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Report presents improved algorithms for controlling kinematically redundant robotic manipulators, producing unique configuration for each end-effector location. Furthermore, they generally produce configurations in which no interference between robot boom and payload or base structures. Report presents comparison between various other robot-kinematic algorithms.
The effectiveness of steady and pulsed blowing as a method of controlling delta wing vortices during ramp pitching has been investigated in flow visualization experiments conducted in a water tunnel. The recessed angled spanwise blowing technique was utilized for vortex manipulation. This technique was implemented on a beveled 60 delta wing using a pair of blowing ports located beneath the vortex core at 40% chord. The flow was injected primarily in the spanwise direction but was also composed of a component normal to the wing surface. The location of vortex burst was measured as a function of blowing intensity and pulsing frequency under static conditions, and the optimum blowing case was applied at three different wing pitching rates. Experimental results have shown that, when the burst location is upstream of the blowing port, pulsed blowing delays vortex breakdown in static and dynamic cases. Dynamic tests verified the existence of a hysteresis effect and demonstrated the improvements offered by pulsed blowing over both steady blowing and no-blowing scenarios. The application of blowing, at the optimum pulsing frequency, made the vortex breakdown location comparable in static and ramp pitch-up conditions.
This report provides user information for program PROFILE, an aerodynamics design utility for plotting, tabulating, and manipulating airfoil profiles. A dozen main functions are available. The theory and implementation details for two of the more complex options are also presented. These are the REFINE option, for smoothing curvature in selected regions while retaining or seeking some specified thickness ratio, and the OPTIMIZE option, which seeks a specified curvature distribution. Use of programs QPLOT and BPLOT is also described, since all of the plots provided by PROFILE (airfoil coordinates, curvature distributions, pressure distributions)) are achieved via the general-purpose QPLOT utility. BPLOT illustrates (again, via QPLOT) the shape functions used by two of PROFILE's options. These three utilities should be distributed as one package. They were designed and implemented for the Applied Aerodynamics Branch at NASA Ames Research Center, Moffett Field, California. They are all written in FORTRAN 77 and run on DEC and SGI systems under OpenVMS and IRIX.
A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory.
Under this GSRP fellowship, software-based failure-tolerance techniques were developed for robotic manipulators. The focus was on failures characterized by the loss of actuator torque at a joint, called free-swinging failures. The research results spanned many aspects of the free-swinging failure-tolerance problem, from preparing for an expected failure to discovery of postfailure capabilities to establishing efficient methods to realize those capabilities. Developed algorithms were verified using computer-based dynamic simulations, and these were further verified using hardware experiments at Johnson Space Center.
Under this GSRP fellowship, software-based failure-tolerance techniques were developed for robotic manipulators. The focus was on failures characterized by the loss of actuator torque at a joint, called free-swinging failures. The research results spanned many aspects of the free-swinging failure-tolerance problem, from preparing for an expected failure to discovery of postfailure capabilities to establishing efficient methods to realize those capabilities. Developed algorithms were verified using computer-based dynamic simulations, and these were further verified using hardware experiments at Johnson Space Center.
The National Aeronautics and Space Administration (NASA) Data Assimilation Office (DAO) at the Goddard Space Flight Center is moving its data assimilation system to massively parallel computing platforms. This parallel implementation of GEOS DAS will be used in the DAO's normal activities, which include reanalysis of data, and operational support for flight missions. Key components of GEOS DAS, including the gridpoint-based general circulation model and a data analysis system, are currently being parallelized. The parallelization of GEOS DAS is also one of the HPCC Grand Challenge Projects. The GEOS-DAS software employs several distinct grids. Some examples are: an observation grid- an unstructured grid of points at which observed or measured physical quantities from instruments or satellites are associated- a highly-structured latitude-longitude grid of points spanning the earth at given latitude-longitude coordinates at which prognostic quantities are determined, and a computational lat-lon grid in which the pole has been moved to a different location to avoid computational instabilities. Each of these grids has a different structure and number of constituent points. In spite of that, there are numerous interactions between the grids, e.g., values on one grid must be interpolated to another, or, in other cases, grids need to be redistributed on the underlying parallel platform. The DAO has designed a parallel integrated library for grid manipulations (PILGRIM) to support the needed grid interactions with maximum efficiency. It offers a flexible interface to generate new grids, define transformations between grids and apply them. Basic communication is currently MPI, however the interfaces defined here could conceivably be implemented with other message-passing libraries, e.g., Cray SHMEM, or with shared-memory constructs. The library is written in Fortran 90. First performance results indicate that even difficult problems, such as above-mentioned pole rotation- a sparse interpolation with little data locality between the physical lat-lon grid and a pole rotated computational grid- can be solved efficiently and at the GFlop/s rates needed to solve tomorrow's high resolution earth science models. In the subsequent presentation we will discuss the design and implementation of PILGRIM as well as a number of the problems it is required to solve. Some conclusions will be drawn about the potential performance of the overall earth science models on the supercomputer platforms foreseen for these problems.
