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At least 847 records · Page 47
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Air Force research in human sensory feedback for telepresence

Telepresence operations require high quality information transfer between the human master and the remotely located slave. Present Air Force research focuses on the human aspects of the information needed to complete the control/feedback loop. Work in three key areas of human sensory feedback for manipulation of objects are described. Specific projects in each key area are outlined, including research tools (hardware), planned research, and test results. Nonmanipulative feedback technologies are mentioned to complete the advanced teleoperation discussions.

Julian, Ronald G.↗
NASA NTRS1992

Identification and feedback control in structures with piezoceramic actuators

In this lecture we give fundamental well-posedness results for a variational formulation of a class of damped second order partial differential equations with unbounded input or control coefficients. Included as special cases in this class are structures with piezoceramic actuators. We consider approximation techniques leading to computational methods in the context of both parameter estimation and feedback control problems for these systems. Rigorous convergence results for parameter estimates and feedback gains are discussed.

Banks, H. T.↗
NASA NTRS1993

Construction and parameterization of all static and dynamic H2-optimal state feedback solutions, optimal fixed modes, and fixed decoupling zeros

This paper considers an H2 optimization problem via state feedback. The class of problems dealt with here are general singular type which have a left invertible transfer matrix function from the control input to the controlled output. This class subsumes the regular H2 optimization problems. The paper constructs and parameterizes all the static and dynamic H2 optimal state feedback solutions. Moreover, all the eigenvalues of an optimal closed-loop system are characterized. All optimal closed-loop systems share a set of eigenvalues which are termed here as the optimal fixed modes. Every H2 optimal controller must assign among the closed-loop eigenvalues the set of optimal fixed modes. This set of optimal fixed modes includes a set of optimal fixed decoupling zeros which shows the minimum absolutely necessary number and locations of pole-zero cancellations present in any H2 optimal design. It is shown that both the sets of optimal fixed modes and optimal fixed decoupling zeros do not vary depending upon whether the static or the dynamic controllers are used.

Chen, Ben M.↗
NASA NTRS1990

The 'problem' with automation - Inappropriate feedback and interaction, not 'over-automation'

Automation in high-risk industry is often blamed for causing harm and increasing the chance of human error when failures occur. It is proposed that the problem is not the presence of automation, but rather its inappropriate design. The problem is that the operations are performed appropriately under normal conditions, but there is inadequate feedback and interaction with the humans who must control the overall conduct of the task. The problem is that the automation is at an intermediate level of intelligence, powerful enough to take over control which used to be done by people, but not powerful enough to handle all abnormalities. Moreover, its level of intelligence is insufficient to provide the continual, appropriate feedback that occurs naturally among human operators. To solve this problem, the automation should either be made less intelligent or more so, but the current level is quite inappropriate. The overall message is that it is possible to reduce error through appropriate design considerations.

Norman, D. A.↗
NASA NTRS1993

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

Gettman, Chang-Ching L.↗
NASA NTRS1993

Dust-dynamic feedbacks in the Martian atmosphere: Surface dust lifting

Numerical models have been developed to study surface dust lifting in the Martian atmosphere. The present model is comprised of interactively coupled 3-D dynamical and aerosol transport/microphysical models. The nature of possible feedbacks between surface dust lifting and the amplification/damping of near-surface wind and thermal fields and their implications for additional lifting is investigated. These studies have examined large scale Martian topography for its impact upon the ability of the atmospheric circulation to lift dust from the surface, and the particular component(s) responsible for the lifting (e.g. overturning circulation, thermal tides, baroclinic waves). Analogous experiments in which the lifted dust is radiatively inactive (passive tracer) have been conducted to act as a control against which feedbacks are defined.

Murphy, James R.↗
NASA NTRS1993

Long-Term Monitoring of Global Climate Forcings and Feedbacks

A workshop on Long-Term Monitoring of Global Climate Forcings and Feedbacks was held February 3-4, 1992, at NASA's Goddard Institute for Space Studies to discuss the measurements required to interpret long-term global temperature changes, to critique the proposed contributions of a series of small satellites (Climsat), and to identify needed complementary monitoring. The workshop concluded that long-term (several decades) of continuous monitoring of the major climate forcings and feedbacks is essential for understanding long-term climate change.

