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At least 1,063 records · Page 59

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NASA NTRS1990

Robust, High-Performance Control For Robotic Manipulators

Improved control scheme for robotic manipulators results from alternative approach to use of both model-based and performance-based control techniques. Includes feedforward controller and separate feedback controller. Feedforward controller model-based and contains any known part of dynamics of manipulator used to produce nominal control signal. Feedback controller performance-based; compensates for any unknown dynamics and uncertainties or variations in parameters of manipulator and/or payload.

Seraji, Homayoun↗

NASA NTRS1989

Detection of potential space station control/structure interaction with CO-ST-IN

The NASA Lewis Research Center is concerned with the potential of interaction between space station controllers and the solar PV array structures. The models required to handle this problem are very large, and automated methods were developed for the transfer of data between structural dynamic and control system analysis software. These methods emphasize the need to achieve accurate coupled analysis results while using as small a model as possible. Specific tools which help the analyst in this regard include modal order techniques, the use of mode acceleration to calculate internal loads and stresses and the transfer of Craig-Bampton components to reduce problems associated with modal sufficiency. These techniques were applied to a space station model with 366 modes below 1 Hz. Attitude control, and alpha and beta joint control were simulated. The inclusion of alpha and beta joint controllers is important when examining overall space station dynamics. An initial choice of control parameters does indicate a potential for control/structure interaction during reboost. As expected this is exacerbated by increasing the rate gain and decreasing the hysteresis of the reaction control system (RCS) in order to improve rigid body performance.

Carney, Kelly↗

NASA NTRS1990

The relation between ferroelasticity and superconductivity

The high-temperature superconductivity is explained widely by the layered crystal structure. The one- and two-dimensional subsystems and their interaction are investigated here. It is assumed that the high-T(sub c) superconductivity takes place in the two-dimensional subsystem and the increase of the phase transition temperature from 60 K up to 90 K is the consequence of turning on the influence of one-dimensional chains. The interaction between the two subsystems is transferred along the c axis by the phonons of breathing mode, which causes the hybridization of the electronic bonds between these subsystems. The experimental works indicate that the existence of both the chains Cu(1)-O and their interaction with the superconducting plane of Cu(2)-O modify the temperature of the transition to the superconducting state. It is seen from the neutron scattering data that the rates of the interatomic distance dependencies on temperature are changed around 140 K and 90 K. The 'zig-zag' order in Cu(1)-O chains has been postulated but, on the other hand, the vibrations with a large amplitude only were reported. The bi-stabilized situation of the oxygen ions can be caused by the change of distance between these ions and the Ba ions. It leads to the appearance of a two-well potential. Its parameters depend on temperature and the dynamics of the oxygen ions' movement. They can induce the antipolar order, which can be, however, more or less chaotic. The investigation of the ferroelastic properties of Y-Ba-Cu-O samples lead to the conclusion that they are related to jumps of ions inside the given chain and not to a diffusion between different sites in the ab plane. Researchers deduce thus that the fluctuating oxygen ions from these chains create dipoles in the ab plane. They can be described with the pseudo-spin formalism/ - Pauli matrices/. The system can be described with the Ising model. The pseudo-spins interact with phonons and influence the superconductivity in the second subsystem.

Molak, A.↗

NASA NTRS1991

Experiment of static and dynamic characteristics of spiral grooved seals

The leakages and the dynamic characteristics of six types of spiral grooved seals are experimentally investigated. The effect of the helix angle of the seal is investigated mainly under the condition of the same nominal clearances, land and groove lengths, and groove depths. The dynamic characteristics are measured for various parameters such as preswirl velocity, pressure difference between inlet and outlet of the seal, whirling amplitude, whirling speed, and rotating speed of the rotor. The results are also compared with leakage increases with the increase of the helix angle, but as the rotating speed increases, the leakages of the larger helix angle seals quickly drop. The leakage of the smooth-stator (SS)/smooth-grooved rotor (SGR) seal drops faster than that of the spiral-grooved stator (SGS)/smooth-rotor (SR) seal. It is found that a circumferential flow can be produced by the flow along the helix angle direction, and this circumferential flow acts as a negative swirl. For the present helix angle range, there is an optimum helix angle with which the seal has a comparatively positive effect on the rotor stability. Compared with the SGS/SR seals, the SS/SGR seal has a worse effect on the rotor stability.

