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NASA NTRS1986

Controlling Flexible Manipulators, an Experimental Investigation

Lightweight, slender manipulators offer faster response and/or greater workspace range for the same size actuators than tradional manipulators. Lightweight construction of manipulator links results in increased structural flexibility. The increase flexibility must be considered in the design of control systems to properly account for the dynamic flexible vibrations and static deflections. Real time control of the flexible manipulator vibrations are experimentally investigated. Models intended for real-time control of distributed parameter system such as flexible manipulators rely on model approximation schemes. An linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes is examined with respect to model order requirements, and modal candidate selection. Balanced realizations are applied to the linear flexible model to obtain an estimate of appropriate order for a selected model. Describing the flexible deflections as a linear combination of modes results in measurements of beam state, which yield information about several modes. To realize the potential of linear systems theory, knowledge of each state must be available. State estimation is also accomplished by implementation of a Kalman Filter. State feedback control laws are implemented based upon linear quadratic regulator design.

Hastings, Gordon Greene↗

NASA NTRS1987

An approach to structure/control simultaneous optimization for large flexible spacecraft

This paper presents an approach to the simultaneous optimal design of a structure and control system for large flexible spacecrafts based on realistic objective function and constraints. The weight or total cost of structure and control system is minimized subject to constraints on the magnitude of response to a given disturbance involving both rigid-body and elastic modes. A nested optimization technique is developed to solve the combined problem. As an example, simple beam-like spacecraft under a steady-state white-noise disturbance force is investigated and some results of optimization are presented. In the numerical examples, the stiffness distribution, location of controller, and control gains are optimized. Direct feedback control and linear quadratic optimal controls laws are used with both inertial and noninertial disturbing force. It is shown that the total cost is sensitive to the overall structural stiffness, so that simultaneous optimization of the structure and control system is indeed useful.

Onoda, Junjiro↗

NASA NTRS1987

Differential surface models for tactile perception of shape and on-line tracking of features

Tactile perception of shape involves an on-line controller and a shape perceptor. The purpose of the on-line controller is to maintain gliding or rolling contact with the surface, and collect information, or track specific features of the surface such as edges of a certain sharpness. The shape perceptor uses the information to perceive, estimate the parameters of, or recognize the shape. The differential surface model depends on the information collected and on the a priori information known about the robot and its physical parameters. These differential models are certain functionals that are projections of the dynamics of the robot onto the surface gradient or onto the tangent plane. A number of differential properties may be directly measured from present day tactile sensors. Others may have to be indirectly computed from measurements. Others may constitute design objectives for distributed tactile sensors of the future. A parameterization of the surface leads to linear and nonlinear sequential parameter estimation techniques for identification of the surface. Many interesting compromises between measurement and computation are possible.

Hemami, H.↗

NASA NTRS1989

Optimization of the structural and control system for LSS with reduced-order model

The objective is the simultaneous design of the structural and control system for space structures. The minimum weight of the structure is the objective function, and the constraints are placed on the closed loop distribution of the frequencies and the damping parameters. The controls approach used is linear quadratic regulator with constant feedback. A reduced-order control system is used. The effect of uncontrolled modes is taken into consideration by the model error sensitivity suppression (MESS) technique which modified the weighting parameters for the control forces. For illustration, an ACOSS-FOUR structure is designed for a different number of controlled modes with specified values for the closed loop damping parameters and frequencies. The dynamic response of the optimum designs for an initial disturbance is compared.

