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At least 649 records · Page 36

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NASA NTRS1990

Decentralized digital adaptive control of robot motion

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Tarokh, M.↗

NASA NTRS1959

Ground Simulator Studies of a Nonlinear Linkage in a Power Control System

An investigation was made to determine the characteristics of a nonlinear linkage installed in a power control system incorporated in a ground simulator. The nonlinear linkage provided for increased control-stick motion for relatively small simulator response at control motions near neutral. The quality of the control system was rated on the ease and precision with which various tracking tasks were performed by the pilots who operated the simulator. The results obtained with the nonlinear linkage installed in the control system were compared with those obtained by using the normal linear control system. Several combinations of nonlinearity of the linkage were tested for various dynamic characteristics of the simulator. It was found that the pilots were able to track almost as well with the nonlinear linkage installed as with the normal system. All of the pilots were of the opinion, however, that the nonlinearity was an undesirable feature in the control system because of the apparent lack of simulator response through the neutral range of the linkage where relatively large stick deflections could be made with very little simulator motion. The results showed that increased lag between the target and chair position, higher stick-force levels, and uneven stick forces due to the dynamics of the linkage were general characteristics of all the nonlinear linkage conditions tested. It was also found that for cases of low simulator damping, rapid control motions caused considerably higher overshoots when the nonlinear linkage was installed than were obtained for the normal linear control system. These characteristics were considered to be sufficiently undesirable to out-weigh the advantages to be gained from the use of a nonlinear linkage in the control system of an airplane.

Assadourian, Arthur↗

NASA NTRS1991

Motion of particles with inertia in a compressible free shear layer

The effects of the inertia of a particle on its flow-tracking accuracy and particle dispersion are studied using direct numerical simulations of 2D compressible free shear layers in convective Mach number (Mc) range of 0.2 to 0.6. The results show that particle response is well characterized by tau, the ratio of particle response time to the flow time scales (Stokes' number). The slip between particle and fluid imposes a fundamental limit on the accuracy of optical measurements such as LDV and PIV. The error is found to grow like tau up to tau = 1 and taper off at higher tau. For tau = 0.2 the error is about 2 percent. In the flow visualizations based on Mie scattering, particles with tau more than 0.05 are found to grossly misrepresent the flow features. These errors are quantified by calculating the dispersion of particles relative to the fluid. Overall, the effect of compressibility does not seem to be significant on the motion of particles in the range of Mc considered here.

Samimy, M.↗

NASA NTRS1971

Automated cloud tracking using precisely aligned digital ATS pictures.

An interactive man-computer system, termed WINDCO, which was developed to measure cloud motions from pictures obtained by the ATS-I and ATS-III satellites, is described. The system will measure motions to at least three knots at moderate cost in a real-time environment. Accuracy could be improved by a factor of 4 by incorporating high-resolution visible SMS data.

Smith, E. A.↗

NASA NTRS1987

Adaptive control of dual-arm robots

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Seraji, H.↗

NASA NTRS1991

Dual-arm manipulators with adaptive control

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗

NASA NTRS1995

Method and apparatus for adaptive force and position control of manipulators

Seraji, Homayoun↗

NASA NTRS1973

Techniques for detumbling a disabled space base

Techniques and conceptual devices for carrying out detumbling operations are examined, and progress in the development of these concepts is discussed. Devices which reduce tumble to simple spin through active linear motion of a small mass are described, together with a Module for Automatic Dock and Detumble (MADD) that could perform an orbital transfer from the shuttle in order to track and dock at a preselected point on the distressed craft. Once docked, MADD could apply torques by firing thrustors to detumble the passive vehicle. Optimum combinations of mass-motion and external devices for various situation should be developed. The need for completely formulating the automatic control logic of MADD is also emphasized.

