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NASA NTRS1996

Adaptive Control Strategies for Flexible Robotic Arm

The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

Bialasiewicz, Jan T.↗

NASA NTRS2011

Experiment in Onboard Synthetic Aperture Radar Data Processing

Single event upsets (SEUs) are a threat to any computing system running on hardware that has not been physically radiation hardened. In addition to mandating the use of performance-limited, hardened heritage equipment, prior techniques for dealing with the SEU problem often involved hardware-based error detection and correction (EDAC). With limited computing resources, software- based EDAC, or any more elaborate recovery methods, were often not feasible. Synthetic aperture radars (SARs), when operated in the space environment, are interesting due to their relevance to NASAs objectives, but problematic in the sense of producing prodigious amounts of raw data. Prior implementations of the SAR data processing algorithm have been too slow, too computationally intensive, and require too much application memory for onboard execution to be a realistic option when using the type of heritage processing technology described above. This standard C-language implementation of SAR data processing is distributed over many cores of a Tilera Multicore Processor, and employs novel Radiation Hardening by Software (RHBS) techniques designed to protect the component processes (one per core) and their shared application memory from the sort of SEUs expected in the space environment. The source code includes calls to Tilera APIs, and a specialized Tilera compiler is required to produce a Tilera executable. The compiled application reads input data describing the position and orientation of a radar platform, as well as its radar-burst data, over time and writes out processed data in a form that is useful for analysis of the radar observations.

Holland, Matthew↗

NASA NTRS1983

Structural optimization - Challenges and opportunities

A review of developments in structural optimization techniques and their interface with growing computer capabilities is presented. Structural design steps comprise functional definition of an object, an evaluation phase wherein external influences are quantified, selection of the design concept, material, object geometry, and the internal layout, and quantification of the physical characteristics. Optimization of a fully stressed design is facilitated by use of nonlinear mathematical programming which permits automated definition of the physics of a problem. Design iterations terminate when convergence is acquired between mathematical and physical criteria. A constrained minimum algorithm has been formulated using an Augmented Lagrangian approach and a generalized reduced gradient to obtain fast convergence. Various approximation techniques are mentioned. The synergistic application of all the methods surveyed requires multidisciplinary teamwork during a design effort.

Sobieszczanski-Sobieski, J.↗

NASA NTRS1984

Structural optimization: Challenges and opportunities

Sobieszczanski-Sobieski, J.↗

NASA NTRS1985

Putting the 'super' in supercomputers

Computers used for numerical simulations of physical phenomena, e.g., flowfields, meteorology, structural analysis, etc., replace physical experiments that are too expensive or impossible to perform. The problems considered continually become increasingly more complex and thus demand faster processing times to do all necessary computations. The effects components technologies have on computer speed are leveling off, leaving new architectures and programming as the only currently viable means to upgrade speed. Parallel computations, either in the form of array processors, assembly line processing or multiprocessors are being explored using existing microprocessor technologies. Slower hardware configurations can also be made equivalent to faster supercomputers by economic programming. The availability of rudimentary parallel architecture supercomputers for general industrial use is increasing. Scientific applications continue to drive the development of more sophisticated parallel machines.

Schulbach, C.↗

NASA NTRS2008

Determining Exercise Strength Requirements for Astronaut Critical Mission Tasks: Reaching Under G-Load

