SEARCH · Engineering Papers

Results for “Real-time control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 883 records · Page 49

All sources NASA NTRS DOE OSTI

NASA NTRS1990

Workspace visualization and time-delay telerobotic operations

The paper examines the performance of telerobotic tasks where the operator and robot are physically separated, and a comunication time delay of up to several seconds between them exists. This situation is applicable to space robotic servicing-assembly-maintenance operations on low earth or geosynchronous orbits with a ground-based command station. Attention is given to two developments which address advanced time-delay teleoperations for unstructured tasks: (1) the 'phantom robot', a real-time predictive graphics simulator developed to allow teleoperator eye-to-hand coordination or robot free-space kinematics under a time delay of several seconds; and (2) shared compliance control, a modified form of automatic electromechanical impedance control employed in parallel with manual position control to permit soft contact and grasp compliance with workpiece geometry under a time delay of several seconds.

Schenker, P. S.↗

NASA NTRS1990

Finite element solution of optimal control problems with inequality constraints

A finite-element method based on a weak Hamiltonian form of the necessary conditions is summarized for optimal control problems. Very crude shape functions (so simple that element numerical quadrature is not necessary) can be used to develop an efficient procedure for obtaining candidate solutions (i.e., those which satisfy all the necessary conditions) even for highly nonlinear problems. An extension of the formulation allowing for discontinuities in the states and derivatives of the states is given. A theory that includes control inequality constraints is fully developed. An advanced launch vehicle (ALV) model is presented. The model involves staging and control constraints, thus demonstrating the full power of the weak formulation to date. Numerical results are presented along with total elapsed computer time required to obtain the results. The speed and accuracy in obtaining the results make this method a strong candidate for a real-time guidance algorithm.

Bless, Robert R.↗

NASA NTRS1990

The phantom robot - Predictive displays for teleoperation with time delay

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Bejczy, Antal K.↗

NASA NTRS1991

VSTOL ground effects testing with flow visualization and image enhancement

A remotely controlled high-energy fiber-optic light delivery technique is employed to examine the implementation of a laser-light-sheet flow-visualization system. During testing, video data are enhanced in real time using digital image processing techniques. A summary of test results for an advanced VSTOL configuration in ground effect, and techniques for the generation of 3D reconstructions for the flowfield are outlined. The system performed well during all phases of the test and proved to be an extremely useful asset to the overall test program. The most useful application of the flow visualization system was the interactive real-time flow field analysis made during the actual testing.

Kegelman, Jerome T.↗

NASA NTRS1990

Flight control system design factors for applying automated testing techniques

The principal design features and operational experiences of the X-29 forward-swept-wing aircraft and F-18 high alpha research vehicle (HARV) automated test systems are discussed. It is noted that operational experiences in developing and using these automated testing techniques have highlighted the need for incorporating target system features to improve testability. Improved target system testability can be accomplished with the addition of nonreal-time and real-time features. Online access to target system implementation details, unobtrusive real-time access to internal user-selectable variables, and proper software instrumentation are all desirable features of the target system. Also, test system and target system design issues must be addressed during the early stages of the target system development. Processing speeds of up to 20 million instructions/s and the development of high-bandwidth reflective memory systems have improved the ability to integrate the target system and test system for the application of automated testing techniques. It is concluded that new methods of designing testability into the target systems are required.

Sitz, Joel R.↗

NASA NTRS1992

Design for interaction between humans and intelligent systems during real-time fault management

Initial results are reported to provide guidance and assistance for designers of intelligent systems and their human interfaces. The objective is to achieve more effective human-computer interaction (HCI) for real time fault management support systems. Studies of the development of intelligent fault management systems within NASA have resulted in a new perspective of the user. If the user is viewed as one of the subsystems in a heterogeneous, distributed system, system design becomes the design of a flexible architecture for accomplishing system tasks with both human and computer agents. HCI requirements and design should be distinguished from user interface (displays and controls) requirements and design. Effective HCI design for multi-agent systems requires explicit identification of activities and information that support coordination and communication between agents. The effects are characterized of HCI design on overall system design and approaches are identified to addressing HCI requirements in system design. The results include definition of (1) guidance based on information level requirements analysis of HCI, (2) high level requirements for a design methodology that integrates the HCI perspective into system design, and (3) requirements for embedding HCI design tools into intelligent system development environments.