Hansen, J.↗
NASA NTRS1993

Influence of a new generation of operations support systems on current spacecraft operations philosophy: The users feedback

Current trends in the spacecraft mission operations area (spacecraft & mission complexity, project duration, required flexibility are requiring a breakthrough for what concerns philosophy, organization, and support tools. A major evolution is related to space operations 'informationalization', i.e adding to existing operations support & data processing systems a new generation of tools based on advanced information technologies (object-oriented programming, artificial intelligence, data bases, hypertext) that automate, at least partially, operations tasks that used be performed manually (mission & project planning/scheduling, operations procedures elaboration & execution, data analysis & failure diagnosis). All the major facets of this 'informationalization' are addressed at MATRA MARCONI SPACE, operational applications were fielded and generic products are becoming available. These various applications have generated a significant feedback from the users (at ESA, CNES, ARIANESPACE, MATRA MARCONI SPACE), which is now allowing us to precisely measure how the deployment of this new generation of tools, that we called OPSWARE, can 'reengineer' current spacecraft mission operations philosophy, how it can make space operations faster, better, and cheaper. This paper can be considered as an update of the keynote address 'Knowledge-Based Systems for Spacecraft Control' presented during the first 'Ground Data Systems for Spacecraft Control' conference in Darmstadt, June 1990, with a special emphasis on these last two years users feedback.

Darroy, Jean Michel↗
NASA NTRS1994

Experimental investigation of possible geomagnetic feedback from energetic (0.1 to 16 keV) terrestrial O(+) ions in the magnetotail current sheet

Data from energetic ion mass spectrometers on the ISEE 1 and AMPTE/CCE spacecraft are combined with geomagnetic and solar indices to investigate, in a statistical fashion, whether energized O(+) ions of terrestrial origin constitute a source of feedback which triggers or amplifies geomagnetic activity as has been suggested in the literature, by contributing a destabilizing mass increase in the magnetotail current sheet. The ISEE 1 data (0.1-16 keV/e) provide in situ observations of the O(+) concentration in the central plasma sheet, inside of 23 R(sub E), during the rising and maximum phases of solar cycle 21, as well as inner magnetosphere data from same period. The CCE data (0.1-17 keV/e) taken during the subsequent solar minimum all within 9 R(sub E). provide a reference for long-term variations in the magnetosphere O(+) content. Statistical correlations between the ion data and the indices, and between different indices. all point in the same direction: there is probably no feedback specific to the O(+) ions, in spite of the fact that they often contribute most of the ion mass density in the tail current sheet.

Lennartsson, O. W.↗
NASA NTRS1994

Contrasting conditions of surface water balance in wet years and dry years as a possible land surface-atmosphere feedback mechanism in the West African Sahel

The climate of West Africa, in particular the Sahel, is characterized by multiyear persistence of anomalously wet or dry conditions. Its Southern Hemisphere counterpart, the Kalahari, lacks the persistence that is evident in the Sahel even though both regions are subject to similar large-scale forcing. It has been suggested that land surface-atmosphere feedback contributes to this persistence and to the severity of drought. In this study, surface energy and water balance are quantified for nine stations along a latitudinal transect that extends from the Sahara to the Guinea coast. In the wetter regions of West Africa, the difference between wet and dry years is primarily reflected in the magnitude of runoff. For the Sahel and drier locations, evapotranspiration and soil moisture are more sensitive to rainfall anomalies. The increase in evapotranspiration, and hence latent heating, over the Sahel in wet years alters the thermal structure and gradients of the overlying atmosphere and thus the strength of the African easterly jet (AEJ) at 700 mb. The difference between dry and wet Augusts corresponds to a decrease in magnitude of the AEJ at 15 deg N on the order of 2.6 m/s, which is consistent with previous studies of observed winds. Spatial patterns were also developed for surface water balance parameters for both West Africa and southern Africa. Over southern Africa, the patterns are not as spatially homogeneous as those over West Africa and are lower in magnitude, thus supporting the suggestion that the persistence of rainfall anomalies in the Sahel might be due, at least in part, to land-atmosphere feedback, and that the absence of such persistence in the Kalahari is a consequence of less significant changes in surface water and energy balance.

Lare, A. R.↗
NASA NTRS1995

Efficient eigenvalue assignment by state and output feedback with applications for large space structures

The erection and deployment of large flexible structures having thousands of degrees of freedom requires controllers based on new techniques of eigenvalue assignment that are computationally stable and more efficient. Scientists at NASA Langley Research Center have developed a novel and efficient algorithm for the eigenvalue assignment of large, time-invariant systems using full-state and output feedback. The objectives of this research were to improve upon the output feedback version of this algorithm, to produce a toolbox of MATLAB functions based on the efficient eigenvalue assignment algorithm, and to experimentally verify the algorithm and software by implementing controllers designed using the MATLAB toolbox on the phase 2 configuration of NASA Langley's controls-structures interaction evolutionary model, a laboratory model used to study space structures. Results from laboratory tests and computer simulations show that effective controllers can be designed using software based on the efficient eigenvalue assignment algorithm.

