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At least 667 records · Page 37

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NASA NTRS1990

Inverse dynamics of adaptive space cranes with tip point adjustment

The 'space crane', which resembles a conventional solid-link robot but employs truss sections in place of links and length-adjustable bars in place of torque-generating motors, is presently characterized by means of two different inverse-dynamics schemes. While in the first of these the nominal angles are maintained between the links constituting the crane, the second scheme adjusts the nominal angles as a function of time in order to always maintain the tip of the crane along the desired (nomical) trajectory. Attention is given to the second scheme, and to a tip-adjustment method which keeps the high frequency flexibility vibration within limits and ensures numerical stability.

Das, S. K.↗

NASA NTRS1990

Fourier analysis and signal processing by use of the Moebius inversion formula

A novel Fourier technique for digital signal processing is developed. This approach to Fourier analysis is based on the number-theoretic method of the Moebius inversion of series. The Fourier transform method developed is shown also to yield the convolution of two signals. A computer simulation shows that this method for finding Fourier coefficients is quite suitable for digital signal processing. It competes with the classical FFT (fast Fourier transform) approach in terms of accuracy, complexity, and speed.

Reed, Irving S.↗

NASA NTRS1990

Observation of a strong inverse temperature dependence for the opacity of atmospheric water vapor in the mm continuum near 280 GHz

Results are presented of the field measurements of atmospheric opacity at 278 GHz (9.3/cm) conducted at the McMurdo Station (Antarctica) during the austral springs of 1986 and 1987, in conjunction with balloon measurements of water vapor profile and total column density, showing a strong inverse temperature dependence when normalized to precipitable water vapor. The value of measured opacity per mm of precipitable water vapor (PWV) is roughly two times greater at -35 C than at -10 C and three times greater than measurements at +25 C reported by Zammit and Ade (1981). Various theories proposed to explain excess absorption in continuum regions are reviewed.

Emmons, Louisa K.↗

NASA NTRS1991

Recursive Inversion By Finite-Impulse-Response Filters

Recursive approximation gives least-squares best fit to exact response. Algorithm yields finite-impulse-response approximation of unknown single-input/single-output, causal, time-invariant, linear, real system, response of which is sequence of impulses. Applicable to such system-inversion problems as suppression of echoes and identification of target from its scatter response to incident impulse.

Bach, Ralph E., Jr.↗

NASA NTRS1991

Fast Parallel Computation Of Manipulator Inverse Dynamics

Method for fast parallel computation of inverse dynamics problem, essential for real-time dynamic control and simulation of robot manipulators, undergoing development. Enables exploitation of high degree of parallelism and, achievement of significant computational efficiency, while minimizing various communication and synchronization overheads as well as complexity of required computer architecture. Universal real-time robotic controller and simulator (URRCS) consists of internal host processor and several SIMD processors with ring topology. Architecture modular and expandable: more SIMD processors added to match size of problem. Operate asynchronously and in MIMD fashion.

Fijany, Amir↗

NASA NTRS1991

Computer modeling of inversion layer MOS solar cells and arrays

A two dimensional numerical model of the inversion layer metal insulator semiconductor (IL/MIS) solar cell is proposed by using the finite element method. The two-dimensional current flow in the device is taken into account in this model. The electrostatic potential distribution, the electron concentration distribution, and the hole concentration distribution for different terminal voltages are simulated. The results of simple calculation are presented. The existing problems for this model are addressed. Future work is proposed. The MIS structures are studied and some of the results are reported.

Ho, Fat Duen↗

NASA NTRS1991

Solution of inverse problem of fuzzy relational equation by using perceptron model

A Max-Min fuzzy system can be regarded as a network of max and min operational elements. Thus, the inverse problem of a fuzzy relational equation is interpreted as an input estimation problem from output values in the corresponding network. An approximate network model of a fuzzy relational system is proposed. An algorithm for obtaining an approximate solution of the system is presented for using a neural network technique.

Hirota, Kaoru↗

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 NTRS1991

Inverse energy cascades in three-dimensional turbulence

Fully three-dimensional magnetohydrodynamic (MHD) turbulence at large kinetic and low magnetic Reynolds numbers is considered in the presence of a strong uniform magnetic field. It is shown by numerical simulation of a model of MHD that the energy inverse cascades to longer length scales when the interaction parameter is large. While the steady-state dynamics of the driven problem is three-dimensional in character, the behavior has resemblance to two-dimensional hydrodynamics. These results have implications in turbulence theory, MHD power generator, planetary dynamos, and fusion reactor blanket design.

Hossain, Murshed↗

NASA NTRS1991

Shortwave shape factor inversion of earth radiation budget observations

Results are presented on an investigation of the effects of various assumptions (including assumptions of a constant flux field, a constant albedo field, and a variable albedo field) used for deriving the shortwave shape factor on the estimates, from radiometric measurements, of the albedo at the top of the atmosphere. The accuracies and the resolutions of the shape-factor-flux estimates obtained using these assumptions are determined by simulating the shape factor inversion technique with scanner data from the Earth Radiation Budget Experiment (ERBE). The resulting biases and variances are given for both the ERBE medium-field-of-view and wide-field-of-view radiometers.