Malin, Jane T.↗

NASA NTRS1991

A parallel trajectory optimization tool for aerospace plane guidance

A parallel trajectory optimization algorithm is being developed. One possible mission is to provide real-time, on-line guidance for the National Aerospace Plane. The algorithm solves a discrete-time problem via the augmented Lagrangian nonlinear programming algorithm. The algorithm exploits the dynamic programming structure of the problem to achieve parallelism in calculating cost functions, gradients, constraints, Jacobians, Hessian approximations, search directions, and merit functions. Special additions to the augmented Lagrangian algorithm achieve robust convergence, achieve (almost) superlinear local convergence, and deal with constraint curvature efficiency. The algorithm can handle control and state inequality constraints such as angle-of-attack and dynamic pressure constraints. Portions of the algorithm have been tested. The nonlinear programming core algorithm performs well on a variety of static test problems and on an orbit transfer problem. The parallel search direction algorithm can reduce wall clock time by a factor of 10 for this part of the computation task.

Psiaki, Mark L.↗

NASA NTRS1992

Estimation and enhancement of real-time software reliability through mutation analysis

A simulation-based technique for obtaining numerical estimates of the reliability of N-version, real-time software is presented. An extended stochastic Petri net is employed to represent the synchronization structure of N versions of the software, where dependencies among versions are modeled through correlated sampling of module execution times. Test results utilizing specifications for NASA's planetary lander control software indicate that mutation-based testing could hold greater potential for enhancing reliability than the desirable but perhaps unachievable goal of independence among N versions.

Geist, Robert↗

NASA NTRS1991

An enhanced Ada run-time system for real-time embedded processors

An enhanced Ada run-time system has been developed to support real-time embedded processor applications. The primary focus of this development effort has been on the tasking system and the memory management facilities of the run-time system. The tasking system has been extended to support efficient and precise periodic task execution as required for control applications. Event-driven task execution providing a means of task-asynchronous control and communication among Ada tasks is supported in this system. Inter-task control is even provided among tasks distributed on separate physical processors. The memory management system has been enhanced to provide object allocation and protected access support for memory shared between disjoint processors, each of which is executing a distinct Ada program.

Sims, J. T.↗

NASA NTRS1992

Integrated human-machine intelligence in space systems

The integration of human and machine intelligence in space systems is outlined with respect to the contributions of artificial intelligence. The current state-of-the-art in intelligent assistant systems (IASs) is reviewed, and the requirements of some real-world applications of the technologies are discussed. A concept of integrated human-machine intelligence is examined in the contexts of: (1) interactive systems that tolerate human errors; (2) systems for the relief of workloads; and (3) interactive systems for solving problems in abnormal situations. Key issues in the development of IASs include the compatibility of the systems with astronauts in terms of inputs/outputs, processing, real-time AI, and knowledge-based system validation. Real-world applications are suggested such as the diagnosis, planning, and control of enginnered systems.

Boy, Guy A.↗

NASA NTRS1991

Aerodyne Research mobile infrared methane monitor

An improved real-time methane monitor based on infrared absorption of the 3.39 micron line of a HeNe laser is described. Real time in situ measurement of methane has important applications in stratospheric and tropospheric chemistry, especially when high accuracy measurements can be made rapidly, providing fine spatial-scale information. The methane instrument provides 5 ppb resolution in a 1 sec averaging time. A key feature in this instrument is the use of magnetic (Zeeman) broadening to achieve continuous tunability with constant output power over a range of 0.017/cm. The instruments optical absorption path length is 47 m through sampled air held at 50 torr in a multipass cell of the Herriott (off-axis resonator) type. A microprocessor controls laser frequency and amplitude and collects data with minimal operator attention. The instrument recently has been used to measure methane emissions from a variety of natural and artificial terrestrial sources.