The critical mission tasks assessments effort seeks to determine the physical performance requirements that astronauts must meet in order to safely and successfully accomplish lunar exploration missions. These assessments will determine astronaut preflight strength, fitness, and flexibility requirements, and the extent to which exercise and other countermeasures must prevent the physical deconditioning associated with prolonged weightlessness. The purpose is to determine the flexibility and strength that crewmembers must possess in order to reach Crew Exploration Vehicle controls during maneuvers that result in sustained acceleration levels ranging from 3.7G to 7.8G. An industry standard multibody dynamics application was used to create human models representing a 5th percentile female, a 50th percentile male, and a 95th percentile male. The additional mass of a space suit sleeve was added to the reaching arm to account for the influence of the suit mass on the reaching effort. The human model was merged with computer models of a pilot seat and control panel for the Crew Exploration Vehicle. Three dimensional paths were created that guided the human models hand from a starting position alongside its thigh to three control targets: a joystick, a keyboard, and an overhead switch panel. The reaching motion to each target was repeated under four vehicle acceleration conditions: nominal ascent (3.7G), two ascent aborts (5.5G and 7.8G) and lunar reentry (4.6G). Elbow and shoulder joint angular excursions were analyzed to assess range of motion requirements. Mean and peak elbow and shoulder joint torques were determined and converted to equivalent resistive exercise loads to assess strength requirements. Angular excursions for the 50th and 95th percentile male models remained within joint range of motion limits. For the 5th percentile female, both the elbow and the shoulder exceeded range of motion limits during the overhead reach. Elbow joint torques ranged from 10 N-m (nominal ascent) to 60 N-m (ascent abort). Shoulder joint torques ranged from 65 N-m (nominal ascent) to 280 N-m (ascent abort). Maximal equivalent exercise loads reached 30 lb in tricep extension, 9 lb in bicep curl, 110 lb in unilateral pullover and unilateral bench press for nominal conditions (lunar reentry), and 188 lb in unilateral pullover and unilateral bench press. The location of the pilot seat was found to be inadequately located to allow a 5th percentile female to reach the switches on the overhead panel. Elbow strength requirements were found to be well within population norms. Shoulder strength was found to be a limiting factor. Reaching under nominal ascent and lunar reentry conditions was found to require near maximal shoulder strength. Reaching under ascent abort conditions requires shoulder strength well beyond population norms. Pilot seats must adjust to accomodate a 5th percentile female. Exercise countermeasures must maintain maximal pullover and bench press strength to allow pilots to reach and operate controls during lunar reentry. Reaching will not be possible during ascent abort conditions. Flight controls should be built into armrests or flight control must be accomplished by autonomous systems during acceleration exceeding 4.6G.

Schaffner, Grant↗

NASA NTRS2007

Scope of Gradient and Genetic Algorithms in Multivariable Function Optimization

Global optimization of a multivariable function - constrained by bounds specified on each variable and also unconstrained - is an important problem with several real world applications. Deterministic methods such as the gradient algorithms as well as the randomized methods such as the genetic algorithms may be employed to solve these problems. In fact, there are optimization problems where a genetic algorithm/an evolutionary approach is preferable at least from the quality (accuracy) of the results point of view. From cost (complexity) point of view, both gradient and genetic approaches are usually polynomial-time; there are no serious differences in this regard, i.e., the computational complexity point of view. However, for certain types of problems, such as those with unacceptably erroneous numerical partial derivatives and those with physically amplified analytical partial derivatives whose numerical evaluation involves undesirable errors and/or is messy, a genetic (stochastic) approach should be a better choice. We have presented here the pros and cons of both the approaches so that the concerned reader/user can decide which approach is most suited for the problem at hand. Also for the function which is known in a tabular form, instead of an analytical form, as is often the case in an experimental environment, we attempt to provide an insight into the approaches focusing our attention toward accuracy. Such an insight will help one to decide which method, out of several available methods, should be employed to obtain the best (least error) output. *

Shaykhian, Gholam Ali↗

NASA NTRSDate not supplied

An Approach to Solving Enclosure Radiation Problems in A Multi-Physics Context

Thermal protection system analysis of complex features or damage sites can sometimes require modeling of high temperature enclosures. Implementing efficient and accurate view-factor algorithms required to model such problems is complex. The current work leverages the Non-equilibrium Radiation (NERO) software, which solves the radiation transport equation in a finite-volume scheme, to alleviating challenges often faced with view-factor calculations. By assuming heat transfer occurs only between grey bodies and that the medium is non-participating, computational cost of the method is significantly reduced. The enclosure physics are modeled through emitting and reflecting boundary conditions in NERO. The emitted radiative flux is dependent on the wall temperature which is a solution to the material response, obtained from Icarus, in this context. The Ares framework manages the time-advancement and exchange of the necessary data between the solvers. The surface energy balance is modified to account for the enclosure terms within the material response boundary condition. The methodology was verified against analytical solutions including radiating parallel plates, a hollow cylinder (shown in Fig. 1), and a hemisphere. Application of the methodology to inform the design of components of the Dragonfly system will be shown.