Green, Richard N.↗

NASA NTRS1990

An adaptive inverse kinematics algorithm for robot manipulators

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Colbaugh, R.↗

NASA NTRS1991

Inverse problem in incompressible, irrotational axisymmetric flow

A vortex-sheet method for solving the axisymmetric inverse problem is presented, and an iterative, interactive computer program for computing the body shape starting from an assumed shape is developed. The method eliminates the calculation of the direct problem at every iteration using the given velocity. The singular integral that arises in the problem formulation has been integrated analytically. The efficiency of the vortex-sheet method is demonstrated using three test cases, and the obtained body shapes and the corresponding surface velocity distributions are presented.

Dinavahi, Surya P. G.↗

NASA NTRS1991

Synergic inversion technique for active and passive microwave remote sensing of the ocean

A unified approach for combining active and passive microwave measurements for remote sensing applications is described. A synergic inversion technique has been developed and applied to the retrieval of geophysical parameters of the ocean surface and of the atmosphere. It is based on the combination of radiometric and radar measurements at the electromagnetic and cell level and not only on the correction of radar measurements by radiometric measurements, or conversely. Such a combination is performed through a common quantity: the bistatic scattering coefficient of the observed surface. This is used in a direct model to simulate combined measurements from active and passive sensors. It requires a rather complete and accurate calculation of the scattering of microwaves by the rough sea surface. Comparisons with experimental models derived for scatterometers and radar altimeters or with data derived from radiometric measurements show that the results of this unified approach are consistent with those from separate microwave sensors, at least for a foam-free sea surface.

Sobieski, Piotr↗

NASA NTRS1990

Use of reduced basis technique in the inverse dynamics of large space cranes

The inverse dynamics of adaptive structures used as space cranes can prove computationally expensive in the case of large structures, due to the large number of degrees of freedom involved. Consequently, reduced basis techniques (reduction techniques) are frequently used to reduce the problem size to a time manageable level (for possible use in real time control). A reduced basis technique is proposed which is different from, but related to, the path-derivatives reduction technique. A linearly independent set of deflection n-tuples is used, chosen at the beginning of the time range in which it is wished to reduce the equations, in whose subspace it is assumed that the deflection vectors of the unreduced problem will lie (approximately).

Das, S. K.↗

NASA NTRS1991

Inverse photoelectron spectrometer with magnetically focused electron gun

An inverse photoelectron spectrometer is described which is based on the design of a magnetically focused low energy electron gun. The magnetic lens extends its field over a relatively large segment of the electron trajectory, which could provide a better focusing effect on a high-current-density low-velocity electron beam, providing the magnetic field in the vicinity of the target is reduced sufficiently to preserve the collinearity of the beam. In order to prove the concept, ray tracing is conducted using the Herrmannsfeldt program for solving electron trajectories in electrostatic and magnetostatic focusing systems. The program allows the calculation of the angles of the electron trajectories with the z axis, at the target location. The results of the ray-tracing procedure conducted for this gun are discussed. Some of the advantages of the magnetic focusing are also discussed.

Krainsky, Isay L.↗

NASA NTRS1991

Out-of-ecliptic tests of the inverse correlation between solar wind speed and coronal expansion factor

The paper addresses the question of whether out-of-ecliptic measurements satisfy the inverse correlation between wind speed at 1 AU and flux-tube divergence in the corona, already found from measurements in the ecliptic. Using the in-ecliptic calibration, out-of-ecliptic speeds are derived from coronal expansion factors determined from global observations of photospheric field and their current-free coronal extension. These derived speeds are compared with speeds inferred from interplanetary scintillation measurements during 1972-1988 and with in situ speeds measured by the Pioneer 11 spacecraft at 16 deg N latitude during 1984-1988. These three sets of wind speed show the same overall variation with latitude and time during the sunspot cycle, with higher latitudes having more years of fast wind than lower latitudes and all latitudes having slow wind at sunspot maximum. Although some detailed discrepancies are also present, the overall agreement is comparable to that achieved in the ecliptic plane.

Sheeley, N. R., Jr.↗

NASA NTRS1990

Aircraft automatic flight control system with model inversion

A simulator study was conducted to verify the advantages of a Newton-Raphson model-inversion technique as a design basis for an automatic trajectory control system in an aircraft with highly nonlinear characteristics. The simulation employed a detailed mathematical model of the aerodynamic and propulsion system performance characteristics of a vertical-attitude takeoff and landing tactical aircraft. The results obtained confirm satisfactory control system performance over a large portion of the flight envelope. System response to wind gusts was satisfactory for various plausible combinations of wind magnitude and direction.

Smith, G. A.↗

NASA NTRS1991

Parallel computation of manipulator inverse dynamics

In this article, parallel computation of manipulator inverse dynamics is investigated. A hierarchical graph-based mapping approach is devised to analyze the inherent parallelism in the Newton-Euler formulation at several computational levels, and to derive the features of an abstract architecture for exploitation of parallelism. At each level, a parallel algorithm represents the application of a parallel model of computation that transforms the computation into a graph whose structure defines the features of an abstract architecture, i.e., number of processors, communication structure, etc. Data-flow analysis is employed to derive the time lower bound in the computation as well as the sequencing of the abstract architecture. The features of the target architecture are defined by optimization of the abstract architecture to exploit maximum parallelism while minimizing architectural complexity. An architecture is designed and implemented that is capable of efficient exploitation of parallelism at several computational levels. The computation time of the Newton-Euler formulation for a 6-degree-of-freedom (dof) general manipulator is measured as 187 microsec. The increase in computation time for each additional dof is 23 microsec, which leads to a computation time of less than 500 microsec, even for a 12-dof redundant arm.

Fijany, Amir↗