Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “servo”

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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

aeroservoelasticity↗
NASA NTRS2021

Dual Quaternion Visual Servo Control

This paper focuses on a dual quaternion-based estimation and control approach for position-based visual servoing (PBVS). The pose estimation of the camera is achieved using a dual quaternion-based Extended Kalman Filter (EKF), which estimates the position and orientation of the camera based on feature points acquired through a sequence of camera images. Based on the estimation, a dual quaternion control law is developed to regulate the camera to the desired pose. Leveraging the local exponential stability of the EKF and the global exponential stability of the designed controller, a nonlinear separation principle is used to prove the stability of the joint estimation and control for PBVS. The method is distinguished from other PBVS methods in the sense that a compact representation of dual quaternion is used to represent the pose, and a joint stability of estimator and controller for PBVS in dual quaternion space is presented. The proposed dual quaternion PBVS method is validated using a simulation.

Quaternions↗
NASA NTRS2022

Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation

In this paper, we propose an adaptive shape servoing method to deform a soft object into a desired 3-D shape. The high dimensional representation and the unknown deformation properties of the soft object pose a challenge to actively manipulate its shape. To address this issue, we develop a method to compute the deformation Jacobian matrix in real-time. The Jacobian is estimated using a set of basis functions and its corresponding parameters to capture the dynamics of the system and relate the applied input motion to changes in the soft object's shape. An integral concurrent learning (ICL) based adaptive update law is derived using Lyapunov analysis to estimate the deformation parameters and prove its convergence. A physics-based simulation is used to validate the proposed method and controller by performing manipulation tasks with different desired configurations. The performance is compared with a standard gradient update law to demonstrate the accuracy and robustness of our approach.

Vrithik Raj Guthikonda↗
NASA NTRS2024

Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function

An adaptive shape servoing control method is presented in this article to manipulate a deformable object into a desired shape in 3-D. A finite-point-based representation of the deformable object is used and the deformation Jacobian matrix is approximated using Fourier series basis functions. The unknown parameters of the deformation Jacobian are learned by using the velocity applied to a control point on the object and corresponding change of positions of the points describing the entire object. An integral concurrent learning (ICL)-based parameter update law is designed along with a constrained controller to satisfy the state constraints on the motion of the control point using Barrier Lyapunov function analysis. ICL-based parameter update law uses data history of velocity and corresponding positions of the points along with their current values. An efficient algorithm to update the history stack using singular value maximization is proposed based on the structure of the regressor matrix. Simulations using a physical simulator and experiments using a robot platform are performed to validate the performance of the proposed controller on two different deformable objects.

Vrithik Raj Guthikonda↗
NASA NTRS1967

Servo control and data synchronization study

Magnetic tape recorder-reproducer to accept data pulses at varying rates, record data at constant rate, and retrieve recorded data at rate synchronized to external clock

SYNCHRONIZATION↗
NASA NTRS1968

Alternating current electromagnetic servo induction meter

Electromagnetic device accurately indicates the responses of various sensors in high performance flight research aircraft to conditions encountered in flight. The device responds to sensor inputs to move a slideable armature along an indicator scale by the force of currents induced in the armature winding.

Bogue, R. K.↗