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At least 919 records · Page 51

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NASA NTRS1989

A general dynamic model of flexible robot arms for control

Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

Ding, X.↗

NASA NTRS1993

On the estimation of the correlation dimension and its application to radar reflector discrimination

Recently, system theorists have recognized that low order systems of nonlinear differential equations can give rise to solutions which are neither periodic, constant, nor predictable in steady state, but which are nonetheless bounded and deterministic. This behavior, which was first described in the study of weather systems, has been termed 'chaotic.' Much study of chaotic systems has concentrated on analysis of the systems' phase space attractors. It has been recognized that invariant measures of the attractor possess inherent information about the system. One such measure is the dimension of the attractors. The dimension of a chaotic attractor has been shown to be noninteger, leading to the term 'strange attractor;' the attractor is said to have a fractal structure. The correlation dimension has become one of the most popular measures of dimension. However, many problems have been identified in correlation dimension estimation from time sequences. The most common methods for obtaining the correlation dimension have been least squares curves fitting to find the slope of the correlation integral and the Takens Estimator. However, these estimates show unacceptable sensitivity to the upper limit on the distance chosen. Here, a new method is proposed which is shown to be rather insensitive to the upper limit and to perform in a very stable manner, at least in the absence of noise. The correlation dimension is also shown to be an effective discriminant in distinguishing between radar returns resulting from weather and those from the ground. The weather returns are shown to have a correlation dimension generally between 2.0 and 3.0, while ground returns have a correlation dimension exceeding 3.0.

Barnett, Kevin D.↗

NASA NTRS1974

Farfield viscous effects in nonlinear noise propagation

Discussion of the method of parametric differentiation in application to predictions of farfield noise propagation in both lossless and dissipative media. It is shown that, in the lossless medium, the governing equation, transformed to parameter space, reduces to a wave equation in the farfield. In the dissipative medium, the system of nonlinear partial differential equations, transformed to parameter space, reduces to a linear partial differential equation of the propagating type which contains a third-order derivative as well as the wave operator.

Harris, W. L., Sr.↗

NASA NTRS1990

Cartesian-based control of a deformable robot manipulator

A control scheme for the 6-DOF Cincinnati-Milacron T3 robot arm is developed and demonstrated by means of numerical simulations. The arm is modeled as an open-loop articulated system with both actuators and position and velocity sensors at each joint, and a Cartesian-frame control algorithm is constructed in which (1) an adaptive scheme decouples the end-effector subsystem from the complex highly nonlinear main system and (2) a servo scheme drives the reduced system to follow a presumed end-effector trajectory on the basis of the Cartesian-frame feedback gains. The velocity transformation used to transfer the control forces from the Cartesian frame to joint-based space is explained, and the simulation results are presented in extensive graphs and diagrams. The control is found to respond well to system-topology changes and robot-environment impacts.

Chang, C. W.↗

NASA NTRS2013

Flexible Mechanical Conveyors for Regolith Extraction and Transport

A report describes flexible mechanical conveying systems for transporting fine cohesive regolith under microgravity and vacuum conditions. They are totally enclosed, virtually dust-free, and can include enough flexibility in the conveying path to enable an expanded range of extraction and transport scenarios, including nonlinear drill-holes and excavation of enlarged subsurface openings without large entry holes. The design of the conveyors is a modification of conventional screw conveyors such that the central screw-shaft and the outer housing or conveyingtube have a degree of bending flexibility, allowing the conveyors to become nonlinear conveying systems that can convey around gentle bends. The central flexible shaft is similar to those used in common tools like a weed whacker, consisting of multiple layers of tightly wound wires around a central wire core. Utilization of compliant components (screw blade or outer wall) increases the robustness of the conveying, allowing an occasional oversized particle to pass hough the conveyor without causing a jam or stoppage

Walton, Otis R.↗

NASA NTRS1995

A class of stabilizing controllers for flexible multibody systems

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Joshi, Suresh M.↗

NASA NTRS1980

Iterative methods based upon residual averaging

Iterative methods for solving boundary value problems for systems of nonlinear partial differential equations are discussed. The methods involve subtracting an average of residuals from one approximation in order to arrive at a subsequent approximation. Two abstract methods in Hilbert space are given and application of these methods to quasilinear systems to give numerical schemes for such problems is demonstrated. Potential theoretic matters related to the iteration schemes are discussed.