Khot, N. S.↗

NASA NTRS1990

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Tesar, Delbert↗

NASA NTRS1989

The wavelength dependence of polarization in NGC 2023

NGC 2023 is a bright reflection nebula illuminated by the central star HD37903. At 2 microns the nebula is seen solely by reflected light from the central star but in the NIR there is excess radiation that is supposed to arise from thermal emission from a population of small grains (Sellgren, 1984). The unexpectedly high surface brightness at R and I wavelengths has led to the suggestion that even at these wavelengths there is a significant contribution from this thermal emission process (Witt, Schild, and Kraiman, 1984). If the nebula is seen by reflected starlight then this radiation will be linearly polarized. The level of polarization depends on the scattering geometry, grain size distribution, etc., and is typically 20 to 40 percent for nebulae such as NGC 1999 which is morphologically similar to NGC 2023. If, in any waveband, there is a contribution of radiation from emission processes this radiation will be unpolarized and will serve to dilute the scattered radiation to give a lower level of observed polarization. A study of the wavelength dependence of polarization in nebulae in which there may be thermal emission from grains will indicate the contribution from this process to the total luminosity. Polarization maps were produced in BVRI wavebands for the NGC 2023 nebulosity which confirm that at all wavelengths it is a reflection nebula illuminated by a central star. The wavelength dependence of polarization at representative points in the nebula and in a scatter plot of polarization in V and I wavebands at all points at which measurements are given. Results indicate that throughout the nebula there is a general trend for the level of polarization to increase with wavelength and that maximum levels of polarization occur at the longest wavelengths. No evidence is seen in the data for any significant contribution from the thermal emission from grains in the BVRI luminosity of NGC 2023.

Rolph, C. D.↗

NASA NTRS1993

Coupled structural, thermal, phase-change and electromagnetic analysis for superconductors, volume 2

Two families of parametrized mixed variational principles for linear electromagnetodynamics are constructed. The first family is applicable when the current density distribution is known a priori. Its six independent fields are magnetic intensity and flux density, magnetic potential, electric intensity and flux density and electric potential. Through appropriate specialization of parameters the first principle reduces to more conventional principles proposed in the literature. The second family is appropriate when the current density distribution and a conjugate Lagrange multiplier field are adjoined, giving a total of eight independently varied fields. In this case it is shown that a conventional variational principle exists only in the time-independent (static) case. Several static functionals with reduced number of varied fields are presented. The application of one of these principles to construct finite elements with current prediction capabilities is illustrated with a numerical example.

Felippa, Carlos A.↗

NASA NTRS1993

Intensity and polarization of light scattered by size distributions of randomly oriented nonspherical particles

Calculations of light scattering by small particles are important in many diverse fields of science and engineering. In many cases of practical interest, scattering particles are nonspherical and are distributed over sizes and orientations. However, accurate light scattering computations for ensembles of nonspherical particles are difficult and time-consuming, and the literature in which such calculations are reported is rather scarce. In this paper, the T-matrix approach, as extended recently to randomly oriented particles, is used to calculate rigorously light scattering by size distributions of randomly oriented axially symmetric particles. To model the variation of particle sizes in real ensembles, we use a power law distribution typical of some terrestrial aerosols. Contour plots of intensity and degree of linear polarization for polydisperse prolate and oblate spheroids of different aspect ratios and effective equivalent-sphere size parameters from 0 to 10 are calculated and compared with calculations for equivalent spheres. The angular scattering behavior of nonspherical polydispersions is found to be greatly different from that of spheres, while the scattering properties of oblate and prolate spheroids of the same aspect ratio are similar. With increasing particle size, both intensity and polarization become more shape-dependent. In general, nonspherical particles are stronger side scatterers and weaker backscatterers than equivalent spheres. With increasing aspect ratio of nonspherical particles polarization tends to be predominantly positive. Possible effects of particle nonsphericity on optical remote sensing of atmospheric aerosols are discussed.

Mishchenko, M. I.↗

NASA NTRS1994

Reionization in a cold dark matter universe: The feedback of galaxy formation on the intergalactic medium

