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At least 1,099 records · Page 61
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

2015 Sensorimotor Risk Standing Review Panel Evidence and Status Review For: the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight

The 2015 Sensorimotor Risk Standing Review Panel (from here on referred to as the SRP) participated in a WebEx/teleconference with members of the Human Health Countermeasures (HHC) Element, representatives from the Human Research Program (HRP), NASA Headquarters, and NASA Research and Education Support Services (NRESS) on December 17, 2015 (list of participants is in Section VI of this report). The SRP reviewed the new Evidence Report for the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight (from here on referred to as the 2015 Sensorimotor Evidence Report), and also received a status review of the Risk. The opening section of the 2015 Sensorimotor Evidence Report provides written descriptions of various incidents that have occurred during space missions. In most of these incidents, the main underlying contributing factors are not easy to identify unambiguously. For example, in section 1.9, a number of falls occurred while astronauts were walking on the moon. It is not clear to the SRP, however, why they fell. It is only possible to extrapolate from likely specific psychophysical or physiological abnormalities, but how these abnormalities were determined, and how they were directly responsible for the falls is unclear to the SRP. Section 2.1.2 on proprioception is very interesting, but the functional significance of the abnormalities detected is not clear. The SRP sees this as a problem throughout the report: a mapping between the component abnormalities identified and the holistic behaviors that are most relevant, for example, controlling the vehicle, and locomotion during egress, is generally lacking. The SRP thinks the cognitive section is too strongly focused on vestibular functioning. The SRP questions the notion that the main cognitive effects are mainly attributable to reversible vestibular changes induced by spaceflight. The SRP thinks that there can also be independent cognitive effects. The Functional Task Test (FTT) protocols and the Field Test are particularly valuable. The conclusion is that the unloading of major postural muscles experienced during spaceflight plays a central role in the alteration of functional task performance and balance control. This conclusion stands in contrast with the statements in other parts of the document that emphasize the role of vestibular changes on these functions. It would help to more fully integrate these two views on the predominant effects of spaceflight. Although the SRP thinks the countermeasures section is interesting, the proposed countermeasures are not well integrated with the abnormalities described in previous sections. The SRP thinks it would help enormously to have explicit links among each abnormality, its 2015 Sensorimotor Risk SRP Evidence Review Final Report 2 overall importance/impact on function, and the appropriate countermeasure that can be implemented to maintain adequate functioning.

Steinberg, Susan↗
NASA NTRS1972

The law's interface with expanding technology

The role of the law in technology assessment is described in generalized terms of a legal system as it confronts expanding technology. The functions of a technology assessment are considered to be twofold; provide for legislative action designed to channel technological advance along lines which are regarded as optimal from the standpoint of society's interests; and encourage and promote legislative action which will deal decisively with the potential disruptions and injuries caused by technology at a much earlier stage of the growth of the technology than is feasible under the present legal system. It is concluded that since new law always has a disruptive effect on expectations and commitments arrived at under old law, it is generally desirable that new legislation should make the least possible change in the law consistant with accomplishing the desired objective.

Green, H. P.↗
NASA NTRS1986

Correction function in the Lidar equation and the solution techniques for CO2 Lidar date reduction

For lidar systems with long laser pulses the unusual behavior of the near-range signals causes serious difficulties and large errors in reduction. The commonly used lidar equation is no longer applicable since the convolution of the laser pulse with the atmospheric parameter distributions should be taken into account. It is important to give more insight into this problem and find the solution techniques. Starting from the original equation, a general form is suggested for the single scattering lidar equation where a correction function Cr is introduced. The correction Function Cr(R) derived from the original equation indicates the departure from the normal lidar equation. Examples of Cr(R) for a coaxial CO2 lidar system are presented. The Differential Absorption Lidar (DIAL) errors caused by the differences of Cr(R) for H2O measurements are plotted against height.