Iwatsubo, T.↗

NASA NTRS1991

The relation between ferroelasticity and superconductivity

The high-temperature superconductivity is explained widely by the layered crystal structure. The one- and two-dimensional subsystems and their interaction are investigated here. It is assumed that the high-T(sub c) superconductivity takes place in the two-dimensional subsystem and the increase of the phase transition temperature from 60 K up to 90 K is the consequence of turning on the influence of one-dimensional chains. The interaction between the two subsystems is transferred along the c axis by the phonons of breathing mode, which causes the hybridization of the electronic bonds between these subsystems. The experimental works indicate that the existence of both the chains Cu(1)-O and their interaction with the superconducting plane of Cu(2)-O modify the temperature of the transition to the superconducting state. It is seen from the neutron scattering data that the rates of the interatomic distance dependencies on temperature are changed around 240 K and 90 K. The 'zig-zag' order in Cu(1)-O chains has been postulated but, on the other hand, the vibrations with a large amplitude only were reported. The bi-stabilized situation of the oxygen ions can be caused by the change of distance between these ions and the Ba ions. It leads to the appearance of a two-well potential. Its parameters depend on temperature and the dynamics of the oxygen ions' movement. They can induce the antipolar order, which can be, however, more or less chaotic. The investigation of the ferroelastic properties of Y-Ba-Cu-O samples lead to the conclusion that they are related to jumps of ions inside the given chain and not to a diffusion between different sites in the ab plane. Researchers deduce, thus, that the fluctuating oxygen ions from these chains create dipoles in the ab plane. They can be described with the pseudo-spin formalism (- Pauli matrices). The system can be described with the Ising model. The pseudo-spins interact with phonons and influence the superconductivity in the second subsystem.

Molak, A.↗

NASA NTRS1992

Free-decay time-domain modal identification for large space structures

Concept definition studies for the Modal Identification Experiment (MIE), a proposed space flight experiment for the Space Station Freedom (SSF), have demonstrated advantages and compatibility of free-decay time-domain modal identification techniques with the on-orbit operational constraints of large space structures. Since practical experience with modal identification using actual free-decay responses of large space structures is very limited, several numerical and test data reduction studies were conducted. Major issues and solutions were addressed, including closely-spaced modes, wide frequency range of interest, data acquisition errors, sampling delay, excitation limitations, nonlinearities, and unknown disturbances during free-decay data acquisition. The data processing strategies developed in these studies were applied to numerical simulations of the MIE, test data from a deployable truss, and launch vehicle flight data. Results of these studies indicate free-decay time-domain modal identification methods can provide accurate modal parameters necessary to characterize the structural dynamics of large space structures.

Kim, Hyoung M.↗

NASA NTRS1993

Linear, multivariable robust control with a mu perspective

The structured singular value is a linear algebra tool developed to study a particular class of matrix perturbation problems arising in robust feedback control of multivariable systems. These perturbations are called linear fractional, and are a natural way to model many types of uncertainty in linear systems, including state-space parameter uncertainty, multiplicative and additive unmodeled dynamics uncertainty, and coprime factor and gap metric uncertainty. The structured singular value theory provides a natural extension of classical SISO robustness measures and concepts to MIMO systems. The structured singular value analysis, coupled with approximate synthesis methods, make it possible to study the tradeoff between performance and uncertainty that occurs in all feedback systems. In MIMO systems, the complexity of the spatial interactions in the loop gains make it difficult to heuristically quantify the tradeoffs that must occur. This paper examines the role played by the structured singular value (and its computable bounds) in answering these questions, as well as its role in the general robust, multivariable control analysis and design problem.