Ablation↗

NASA NTRS1988

General linear codes for fault-tolerant matrix operations on processor arrays

Various checksum codes have been suggested for fault-tolerant matrix computations on processor arrays. Use of these codes is limited due to potential roundoff and overflow errors. Numerical errors may also be misconstrued as errors due to physical faults in the system. In this a set of linear codes is identified which can be used for fault-tolerant matrix operations such as matrix addition, multiplication, transposition, and LU-decomposition, with minimum numerical error. Encoding schemes are given for some of the example codes which fall under the general set of codes. With the help of experiments, a rule of thumb for the selection of a particular code for a given application is derived.

Nair, V. S. S.↗

NASA NTRS1992

Spacecraft-plasma interaction codes: NASCAP/GEO, NASCAP/LEO, POLAR, DynaPAC, and EPSAT

Development of a computer code to simulate interactions between the surfaces of a geometrically complex spacecraft and the space plasma environment involves: (1) defining the relevant physical phenomena and formulating them in appropriate levels of approximation; (2) defining a representation for the 3-D space external to the spacecraft and a means for defining the spacecraft surface geometry and embedding it in the surrounding space; (3) packaging the code so that it is easy and practical to use, interpret, and present the results; and (4) validating the code by continual comparison with theoretical models, ground test data, and spaceflight experiments. The physical content, geometrical capabilities, and application of five S-CUBED developed spacecraft plasma interaction codes are discussed. The NASA Charging Analyzer Program/geosynchronous earth orbit (NASCAP/GEO) is used to illustrate the role of electrostatic barrier formation in daylight spacecraft charging. NASCAP/low Earth orbit (LEO) applications to the CHARGE-2 and Space Power Experiment Aboard Rockets (SPEAR)-1 rocket payloads are shown. DynaPAC application to the SPEAR-2 rocket payloads is described. Environment Power System Analysis Tool (EPSAT) is illustrated by application to Tethered Satellite System 1 (TSS-1), SPEAR-3, and Sundance. A detailed description and application of the Potentials of Large Objects in the Auroral Region (POLAR) Code are presented.

Mandell, M. J.↗

NASA NTRS1998

Investigation of Coronal Large Scale Structures Utilizing Spartan 201 Data

Two telescopes aboard Spartan 201, a small satellite has been launched from the Space Shuttles, on April 8th, 1993, September 8th, 1994, September 7th, 1995 and November 20th, 1997. The main objective of the mission was to answer some of the most fundamental unanswered questions of solar physics-What accelerates the solar wind and what heats the corona? The two telescopes are 1) Ultraviolet Coronal Spectrometer (UVCS) provided by the Smithsonian Astrophysical Observatory which uses ultraviolet emissions from neutral hydrogen and ions in the corona to determine velocities of the coronal plasma within the solar wind source region, and the temperature and density distributions of protons and 2) White Light Coronagraph (WLC) provided by NASA's Goddard Space Flight Center which measures visible light to determine the density distribution of coronal electrons within the same region. The PI has had the primary responsibility in the development and application of computer codes necessary for scientific data analysis activities, end instrument calibration for the white-light coronagraph for the entire Spartan mission. The PI was responsible for the science output from the WLC instrument. PI has also been involved in the investigation of coronal density distributions in large-scale structures by use of numerical models which are (mathematically) sufficient to reproduce the details of the observed brightness and polarized brightness distributions found in SPARTAN 201 data.

