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At least 685 records · Page 38
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Adaptive control for flexible space structures with measurement noise

Simulation results are presented to address the problem of measurement noise in the design of adaptive controllers for large flexible space structures. In order to reduce the unrealistically high overall control demand resulting from the presence of leakage terms, a method has been developed for the introduction of noise filters into the adaptive controller while at the same time ensuring the global stability of the adaptive algorithm. A branch filter allows filtering of the output error without introducing phase lag into the adaptive loop. The technique is demonstrated in the simulation of an adaptive payload articulation control for a Space Station model.

Bayard, David S.↗
NASA NTRS1988

Performance comparison of five frequency domain system identification techniques for helicopter higher harmonic control

This paper presents the results of a computer simulation comparing the performance of five system identification techniques currently proposed for use with helicopter, frequency domain, higher harmonic vibration control algorithms. The system identification techniques studied were: (1) the weighted least squares method in moving block format, (2) the classical Kalman filter, (3) a generalized Kalman filter, (4) the classical least mean square (LMS) filter, and (5) a generalized LMS filter. The generalized Kalman and LMS filters were derived by allowing for multistep operation, rather than the single-step update approach used by their classical versions. Both open-loop and closed-loop (vibration control mode) identification results are presented in the paper. The algorithms are evaluated in terms of their accuracy, stability, convergence properties, computation speeds, and the relative ease with which these techniques may be directly applied to the helicopter vibration control problem.

Jacklin, Stephen A.↗
NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS1989

Doppler lidar measurement of profiles of turbulence and momentum flux

A short-pulse CO2 Doppler lidar with 150-m range resolution measured vertical profiles of turbulence and momentum flux. Example measurements are reported of a daytime mixed layer with strong mechanical mixing caused by a wind speed of 15 m/sec, which exceeded the speed above the capping inversion. The lidar adapted an azimuth scanning technique previously demonstrated by radar. Scans alternating between two elevation angles allow determination of mean U-squared, V-squared, and W-squared. Expressions were derived to estimate the uncertainty in the turbulence parameters. A new processing method, partial Fourier decomposition, has less uncertainty than the filtering used earlier.

Eberhard, Wynn L.↗
NASA NTRS1990

A compressed marine data set for geomagnetic field modeling

Some 13 million scalar magnetic field data points that have been collected from the world's ocean areas reside in the collection of the National Geophysical Data Center. In order to derive a suitable data set for modeling the geomagnetic field of the earth, each ship track is divided into 220 km segments. The distribution of the reduced data in position, time and local time is discussed. The along-track filtering process described has proved to be an effective method of condensing large numbers of shipborne magnetic data into a manageable and meaningful data set for field modeling. This process also provides the benefits of smoothing short-wavelength crystal anomalies, discarding data recorded during magnetically noisy periods, and assigning reasonable error estimates to be utilized in the least squares modeling.

Langel, R. A.↗
NASA NTRS1992

Optical Correlator With Complex Holographic Filter

Experimental real-time optical correlator includes complex-valued holographic filter computed from one of two input scenes. Made more tolerant of errors in patterns to be recognized. Filter function essentially coded hologram computed by Burchhardt's method, in which complex value of each pixel of fast Fourier transform of image represented by three real, nonnegative numbers. In generating optical correlator according to method, phasor of each pixel in Fourier transform represented by intensities in three adjacent pixels.

Chao, Tien-Hsin↗
NASA NTRS1993

Real-time attitude determination and gyro calibration

We present results for two real-time filters prototyped for the Compton Gamma Ray Observatory (GRO), the Extreme Ultraviolet Explorer (EUVE), the Cosmic Background Explorer (COBE), and the next generation of Geostationary Operational Environmental Satellites (GOES). Both real and simulated data were used to solve for attitude and gyro biases. These filters promise advantages over single-frame and batch methods for missions like GOES, where startup and transfer-orbit operations require quick knowledge of attitude and gyro biases.

Challa, M.↗
NASA NTRS1993

Validation of vision-based range estimation algorithms using helicopter flight data

The objective of this research was to demonstrate the effectiveness of an optic flow method for passive range estimation using a Kalman-filter implementation with helicopter flight data. This paper is divided into the following areas: (1) ranging algorithm; (2) flight experiment; (3) analysis methodology; (4) results; and (5) concluding remarks. The discussion is presented in viewgraph format.

Smith, Phillip N.↗
NASA NTRS1994

Using spacecraft trace contaminant control systems to cure sick building syndrome

Many residential and commercial buildings with centralized, recirculating, heating ventilation and air conditioning systems suffer from 'Sick Building Syndrome.' Ventilation rates are reduced to save energy costs, synthetic building materials off-gas contaminants, and unsafe levels of volatile organic compounds (VOC's) accumulate. These unsafe levels of contaminants can cause irritation of eyes and throat, fatigue and dizziness to building occupants. Increased ventilation, the primary method of treating Sick Building Syndrome is expensive (due to increased energy costs) and recently, the effectiveness of increased ventilation has been questioned. On spacecraft venting is not allowed, so the primary methods of air quality control are; source control, active filtering, and destruction of VOC's. Four non-venting contaminant removal technologies; strict material selection to provide source control, ambient temperature catalytic oxidation, photocatalytic oxidation, and uptake by higher plants, may have potential application for indoor air quality control.