Packard, Andy↗

NASA NTRS1994

Measuring the Hubble constant and our Virgo-infall velocity independently

A sample of spiral galaxies with B(sub T) less than 14.5 located in two local volumes, one in the direction of, but behind, the Virgo Cluster (behind-Virgo volume (BV)) and the other in the opposite direction (anti-Virgo volume (AV)), were used via a Tully-Fisher (TF) relation to derive the following two parameters: H(sub AB), the mean Hubble ratio between AV and BV, and delta v(sub parallel), the peculiar velocity of the Local Group in the direction of the Virgo Cluster (VC) with respect to a uniformly expanding reference system defined by our AV and BV sub-samples. The two sampled volumes, separated by a velocity interval of 5600 km/s, form an antipodal pair. This particular geometry not only allows us to derive the two parameters independently but also reduces the dynamical effect of the Local Supercluster on H(sub AB) without increasing the Malmquist bias. By limiting our sample to spiral galaxies having large velocity widths W(sub R), we effectively reduce the TF scatter and Malmquist bias in our sample. The TF zero point and dispersion were then determined by further correcting for the small residual Malmquist bias. An additional sample of fainter galaxies was used to test for a non-Gaussian tail to the TF disperison. We found no evidence for such a tail and formally give an upper limit of about 18% for the fractional contribution of an unseen tail. The average intrinsic TF dispersion for the dominant Gaussian component is sigma(sub TF)(sup 0) approximately 0.33 mag for W(sub R) approximately equal to or greater than 180 km/s. Our numerical results are delta v(sub parallel) approximately equals 414 +/- 82 km/s and H(sub AB) approximately equals (84.0 +/- 2.4)(1 + epsilon) km/s Mpc, where (1 + epsilon) accounts for any systematic error between the calibrators and the sample galaxies. Various dynamical models were tested to explore the effect on H(sub AB) of the uncertainties in the local velocity field. Constrained by our observed delta v(sub parallel) as well as other observational quantities, we found that the rms deviation from unity of H(sub AB)/H(sub 0) (where H(sub 0) is the Hubble constant for each model) is 5%, making H(sub AB) a good indicator for H(sub 0). Taking this variation as an additional error, our formal estimate for the Hubble constant is H(sub 0) approximately equals (84 +/- 5)(1 + epsilon) km/s Mpc.

Lu, Nanyao Y.↗

NASA NTRS1994

Ionospheric response to the sustained high geomagnetic activity during the March '89 great storm

A simulation was conducted to model the high-latitude ionospheric to the sustaied level of high geomagnetic activity for the great magnetic storm period of March 13-14, 1989. The geomagnetic and solar activity indices and the Defense Meterological Satellite Program (DMSP) F8 and F9 satellite data for particle precipitation and high-latitude convection were used as inputs to a time-dependent ionospheric model (TDIM). The results of the TDIM were compared to both DMSP plasma density data and ground-based total electron content (TEC) measurements for the great storm period as well as with earlier storm observations. The comparisons show that the overall structure of the high-latitude ionosphere was dominated by an increased convection speed within the polar cap that led to increased ion temperatures. In turn, this enhanced the NO(+) density, raised the atomic-to-molecular ion transition height to over 300 km, decreased N(sub m)F(sub 2), increased h(sub m)F(sub 2), and in places either increased n(sub e) at 800 km or slightly decreased it. The morphology of the ionosphere under these extreme conditions was considerably different than that modeled for less distributed intervals. These differences included the character of the dayside tongue of ionization that no longer extended deep into the polar cap. Instead, as a result of the ion heating and consequent reduction in N(sub m)F(sub 2), a large polar hole occupied much of the polar region. This polar hole extended beyond the auroral oval and merged with the night sector midatitude trough. The limitaions associated with the applicability of the TDIM to the geomagnetic conditions present on March 13 and 14 are discussed. The primary limitations of the TDIM derive from the limited temporal resolution of the model input parameters and the lack of suitably dynamic thermospheric specification for the great storm conditions. These limitations leads to midlatitude ionospheric storm phases that do no follow those observed.

Sojka, J. J.↗

NASA NTRS1994

Observations of stratospheric hydrogen fluoride by halogen occultation experiment (HALOE)

The Halogen Occultation Experiment (HALOE) Hydrogen Fluoride (HF) channel on the Upper Atmospheric Research Satellite (UARS) is providing the first global measurements of stratospheric HF, the dominant flourine reservoir in the atmosphere. This paper describes the latitudinal and seasonal variations of HALOE-observed HF in terms of vertical profiles, altitude/latitude cross sections, and column abundances. The HF global distribution shows a 'tracerlike' structure and its column amount increases with latitude, in agreement with previous aircraft measurements of the HF column amount. A comparison between the HALOE HF column above 20 km and the ATMOS 1985 measurements is used to estimate the annual rate of increase of stratospheric HF. Exponential rates of 4.9-6.6%/yr and linear growth rates of 6-8.6%/yr in 1985 and 4.3-5.5%/yr in 1992-1993 are found. HALOE HF measurements during the 1993 Antarctic spring are briefly described. This species behaves like a conserved tracer and its distribution shows an area of enhanced mixing ratios correlated with the polar vortex that has a clear latitude boundary. Finally, simulated HF distributions by the National Center for Atmospheric Research (NCAR) two-dimensional model are used to compare with HALOE observations of HF. Reasonable agreements in the global structure and the absolute amount of HF are found. The differences between the model and the observed results indicate the need for improving treatment of atmospheric dynamics and fluorine-related chemical parameters in the model simulations.