Neuberger, J. W.↗

NASA NTRS1975

Nonlinear hyperbolic theory of thermal waves in metals

A closed-form solution for cylindrical thermal waves in metals is given based on the nonlinear hyperbolic system of energy-conservation and heat-flux relaxation equations. It is shown that heat released from a line source propagates radially outward with finite speed in the form of a thermal wave which exhibits a discontinuous wave front. Unique nonlinear thermal-wave solutions exist up to a critical amount of driving energy, i.e., for larger energy releases, the thermal flow becomes multivalued (occurrence of shock waves). By comparison, it is demonstrated that the parabolic thermal-wave theory gives, in general, a misleading picture of the profile and propagation of thermal waves and leads to physical (infinite speed of heat propagation) and mathematical (divergent energy integrals) difficulties. Attention is drawn to the importance of temporal heat-flux relaxation for the physical understanding of fast transient processes such as thermal waves and more general explosions and implosions.

Wilhelm, H. E.↗

NASA NTRS2005

Contamination and Radiation Effects on Nonlinear Crystals for Space Laser Systems

Space Lasers are vital tools for NASA s space missions and military applications. Although, lasers are highly reliable on the ground, several past space laser missions proved to be short-lived and unreliable. In this communication, we are shedding more light on the contamination and radiation issues, which are the most common causes for optical damages and laser failures in space. At first, we will present results based on the study of liquids and subsequently correlate these results to the particulates of the laser system environment. We present a model explaining how the laser beam traps contaminants against the optical surfaces and cause optical damages and the role of gravity in the process. We also report the results of the second harmonic generation efficiency for nonlinear optical crystals irradiated with high-energy beams of protons. In addition, we are proposing to employ the technique of adsorption to minimize the presence of adsorbing molecules present in the laser compartment.

Abdeldayem, Hossain A.↗

NASA NTRS2021

Asymmetry in Subseasonal Surface Air Temperature Forecast Error with Respect to Soil Moisture Initialization

Soil moisture (W) helps control evapotranspiration (ET), and ET variations can in turn have a distinct impact on 2-m air temperature (T2M), given that increases in evaporative cooling encourage reduced temperatures. Soil moisture is accordingly linked to T2M, and realistic soil moisture initialization has, in previous studies, been shown to improve the skill of subseasonal T2M forecasts. The relationship between soil moisture and evapotranspiration, however, is distinctly nonlinear, with ET tending to increase with soil moisture in drier conditions and to be insensitive to soil moisture variations in wetter conditions. Here, through an extensive analysis of subseasonal forecasts produced with a state-of-the-art seasonal forecast system, this nonlinearity is shown to imprint itself on T2M forecast error in the conterminous United States in two unique ways: (i) the T2M forecast bias (relative to independent observations) induced by a negative precipitation bias tends to be larger for dry initializations, and (ii) on average, the unbiased root-mean-square error (ubRMSE) tends to be larger for dry initializations. Such findings can aid in the identification of forecasts of opportunity; taken a step further, they suggest a pathway for improving bias correction and uncertainty estimation in subseasonal T2M forecasts by conditioning each on initial soil moisture state.

Air Temperature↗

NASA NTRSDate not supplied

T2M Forecasts at Subseasonal Leads: Do Different Soil Moisture Initial States Have Different Impacts?

2-meter Temperature↗

NASA NTRS1995

Nonlinear Control and Discrete Event Systems

As the operation of large systems becomes ever more dependent on extensive automation, the need for an effective solution to the problem of design and validation of the underlying software becomes more critical. Large systems possesses much detailed structure, typically hierarchical, and they are hybrid. Information processing at the top of the hierarchy is by means of formal logic and sentences; on the bottom it is by means of simple scalar differential equations and functions of time; and in the middle it is by an interacting mix of nonlinear multi-axis differential equations and automata, and functions of time and discrete events. The lecture will address the overall problem as it relates to flight vehicle management, describe the middle level, and offer a design approach that is based on Differential Geometry and Discrete Event Dynamic Systems Theory.

Meyer, George↗

NASA NTRS2008

Variable-Structure Control of a Model Glider Airplane

A variable-structure control system designed to enable a fuselage-heavy airplane to recover from spin has been demonstrated in a hand-launched, instrumented model glider airplane. Variable-structure control is a high-speed switching feedback control technique that has been developed for control of nonlinear dynamic systems.

Waszak, Martin R.↗

NASA NTRS1972

Generalized simulation technique for turbojet engine system analysis

A nonlinear analog simulation of a turbojet engine was developed. The purpose of the study was to establish simulation techniques applicable to propulsion system dynamics and controls research. A schematic model was derived from a physical description of a J85-13 turbojet engine. Basic conservation equations were applied to each component along with their individual performance characteristics to derive a mathematical representation. The simulation was mechanized on an analog computer. The simulation was verified in both steady-state and dynamic modes by comparing analytical results with experimental data obtained from tests performed at the Lewis Research Center with a J85-13 engine. In addition, comparison was also made with performance data obtained from the engine manufacturer. The comparisons established the validity of the simulation technique.

