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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 649 records · Page 36

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NASA NTRS1985

Parametric testing of a linearly driven Stirling cryogenic refrigerator

The parametric testing of a novel Stirling cycle cryogenic refrigerator which incorporates electromagnetic bearings, clearance seals and electronically controlled linear motion was studied. The last feature, which involves the use of two linear motors, position transducers and a highly accurate electronic feedback network, produces the system capability which forms the basis for the tests. The test results provide designers with an understanding of the basic operation of the Stirling cycle and give potential users some indication of the capabilities of this refrigerator under off design conditions.

Stolfi, F. R.↗

NASA NTRS1990

University of Maryland walking robot: A design project for undergraduate students

The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Olsen, Bob↗

NASA NTRS1991

Mode-Switching Algorithms For Antenna Servocontroller

New algorithms proposed to reduce acceleration and velocity perturbations caused by transitions between control modes of servocontrol system. Consists of position-control loop closed around rate (velocity)-control loop. Rate loop analog type-1 controller. Rate command (voltage) from position-loop controller compared to filtered tachometer feedback rate (voltage) to create rate error. Rate loop adjusts actuator-command signal to null rate error, causing antenna to turn at commanded rates.

Nickerson, Jack A.↗

NASA NTRS1991

An inverse dynamic tracking control for bracing a flexible manipulator

The goal of this research is to produce a braced manipulator that is flexible. In order to brace the manipulator against a surface, a tip position tracking control becomes essential to avoid large impacts on contact, and to control the force after contact. If we consider the characteristics of the flexible manipulator, the control task may be characterized as a tracking control of a nonlinear, noncolocated, nonminimum-phase system with uncertainties. First, the author introduces the staged positioning concept and provides a conceptual background for the bracing strategy. Second, a single link flexible manipulator is modeled by the assumed-modes method, and the validity of the model is verified with experimental results. Third, a time domain inverse dynamic method is proposed to cancel out the nonminimum-phase positive zeros which cannot be cancelled by feedback controls. Fourth, a tracking controller is designed to control the end point of a flexible manipulator without any overshoot or residual vibrations. Its perfect tracking or asymptotic tracking performance is analyzed and discussed for zero and non-zero initial condition cases. Finally, impact phenomena are investigated, and contact force control of a flexible bracing manipulator is presented to set up a control scenerio for such a manipulator. The proposed control scheme is implemented on a single link flexible manipulator, and analyzed and evaluated with simulations and experiments.

Source record↗

NASA NTRS1992

Quantitative Evaluation Of Teleoperator Performance

Report describes experiments on remote manual control of robotic manipulator. Experiments conducted to evaluate quantitatively relative effectiveness of several control modes: various combinations of position control, rate control, remote compliance, and feedback from force and torque sensors. Tasks evaluated: removing thermal blanket, unbolting electrical panel, and handling bundles of electrical wires and electrical connectors on simulated solar Max satellite by means of remotely controlled robot in teleoperation laboratory.

Das, Hari↗

NASA NTRS1993

Electromechanical Nerve Stimulator

Nerve stimulator applies and/or measures precisely controlled force and/or displacement to nerve so response of nerve measured. Consists of three major components connected in tandem: miniature probe with spherical tip; transducer; and actuator. Probe applies force to nerve, transducer measures force and sends feedback signal to control circuitry, and actuator positions force transducer and probe. Separate box houses control circuits and panel. Operator uses panel to select operating mode and parameters. Stimulator used in research to characterize behavior of nerve under various conditions of temperature, anesthesia, ventilation, and prior damage to nerve. Also used clinically to assess damage to nerve from disease or accident and to monitor response of nerve during surgery.

Tcheng, Ping↗

NASA NTRS2001

Optimal Control Design Using an H2 Method for the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT)

The acceleration environment on the International Space Station (ISS) will likely exceed the requirements of many micro-gravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for micro-gravity science experiments. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform for mounting science payloads from the nominal acceleration environment. The system utilizes payload acceleration, relative position, and relative orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current command to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. This paper presents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for both frequency-weighted H(sub 2) and H(sub infinity) norms. Comparison of the performance and robustness to plant uncertainty for these two optimal control design approaches are included in the discussion.

