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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Bilateral control of teleoperators with time delay

The authors present a novel control law for teleoperators which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law was implemented on a single-axis force-reflecting hand controller, and preliminary results are shown.

Anderson, Robert J.↗
NASA NTRS2003

Nonlinear Time Delayed Feedback Control of Aeroelastic Systems: A Functional Approach

In addition to its intrinsic practical importance, nonlinear time delayed feedback control applied to lifting surfaces can result in interesting aeroelastic behaviors. In this paper, nonlinear aeroelastic response to external time-dependent loads and stability boundary for actively controlled lifting surfaces, in an incompressible flow field, are considered. The structural model and the unsteady aerodynamics are considered linear. The implications of the presence of time delays in the linear/nonlinear feedback control and of geometrical parameters on the aeroelasticity of lifting surfaces are analyzed and conclusions on their implications are highlighted.

Marzocca, Piergiovanni↗
NASA NTRS1992

Force-reflection and shared compliant control in operating telemanipulators with time delay

The performance of an advanced telemanipulation system in the presence of a wide range of time delays between a master control station and a slave robot is quantified. The contemplated applications include multiple satellite links to LEO, geosynchronous operation, spacecraft local area networks, and general-purpose computer-based short-distance designs. The results of high-precision peg-in-hole tasks performed by six test operators indicate that task performance decreased linearly with introduced time delays for both kinesthetic force feedback (KFF) and shared compliant control (SCC). The rate of this decrease was substantially improved with SCC compared to KFF. Task performance at delays above 1 s was not possible using KFF. SCC enabled task performance for such delays, which are realistic values for ground-controlled remote manipulation of telerobots in space.

Kim, Won S.↗
NASA NTRS1983

VLBI collimation tower technique for time-delay studies of a large ground station communications antenna

A need for an accurate but inexpensive method for measuring and evaluating time delays of large ground antennas for VLBI applications motivated the development of the collimation tower technique. Supporting analytical work which was performed primarily to verify time delay measurement results obtained for a large antenna when the transmitter was at a collimation distance of 1/25 of the usual far field criterion is discussed. Comparisons of theoretical and experimental results are also given.

Otoshi, T. Y.↗
NASA NTRS2019

Magnification, dust, and time-delay constraints from the first resolved strongly lensed Type Ia supernova iPTF16geu

We report lensing magnifications, extinction, and time-delay estimates for the first resolved, multiply imaged Type Ia supernova iPTF16geu, at z = 0.409, using Hubble Space Telescope (HST) observations in combination with supporting ground-based data. Multiband photometry of the resolved images provides unique information about the differential dimming due to dust in the lensing galaxy. Using HST and Keck AO reference images taken after the SN faded, we obtain a total lensing magnification for iPTF16geu of μ = 67.8(+2.6−2.9), accounting for extinction in the host and lensing galaxy. As expected from the symmetry of the system, we measure very short time-delays for the three fainter images with respect to the brightest one: −0.23 ± 0.99, −1.43 ± 0.74, and 1.36 ± 1.07 d. Interestingly, we find large differences between the magnifications of the four supernova images, even after accounting for uncertainties in the extinction corrections: ∆m(1) = −3.88(+0.07−0.06), ∆m(2) = −2.99(+0.09−0.08), ∆m(3) = −2.19(+0.14−0.15),and ∆m(4) = −2.40(+0.14−0.12) mag, discrepant with model predictions suggesting similar image brightnesses. A possible explanation for the large differences is gravitational lensing by substructures, micro- or millilensing, in addition to the large-scale lens causing the image separations. We find that the inferred magnification is insensitive to the assumptions about the dust properties in the host and lens galaxy.

S Dhawan↗
NASA NTRS1985

VLBI collimation-tower technique for time-delay studies of a large ground-station communications antenna

A need for an accurate but inexpensive method for measuring and evaluating time delays of large ground antennas for VLBI applications motivated the development of the collimation tower technique. Supporting analytical work which was performed primarily to verify time delay measurement results obtained for a large antenna when the transmitter was at a collimation distance of 1/25 of the usual far field criterion is discussed. Comparisons of theoretical and experimental results are also given.

