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All sourcesNASA NTRSDOE OSTI
NASA NTRS1979

The application of model-referenced adaptive control to robotic manipulators

The achievement of quality dynamic performance in manipulator systems is difficult using conventional control methods because of both the inherent geometric nonlinearities of these systems and the dependence of the system dynamics on the characteristics of manipulated objects. A model-referenced adaptive control law is developed for maintaining uniformly good performance over a wide range of motions and payloads. The effectiveness of the approach is demonstrated in several simulations and the system stability as a function of input is investigated. Also developed is a 'learning signal' approach designed to minimize initial transients arising from abrupt changes in the inertial payload.

Dubowsky, S.↗
NASA NTRS1994

Optimization of Adaptive Intraply Hybrid Fiber Composites with Reliability Considerations

The reliability with bounded distribution parameters (mean, standard deviation) was maximized and the reliability-based cost was minimized for adaptive intra-ply hybrid fiber composites by using a probabilistic method. The probabilistic method accounts for all naturally occurring uncertainties including those in constituent material properties, fabrication variables, structure geometry, and control-related parameters. Probabilistic sensitivity factors were computed and used in the optimization procedures. For actuated change in the angle of attack of an airfoil-like composite shell structure with an adaptive torque plate, the reliability was maximized to 0.9999 probability, with constraints on the mean and standard deviation of the actuation material volume ratio (percentage of actuation composite material in a ply) and the actuation strain coefficient. The reliability-based cost was minimized for an airfoil-like composite shell structure with an adaptive skin and a mean actuation material volume ratio as the design parameter. At a O.9-mean actuation material volume ratio, the minimum cost was obtained.

Shiao, Michael C.↗
NASA NTRS2004

Hubble Space Telescope Fine Guidance Sensor Post-Flight Bearing Inspection

Aerospace mechanism engineering success stories often, if not always, consist of overcoming developmental, test and flight anomalies. Many times it is these anomalies that stimulate technology growth and more reliable future systems. However, one must learn from these to achieve an ultimately successful mission. It is not often that a spacecraft engineer is able to inspect hardware that has flown in orbit for several years. However, in February 1997, the Fine Guidance Sensor-I (FGS-1) was removed from the Hubble Space Telescope (HST) and returned to NASA Goddard Space Flight Center (GSFC) during the second Servicing Mission (SM2). At the time of removal, FGS-1 had nearly 7 years of service and the bearings in the Star Selector Servos (SSS) had accumulated approximately 25 million Coarse Track (CT) cycles. The main reason for its replacement was due to a bearing torque anomaly leading to stalling of the B Star Selector Servo (SSS-B) when reversing direction during a vehicle offset maneuver, referred to herein as a Reversal Bump (RB). The returned HST FGS SSS bearings were disassembled for post-service condition assessment to better understand the actual cause of the torque spikes, identify potential process/design improvements, and provide information for remedial on-orbit operation modifications. The methods and technology utilized for this inspection are not unique to this system and can be adapted to most investigation ai varying stages of the mechanism life from development, through testing, io post night evaluation. The systematic methods used for the HST Fine Guidance Sensor (FGS) SSS and specific findings are the subjects presented in this paper. The lessons learned include the importance of cleanliness and handling for precision instrument bearings and the potential effects from contamination. The paper describes in detail, the analytical techniques used for the SSS and their importance in this investigation. Inspection analytical data and photographs are included throughout the paper.

