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At least 1,351 records · Page 75

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NASA NTRS1992

Object impedance control for cooperative manipulation - Theory and experimental results

This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

Schneider, Stanley A.↗

NASA NTRS1993

Aeronautical satellite antenna steering using magnetic field sensors

Designers of aeronautical satellite terminals are often faced with the problem of steering a directive antenna from an airplane or helicopter. This problem is usually solved by using aircraft orientation information derived from inertial sensors on-board the aircraft in combination with satellite ephemeris information calculated from geographic coordinates. This procedure works well but relies heavily on avionics that are external to the terminal. For the majority of small aircraft and helicopters which will form the bulk of future aeronautical satcom users, such avionics either do not exist or are difficult for the satellite terminal to interface with. At the Communications Research Center (CRC), work has been undertaken to develop techniques that use the geomagnetic field and satellite antenna pointing vectors (both of which are stationary in a local geographical area) to track the position of a satellite relative to a moving platform such as an aircraft. The performance of this technique is examined and a mathematical steering transformation is developed within this paper. Details are given regarding the experimental program that will be undertaken to test the concepts proposed herein.

Sydor, John↗

NASA NTRS2009

Detection, Identification, Location, and Remote Sensing Using SAW RFID Sensor Tags

The Electromagnetic Systems Branch (EV4) of the Avionic Systems Division at NASA Johnson Space Center in Houston, TX is studying the utility of surface acoustic wave (SAW) radiofrequency identification (RFID) tags for multiple wireless applications including detection, identification, tracking, and remote sensing of objects on the lunar surface, monitoring of environmental test facilities, structural shape and health monitoring, and nondestructive test and evaluation of assets. For all of these applications, it is anticipated that the system utilized to interrogate the SAW RFID tags may need to operate at fairly long range and in the presence of considerable multipath and multiple-access interference. Towards that end, EV4 is developing a prototype SAW RFID wireless interrogation system for use in such environments called the Passive Adaptive RFID Sensor Equipment (PARSED) system. The system utilizes a digitally beam-formed planar receiving antenna array to extend range and provide direction-of-arrival information coupled with an approximate maximum-likelihood signal processing algorithm to provide near-optimal estimation of both range and temperature. The system is capable of forming a large number of beams within the field of view and resolving the information from several tags within each beam. The combination of both spatial and waveform discrimination provides the capability to track and monitor telemetry from a large number of objects appearing simultaneously within the field of view of the receiving array. In this paper, we will consider the application of the PARSEQ system to the problem of simultaneous detection, identification, localization, and temperature estimation for multiple objects. We will summarize the overall design of the PARSEQ system and present a detailed description of the design and performance of the signal detection and estimation algorithms incorporated in the system. The system is currently configured only to measure temperature (jointly with range and tag ID), but future versions will be revised to measure parameters other than temperature as SAW tags capable of interfacing with external sensors become available. It is anticipated that the estimation of arbitrary parameters measured using SAW-based sensors will be based on techniques very similar to the joint range and temperature estimation techniques described in this paper.

Barton, Richard J.↗

NASA NTRS2011

Engineering and Scientific Applications: Using MatLab(Registered Trademark) for Data Processing and Visualization

