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The conceptions of transformation and canonical form have been much used to analyze the structure of linear systems. A coordinate system and a corresponding canonical form are developed for general nonlinear control systems. Their usefulness is demonstrated by showing that every feedback linearizable system becomes a system with only feedback paths in the canonical form.
The concepts of transformation and canonical form have been used in analyzing linear systems. These ideas are extended to nonlinear systems. A coordinate system and a corresponding canonical form are developed for general nonlinear control systems. Their usefulness is demonstrated by showing that every feedback linearizable system becomes a system with only feedback paths in the canonical form. For control design involving a nonlinear system, one approach is to put the system in its canonical form and approximate by that part having only feedback paths.
The new 1991 COSMIC/NASTRAN version, compatible with the older versions, tries to remove some old constraints and make it easier to extract information from the plot file. It also includes some useful improvements and new enhancements. New features available in the 1991 version are described. They include a new PLT1 tape with simplified ASCII plot commands and short records, combined hidden and shrunk plot, an x-y-z coordinate system on all structural plots, element offset plot, improved character size control, improved FIND and NOFIND logic, a new NASPLOT post-prosessor to perform screen plotting or generate PostScript files, and a BASIC/NASTPLOT program for PC.
This program was designed to combine and transform various control networks of the Moon into a common center-of-mass coordinate system. The first phase, dealing with the near side, was completed and published. This report contains coordinates of 1166 points on the near side of the Moon.
The use of multitemporal SPOT data in a coordinated field experiment is described with objectives to understand the processes that control the biosphere-atmosphere exchanges of heat, mass, momentum and radiation at a range of spatial and temporal scales; and quantify processes associated with these biosphere-atmosphere exchanges with the aid of multispectral and multitemporal remotely sensed data. The study was conducted in a 15 sq km area located in the tall grass prairie region of midwestern U.S. over a period of three years from 1987 through 1989. A combination of ground based, airborne and space based remotely sensed data were used in a variety of interdisciplinary investigations. An overview of the results from studies that used SPOT multispectral and multitemporal data is presented.
Repulsion forces arising from laser beams are provided to produce mild positioning forces on a sample in microgravity vacuum environments. The system of the preferred embodiment positions samples using a plurality of pulsed lasers providing opposing repulsion forces. The lasers are positioned around the periphery of a confinement area and expanded to create a confinement zone. The grouped laser configuration, in coordination with position sensing devices, creates a feedback servo whereby stable position control of a sample within microgravity environment can be achieved.
A reliable multicast facility extends traditional point-to-point virtual circuit reliability to one-to-many communication. Such services can provide more efficient use of network resources, a powerful distributed name binding capability, and reduced latency in multidestination message delivery. These benefits will be especially valuable in real-time environments where reliable multicast can enable new applications and increase the availability and the reliability of data and services. We present a unique multicast service that exploits features in the next-generation, real-time transfer layer protocol, the Xpress Transfer Protocol (XTP). In its reliable mode, the service offers error, flow, and rate-controlled multidestination delivery of arbitrary-sized messages, with provision for the coordination of reliable reverse channels. Performance measurements on a single-segment Proteon ProNET-4 4 Mbps 802.5 token ring with heterogeneous nodes are discussed.
Dexterous dual-arm manipulations are feasible with the system described and illustrated in the paper. The structure is based on an extensible host arm that carries the dual-arm robot which comprises two 7-DOF arms each of which includes a hand with a thumb and three fingers with 4 DOF each. Joint compliance can be stiffened to any level, and the operator uses arm harnesses and gloves to utilize the robotics in an anthropomorphic fashion. The configuration eliminates coordinate-transformation computations, and the system is found to achieve a control-frequency rate of 1000 Hz for its direct man/machine interfaces based on fiber-optic cables. The electronics control for the system utilizes a sensory system consisting of force, position, and compliance sensors. The robotics system is expected to be a user-friendly device that permits assembly, repair, tethering, and other complex mechanical operations.
With the advent of multiple-vehicle operations in support of the space station, on-orbit refurbishment, and several other missions, there is a need to intelligently plan proximity operations trajectories that will conserve limited available fuel while avoiding collisions. Upon reaching the objective, the capture process entails several unique considerations, such as coordinating motion with a tumbling target, the capture itself, and adapting to control of the new configuration resulting from the capture operation. This paper outlines a systematic process of technical development over several years at the Draper laboratory, culminating in a capability to perform manual augmented or fully autonomous rendezvous, capture, and control of the resulting configuration.
