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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,027 records · Page 57
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Time-temperature-stress capabilities of composite materials for advanced supersonic technology application

Advanced composites will play a key role in the development of the technology for the design and fabrication of future supersonic vehicles. However, incorporating the material into vehicle usage is contingent on accelerating the demonstration of service capacity and design technology. Because of the added material complexity and lack of extensive data, laboratory replication of the flight service will provide the most rapid method to document the airworthiness of advanced composite systems. Consequently, a laboratory program was conducted to determine the time-temperature-stress capabilities of several high temperature composites. Tests included were thermal aging, environmental aging, fatigue, creep, fracture, tensile, and real-time flight simulation exposure. The program had two phases. The first included all the material property determinations and aging and simulation exposures up through 10,000 hours. The second continued these tests up to 50,000 cumulative hours. This report presents the results of the Phase 1 baseline and 10,000-hr aging and flight simulation studies, the Phase 2 50,000-hr aging studies, and the Phase 2 flight simulation tests, some of which extended to almost 40,000 hours.

Kerr, James R.↗
NASA NTRS1987

A multiprocessing architecture for real-time monitoring

A multiprocessing architecture for performing real time monitoring and analysis using knowledge-based problem solving techniques is discussed. To handle asynchronous inputs and perform in real time, the system consists of three or more separate processes which run concurrently on one or more processors and communicate via a message passing scheme. The Data Management Process gathers, compresses, scales and sends the incoming telemetry data to other tasks. The Inference Process consists of a proprietary high performance inference engine that runs at 1000 rules per second using telemetry data to perform real time analysis on the state and health of the Space Telescope. The multiprocessing architecture has been interfaced to a simulator and is able to process the incoming telemetry in real time.

Laffey, Thomas J.↗
NASA NTRS1987

A conceptual framework for intelligent real-time information processing

By combining artificial intelligence concepts with the human information processing model of Rasmussen, a conceptual framework was developed for real time artificial intelligence systems which provides a foundation for system organization, control and validation. The approach is based on the description of system processing terms of an abstraction hierarchy of states of knowledge. The states of knowledge are organized along one dimension which corresponds to the extent to which the concepts are expressed in terms of the system inouts or in terms of the system response. Thus organized, the useful states form a generally triangular shape with the sensors and effectors forming the lower two vertices and the full evaluated set of courses of action the apex. Within the triangle boundaries are numerous processing paths which shortcut the detailed processing, by connecting incomplete levels of analysis to partially defined responses. Shortcuts at different levels of abstraction include reflexes, sensory motor control, rule based behavior, and satisficing. This approach was used in the design of a real time tactical decision aiding system, and in defining an intelligent aiding system for transport pilots.

Schudy, Robert↗
NASA NTRS1988

Performance modeling and measurement of real-time multiprocessors with time-shared buses

A closed queueing network model is constructed to address workload effects on computer performance for a highly reliable unibus multiprocessor used in real-time control. The queueing model consists of multiserver nodes and a nonpreemptive priority queue. Use of this model requires partitioning the workload into task classes. The time average steady-state solution of the queueing model directly produces useful results that are necessary in performance evaluation. The model is experimentally justified with the Fault-Tolerant Multiprocessor (FTMP) located at the NASA AIRLAB. Extensive experiments are performed on FTMP with a synthetic workload generator (SWG) to directly measure performance parameters, such as processor idle time, system bus contention, and task processing times. These measurements determine values for parameters in the queueing model. Experimental and analytic results are then compared.

Woodbury, Michael H.↗
NASA NTRS1987

Contingency support using adaptive telemetry extractor and expert system technologies

The 'telemetry analysis logic for operations support' prototype system constitutes an expert system that is charged with contingency planning for the NASA Hubble Space Telescope (HST); this system has demonstrated the feasibility of using an adaptive telemetry extractor/reformatter that is integrated with an expert system. A test case generated by a simulator has demonstrated the reduction of the time required for analysis of a complex series of failures to a few minutes, from the hour usually required. The HST's telemetry extractor will be able to read real-time engineering telemetry streams and disk-based data. Telemetry format changes will be handled almost instantaneously.