MatLab(R) (MATrix LABoratory) is a numerical computation and simulation tool that is used by thousands Scientists and Engineers in many cou ntries. MatLab does purely numerical calculations, which can be used as a glorified calculator or interpreter programming language; its re al strength is in matrix manipulations. Computer algebra functionalities are achieved within the MatLab environment using "symbolic" toolbo x. This feature is similar to computer algebra programs, provided by Maple or Mathematica to calculate with mathematical equations using s ymbolic operations. MatLab in its interpreter programming language fo rm (command interface) is similar with well known programming languag es such as C/C++, support data structures and cell arrays to define c lasses in object oriented programming. As such, MatLab is equipped with most ofthe essential constructs of a higher programming language. M atLab is packaged with an editor and debugging functionality useful t o perform analysis of large MatLab programs and find errors. We belie ve there are many ways to approach real-world problems; prescribed methods to ensure foregoing solutions are incorporated in design and ana lysis of data processing and visualization can benefit engineers and scientist in gaining wider insight in actual implementation of their perspective experiments. This presentation will focus on data processing and visualizations aspects of engineering and scientific applicati ons. Specifically, it will discuss methods and techniques to perform intermediate-level data processing covering engineering and scientifi c problems. MatLab programming techniques including reading various data files formats to produce customized publication-quality graphics, importing engineering and/or scientific data, organizing data in tabu lar format, exporting data to be used by other software programs such as Microsoft Excel, data presentation and visualization will be discussed. The presentation will emphasize creating practIcal scripts (pro grams) that extend the basic features of MatLab TOPICS mclude (1) Ma trix and vector analysis and manipulations (2) Mathematical functions (3) Symbolic calculations & functions (4) Import/export data files (5) Program lOgic and flow control (6) Writing function and passing parameters (7) Test application programs

Sen, Syamal K.↗

NASA NTRS1971

Tracking variations in the alpha activity in an electroencephalogram

The problem of tracking Alpha voltage variations in an electroencephalogram is discussed. This problem is important in encephalographic studies of sleep and effects of different stimuli on the brain. Very often the Alpha voltage is tracked by passing the EEG signal through a bandpass filter centered at the Alpha frequency, which hopefully will filter out unwanted noise from the Alpha activity. Some alternative digital techniques are suggested and their performance is compared with the standard technique. These digital techniques can be used in an environment where an electroencephalograph is interfaced with a small digital computer via an A/D convertor. They have the advantage that statistical statements about their variability can sometimes be made so that the effect sought can be assessed correctly in the presence of random fluctuations.

Prabhu, K. S.↗

NASA NTRS1986

Transfinite element methodology towards a unified thermal/structural analysis

The paper describes computational developments towards thermal/structural modeling and analysis via a generalized common numerical methodology for effectively and efficiently interfacing interdisciplinary areas. The proposed formulations use transform methods in conjunction with finite element developments for each of the heat transfer and structural disciplines, respectively, providing avenues for obtaining the structural response due to thermal effects. An alternative methodology for unified thermal/structural analysis is presented. The potential of the approach is outlined in comparison with conventional schemes and existing practices. Highlights and characteristic features of the approach are described via general formulations and applications to several problems. Results obtained demonstrate excellent agreement in comparison with analytic and/or conventional finite element schemes accurately and efficiently.

Tamma, K. K.↗

NASA NTRS1987

Slew maneuvers on the SCOLE Laboratory Facility

The Spacecraft Control Laboratory Experiment (SCOLE) was conceived to provide a physical test bed for the investigation of control techniques for large flexible spacecraft. The control problems studied are slewing maneuvers and pointing operations. The slew is defined as a minimum time maneuver to bring the antenna line-of-sight (LOS) pointing to within an error limit of the pointing target. The second objective is to rotate about the LOS within the 0.02 degree error limit. The SCOLE problem is defined as two design challenges: control laws for a mathematical model of a large antenna attached to the Space Shuttle by a long flexible mast; and a control scheme on a laboratory representation of the structure modelled on the control laws. Control sensors and actuators are typical of those which the control designer would have to deal with on an actual spacecraft. Computational facilities consist of microcomputer based central processing units with appropriate analog interfaces for implementation of the primary control system, and the attitude estimation algorithm. Preliminary results of some slewing control experiments are given.

Williams, Jeffrey P.↗

NASA NTRS1988

Thermodynamic modeling of the no-vent fill methodology for transferring cryogens in low gravity

The filling of tanks with cryogens in the low-gravity environment of space poses many technical challenges. Chief among these is the inability to vent only vapor from the tank as the filling proceeds. As a potential solution to this problem, the NASA Lewis Research Center is researching a technique known as No-Vent Fill. This technology potentially has broad application. The focus is the fueling of space based Orbital Transfer Vehicles. The fundamental thermodynamics of the No-Vent Fill process to develop an analytical model of No-Vent Fill is described. The model is then used to conduct a parametric investigation of the key parameters: initial tank wall temperature, liquid-vapor interface heat transfer rate, liquid inflow rate, and inflowing liquid temperatures. Liquid inflowing temperature and the liquid-vapor interface heat transfer rate seem to be the most significant since they influence the entire fill process. The initial tank wall temperature must be sufficiently low to prevent a rapid pressure rise during the initial liquid flashing stage, but then becomes less significant.

