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At least 793 records · Page 44

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗

A description and evaluation of TIMER: A time-based terminal flow-control concept

A description of a time-based ATC concept called TIMER (Traffic Intelligence for the Management of Efficient Runway-scheduling) and the results of a fast time and real time computer evaluation are presented. The concept was designed to improve the efficiency of extended terminal area operations (en route approach, transition, and terminal flight to the runway). TIMER integrates en route metering, fuel efficient cruise and profile descents, terminal sequencing and spacing together with computer-generated controller aids, in order to fully use runway capacity and improve efficiency of delay absorption. The concept, by using simplified aircraft models, accommodates both 4-D and non 4-D equipped aircraft and is designed for integration into the manual, voice linked ATC system in an evolutionary manner and still be able to accommodate proposed system upgrade features such as data link and further ground automation. Fast time and real time computer simulation results identify and show the effects and interactions of such key variables as horizon of control, metering fix and final approach delivery time errors, aircraft separation requirements, delay discounting, wind, flight technical error, and knowledge of aircraft final approach speed. The current ATC system has a runway interarrival-error standard deviation of approx. 26 seconds. Simulation results indicate that, with computer aiding, the runway interarrival-error standard deviation for non 4-D equipped traffic can be reduced to the region of 8 to 12 seconds if expected final approach speed is known; however, the reduction is only in the region of 16 to 20 seconds if expected final approach speed is unknown. Another major finding is that en route metering fix delivery-error standard deviation should be kept to less than a number somewhere between 35 to 45 seconds to achieve full runway capacity. This requirement implies the need for either airborne automation or assistance to the controller since the current manual performance in today's en route metering environment is in the order of 1.5 minutes.

Credeur, Leonard↗

Fully Automatic Guidance and Control for Rotorcraft Nap-of-the-earth Flight Following Planned Profiles. Volume 2: Mathematical Model

Developing a single-pilot, all-weather nap-of-the-earth (NOE) capability requires fully automatic NOE (ANOE) navigation and flight control. Innovative guidance and control concepts are investigated in a four-fold research effort that: (1) organizes the on-board computer-based storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan; (2) defines a class of automatic anticipative pursuit guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles; (3) automates a decision-making process for unexpected obstacle avoidance; and (4) provides several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the forehand knowledge of the recorded environment (terrain, cultural features, threats, and targets), which is then used to determine an appropriate evasive maneuver if a nonconformity of the sensed and recorded environments is observed. This four-fold research effort was evaluated in both fixed-base and moving-base real-time piloted simulations; thereby, providing a practical demonstration for evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and re-engagement of the automatic system. Volume one describes the major components of the guidance and control laws as well as the results of the piloted simulations. Volume two describes the complete mathematical model of the fully automatic guidance system for rotorcraft NOE flight following planned flight profiles.

Clement, Warren F.↗

Computer aiding for low-altitude helicopter flight

A computer-aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generated algorithm based on dynamic programming, and a head-up display (HUD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor symbol. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission waypoints that minimizes threat exposure by seeking valleys. The pilot evaluation was conducted at NASA Ames Research Center's Sim Lab facility in both the fixed-base Interchangeable Cab (ICAB) simulator and the moving-base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, and the U.S. Air Force. The pilots manually tracked the trajectory generated by the algorithm utilizing the HUD symbology. They were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Swenson, Harry N.↗

A study of a proposed modified torsional agility metric

A new candidate lateral agility metric, the modified torsional agility parameter, is proposed and tested through generic, nonlinear, non-real-time flight simulation programs of the F-18 and F-5A. The metric is aimed at quantifying high subsonic loaded roll capabilities which might be useful in modern air combat. The metric is considered to be straightforward for testing and measuring based on nonreal-time unmanned flight simulation. The metric is found to be sensitive to pilot input errors of less than full lateral stick to capture bank angle, when tested using unmanned flight simulations. It is suggested that, for redesigned configurations of both aircraft with improved lateral agility, the major benefit would be provided by fast and highly effective rudders, and a high level of pitch, roll, and yaw damping at moderate to high normal load factor levels.