Pellicciotti, Joseph↗
NASA NTRS2004

Hubble Space Telescope Fine Guidance Sensor Post-Flight Bearing Inspection

Aerospace mechanism engineering success stories often, if not always, consist of overcoming developmental, test and flight anomalies. Many times it is these anomalies that stimulate technology growth and more reliable future systems. However, one must learn from these to achieve an ultimately successful mission. It is not often that a spacecraft engineer is able to inspect hardware that has flown in orbit for several years. However, in February 1997, the Fine Guidance Sensor-1 (FGS-1) was removed from the Hubble Space Telescope (HST) and returned to NASA Goddard Space Flight Center (GSFC) during the second Servicing Mission (SM2). At the time of removal, FGS-1 had nearly 7 years of service and the bearings in the Star Selector Servos (SSS) had accumulated approximately 25 million Coarse Track (CT) cycles. The main reason for its replacement was due to a bearing torque anomaly leading to stalling of the B Star Selector Servo (SSS-B) when reversing direction during a vehicle offset maneuver, referred to herein as a Reversal Bump (RB). The returned HST FGS SSS bearings were disassembled for post-service condition assessment to better understand the actual cause of the torque spikes, identify potential process/design improvements, and provide information for remedial on-orbit operation modifications. The methods and technology utilized for this inspection are not unique to this system and can be adapted to most investigations at varying stages of the mechanism life from development, through testing, to post flight evaluation. The systematic methods used for the HST Fine Guidance Sensor (FGS) SSS and specific findings are the subjects presented in this paper. The lessons learned include the importance of cleanliness and handling for precision instrument bearings and the potential effects from contamination. The paper describes in detail, the analytical techniques used for the SSS and their importance in this investigation. Inspection analytical data and photographs are included throughout the paper.

Pellicciotti, J.↗
NASA NTRS1976

Application of the adaptive-wall concept to three-dimensional low-speed wind tunnels

Three methods for evaluating the functional relationships required to obtain interference-free flows about a model in a wind tunnel have been developed. The first, the original multipole expansion (MPE) procedure, is based on a series of point singularities which satisfy the governing Prandtl-Glauert equation. The second, the modified MPE, provides an improved representation of finite-span wings and thereby extends the range of validity of the original MPE to larger ratios of span-to-control-surface-width. The third method is more general and is based on source distributions over the control surface. Several numerical examples are presented to help establish the range of validity of these methods. An accuracy-assessment procedure, which combines the original MPE procedure with classical wall-correction theory, has been developed to estimate the degree of interference at the model if the functional relationships are not satisfied exactly. Several numerical examples are presented for representative wings and bodies.

Erickson, J. C., Jr.↗
NASA NTRS2012

Probabilistic Sensitivity Analysis for Launch Vehicles with Varying Payloads and Adapters for Structural Dynamics and Loads

This paper examines Probabilistic Sensitivity Analysis (PSA) methods and tools in an effort to understand their utility in vehicle loads and dynamic analysis. Specifically, this study addresses how these methods may be used to establish limits on payload mass and cg location and requirements on adaptor stiffnesses while maintaining vehicle loads and frequencies within established bounds. To this end, PSA methods and tools are applied to a realistic, but manageable, integrated launch vehicle analysis where payload and payload adaptor parameters are modeled as random variables. This analysis is used to study both Regional Response PSA (RRPSA) and Global Response PSA (GRPSA) methods, with a primary focus on sampling based techniques. For contrast, some MPP based approaches are also examined.

McGhee, David S.↗
NASA NTRS2015

Adaptive Stress Testing of Airborne Collision Avoidance Systems

This paper presents a scalable method to efficiently search for the most likely state trajectory leading to an event given only a simulator of a system. Our approach uses a reinforcement learning formulation and solves it using Monte Carlo Tree Search (MCTS). The approach places very few requirements on the underlying system, requiring only that the simulator provide some basic controls, the ability to evaluate certain conditions, and a mechanism to control the stochasticity in the system. Access to the system state is not required, allowing the method to support systems with hidden state. The method is applied to stress test a prototype aircraft collision avoidance system to identify trajectories that are likely to lead to near mid-air collisions. We present results for both single and multi-threat encounters and discuss their relevance. Compared with direct Monte Carlo search, this MCTS method performs significantly better both in finding events and in maximizing their likelihood.

Verification and Validation↗
NASA NTRS2010

L(sub 1) Adaptive Flight Control System: Flight Evaluation and Technology Transition

Certification of adaptive control technologies for both manned and unmanned aircraft represent a major challenge for current Verification and Validation techniques. A (missing) key step towards flight certification of adaptive flight control systems is the definition and development of analysis tools and methods to support Verification and Validation for nonlinear systems, similar to the procedures currently used for linear systems. In this paper, we describe and demonstrate the advantages of L(sub l) adaptive control architectures for closing some of the gaps in certification of adaptive flight control systems, which may facilitate the transition of adaptive control into military and commercial aerospace applications. As illustrative examples, we present the results of a piloted simulation evaluation on the NASA AirSTAR flight test vehicle, and results of an extensive flight test program conducted by the Naval Postgraduate School to demonstrate the advantages of L(sub l) adaptive control as a verifiable robust adaptive flight control system.