Chato, David J.↗

NASA NTRS1993

Unsteady Flow Simulations in Support of the SSME HEX Turning Vane Cracking Investigation with the ATD HPOTP

Unsteady flow computations are being performed with the P&W (ATD) and the Rocketdyne baseline configurations of the SSME LO2 turbine turnaround duct (TAD) and heat exchanger (HEX). The work is in support of the HEX inner turning vane cracking investigation. Fatigue cracking has occurred during hot firings with the P&W configuration on the HEX inner vane, and it appears the fix will involve changes to the TAD splitter vane position and to the TAD inner wall curvature to reduce the dynamic loading on the inner vane. Unsteady flow computations on the P&W baseline and fix and on the Rocketdyne baseline reference follow steady-flow screening computations done by MSFC/ED32 on several trial configurations arriving at the fix. The P&W TAD inlet velocity profile has a strong radial velocity component that directs the flow toward the inner wall and raises the local velocity a factor of two and the dynamic pressure a factor, of four. The fix is intended to redistribute the flow more evenly across the HEX inner and outer vanes like the Rocketdyne baseline reference. Vane buffeting at frequencies around 4,000 Hz is the leading suspected cause of the problem. Our simulations (work in progress) are being done with the USA 2D axisymmetric code approximating the flow as axisymmetric u+v 2D (axial, u, and radial, v, components only). The HEX coils are included in the model to make sure the fix does not adversely affect the HEX environment. Turbulent kinetic energy, k, levels where k = 1/2 v' rms2 are locally as high as 10,000 ft2/sec2 for the P&W baseline at the engine interface (between the TAD and HEX) at the HEX inner vane location. However, k is less than 8,000 on the HEX outer vane and only about 4,500 on the HEX inner vane for the Rocketdyne baseline. Unsteady turbulence intensity, v'rms/v, and pressure, p', are being computed in the present computations to compare with steady-flow Reynolds-averaged computations where p'rms = const (pk) for overall rms random turbulence from 0.1 to 12,000 Hz frequency. Random overall static, p'rms fluctuations as large as 1.7 psi are estimated from k on the HEX inner vane for the P&W baseline configuration but only about 0.7 psi for the Rocketdyne configuration.

Dougherty, N. S.↗

NASA NTRS2011

Generalized Fluid System Simulation Program, Version 5.0-Educational

The Generalized Fluid System Simulation Program (GFSSP) is a finite-volume based general-purpose computer program for analyzing steady state and time-dependent flow rates, pressures, temperatures, and concentrations in a complex flow network. The program is capable of modeling real fluids with phase changes, compressibility, mixture thermodynamics, conjugate heat transfer between solid and fluid, fluid transients, pumps, compressors and external body forces such as gravity and centrifugal. The thermofluid system to be analyzed is discretized into nodes, branches, and conductors. The scalar properties such as pressure, temperature, and concentrations are calculated at nodes. Mass flow rates and heat transfer rates are computed in branches and conductors. The graphical user interface allows users to build their models using the point, drag and click method; the users can also run their models and post-process the results in the same environment. The integrated fluid library supplies thermodynamic and thermo-physical properties of 36 fluids and 21 different resistance/source options are provided for modeling momentum sources or sinks in the branches. This Technical Memorandum illustrates the application and verification of the code through 12 demonstrated example problems.

