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Results for “coordinated control”

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NASA NTRS1972

A study of pilot modeling in multi-controller tasks

A modeling approach, which utilizes a matrix of transfer functions to describe the human pilot in multiple input, multiple output control situations, is studied. The approach used was to extend a well established scalar Wiener-Hopf minimization technique to the matrix case and then study, via a series of experiments, the data requirements when only finite record lengths are available. One of these experiments was a two-controller roll tracking experiment designed to force the pilot to use rudder in order to coordinate and reduce the effects of aileron yaw. One model was computed for the case where the signals used to generate the spectral matrix are error and bank angle while another model was computed for the case where error and yaw angle are the inputs. Several anomalies were observed to be present in the experimental data. These are defined by the descriptive terms roll up, break up, and roll down. Due to these algorithm induced anomalies, the frequency band over which reliable estimates of power spectra can be achieved is considerably less than predicted by the sampling theorem.

Whitbeck, R. F.↗

NASA NTRS1977

Geodetic control net

Computer program, originally developed for Mariner flyby missions, computes planetary control net from measurements of topographical features identified on television pictures. Program solves for areocentric coordinates of 115 surface points and orthogonal camera matrices of 57 far and near encounter pictures.

Davies, M. E.↗

NASA NTRS1981

Autonomous navigation system

An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

Merhav, S. J.↗

NASA NTRS1981

Man-made space debris - Does it restrict free access to space

Consideration is given to the hazards posed by existing and future man-made space debris to spacecraft operations. The components of the hazard are identified as those fragments resulting from spacecraft explosions and spent stages which can be tracked, those fragments which are too small to be tracked at their present distances, and future debris, which, if present trends in spacecraft design and operation continue, may lead to an unacceptably high probability of collision with operational spacecraft within a decade. It is argued that a coordinated effort must be undertaken by all space users to evaluate means of space debris control in order to allow for the future unrestricted use of near-earth space. A plan for immediate action to forestall the space debris problem by activities in the areas of education, debris monitoring and collection technology, space vehicle design, space operational procedures and practices and space policies and treaties is proposed.

Wolfe, M.↗

NASA NTRS1985

Measuring Tracking Accuracy of CCD Imagers

Tracking accuracy and resolution of charge-coupled device (CCD) imaging arrays measured by instrument originally developed for measuring performance of star-tracking telescope. Operates by projecting one or more artifical star images on surface of CCD array, moving stars in controlled patterns, and comparing star locations computed from CCD outputs with those calculated from step coordinates of micropositioner.

Stanton, R. H.↗

NASA NTRS1983

Comparative assessment of LANDSAT-4 MSS and TM data quality for mapping applications in the southeast

The initial objectives of analyses of the MSS data are two-fold: (1) to evaluate the geodetic accuracy of CCT-P data of the test sites; and (2) to improve the geodetic accuracy by additional processing if the original data either do not meet pre-launch specifications or mapping requirements. The location of 45 ground control points (GCP) digitized from 35 U.S. Geological Survey 1:24,000 scale quadrangles (UTM coordinates) were identified in terms of pixel and scan line values. These 46 points are used to establish UTM position error vector distributions in the scene. As an initial check on the geometric reliability of the MSS data, 28 well-distributed GCPs were input to a program which compares the scaled image distances between all possible point pairs with the corresponding map distances and computes the distance differences; that is, the relative positional errors. The relative errors obtained from initial computations averaged about +/- 200 m. These errors could result from a number of sources, including misidentification of GCP locations, UTM coordinate errors introduced by the map digitizing process or errors resulting from data acquisition and geometric processing.

Welch, R.↗

NASA NTRS1984

Observations of the dynamics of the polar thermosphere

The dynamics of the polar thermosphere are examined by using observations made from the Dynamics Explorer 2 satellite. The results used in this study were obtained primarily from the Fabry-Perot interferometer (FPI) and the wind and temperature spectrometer (WATS) during the time period from September 1981 through January 1982. Two primary geophysical conditions were examined: these were the southern summer and the northern winter polar regions. The results support the conclusion that above 60 degrees of latitude the neutral winds are strongly controlled by ion/neutral frictional momentum transfer resulting from magnetospheric convection. This implies that the natural coordinate system within which to display the neutral winds in the high polar thermosphere is magnetic. The collected observations of this study were used to assess the validity of two of the large thermospheric general circulation models. The result of this assessment was that the models reasonably represent the vector winds at high altitudes but do not, at present, accurately simulate the thermodynamics of that regime.

