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At least 757 records · Page 42

Effect of solar radiation disturbance on a flexible beam in orbit

The uncontrolled dynamics of an orbiting flexible beam in the presence of solar radiation pressure forces is considered. The effect of solar radiation forces and moments on the rigid and flexible modes of a free-free flexible beam is evaluated. It is found that moments result only from the flexible symmetric modal deformations. For small pitch amplitudes, and at near geosynchronous altitudes the solar radiation moments due to the deformations of the beam are seen to be greater than those due to the gravity-gradient. Within the linear range, simulated steady state dynamic responses show that the induced pitch amplitudes can be more significant than the induced amplitudes of the modal shape functions.

Krishna, R.↗

Toward comparing experiment and theory for corroborative research on hingeless rotor stability in forward flight

For flap lag stability of isolated rotors, experimental and analytical investigations were conducted in hover and forward flight on the adequacy of a linear quasisteady aerodynamics theory with dynamic flow. Forward flight effects on lag regressing mode were emphasized. A soft inplane hingeless rotor with three blades was tested at advance ratios as high as 0.55 and at shaft angles as high as 20 deg. The 1.62 m model rotor was untrimmed with an essentially unrestricted tilt of the tip path plane. In combination with lag natural frequencies, collective pitch settings and flap lag coupling parameters, the data base comprises nearly 1200 test points (damping and frequency) in forward flight and 200 test points in hover. By computerized symbolic manipulation, a linear model was developed in substall to predict stability margins with mode identification. To help explain the correlation between theory and data it also predicted substall and stall regions of the rotor disk from equilibrium values. The correlation showed both the strengths and weaknesses of the theory in substall ((angle of attack) equal to or less than 12 deg).

Gaonkar, G.↗

Eigenvalue Sensitivity Computations for Linear Stability Theory

To realize the drag reduction benefit of boundary-layer transition control strategies, it is crucial to integrate transition prediction into the vehicle design through an optimization process. The integration of transition prediction based on linear stability analysis into adjoint d design optimization requires coupling an adjoint enabled computational fluid dynamics (CFD) solver with an adjoint enabled linear stability code. In particular, the boundary-layer transition location is often predicted using the N-factor method based on linear stability theory (LST). Thus, sensitivity of the linear-stability eigenvalues constitute an essential building block for optimizing the laminar flow performance. The present paper describes an implementation of LST eigenvalue sensitivity analysis that can be easily coupled with a CFD solver. Specifically, we describe a discrete adjoint formulation for the transition location prediction based on the N-factor method. The verification of this formulation is carried out by comparing the adjoint-based sensitivity of the local growth rate of a given instability mode with respect to the disturbance frequency, and the adjoint-based sensitivity of the transition location with respect to spanwise wavenumber with those sensitivities computed using a finite-difference approximation. Finally, the adjoint LST formulation is applied to flat-plate boundary-layer flows at transonic, supersonic, and hypersonic conditions, to determine the behavior and sensitivities of the transition location with respect to a range of disturbance spanwise wavenumbers.

Boundary Layer Transition↗

Toward comparing experiment and theory for corroborative research on hingeless rotor stability in forward flight (an experimental and analytical investigation of isolated rotor-flap-lag stability in forward flight)

For flap-lag stability of isolated rotors, experimental and analytical investigations are conducted in hover and forward flight on the adequacy of a linear quasisteady aerodynamics theory with dynamic inflow. Forward flight effects on lag regressing mode are emphasized. Accordingly, a soft inplane hingeless rotor with three blades is tested at advance ratios as high as 0.55 and at shaft angles as high as 20 degrees. The 1.62 m model rotor is untrimmed with an essentially unrestricted tilt of the tip path plane. In combination with lag natural frequencies, collective pitch settings and flap-lag coupling parameters, the data base comprises nearly 1200 test points (damping and frequency) in forward flight and 200 test points in hover. By computerized symbolic manipulation, a linear analytical model is developed in substall to predict stability margins with mode identificaton. To help explain the correlation between theory and data it also predicts substall and stall regions of the rotor disk from equilibrium values. The correlation shows both the strengthts and weaknesses of the theory in substall.

Gaonkar, G.↗

Symmetric linear systems - An application of algebraic systems theory

Dynamical systems which contain several identical subsystems occur in a variety of applications ranging from command and control systems and discretization of partial differential equations, to the stability augmentation of pairs of helicopters lifting a large mass. Linear models for such systems display certain obvious symmetries. In this paper, we discuss how these symmetries can be incorporated into a mathematical model that utilizes the modern theory of algebraic systems. Such systems are inherently related to the representation theory of algebras over fields. We will show that any control scheme which respects the dynamical structure either implicitly or explicitly uses the underlying algebra.

