Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “local 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.

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

At least 973 records · Page 54
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

Stoker, Carol↗
NASA NTRS1975

Moving-base visual simulation study of decoupled controls during approach and landing of a STOL transport aircraft

The simulation employed all six rigid-body degrees of freedom and incorporated aerodynamic characteristics based on wind-tunnel data. The flight instrumentation included a localizer and a flight director which was used to capture and to maintain a two-segment glide slope. A closed-circuit television display of a STOLport provided visual cues during simulations of the approach and landing. The decoupled longitudinal controls used constant prefilter and feedback gains to provide steady-state decoupling of flight-path angle, pitch angle, and forward velocity. The pilots were enthusiastic about the decoupled longitudinal controls and believed that the simulator motion was an aid in evaluating the decoupled controls, although a minimum turbulence level with root-mean-square gust intensity of 0.3 m/sec (1 ft/sec) was required to mask undesirable characteristics of the moving-base simulator.

Miller, G. K., Jr.↗
NASA NTRS1991

Cost-effective accurate coarse-grid method for highly convective multidimensional unsteady flows

A fundamentally multidimensional convection scheme is described based on vector transient interpolation modeling rewritten in conservative control-volume form. Vector third-order upwinding is used as the basis of the algorithm; this automatically introduces important cross-difference terms that are absent from schemes using component-wise one-dimensional formulas. Third-order phase accuracy is good; this is important for coarse-grid large-eddy or full simulation. Potential overshoots or undershoots are avoided by using a recently developed universal limiter. Higher order accuracy is obtained locally, where needed, by the cost-effective strategy of adaptive stencil expansion in a direction normal to each control-volume face; this is controlled by monitoring the absolute normal gradient and curvature across the face. Higher (than third) order cross-terms do not appear to be needed. Since the wider stencil is used only in isolated narrow regions (near discontinuities), extremely high (in this case, seventh) order accuracy can be achieved for little more than the cost of a globally third-order scheme.

Leonard, B. P.↗
NASA NTRS1990

Dynamic model and cooperative control of a serially linked manipulator system

The use of a redundant manipulator to execute multiple tasks specified at different points on the manipulator is demonstrated. This is accomplished by decomposing a redundant arm at an intermediate arm location called the 'elbow' into two nonredundant local arms referred as the 'basearm' and the 'forearm'. This decomposition transforms a redundant arm into a serially linked dual-arm system, where the cooperation between the basearm and the forearm is carried out through the task distribution and the elbow control. The kinematics of a decomposed redundant manipulator are discussed, and a Cartesian space dynamic model and dynamic equation of a decomposed redundant manipulator are presented. The capability of generating Cartesian force, the local efficiency of generating Cartesian acceleration, and dynamic task distribution are discussed.

Lee, Sukhan↗
NASA NTRS2001

Control of a simulated arm using a novel combination of Cerebellar learning mechanisms

We present a model of cerebellar cortex that combines two types of learning: feedforward predicitve association based on local Hebbian-type learning between granule cell ascending branch and parallel fiber inputs, and reinforcement learning with feedback error correction based on climbing fiber activity.