Vannell, Eric C.↗
NASA NTRS1970

Design of a model following, state variable feedback controller for the X-14 VTOL aircraft

A model-following, state variable feedback controller is designed for the roll axis of the X-14. The approach is to define a criterion on roll axis performance and to find the gradient of this criterion in the space of parameters (the feedback gains) of the controller. The gradient is then used in a conjungate gradient descent sequence to numerically optimize the parameters.

Hasdorff, L.↗
NASA NTRS1994

Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

Hess, R. A.↗
NASA NTRS1993

Optimal open-loop and feedback control using single gimbal control moment gyroscopes

Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

Hoelscher, Brian R.↗
NASA NTRS1993

Experimental investigation of possible geomagnetic feedback from energetic (0.1 to 16 keV) terrestrial O(+) ions in the magnetotail current sheet

Data from energetic ion mass spectrometers on the International Sun Earth Explorer 1 (ISEE 1) and AMPTE/CCE spacecraft are combined with geomagnetic and solar indices to investigate, in a statistical fashion, whether energized O(+) ions of terrestrial origin constitute a source of feedback which triggers or amplifies geomagnetic magnetotail current sheet. The ISSE 1 data (0.1-16 keV/e) provide in situ observations of the O(+) solar cycle 21, as well as inner magnetosphere data from same period. The CCE data (0.1-17 keV/e), taken during the subsequent solar minimum, all within 9 R(sub E), provide a reference for long-term variations in the magnetosphere O(+) content. Statistical correlations between the ion data and the indices, and between different indices, all point in the same direction: there is probably no feedback specific to the O(+) ions, in spite of the fact that they often contribute most of the ion mass density in the tail current sheet.

Lennartsson, O. W.↗
NASA NTRS1995

MQW Optical Feedback Modulators And Phase Shifters

Laser diodes equipped with proposed multiple-quantum-well (MQW) optical feedback modulators prove useful in variety of analog and digital optical-communication applications, including fiber-optic signal-distribution networks and high-speed, low-crosstalk interconnections among super computers or very-high-speed integrated circuits. Development exploits accompanying electro-optical aspect of QCSE - variation in index of refraction with applied electric field. Also exploits sensitivity of laser diodes to optical feedback. Approach is reverse of prior approach.

Jackson, Deborah J.↗
NASA NTRS1993

A robust rotorcraft flight control system design methodology utilizing quantitative feedback theory

Rotorcraft flight control systems present design challenges which often exceed those associated with fixed-wing aircraft. First, large variations in the response characteristics of the rotorcraft result from the wide range of airspeeds of typical operation (hover to over 100 kts). Second, the assumption of vehicle rigidity often employed in the design of fixed-wing flight control systems is rarely justified in rotorcraft where rotor degrees of freedom can have a significant impact on the system performance and stability. This research was intended to develop a methodology for the design of robust rotorcraft flight control systems. Quantitative Feedback Theory (QFT) was chosen as the basis for the investigation. Quantitative Feedback Theory is a technique which accounts for variability in the dynamic response of the controlled element in the design robust control systems. It was developed to address a Multiple-Input Single-Output (MISO) design problem, and utilizes two degrees of freedom to satisfy the design criteria. Two techniques were examined for extending the QFT MISO technique to the design of a Multiple-Input-Multiple-Output (MIMO) flight control system (FCS) for a UH-60 Black Hawk Helicopter. In the first, a set of MISO systems, mathematically equivalent to the MIMO system, was determined. QFT was applied to each member of the set simultaneously. In the second, the same set of equivalent MISO systems were analyzed sequentially, with closed loop response information from each loop utilized in subsequent MISO designs. The results of each technique were compared, and the advantages of the second, termed Sequential Loop Closure, were clearly evident.

Gorder, Peter James↗
NASA NTRS1996

Cross Feedback Control of a Magnetic Bearing System: Controller Design Considering Gyroscopic Effects

For flywheel rotors or other rotors with significant ratios of moments of inertia, the influence of gyroscopic effects has to be considered. While conservative or damped systems remain stable even under gyroscopic effects, magnetically suspended rotors can be destabilized with increasing rotational speed. The influence of gyroscopic effects on the stability and behavior of a magnetic bearing system is analyzed. The analysis is carried out with a rigid body model for the rotor and a nonlinear model for the magnetic bearing and its amplifier. Cross feedback control can compensate gyroscopic effects. This compensation leads to better system performance and can avoid instability. Furthermore, the implementation of this compensation is simple. The main structure of a decentralized controller can still be used. It has only to be expanded by the cross feedback path.

Ahrens, Markus↗