Graf, John C.↗
NASA NTRS1993

Horizontal angular VOR, nystagmus dumping, and sensation duration in spacelab SLS-1 crewmembers

In 1G, the apparent time constant (Td) of postrotatory SPV decay with the head tilted face down is 55% of that with head erect (Te). This phenomenon is called "nystagmus dumping" and has been attributed to G effects on VOR velocity storage. Similarly, postrotatory sensation duration with head tilted (Dd) is 32% of that when head erect (De). In parabolic flight, Te and De are 70% of 1-G values, but a pitch back dumping movement produces no further change. Te, Td, and Dd have not previously been measured in orbital flight. VOR and sensation duration was tested in 4 crewmembers in 4 preflight, 1 inflight (days 4 or 5) and 4 post flight sessions. Bitemporal EOG was recorded with eyes open in darkness. Instructions were to "gaze straight ahead," and indicate when "rotation sensation disappears or becomes ambiguous". Subjects were rotated CW and CCW head erect for 1 min at 120 degrees/s, stopped, and EOG was recorded for another 1 min. This procedure was then used to study dumping, except that immediately after chair stop, subjects pitched their head forward 90 degrees. SPV was calculated using order statistic filtering, and dropouts removed using an iterative model fitting method. Te and Td were determined by logarithmic linear regression of mean SPV for each subject. In orbit, 90 degrees pitch movement produced rapid subjective dumping, but not nystagmus dumping. Dd was noticeably shorter ("almost instantaneous") compared to preflight Dd. Te and Td in orbit were similar to preflight Te for 3/4 subjects (rather than to preflight Td as expected). No consistent VOR gain changes were seen in orbit. Although Te is known to decrease acutely in parabolic flight, a longer time constant was measured in 3/4 subjects after 4-5 days adaptation to weightlessness, suggesting a return of angular velocity storage.

NASA Experiment Number 178072 1/2↗
NASA NTRS2006

Solar CIV Vacuum-Ultraviolet Fabry-Perot Interferometers

Aims: A tunable, high spectral resolution, high effective finesse, vacuum ultraviolet (VUV) Fabry-Perot interferometer (PPI) is designed for obtaining narrow-passband images, magnetograms, and Dopplergrams of the transition region emission line of CIV (155 nm). Methods: The integral part of the CIV narrow passband filter package (with a 2-10 pm FWHM) consists of a multiple etalon system composed of a tunable interferometer that provides high-spectral resolution and a static low-spectral resolution interferometer that allows a large effective free spectral range. The prefilter for the interferometers is provided by a set of four mirrors with dielectric high-reflective coatings. A tunable interferometer, a VUV piezoelectric-control etalon, has undergone testing using the surrogate F2 eximer laser line at 157 nm for the CIV line. We present the results of the tests with a description of the overall concept for a complete narrow-band CIV spectral filter. The static interferometer of the filter is envisioned as being hudt using a set of fixed MgF2 plates. The four-mirror prefilter is designed to have dielectric multilayer n-stacks employing the design concept used in the Ultraviolet Imager of NASA's Polar Spacecraft. A dual etalon system allows the effective free spectral range to be commensurate with the prefilter profile. With an additional etalon, a triple etalon system would allow a spectrographic resolution of 2 pm. The basic strategy has been to combine the expertise of spaceflight etalon manufacturing with VUV coating technology to build a VUV FPI which combines the best attributes of imagers and spectrographs into a single compact instrument. Results. Spectro-polarimetry observations of the transition region CIV emission can be performed to increase the understanding of the magnetic forces, mass motion, evolution, and energy release within the solar atmosphere at the base of the corona where most of the magnetic field is approximately force-free. The 2D imaging of the full vector magnetic field at the height of maximum magnetic influence (minimum plasma beta) can be accomplished, albeit difficult, by measuring the Zeeman splitting of the CIV resonance pair. Designs of multiple VUV FPIs can be developed for integration into future orbiting solar observatories to obtain rapid cadence, spectral imaging of the transition region.

Gary, G. Allen↗
NASA NTRS2006

I Love My Attitude Problem

This viewgraph presentation provides a survey of modern methods for attitude estimation. Two algorithms are discussed: Kalman Filters and Wahba's Problem. Several spacecraft Attitude Determination And Control Subsystem (ADACS) are discussed including: Solar Maximum Mission (SMM), Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX), Hubble Space Telescope (HST), Tropical Rainfall Measuring Mission (TRMM), and Wilkinson Microwave Anisotropy Probe (WMAP). Also included is a discussion about Zero Gyro Sunpoint (ZGSP), and the WMAP Attitude Anomaly.

