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At least 793 records · Page 44

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NASA NTRS1990

Real-time fuzzy inference based robot path planning

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

Pacini, Peter J.↗

NASA NTRS1991

Measurements of Lorentz air-broadening coefficients and relative intensities in the H2O-16 pure rotational and nu2 bands from long horizontal path atmospheric spectra

Lorentz air-broadening coefficients and relative intensities have been measured for forty-three lines in the pure rotational band and twenty lines in the nu2 band of H2O-16 between 800 and 1150/cm. The results were derived from analysis of nine 0.017/cm-resolution atmospheric absorption spectra recorded over horizontal paths of 0.5-1.5 km with the McMath Fourier transform spectrometer and main solar telescope operated on Kitt Peak by the National Solar Observatory. A nonlinear least-squares spectral fitting technique was used in the spectral analysis. The results are compared with previous measurements and calculations. In most cases, the measured pressure-broadening coefficients and intensities are significantly different from the values in the 1986 HITRAN line parameters compilation.

Rinsland, Curtis P.↗

NASA NTRS1991

Precise flight-path control using a predictive algorithm

Generalized predictive control describes an algorithm for the control of dynamic systems in which a control input is generated that minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. A design technique is discussed for applying the single-input/single-output generalized predictive control algorithm to a problem of longitudinal/vertical terrain-following flight of a rotorcraft. By using the generalized predictive control technique to provide inputs to a classically designed stability and control augmentation system, it is demonstrated that a robust flight-path control system can be created that exhibits excellent tracking performance.

Hess, R. A.↗

NASA NTRS1992

Squeezed states and path integrals

The continuous-time regularization scheme for defining phase-space path integrals is briefly reviewed as a method to define a quantization procedure that is completely covariant under all smooth canonical coordinate transformations. As an illustration of this method, a limited set of transformations is discussed that have an image in the set of the usual squeezed states. It is noteworthy that even this limited set of transformations offers new possibilities for stationary phase approximations to quantum mechanical propagators.

Daubechies, Ingrid↗

NASA NTRS1986

Fade durations in satellite-path mobile radio propagation

Fades on satellite to land mobile radio links are caused by several factors, the most important of which are multipath propagation and vegetative shadowing. Designers of vehicular satellite communications systems require information about the statistics of fade durations in order to overcome or compensate for the fades. Except for a few limiting cases, only the mean fade duration can be determined analytically, and all other statistics must be obtained experimentally or via simulation. This report describes and presents results from a computer program developed at Virginia Tech to simulate satellite path propagation of a mobile station in a rural area. It generates rapidly-fading and slowly-fading signals by separate processes that yield correct cumulative signal distributions and then combines these to simulate the overall signal. This is then analyzed to yield the statistics of fade duration.

Schmier, Robert G.↗

NASA NTRS1992

Chemical reaction path modeling of hydrothermal processes on Mars: Preliminary results

Hydrothermal processes are thought to have had significant roles in the development of surficial mineralogies and morphological features on Mars. For example, a significant proportion of the Martian soil could consist of the erosional products of hydrothermally altered impact melt sheets. In this model, impact-driven, vapor-dominated hydrothermal systems hydrothermally altered the surrounding rocks and transported volatiles such as S and Cl to the surface. Further support for impact-driven hydrothermal alteration on Mars was provided by studies of the Ries crater, Germany, where suevite deposits were extensively altered to montmorillonite clays by inferred low-temperature (100-130 C) hydrothermal fluids. It was also suggested that surface outflow from both impact-driven and volcano-driven hydrothermal systems could generate the valley networks, thereby eliminating the need for an early warm wet climate. We use computer-driven chemical reaction path calculation to model chemical processes which were likely associated with postulated Martian hydrothermal systems.

Plumlee, Geoffrey S.↗

NASA NTRS1991

Manufacturing techniques - Split torque path helicopter transmission

A description of the manufacturing techniques, capital equipment, tooling plan, and assembly methods necessary to manufacture the split torque path gearbox is presented. This transmission was designed and built for the advanced rotorcraft transmission program of the U.S. Army and NASA. Consideration is given to the engineering technology advancements along with a description of the integrated product development team process.

Mitchell, George D., Jr.↗

NASA NTRS1991

Bandpass Delta Sigma A/D convertor using two-path multibit structure

The concept of an N-path bandpass Delta Sigma A/D convertor is introduced. A multibit sixth-order SC implementation is described. The new scheme appears to be very effective for the realization of the narrowband bandpass delta-sigma modulators needed for communication applications.