Calhoun, Phillip C.↗

NASA NTRS2002

Optimal Control Design using an H(sub 2) Method for the Glovebox Integrated Microgravity Isolation Technology (G-Limit)

The acceleration environment on the International Space Station (ISS) will likely exceed the requirements of many micro-gravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for microgravity science experiments. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform for mounting science payloads from the nominal acceleration environment. The system utilizes payload acceleration, relative position, and relative orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current commands to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. This paper presents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for frequency-weighted H(sub 2) norms. Comparison of the performance and robustness to plant uncertainty for this control design approach is included in the discussion.

Calhoun, Philip C.↗

NASA NTRS1995

Human-like Compliance for Dexterous Robot Hands

This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

Compliant Control↗

NASA NTRS2007

Utility of AIRS Retrievals for Climate Studies

Satellites provide an ideal platform to study the Earth-atmosphere system on practically all spatial and temporal scales. Thus, one may expect that their rapidly growing datasets could provide crucial insights not only for short-term weather processes/predictions but into ongoing and future climate change processes as well. Though Earth-observing satellites have been around for decades, extracting climatically reliable information from their widely varying datasets faces rather formidable challenges. AIRS/AMSU is a state of the art infrared/microwave sounding system that was launched on the EOS Aqua platform on May 4, 2002, and has been providing operational quality measurements since September 2002. In addition to temperature and atmospheric constituent profiles, outgoing longwave radiation and basic cloud parameters are also derived from the AIRS/AMSU observations. However, so far the AIRS products have not been rigorously evaluated and/or validated on a large scale. Here we present preliminary assessments of monthly and 8-day mean AIRS "Version 4.0" retrieved products (available to the public through the DAAC at NASA/GSFC) to assess their utility for climate studies. First we present "consistency checks" by evaluating the time series of means, and "anomalies" (relative to the first 4 full years' worth of AIRS "climate statistics") of several climatically important retrieved parameters. Finally, we also present preliminary results regarding interrelationships of some of these geophysical variables, to assess to what extent they are consistent with the known physics of climate variability/change. In particular, we find at least one observed relationship which contradicts current general circulation climate (GCM) model results: the global water vapor climate feedback which is expected to be strongly positive is deduced to be slightly negative (shades of the "Lindzen effect"?). Though the current AIRS climatology covers only -4.5 years, it will hopefully extend much further into the future.

Molnar, Guyla I.↗

NASA NTRS2007

Determining Desirable Cursor Control Device Characteristics for NASA Exploration Missions

A test battery was developed for cursor control device evaluation: four tasks were taken from ISO 9241-9, and three from previous studies conducted at NASA. The tasks focused on basic movements such as pointing, clicking, and dragging. Four cursor control devices were evaluated with and without Extravehicular Activity (EVA) gloves to identify desirable cursor control device characteristics for NASA missions: 1) the Kensington Expert Mouse, 2) the Hulapoint mouse, 3) the Logitech Marble Mouse, and 4) the Honeywell trackball. Results showed that: 1) the test battery is an efficient tool for differentiating among input devices, 2) gloved operations were about 1 second slower and had at least 15% more errors; 3) devices used with gloves have to be larger, and should allow good hand positioning to counteract the lack of tactile feedback, 4) none of the devices, as designed, were ideal for operation with EVA gloves.