Hazewinkel, M.↗

Gated photomultiplier response characterization for DIAL measurements

The characteristics of various detector responses are studied to understand the cause of various systematic biases and to minimize these undesirable effects in measurements of transient signals with large dynamic range. Signal-induced bias, gain variation, and the linearity of commonly used gated photomultipliers in the current integrating mode are quantitatively evaluated. Analysis of the results indicates that impurity ions inside the photomultiplier tubes (PMT) are the source of the signal induced bias and gain variation. Two different PMTs used in this study show significant differences in the magnitude and decay behavior of signal-induced bias. It was found that it can be minimized by using an external amplifier to reduce PMT gain, and by applying a low potential between the cathode and first dynode. The linearity of a PMT is also studied over a large dynamic range of input intensities employing a new technique which does not require an absolute calibration. The result of this study shows that the photomultiplier response is linear only for a limited input intensity range below a certain anode current.

Lee, H. Sang↗

Sliding Mode Control of the X-33 with an Engine Failure

Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

Shtessel, Yuri B.↗

An approximate loop transfer recovery method for designing fixed-order compensators

A method for designing fixed-order dynamic compensators for multivariable time invariant linear systems is presented which is based on the minimization of a linear quadratic performance index. The present formulation is performed in an output feedback setting which uses an observer cononical form to represent the compensator dynamics. Techniques for penalizing the plant and compensator states and for selecting the distribution on initial conditions such that the loop transfer matrix approximates that of a full-state feedback design have been developed. The effectiveness of the method is demonstrated using the examples of the pointing of a flexible structure and a helicopter flight control problem.

Calise, Anthony J.↗

Intramuscular pressure and electromyography as indexes of force during isokinetic exercise

A direct method for measuring force production of specific muscles during dynamic exercise is presently unavailable. Previous studies indicate that both intramuscular pressure (IMP) and electromyography (EMG) correlate linearly with muscle contraction force during isometric exercise. The objective of this study was to compare IMP and EMG as linear assessors of muscle contraction force during dynamic exercise. IMP and surface EMG activity were recorded during concentric and eccentric isokinetic plantarflexion and dorsiflexion of the ankle joint from the tibialis anterior (TA) and soleus (SOL) muscles of nine male volunteers. Ankle torque was measured using a dynamometer, and IMP was measured via catheterization. IMP exhibited better linear correlation than EMG with ankle joint torque during concentric contractions of the SOL and the TA, as well as during eccentric contractions. IMP provides a better index of muscle contraction force than EMG during concentric and eccentric exercise through the entire range of torque. IMP reflects intrinsic mechanical properties of individual muscles, such as length-tension relationships, which EMG is unable to assess.

Aratow, M.↗

A Textbook for a First Course in Computational Fluid Dynamics

This paper describes and discusses the textbook, Fundamentals of Computational Fluid Dynamics by Lomax, Pulliam, and Zingg, which is intended for a graduate level first course in computational fluid dynamics. This textbook emphasizes fundamental concepts in developing, analyzing, and understanding numerical methods for the partial differential equations governing the physics of fluid flow. Its underlying philosophy is that the theory of linear algebra and the attendant eigenanalysis of linear systems provides a mathematical framework to describe and unify most numerical methods in common use in the field of fluid dynamics. Two linear model equations, the linear convection and diffusion equations, are used to illustrate concepts throughout. Emphasis is on the semi-discrete approach, in which the governing partial differential equations (PDE's) are reduced to systems of ordinary differential equations (ODE's) through a discretization of the spatial derivatives. The ordinary differential equations are then reduced to ordinary difference equations (O(Delta)E's) using a time-marching method. This methodology, using the progression from PDE through ODE's to O(Delta)E's, together with the use of the eigensystems of tridiagonal matrices and the theory of O(Delta)E's, gives the book its distinctiveness and provides a sound basis for a deep understanding of fundamental concepts in computational fluid dynamics.

Zingg, D. W.↗

Learning to Control Advanced Life Support Systems

Advanced life support systems have many interacting processes and limited resources. Controlling and optimizing advanced life support systems presents unique challenges. In particular, advanced life support systems are nonlinear coupled dynamical systems and it is difficult for humans to take all interactions into account to design an effective control strategy. In this project. we developed several reinforcement learning controllers that actively explore the space of possible control strategies, guided by rewards from a user specified long term objective function. We evaluated these controllers using a discrete event simulation of an advanced life support system. This simulation, called BioSim, designed by Nasa scientists David Kortenkamp and Scott Bell has multiple, interacting life support modules including crew, food production, air revitalization, water recovery, solid waste incineration and power. They are implemented in a consumer/producer relationship in which certain modules produce resources that are consumed by other modules. Stores hold resources between modules. Control of this simulation is via adjusting flows of resources between modules and into/out of stores. We developed adaptive algorithms that control the flow of resources in BioSim. Our learning algorithms discovered several ingenious strategies for maximizing mission length by controlling the air and water recycling systems as well as crop planting schedules. By exploiting non-linearities in the overall system dynamics, the learned controllers easily out- performed controllers written by human experts. In sum, we accomplished three goals. We (1) developed foundations for learning models of coupled dynamical systems by active exploration of the state space, (2) developed and tested algorithms that learn to efficiently control air and water recycling processes as well as crop scheduling in Biosim, and (3) developed an understanding of the role machine learning in designing control systems for advanced life support.

Subramanian, Devika↗

Spatial constraints of stereopsis in video displays

Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays.