In 1983, Ambjorn and Wolfram produced plots of the energy density of the quantum mechanical electromagnetic fluctuations in a volume of vacuum bounded by perfectly conducting walls in the shape of a rectangular cavity of dimensions a(1), a(2), and a(3), as a function of the ratios a(2)/a(1) and a(3)/a(1). Portions of these plots are double-valued, in that they allow rectangular cavities with the same, value of a(2)/a(1), but different values of a(3)/a(1), to have the saint total energy. Using these double-valued regions of the plots, I show that it is possible to define a "Casimir Vacuum Energy Extraction Cycle" which apparently would allow for the endless extraction of energy from the vacuum in the Casimir cavity by cyclic manipulation of the Casimir cavity dimensions.
Automatic decision making and control mechanisms of the type termed "adaptive" or "intelligent" offer unique advantages for exploration and manipulation of the undersea environment, particularly at great depths. Because they are able to carry out human-like functions autonomously, such mechanisms can aid and extend the capabilities of the human operator. This paper reviews past and present work in the areas of adaptive control and robotics with the purpose of establishing logical guidelines for the application of automatic techniques underwater. Experimental research data are used to illustrate the importance of information feedback, personnel training, and methods of control allocation in the interaction between operator and intelligent machine.
Several recent research efforts are reviewed here which have applied fuzzy logic in control of flexible-link manipulators. A flexible robot is a distributed parameter system represented by complex nonlinear dynamics, its actuator and the control parameters are non-colocated, and lastly, unstructured/unknown parameters play a significant role in model dynamics of a flexible robot operating in the real world. As a result, control of flexible robots is considered a promising area for application of intelligent control methodologies such as fuzzy logic, genetic algorithms, and neural networks.
Microbial mats were widespread during the first ca. 2 Ga. of our biosphere's history. To better understand microbial ecosystems and their biomarkers under the low sulfate levels present in early oceans, we attempted a long-term (ca. 1 year) manipulation of sulfate in modem mats. Mats collected from salt ponds at Guerrero Negro, Baja Calif. Sur were incubated in a Greenhouse "Collaboratory" at Ames. Mats were maintained in artificial seawater brine containing either: 1) sulfate levels normal for these mats (70 mM), or 2) brine in which sulfate was replaced by chloride. Sulfate concentrations in the "low sulfate" brine gradually approached their lowest (to date) value of 0. 1 mM as sulfate was consumed and/or diffused out of the mat over a period of ca. 4 months. During that period of time, a number of differences between the treatments emerged. Relative to the "low sulfate" mats, "normal sulfate" mats had: 1) lower consumption of oxygen in the lower levels of the mat, 2) higher efficiencies of oxygenic photosynthesis, and 3) higher rates of nitrogen fixation. Rates of methane production by the mats increased greatly as sulfate concentrations fell below ca. 0.2 mM. In contrast, "low" and "normal" sulfate mats had similar net rates of exchange of O2 and dissolved inorganic C between the mats and overlying water. Reduced sulfate levels have diverse impacts upon these ecosystems.