cerebellum cerebellar learning dynamic state estim↗
NASA NTRS2007

Miniature L-Band Radar Transceiver

A miniature L-band transceiver that operates at a carrier frequency of 1.25 GHz has been developed as part of a generic radar electronics module (REM) that would constitute one unit in an array of many identical units in a very-large-aperture phased-array antenna. NASA and the Department of Defense are considering the deployment of such antennas in outer space; the underlying principles of operation, and some of those of design, also are applicable on Earth. The large dimensions of the antennas make it advantageous to distribute radio-frequency electronic circuitry into elements of the arrays. The design of the REM is intended to implement the distribution. The design also reflects a requirement to minimize the size and weight of the circuitry in order to minimize the weight of any such antenna. Other requirements include making the transceiver robust and radiation-hard and minimizing power demand. Figure 1 depicts the functional blocks of the REM, including the L-band transceiver. The key functions of the REM include signal generation, frequency translation, amplification, detection, handling of data, and radar control and timing. An arbitrary-waveform generator that includes logic circuitry and a digital-to-analog converter (DAC) generates a linear-frequency-modulation chirp waveform. A frequency synthesizer produces local-oscillator signals used for frequency conversion and clock signals for the arbitrary-waveform generator, for a digitizer [that is, an analog-to-digital converter (ADC)], and for a control and timing unit. Digital functions include command, timing, telemetry, filtering, and high-rate framing and serialization of data for a high-speed scientific-data interface. The aforementioned digital implementation of filtering is a key feature of the REM architecture. Digital filters, in contradistinction to analog ones, provide consistent and temperature-independent performance, which is particularly important when REMs are distributed throughout a large array. Digital filtering also enables selection among multiple filter parameters as required for different radar operating modes. After digital filtering, data are decimated appropriately in order to minimize the data rate out of an antenna panel. The L-band transceiver (see Figure 2) includes a radio-frequency (RF)-to-baseband down-converter chain and an intermediate- frequency (IF)-to-RF up-converter chain. Transmit/receive (T/R) switches enable the use of a single feed to the antenna for both transmission and reception. The T/R switches also afford a built-in test capability by enabling injection of a calibration signal into the receiver chain. In order of decreasing priority, components of the transceiver were selected according to requirements of radiation hardness, then compactness, then low power. All of the RF components are radiation-hard. The noise figure (NF) was optimized to the extent that (1) a low-noise amplifier (LNA) (characterized by NF < 2 dB) was selected but (2) the receiver front-end T/R switches were selected for a high degree of isolation and acceptably low loss, regardless of the requirement to minimize noise.

McWatters, Dalia↗
NASA NTRSDate not supplied

Correlated Electromagnetic Levitation Actuator: A Reaction Sphere Based Attitude Control System

To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at NASA’s Marshall Space Flight Center have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. The probe also includes the ability to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL Finite Element Analysis and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller thatmitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.

controls↗
NASA NTRS2003

An Arabidopsis Ran-binding protein, AtRanBP1c, is a co-activator of Ran GTPase-activating protein and requires the C-terminus for its cytoplasmic localization

Ran-binding proteins (RanBPs) are a group of proteins that bind to Ran (Ras-related nuclear small GTP-binding protein), and thus either control the GTP/GDP-bound states of Ran or help couple the Ran GTPase cycle to a cellular process. AtRanBP1c is a Ran-binding protein from Arabidopsis thaliana (L.) Heynh. that was recently shown to be critically involved in the regulation of auxin-induced mitotic progression [S.-H. Kim et al. (2001) Plant Cell 13:2619-2630]. Here we report that AtRanBP1c inhibits the EDTA-induced release of GTP from Ran and serves as a co-activator of Ran-GTPase-activating protein (RanGAP) in vitro. Transient expression of AtRanBP1c fused to a beta-glucuronidase (GUS) reporter reveals that the protein localizes primarily to the cytosol. Neither the N- nor C-terminus of AtRanBP1c, which flank the Ran-binding domain (RanBD), is necessary for the binding of PsRan1-GTP to the protein, but both are needed for the cytosolic localization of GUS-fused AtRanBP1c. These findings, together with a previous report that AtRanBP1c is critically involved in root growth and development, imply that the promotion of GTP hydrolysis by the Ran/RanGAP/AtRanBP1c complex in the cytoplasm, and the resulting concentration gradient of Ran-GDP to Ran-GTP across the nuclear membrane could be important in the regulation of auxin-induced mitotic progression in root tips of A. thaliana.

NASA Discipline Plant Biology↗
NASA NTRS1973

Rearward-facing steps in laminar supersonic flows with and without suction.

It was found in the experimental study conducted that, for both suction and no-suction cases, an increase in the step height caused a sharp drop in the initial heating rates which then gradually recovered to less or near the attached-flow values. The height of the step controlled the heating rates at the step base. Mass suction from the separated area increased the local heating rates, the relative increase being most significant immediately behind the step. In general, however, the effect of mass suction on heat-transfer at all laminar flows was relatively weak.