Zhang, Z. X.↗

NASA NTRS1991

Open-path tunable diode laser absorption for eddy correlation flux measurements of atmospheric trace gases

Biogenic emissions from and dry deposition to terrestrial surfaces are important processes determining the trace gas composition of the atmosphere. An instrument has been developed for flux measurements of gases such as CH4, N2O, and O3 based on the eddy correlation technique which combines trace gas fluctuation measurements with simultaneous windfield measurements. The instrument combines a tunable diode laser infrared light source with an open-path multipass absorption cell in order to provide the fast time response and short base pathlength required for the eddy correlation method. Initial field tests using the instrument to measure methane emissions from a local wetland demonstrate the capability for high precision eddy correlation flux measurements.

Anderson, Stuart M.↗

NASA NTRS1992

Path integrals, differential renormalization-group, and stochastic systems near criticality

It is demonstrated, using the techniques of path integrals and renormalization-group, that nonlinear stochastic systems near criticality (including self-organized criticality) generally exhibit low-dimensional behavior. The symmetry which characterizes a particular criticality can be broken by the appearance of relevant scaling fields. A connection is made between the fractal dimensions of finite-dimensional chaotic systems and the anomalous dimensions in stochastic systems near criticality. The effect of additional random noise on stochastic systems is also delineated.

Chang, Tom↗

NASA NTRS1991

Decision paths in complex tasks

Complex real world action and its prediction and control has escaped analysis by the classical methods of psychological research. The reason is that psychologists have no procedures to parse complex tasks into their constituents. Where such a division can be made, based say on expert judgment, there is no natural scale to measure the positive or negative values of the components. Even if we could assign numbers to task parts, we lack rules i.e., a theory, to combine them into a total task representation. We compare here two plausible theories for the amalgamation of the value of task components. Both of these theories require a numerical representation of motivation, for motivation is the primary variable that guides choice and action in well-learned tasks. We address this problem of motivational quantification and performance prediction by developing psychophysical scales of the desireability or aversiveness of task components based on utility scaling methods (Galanter 1990). We modify methods used originally to scale sensory magnitudes (Stevens and Galanter 1957), and that have been applied recently to the measure of task 'workload' by Gopher and Braune (1984). Our modification uses utility comparison scaling techniques which avoid the unnecessary assumptions made by Gopher and Braune. Formula for the utility of complex tasks based on the theoretical models are used to predict decision and choice of alternate paths to the same goal.

Galanter, Eugene↗

NASA NTRS1993

Effects of flow-path variations on internal reversing flow in a tailpipe offtake configuration for ASTOVL aircraft

A one-third-scale model of a generic tailpipe offtake system for an advanced short takeoff, vertical landing (ASTOVL) aircraft was tested at the NASA Lewis Research Center Powered Lift Facility. The basic model consisted of a tailpipe with a center body to form an annulus simulating turbine outflow with no swirl; twin offtake ducts with elbows at the ends to turn the flow to a downward direction; flow control nozzles at the ends of the elbows; and a blind flange at the end of the tailpipe to simulate a closed cruise nozzle. The offtake duct-to-tailpipe diameter ratio was 0.74. Modifications of a generic nature were then made to this basic configuration to measure the effects of flow-path changes on the flow and pressure-loss characteristics. The modifications included adding rounded entrances at the forward edges of the offtake openings, blocking the tailpipe just aft the openings instead of at the cruise nozzle, changing the location of the openings along the tailpipe, removing the center body, and varying the Mach number (flow rate) over a wide range in the tailpipe ahead of the openings by changing the size of the flow control nozzles. The tests were made with unheated air at tailpipe-to-ambient pressure ratios from 1.4 to 5. Results are presented and compared with performance graphs, total-pressure contour plots, paint streak flow visualization photographs, and a flow-angle probe traverse at the offtake entrance.

Mcardle, Jack G.↗

NASA NTRS1992

Volume-imaging lidar observations of the convective structure surrounding the flight path of a flux-measuring aircraft

The University of Wisconsin volume imaging lidar has been used to portray images of the three-dimensional structure of clear air convective plumes in the atmosphere surrounding the flight path of the instrumented Twin Otter aircraft operated by the National Aeronautical Establishment of Canada. Lidar images provide a context for interpretation of the aircraft measurements. The position of data points within a convective element can be determined and the temporal development of the plume can be observed to time the observation with respect to the life cycle of the plume. Plots of the vertical flux of water vapor, superimposed on lidar images clearly demonstrate the well-known sampling difficulties encountered when attempting to measure fluxes near the top of the convective layer. When loran was used to determine average aircraft velocity, flight-leg-averaged horizontal winds measured by the aircraft and area-averaged winds measured by lidar agree to within 0.2 m/s in speed and 1 deg in direction.