Guhathakurta, Madhulika↗

NASA NTRS2004

Applications of Computational Methods for Dynamic Stability and Control Derivatives

Initial steps in the application o f a low-order panel method computational fluid dynamic (CFD) code to the calculation of aircraft dynamic stability and control (S&C) derivatives are documented. Several capabilities, unique to CFD but not unique to this particular demonstration, are identified and demonstrated in this paper. These unique capabilities complement conventional S&C techniques and they include the ability to: 1) perform maneuvers without the flow-kinematic restrictions and support interference commonly associated with experimental S&C facilities, 2) easily simulate advanced S&C testing techniques, 3) compute exact S&C derivatives with uncertainty propagation bounds, and 4) alter the flow physics associated with a particular testing technique from those observed in a wind or water tunnel test in order to isolate effects. Also presented are discussions about some computational issues associated with the simulation of S&C tests and selected results from numerous surface grid resolution studies performed during the course of the study.

Green, Lawrence L.↗

NASA NTRS2013

Influence of Computational Drop Representation in LES of a Droplet-Laden Mixing Layer

Multiphase turbulent flows are encountered in many practical applications including turbine engines or natural phenomena involving particle dispersion. Numerical computations of multiphase turbulent flows are important because they provide a cheaper alternative to performing experiments during an engine design process or because they can provide predictions of pollutant dispersion, etc. Two-phase flows contain millions and sometimes billions of particles. For flows with volumetrically dilute particle loading, the most accurate method of numerically simulating the flow is based on direct numerical simulation (DNS) of the governing equations in which all scales of the flow including the small scales that are responsible for the overwhelming amount of dissipation are resolved. DNS, however, requires high computational cost and cannot be used in engineering design applications where iterations among several design conditions are necessary. Because of high computational cost, numerical simulations of such flows cannot track all these drops. The objective of this work is to quantify the influence of the number of computational drops and grid spacing on the accuracy of predicted flow statistics, and to possibly identify the minimum number, or, if not possible, the optimal number of computational drops that provide minimal error in flow prediction. For this purpose, several Large Eddy Simulation (LES) of a mixing layer with evaporating drops have been performed by using coarse, medium, and fine grid spacings and computational drops, rather than physical drops. To define computational drops, an integer NR is introduced that represents the ratio of the number of existing physical drops to the desired number of computational drops; for example, if NR=8, this means that a computational drop represents 8 physical drops in the flow field. The desired number of computational drops is determined by the available computational resources; the larger NR is, the less computationally intensive is the simulation. A set of first order and second order flow statistics, and of drop statistics are extracted from LES predictions and are compared to results obtained by filtering a DNS database. First order statistics such as Favre averaged stream-wise velocity, Favre averaged vapor mass fraction, and the drop stream-wise velocity, are predicted accurately independent of the number of computational drops and grid spacing. Second order flow statistics depend both on the number of computational drops and on grid spacing. The scalar variance and turbulent vapor flux are predicted accurately by the fine mesh LES only when NR is less than 32, and by the coarse mesh LES reasonably accurately for all NR values. This is attributed to the fact that when the grid spacing is coarsened, the number of drops in a computational cell must not be significantly lower than that in the DNS.

Bellan, Josette↗

NASA NTRS2024

Transfer-AE: A novel autoencoder-based impact detection model for structural digital twin