Bryant, Thomas↗
NASA NTRS1987

Flight problem evaluation for Space Shuttle Orbiter

The flight problems experienced with the reusable Space Shuttle Orbiter have decreased during subsequent flights of each vehicle. By comparison to first flights of previous vehicles, the problems encountered on the initial flight of each new vehicle entering the fleet decreased. This improvement in turn has reduced the turnaround time between flights significantly and thus greatly enhanced the increased Space Shuttle launch frequency. The reusable manned space vehicle concept necessitated the development of a flight problem recognition and resolution system which would enable a thorough and timely vehicle turnaround flow. Flight evaluation, testing, and repair of manned spacecraft to enhance reliability and to ensure mission success is a unique activity. Real-time recognition of the flight problem, prompt isolation of the cause, and timely implementation of the corrective action are the keys to maintaining an operational fleet. Examples of flight problems that have been encountered as well as the corrective actions implemented during the first 24 Space Shuttle missions are presented. The corrective actions taken to preclude problem recurrence include modifications of hardware designs, manufacturing processes, flight software, test methods, and operational procedures.

Mechelay, Joseph E.↗
NASA NTRS1987

MIT research in telerobotics

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

Sheridan, T. B.↗
NASA NTRS1988

Multirate digital control system design

Methods for multirate digital control system design are discussed. A simple method for sampling rate selection based on control bandwidths is proposed. Methods for generating a discrete-time state model of a sampled-data plant and a discrete-time equivalent to an analog cost function for a sampled-data plant are described. The succesive loop closures and linear quadratic Gaussian synthesis methods are reviewed, and a constrained optimization synthesis method is introduced. The proposed sampling rate selection, discretization, and synthesis methods are applied to two example design problems. Multirate and single-rate compensators synthesized by the different methods are compared, based on closed-loop responses, with compensators having the same real-time computation load.

Berg, Martin C.↗
NASA NTRS1988

Arranging computer architectures to create higher-performance controllers

Techniques for integrating microprocessors, array processors, and other intelligent devices in control systems are reviewed, with an emphasis on the (re)arrangement of components to form distributed or parallel processing systems. Consideration is given to the selection of the host microprocessor, increasing the power and/or memory capacity of the host, multitasking software for the host, array processors to reduce computation time, the allocation of real-time and non-real-time events to different computer subsystems, intelligent devices to share the computational burden for real-time events, and intelligent interfaces to increase communication speeds. The case of a helicopter vibration-suppression and stabilization controller is analyzed as an example, and significant improvements in computation and throughput rates are demonstrated.

Jacklin, Stephen A.↗
NASA NTRS1989

An algorithm for the solution of dynamic linear programs

The algorithm's objective is to efficiently solve Dynamic Linear Programs (DLP) by taking advantage of their special staircase structure. This algorithm constitutes a stepping stone to an improved algorithm for solving Dynamic Quadratic Programs, which, in turn, would make the nonlinear programming method of Successive Quadratic Programs more practical for solving trajectory optimization problems. The ultimate goal is to being trajectory optimization solution speeds into the realm of real-time control. The algorithm exploits the staircase nature of the large constraint matrix of the equality-constrained DLPs encountered when solving inequality-constrained DLPs by an active set approach. A numerically-stable, staircase QL factorization of the staircase constraint matrix is carried out starting from its last rows and columns. The resulting recursion is like the time-varying Riccati equation from multi-stage LQR theory. The resulting factorization increases the efficiency of all of the typical LP solution operations over that of a dense matrix LP code. At the same time numerical stability is ensured. The algorithm also takes advantage of dynamic programming ideas about the cost-to-go by relaxing active pseudo constraints in a backwards sweeping process. This further decreases the cost per update of the LP rank-1 updating procedure, although it may result in more changes of the active set that if pseudo constraints were relaxed in a non-stagewise fashion. The usual stability of closed-loop Linear/Quadratic optimally-controlled systems, if it carries over to strictly linear cost functions, implies that the saving due to reduced factor update effort may outweigh the cost of an increased number of updates. An aerospace example is presented in which a ground-to-ground rocket's distance is maximized. This example demonstrates the applicability of this class of algorithms to aerospace guidance. It also sheds light on the efficacy of the proposed pseudo constraint relaxation scheme.

