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At least 1,261 records · Page 70
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Refining Linear Fuzzy Rules by Reinforcement Learning

Linear fuzzy rules are increasingly being used in the development of fuzzy logic systems. Radial basis functions have also been used in the antecedents of the rules for clustering in product space which can automatically generate a set of linear fuzzy rules from an input/output data set. Manual methods are usually used in refining these rules. This paper presents a method for refining the parameters of these rules using reinforcement learning which can be applied in domains where supervised input-output data is not available and reinforcements are received only after a long sequence of actions. This is shown for a generalization of radial basis functions. The formation of fuzzy rules from data and their automatic refinement is an important step in closing the gap between the application of reinforcement learning methods in the domains where only some limited input-output data is available.

Berenji, Hamid R.↗
NASA NTRS1999

X-33 Ascent Flight Controller Design by Trajectory Linearization: A Singular Perturbational Approach

The flight control of X-33 poses a challenge to conventional gain-scheduled flight controllers due to its large attitude maneuvers from liftoff to orbit and reentry. In addition, a wide range of uncertainties in vehicle handling qualities and disturbances must be accommodated by the attitude control system. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point on the flight trajectory. Therefore it provides robust stability and performance at all stages of flight without interpolation of controller gains, and eliminates costly controller redesigns due to minor airframe alteration or mission reconfiguration. A prototype trajectory linearization design for X-33 ascent flight controller was designed and tested with 3-DOF and 6-DOF simulations during the 10 weeks SFFP. It is noted that the 6-DOF results were obtained from the 3-DOF design with only a few hours of tuning, which demonstrates the inherent robustness of the design technique. It is this "plug-and-play" feature that is much needed by NASA for the development, test and routine operations of the RLVs. Plans for further research are also presented.

Zhu, J. Jim↗
NASA NTRS2002

A Two-Dimensional Linear Bicharacteristic Scheme for Electromagnetics

The upwind leapfrog or Linear Bicharacteristic Scheme (LBS) has previously been implemented and demonstrated on one-dimensional electromagnetic wave propagation problems. This memorandum extends the Linear Bicharacteristic Scheme for computational electromagnetics to model lossy dielectric and magnetic materials and perfect electrical conductors in two dimensions. This is accomplished by proper implementation of the LBS for homogeneous lossy dielectric and magnetic media and for perfect electrical conductors. Both the Transverse Electric and Transverse Magnetic polarizations are considered. Computational requirements and a Fourier analysis are also discussed. Heterogeneous media are modeled through implementation of surface boundary conditions and no special extrapolations or interpolations at dielectric material boundaries are required. Results are presented for two-dimensional model problems on uniform grids, and the Finite Difference Time Domain (FDTD) algorithm is chosen as a convenient reference algorithm for comparison. The results demonstrate that the two-dimensional explicit LBS is a dissipation-free, second-order accurate algorithm which uses a smaller stencil than the FDTD algorithm, yet it has less phase velocity error.

Beggs, John H.↗
NASA NTRS2002

Linear Parameter Varying Control Synthesis for Actuator Failure, Based on Estimated Parameter

The design of a linear parameter varying (LPV) controller for an aircraft at actuator failure cases is presented. The controller synthesis for actuator failure cases is formulated into linear matrix inequality (LMI) optimizations based on an estimated failure parameter with pre-defined estimation error bounds. The inherent conservatism of an LPV control synthesis methodology is reduced using a scaling factor on the uncertainty block which represents estimated parameter uncertainties. The fault parameter is estimated using the two-stage Kalman filter. The simulation results of the designed LPV controller for a HiMXT (Highly Maneuverable Aircraft Technology) vehicle with the on-line estimator show that the desired performance and robustness objectives are achieved for actuator failure cases.