Kaplan, M. H.↗

NASA NTRS2000

Active and Passive Microwave Determination of the Circulation and Characteristics of Weddell and Ross Sea Ice

A combination of satellite microwave data sets are used in conjunction with ECMWF (Medium Range Weather Forecasts) and NCEP (National Center for Environment Prediction) meteorological analysis fields to investigate seasonal variability in the circulation and sea-ice dynamics of the Weddell and Ross Seas. Results of sea-ice tracking using SSM/I (Special Sensor Microwave Imager), Scatterometer and SAR images are combined with in-situ data derived from Argos buoys and GPS drifters to validate observed drift patterns. Seasonal 3-month climatologies of ice motion and drift speed variance illustrate the response of the sea-ice system to seasonal forcing. A melt-detection algorithm is used to track the onset of seasonal melt, and to determine the extent and duration of atmospherically-led surface melting during austral summer. Results show that wind-driven drift regulates the seasonal distribution and characteristics of sea-ice and the intensity of the cyclonic Gyre circulation in these two regions.

Drinkwater, Mark R.↗

DOE OSTI2021

Effects of magnetic fields on HPGe tracking detectors

Here, we present a study of magnetic fields effects on the position resolution and energy response of hyper-pure germanium detectors. Our results provide realistic estimates of the potential impact on the resolving power of tracking-arrays from (fringe) magnetic fields present when operating together with large spectrometers. By solving the equations of motion for the electron and holes in the presence of both electric and magnetic fields, we analyzed the drift trajectories of the charge carriers to determine the deviations in the positions at the end point of the trajectories, as well as changes in drift lengths affecting the energy resolution and peak shift due to trapping. Our results show that the major effect is in the deviation of the transverse (to the electric field direction) position and suggest that, if no corrective action is taken in the pulse-shape and tracking data analysis procedures, a field strength ≳ 0.1 T will start to impact the intrinsic position resolution of 2 mm (RMS). At fields above ~1 T, the degradation of the energy response becomes observable.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1994

A trajectory preprocessor for antenna pointing

A trajectory-preprocessing algorithm has been devised which matches antenna angular position, velocity, and acceleration to those of a target. This eliminates vibrations of the antenna structure caused by discontinuities in velocity and acceleration commands, and improves antenna-pointing performance by constraining antenna motion to a linear regime. The algorithm permits faster acquisition times and preserves antenna-tracking capability in situations where there would otherwise be an unacceptably sudden change in antenna velocity or acceleration. A simulation of DSS 13 shows that this preprocessor would reduce servo error to 1 mdeg during acquisition of a low-Earth-orbiting satellite.

Tyler, S. R.↗

NASA NTRS2015

Lattice Boltzmann Method for Spacecraft Propellant Slosh Simulation

A scalable computational approach to the simulation of propellant tank sloshing dynamics in microgravity is presented. In this work, we use the lattice Boltzmann equation (LBE) to approximate the behavior of two-phase, single-component isothermal flows at very low Bond numbers. Through the use of a non-ideal gas equation of state and a modified multiple relaxation time (MRT) collision operator, the proposed method can simulate thermodynamically consistent phase transitions at temperatures and density ratios consistent with typical spacecraft cryogenic propellants, for example, liquid oxygen. Determination of the tank forces and moments relies upon the global momentum conservation of the fluid domain, and a parametric wall wetting model allows tuning of the free surface contact angle. Development of the interface is implicit and no interface tracking approach is required. Numerical examples illustrate the method's application to predicting bulk fluid motion including lateral propellant slosh in low-g conditions.