The annihilation of antimatter provides the highest mass specific energy of any other known reaction. Proper harnessing of this energy holds great promise for future space propulsion systems. Many different propulsion concepts have been proposed that take advantage of antimatter, either using matter-antimatter as the primary fuel, or as a 'spark plug' for fusion and fission systems. In order to begin to address these concepts experimentally, a method of storing and transporting antimatter must be developed. The High Performance Antiproton Trap (HiPAT) is a first-generation storage and transportation device designed to store and transport 10(exp 12) antiprotons with a storage half-life of 18 days. It uses a Penning-Malmberg ion trap with a 4T magnetic field and 20 kV potential. This will enable researchers much more flexibility in the design of antimatter experiments related to propulsion. Ions cannot be stored indefinitely in a real trap, as ion cloud instabilities develop from imperfections in manufacturing and misalignments in assembly. Previous work has been done at both the National Institute of Standards and University of California in San Diego in using RF (radio frequency) signals to both diagnose and confine the ion cloud. Two electrodes in the trap have been segmented to allow both reception and transmission of RF waves in the ion cloud. Experiments are underway to determine the number of ions and density in the cloud by "listening" to protons contained in the HiPAT. Currently we believe the density of ions stored in the trap is roughly 10(exp 15) m(exp -3). Development of non-destructive techniques is vital to the project goals, enabling continuous monitoring of the quantities stored in the system. Experimental work is also being done in identifying RF transmission frequencies that can manipulate the density of the cloud, by exchanging energy and momentum between the RF wave and the ions. Preliminary experiments have demonstrated this interaction.
Photosynthetic microbial mat communities were obtained from marine hypersaline saltern ponds, maintained in a greenhouse facility, and examined for the effects of salinity variations. Because these microbial mats are considered to be useful analogs of equivalent ancient marine communities, they offer insights about evolutionary events during the greater than 3 billion year time interval wherein mats co-evolved with Earth's geosphere and atmosphere. Although photosynthetic mats can be highly dynamic and exhibit extremely high activity, the mats in the present study have been maintained for more than one year with relatively minor changes. The major groups of microorganisms, as assayed using microscopic, genetic, and biomarker methodologies, are essentially the same as those in the original field samples. Field and greenhouse mats were similar with respect to rates of exchange of oxygen and dissolved inorganic carbon across the mat-water interface, both during the day and at night. Field and greenhouse mats exhibited similar rates of efflux of methane and hydrogen. Manipulations of salinity in the water overlying the mats produced changes in the community that strongly resemble those observed in the field. A collaboratory testbed and an array of automated features are being developed to support remote scientific experimentation with the assistance of intelligent software agents. This facility will permit teams of investigators to explore ancient environmental conditions that are rare or absent today but might have influenced the early evolution of these photosynthetic ecosystems.
SPAR Aerospace Limited's "Canadarm," Canada's contribution to the space shuttle. It is a crane which can operate as a 50 foot extension of an astronaut's arm. It can lift 65,000 pounds in space and retrieve satellites for repair, etc. Redesigned versions have energy and mining applications. Some of its hardware has been redeveloped for use as a Hydro manipulator in a nuclear reactor where it is expected to be extremely cost effective.
If normal aircraft flight controls are lost, emergency flight control may be attempted using only engines thrust. Collective thrust is used to control flightpath, and differential thrust is used to control bank angle. Flight test and simulation results on many airplanes have shown that pilot manipulation of throttles is usually adequate to maintain up-and-away flight, but is most often not capable of providing safe landings. There are techniques that will improve control and increase the chances of a survivable landing. This paper reviews the principles of throttles-only control (TOC), a history of accidents or incidents in which some or all flight controls were lost, manual TOC results for a wide range of airplanes from simulation and flight, and suggested techniques for flying with throttles only and making a survivable landing.