Repulsion forces arising from laser beams are provided to produce mild positioning forces on a sample in microgravity vacuum environments. The system of the preferred embodiment positions samples using a plurality of pulsed lasers providing opposing repulsion forces. The lasers are positioned around the periphery of a confinement area and expanded to create a confinement zone. The grouped laser configuration, in coordination with position sensing devices, creates a feedback servo whereby stable position control of a sample within microgravity environment can be achieved.
The mission of High-Lift Technology is to develop technology allowing the design of practical high lift concepts for the High-Speed Civil Transport (HSCT) in order to: 1) operate safely and efficiently; and 2) reduce terminal control area and community noise. In fulfilling this mission, close and continuous coordination will be maintained with other High-Speed Research (HSR) technology elements in order to support optimization of the overall airplane (rather than just the high lift system).
NASA Ames Research Center and the U.S. Army Aeroflight dynamics Directorate (AFDD) have performed initial flight evaluations of the Research Flight Control System (RFCS) integrated into the Army/NASA Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) JUH-GOA. The highly modified JUH-GOA Black Hawk helicopter is a full authority, high bandwidth, variable stability, in-flight simulator designed to support development of advanced flight control, sensor, and integrated display and control technologies in a fail safe environment. Preparation for flight test required an extensive hazard analysis and ground testing to ensure proper system operation. A hardware in the loop development facility was utilized to evaluate control law stability following software changes, assess servo hardover upset conditions during manual and monitor disengagements and provide pilot familiarization of test techniques and software changes prior to flight. First engagement of the RFCS was conducted on 31 Aug 2001. RFCS transfer system operation, envelope expansion and a limited rate monitor evaluation have been completed with low bandwidth and model following control laws. The presentation will discuss the following - System overview including aircraft modifications and integrated development facilities used with the RASCAL facility. - Preliminary hazard identification and mitigation prior to flight test. - Ground testing used to qualify the RFCS transfer system and verify fault monitor operation. - Flight test results of low-bandwidth and model following control law evaluations including maneuver agility, control limitations, fault monitor reliability, and recovery from manual and monitor disengagement. - Lessons learned including test techniques using a passive three-axis sidearm controller, the value of the development facility in reducing risk and crew coordination issues related to the operation of a full authority, variable stability platform. - Future research and modifications planned for the RASCAL aircraft.
This viewgraph presentation reviews basic navigation concepts, describes coordinate systems and identifies attitude determination techniques including Primary Guidance, Navigation and Control System (PGNCS) IMU management and Command and Service Module Stabilization and Control System/Lunar Module (LM) Abort Guidance System (AGS) attitude management. The presentation also identifies state vector determination techniques, including PGNCS coasting flight navigation, PGNCS powered flight navigation and LM AGS navigation.
Accidents and incidents show that high workload-induced stress and poor teamwork skills lead to performance decrements and errors. Research on teamwork shows that effective teams are able to adapt to stressful situations, and to reduce workload by using successful strategies for communication and decision making, and through dynamic redistribution of tasks among team members. Furthermore, superior teams are able to recognize signs and symptoms of workload-induced stress early, and to adapt their coordination and communication strategies to the high workload, or stress conditions. Mission Control Center (MCC) teams often face demanding situations in which they must operate as an effective team to solve problems with crew and vehicle during onorbit operations. To be successful as a team, flight controllers (FCers) must learn effective teamwork strategies. Such strategies are the focus of Space Flight Resource Management (SFRM) training. SFRM training in MOD has been structured to include some classroom presentations of basic concepts and case studies, with the assumption that skill development happens in mission simulation. Integrated mission simulations do provide excellent opportunities for FCers to practice teamwork, but also require extensive technical knowledge of vehicle systems, mission operations, and crew actions. Such technical knowledge requires lengthy training. When SFRM training is relegated to integrated simulations, FCers can only practice SFRM after they have already mastered the technical knowledge necessary for these simulations. Given the centrality of teamwork to the success of MCC, holding SFRM training till late in the flow is inefficient. But to be able to train SFRM earlier in the flow, the training cannot rely on extensive mission-specific technical knowledge. Hence, the need for a generic SFRM training framework that would allow FCers to develop basic teamwork skills which are mission relevant, but without the required mission knowledge. Work on SFRM training has been conducted in collaboration with the Expedition Vehicle Division at the Mission Operations Directorate (MOD) and with United Space Alliance (USA) which provides training to Flight Controllers. The space flight resource management training work is part of the Human Factors in Training Directed Research Project (DRP) of the Space Human Factors Engineering (SHFE) Project under the Space Human Factors and Habitability (SHFH) Element of the Human Research Program (HRP). Human factors researchers at the Ames Research Center have been investigating team work and distributed decision making processes to develop a generic SFRM training framework for flight controllers. The work proposed for FY10 continues to build on this strong collaboration with MOD and the USA Training Group as well as previous research in relevant domains such as aviation. In FY10, the work focuses on documenting and analyzing problem solving strategies and decision making processes used in MCC by experienced FCers.