Zhao, Y.↗
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗
NASA NTRS2011

Sampling Theorem in Terms of the Bandwidth and Sampling Interval

An approach has been developed for interpolating non-uniformly sampled data, with applications in signal and image reconstruction. This innovation generalizes the Whittaker-Shannon sampling theorem by emphasizing two assumptions explicitly (definition of a band-limited function and construction by periodic extension). The Whittaker- Shannon sampling theorem is thus expressed in terms of two fundamental length scales that are derived from these assumptions. The result is more general than what is usually reported, and contains the Whittaker- Shannon form as a special case corresponding to Nyquist-sampled data. The approach also shows that the preferred basis set for interpolation is found by varying the frequency component of the basis functions in an optimal way.

Dean, Bruce H.↗
NASA NTRS1982

Care 3 phase 2 report, maintenance manual

CARE 3 (Computer-Aided Reliability Estimation, version three) is a computer program designed to help estimate the reliability of complex, redundant systems. Although the program can model a wide variety of redundant structures, it was developed specifically for fault-tolerant avionics systems--systems distinguished by the need for extremely reliable performance since a system failure could well result in the loss of human life. It substantially generalizes the class of redundant configurations that could be accommodated, and includes a coverage model to determine the various coverage probabilities as a function of the applicable fault recovery mechanisms (detection delay, diagnostic scheduling interval, isolation and recovery delay, etc.). CARE 3 further generalizes the class of system structures that can be modeled and greatly expands the coverage model to take into account such effects as intermittent and transient faults, latent faults, error propagation, etc.

Bryant, L. A.↗
NASA NTRS1989

Structural optimization of framed structures using generalized optimality criteria

The application of a generalized optimality criteria to framed structures is presented. The optimality conditions, Lagrangian multipliers, resizing algorithm, and scaling procedures are all represented as a function of the objective and constraint functions along with their respective gradients. The optimization of two plane frames under multiple loading conditions subject to stress, displacement, generalized stiffness, and side constraints is presented. These results are compared to those found by optimizing the frames using a nonlinear mathematical programming technique.

Kolonay, R. M.↗
NASA NTRS2002

Application of the generalized vertical coordinate ocean model for better representing satellite data

It is found that two adaptive parametric functions can be introduced into the basic ocean equations for utilizing the optimal or hybrid features of commonly used z-level, terrain- following, isopycnal, and pressure coordinates in numerical ocean models. The two parametric functions are formulated by combining three techniques: the arbitrary vertical coordinate system of Kasahara (1 974), the Jacobian pressure gradient formulation of Song (1 998), and a newly developed metric factor that permits both compressible (non-Boussinesq) and incompressible (Boussinesq) approximations. Based on the new formulation, an adaptive modeling strategy is proposed and a staggered finite volume method is designed to ensure conservation of important physical properties and numerical accuracy. Implementation of the combined techniques to SCRUM (Song and Haidvogel1994) shows that the adaptive modeling strategy can be applied to any existing ocean model without incurring computational expense or altering the original numerical schemes. Such a generalized coordinate model is expected to benefit diverse ocean modelers for easily choosing optimal vertical structures and sharing modeling resources based on a common model platform. Several representing oceanographic problems with different scales and characteristics, such as coastal canyons, basin-scale circulation, and global ocean circulation, are used to demonstrate the model's capability for multiple applications. New results show that the model is capable of simultaneously resolving both Boussinesq and non-Boussinesq, and both small- and large-scale processes well. This talk will focus on its applications of multiple satellite sensing data in eddy-resolving simulations of Asian Marginal Sea and Kurosio. Attention will be given to how Topex/Poseidon SSH, TRMM SST; and GRACE ocean bottom pressure can be correctly represented in a non- Boussinesq model.

numerical ocean model generalized coordinate syste↗
NASA NTRS1991

Closed-loop transfer recovery with observer-based controllers. I - Analysis

The description of a novel problem in loop transfer recovery is presented. The problem of closed-loop recovery (CLTR) is examined using a measurement feedback-control law where the closed-loop transfer function from the external signal to the controlled output can be made either exactly equal or approximately close to the so-called target closed-loop transfer function achieved under full-state feedback. The analysis of CLTR applies specifically to the general class of observer-based controllers and focuses on three fundamental issues. The first issue is concerned with what can and cannot be achieved for a given system and for an arbitrary target closed-loop transfer function. The second issue is to develop necessary and/or sufficient conditions for a target closed-loop transfer function to be recoverable either exactly or approximately. The third issue deals with the necessary and/or sufficient conditions on a given system such that it has at least one recoverable target closed-loop transfer function. The result is applied to the lateral autopilot design for a commercial transport airplane.