Luo, M.↗

NASA NTRS1995

Expendable launch vehicle studies

Analytical support studies of expendable launch vehicles concentrate on the stability of the dynamics during launch especially during or near the region of maximum dynamic pressure. The in-plane dynamic equations of a generic launch vehicle with multiple flexible bending and fuel sloshing modes are developed and linearized. The information from LeRC about the grids, masses, and modes is incorporated into the model. The eigenvalues of the plant are analyzed for several modeling factors: utilizing diagonal mass matrix, uniform beam assumption, inclusion of aerodynamics, and the interaction between the aerodynamics and the flexible bending motion. Preliminary PID, LQR, and LQG control designs with sensor and actuator dynamics for this system and simulations are also conducted. The initial analysis for comparison of PD (proportional-derivative) and full state feedback LQR Linear quadratic regulator) shows that the split weighted LQR controller has better performance than that of the PD. In order to meet both the performance and robustness requirements, the H(sub infinity) robust controller for the expendable launch vehicle is developed. The simulation indicates that both the performance and robustness of the H(sub infinity) controller are better than that for the PID and LQG controllers. The modelling and analysis support studies team has continued development of methodology, using eigensensitivity analysis, to solve three classes of discrete eigenvalue equations. In the first class, the matrix elements are non-linear functions of the eigenvector. All non-linear periodic motion can be cast in this form. Here the eigenvector is comprised of the coefficients of complete basis functions spanning the response space and the eigenvalue is the frequency. The second class of eigenvalue problems studied is the quadratic eigenvalue problem. Solutions for linear viscously damped structures or viscoelastic structures can be reduced to this form. Particular attention is paid to Maxwell and Kelvin models. The third class of problems consists of linear eigenvalue problems in which the elements of the mass and stiffness matrices are stochastic. dynamic structural response for which the parameters are given by probabilistic distribution functions, rather than deterministic values, can be cast in this form. Solutions for several problems in each class will be presented.

Bainum, Peter M.↗

NASA NTRS1992

Passive damping augmentation of flexible beam-like lattice trusses for large space structures

A Timoshenko beam continuum model is developed to determine the transient response of a beam-like latticed large space structure, subjected to a unit impulse. It is demonstrated that an increase in diagonal stiffness, on account of the stiffness of the vertical girder, leads to a rise in the transverse shear rigidity. This results in higher natural frequencies and reduction in peak displacement. In addition, in an asymmetrical truss configuration, coupling between the extensional and shear modes raises the maximum peak displacement compared with that obtained for a symmetrical truss. The model is modified to investigate the introduction of passive damping in the form of several dynamic vibration absorbers. A unique absorber parameter optimization procedure, based on the classical steady-state criteria, is used to tune the absorbers, having a total allocated mass budget of 10%, to the first two frequencies of the latticed structure. It is found that inclusion of transverse shear rigidity as a design parameter in damping augmentation studies reduces settling time for predetermined maximum peak displacements.

Cohen, K.↗

NASA NTRS2001

Predicting Turbulent Convective Heat Transfer in Fully Developed Duct Flows

The performance of an explicit algebraic stress model (EASM) is assessed in predicting the turbulent flow and forced heat transfer in both straight and wavy ducts, with rectangular, trapezoidal and triangular cross-sections, under fully developed conditions. A comparison of secondary flow patterns. including velocity vectors and velocity and temperature contours, are shown in order to study the effect of waviness on flow dynamics, and comparisons between the hydraulic parameters. Fanning friction factor and Nusselt number, are also presented. In all cases. isothermal conditions are imposed on the duct walls, and the turbulent heat fluxes are modeled using gradient-diffusion type models. The formulation is valid for Reynolds numbers up to 10(exp 5) and this minimizes the need for wall functions that have been used with mixed success in previous studies of complex duct flows. In addition, the present formulation imposes minimal demand on the number of grid points without any convergence or stability problems. Criteria in terms of heat transfer and friction factor needed to choose the optimal wavy duct cross-section for industrial applications among the ones considered are discussed.

Rokni, Masoud↗

NASA NTRS2004

Experiences with Probabilistic Analysis Applied to Controlled Systems

This paper presents a semi-analytic method for computing frequency dependent means, variances, and failure probabilities for arbitrarily large-order closed-loop dynamical systems possessing a single uncertain parameter or with multiple highly correlated uncertain parameters. The approach will be shown to not suffer from the same computational challenges associated with computing failure probabilities using conventional FORM/SORM techniques. The approach is demonstrated by computing the probabilistic frequency domain performance of an optimal feed-forward disturbance rejection scheme.