Xargay, Enric↗
NASA NTRS1998

Fuzzy Adaptive Control for Intelligent Autonomous Space Exploration Problems

The principal objective of the research reported here is the re-design, analysis and optimization of our newly developed neural network fuzzy adaptive controller model for complex processes capable of learning fuzzy control rules using process data and improving its control through on-line adaption. The learned improvement is according to a performance objective function that provides evaluative feedback; this performance objective is broadly defined to meet long-range goals over time. Although fuzzy control had proven effective for complex, nonlinear, imprecisely-defined processes for which standard models and controls are either inefficient, impractical or cannot be derived, the state of the art prior to our work showed that procedures for deriving fuzzy control, however, were mostly ad hoc heuristics. The learning ability of neural networks was exploited to systematically derive fuzzy control and permit on-line adaption and in the process optimize control. The operation of neural networks integrates very naturally with fuzzy logic. The neural networks which were designed and tested using simulation software and simulated data, followed by realistic industrial data were reconfigured for application on several platforms as well as for the employment of improved algorithms. The statistical procedures of the learning process were investigated and evaluated with standard statistical procedures (such as ANOVA, graphical analysis of residuals, etc.). The computational advantage of dynamic programming-like methods of optimal control was used to permit on-line fuzzy adaptive control. Tests for the consistency, completeness and interaction of the control rules were applied. Comparisons to other methods and controllers were made so as to identify the major advantages of the resulting controller model. Several specific modifications and extensions were made to the original controller. Additional modifications and explorations have been proposed for further study. Some of these are in progress in our laboratory while others await additional support. All of these enhancements will improve the attractiveness of the controller as an effective tool for the on line control of an array of complex process environments.

Esogbue, Augustine O.↗
NASA NTRS1997

Height increase, neuromuscular function, and back pain during 6 degrees head-down tilt with traction

BACKGROUND: Spinal lengthening and back pain are commonly experienced by astronauts exposed to microgravity. METHODS: To develop a ground-based simulation for spinal adaptation to microgravity, we investigated height increase, neuromuscular function and back pain in 6 subjects all of whom underwent two forms of bed rest for 3 d. One form consisted of 6 degrees of head-down tilt (HDT) with balanced traction, while the other was horizontal bed rest (HBR). Subjects had a 2-week recovery period in between the studies. RESULTS: Total body and spinal length increased significantly more and the subjects had significantly more back pain during HDT with balanced traction compared to HBR. The distance between the lower endplate of L4 and upper endplate of S1, as measured by ultrasonography, increased significantly in both treatments to the same degree. Intramuscular pressures in the erector spinae muscles and ankle torque measurements during plantarflexion and dorsiflexion did not change significantly during either treatment. CONCLUSION: Compared to HBR, HDT with balanced traction may be a better method to simulate changes of total body and spinal lengths, as well as back pain seen in microgravity.

NASA Discipline Number 26-10↗
NASA NTRS1995

An Adaptive Semi-Implicit Scheme for Simulations of Unsteady Viscous Compressible Flows

A numerical scheme for simulation of unsteady, viscous, compressible flows is considered. The scheme employs an explicit discretization of the inviscid terms of the Navier-Stokes equations and an implicit discretization of the viscous terms. The discretization is second order accurate in both space and time. Under appropriate assumptions, the implicit system of equations can be decoupled into two linear systems of reduced rank. These are solved efficiently using a Gauss-Seidel method with multigrid convergence acceleration. When coupled with a solution-adaptive mesh refinement technique, the hybrid explicit-implicit scheme provides an effective methodology for accurate simulations of unsteady viscous flows. The methodology is demonstrated for both body-fitted structured grids and for rectangular (Cartesian) grids.

Steinthorsson, Erlendur↗
NASA NTRS1999

Drop Ejection From an Oscillating Rod

The dynamics of a drop of a Newtonian liquid that is pendant from or sessile on a solid rod that is forced to undergo time-periodic oscillations along its axis is studied theoretically. The free boundary problem governing the time evolution of the shape of the drop and the flow field inside it is solved by a method of lines using a finite element algorithm incorporating an adaptive mesh. When the forcing amplitude is small, the drop approaches a limit cycle at large times and undergoes steady oscillations thereafter. However, drop breakup is the consequence if the forcing amplitude exceeds a critical value. Over a wide range of amplitudes above this critical value, drop ejection from the rod occurs during the second oscillation period from the commencement of rod motion. Remarkably, the shape of the interface at breakup and the volume of the primary drop formed are insensitive to changes in forcing amplitude. The interface shape at times close to and at breakup is a multi-valued function of distance measured along the rod axis and hence cannot be described by recently popularized one-dimensional approximations. The computations show that drop ejection occurs without the formation of a long neck. Therefore, this method of drop formation holds promise of preventing formation of undesirable satellite droplets.