Mcmanus, J. B.↗

NASA NTRS1991

Demonstration of rapid and sensitive module leak certification for Space Station Freedom

A leak detection and quantification demonstration using perflurocarbon tracer (PFT) technology was successfully performed at the NASA Marshall Space Flight Center on January 25, 1991. The real-time Dual Trap Analyzer (DTA) at one-half hour after the start of the first run gave an estimated leak rate of 0.7 mL/min. This has since been refined to be 1.15 (+ or -) 0.09 mL/min. The leak rates in the next three runs were determined to be 9.8 (+ or -) 0.7, -0.4 (+ or -) 0.3, and 76 (+ or -) 6 mL/min, respectively. The theory on leak quantification in the steady-state and time-dependent modes for a single zone test facility was developed and applied to the above determinations. The laboratory PFT analysis system gave a limit-of-detection (LOD) of 0.05 fL for ocPDCH. This is the tracer of choice and is about 100-fold better than that for the DTA. Applied to leak certification, the LOD is about 0.00002 mL/s (0.000075 L/h), a 5 order-of-magnitude improvement over the original leak certification specification. Furthermore, this limit can be attained in a measurement period of 3 to 4 hours instead of days, weeks, or months. A new Leak Certification Facility is also proposed to provide for zonal (three zones) determination of leak rates. The appropriate multizone equations, their solutions, and error analysis have already been derived. A new concept of seal-integrity certification has been demonstrated for a variety of controlled leaks in the range of module leak testing. High structural integrity leaks were shown to have a linear dependence of flow on (Delta)p. The rapid determination of leak rates at different pressures is proposed and is to be determined while subjecting the module to other external force-generating parameters such as vibration, torque, solar intensity, etc.

Dietz, R. N.↗

NASA NTRS1992

A fundamental study of suction for Laminar Flow Control (LFC)

This report covers the period forming the first year of the project. The aim is to experimentally investigate the effects of suction as a technique for Laminar Flow Control. Experiments are to be performed which require substantial modifications to be made to the experimental facility. Considerable effort has been spent developing new high performance constant temperature hot-wire anemometers for general purpose use in the Fluid Mechanics Laboratory. Twenty instruments have been delivered. An important feature of the facility is that it is totally automated under computer control. Unprecedently large quantities of data can be acquired and the results examined using the visualization tools developed specifically for studying the results of numerical simulations on graphics works stations. The experiment must be run for periods of up to a month at a time since the data is collected on a point-by-point basis. Several techniques were implemented to reduce the experimental run-time by a significant factor. Extra probes have been constructed and modifications have been made to the traverse hardware and to the real-time experimental code to enable multiple probes to be used. This will reduce the experimental run-time by the appropriate factor. Hot-wire calibration drift has been a frustrating problem owing to the large range of ambient temperatures experienced in the laboratory. The solution has been to repeat the calibrations at frequent intervals. However the calibration process has consumed up to 40 percent of the run-time. A new method of correcting the drift is very nearly finalized and when implemented it will also lead to a significant reduction in the experimental run-time.

Watmuff, Jonathan H.↗

NASA NTRS1992

Automated in situ observations of upper ocean biogeochemistry, bio-optics, and physics and their potential use for global studies

The processes controlling the flux of carbon in the upper ocean have dynamic ranges in space and time of at least nine orders of magnitude. These processes depend on a broad suite of inter-related biogeochemical, bio-optical, and physical variables. These variables should be sampled on scales matching the relevant phenomena. Traditional ship-based sampling, while critical for detailed and more comprehensive observations, can span only limited portions of these ranges because of logistical and financial constraints. Further, remote observations from satellite platforms enable broad horizontal coverage which is restricted to the upper few meters of the ocean. For these main reasons, automated subsurface measurement systems are important for the fulfillment of research goals related to the regional and global estimation and modeling of time varying biogeochemical fluxes. Within the past few years, new sensors and systems capable of autonomously measuring several of the critical variables have been developed. The platforms for deploying these systems now include moorings and drifters and it is likely that autonomous underwater vehicles (AUV's) will become available for use in the future. Each of these platforms satisfies particular sampling needs and can be used to complement both shipboard and satellite observations. In the present review, (1) sampling considerations will be summarized, (2) examples of data obtained from some of the existing automated in situ sampling systems will be highlighted, (3) future sensors and systems will be discussed, (4) data management issues for present and future automated systems will be considered, and (5) the status of near real-time data telemetry will be outlined. Finally, we wish to make it clear at the outset that the perspectives presented here are those of the authors and are not intended to represent those of the United States JGOFS program, the International JGOFS program, NOAA's C&GC program, or other global ocean programs.