Hays, P. B.↗

NASA NTRS1986

A simple algorithm for computing canonical forms

It is well known that all linear time-invariant controllable systems can be transformed to Brunovsky canonical form by a transformation consisting only of coordinate changes and linear feedback. However, the actual procedures for doing this have tended to be overly complex. The technique introduced here is envisioned as an on-line procedure and is inspired by George Meyer's tangent model for nonlinear systems. The process utilizes Meyer's block triangular form as an intermedicate step in going to Brunovsky form. The method also involves orthogonal matrices, thus eliminating the need for the computation of matrix inverses. In addition, the Kronecker indices can be computed as a by-product of this transformation so it is necessary to know them in advance.

Ford, H.↗

NASA NTRS1986

Vortical Flows Research Program of the Fluid Dynamics Research Branch

The research interests of the staff of the Fluid Dynamics Research Branch in the general area of vortex flows are summarized. A major factor in the development of enchanced maneuverability and reduced drag by aerodynamic means is the use of effective vortex control devices. The key to control is the use of emerging computational tools for predicting viscous fluid flow in close coordination with fundamental experiments. In fact, the extremely complex flow fields resulting from numerical solutions to boundary value problems based on the Navier-Stokes equations requires an intimate relationship between computation and experiment. The field of vortex flows is important in so many practical areas that a concerted effort in this area is justified. A brief background of the research activity undertaken is presented, including a proposed classification of the research areas. The classification makes a distinction between issues related to vortex formation and structure, and work on vortex interactions and evolution. Examples of current research results are provided, along with references where available. Based upon the current status of research and planning, speculation on future research directions of the group is also given.

Source record↗

NASA NTRS1990

Curvature continuity in arbitrary bicubic Bezier patches

Two methods are outlined for imposing interpatch curvature continuity in existing Bezier bicubic patch surfaces. Each method assumes that coordinates of the corners of the patches can not be altered but the interior Bezier control point can. Each method also preserves outer edge slope and outer corner twist derivatives. Neither method requires intersection or C0 continuity nor slope or C1 continuity at the start. A computer program for each method is given in the appendices.

Roach, Robert L.↗

NASA NTRS1992

Development of a precision, six-axis laboratory dynamometer

This paper describes the design, fabrication, test, and operation of a unique six axis force/torque dynamometer The specimen table used to hold components under test is supported in a full six axis kinematic mount. Support struts fabricated from high strength steel with special integral two axis flexures link the specimen table to the load cell transducers. Realtime force/torque coordinate transform, root mean squared calculation, and data averaging, and color six axis display with controllable scaling are provided by a specially programmed desktop computer. The extensive structural analysis and design optimization required to obtain a stiff, well damped, lightweight structure is described in detail. Geometric optimization of the kinematic mount and fabrication details of the struts are also described.

P. J. Champagne↗

NASA NTRS1993

Quantitative Tester And Reconditioner For Hand And Arm

Apparatus measures torques, forces, and motions of hand, wrist, forearm, elbow, and shoulder and aids in reconditioning muscles involved. Used to determine strengths and endurances of muscles, ranges of motion of joints, and reaction times. Provides quantitative data used to assess extent to which disuse, disease, or injury causes deterioration of muscles and of motor-coordination skills. Same apparatus serves as exercise machine to restore muscle performance by imposing electronically controlled, gradually increasing loads on muscles. Suitable for training and evaluating astronauts, field testing for workers' compensation claims, and physical therapy in hospitals. With aid of various attachments, system adapted to measure such special motions as pinching, rotation of wrist, and supination and pronation of the forearm. Attachments are gloves, wristlets, and sleeves.

Engle, Gary↗

NASA NTRS1997

Results from the Joint US/Russian Sensory-Motor Investigations

In this session, Session FA3, the discussion focuses on the following topics: The Effect of Long Duration Space Flight on the Acquisition of Predictable Targets in Three Dimensional Space; Effects of Microgravity on Spinal Reflex Mechanisms; Three Dimensional Head Movement Control During Locomotion After Long-Duration Space Flight; Human Body Shock Wave Transmission Properties After Long Duration Space Flight; Adaptation of Neuromuscular Activation Patterns During Locomotion After Long Duration Space Flight; Balance Control Deficits Following Long-Duration Space Flight; Influence of Weightlessness on Postural Muscular Activity Coordination; and The Use of Inflight Foot Pressure as a Countermeasure to Neuromuscular Degradation.