Chen, Ben M.↗
NASA NTRS1980

Maximum likelihood method for estimating airplane stability and control parameters from flight data in frequency domain

A frequency domain maximum likelihood method is developed for the estimation of airplane stability and control parameters from measured data. The model of an airplane is represented by a discrete-type steady state Kalman filter with time variables replaced by their Fourier series expansions. The likelihood function of innovations is formulated, and by its maximization with respect to unknown parameters the estimation algorithm is obtained. This algorithm is then simplified to the output error estimation method with the data in the form of transformed time histories, frequency response curves, or spectral and cross-spectral densities. The development is followed by a discussion on the equivalence of the cost function in the time and frequency domains, and on advantages and disadvantages of the frequency domain approach. The algorithm developed is applied in four examples to the estimation of longitudinal parameters of a general aviation airplane using computer generated and measured data in turbulent and still air. The cost functions in the time and frequency domains are shown to be equivalent; therefore, both approaches are complementary and not contradictory. Despite some computational advantages of parameter estimation in the frequency domain, this approach is limited to linear equations of motion with constant coefficients.

Klein, V.↗
NASA NTRS1987

Io: Comparison of photometric scans produced by the Minnaert and Hapke functions

Experience has shown that the empirical Minnaert function is a very useful approximation to real photometric behavior near opposition (phase angle = 0), but that in general it cannot accurately model photometric scans across the face of even a homogeneous planet at higher phase angles. Given recent work on fitting the rigorous Hapke function to Voyager data for Io, we can test to what degree the Minnaert function breaks down in the case of Ionian materials by comparing photometric scans produced by the two approaches. At phase angles 2, 20, 30, 60, and 90 deg, we have computed scans of the reflectance along the photometric equator and mirror meridian that would be expected for a homogeneous planet whose surface obeys Hapke's law. The values used for the Hapke parameters omega(0), h, g, and bar-theta were derived for Io by Simonelli and Veverka in both the Voyager narrow angle camera violet filter and orange filter. Each calculated Hapke scan is compared with the corresponding scan predicted by Minnaert's law for various values of the Minnaert limb-darkening parameter k. For a Minnaert scan at a particular k, the value of the reflectance parameter B(0) is arbitrarily chosen so that the Minnaert and Hapke scans coincide at the so-called specular point (the point where the photometric equator and mirror meridian intersect). The violet filter photometric scans that result from this process are shown. Results indicate that the empirical Minnaert function, while not a perfect model of real photometric behavior, does provide a very useful parameterization of limb darkening at phase angles out to 90 deg, and is especially useful near opposition.