We study the coupled evolution of the intergalactic medium (IGM) and the emerging structure in the universe in the context of the cold dark matter (CDM) model, with a special focus on the consequences of imposing reionization and the Gunn-Peterson constraint as a boundary condition on the model. We have calculated the time-varying density of the IGM by coupling our detailed, numerical calculations of the thermal and ionization balance and radiative transfer in a uniform, spatially averaged IGM of H and He, including the mean opacity of an evolving distribution of gas clumps which correspond to quasar absorption line clouds, to the linearized equations for the growth of density fluctuations in both the gaseous and dark matter components in a CDM universe. We use the linear growth equations to identify the fraction of the gas which must have collapsed out at each epoch, an approach similar in spirit to the so-called Press-Schechter formalism. We identify the IGM density with the uncollapsed baryon fraction. The collapsed fraction is postulated to be a source of energy injection into the IGM, by radiation or bulk hydrodynamical heating (e.g., via shocks) or both, at a rate which is marginally enough to satisfy the Gunn-Peterson constraint at z less than 5. Our results include the following: (1) We find that the IGM in a CDM model must have contained a substantial fraction of the total baryon density of the universe both during and after its reionization epoch. (2) As a result, our previous conclusion that the observed Quasi-Stellar Objects (QSOs) at high redshift are not sufficient to ionize the IGM enough to satisfy the Gunn-Peterson constraint is confirmed. (3) We predict a detectable He II Gunn-Peterson effect at 304(1 + z) A in the spectra of quasars at a range of redshift z greater than or approx. 3, depending on the nature of the sources of IGM reionization. (4) We find, moreover, that a CDM model with high bias parameter b (i.e., b greater than or approx. 2) cannot account for the baryon content of the universe at z approximately 3 observed in quasar absorption line gas unless Omega (sub B) significantly exceeds the maximum value allowed by big bang nucleocynthesis. (5) For a CDM model with bias parameter within the allowed range of (lower) values, the lower limit to Omega(sub B) imposed by big bang nucleosynthesis (Omega(sub B) h(sup 2) greater than or equal to 0.01) combines with our results to yield the minimum IGM density for the CDM fodel. For CDM with b = 1 (Cosmic Background Explorer (COBE) normalization), we find Omega(sub IGM)(sup min) (z approximately 4) approx. equal 0.02-0.03, and Omega(sub IGM)(sup min)(z approximately 0) approx. equal 0.005-0.03, depending upon the nature of the sources of IGM reionization. (6) In general, we find that self-consistent reionization of the IGM by the collapsed baryon fraction has a strong effect on the rate of collapse. (7) As a further example, we show that the feedback effect on the IGM of energy release by the collapsed baryon fraction may explain the slow evolution of the observed comoving QSO number density between z = 5 and z = 2, followed by the sharp decline after z = 2.

Shapiro, Paul R.↗

NASA NTRS2002

Modal and Impact Dynamics Analysis of an Aluminum Cylinder

This paper presents analyses for the modal characteristics and impact response of an all-aluminum cylinder. The analyses were performed in preparation for impact tests of the cylinder at The Impact Dynamics Research Facility (IDRF) at the NASA Langley Research Center. Mode shapes and frequencies were computed using NASTRAN and compared with existing experimental data to assess the overall accuracy of the mass and stiffness of the finite element model. A series of non-linear impact analyses were then performed using MSC Dytran in which the weight distribution on the floor and the impact velocity of the cylinder were varied. The effects of impact velocity and mass on the rebound and gross deformation of the cylinder were studied in this investigation.

Lessard, Wendy B.↗

NASA NTRS2001

Space Radiation Cancer Risks and Uncertainties for Mars Missions

Projecting cancer risks from exposure to space radiation is highly uncertain because of the absence of data for humans and because of the limited radiobiology data available for estimating late effects from the high-energy and charge (HZE) ions present in the galactic cosmic rays (GCR). Cancer risk projections involve many biological and physical factors, each of which has a differential range of uncertainty due to the lack of data and knowledge. We discuss an uncertainty assessment within the linear-additivity model using the approach of Monte Carlo sampling from subjective error distributions that represent the lack of knowledge in each factor to quantify the overall uncertainty in risk projections. Calculations are performed using the space radiation environment and transport codes for several Mars mission scenarios. This approach leads to estimates of the uncertainties in cancer risk projections of 400-600% for a Mars mission. The uncertainties in the quality factors are dominant. Using safety standards developed for low-Earth orbit, long-term space missions (>90 days) outside the Earth's magnetic field are currently unacceptable if the confidence levels in risk projections are considered. Because GCR exposures involve multiple particle or delta-ray tracks per cellular array, our results suggest that the shape of the dose response at low dose rates may be an additional uncertainty for estimating space radiation risks.

NASA Discipline Radiation Health↗

NASA NTRS2006

Towards a Theory of Sampled-Data Piecewise-Deterministic Markov Processes

The analysis and design of practical control systems requires that stochastic models be employed. Analysis and design tools have been developed, for example, for Markovian jump linear continuous and discrete-time systems, piecewise-deterministic processes (PDP's), and general stochastic hybrid systems (GSHS's). These model classes have been used in many applications, including fault tolerant control and networked control systems. This paper presents initial results on the analysis of a sampled-data PDP representation of a nonlinear sampled-data system with a jump linear controller. In particular, it is shown that the state of the sampled-data PDP satisfies the strong Markov property. In addition, a relation between the invariant measures of a sampled-data system driven by a stochastic process and its associated discrete-time representation are presented. As an application, when the plant is linear with no external input, a sufficient testable condition for the convergence in distribution to the invariant delta Dirac measure is given.