Sandor, Aniko↗

NASA NTRS2018

Adaptive Load Control of Flexible Aircraft Wings Using Fiber Optic Sensing

Over the past century aircraft wing design has transformed from the morphing wing used on the Wright Flyer to rigid wings with little to no shape-tailoring abilities. Modern day wings are designed to fly at a single trim condition and optimized to have a maximum aerodynamic efficiency at only this condition. Shape morphing wings on the other hand have the potential to undergo geometric changes allowing them to adapt to their mission profiles. Several flight demonstrations have been conducted over the decades using morphing-wing technologies. Active wing-twist control was demonstrated on the X-53 Active Aeroelastic Wing (AAW) research project by utilizing multiple leading- and trailing-edge control surfaces. Passive morphing technology has been demonstrated on the Rockwell RPRV-870 Highly Maneuverable Aircraft Technology (HiMAT) aircraft. In the current study, the wings of a small unmanned aerial system (sUAS) were modified to have segmented control surfaces (SCS). The modifications include segmenting the original wing control surfaces (one flap and one aileron per wing) into 44 individual sections, each section having its own independent servo control motor. The wings were also instrumented with a network of over 1800 fiber-optic strain sensors (on four sensing fibers distributed over the top and bottom surfaces of the wing) monitoring the strain response of the wing to aerodynamic loading. The SCS positions were manipulated in real time to modify the spanwise lift distribution of the wings on the sUAS. The change in the structural response of the wings caused by load redistribution was quantified by measuring the bending strains on the upper and lower wing surfaces using an on-board compact fiber-optic strain sensing (cFOSS) system. A feedback controller was developed to control the SCS positions using strain-based shape estimations from the Displacement Transfer Function (DTF). Post-processing of the strain data allowed for the transverse displacement distributions and load distributions to be compared for the conventional and segmented control surface cases using displacements and loads algorithms developed by Richards and Ko at AFRC (refs. 5-10). While the current study focused on the shifting of the spanwise aerodynamic loads as quantified by displacements, future applications for loads or displacement control might include active gust alleviation and flutter suppression.

Pena, Francisco↗

NASA NTRS2010

Possible Influences of Air Pollution, Dust and Sandstorms on the Indian Monsoon

In Asian monsoon countries, such as China and India, human health and safety problems caused by air pollution are becoming increasingly serious, due to the increased loading of atmospheric pollutants from waste gas emissions and from rising energy demand associated with the rapid pace of industrialization and modernization. Meanwhile, uneven distribution of monsoon rain associated with flash floods or prolonged drought, has caused major loss of human life and damage to crops and.property with devastating societal impacts. Historically, air-pollution and monsoons research are treated as separate problems. However recent studies have suggested that the two problems may be intrinsically linked and need to be studied jointly. Fundamentally, aerosols can affect precipitation through radiative effects cif suspended particles in the atmosphere (direct effect) and/or by interfering and changing: the cloud and precipitation formation processes (indirect effect). Based on their optical properties, aerosols can be classified into two types.: those that absorb solar radiation, and those that do not. Both types of aerosols scatter sunlight and reduce the amount of solar radiation from reaching the Earth's surface, causing it to cool. The surface cooling increases atmospheric stability and reduces convection potential, Absorbing aerosols, however, in addition to cooling the surface, can heat the atmosphere. The heating of the atmosphere may reduce the amount of low clouds by increased evaporation in cloud drops. The heating, however, may induce rising motion, enhance low-level moisture, convergence and, hence, increases rainfall, The latent heating from enhanced rainfall may excite feedback processes in the large-scale circulation, further amplify.the initial response to aerosol heating and producing more rain. Additionally, aerosols can increase the concentration of cloud condensation nuclei (CCN), increase cloud amount and decrease coalescence and collision rates, leading to reduced precipitation. However, in the presence of increasing moist and warm air, the reduced coalescence/collision may lead to supercooled drops at higher altitudes where ice precipitation falls and melts. The latent heat release from freezing aloft and melting below implies greater upward heat transport in polluted clouds and invigorate deep convection. In this way, aerosols may lead to increased local convection. Hence, depending on the ambient large-scale conditions and dynamical feedback processes, aerosols' effect on precipitation can be positive, negative or mixed. In the Asian monsoon and adjacent regions, the aerosol forcing and responses of the water cycle are even more complex, Both direct and indirect effects may take place locally and simultaneously, interacting with each other. in addition to local effects, monsoon rainfall may be affected by aerosols transported from other regions and intensified through large-scale circulation and moisture feedback. Thus, dust transported by the large-scale circulation from the adjacent deserts to northern India may affect rainfall over the Bay of Bengal; sulphate and black carbon front industrial pollution in central, southern China and northern India may affect the rainfall regime over the Korean peninsula and Japan; organic and black carbon front biomass burning from Indo-China may modulate the pre-monsoon rainfall regime over southern China and coastal regions, contributing to variability in differential heating and cooling of the atmosphere and to the land-sea thermal contrast. During the pre-monsoon season and monsoon breaks, it has been suggested that radiative forcing by absorbing aerosols have nearly the same order of magnitude as the forcing due to latent heating from convection and surface fluxes. The magnitude of the total aerosol radiative cooling due to sulphates and soot is of the order of 20-40 W/m2 over the Asian monsoon land region in the pre-monsoon season, compared to about 1-2 W/m2 for global warng. However, the combined forcing at the surface and in the atmosphere, including all species. if aerosols, and details of aerosol mixing, and impacts on the energy and water cycles in the monsoon land regions, are not well known.