Simonelli, Damon P.↗
NASA NTRS1993

On the large eddy simulation of turbulent flows in complex geometry

Application of the method of Large Eddy Simulation (LES) to a turbulent flow consists of three separate steps. First, a filtering operation is performed on the Navier-Stokes equations to remove the small spatial scales. The resulting equations that describe the space time evolution of the 'large eddies' contain the subgrid-scale (sgs) stress tensor that describes the effect of the unresolved small scales on the resolved scales. The second step is the replacement of the sgs stress tensor by some expression involving the large scales - this is the problem of 'subgrid-scale modeling'. The final step is the numerical simulation of the resulting 'closed' equations for the large scale fields on a grid small enough to resolve the smallest of the large eddies, but still much larger than the fine scale structures at the Kolmogorov length. In dividing a turbulent flow field into 'large' and 'small' eddies, one presumes that a cut-off length delta can be sensibly chosen such that all fluctuations on a scale larger than delta are 'large eddies' and the remainder constitute the 'small scale' fluctuations. Typically, delta would be a length scale characterizing the smallest structures of interest in the flow. In an inhomogeneous flow, the 'sensible choice' for delta may vary significantly over the flow domain. For example, in a wall bounded turbulent flow, most statistical averages of interest vary much more rapidly with position near the wall than far away from it. Further, there are dynamically important organized structures near the wall on a scale much smaller than the boundary layer thickness. Therefore, the minimum size of eddies that need to be resolved is smaller near the wall. In general, for the LES of inhomogeneous flows, the width of the filtering kernel delta must be considered to be a function of position. If a filtering operation with a nonuniform filter width is performed on the Navier-Stokes equations, one does not in general get the standard large eddy equations. The complication is caused by the fact that a filtering operation with a nonuniform filter width in general does not commute with the operation of differentiation. This is one of the issues that we have looked at in detail as it is basic to any attempt at applying LES to complex geometry flows. Our principal findings are summarized.

Ghosal, Sandip↗
NASA NTRS1991

Integrated analysis and design for controlled nonlinear multibody systems

A hybrid approach for integrated analysis and design of nonlinear multibody systems is proposed. Based on the approach, a general-purpose design tool is developed for nonlinear dynamic systems subjected to nonlinear design constraints. For analysis purposes, second-order nonlinear equations of motion of the system are automatically generated using general-purpose multibody formulations. Once the equations are solved, they are written in first-order form to take advantage of the first-order formulations of design sensitivity analysis for dynamic systems. A nonlinear programming technique is then used to optimize the nonlinear systems, such that a nonlinear cost function is minimized and performance constraints are satisfied. The approach proved to be very general and useful for design and analysis of controlled multibody systems. The approach is applied to the design of passive dynamic controllers for slewing control of multibody systems.

Wu, Shih-Chin↗
NASA NTRS1999

Thin Interface Asymptotics for an Energy/Entropy Approach to Phase-Field Models with Unequal Conductivities

Karma and Rapped recently developed a new sharp interface asymptotic analysis of the phase-field equations that is especially appropriate for modeling dendritic growth at low undercoolings. Their approach relieves a stringent restriction on the interface thickness that applies in the conventional asymptotic analysis, and has the added advantage that interfacial kinetic effects can also be eliminated. However, their analysis focussed on the case of equal thermal conductivities in the solid and liquid phases; when applied to a standard phase-field model with unequal conductivities, anomalous terms arise in the limiting forms of the boundary conditions for the interfacial temperature that are not present in conventional sharp-interface solidification models, as discussed further by Almgren. In this paper we apply their asymptotic methodology to a generalized phase-field model which is derived using a thermodynamically consistent approach that is based on independent entropy and internal energy gradient functionals that include double wells in both the entropy and internal energy densities. The additional degrees of freedom associated with the generalized phased-field equations can be chosen to eliminate the anomalous terms that arise for unequal conductivities.

McFadden, G. B.↗
NASA NTRS1965

Stability in general control systems.

Axiomatic approach to control system theory as generalization of dynamic systems, noting weak and strong stability and Liapunov function

LIAPUNOV FUNCTION↗
NASA NTRS1967

Theoretical Study of Natural Convection Flows in Closed-End Cylindrical Vessels Final Report

This study is concerned with the analytical solutions of natural convection flows in closed-end cylindrical vessels to obtain exact solutions of temperature and velocity distribution in the laminar flow region under steady state condition. The temperature and velocity distributions, in general power series of displacements, are substituted into the three basic equations of continuity, momentum and energy. The relationships between coefficients of all powers are obtained through initial and boundary conditions and recurrence formulae. For constant wall temperature conditions the general solution of temperature and velocity may be expressed as a function of displacement, geometry ratio and Rayleigh number. Prandtl number does not enter as an independent parameter.

Convective flow↗