Jakubowski, A. K.↗
NASA NTRS1981

On a theory of temporal fluctuations in the electrostatic potential structures associated with auroral arcs

A possible mechanism is presented for the generation of large-amplitude temporal fluctuations in the structure of the electron energization region associated with auroral arcs. The mechanism is based on the observation that the auroral arc system resembles a laboratory circuit consisting of the series connection of battery, resistance and a forward biased diode containing collisionless plasma in which large-amplitude relaxation oscillations are sometimes observed to be superimposed on the steady-state current. It is shown that in both the laboratory and auroral systems, in which a localized auroral arc dynamo, the ionosphere and the electron energization region are involved, the oscillations are controlled by the times for ions and electrons to traverse the acceleration region, which also characterize the low- and high-frequency structure of the fluctuating waveform. It is demonstrated that a plausible one-dimensional double-layer model of the auroral arc acceleration region exhibits the dynamic negative resistance necessary for the generation of oscillations by the present mechanism. Finally, consideration is given to two kinds of auroral phenomena which might be associated with the mechanism: the 10-Hz quasi-periodic flickering aurora and 10-Hz modulations in the intensity of electrostatic hydrogen cyclotron waves.

Silevitch, M. B.↗
NASA NTRS1983

Synthetic aperture radar observation of ocean roughness from rolls in an unstable marine boundary layer

Simultaneous synthetic aperture radar (SAR) and cloud photographic observations of the Atlantic Ocean off the coast of Florida were made from a high-altitude aircraft when there was an unstable marine boundary layer. The synthetic aperture radar images show unusual kilometer-sized features on the ocean surface which are related to clouds. The ocean near shore was cloud-free and had no radar features, while from 30 to 330 km offshore there were clouds and prominent kilometer-sized features in the SAR image. These radar features are most prominent when the radar was looking upwind, are less prominent when the radar was looking downwind, and disappear entirely when the radar was looking crosswind. Since ocean radar echo strengths are believed to be controlled primarily by ocean waves satisfying the Bragg relation, these radar features most likely resulted from local enhancements of short gravity waves with 17- to 34-cm wavelengths, which in turn are surface expressions of roll convections in a kilometer-thick unstable marine boundary layer.

Thompson, T. W.↗
NASA NTRS1988

Space station proximity operations and window design

On-orbit proximity operations (PROX-OPS) consist of all extravehicular activity (EVA) within 1 km of the space station. Because of the potentially large variety of PROX-OPS, very careful planning for space station windows is called for and must consider a great many human factors. The following topics are discussed: (1) basic window design philosophy and assumptions; (2) the concept of the local horizontal - local vertical on-orbit; (3) window linear dimensions; (4) selected anthropomorphic considerations; (5) displays and controls relative to windows; and (6) full window assembly replacement.

Haines, Richard F.↗
NASA NTRS1991

Numerical simulations of thermal instabilities in stratified gases. II - Exploration of the parameter space

The temporal evolution of density perturbations in an initially hydrostatic isothermal atmosphere consisting of an optically thin radiating compressible plasma is studied. Numerical techniques are used to describe the nonlinear evolution of the perturbations, and the relative equilibrium between dynamic and thermal instabilities as governed by three independent control parameters are examined, namely, the initial density contrast of the perturbation, the ratio of the local buoyancy oscillation period to the local radiative cooling time, and the ratio of the perturbation radius to the local scaleheight. Four orders of magnitude of initial density contrasts and ratios of buoyancy and cooling times, and one order of magnitude of the bubble dimensions are explored. Well-defined oscillations were found to occur in a limited parameter range, and thermal instability to occur even within secondary condensations deriving from the bubble fragmentation.

Reale, F.↗
NASA NTRS1991

Navigation of military and space unmanned ground vehicles in unstructured terrains

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Lescoe, Paul↗
NASA NTRS2003

Photic and circadian regulation of retinal melatonin in mammals

Several studies have established that melatonin synthesis occurs in the retina of vertebrates, including mammals. In mammals, a subpopulation of photoreceptors (probably the cones) synthesize melatonin. Melatonin synthesis in the retina is elevated at night and reduced during the day in a fashion similar to events in the pineal gland. Both the MT1 and MT2 melatonin receptors are present in the retina and retinal melatonin does not contribute to circulating levels, suggesting that retinal melatonin acts locally as a neurohormone and/or neuromodulator. Melatonin synthesis in the retina of mammals is under the control of a circadian oscillator, and circadian rhythms in melatonin synthesis and/or release have been described for several species of mammals. These rhythms are present in vivo, persist in vitro, are entrained by light and are temperature compensated. The cloning of the gene responsible for the synthesis of the enzyme arylalkylamine N-acetyltransferase (the key enzyme in the melatonin biosynthetic pathway) has allowed studies of the molecular mechanisms responsible for the generation of retinal melatonin rhythmicity. The present review focuses on the cellular and molecular mechanisms that regulate melatonin synthesis. In particular, we discuss how the photic environment and the circadian clock interact in determining melatonin levels, in addition to the role that melatonin plays in retinal physiology.