Shin, Jong-Yeob↗
NASA NTRS2002

Profile-Following Entry Guidance Using Linear Quadratic Regulator Theory

This paper describes one of the entry guidance concepts that is currently being tested as part of Marshall Space Flight Center's Advance Guidance and Control Project. The algorithm is of the reference profile tracking type. The reference profile consists of the reference states, range-to-go, altitude, and flight path angle, and reference controls, bank angle and angle of attack, versus energy. A linear control law using state feedback is used with energy-scheduled gains. The gains are obtained offline using Matlab's steady state linear quadratic regulator function. Lateral trajectory control is effected by performing periodic bank sign reversals based on a heading error corridor. A description and results of the AG&C test cases on which it has been tested are given. Although it is not anticipated that the algorithm will be quite as robust as algorithms with onboard trajectory re-generation capability, the results nevertheless show it to be very robust with respect to varying initial conditions and works satisfactorily even for entries from widely different orbits than that of the reference profile. Moreover, the commanded bank and angle of attack histories are very smooth, making it easier for the attitude control system to implement the guidance commands. Finally, results indicate that the guidance gains are more or less trajectory-independent which is a potentially useful property.

Dukeman, Greg A.↗
NASA NTRS2003

Mining Distance Based Outliers in Near Linear Time with Randomization and a Simple Pruning Rule

Defining outliers by their distance to neighboring examples is a popular approach to finding unusual examples in a data set. Recently, much work has been conducted with the goal of finding fast algorithms for this task. We show that a simple nested loop algorithm that in the worst case is quadratic can give near linear time performance when the data is in random order and a simple pruning rule is used. We test our algorithm on real high-dimensional data sets with millions of examples and show that the near linear scaling holds over several orders of magnitude. Our average case analysis suggests that much of the efficiency is because the time to process non-outliers, which are the majority of examples, does not depend on the size of the data set.

Bay, Stephen D.↗
NASA NTRS2003

Feature Visibility Limits in the Non-Linear Enhancement of Turbid Images

The advancement of non-linear processing methods for generic automatic clarification of turbid imagery has led us from extensions of entirely passive multiscale Retinex processing to a new framework of active measurement and control of the enhancement process called the Visual Servo. In the process of testing this new non-linear computational scheme, we have identified that feature visibility limits in the post-enhancement image now simplify to a single signal-to-noise figure of merit: a feature is visible if the feature-background signal difference is greater than the RMS noise level. In other words, a signal-to-noise limit of approximately unity constitutes a lower limit on feature visibility.

Jobson, Daniel J.↗
NASA NTRS2003

Computation of Large-Scale Structure Jet Noise Sources With Weak Nonlinear Effects Using Linear Euler

An approximate technique is presented for the prediction of the large-scale turbulent structure sound source in a supersonic jet. A linearized Euler equations code is used to solve for the flow disturbances within and near a jet with a given mean flow. Assuming a normal mode composition for the wave-like disturbances, the linear radial profiles are used in an integration of the Navier-Stokes equations. This results in a set of ordinary differential equations representing the weakly nonlinear self-interactions of the modes along with their interaction with the mean flow. Solutions are then used to correct the amplitude of the disturbances that represent the source of large-scale turbulent structure sound in the jet.

Dahl, Milo D.↗
NASA NTRS2003

A High-Order, Time Invariant, Linearized Model for Application to HHCIAFCS Interaction Studies

This paper describes a methodology for the extraction of a linear time invariant model from a nonlinear helicopter model, and followed by an examination of the interactions of the Higher Harmonic Control (HHC) and the Automatic Flight Control System (AFCS). This new method includes an embedded harmonic analyzer inside a linear time invariant model, which allows the periodicity of the helicopter response to be captured. The: coupled high-order model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC loops. Results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. The results also show that the vibration response to maneuvers must be considered during the HHC design process, which leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration response during maneuvers can be reduced by optimizing the closed-loop higher harmonic control laws using conventional control system analyses.

Cheng, Rendy P.↗
NASA NTRS2003

Impact Tsunami Calculations: Hydrodynamical Simulations vs. Linear Theory

Tsunamis generated by the impacts of asteroids and comets into the Earth oceans are widely recognized as a potential catastrophic hazard to the Earth s population. Our general conclusion is that linear theory is a reasonably accurate guide to behavior of tsunamis generated by impactors of moderate size, where the initial transient impact cavity is of moderate depth compared to the ocean depth. This is particularly the case for long wavelength waves that propagate fastest and would reach coastlines first. Such tsunamis would be generated in the open ocean by impactors of 300 meters in diameter, which might be expected to strike the Earth once every few thousand years, on the average. Larger impactors produce cavities deep enough to reach the ocean floor; even here, linear theory is applicable if the starting point is chosen at a later phase in the calculation when the impact crater has slumped back to produce a cavity of moderate depth and slope.