Wilkes, E. D.↗
NASA NTRS1989

Residual interference and wind tunnel wall adaption

Measured flow variables near the test section boundaries, used to guide adjustments of the walls in adaptive wind tunnels, can also be used to quantify the residual interference. Because of a finite number of wall control devices (jacks, plenum compartments), the finite test section length, and the approximation character of adaptation algorithms, the unconfined flow conditions are not expected to be precisely attained even in the fully adapted stage. The procedures for the evaluation of residual wall interference are essentially the same as those used for assessing the correction in conventional, non-adaptive wind tunnels. Depending upon the number of flow variables utilized, one can speak of one- or two-variable methods; in two dimensions also of Schwarz- or Cauchy-type methods. The one-variable methods use the measured static pressure and normal velocity at the test section boundary, but do not require any model representation. This is clearly of an advantage for adaptive wall test section, which are often relatively small with respect to the test model, and for the variety of complex flows commonly encountered in wind tunnel testing. For test sections with flexible walls the normal component of velocity is given by the shape of the wall, adjusted for the displacement effect of its boundary layer. For ventilated test section walls it has to be measured by the Calspan pipes, laser Doppler velocimetry, or other appropriate techniques. The interface discontinuity method, also described, is a genuine residual interference assessment technique. It is specific to adaptive wall wind tunnels, where the computation results for the fictitious flow in the exterior of the test section are provided.

Mokry, Miroslav↗
NASA NTRS1996

Elliptic Volume Grid Generation for Viscous CFD Parametric Design Studies

This paper presents a robust method for the generation of zonal volume grids of design parametrics for aerodynamic configurations. The process utilizes simple algebraic techniques with parametric splines coupled with elliptic volume grid generation to generate isolated zonal grids for changes in body configuration needed to perform parametric design studies. Speed of the algorithm is maximized through the algebraic methods and reduced number of grid points to be regenerated for each design parametric without sacrificing grid quality and continuity within the volume domain. The method is directly applicable to grid reusability, because it modifies existing ow adapted volume grids and enables the user to restart the CFD solution process with an established flow field. Use of this zonal approach reduces computer usage time to create new volume grids for design parametric studies by an order of magnitude, as compared to current methods which require the regeneration of an entire volume grid. A sample configuration of a proposed Single Stage-to-Orbit Vehicle is used to illustrate an application of this method.

Alter, Stephen J.↗
NASA NTRS2000

Chronic N(G)-nitro-L-arginine methyl ester-induced hypertension : novel molecular adaptation to systolic load in absence of hypertrophy

BACKGROUND: Chronic N(G)-nitro-L-arginine methyl ester (L-NAME), which inhibits nitric oxide synthesis, causes hypertension and would therefore be expected to induce robust cardiac hypertrophy. However, L-NAME has negative metabolic effects on protein synthesis that suppress the increase in left ventricular (LV) mass in response to sustained pressure overload. In the present study, we used L-NAME-induced hypertension to test the hypothesis that adaptation to pressure overload occurs even when hypertrophy is suppressed. METHODS AND RESULTS: Male rats received L-NAME (50 mg. kg(-1). d(-1)) or no drug for 6 weeks. Rats with L-NAME-induced hypertension had levels of systolic wall stress similar to those of rats with aortic stenosis (85+/-19 versus 92+/-16 kdyne/cm). Rats with aortic stenosis developed a nearly 2-fold increase in LV mass compared with controls. In contrast, in the L-NAME rats, no increase in LV mass (1. 00+/-0.03 versus 1.04+/-0.04 g) or hypertrophy of isolated myocytes occurred (3586+/-129 versus 3756+/-135 microm(2)) compared with controls. Nevertheless, chronic pressure overload was not accompanied by the development of heart failure. LV systolic performance was maintained by mechanisms of concentric remodeling (decrease of in vivo LV chamber dimension relative to wall thickness) and augmented myocardial calcium-dependent contractile reserve associated with preserved expression of alpha- and beta-myosin heavy chain isoforms and sarcoplasmic reticulum Ca(2+) ATPase (SERCA-2). CONCLUSIONS: When the expected compensatory hypertrophic response is suppressed during L-NAME-induced hypertension, severe chronic pressure overload is associated with a successful adaptation to maintain systolic performance; this adaptation depends on both LV remodeling and enhanced contractility in response to calcium.