Valasek, John↗

Computer aiding for low-altitude helicopter flight

A computer-aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generated algorithm based on dynamic programming, and a head-up display (HUD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor symbol. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission waypoints that minimizes threat exposure by seeking valleys. The pilot evaluation was conducted at NASA Ames Research Center's Sim Lab facility in both the fixed-base Interchangeable Cab (ICAB) simulator and the moving-base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, and the U.S. Air Force. The pilots manually tracked the trajectory generated by the algorithm utilizing the HUD symbology. They were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Swenson, Harry N.↗

An investigation of fighter aircraft agility

This report attempts to unify in a single document the results of a series of studies on fighter aircraft agility funded by the NASA Ames Research Center, Dryden Flight Research Facility and conducted at the University of Kansas Flight Research Laboratory during the period January 1989 through December 1993. New metrics proposed by pilots and the research community to assess fighter aircraft agility are collected and analyzed. The report develops a framework for understanding the context into which the various proposed fighter agility metrics fit in terms of application and testing. Since new metrics continue to be proposed, this report does not claim to contain every proposed fighter agility metric. Flight test procedures, test constraints, and related criteria are developed. Instrumentation required to quantify agility via flight test is considered, as is the sensitivity of the candidate metrics to deviations from nominal pilot command inputs, which is studied in detail. Instead of supplying specific, detailed conclusions about the relevance or utility of one candidate metric versus another, the authors have attempted to provide sufficient data and analyses for readers to formulate their own conclusions. Readers are therefore ultimately responsible for judging exactly which metrics are 'best' for their particular needs. Additionally, it is not the intent of the authors to suggest combat tactics or other actual operational uses of the results and data in this report. This has been left up to the user community. Twenty of the candidate agility metrics were selected for evaluation with high fidelity, nonlinear, non real-time flight simulation computer programs of the F-5A Freedom Fighter, F-16A Fighting Falcon, F-18A Hornet, and X-29A. The information and data presented on the 20 candidate metrics which were evaluated will assist interested readers in conducting their own extensive investigations. The report provides a definition and analysis of each metric; details of how to test and measure the metric, including any special data reduction requirements; typical values for the metric obtained using one or more aircraft types; and a sensitivity analysis if applicable. The report is organized as follows. The first chapter in the report presents a historical review of air combat trends which demonstrate the need for agility metrics in assessing the combat performance of fighter aircraft in a modern, all-aspect missile environment. The second chapter presents a framework for classifying each candidate metric according to time scale (transient, functional, instantaneous), further subdivided by axis (pitch, lateral, axial). The report is then broadly divided into two parts, with the transient agility metrics (pitch lateral, axial) covered in chapters three, four, and five, and the functional agility metrics covered in chapter six. Conclusions, recommendations, and an extensive reference list and biography are also included. Five appendices contain a comprehensive list of the definitions of all the candidate metrics; a description of the aircraft models and flight simulation programs used for testing the metrics; several relations and concepts which are fundamental to the study of lateral agility; an in-depth analysis of the axial agility metrics; and a derivation of the relations for the instantaneous agility and their approximations.

Valasek, John↗

Rocketdyne RBCC Concept Development

Rocketdyne is pursuing the conceptual design and development of a Rocket Based Combined Cycle (BBCC) engine for booster and SSTO, advanced reusable space transportation systems under the Advanced Reusable Transportation Technologies contract with NASA Marshall Space Flight Center. The Rocketdyne concept is a fixed geometry integrated rocket, ramjet, scramjet which is hydrogen fueled and uses hydrogen regenerative cooling. Vision vehicle integration studies have determined that scramjet operation to the range of Mach 10 to 12 has high payoff for low cost reusable space transportation. Rocketdyne is internally developing versions of the concept for other applications in high speed aircraft and missiles with hydrocarbon fuel systems. A subscale engine ground test program is underway for all modes of operation from takeoff to Mach 8. High altitude rocket tests will only be completed as part of the ground test program to validate high expansion ratio performance. A unique feature of the ground test series is the inclusion of dynamic trajectory simulation with real time Mach number, altitude, engine throttling, and RBCC mode changes in a specially modified freejet test facility at GASL. Preliminary cold flow air augmented rocket and all rocket test results have met program goals and have been used to integrate all modes of operation in a single combustor design with a fixed geometry inlet for design confirmation tests. A water cooled subscale engine is currently being fabricated for test during the early part of 1998.