Korycansky, E.↗
NASA NTRS2003

Pseudo Linear Gyro Calibration

Previous high fidelity onboard attitude algorithms estimated only the spacecraft attitude and gyro bias. The desire to promote spacecraft and ground autonomy and improvements in onboard computing power has spurred development of more sophisticated calibration algorithms. Namely, there is a desire to provide for sensor calibration through calibration parameter estimation onboard the spacecraft as well as autonomous estimation on the ground. Gyro calibration is a particularly challenging area of research. There are a variety of gyro devices available for any prospective mission ranging from inexpensive low fidelity gyros with potentially unstable scale factors to much more expensive extremely stable high fidelity units. Much research has been devoted to designing dedicated estimators such as particular Extended Kalman Filter (EKF) algorithms or Square Root Information Filters. This paper builds upon previous attitude, rate, and specialized gyro parameter estimation work performed with Pseudo Linear Kalman Filter (PSELIKA). The PSELIKA advantage is the use of the standard linear Kalman Filter algorithm. A PSELIKA algorithm for an orthogonal gyro set which includes estimates of attitude, rate, gyro misalignments, gyro scale factors, and gyro bias is developed and tested using simulated and flight data. The measurements PSELIKA uses include gyro and quaternion tracker data.

Harman, Richard↗
NASA NTRS2004

Linear State-Space Representation of the Dynamics of Relative Motion, Based on Restricted Three Body Dynamics

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM) , the associated MAXIM pathfinder mission, Stellar Imager (SI) and the Terrestrial Planet Finder (TPF). An essential element of the technology is the control algorithm, requiring a clear understanding of the dynamics of relative motion. This paper examines the dynamics of relative motion in the context of the Restricted Three Body Problem (RTBP). The natural dynamics of relative motion are presented in their full nonlinear form. Motivated by the desire to apply linear control methods, the dynamics equations are linearized and presented in state-space form. The stability properties are explored for regions in proximity to each of the libration points in the Earth/Moon - Sun rotating frame. The dynamics of relative motion are presented in both the inertial and rotating coordinate frames.

Luquette,Richard J.↗
NASA NTRS2003

Linearly Forced Isotropic Turbulence

Stationary isotropic turbulence is often studied numerically by adding a forcing term to the Navier-Stokes equation. This is usually done for the purpose of achieving higher Reynolds number and longer statistics than is possible for isotropic decaying turbulence. It is generally accepted that forcing the Navier-Stokes equation at low wave number does not influence the small scale statistics of the flow provided that there is wide separation between the largest and smallest scales. It will be shown, however, that the spectral width of the forcing has a noticeable effect on inertial range statistics. A case will be made here for using a broader form of forcing in order to compare computed isotropic stationary turbulence with (decaying) grid turbulence. It is shown that using a forcing function which is directly proportional to the velocity has physical meaning and gives results which are closer to both homogeneous and non-homogeneous turbulence. Section 1 presents a four part series of motivations for linear forcing. Section 2 puts linear forcing to a numerical test with a pseudospectral computation.

Lundgren, T. S.↗
NASA NTRS2000

Comparison of Nonlinear Random Response Using Equivalent Linearization and Numerical Simulation

A recently developed finite-element-based equivalent linearization approach for the analysis of random vibrations of geometrically nonlinear multiple degree-of-freedom structures is validated. The validation is based on comparisons with results from a finite element based numerical simulation analysis using a numerical integration technique in physical coordinates. In particular, results for the case of a clamped-clamped beam are considered for an extensive load range to establish the limits of validity of the equivalent linearization approach.