Eloranta, Edwin W.↗

NASA NTRS1993

The cosmic-ray path length (age) distribution in the Galaxy - Experimental limits on the deviation from an exponential

A systematic examination is presented of the observational effects that can provide information on the departure of the cosmic-ray path length distribution (PLD) for propagation in the Galaxy from a simple exponential distribution. The possible physical causes for this departure are examined in order to set realistic limits on how well a simple exponential PLD actually describes the distribution of sources and propagation of cosmic rays in the galaxy. From the findings, it is argued that the cosmic ray source distribution must be quite uniform, probably on a scale of about 50 pc or less near the sun. Extending this uniformity to the Galaxy as a whole would imply more than 100,000 active sources. The cosmic-ray propagation can be described quite well by a leaky box model which is equivalent to observing the particles through a dense fog.

Webber, W. R.↗

NASA NTRS1993

Unsteady panel method for flows with multiple bodies moving along various paths

A potential flow based three-dimensional panel method was modified to treat time dependent conditions in which several submerged bodies can move within the fluid along different trajectories. This modification was accomplished by formulating the momentary solution in an inertial frame-of-reference, attached to the undisturbed stationary fluid. Consequently, the numerical interpretation of the multiple-body, solid-surface boundary condition and the viscous wake rollup was considerably simplified. The unsteady capability of this code was validated by comparing computed and experimental results for a finite wing undergoing pitch oscillations. In order to demonstrate the multicomponent capability, computations were made for two wings following closely intersecting paths (e.g., to avoid mid air collisions) and for a flow field with relative rotation (e.g., helicopter-rotor/fuselage interaction). Results were compared to experimental data when such data was available.

Richason, Thomas F.↗

NASA NTRS1993

A numerical model for predicting crack path and modes of damage in unidirectional metal matrix composites

A finite element-based numerical technique has been developed to simulate damage growth in unidirectional composites. This technique incorporates elastic-plastic analysis, micromechanics analysis, failure criteria, and a node splitting and node force relaxation algorithm to create crack surfaces. Any combination of fiber and matrix properties can be used. One of the salient features of this technique is that damage growth can be simulated without pre-specifying a crack path. In addition, multiple damage mechanisms in the forms of matrix cracking, fiber breakage, fiber-matrix debonding and plastic deformation are capable of occurring simultaneously. The prevailing failure mechanism and the damage (crack) growth direction are dictated by the instantaneous near-tip stress and strain fields. Once the failure mechanism and crack direction are determined, the crack is advanced via the node splitting and node force relaxation algorithm. Simulations of the damage growth process in center-slit boron/aluminum and silicon carbide/titanium unidirectional specimens were performed. The simulation results agreed quite well with the experimental observations.

Bakuckas, J. G.↗

NASA NTRS1993

Effects of flow-path variations on internal reversing flow in a tailpipe offtake configuration for ASTOVL aircraft

Mcardle, Jack G.↗

NASA NTRS1993

Calibration results for NOAA-11 AVHRR channels 1 and 2 from congruent path aircraft observations

A method for using congruent atmospheric path aircraft-satellite observations to calibrate a satellite radiometer is presented. A calibrated spectroradiometer aboard a NASA ER-2 aircraft at an altitude of 19 km above White Sands (New Mexico) was oriented to view White Sands at the overpass time of the NOAA-11 AVHRR instrument along the same view vector as the satellite instrument. The data from six flights between November 1988 and October 1990 were transformed into corresponding estimates of AVHRR channel radiance at the satellite (derived from the aircraft measurements), and average counts (from the AVHRR measurements), both averaged across the footprint of the spectroradiometer. Prelaunch measurements of the AVHRR spectral response profiles are assumed, and the radiance spectrum measured by the spectroradiometer was adjusted to satellite altitude using the LOWTRAN-7 computer code. Results show reduced gains in both channel 1 (0.65 micron) and channel 2 (0.85 micron), compared to prelaunch values, with little further reduction in gain after 200 days in orbit. Results for the gain ratio (channel 1/channel 2), which is important for the calculation of the normalized vegetation index, show constant in-orbit values 5 percent above the prelaunch value.

Abel, Peter↗