Orr, Jeb S.↗

NASA NTRS2019

Status and Examples for the Version 06 IMERG Multi-Satellite Products

After five years of development following the launch of the Global Precipitation Measurement (GPM) missionCore Observatory, the GPM data products are now being extended across the joint Tropical Rainfall MeasuringMission (TRMM) and GPM eras. Version 06 of the U.S. GPM team's Integrated Multi-satellitE Retrievals forGPM (IMERG) merged precipitation product provides a consistent intercalibration for all precipitation productscomputed from individual satellites with the TRMM and GPM Core Observatory sensors as the TRMM- andGPM-era calibrators, respectively, and incorporates monthly surface gauge data. One major change in the basicIMERG algorithm for V06 is that precipitation motion vectors (used to drive the quasi-Lagrangian interpolation,or "morphing") are computed by tracking vertically integrated vapor (TQV) fields analyzed in MERRA2 andGEOS5. This innovation provides globally complete coverage, expanding IMERG's coverage beyond the 60N-Slatitude band previously provided by IR-based vectors, although precipitation over snowy/icy surfaces is stillmasked out as unreliable. A second innovation is that the Quality Index (QI) data field computed for the half-hourlydatasets has been refined to include estimates of correlation at microwave overpass times.We will summarize the processing status for V06 IMERG, for which the retrospective processing shouldbe actively advancing at meeting time. We will show early examples of performance. For example, the TQVmotion vectors are typically slightly better than the IR-based vectors at all latitudes. The transition across theTRMM/GPM data boundary will be discussed, including the necessity of filling in the TRMM-based calibrationsover the latitude band 35-65 in each hemisphere. The notional schedule for the eventual retirement of thepredecessor TRMM Multi-satellite Precipitation Analysis (TMPA) multi-satellite dataset will be updated as well.

Huffman, George J.↗

NASA NTRS2020

Urban Air Mobility System Testbed Using CAVE Virtual Reality Environment

Urban Air Mobility (UAM) refers to a system of air passenger and small cargo transportation within an urban area. The UAM framework also includes other urban Unmanned Aerial Systems (UAS) services that will be supported by a mix of onboard, ground, piloted, and autonomous operations. Over the past few years UAM research has gained wide interest from companies and federal agencies as an on-demand innovative transportation option that can help reduce traffic congestion and pollution as well as increase mobility in metropolitan areas. The concepts of UAM/UAS operation in the National Airspace System (NAS) remains an active area of research to ensure safe and efficient operations. With new developments in smart vehicle design and infrastructure for air traffic management, there is a need for methods to integrate and test various components of the UAM framework. In this work, we report on the development of a virtual reality (VR) testbed using the Cave Automatic Virtual Environment (CAVE) technology for human-automation teaming and airspace operation research of UAM. Using a four-wall projection system with motion capture, the CAVE provides an immersive virtual environment with real-time full body tracking capability. We created a virtual environment consisting of San Francisco city and a vertical take-off-and-landing passenger aircraft that can fly between a downtown location and the San Francisco International Airport. The aircraft can be operated autonomously or manually by a single pilot who maneuvers the aircraft using a flight control joystick. The interior of the aircraft includes a virtual cockpit display with vehicle heading, location, and speed information. The system can record simulation events and flight data for post-processing. The system parameters are customizable for different flight scenarios; hence, the CAVE VR testbed provides a flexible method for development and evaluation of UAM framework.

Marayong, Panadda↗

NASA NTRS2015

Biomimetic Fly Eye Sensor for Real-Time Target Tracking

The project objective is to design, build, and demonstrate a biomimetic (inspired by biology) smart sensor based on the common house fly eye for real-time target tracking in three dimensions (3-D). The sensor makes use of revolutionary optical sensor design resulting in significantly improved motion detection capabilities when compared with conventional optical sensors. The design is motivated by the parallel nature of the flys vision system and its demonstrated hyperacuity or precision of visual localization beyond the conventional resolution limit. This means that the sensor is able to accurately detect very fast motion and small changes in motion. The analog architecture of the sensor allows for real-time solution at adjustable bandwidths depending on the application. The low cost, exceptionally lightweight, small form factor, low power requirements, and low computation requirements of the sensor make it ideally suited to many aeronautics applications that have limitations on weight, power, and processing time. The sensor is modular and can be easily adapted in scale and manufactured for a wide variety of sensing applications. Advanced target tracking algorithms will be developed to allow the sensor to track a target in 3-D. These algorithms will be implemented in the smart sensors hardware to enable real-time target tracking.

wing position measurement system↗

NASA NTRS2005

Design and Performance Evaluation of a UWB Communication and Tracking System for Mini-AERCam