The multipurpose, multiaxial, isokinetic dynamometer (MMID) is a computer-controlled system of exercise machinery that can serve as a means for quantitatively assessing a subject s muscle coordination, range of motion, strength, and overall physical condition with respect to a wide variety of forces, motions, and exercise regimens. The MMID is easily reconfigurable and compactly stowable and, in comparison with prior computer-controlled exercise systems, it weighs less, costs less, and offers more capabilities. Whereas a typical prior isokinetic exercise machine is limited to operation in only one plane, the MMID can operate along any path. In addition, the MMID is not limited to the isokinetic (constant-speed) mode of operation. The MMID provides for control and/or measurement of position, force, and/or speed of exertion in as many as six degrees of freedom simultaneously; hence, it can accommodate more complex, more nearly natural combinations of motions and, in so doing, offers greater capabilities for physical conditioning and evaluation. The MMID (see figure) includes as many as eight active modules, each of which can be anchored to a floor, wall, ceiling, or other fixed object. A cable is payed out from a reel in each module to a bar or other suitable object that is gripped and manipulated by the subject. The reel is driven by a DC brushless motor or other suitable electric motor via a gear reduction unit. The motor can be made to function as either a driver or an electromagnetic brake, depending on the required nature of the interaction with the subject. The module includes a force and a displacement sensor for real-time monitoring of the tension in and displacement of the cable, respectively. In response to commands from a control computer, the motor can be operated to generate a required tension in the cable, to displace the cable a required distance, or to reel the cable in or out at a required speed. The computer can be programmed, either locally or via a remote terminal, to support exercises in one or more of the usual exercise modes (isometric, isokinetic, or isotonic) along complex, multiaxis trajectories. The motions of, and forces applied by, the subject can be monitored in real time and recorded for subsequent evaluation. Through suitable programming, the exercise can be adjusted in real time according to the physical condition of the subject. The remote- programming capability makes it possible to connect multiple exercise machines into a network for supervised exercise by multiple subjects or even for competition by geographically dispersed subjects.
This paper focuses on the development of an intelligent control technology for in-flight drag reduction. The system is integrated with and demonstrated on the full X-48B nonlinear simulation. The intelligent control system utilizes a peak-seeking control method implemented with a time-varying Kalman filter. Performance functional coordinate and magnitude measurements, or independent and dependent parameters respectively, are used by the Kalman filter to provide the system with gradient estimates of the designed performance function which is used to drive the system toward a local minimum in a steepestdescent approach. To ensure ease of integration and algorithm performance, a single-input single-output approach was chosen. The framework, specific implementation considerations, simulation results, and flight feasibility issues related to this platform are discussed.
The fundamental processes that energize, transport, and cause the loss of charged particles operate throughout the universe at locations as diverse as magnetized planets, the solar wind, our Sun, and other stars. The same processes operate within our immediate environment, the Earth's radiation belts. The Radiation Belt Storm Probes (RBSP) mission will provide coordinated two-spacecraft observations to obtain understanding of these fundamental processes controlling the dynamic variability of the near-Earth radiation environment. In this paper we discuss some of the profound mysteries of the radiation belt physics that will be addressed by RBSP and briefly describe the mission and its goals.
An approach for managing Orion on-orbit burn execution is described for nominal and failure response scenarios. The burn management strategy for Orion takes into account per-burn variations in targeting, timing, and execution; crew and ground operator intervention and overrides; defined burn failure triggers and responses; and corresponding on-board software sequencing functionality. Burn-to- burn variations are managed through the identification of specific parameters that may be updated for each progressive burn. Failure triggers and automatic responses during the burn timeframe are defined to provide safety for the crew in the case of vehicle failures, along with override capabilities to ensure operational control of the vehicle. On-board sequencing software provides the timeline coordination for performing the required activities related to targeting, burn execution, and responding to burn failures.