NASA Discipline Space Human Factors↗
NASA NTRS2005

In Review (Geology): Alpine Landscape Evolution Dominated by Cirque Retreat

Despite the abundance in alpine terrain of glacially dissected landscapes, the magnitude and geometry of glacial erosion can rarely be defined. In the eastern Kyrgyz Range, a widespread unconformity exhumed as a geomorphic surface provides a regional datum with which to calibrate erosion. As tectonically driven surface uplift has progressively pushed this surface into the zone of ice accumulation, glacial erosion has overprinted the landscape. With as little as 500 m of incision into rocks underlying the unconformity, distinctive glacial valleys display their deepest incision adjacent to cirque headwalls. The expansion of north-facing glacial cirques at the expense of south-facing valleys has driven the drainage divide southwards at rates up to 2 to 3 times the rate of valley incision. Existing ice-flux-based glacial erosion rules incompletely model expansion of glacial valleys via cirque retreat into the low-gradient unconformity remnants. Local processes that either directly sap cirque headwalls or inhibit erosion down-glacier appear to control, at least initially, alpine landscape evolution.

Oskin, Michael↗
NASA NTRS1999

Rapid Chill and Fill of a Liquid Hydrogen Tank Demonstrated

The NASA Lewis Research Center, in conjunction with Boeing North American, has been supporting the High Energy Upper Stage (HEUS) program by performing feasibility studies at Lewis Supplemental Multilayer Insulation Research Facility (SMIRF). These tests were performed to demonstrate the feasibility of chilling and filling a tank with liquid hydrogen in under 5 minutes. The goal of the HEUS program is to release a satellite from the shuttle cargo bay and then use a cryogenic (high-energy) upper stage to allow the satellite to achieve final orbit. Because of safety considerations, the propellant tanks for the upper stage will be launched warm and dry. They will be filled from the shuttle's external tank during the mission phase after the solid rocket boosters have jettisoned and prior to jettison of the external tank. Data from previous shuttle missions have been analyzed to ensure that sufficient propellant would be available in the external tank to fill the propellant tank of the proposed vehicle upper stage. Because of mission time-line considerations, the propellant tanks for the upper stage will have to be chilled down and filled in approximately 5 minutes. An existing uninsulated flight weight test tank was installed inside the vacuum chamber at SMIRF, and the chamber was evacuated to the 10(exp -5) torr range to simulate space vacuum conditions in the cargo bay with the doors open. During prerun operations, the facility liquid hydrogen (LH2) supply piping was prechilled with the vent gas bypassing the test article. The liquid hydrogen supply dewar was saturated at local ambient pressure and then pressurized with ambient temperature gaseous helium to the test pressure. A control system was used to ensure that the liquid hydrogen supply pressure was maintained at the test pressure.

Kudlac, Maureen T.↗
NASA NTRS2004

Compensating for Effects of Humidity on Electronic Noses

A method of compensating for the effects of humidity on the readouts of electronic noses has been devised and tested. The method is especially appropriate for use in environments in which humidity is not or cannot be controlled for example, in the vicinity of a chemical spill, which can be accompanied by large local changes in humidity. Heretofore, it has been common practice to treat water vapor as merely another analyte, the concentration of which is determined, along with that of the other analytes, in a computational process based on deconvolution. This practice works well, but leaves room for improvement: changes in humidity can give rise to large changes in electronic-nose responses. If corrections for humidity are not made, the large humidity-induced responses may swamp smaller responses associated with low concentrations of analytes. The present method offers an improvement. The underlying concept is simple: One augments an electronic nose with a separate humidity and a separate temperature sensor. The outputs of the humidity and temperature sensors are used to generate values that are subtracted from the readings of the other sensors in an electronic nose to correct for the temperature-dependent contributions of humidity to those readings. Hence, in principle, what remains after corrections are the contributions of the analytes only. Laboratory experiments on a first-generation electronic nose have shown that this method is effective and improves the success rate of identification of analyte/ water mixtures. Work on a second-generation device was in progress at the time of reporting the information for this article.

Homer, Margie↗