented. The finite burn two-level corrector formulation presented here ensures the entry constraints at entry interface are still met without violating the available fuel budget, while still accounting for much longer burn times in its design.

Scarritt, Sara K.↗
NASA NTRS1987

A frequency-domain estimator for use in adaptive control systems

The paper presents a frequency-domain estimator which can identify both a nominal model of a plant as well as a frequency-domain bounding function on the modeling error associated with this nominal model. This estimator, which is called a robust estimator, can be used in conjunction with a robust control-law redesign algorithm to form a robust adaptive controller.

Lamaire, Richard O.↗
NASA NTRS1994

Blocking reduction of Landsat Thematic Mapper JPEG browse images using optimal PSNR estimated spectra adaptive postfiltering

Two representative sample images of Band 4 of the Landsat Thematic Mapper are compressed with the JPEG algorithm at 8:1, 16:1 and 24:1 Compression Ratios for experimental browsing purposes. We then apply the Optimal PSNR Estimated Spectra Adaptive Postfiltering (ESAP) algorithm to reduce the DCT blocking distortion. ESAP reduces the blocking distortion while preserving most of the image's edge information by adaptively postfiltering the decoded image using the block's spectral information already obtainable from each block's DCT coefficients. The algorithm iteratively applied a one dimensional log-sigmoid weighting function to the separable interpolated local block estimated spectra of the decoded image until it converges to the optimal PSNR with respect to the original using a 2-D steepest ascent search. Convergence is obtained in a few iterations for integer parameters. The optimal logsig parameters are transmitted to the decoder as a negligible byte of overhead data. A unique maxima is guaranteed due to the 2-D asymptotic exponential overshoot shape of the surface generated by the algorithm. ESAP is based on a DFT analysis of the DCT basis functions. It is implemented with pixel-by-pixel spatially adaptive separable FIR postfilters. PSNR objective improvements between 0.4 to 0.8 dB are shown together with their corresponding optimal PSNR adaptive postfiltered images.

Linares, Irving↗
NASA NTRS1991

A frequency-domain estimator for use in adaptive control systems

This paper presents a frequency-domain estimator that can identify both a parametrized nominal model of a plant as well as a frequency-domain bounding function on the modeling error associated with this nominal model. This estimator, which we call a robust estimator, can be used in conjunction with a robust control-law redesign algorithm to form a robust adaptive controller.

Lamaire, Richard O.↗
NASA NTRS2008

Flight Validation of a Metrics Driven L(sub 1) Adaptive Control

The paper addresses initial steps involved in the development and flight implementation of new metrics driven L1 adaptive flight control system. The work concentrates on (i) definition of appropriate control driven metrics that account for the control surface failures; (ii) tailoring recently developed L1 adaptive controller to the design of adaptive flight control systems that explicitly address these metrics in the presence of control surface failures and dynamic changes under adverse flight conditions; (iii) development of a flight control system for implementation of the resulting algorithms onboard of small UAV; and (iv) conducting a comprehensive flight test program that demonstrates performance of the developed adaptive control algorithms in the presence of failures. As the initial milestone the paper concentrates on the adaptive flight system setup and initial efforts addressing the ability of a commercial off-the-shelf AP with and without adaptive augmentation to recover from control surface failures.

Dobrokhodov, Vladimir↗
NASA NTRS1990

Adaptive-Control Experiments On A Large Flexible Structure

Antennalike flexible structure built for research in advanced technology including suppression of vibrations and control of initial deflections. Structure instrumented with sensors and actuators connected to digital electronic control system, programmed with control algorithms to be tested. Particular attention in this research focused on direct model-reference adaptive-control algorithm based on command generator tracker theory. Built to exhibit multiple vibrational modes, low modal frequencies, and low structural damping. Made three-dimensional so complicated interactions among components of structure and control system investigated.

Ih, Che-Hang C.↗