Ortwerth, P.↗

Rocketdyne Development of RBCC Engine for Low Cost Access to Space

Rocketdyne is pursuing the conceptual design and development of a Rocket Based Combined Cycle (RBCC) engine for booster and SSTO, advanced reusable space transportation ARTT systems under contract with NASA Marshall Space Flight Center. The Rocketdyne concept is fixed geometry integrated Rocket, Ram Scramjet which is Hydrogen fueled and uses Hydrogen regenerative cooling. Vision vehicle integration studies have determined that scramjet operation to Mach 12 has high payoff for low cost reusable space transportation. Rocketdyne is internally developing versions of the concept for other applications in high speed aircraft and missiles with Hydrocarbon fuel systems. Subscale engine ground testing is underway for all modes of operation from takeoff to Mach 8. High altitude Rocket only mode tests will be completed as part of the ground test program to validate high expansion ratio performance. A unique feature of the ground test series is the inclusion of dynamic trajectory simulation with real time Mach number, altitude, engine throttling, and RBCC mode changes in a specially modified freejet test facility at GASL. Preliminary cold flow Air Augmented Rocket mode test results and Short Combustor tests have met program goals and have been used to integrate all modes of operation in a single combustor design with a fixed geometry inlet for design confirmation tests. A water cooled subscale engine is being fabricated and installed for test beginning the last quarter of 1997.

Ortwerth, P.↗

NASA Virtual Glovebox: An Immersive Virtual Desktop Environment for Training Astronauts in Life Science Experiments

The International Space Station will soon provide an unparalleled research facility for studying the near- and longer-term effects of microgravity on living systems. Using the Space Station Glovebox Facility - a compact, fully contained reach-in environment - astronauts will conduct technically challenging life sciences experiments. Virtual environment technologies are being developed at NASA Ames Research Center to help realize the scientific potential of this unique resource by facilitating the experimental hardware and protocol designs and by assisting the astronauts in training. The Virtual GloveboX (VGX) integrates high-fidelity graphics, force-feedback devices and real- time computer simulation engines to achieve an immersive training environment. Here, we describe the prototype VGX system, the distributed processing architecture used in the simulation environment, and modifications to the visualization pipeline required to accommodate the display configuration.

Twombly, I. Alexander↗

adwTools Developed: New Bulk Alloy and Surface Analysis Software for the Alloy Design Workbench

A suite of atomistic modeling software, called the Alloy Design Workbench, has been developed by the Computational Materials Group at the NASA Glenn Research Center and the Ohio Aerospace Institute (OAI). The main goal of this software is to guide and augment experimental materials research and development efforts by creating powerful, yet intuitive, software that combines a graphical user interface with an operating code suitable for real-time atomistic simulations of multicomponent alloy systems. Targeted for experimentalists, the interface is straightforward and requires minimum knowledge of the underlying theory, allowing researchers to focus on the scientific aspects of the work. The centerpiece of the Alloy Design Workbench suite is the adwTools module, which concentrates on the atomistic analysis of surfaces and bulk alloys containing an arbitrary number of elements. An additional module, adwParams, handles ab initio input for the parameterization used in adwTools. Future modules planned for the suite include adwSeg, which will provide numerical predictions for segregation profiles to alloy surfaces and interfaces, and adwReport, which will serve as a window into the database, providing public access to the parameterization data and a repository where users can submit their own findings from the rest of the suite. The entire suite is designed to run on desktop-scale computers. The adwTools module incorporates a custom OAI/Glenn-developed Fortran code based on the BFS (Bozzolo- Ferrante-Smith) method for alloys, ref. 1). The heart of the suite, this code is used to calculate the energetics of different compositions and configurations of atoms.

Bozzolo, Guillermo↗

Using Neural Networks to Explore Air Traffic Controller Workload

When a new system, concept, or tool is proposed in the aviation domain, one concern is the impact that this will have on operator workload. As an experience, workload is difficult to measure in a way that will allow comparison of proposed systems with those already in existence. Chatterji and Sridhar (2001) suggested a method by which airspace parameters can be translated into workload ratings, using a neural network. This approach was employed, and modified to accept input from a non-real time airspace simulation model. The following sections describe the preparations and testing work that will enable comparison of a future airspace concept with a current day baseline in terms of workload levels.

Martin, Lynne↗

Linked-List-Based Multibody Dynamics (MBDyn) Engine

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient topologies are handled through conservation of energy and momentum. The solution for rigid-body systems is exact, and several configurable levels of nonlinear term fidelity are available for flexible dynamics systems. The algorithms have been optimized for efficiency and can be used for both non-real-time (NRT) and real-time (RT) simulations. Interfaces are currently compatible with NASA's Trick Simulation Environment. This new release represents a significant advance in capability and ease of use. The two most significant new additions are an application programming interface (API) that clarifies and simplifies use of MBDyn, and a link-list infrastructure that allows a single MBDyn instance to propagate an arbitrary number of interacting groups of multibody top ologies. MBDyn calculates state and state derivative vectors for integration using an external integration routine. A Trickcompatible interface is provided for initialization, data logging, integration, and input/output.