Psiaki, Mark L.↗
NASA NTRS1989

A new second-order integration algorithm for simulating mechanical dynamic systems

A new integration algorithm which has the simplicity of Euler integration but exhibits second-order accuracy is described. In fixed-step numerical integration of differential equations for mechanical dynamic systems the method represents displacement and acceleration variables at integer step times and velocity variables at half-integer step times. Asymptotic accuracy of the algorithm is twice that of trapezoidal integration and ten times that of second-order Adams-Bashforth integration. The algorithm is also compatible with real-time inputs when used for a real-time simulation. It can be used to produce simulation outputs at double the integration frame rate, i.e., at both half-integer and integer frame times, even though it requires only one evaluation of state-variable derivatives per integration step. The new algorithm is shown to be especially effective in the simulation of lightly-damped structural modes. Both time-domain and frequency-domain accuracy comparisons with traditional integration methods are presented. Stability of the new algorithm is also examined.

Howe, R. M.↗
NASA NTRS1990

Information sciences experiment system

The rapid expansion of remote sensing capability over the last two decades will take another major leap forward with the advent of the Earth Observing System (Eos). An approach is presented that will permit experiments and demonstrations in onboard information extraction. The approach is a non-intrusive, eavesdropping mode in which a small amount of spacecraft real estate is allocated to an onboard computation resource. How such an approach allows the evaluation of advanced technology in the space environment, advanced techniques in information extraction for both Earth science and information science studies, direct to user data products, and real-time response to events, all without affecting other on-board instrumentation is discussed.

Katzberg, Stephen J.↗
NASA NTRS1989

Discrete-time adaptive control of robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.

Tarokh, M.↗
NASA NTRS1990

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗
NASA NTRS1989

Telecommunications and navigation systems design for manned Mars exploration missions

This paper discusses typical manned Mars exploration needs for telecommunications, including preliminary navigation support functions. It is a brief progress report on an ongoing study program within the current NASA JPL Deep Space Network (DSN) activities. A typical Mars exploration case is defined, and support approaches comparing microwave and optical frequency performance for both local in situ and Mars-earth links are described. Optical telecommunication and navigation technology development opportunities in a Mars exploration program are also identified. A local Mars system telecommunication relay and navigation capability for service support of all Mars missions has been proposed as part of an overall solar system communications network. The effects of light-time delay and occultations on real-time mission decision-making are discussed; the availability of increased local mass data storage may be more important than increasing peak data rates to earth. The long-term frequency use plan will most likely include a mix of microwave, millimeter-wave and optical link capabilities to meet a variety of deep space mission needs.

Hall, Justin R.↗
NASA NTRS1989

Adaptive precompensators for flexible-link manipulator control

The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

Tzes, Anthony P.↗
NASA NTRS1990

Real-time fuzzy inference based robot path planning

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

Pacini, Peter J.↗
NASA NTRS1990

Long duration mission support operations concepts

It is suggested that the system operations will be one of the most expensive parts of the Mars mission, and that, in order to reduce their cost, they should be considered during the conceptual phase of the Space Exploration Initiative (SEI) program. System operations of Space Station Freedom, Lunar outpost, and Mars Rover Sample Return are examined in order to develop a similar concept for the manned Mars mission. Factors that have to be taken into account include: (1) psychological stresses caused by long periods of isolation; (2) the effects of boredom; (3) the necessity of onboard training to maintain a high level of crew skills; and (4) the 40-min time delays between issuing and receiving a command, which make real-time flight control inoperative and require long-term decisions to be made by the ground support.

Eggleston, T. W.↗