Photoperiod and harvest scenario of cowpea (Vigna unguiculata L. Walp) canopies were manipulated to optimize productivity for use in future controlled ecological life-support systems. Productivity was measured by edible yield rate (EYR:g m-2 day-1), shoot harvest index (SHI: g edible biomass [g total shoot dry weight]), and yield-efficiency rate (YER:g edible biomass m-2 day-1 per[g nonedible shoot dry weight]). Breeding lines 'IT84S-2246' (S-2246) and "IT82D-889' (D-889) were grown in a greenhouse under 8-, 12-, or 24-h photoperiods. S-2246 was short-day and D-889 was day-neutral for flowering. Under each photoperiod, cowpeas were harvested either for leaves only, seeds only, or leaves plus seeds (mixed harvest). Photoperiod did not affect EYR of either breeding line for any harvest scenario tested. Averaged over both breeding lines, seed harvest gave the highest EYR at 6.7 g m-2 day-1. The highest SHI (65%) and YER (94 mg m-2 day-1 g-1) were achieved for leaf-only harvest of D-889 under an 8-h photoperiod. For leaf-only harvest of S-2246, both SHI and YER increased with increasing photoperiod, but declined for seed-only and mixed harvests. However, photoperiod had no effect on SHI or YER for D-889 for any harvest scenario. A second experiment utilized the short-day cowpea breeding line 'IT89KD-288' (D-288) and the day-neutral breeding line 'IT87D-941-1' (D-941) to compare yield parameters using photoperiod extension under differing lamp types. This experiment confirmed the photoperiod responses of D-889 and S-2246 to a mixed-harvest scenario and indicated that daylength extension with higher irradiance from high pressure sodium lamps further suppressed EYR, SHI, and YER of the short-day breeding line D-288.
Compared to other available methods, ac dielectrophoresis is particularly well-suited for the manipulation of minute particles in micro- and nano-fluidics. The essential advantage of this technique is that an ac field at a sufficiently high frequency suppresses unwanted electric effects in a liquid. To date very little has been achieved towards understanding the micro-scale field-and shear driven behavior of a suspension in that, the concepts currently favored for the design and operation of dielectrophoretic micro-devices adopt the approach used for macro-scale electric filters. This strategy considers the trend of the field-induced particle motions by computing the spatial distribution of the field strength over a channel as if it were filled only with a liquid and then evaluating the direction of the dielectrophoretic force, exerted on a single particle placed in the liquid. However, the exposure of suspended particles to a field generates not only the dielectrophoretic force acting on each of these particles, but also the dipolar interactions of the particles due to their polarization. Furthermore, the field-driven motion of the particles is accompanied by their hydrodynamic interactions. We present the results of our experimental and theoretical studies which indicate that, under certain conditions, these long-range electrical and hydrodynamic interparticle interactions drastically affect the suspension behavior in a micro-channel due to its small dimensions.
A pressure-sensitive paint (PSP) technique was applied in a wind tunnel experiment in the NASA Langley Research Center 8-Foot Transonic Pressure Tunnel to quantify the effect of wing fillets on the global vortex-induced surface static pressure field about a sharp leading-edge 76 deg/40 deg double delta wing, or strake-wing, model at subsonic and transonic speeds. Global calibrations of the PSP were obtained at M = 0.50, 0.70, 0.85, 0.95, and 1.20, a Reynolds number per unit length of 2.0 million, and angles of attack from 10 degrees to 30 degrees using an in-situ method featuring the simultaneous acquisition of electronically-scanned pressures (ESP) at discrete locations on the model. The mean error in the PSP measurements relative to the ESP data was approximately 2 percent or less at M = 0.50 to 0.85 but increased to several percent at M = 0.95 and 1.20. The PSP pressure distributions and pseudo-colored planform view pressure maps clearly revealed the vortex-induced pressure signatures at all Mach numbers and angles of attack. Small fillets having a parabolic or diamond planform situated at the strake-wing intersection were designed to manipulate the vortical flows by, respectively, removing the leading-edge discontinuity or introducing additional discontinuities. The fillets caused global changes in the vortex-dominated surface pressure field that were effectively captured in the PSP measurements. The vortex surface pressure signatures were compared to available off-surface vortex cross-flow structures obtained using a laser vapor screen (LVS) flow visualization technique. The fillet effects on the PSP pressure distributions and the observed leading-edge vortex flow characteristics were consistent with the trends in the measured lift, drag, and pitching moment coefficients.