Majumdar, A. K.↗

NASA NTRS2011

Generalized Fluid System Simulation Program, Version 5.0-Educational. Supplemental Information for NASA/TM-2011-216470

Majumdar, A. K.↗

NASA NTRS2013

Generalized Fluid System Simulation Program, Version 6.0

The Generalized Fluid System Simulation Program (GFSSP) is a finite-volume based general-purpose computer program for analyzing steady state and time-dependant flow rates, pressures, temperatures, and concentrations in a complex flow network. The program is capable of modeling real fluids with phase changes, compressibility, mixture thermodynamics, conjugate heat transfer between solid and fluid, fluid transients, pumps, compressors and external body forces such as gravity and centrifugal. The thermo-fluid system to be analyzed is discretized into nodes, branches, and conductors. The scalar properties such as pressure, temperature, and concentrations are calculated at nodes. Mass flow rates and heat transfer rates are computed in branches and conductors. The graphical user interface allows users to build their models using the 'point, drag, and click' method; the users can also run their models and post-process the results in the same environment. The integrated fluid library supplies thermodynamic and thermo-physical properties of 36 fluids, and 24 different resistance/source options are provided for modeling momentum sources or sinks in the branches. This Technical Memorandum illustrates the application and verification of the code through 25 demonstrated example problems.

Majumdar, A. K.↗

NASA NTRS1995

Analytical studies of hypersonic viscous dissociated flows

This project primarily dealt with integral boundary-layer solution techniques that are directly applicable to the problem of determining aerodynamic heating rates of hypersonic vehicles like X-33 in the vicinity of stagnation points, windward centerlines, and swept-wing leading edges. The analyses include effects of finite-rate gas chemistry across the boundary layer and finite-rate catalysis of atom recombination at the surface. A new approach for combining the insight afforded by integral boundary-layer analysis with comprehensive (and expensive) computational fluid dynamic (CFD) flowfield solutions of the thin-layer Navier-Stokes equations was developed. The approach extracts CFD derived quantities at the wall and at the boundary layer edge for inclusion in a post-processing boundary-layer analysis. The post-processed data base allows a designer at a workstation to ask and answer the following questions: (1) How much does the heating change if one uses a thermal protection system (TPS) with different catalytic properties than was used in the original CFD solution? (2) How does the heating change when one moves the interface of two different TPS materials with different catalytic efficiencies for the purpose of reducing vehicle weight and expense? The answer to the second question is particularly critical, because abrupt changes from low catalytic efficiency to high catalytic efficiency can lead to localized increase in heating which exceeds the usually conservative estimate provided by a fully catalytic wall assumption. A secondary issue that was addressed involves the prediction of heating levels in the vicinity of sharp corners that are transverse to or aligned with the flow. An example of the first case is heating at the edge of the COMET reentry module. An example of the second case is heating along the side edge of a deflected body flap on an SSV. The difficulty of putting grids in the vicinity of such corners with continuously varying metric coefficients causes problems in CFD predictions. A preliminary theory for prediction that says the heating at the corner is X percent of the heating N boundary-layer thicknesses inboard was developed. This will prove useful to analytically evaluate the possible benefits of rounding the edges of these configurations and defining how much rounding is sufficient.

Inger, George R.↗

NASA NTRS1989

Three-dimensional visualization and display technologies; Proceedings of the Meeting, Los Angeles, CA, Jan. 18-20, 1989

Special attention was given to problems of stereoscopic display devices, such as CAD for enhancement of the design process in visual arts, stereo-TV improvement of remote manipulator performance, a voice-controlled stereographic video camera system, and head-mounted displays and their low-cost design alternatives. Also discussed was a novel approach to chromostereoscopic microscopy, computer-generated barrier-strip autostereography and lenticular stereograms, and parallax barrier three-dimensional TV. Additional topics include processing and user interface isssues and visualization applications, including automated analysis and fliud flow topology, optical tomographic measusrements of mixing fluids, visualization of complex data, visualization environments, and visualization management systems.

