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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.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Multiple task point control of a redundant manipulator

The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Lee, Sukhan↗
NASA NTRS1980

GPS/REFSAT definition study report for low-cost terminals

A relay transponder, located either on a satellite in geostationary orbit or on a local tower to relay acquisition-aiding data, ephemerides, etc, from a ground-based remote control station to a GPS civil user terminal located on a ship or land-transportation vehicle is described. Termed REFSAT (Reference Satellite), this concept reduces the circuit complexity and cost of user terminals. The various systems needed to implement the REFSAT concept for low-cost, GPS civil terminals are defined. The GPS/REFSAT system compatible with the NAVSTAR GPS system consists of a geostationary relay satellite, civil user terminals, and the central facility which performs operations common to all users for relay via the space segment. A GPS/REFSAT system utilizing a local tower for the relay transponder is described, results of a study of civil user requirements are presented, and specifications for the GPS/REFSAT system and its individual segments are included.

Source record↗
NASA NTRS2021

Decentralized Control Synthesis for Air Traffic Management in Urban Air Mobility

Urban air mobility (UAM) refers to air transportation services within an urban area, often in an on-demand fashion. We study air traffic management (ATM) for vehicles in a UAM fleet, while guaranteeing system safety requirements such as traffic separation. Existing ATM methods for unmanned aerial systems, such as UAS traffic management, utilize alternative approaches which do not provide strict safety guarantees. No established infrastructure exists for providing ATM at scale for UAM. We provide a decentralized, hierarchical approach for UAM ATM that allows for scalability to high traffic densities as well as providing theoretical guarantees of correctness with respect to user-provided safety specifications. Our main contributions are two-fold. First, we propose a novel UAM ATM architecture that divides the control authority between vertihubs that are each in charge of all UAM vehicles in their local airspace. Each vertihub also contains a number of vertiports that are in charge of UAM vehicle takeoffs and landings. The resulting architecture is decentralized and hierarchical, which not only enables scalability, but also robustness in the event of any individual vertihub or vertiport no longer being operational. Second, we provide a contract-based correct-by-construction reactive synthesis approach that provably guarantees safety properties with respect to user-provided specifications in linear temporal logic. We demonstrate the approach on large-volume UAM air traffic data.

Urban Air Mobility↗
NASA NTRS2011

On Time Delay Margin Estimation for Adaptive Control and Optimal Control Modification

This paper presents methods for estimating time delay margin for adaptive control of input delay systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent an adaptive law by a locally bounded linear approximation within a small time window. The time delay margin of this input delay system represents a local stability measure and is computed analytically by three methods: Pade approximation, Lyapunov-Krasovskii method, and the matrix measure method. These methods are applied to the standard model-reference adaptive control, s-modification adaptive law, and optimal control modification adaptive law. The windowing analysis results in non-unique estimates of the time delay margin since it is dependent on the length of a time window and parameters which vary from one time window to the next. The optimal control modification adaptive law overcomes this limitation in that, as the adaptive gain tends to infinity and if the matched uncertainty is linear, then the closed-loop input delay system tends to a LTI system. A lower bound of the time delay margin of this system can then be estimated uniquely without the need for the windowing analysis. Simulation results demonstrates the feasibility of the bounded linear stability method for time delay margin estimation.

Nguyen, Nhan T.↗
NASA NTRS2016

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee,a new free-flying robot designed to navigate autonomously on board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-built map, optical flow information,and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.