Non-NASA Center↗
NASA NTRS2011

Functional Task Test: 3. Skeletal Muscle Performance Adaptations to Space Flight

The functional task test is a multi-disciplinary study investigating how space-flight induced changes to physiological systems impacts functional task performance. Impairment of neuromuscular function would be expected to negatively affect functional performance of crewmembers following exposure to microgravity. This presentation reports the results for muscle performance testing in crewmembers. Functional task performance will be presented in the abstract "Functional Task Test 1: sensory motor adaptations associated with postflight alternations in astronaut functional task performance." METHODS: Muscle performance measures were obtained in crewmembers before and after short-duration space flight aboard the Space Shuttle and long-duration International Space Station (ISS) missions. The battery of muscle performance tests included leg press and bench press measures of isometric force, isotonic power and total work. Knee extension was used for the measurement of central activation and maximal isometric force. Upper and lower body force steadiness control were measured on the bench press and knee extension machine, respectively. Tests were implemented 60 and 30 days before launch, on landing day (Shuttle crew only), and 6, 10 and 30 days after landing. Seven Space Shuttle crew and four ISS crew have completed the muscle performance testing to date. RESULTS: Preliminary results for Space Shuttle crew reveal significant reductions in the leg press performance metrics of maximal isometric force, power and total work on R+0 (p<0.05). Bench press total work was also significantly impaired, although maximal isometric force and power were not significantly affected. No changes were noted for measurements of central activation or force steadiness. Results for ISS crew were not analyzed due to the current small sample size. DISCUSSION: Significant reductions in lower body muscle performance metrics were observed in returning Shuttle crew and these adaptations are likely contributors to impaired functional tasks that are ambulatory in nature (See abstract Functional Task Test: 1). Interestingly, no significant changes in central activation capacity were detected. Therefore, impairments in muscle function in response to short-duration space flight are likely myocellular rather than neuromotor in nature.

Ryder, Jeffrey W.↗
NASA NTRS2014

Identification of Medical Training Methods for Exploration Missions

As the National Aeronautics and Space Administration (NASA) and its international partner agencies anticipate eventual exploration missions of longer duration, there is a need to plan for the medical capabilities necessary to maximize crew health and provide the best likelihood of mission success. Current spaceflights consist of 5- to 6-month excursions to the International Space Station (ISS) in low-Earth orbit (LEO), and a 12-month ISS mission is currently in planning stages. However, missions to a near-Earth asteroid (NEA), a return to the moon, or even a mission to Mars will demand unprecedented medical capabilities, particularly relating to the training of the crew medical officers (CMOs). In its attempts to address the questions about medical preparation for spaceflight beyond LEO, the Exploration Medical Capability (ExMC) element within NASA's Human Research Program (HRP) defines a series of gaps. These gaps are shortcomings in knowledge, training, or technology that require resolution before an exploration mission can be undertaken. The ExMC element maintains current information about measures to close these gaps while developing plans for further investigation and research. Data pertaining to the gaps and their present status are available to the general public on the NASA Human Research Wiki and the NASA Human Research Roadmap Web sites (34, 36). One such gap, Gap 3.01, identifies a lack of knowledge about the optimal training methods for in-flight medical conditions identified on the Exploration Medical Condition List (EMCL), taking into account the crew medical officer s (CMOs) clinical background (33). This broad statement encompasses several related issues with the current methods of training CMOs and the medical ground support staff, specifically flight surgeons and biomedical engineers (BMEs) located in mission control, in addition to questions pertaining to the ways in which training will need to be adapted for the medical contingencies unique to exploration missions. To determine the optimal methods of medical training for an exploration medical crew and their ground support team, the historical context of medical operations, the current CMO training methods, and potential alternative training methods were identified.

Long duration space flight↗