Markley, F. Landis↗
NASA NTRS1981

A simple attitude data filter for three-axis attitude initialization for autonomous ascent of Shuttle-launched spacecraft

A method for accurately initializing spacecraft attitude after release from the Orbiter is described. It is noted that the method is suitable for an autonomous ascent to mission orbit. Test results are given from a FORTRAN simulation of the estimation algorithm using measurement data from a detailed spacecraft dynamics simulation program. The technique here is orbital yaw-gyrocompassing. Attitude is estimated through a Kalman filter, using pitch and roll measurements from an earth sensor, while gyro data provide the system dynamics information. In the tests described, gyro and earth sensor data are generated by an existing control system simulation of earth-search and yaw-gyrocompassing attitude dynamics; they include realistic errors such as delays, random noise and quantization effects. The estimated attitude history is compared with the true attitude history from the simulation program to assess the accuracy and convergence of the filter in the presence of noisy measurements and disturbances, including thruster firings for momentum control. It is noted that since the earth sensor provides direct measurements of pitch and roll, the main criterion of filter performance is yaw accuracy.

Joshi, R. T.↗
NASA NTRS2014

Identifiability of Additive Actuator and Sensor Faults by State Augmentation

A class of fault detection and identification (FDI) methods for bias-type actuator and sensor faults is explored in detail from the point of view of fault identifiability. The methods use state augmentation along with banks of Kalman-Bucy filters for fault detection, fault pattern determination, and fault value estimation. A complete characterization of conditions for identifiability of bias-type actuator faults, sensor faults, and simultaneous actuator and sensor faults is presented. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have unknown biases. The fault identifiability conditions are demonstrated via numerical examples. The analytical and numerical results indicate that caution must be exercised to ensure fault identifiability for different fault patterns when using such methods.

Joshi, Suresh↗
NASA NTRS1982

Experimental boundary integral equation applications in speckle interferometry

A complete data analysis system utilizing laser speckle interferometry and Experimental Integral Equation Method (EBIE) is described. A host computer provides the optical data analysis and serves as an input device to a PDP11/VAX computer for numerical analysis. The basic theory of pointwise filtering and digital correlation is described as experimental data input to the BIE method.

Fraley, J. E.↗
NASA NTRS1983

Optimal processing of satellite-derived magnetic anomaly data

It is shown how the concept of the power spectrum can be extended to two-dimensional spatial power spectra and how it can be used in determining optimal data processing methods for satellite-derived magnetic anomaly data and planning missions to obtain such data. The analysis techniques are applied to the data set and data-processing procedure described by Mayhew et al. (1980), a study that treats magnetic anomaly data for Australia and the surrounding ocean obtained by the polar orbit POGO series satellites. It is shown that the data-processing method used by Mayhew et al. is approximately equivalent to an invariant two-dimensional linear filter and that it is reasonably close to optimal with respect to accuracy, although some possible improvements are suggested. However, as is usual when filtering data, some real 'signal' is unavoidably removed along with the 'noise' resulting in errors that can be quite large. A method for reducing these errors by using additional data from a medium inclination orbit satellite (for example, 60 deg inclination) is proposed.

Mcleod, M. G.↗
NASA NTRS1997

A Dual-Line Detection Rayleigh Scattering Diagnostic Technique for the Combustion of Hydrocarbon Fuels and Filtered UV Rayleigh Scattering for Gas Velocity Measurements

Non-intrusive techniques for the dynamic measurement of gas flow properties such as density, temperature and velocity, are needed in the research leading to the development of new generation high-speed aircraft. Accurate velocity, temperature and density data obtained in ground testing and in-flight measurements can help understand the flow physics leading to transition and turbulence in supersonic, high-altitude flight. Such non-intrusive measurement techniques can also be used to study combustion processes of hydrocarbon fuels in aircraft engines. Reliable, time and space resolved temperature measurements in various combustor configurations can lead to a better understanding of high temperature chemical reaction dynamics thus leading to improved modeling and better prediction of such flows. In view of this, a research program was initiated at Polytechnic University's Aerodynamics Laboratory with support from NASA Lewis Research Center through grants NAG3-1301 and NAG3-1690. The overall objective of this program has been to develop laser-based, non-contact, space- and time-resolved temperature and velocity measurement techniques. In the initial phase of the program a ND:YAG laser-based dual-line Rayleigh scattering technique was developed and tested for the accurate measurement of gas temperature in the presence of background laser glare. Effort was next directed towards the development of a filtered, spectrally-resolved Rayleigh/Mie scattering technique with the objective of developing an interferometric method for time-frozen velocity measurements in high-speed flows utilizing the uv line of an ND:YAG laser and an appropriate molecular absorption filter. This effort included both a search for an appropriate filter material for the 266 nm laser line and the development and testing of several image processing techniques for the fast processing of Fabry-Perot images for velocity and temperature information. Finally, work was also carried out for the development of a new laser-based strain-rate and vorticity technique for the time-resolved measurement of vorticity and strain-rates in turbulent flows.

Otugen, M. Volkan↗