Coltin, Brian↗
NASA NTRS2009

Protocol for Communication Networking for Formation Flying

An application-layer protocol and a network architecture have been proposed for data communications among multiple autonomous spacecraft that are required to fly in a precise formation in order to perform scientific observations. The protocol could also be applied to other autonomous vehicles operating in formation, including robotic aircraft, robotic land vehicles, and robotic underwater vehicles. A group of spacecraft or other vehicles to which the protocol applies could be characterized as a precision-formation- flying (PFF) network, and each vehicle could be characterized as a node in the PFF network. In order to support precise formation flying, it would be necessary to establish a corresponding communication network, through which the vehicles could exchange position and orientation data and formation-control commands. The communication network must enable communication during early phases of a mission, when little positional knowledge is available. Particularly during early mission phases, the distances among vehicles may be so large that communication could be achieved only by relaying across multiple links. The large distances and need for omnidirectional coverage would limit communication links to operation at low bandwidth during these mission phases. Once the vehicles were in formation and distances were shorter, the communication network would be required to provide high-bandwidth, low-jitter service to support tight formation-control loops. The proposed protocol and architecture, intended to satisfy the aforementioned and other requirements, are based on a standard layered-reference-model concept. The proposed application protocol would be used in conjunction with conventional network, data-link, and physical-layer protocols. The proposed protocol includes the ubiquitous Institute of Electrical and Electronics Engineers (IEEE) 802.11 medium access control (MAC) protocol to be used in the datalink layer. In addition to its widespread and proven use in diverse local-area networks, this protocol offers both (1) a random- access mode needed for the early PFF deployment phase and (2) a time-bounded-services mode needed during PFF-maintenance operations. Switching between these two modes could be controlled by upper-layer entities using standard link-management mechanisms. Because the early deployment phase of a PFF mission can be expected to involve multihop relaying to achieve network connectivity (see figure), the proposed protocol includes the open shortest path first (OSPF) network protocol that is commonly used in the Internet. Each spacecraft in a PFF network would be in one of seven distinct states as the mission evolved from initial deployment, through coarse formation, and into precise formation. Reconfiguration of the formation to perform different scientific observations would also cause state changes among the network nodes. The application protocol provides for recognition and tracking of the seven states for each node and for protocol changes under specified conditions to adapt the network and satisfy communication requirements associated with the current PFF mission phase. Except during early deployment, when peer-to-peer random access discovery methods would be used, the application protocol provides for operation in a centralized manner.

Jennings, Esther↗
NASA NTRS2016

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Coltin, Brian↗
NASA NTRS2011

Dynamic Simulation of Human Thermoregulation and Heat Transfer for Spaceflight Applications

Models of human thermoregulation and heat transfer date from the early 1970s and have been developed for applications ranging from evaluating thermal comfort in spacecraft and aircraft cabin environments to predicting heat stress during EVAs. Most lumped or compartment models represent the body as an assemblage cylindrical and spherical elements which may be subdivided into layers to describe tissue heterogeneity. Many existing models are of limited usefulness in asymmetric thermal environments, such as may be encountered during an EVA. Conventional whole-body clothing models also limit the ability to describe local surface thermal and evaporation effects in sufficient detail. A further limitation is that models based on a standard man model are not readily scalable to represent large or small subjects. This work describes development of a new human thermal model derived from the 41-node man model. Each segment is divided into four concentric, constant thickness cylinders made up of a central core surrounded by muscle, fat, and skin, respectively. These cylinders are connected by the flow of blood from a central blood pool to each part. The central blood pool is updated at each time step, based on a whole-body energy balance. Results show the model simulates core and surface temperature histories, sweat evaporation and metabolic rates which generally are consistent with controlled exposures of human subjects. Scaling rules are developed to enable simulation of small and large subjects (5th percentile and 95th percentile). Future refinements will include a clothing model that addresses local surface insulation and permeation effects and developing control equations to describe thermoregulatory effects such as may occur with prolonged weightlessness or with aging.

Miller, Thomas R.↗
NASA NTRS1975

Time elements

Time elements are introduced for use with Sundman time transformations for satellite equations of motion. Two time elements are presented, one providing maximum accuracy when the exponent of the governing equation equals 1, the other when the exponent equals 2. Time elements and time transformations reduce local truncation error and Liapunov (in-track) instability, and provide analytical step size control. Numerical results show accuracy improvements of more than one order of magnitude when time elements are employed with time transformations in the numerical integration of the satellite equations, compared with using time transformations alone.