Schor, Clifton↗

Dynamics And Control Of Flexible Manipulator

Nonlinear equations solved with linear approximations applicable during small increments of time. Report presents theoretical study of selected aspects of dynamics and control of robotic manipulator that includes multiple flexible links. Addresses problem of control primarily from perspective of inverse-dynamics problem.

Gawronski, Wodek K.↗

Controls-structures-interaction dynamics during RCS control of the Orbiter/SRMS/SSF configuration

During the assembly flights of the Space Station Freedom (SSF), the Orbiter will either dock with the SSF and retract to the final berthed position, or will grapple the SSF using the Shuttle Remote Manipulator System (SRMS) and maneuver the SRMS coupled vehicles to their final berthed position. The SRMS method is expected to take approximately one to one and a half hours to complete and require periodic attitude corrections by either the Orbiter or the SSF reaction control system (RCS) or continuous control by a control moment gyro (CMG) system with RCS desaturation as required. Free drift of the attached vehicles is not currently thought to be acceptable because the desired system attitude will quickly deteriorate due to unbalanced gravity gradient and aerodynamic torques resulting in power generation problems, thermodynamic control problems, and communications problems. This paper deals with the simulation and control of the SRMS during trunnion/latch interaction dynamics and during RCS maneuvers. The SRMS servo drive joints have highly non-linear elastic characteristics which tend to degrade sensitive control strategies. In addition the system natural frequencies are extremely low and depend on the drive joint deflections and SRMS geometric position. The lowest mean period of oscillation for the Orbiter/SRMS/SSF(MB6) system in brakes hold mode positioned near the final berthed position is approximately 120 seconds. A detailed finite element model of the SRMS has been developed and used in a newly developed SRMS systems dynamics simulation to investigate the non-linear transient response dynamics of the Orbiter/SRMS/SSF systems. The present SRMS control strategy of brakes only recommended by the Charles Draper Labs is contrasted with a robust controller developed by the authors. The robust controller uses an optimal inear quadratic regulator (LQR) to optimally place the closed-loop poles of a multivariable continuous-time system within the common region of an open sector with the sector angle plus or minus 45 degrees from the negative real axis, and the left-hand side of a parallel to the imaginary axis in the complex s-plane. This guarantees that the critical damping ratio for the desired control modes is equal to or in excess of 0.707. The matrix sign function is used for solving the Riccati equations which appear in the controller design procedure. Fast and stable algorithms have recently been developed for the computation of the matrix sign function. Simulation results are given which demonstrate the potential CSI involvement for the current SRMS control system and the proposed control system.

Schliesing, J. A.↗

Spatiotemporal processing of linear acceleration: primary afferent and central vestibular neuron responses

Spatiotemporal convergence and two-dimensional (2-D) neural tuning have been proposed as a major neural mechanism in the signal processing of linear acceleration. To examine this hypothesis, we studied the firing properties of primary otolith afferents and central otolith neurons that respond exclusively to horizontal linear accelerations of the head (0.16-10 Hz) in alert rhesus monkeys. Unlike primary afferents, the majority of central otolith neurons exhibited 2-D spatial tuning to linear acceleration. As a result, central otolith dynamics vary as a function of movement direction. During movement along the maximum sensitivity direction, the dynamics of all central otolith neurons differed significantly from those observed for the primary afferent population. Specifically at low frequencies (</=0.5 Hz), the firing rate of the majority of central otolith neurons peaked in phase with linear velocity, in contrast to primary afferents that peaked in phase with linear acceleration. At least three different groups of central response dynamics were described according to the properties observed for motion along the maximum sensitivity direction. "High-pass" neurons exhibited increasing gains and phase values as a function of frequency. "Flat" neurons were characterized by relatively flat gains and constant phase lags (approximately 20-55 degrees ). A few neurons ("low-pass") were characterized by decreasing gain and phase as a function of frequency. The response dynamics of central otolith neurons suggest that the approximately 90 degrees phase lags observed at low frequencies are not the result of a neural integration but rather the effect of nonminimum phase behavior, which could arise at least partly through spatiotemporal convergence. Neither afferent nor central otolith neurons discriminated between gravitational and inertial components of linear acceleration. Thus response sensitivity was indistinguishable during 0.5-Hz pitch oscillations and fore-aft movements. The fact that otolith-only central neurons with "high-pass" filter properties exhibit semicircular canal-like dynamics during head tilts might have important consequences for the conclusions of previous studies of sensory convergence and sensorimotor transformations in central vestibular neurons.

NASA Discipline Neuroscience↗

A method for the analysis of nonlinearities in aircraft dynamic response to atmospheric turbulence

An analytical method is developed which combines the equivalent linearization technique for the analysis of the response of nonlinear dynamic systems with the amplitude modulated random process (Press model) for atmospheric turbulence. The method is initially applied to a bilinear spring system. The analysis of the response shows good agreement with exact results obtained by the Fokker-Planck equation. The method is then applied to an example of control-surface displacement limiting in an aircraft with a pitch-hold autopilot.

Sidwell, K.↗