Seldner, K.↗

NASA NTRS1990

Nonlinear dynamics of global atmospheric and Earth-system processes

Researchers are continuing their studies of the nonlinear dynamics of global weather systems. Sensitivity analyses of large-scale dynamical models of the atmosphere (i.e., general circulation models i.e., GCM's) were performed to establish the role of satellite-signatures of soil moisture, sea surface temperature, snow cover, and sea ice as crucial boundary conditions determining global weather variability. To complete their study of the bimodality of the planetary wave states, they are using the dynamical systems approach to construct a low-order theoretical explanation of this phenomenon. This work should have important implications for extended range forecasting of low-frequency oscillations, elucidating the mechanisms for the transitions between the two wave modes. Researchers are using the methods of jump analysis and attractor dimension analysis to examine the long-term satellite records of significant variables (e.g., long wave radiation, and cloud amount), to explore the nature of mode transitions in the atmosphere, and to determine the minimum number of equations needed to describe the main weather variations with a low-order dynamical system. Where feasible they will continue to explore the applicability of the methods of complex dynamical systems analysis to the study of the global earth-system from an integrative viewpoint involving the roles of geochemical cycling and the interactive behavior of the atmosphere, hydrosphere, and biosphere.

Saltzman, Barry↗

NASA NTRS1990

Application of the TRANAIR rectangular grid approach to the aerodynamic analysis of complex configurations

A numerical method is described which uses a rectangular grid to solve the nonlinear full potential equation about complex configurations. The grid is locally refined to resolve high velocity gradients arising from leading edge expansions or shock waves. The grid penetrates the boundary (described by networks of quadrilateral panels) and is generated automatically. Discrete operators are constructed using the finite element method. The system of nonlinear discrete equations is solved iteratively using a Krylov subspace method preconditioned by an exterior Poisson solver and a direct sparse solver. The primary emphasis is to provide design engineers with an aerodynamic analysis tool (the TRANAIR code) which is accurate, reliable, economical, and flexible to use. Computational results for many interesting configurations are presented.

Johnson, Forrester T.↗

NASA NTRS2002

A computational model-based validation of Guyton's analysis of cardiac output and venous return curves

Guyton developed a popular approach for understanding the factors responsible for cardiac output (CO) regulation in which 1) the heart-lung unit and systemic circulation are independently characterized via CO and venous return (VR) curves, and 2) average CO and right atrial pressure (RAP) of the intact circulation are predicted by graphically intersecting the curves. However, this approach is virtually impossible to verify experimentally. We theoretically evaluated the approach with respect to a nonlinear, computational model of the pulsatile heart and circulation. We developed two sets of open circulation models to generate CO and VR curves, differing by the manner in which average RAP was varied. One set applied constant RAPs, while the other set applied pulsatile RAPs. Accurate prediction of intact, average CO and RAP was achieved only by intersecting the CO and VR curves generated with pulsatile RAPs because of the pulsatility and nonlinearity (e.g., systemic venous collapse) of the intact model. The CO and VR curves generated with pulsatile RAPs were also practically independent. This theoretical study therefore supports the validity of Guyton's graphical analysis.

NASA Discipline Cardiopulmonary↗

NASA NTRS1992

Asymptotic integration algorithms for first-order ODEs with application to viscoplasticity

When constructing an algorithm for the numerical integration of a differential equation, one must first convert the known ordinary differential equation (ODE), which is defined at a point, into an ordinary difference equation (O(delta)E), which is defined over an interval. Asymptotic, generalized, midpoint, and trapezoidal, O(delta)E algorithms are derived for a nonlinear first order ODE written in the form of a linear ODE. The asymptotic forward (typically underdamped) and backward (typically overdamped) integrators bound these midpoint and trapezoidal integrators, which tend to cancel out unwanted numerical damping by averaging, in some sense, the forward and backward integrations. Viscoplasticity presents itself as a system of nonlinear, coupled first-ordered ODE's that are mathematically stiff, and therefore, difficult to numerically integrate. They are an excellent application for the asymptotic integrators. Considering a general viscoplastic structure, it is demonstrated that one can either integrate the viscoplastic stresses or their associated eigenstrains.

Freed, Alan D.↗