Rizzi, Stephen A.↗
NASA NTRS2003

Fidelity and enhanced sensitivity of differential transcription profiles following linear amplification of nanogram amounts of endothelial mRNA

Although mRNA amplification is necessary for microarray analyses from limited amounts of cells and tissues, the accuracy of transcription profiles following amplification has not been well characterized. We tested the fidelity of differential gene expression following linear amplification by T7-mediated transcription in a well-established in vitro model of cytokine [tumor necrosis factor alpha (TNFalpha)]-stimulated human endothelial cells using filter arrays of 13,824 human cDNAs. Transcriptional profiles generated from amplified antisense RNA (aRNA) (from 100 ng total RNA, approximately 1 ng mRNA) were compared with profiles generated from unamplified RNA originating from the same homogeneous pool. Amplification accurately identified TNFalpha-induced differential expression in 94% of the genes detected using unamplified samples. Furthermore, an additional 1,150 genes were identified as putatively differentially expressed using amplified RNA which remained undetected using unamplified RNA. Of genes sampled from this set, 67% were validated by quantitative real-time PCR as truly differentially expressed. Thus, in addition to demonstrating fidelity in gene expression relative to unamplified samples, linear amplification results in improved sensitivity of detection and enhances the discovery potential of high-throughput screening by microarrays.

Evaluation Studies↗
NASA NTRS2000

Adaptation of the phase of the human linear vestibulo-ocular reflex (LVOR) and effects on the oculomotor neural integrator

The phase of the translational linear VOR (LVOR) can be adaptively modified by exposure to a visual-vestibular mismatch. We extend here our earlier work on LVOR phase adaptation, and discuss the role of the oculomotor neural integrator. Ten subjects were oscillated laterally at 0.5 Hz, 0.3 g peak acceleration, while sitting upright on a linear sled. LVOR was assessed before and after adaptation with subjects tracking the remembered location of a target at 1 m in the dark. Phase and gain were measured by fitting sine waves to the desaccaded eye movements, and comparing sled and eye position. To adapt LVOR phase, the subject viewed a computer-generated stereoscopic visual display, at a virtual distance of 1 m, that moved so as to require either a phase lead or a phase lag of 53 deg. Adaptation lasted 20 min, during which subjects were oscillated at 0.5 Hz/0.3 g. Four of five subjects produced an adaptive change in the lag condition (range 4-45 deg), and each of five produced a change in the lead condition (range 19-56 deg), as requested. Changes in drift on eccentric gaze suggest that the oculomotor velocity-to-position integrator may be involved in the phase changes.

Non-NASA Center↗
NASA NTRS1999

Vestibular responses to linear acceleration are absent in otoconia-deficient C57BL/6JEi-het mice

Vestibular evoked potentials (VsEPs) were measured in normal mice and in mice homozygous for the head tilt mutation (het/het, abbr. het). The het mice lack otoconia, the inertial mass critical for natural stimulation of inner ear gravity receptors. Our findings demonstrate that vestibular neural responses to pulsed linear acceleration are absent in het mice. The results: (1) confirm that adequate sensory stimuli fail to activate gravity receptors in the het model; and (2) serve as definitive evidence that far-field vestibular responses to pulsed linear acceleration depend critically on otolith end organs. The C57BL/6JEi-het mouse may be an excellent model of gravity receptor sensory deprivation.

NASA Discipline Neuroscience↗
NASA NTRS2004

Linear State-Space Representation of the Dynamics of Relative Motion, Based on Restricted Three Body Dynamics

Precision Formation Flying is an enabling technology for a variety of proposed space- based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), Stellar Imager (SI) and the Terrestrial Planet Finder (TPF). An essential element of the technology is the control algorithm, requiring a clear understanding of the dynamics of relative motion. This paper examines the dynamics of relative motion in the context of the Restricted Three Body Problem (RTBP). The natural dynamics of relative motion are presented in their full nonlinear form. Motivated by the desire to apply linear control methods, the dynamics equations are linearized and presented in state-space form. The stability properties are explored for regions in proximity to each of the libration points in the Earth/Moon - Sun rotating frame. The dynamics of relative motion are presented in both the inertial and rotating coordinate frames.

Luquette, Richard J.↗