Accurately detecting the location and intensity of impacts is crucial for ensuring structural safety. Currently, AI-based structural impact detection methods are widely used for their excellent detection accuracy. However, their generalization capability is limited by the scenarios present in the training data. Many complex and dangerous impact scenarios are difficult to conduct real-world experiments on to collect sufficient samples. To capture all impact scenarios and fully leverage the advantages of AI-based detection technologies, advanced methods involve combining real-world structural monitoring data with corresponding numerical models to construct digital twins. These methods continuously refine the created numerical models with limited real-world data and provide diverse impact scenarios through numerical model simulations. However, there are inevitable differences between digital models and physical models that are challenging to correct through mechanical means. This discrepancy in data distribution between the two models significantly hinders the application of digital twin technology in impact/event identification tasks. To address this challenge, this study proposes a novel model based on autoencoders, named Transfer-AE. Transfer-AE encodes the common features of digital twins in the latent space to bridge the uncertainty gap at a macro scale between numerical models and physical models and synchronously fits the magnitude and location of the impact load in the decoder. This enables consistent detection results for the same impact event, whether the sample comes from the numerical model or the physical model. Transfer-AE includes two operating modes: Mode 1 has a fixed computational complexity with stable inference speed, but the training cost and difficulty increase with data distribution. Mode 2's computational complexity increases with data distribution, but it has a fixed training cost and speed. In both cases involving the geodesic dome structure simulating a deep space habitat and the IASC-ASCE benchmark structure, Transfer-AE demonstrated the best performance in impact localization and quantification tasks compared to mainstream domain-adaptive transfer models.

Chengjia Han↗

NASA NTRS2014

Calculation of State Specific Rate Coefficients for Non-Equilibrium Hypersonics Applications: from H(Psi) = E(Psi) to k(T) = A *exp(-E(sub a)/RT)

Development of High-Fidelity Physics-Based Models to describe hypersonic flight through the atmospheres of Earth and Mars is underway at NASA Ames Research Center. The goal is to construct chemistry models of the collisional and radiative processes that occur in the bow shock and boundary layers of spacecraft during atmospheric entry that are free of empiricism. In this talk I will discuss our philosophy and describe some of our progress. Topics to be covered include thermochemistry, internal energy relaxation, collisional dissociation and radiative emission and absorption. For this work we start by solving the Schrodinger equation to obtain accurate interaction potentials and radiative properties. Then we invoke classical mechanics to compute state-specific heavy particle collision cross sections and reaction rate coefficients. Finally, phenomenological rate coefficients and relaxation times are determined from master equation solutions.

aerothermodynamics↗

NASA NTRS1992

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Schenker, Paul S.↗

NASA NTRS1997

BFS Method for Alloys Optimized and Verified for the Study of Ordered Intermetallic Material

The aerospace industry has a need for new metallic alloys that are lightweight and have high strength at elevated temperatures. The BFS (Bozzolo, Ferrante, and Smith) method is a new, computationally efficient and physically sound quantum semi-perturbative approach for describing metals and their defects. Based on a simple interpretation of the alloy formation process that identifies strain and chemical contributions to the energy of the alloy, the method provides an atom-by-atom description of an alloy. Its implementation requires little more than algebra and the solution of transcendental equations. At the NASA Lewis Research Center, we have demonstrated that BFS can investigate the properties of a large number of alloys with a minimum computational effort on low-level computers. This screening allows the selection of the best alloy candidates for a particular application and, therefore, promises large cost savings over current approaches.

Source record↗

NASA NTRS1989

On discrete control of nonlinear systems with applications to robotics

Much progress has been reported in the areas of modeling and control of nonlinear dynamic systems in a continuous-time framework. From implementation point of view, however, it is essential to study these nonlinear systems directly in a discrete setting that is amenable for interfacing with digital computers. But to develop discrete models and discrete controllers for a nonlinear system such as robot is a nontrivial task. Robot is also inherently a variable-inertia dynamic system involving additional complications. Not only the computer-oriented models of these systems must satisfy the usual requirements for such models, but these must also be compatible with the inherent capabilities of computers and must preserve the fundamental physical characteristics of continuous-time systems such as the conservation of energy and/or momentum. Preliminary issues regarding discrete systems in general and discrete models of a typical industrial robot that is developed with full consideration of the principle of conservation of energy are presented. Some research on the pertinent tactile information processing is reviewed. Finally, system control methods and how to integrate these issues in order to complete the task of discrete control of a robot manipulator are also reviewed.

Eslami, Mansour↗