Nacozy, P. E.↗
NASA NTRS1975

Experimental investigation of wall shock cancellation and reduction of wall interference in transonic testing

A series of experiments were performed to evaluate the effectiveness of a three-dimensional land and groove wall geometry and a variable permeability distribution to reduce the interference produced by the porous walls of a supercritical transonic test section. The three-dimensional wall geometry was found to diffuse the pressure perturbations caused by small local mismatches in wall porosity permitting the use of a relatively coarse wall porosity control to reduce or eliminate wall interference effects. The wall porosity distribution required was found to be a sensitive function of Mach number requiring that the Mach number repeatability characteristics of the test apparatus be quite good. The effectiveness of a variable porosity wall is greatest in the upstream region of the test section where the pressure differences across the wall are largest. An effective variable porosity wall in the down stream region of the test section requires the use of a slightly convergent test section geometry.

Ferri, A.↗
NASA NTRS1980

Select state inland wetland protection laws. A review of the state laws and their natural resource data requirements

Although many states afford some measure of protection for wetland areas through flood-plain regulations or through programs for coastal areas, shorelands, scenic and wild rivers or pollution control, few states have programs that adequately deal with conservation of wetlands. Only 16 states have legislation specifically regulating development or use of wetlands. Most of the wetland acts apply only to coastal wetlands, several to inland wetlands and three acts apply to both. Many other states are still regulating wetland use through the dredge and fill and/or critical area program. Several offer tax incentives to property owners to encourage protection of wetlands or broader open spaces. Many states have acquired wetlands for park and wildlife purposes and a large measure of wetland protection is achieved by the very restrictive controls applied to floodways areas. Direct floodplain or floodway regulations or state standards for local regulations were adopted in 24 states but protection of ecological values of wetlands is rarely an explicit objective of these programs. Scenic and wild river programs adopted in one half of the states provide some protection for wetland areas.

Klein, S. B.↗
NASA NTRS1983

Software simulator for multiple computer simulation system

A description is given of the structure and use of a computer program that simulates the operation of a parallel processor simulation system. The program is part of an investigation to determine algorithms that are suitable for simulating continous systems on a parallel processor configuration. The simulator is designed to accurately simulate the problem-solving phase of a simulation study. Care has been taken to ensure the integrity and correctness of data exchanges and to correctly sequence periods of computation and periods of data exchange. It is pointed out that the functions performed during a problem-setup phase or a reset phase are not simulated. In particular, there is no attempt to simulate the downloading process that loads object code into the local, transfer, and mapping memories of processing elements or the memories of the run control processor and the system control processor. The main program of the simulator carries out some problem-setup functions of the system control processor in that it requests the user to enter values for simulation system parameters and problem parameters. The method by which these values are transferred to the other processors, however, is not simulated.

Ogrady, E. P.↗
NASA NTRS1984

The magnetopause as a tangential discontinuity for large field rotation angles

Three passes of the ISEE 1 and 2 satellites through the dayside terrestrial magnetopause are discussed where the magnetopause is identified as a tangential discontinuity. This identification is based primarily on the failure of the plasma and magnetic field data to satisfy the conditions for a rotational discontinuity. In all these cases the interplanetary magnetic field was directed strongly southward and the angles between the fields on the two sides of the magnetopause ranged between 136 deg and 170 deg. As this is precisely the field geometry thought to be most conducive for reconnection, the magnetopause would be expected to be a rotational discontinuity. The simplest explanation of this result would appear to be that the magnetic field orientation is not the only factor controlling the onset of reconnection. However, as the identification of the discontinuity applies only locally, it cannot be excluded that for the magnetic field conditions investigated here, different portions of the magnetopause can be described as tangential and rotational discontinuities simultaneously.

Papamastorakis, I.↗
NASA NTRS1986

Computational analysis of the SSME fuel preburner flow

A computational fluid dynamics model which simulates the steady state operation of the SSME fuel preburner is developed. Specifically, the model will be used to quantify the flow factors which cause local hot spots in the fuel preburner in order to recommend experiments whereby the control of undesirable flow features can be demonstrated. The results of a two year effort to model the preburner are presented. In this effort, investigating the fuel preburner flowfield, the appropriate transport equations were numerically solved for both an axisymmetric and a three-dimensional configuration. Continuum's VAST (Variational Solution of the Transport equations) code, in conjunction with the CM-1000 Engineering Analysis Workstation and the NASA/Ames CYBER 205, was used to perform the required calculations. It is concluded that the preburner operational anomalies are not due to steady state phenomena and must, therefore, be related to transient operational procedures.