MacLean, John↗

NASA Research on an Integrated Concept for Airport Surface Operations Management

Surface operations at airports in the US are based on tactical operations, where departure aircraft primarily queue up and wait at the departure runways. There have been attempts to address the resulting inefficiencies with both strategic and tactical tools for metering departure aircraft. This presentation gives an overview of Spot And Runway Departure Advisor with Collaborative Decision Making (SARDA-CDM): an integrated strategic and tactical system for improving surface operations by metering departure aircraft. SARDA-CDM is the augmentation of ground and local controller advisories through sharing of flight movement and related operations information between airport operators, flight operators and air traffic control at the airport. The goal is to enhance the efficiency of airport surface operations by exchanging information between air traffic control and airline operators, while minimizing adverse effects on stakeholders and passengers. The presentation motivates the need for departure metering, and provides a brief background on the previous work on SARDA. Then, the concept of operations for SARDA-CDM is described. Then the preliminary results from testing the concept in a real-time automated simulation environment are described. Results indicate benefits such as reduction in taxiing delay and fuel consumption. Further, the preliminary implementation of SARDA-CDM seems robust for two minutes delay in gate push-back times.

Gupta, Gautam↗

Sample Analysis at Mars Instrument Simulator

The Sample Analysis at Mars Instrument Simulator (SAMSIM) is a numerical model dedicated to plan and validate operations of the Sample Analysis at Mars (SAM) instrument on the surface of Mars. The SAM instrument suite, currently operating on the Mars Science Laboratory (MSL), is an analytical laboratory designed to investigate the chemical and isotopic composition of the atmosphere and volatiles extracted from solid samples. SAMSIM was developed using Matlab and Simulink libraries of MathWorks Inc. to provide MSL mission planners with accurate predictions of the instrument electrical, thermal, mechanical, and fluid responses to scripted commands. This tool is a first example of a multi-purpose, full-scale numerical modeling of a flight instrument with the purpose of supplementing or even eliminating entirely the need for a hardware engineer model during instrument development and operation. SAMSIM simulates the complex interactions that occur between the instrument Command and Data Handling unit (C&DH) and all subsystems during the execution of experiment sequences. A typical SAM experiment takes many hours to complete and involves hundreds of components. During the simulation, the electrical, mechanical, thermal, and gas dynamics states of each hardware component are accurately modeled and propagated within the simulation environment at faster than real time. This allows the simulation, in just a few minutes, of experiment sequences that takes many hours to execute on the real instrument. The SAMSIM model is divided into five distinct but interacting modules: software, mechanical, thermal, gas flow, and electrical modules. The software module simulates the instrument C&DH by executing a customized version of the instrument flight software in a Matlab environment. The inputs and outputs to this synthetic C&DH are mapped to virtual sensors and command lines that mimic in their structure and connectivity the layout of the instrument harnesses. This module executes, and thus validates, complex command scripts prior to their up-linking to the SAM instrument. As an output, this module generates synthetic data and message logs at a rate that is similar to the actual instrument.

Benna, Mehdi↗

Advanced Ground Systems Maintenance Physics Models for Diagnostics Project

The project will use high-fidelity physics models and simulations to simulate real-time operations of cryogenic and systems and calculate the status/health of the systems. The project enables the delivery of system health advisories to ground system operators. The capability will also be used to conduct planning and analysis of cryogenic system operations.

Technology Portfolio System↗

Development of a Water Recovery System Resource Tracking Model

A simulation model has been developed to track water resources in an exploration vehicle using Regenerative Life Support (RLS) systems. The Resource Tracking Model (RTM) integrates the functions of all the vehicle components that affect the processing and recovery of water during simulated missions. The approach used in developing the RTM enables its use as part of a complete vehicle simulation for real time mission studies. Performance data for the components in the RTM is focused on water processing. The data provided to the model has been based on the most recent information available regarding the technology of the component. This paper will describe the process of defining the RLS system to be modeled, the way the modeling environment was selected, and how the model has been implemented. Results showing how the RLS components exchange water are provided in a set of test cases.

Chambliss, Joe↗