Lau, William K. M.↗

NASA NTRS1987

Robust control for large space antennas

A brief description of program objectives and the space based radar application is given. General characteristics of the 100 m diameter reflector spacecraft are described along with the intended mission and associated requirements, and dynamic characteristics relevant to that mission. Preliminary control analyses are carried out for the critical rapid slew and settle maneuver to establish feedback control requirements and fundamental limitations in meeting those requirements with control hardware for a baseline reaction control system (RCS) jet placement assumed for the open loop bang-bang slew limitations. Control moment gyros (CMGs), angular position sensors, and linear translation sensors are placed for feedback control. Control laws are designed for the improved sensor and actuator placement and evaluated for performance and robustness to unstructured model uncertainty. The robustness of the control design is assessed with respect to modal parameter uncertainty. Results of the control designs analyses are summarized, conclusions are drawn, and recommendations made for future studies.

Barrett, M. F.↗

NASA NTRS1991

Performance capabilities of a JPL dual-arm advanced teleoperation system

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Szakaly, Z. F.↗

NASA NTRS1989

Method and apparatus for adaptive force and position control of manipulators

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Seraji, Homayoun↗

NASA NTRSDate not supplied

Estimating the Arctic Cloud-Sea Ice Feedback With Observations during the EOS Period

Arctic sea ice responds to and drives Arctic climate change. The interactions between Arctic sea ice and clouds represent a mechanism through which sea ice can drive climate change. We composite active remote sensing satellite cloud properties for ice-free, marginal ice zone (MIZ), and ice-covered surfaces during MIZ crossing events to investigate the influence of the transition from an ice-covered to an ice-free surface on low-level clouds. We demonstrate that the event-based methodology controls for large-scale meteorological factors and isolates the sea ice effect on clouds. We find larger cloud fraction and total water content below ~1.5 km over ice-free relative to ice-covered surfaces during non-summer months, indicating a low-level cloud sensitivity to Arctic sea ice decline. During summer, results show larger cloud fraction and water content over ice-free surfaces, however the differences are statistically indistinguishable. Evidence is provided that atmospheric thermodynamic profile differences cause the cloud property differences, namely that ice-free footprints are warmer, moister, have more positive surface turbulent fluxes and are less stable than their ice-covered counterparts. Ice-free and ice-covered surface cloud property differences scale with surface temperature differences such that cloud property differences are only found in the presence of a surface temperature difference. We conclude that surface temperature differences modulate the cloud response to sea ice loss through influences on surface turbulent fluxes and lower tropospheric stability. The results imply a positive non-summer sea ice-cloud feedback and that up to a 0.02 cloud fraction and 0.05 g m 3 total water content increase in fall are due to the observed sea ice decline.

Patrick C. Taylor↗

NASA NTRSDate not supplied

An Observationally-Based Determination of the Arctic Sea Ice-Cloud Feedback Since 2000: Isolating the Arctic Cloud Response to Sea Ice Loss

Patrick C Taylor↗