Wang, T. S.↗
NASA NTRS1986

Implementation and flight tests for the Digital Integrated Automatic Landing System (DIALS). Part 2: Complete set of flight data

Five flight tests of the Digital Automated Landing System (DIALS) were conducted on the Advanced Transport Operating System (ATOPS) Transportation Research Vehicle (TSRV)--a modified Boeing 737 Aircraft for advanced controls and displays research. These flight tests were conducted at NASA's Wallops Flight Center using the Microwave Landing System (MLS) installation on Runway 22. This report is primarily a collection of data plots of all performance variables recorded for the entire five flight tests. A description and source of the performance variables is included. Performance variables include inertial data, air data, automatic control commands, control servo positions, sensor data, DIALS guidance and control parameters, and Kalman filter data. This data illustrates low overshoot captures of the localizer for intercept angles of 20 deg, 30 deg, 40 deg, and 50 deg intercept angles, and low overshoot captures of the glideslope slope for 3 deg, 4.5 deg, and 5 deg glideslopes. Flare maneuvers were successfully performed from the various glideslope angles and good decrab maneuvers were performed in crosswinds of 6 knots. In 18 to 20 knot crosswind conditions rudder limiting occurred which caused lateral drifting although heading alignment was achieved.

Hueschen, R. M.↗
NASA NTRS1985

The pushbroom microwave radiometer and aircraft measurement of soil moisture

Soil moisture has been identified as a controlling parameter in the occurrence of atmospheric variations and crop vigor. Evapotranspiration rates impact local temperature, precipitation and motion fields of the atmosphere. The multiple beam pushbroom microwave radiometer (MBPMR) is a candidate for moisture monitoring on the Earth Observation System. A prototype MBPMR has been devised for airborne technology evaluations of pushbroom scanning capabilities. The instrument scans at 1.4 GHz with a Diche radiometer. Test flights on a NASA aircraft with the antenna mounted on the bottom of the fuselage have generated soil moisture data over crop areas for which ground truth data were gathered. Large antennas deployed from the Orbiter could collect sufficient data for mapping the global soil moisture in 6 days.

Harrington, R. F.↗
NASA NTRS1987

Investigation of transonic region of high dynamic response encountered on an elastic supercritical wing

Unsteady aerodynamic data were measured on an aspect ratio 10.3 elastic supercritical wing while undergoing high dynamic response above a Mach number of 0.90. These tests were conducted in the NASA Langley Transonic Dynamics Tunnel. A previous test of this wing predicted an unusual instability boundary based on subcritical response data. During the present test no instability was found, but an angle of attack dependent narrow Mach number region of high dynamic wing response was observed over a wide range of dynamic pressures. The effect on dynamic wing response of wing angle of attack, static outbound control surface deflection and a lower surface spanwise fence located near the 60 percent local chordline was investigated. The driving mechanism of the dynamic wing response appears to be related to chordwise shock movement in conjunction with flow separation and reattachment on both the upper and lower surfaces.

Seidel, David A.↗
NASA NTRS1987

Investigation of transonic region of high dynamic response encountered on an elastic supercritical wing

Unsteady aerodynamic data were measured on an aspect ratio 10.3 elastic supercritical wing while undergoing high dynamic response above Mach number of 0.90. These tests were conducted in the NASA Langley Transonic Dynamics Tunnel. A previous test of this wing predicted an unusual instability boundary based upon subcritical response data. During the present test no instability was found, but an angle of attack dependent narrow Mach number region of high dynamic wing response was observed over a wide range of dynamic pressures. The effect on dynamic wing response of wing angle of attack, static outboard control surface deflection and a lower surface spanwise fence located near the 60 percent local chordline was investigated. The driving mechanism of the dynamic wing response appears to be related to chordwise shock movement in conjunction with flow separation and reattachment on both the upper and lower surfaces.

Seidel, David A.↗