Otoshi, T. Y.↗
NASA NTRS1994

Manipulating flexible parts using a teleoperated system with time delay: An experiment

This paper reports experiments involving the handling of flexible parts (e.g. wires) when using a teleoperated system with time delay. The task is principally a peg-in-hole task involving the wrapping of a wire around two posts on the task-board. It is difficult to estimate the effects of the flexible parts; therefore, on-line teleoperation is indispensable for this class of unpredictable task. We first propose a teleoperation system based on the predictive image display, then describe an experimental teleoperation testbed with a four second transmission time delay. Finally, we report on wire handling operations that were performed to evaluate the performance of this system. Those experiments will contribute to future advanced experiments for the MITI ETS-7 mission.

Kotoku, T.↗
NASA NTRS1982

An experimental investigation of the changes of VLBI time delays due to antenna structural deformations

Structural deformations primarily occur as functions of antenna elevation angle due to gravity loading. For a Cassegrain antenna, one of the major effects of structural deformation on measured VLBI time delays are those delay changes associated with axial subreflector displacement from its nominal position. Two types of time delay changes that occur when the subreflector is axially defocused are: a change which is a linear function of subreflector defocus position; and a cyclical change caused by multipath. Test results show that for the 64-m DSN antenna, the linear change is 1.8 times the subreflector defocus position, while the peak-to-peak change in cyclical variation is about + or - 3 cm when a spanned bandwidth of 38 MHz at 2290 MHz is used.

Otoshi, T. Y.↗
NASA NTRS1974

A new ultrasonic imaging system using time delay spectrometry

A new method of forming a visual image by ultrasound is described. A shadowgraphic transmission image similar to an X-ray radiograph is produced by the application of a technique known as Time Delay Spectrometry. The system uses a repetitive frequency sweep with a linear relationship between frequency and time and the transmitting and receiving crystal are scanned in raster fashion about the subject. By electronic processing, an image may be built up which represents the energy transmitted through the specimen with a given time delay. An intensity modulated picture encompassing the full shades-of-gray capability of the recording system can be produced. A second type of image showing transmission time through the specimen may also be formed. Brightness changes in the displayed image in this case correspond to changes in the ultrasonic transmission time through the specimen.

Heyser, R. C.↗
NASA NTRS2003

General Relativistic Theory of the VLBI Time Delay in the Gravitational Field of Moving Bodies

The general relativistic theory of the gravitational VLBI experiment conducted on September 8, 2002 by Fomalont and Kopeikin is explained. Equations of radio waves (light) propagating from the quasar to the observer are integrated in the time-dependent gravitational field of the solar system by making use of either retarded or advanced solutions of the Einstein field equations. This mathematical technique separates explicitly the effects associated with the propagation of gravity from those associated with light in the integral expression for the relativistic VLBI time delay of light. We prove that the relativistic correction to the Shapiro time delay, discovered by Kopeikin (ApJ, 556, L1, 2001), changes sign if one retains direction of the light propagation but replaces the retarded for the advanced solution of the Einstein equations. Hence, this correction is associated with the propagation of gravity. The VLBI observation measured its speed, and that the retarded solution is the correct one.

Kopeikin, Sergei↗
NASA NTRS1991

Digital modelling, ideal state reconstructor, and control for time-delay sampled-data systems

The cascaded discrete-time state-space representation of a cascaded continuous-time system with fractional input delays is established. Based on the time-delay digital modelling, a practically implementable ideal state reconstructor is also established such that system states are exactly reconstructed via the measurement histories of inputs and outputs without a state observer. By utilizing the blockpulse function approximation the digital modelling of cascaded continuous-time systems with fractional input delays can be carried out, and an artificial input design method is proposed to determine the state feedback gain. Thus the practically implementable digital control law can be established for digital control of time-delay sampled-data systems. An illustrative example is shown to demonstrate the effectiveness of the proposed method.

Tsai, J. S. H.↗