Robbins, Woodrow E.↗

NASA NTRS2005

Investigation of the Utilization of Modern Industrial Methods, Processes, Ergonomics, and the Internet in the Scientific Environment

On Oct. 1, 2001 Cleveland State University and NASA Glenn Research Center embarked on the above named cooperative agreement. Because NASA's research facilities often exhibit instances where the failure to use state-of-the-art technologies and methods to improve on outmoded systems of interface and control, and this runs contrary to the NASA philosophy of "faster, better, and cheaper", it was deemed an ideal opportunity for this collaboration. The main objectives of the proposed effort were to research and investigate the use of the latest technologies, methods, techniques, etc. which pertain to control and interface with industrial and research systems and facilities. The work was done in large part at NASA Glenn Research Center, using selected research facilities as real-world laboratories; such as certain Microgravity Science Division and Space Station projects. Microgravity Science Division at Glenn Research Center designs and builds experiments to be flown on the Space Shuttle and eventually on the International Space Station. Economy of space, weight, complexity, data storage, ergonomics, and many other factors present problems that also exist in industry. Many of the solutions can come from the same areas of study mentioned above.

Myer, Spencer S., Jr.↗

NASA NTRS2005

Shuttle-Data-Tape XML Translator

JSDTImport is a computer program for translating native Shuttle Data Tape (SDT) files from American Standard Code for Information Interchange (ASCII) format into databases in other formats. JSDTImport solves the problem of organizing the SDT content, affording flexibility to enable users to choose how to store the information in a database to better support client and server applications. JSDTImport can be dynamically configured by use of a simple Extensible Markup Language (XML) file. JSDTImport uses this XML file to define how each record and field will be parsed, its layout and definition, and how the resulting database will be structured. JSDTImport also includes a client application programming interface (API) layer that provides abstraction for the data-querying process. The API enables a user to specify the search criteria to apply in gathering all the data relevant to a query. The API can be used to organize the SDT content and translate into a native XML database. The XML format is structured into efficient sections, enabling excellent query performance by use of the XPath query language. Optionally, the content can be translated into a Structured Query Language (SQL) database for fast, reliable SQL queries on standard database server computers.

Barry, Matthew R.↗

NASA NTRS2018

PYSAT: Python Satellite Data Analysis Toolkit

A common problem in space science data analysis is combining complementary data sources that are provided and analyzed in different formats and programming languages. The Python Satellite Data Analysis Toolkit (pysat) addresses this issue by providing an open source toolkit that implements the general process of space science data analysis, from beginning to end, in an instrumentindependent manner. This toolkit uses an Instrument object that enables systematic analysis of science data from a variety of platforms within a single interface. Basic functions such as downloading, loading, and cleaning are included for all supported instruments. Common analysis routines are also included, which are instrument and data source independent. A nanokernel is used to provide instrument independence, it is attached to the Instrument object and mediates the systematic and arbitrary modification of loaded data. Pysat uses the nanokernel to improve the rigor of time series analysis, support onthefly orbit determination, and cleanly span file breaks. Pysat's functions and higherlevel scientific analysis features are validated through the use of unit testing. Further adoption by the community provides a set of scientific results produced by a common core, constituting a distributed heritage that supports the validity of the underlying processing and scientific output. These features are used to demonstrate consistency between derived electron density profiles and measured ion drifts, particularly downward ion drifts in the afternoon hours during extreme solar minimum. Pysat builds upon open source Python software that is freely available and encourages communitydriven development.

Stoneback, R.A.↗

NASA NTRS1974

Interaction between the atmospheric and oceanic boundary layers

The two-layer system of an atmosphere over water bodies is reduced to a single-layer problem. Values of the interfacial quantities, such as the friction velocity, the surface velocity, the angles, alpha and beta, between the surface shear stress and the geostrophic wind velocity and the surface wind velocity, respectively, and the surface roughness, all of which depend upon external parameters, such as the geostrophic wind and stratifications, are obtained. The geostrophic drag coefficient, the geostrophic wind coefficient, and the angles alpha, and beta, of the turbulent flow at the sea-air interface are functions of a dimensionless number, mfG/kg, with S sub 1 and S sub 2 as two free stratification parameters. The surface roughness is uniquely determined from the geostrophic wind rather than from the wind profile in the boundary layer.

Yeh, G.-T.↗