Herencia-Zapana, Heber↗

NASA NTRS2008

Geologic Mapping of Isabella Quadrangle (V-50) and Helen Planitia, Venus

(25-50 S, 180-210 E) is host to numerous coronae and small volcanic centers (paterae and shield fields), focused (Aditi and Sirona Dorsa) and distributed (penetrative north-south trending wrinkle ridges) contractional deformation, and radial and linear extensional structures, all of which contribute materials to and/or deform the expansive surrounding plains (Nsomeka and Wawalag Planitiae). Regional plains, which are a northern extension of regional plains mapped in the Barrymore Quadrangle V-59 [1], dominate the V-50 quadrangle. Previous mapping divided the regional plains into two members: regional plains, members a and b [2]. A re-evaluation of these members has determined that a continuous and consistent unit contact does not exist; however, the majority of this radar unit or surficial unit will still be displayed on the final map as a stipple pattern as it is a prevalent feature of the quadrangle. With minimal tessera or highland material, much of the quadrangle s oldest materials are plains units (the regional plains). Much of these plains are covered with small shield edifices that exhibit a variety of material contributions (or flows). In the northwest, several flows emerge and flow to the southeast from Diana-Dali Chasmata. Local corona- and mons-fed flows superpose the regional plains; however, earlier stages of volcano-tectonic centers marked by arcuate and radial structural elements, including terrain so heavily deformed that it takes on a new appearance, may have developed prior to or concurrently with the region plains. Northtrending deformation belts disrupt the central portion of the map area and wrinkle ridges parallel these larger belts. Isabella crater, in the northeastern quadrant, is highly asymmetric and displays two prominent ejecta blanket morphologies, which generally correlate with distance from the impact structure suggesting that ejecta block size or ejecta blanket thickness may be the cause. The crater floor is very dark and shows no direct connection with the large outflow to the south, which emphasizes the asymmetry observed. Isabella crater ejecta and outflow materials clearly postdate several small craters in the vicinity.

Bleamaster, Leslie F., III↗

NASA NTRS2015

Efficient Third-Order Distributed Feedback Laser with Enhanced Beam Pattern

A third-order distributed feedback laser has an active medium disposed on a substrate as a linear array of segments having a series of periodically spaced interstices therebetween and a first conductive layer disposed on a surface of the active medium on each of the segments and along a strip from each of the segments to a conductive electrical contact pad for application of current along a path including the active medium. Upon application of a current through the active medium, the active medium functions as an optical waveguide, and there is established an alternating electric field, at a THz frequency, both in the active medium and emerging from the interstices. Spacing of adjacent segments is approximately half of a wavelength of the THz frequency in free space or an odd integral multiple thereof, so that the linear array has a coherence length greater than the length of the linear array.

Hu, Qing↗

NASA NTRS2020

Assessment of Holographic Microscopy for Quantifying Marine Particle Size and Concentration

Holographic microscopy has emerged as a tool for in situ imaging of microscopic organisms and other particles in the marine environment: appealing because of relatively larger sampling volumes and simpler optical configurations compared to similar imaging systems. However, its quantitative capabilities have remained uncertain, in part because hologram reconstruction and image recognition have required manual operation. Here we assess the quantitative skill of our automated hologram processing pipeline, the CCV Pipeline, to evaluate the size and concentration measurements of environmental and cultured assemblages of marine plankton particles, and microspheres. Over one-million particles, ranging from 10-200 microns equivalent spherical diameter (ESD), imaged by the 4-Deep HoloSea digital inline holographic microscope (DIHM) are analyzed. These measurements were collected in parallel with FlowCam, Imaging FlowCytobot, and manual microscope identification. Once corrections for particle location and nonuniform illumination were developed and applied, the DIHM showed an underestimate in ESD of about 3-10%, but successfully reproduced the size-spectral-slope from environmental samples, and the size distribution of monocultures and microspheres. DIHM concentrations (order 1-1000 particles~ml-1) showed linear agreement (r^2=0.73) with the other instruments, but individual comparisons at times had large uncertainty.