Dickey, Tommy D.↗

NASA NTRS1992

Verifying command sequences for satellite systems

We present a formal basis for the design of a Checker used in validating safe schedules and in selecting error recovery schedules for satellite control systems. This design includes a high-level specification of Checker behavior and properties (called flight rules) of safe schedules. Specifications are written in Timed Linear Logic (TLL). Validation of schedules is performed in terms of real-time telemetry and deduction system proof rules. Telemetry (state information for satellite subsystems) serves as input to the Checker. Detection of violation of a flight rule by the Checker results in the selection of a contingency plan (error recovery schedule). The Checker is illustrated in terms of the TOPEX/Poseidon Oceanographic Satellite System.

Peters, James F., III↗

NASA NTRS1993

Simulation of a passive millimeter wave sensor

The visual display expected to be generated by a Passive Millimeter Wave (PMMW) camera and sensor system has been simulated on a Silicon Graphics IRIS workstation at the NASA Langley Research Center (LaRC). The low resolution of the sensor has been simulated by graphically manipulating the scene as it is being drawn by the IRIS in real time. Camera field of view, sensor resolution, and sensor update rate are the controllable parameters. Physical effects such as lens model, radome effects, and noise have not been included at this time. An approximate dynamic model of the atmospheric phenomenology has been included which generates the gray-scale intensity values in real time for the simulated image. The gray-scale values are proportional to temperature. A snapshot capability which captures individual image frames during real-time operation has been included. These images were used to validate the approximate phenomenology model against a more rigorous physical model.

Kahlbaum, William W.↗

NASA NTRS1992

Forced unsteady deceleration of a turbulent boundary layer from a temporal perspective

The behavior of a turbulent boundary layer which has been subjected to a local ramp-like deceleration in the external velocity field, which leads to forced separation, has been studied experimentally. The data of this study are re-interpreted in light of more recent findings concerning the temporal nature of boundary layer turbulence in the presence of forced unsteady shear. In particular, the robustness of the near-wall turbulent motions to organized deformation is recognized. Their resilence during unsteady shearing action promotes continued efficient turbulent mixing and rapid redistribution of turbulent kinetic energy during forced transients. In aerodynamic problems, the rapid nature of the adjustment of the turbulence field to a new temporal boundary condition necessitates equally rapid remedial measures to be taken if means of control/prevention of forced unsteady separation are to be deployed to maximum effect. This requirement suggests exploration of the use of simple, real-time statistical forecasting techniques, based upon time-series analysis of easily-measurable features of the flow, to help assure timely deployment of mechanisms of boundary-layer control. This paper focuses upon the nature of turbulence in boundary layers undergoing forced deceleration which would lead to separation. A preliminary form of a forecasting model is presented and evaluated. Using observations of the previous two large eddies passing a detector, it forecasts the behavior of the future large eddy rather well.

Brereton, G. J.↗

NASA NTRS1980

Edge smoothing for real-time simulation of a polygon face object system as viewed by a moving observer

The visual system within an aircraft flight simulation system receives flight data and terrain data which is formated into a buffer memory. The image data is forwarded to an image processor which translates the image data into face vertex vectors Vf, defining the position relationship between the vertices of each terrain object and the aircraft. The image processor then rotates, clips, and projects the image data into two-dimensional display vectors (Vd). A display generator receives the Vd faces, and other image data to provide analog inputs to CRT devices which provide the window displays for the simulated aircraft. The video signal to the CRT devices passes through an edge smoothing device which prolongs the rise time (and fall time) of the video data inversely as the slope of the edge being smoothed. An operational amplifier within the edge smoothing device has a plurality of independently selectable feedback capacitors each having a different value. The values of the capacitors form a series which doubles as a power of two. Each feedback capacitor has a fast switch responsive to the corresponding bit of a digital binary control word for selecting (1) or not selecting (0) that capacitor. The control word is determined by the slope of each edge. The resulting actual feedback capacitance for each edge is the sum of all the selected capacitors and is directly proportional to the value of the binary control word. The output rise time (or fall time) is a function of the feedback capacitance, and is controlled by the slope through the binary control word.

Lotz, Robert W.↗