NASA Johnson Space Center (JSC) is developing a low-volume, low-mass, robotic free-flying camera known as Mini-AERCam (Autonomous Extra-vehicular Robotic Camera) to assist the International Space Station (ISS) operations. Mini-AERCam is designed to provide astronauts and ground control real-time video for camera views of ISS. The system will assist ISS crewmembers and ground personnel to monitor ongoing operations and perform visual inspections of exterior ISS components without requiring extravehicular activity (EAV). Mini-AERCam consists of a great number of subsystems. Many institutions and companies have been involved in the R&D for this project. A Mini-AERCam ground control system has been studied at Texas A&M University [3]. The path planning and control algorithms that direct the motions of Mini-AERCam have been developed through the joint effort of Carnegie Mellon University and the Texas Robotics and Automation Center [5]. NASA JSC has designed a layered control architecture that integrates all functions of Mini-AERCam [8]. The research described in this report is part of a larger effort focused on the communication and tracking subsystem that is designed to perform three major tasks: 1. To transmit commands from ISS to Mini-AERCam for control of robotic camera motions (downlink); 2. To transmit real-time video from Mini-AERCam to ISS for inspections (uplink); 3. To track the position of Mini-AERCam for precise motion control. The ISS propagation environment is unique due to the nature of the ISS structure and multiple RF interference sources [9]. The ISS is composed of various truss segments, solar panels, thermal radiator panels, and modules for laboratories and crew accommodations. A tracking system supplemental to GPS is desirable both to improve accuracy and to eliminate the structural blockage due to the close proximity of the ISS which could at times limit the number of GPS satellites accessible to the Mini-AERCam. Ideally, the tracking system will be a passive component of the communication system which will need to operate in a time-varying multipath environment created as the robot camera moves over the ISS structure. In addition, due to many interference sources located on the ISS, SSO, LEO satellites and ground-based transmitters, selecting a frequency for the ISS and Mini-AERCam link which will coexist with all interferers poses a major design challenge. To meet all of these challenges, ultrawideband (UWB) radio technology is being studied for use in the Mini-AERCam communication and tracking subsystem. The research described in this report is focused on design and evaluation of passive tracking system algorithms based on UWB radio transmissions from mini-AERCam.

Barton, Richard J.↗

NASA NTRS1982

Synoptic and Mesoscale Cloud Tracking

The papers in this section include: 1)'Wind Derivation from Geostationary Satellites'; 2) 'The Operational Processing of Wind Estimates from Cloud Motions: Past, Present, and Future'; 3) 'Intercomparision of SMS Wind Sets: A Study Using Rapid Scan Imagery'; 4) 'Mesoscale Wind Fields for a Severe Storm Situation Determined from SMS Cloud Observations'; 5) 'Moisture Convergence Using Satellite-Derived Wind Fields: A Severe Local Storm Case Study'

Wilson, G.↗

NASA NTRS2010

Global Response to Local Ionospheric Mass Ejection

We revisit a reported "Ionospheric Mass Ejection" using prior event observations to guide a global simulation of local ionospheric outflows, global magnetospheric circulation, and plasma sheet pressurization, and comparing our results with the observed global response. Our simulation framework is based on test particle motions in the Lyon-Fedder-Mobarry (LFM) global circulation model electromagnetic fields. The inner magnetosphere is simulated with the Comprehensive Ring Current Model (CRCM) of Fok and Wolf, driven by the transpolar potential developed by the LFM magnetosphere, and includes an embedded plasmaspheric simulation. Global circulation is stimulated using the observed solar wind conditions for the period 24-25 Sept 1998. This period begins with the arrival of a Coronal Mass Ejection, initially with northward, but later with southward interplanetary magnetic field. Test particles are launched from the ionosphere with fluxes specified by local empirical relationships of outflow to electrodynamic and particle precipitation imposed by the MIlD simulation. Particles are tracked until they are lost from the system downstream or into the atmosphere, using the full equations of motion. Results are compared with the observed ring current and a simulation of polar and auroral wind outflows driven globally by solar wind dynamic pressure. We find good quantitative agreement with the observed ring current, and reasonable qualitative agreement with earlier simulation results, suggesting that the solar wind driven global simulation generates realistic energy dissipation in the ionosphere and that the Strangeway relations provide a realistic local outflow description.

Moore, T. E.↗