Kenny, Sean P.↗

NASA NTRS2002

Sensitivity analysis of radiative heating and cooling rates in planetary atmospheres: general linearization and adjoint approaches

Radiative heating and cooling provide primary source and ultimate sink of energy driving lower planetary atmospheres. Evaluating the sensitivities of atmospheric dynamics models on these primary atmospheric parameters requires knowing how heating and cooling rates depend on these same parameters. We discuss two approaches that make it possible to directly compute the sensitivities of heating and cooling rates in parallel with evaluation of heating and cooling rates themselves.

radiative transfer sensitivity analysis↗

NASA NTRS2011

Estimating Mass of Inflatable Aerodynamic Decelerators Using Dimensionless Parameters

This paper describes a technique for estimating mass for inflatable aerodynamic decelerators. The technique uses dimensional analysis to identify a set of dimensionless parameters for inflation pressure, mass of inflation gas, and mass of flexible material. The dimensionless parameters enable scaling of an inflatable concept with geometry parameters (e.g., diameter), environmental conditions (e.g., dynamic pressure), inflation gas properties (e.g., molecular mass), and mass growth allowance. This technique is applicable for attached (e.g., tension cone, hypercone, and stacked toroid) and trailing inflatable aerodynamic decelerators. The technique uses simple engineering approximations that were developed by NASA in the 1960s and 1970s, as well as some recent important developments. The NASA Mars Entry and Descent Landing System Analysis (EDL-SA) project used this technique to estimate the masses of the inflatable concepts that were used in the analysis. The EDL-SA results compared well with two independent sets of high-fidelity finite element analyses.

Samareh, Jamshid A.↗

NASA NTRS2011

Automated Verification of Spatial Resolution in Remotely Sensed Imagery

Image spatial resolution characteristics can vary widely among sources. In the case of aerial-based imaging systems, the image spatial resolution characteristics can even vary between acquisitions. In these systems, aircraft altitude, speed, and sensor look angle all affect image spatial resolution. Image spatial resolution needs to be verified with estimators that include the ground sample distance (GSD), the modulation transfer function (MTF), and the relative edge response (RER), all of which are key components of image quality, along with signal-to-noise ratio (SNR) and dynamic range. Knowledge of spatial resolution parameters is important to determine if features of interest are distinguishable in imagery or associated products, and to develop image restoration algorithms. An automated Spatial Resolution Verification Tool (SRVT) was developed to rapidly determine the spatial resolution characteristics of remotely sensed aerial and satellite imagery. Most current methods for assessing spatial resolution characteristics of imagery rely on pre-deployed engineered targets and are performed only at selected times within preselected scenes. The SRVT addresses these insufficiencies by finding uniform, high-contrast edges from urban scenes and then using these edges to determine standard estimators of spatial resolution, such as the MTF and the RER. The SRVT was developed using the MATLAB programming language and environment. This automated software algorithm assesses every image in an acquired data set, using edges found within each image, and in many cases eliminating the need for dedicated edge targets. The SRVT automatically identifies high-contrast, uniform edges and calculates the MTF and RER of each image, and when possible, within sections of an image, so that the variation of spatial resolution characteristics across the image can be analyzed. The automated algorithm is capable of quickly verifying the spatial resolution quality of all images within a data set, enabling the appropriate use of those images in a number of applications.

Davis, Bruce↗

NASA NTRS2016

Extracting Damping Ratio from Dynamic Data and Numerical Solutions

There are many ways to extract damping parameters from data or models. This Technical Memorandum provides a quick reference for some of the more common approaches used in dynamics analysis. Described are six methods of extracting damping from data: the half-power method, logarithmic decrement (decay rate) method, an autocorrelation/power spectral density fitting method, a frequency response fitting method, a random decrement fitting method, and a newly developed half-quadratic gain method. Additionally, state-space models and finite element method modeling tools, such as COMSOL Multiphysics (COMSOL), provide a theoretical damping via complex frequency. Each method has its advantages which are briefly noted. There are also likely many other advanced techniques in extracting damping within the operational modal analysis discipline, where an input excitation is unknown; however, these approaches discussed here are objective, direct, and can be implemented in a consistent manner.

Casiano, M. J.↗