holograpy↗

NASA NTRSDate not supplied

Changes in Alertness and Performance Over Time During Long-Haul Flying Across Multiple Time Zones

BACKGROUND: Long-haul pilots experience high levels of fatigue and circadian disruptions due to long work hours and flying over multiple time zones. The aim of this study was to describe changes in alertness and performance among flight crews during long-haul flights crossing multiple time zones. METHODS: All pilots flying long-haul operations from a single airline were eligible to participate. All participants collected data for ~2 weeks of their normal work schedule within airline operations, with at least two long-haul rotations, including rest days and layovers. Participants wore an Actiwach throughout the entire study period and completed a sleep diary (at bedtime, upon waking up and after each nap). Each participant completed a 5-min Psychomotor Vigilance Task (PVT) and a Karolinska Sleepiness Scale (KSS) pre-flight, on top-of-descent (TOD; inflight) and at the end of each flight (post-flight). Response speed (1/RT x 1000), lapses (RT > 500 ms), and alertness were assessed over time pre-flight, TOD, post-flight, using mixed-effects models with participant as a random factor. Linear models were assumed for response speed and alertness, while a negative binomial distribution was specified for lapses due to overdispersion. RESULTS: Forty-four long-haul pilots participated in the study (5 female; mean age 44.25 ± 10.06 yrs; mean flight hours 9834.3; ± 5334.1 hrs). Lapses increased post-flight relative to pre-flight (F(2, 665) = 3.67, p < 0.05). There was a main effect of response speed (F(2, 665) = 21.45, p < 0.001) with slower speed inflight and postflight compared to preflight (p < 0.001). The KSS increased over time from M = 4.02 (± 1.35) preflight to M = 5.15 (± 1.58) inflight, to M = 6.7 (± 1.51) postflight (F(2, 701) = 182.63, p < 0.001). DISCUSSION: Our preliminary analyses showed that both performance and subjective alertness worsened from the beginning to the end of a flight. Additional analyses will be conducted to investigate the changes in alertness and performance by direction of travel, sleep history, and flight timing and duration.

long-haul↗

DOE OSTI2022

Bayesian Monte Carlo Evaluation Framework for Imperfect Data and Models [Abstract]

Nuclear data evaluation methods conventionally make the following assumptions: prior and posterior probability distribution functions (PDFs) of all model parameters and data are normal (Gaussian); the linear approximation is sufficiently accurate for minimization of a cost function (even for non-linear models); and that both the model (of, e.g., neutron cross section) and experimental data (including their covariance data) are perfect. These assumptions are inherent to the well-known generalized linear least squares (GLLS) minimization method commonly used for evaluations of resolved resonance region (RRR) neutron cross sections. However, these assumptions are often not justified due to the presence of non-normal PDFs, non-linear models (e.g. R -matrix formalism), and inherent imperfections in data and models (e.g. discrepant data sets, discrepancies between the previous evaluation and newly measured data, or imperfect covariance data). We remove the said assumptions in a mathematical framework of Bayes’ theorem, and implement it using the Metropolis-Hastings Monte Carlo method. Parameters of a new kind are introduced to parameterize inherent imperfections, e.g. , any discrepancies between the theoretical model and measured data. These new parameters enable evaluators to quantify their expert judgement about any discrepancies or imperfections in a reproducible manner. We demonstrate the framework with an ongoing evaluation of 233 U in the eV region using the ENDF-B/VIII library and transmission data measured by Guber, et al. , and compare the posterior parameters to those obtained by conventional evaluation methods.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2021

Calculation of permanent magnet arrangements for stellarators: a linear least-squares method

A problem arising in several engineering areas is to design magnets outside a volume that produce a desired magnetic field inside it. One instance of this problem is stellarator design, where it has recently been shown that permanent magnets can provide the required shaping of the magnetic field. Here we demonstrate a robust and efficient algorithm REGCOIL_PM to calculate the spatial distribution of these permanent magnets. The procedure involves a small number of fixed-point iterations, with a linear least-squares problem solved at each step. Furthermore, the method exploits the Biot–Savart Law's exact linearity in magnetization density and approximate linearity in magnet size, for magnets far from the target region. No constraint is placed on the direction of magnetization, so Halbach solutions are found naturally, and the magnitude of the magnetization can be made uniformly equal to a target value.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