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NASA NTRS2004

Schuler Period in LEO Satellites

This paper generalizes and extends the concept of the Schuler oscillation that occurs in the theory of inertial navigation systems, allowing one to see how the Schuler phenomenon affects inertial navigation systems operating in space. We show why a low earth orbit satellite's orbital period is identical to the period of the Schuler pendulum, which is the period of the errors for terrestrial inertial navigation systems. We also show that the generalized form of the Schuler oscillation takes the same form as the Hill-Clohessy-Wiltshire equations for satellite relative motion and that the period of the out-of-plane motion in neighboring satellite relative trajectories is the same as the Schuler period. Finally, we describe how INS gyro drift manifests itself in different coordinate systems for the orbital case. These results may assist orbital flight dynamics and attitude control systems engineers in the design and analysis of INS-equipped spacecraft

Carpenter, Russell J.↗

NASA NTRS2003

Coordinated turn-and-reach movements. II. Planning in an external frame of reference

The preceding study demonstrated that normal subjects compensate for the additional interaction torques generated when a reaching movement is made during voluntary trunk rotation. The present paper assesses the influence of trunk rotation on finger trajectories and on interjoint coordination and determines whether simultaneous turn-and-reach movements are most simply described relative to a trunk-based or an external reference frame. Subjects reached to targets requiring different extents of arm joint and trunk rotation at a natural pace and quickly in normal lighting and in total darkness. We first examined whether the larger interaction torques generated during rapid turn-and-reach movements perturb finger trajectories and interjoint coordination and whether visual feedback plays a role in compensating for these torques. These issues were addressed using generalized Procrustes analysis (GPA), which attempts to overlap a group of configurations (e.g., joint trajectories) through translations and rotations in multi-dimensional space. We first used GPA to identify the mean intrinsic patterns of finger and joint trajectories (i.e., their average shape irrespective of location and orientation variability in the external and joint workspaces) from turn-and-reach movements performed in each experimental condition and then calculated their curvatures. We then quantified the discrepancy between each finger or joint trajectory and the intrinsic pattern both after GPA was applied individually to trajectories from a pair of experimental conditions and after GPA was applied to the same trajectories pooled together. For several subjects, joint trajectories but not finger trajectories were more curved in fast than slow movements. The curvature of both joint and finger trajectories of turn-and-reach movements was relatively unaffected by the vision conditions. Pooling across speed conditions significantly increased the discrepancy between joint but not finger trajectories for most subjects, indicating that subjects used different patterns of interjoint coordination in slow and fast movements while nevertheless preserving the shape of their finger trajectory. Higher movement speeds did not disrupt the arm joint rotations despite the larger interaction torques generated. Rather, subjects used the redundant degrees of freedom of the arm/trunk system to achieve similar finger trajectories with differing joint configurations. We examined finger movement patterns and velocity profiles to determine the frame of reference in which turn-and-reach movements could be most simply described. Finger trajectories of turn-and-reach movements had much larger curvatures and their velocity profiles were less smooth and less bell-like in trunk-based coordinates than in external coordinates. Taken together, these results support the conclusion that turn-and-reach movements are controlled in an external frame of reference.

NASA Discipline Neuroscience↗

NASA NTRS2010

Peak-Seeking Control Using Gradient and Hessian Estimates

A peak-seeking control method is presented which utilizes a linear time-varying Kalman filter. Performance function coordinate and magnitude measurements are used by the Kalman filter to estimate the gradient and Hessian of the performance function. The gradient and Hessian are used to command the system toward a local extremum. The method is naturally applied to multiple-input multiple-output systems. Applications of this technique to a single-input single-output example and a two-input one-output example are presented.

Ryan, John J.↗

NASA NTRS2016

Partnering With NASA JSC for Community Research Needs; Collaborative and Student Opportunities via Jacobs and PSAMS Initiative

NASA Johnson Space Center's (JSC's) Astromaterials Research and Exploration Science (ARES) Division houses a unique combination of laboratories and other assets for conducting cutting-edge planetary research. These facilities have been accessed for decades by outside scientists; over the past five years, the 16 full time contract research and technical staff members in our division have hosted a total of 223 visiting researchers, representing 35 institutions. In order to continue to provide this level of support to the planetary sciences community, and also expand our services and collaboration within the broader scientific community, we intend to submit a proposal to NASA specifically for facilities support and establishment of our laboratories as a collective, PSAMS, Planetary Sample Analyses and Mission Science. This initiative should result in substantial cost savings to PIs with NASA funding who wish to use our facilities. Another cost saving could be realized by aggregating visiting user experiments and analyses through COMPRES, which would be of particular interest to researchers in earth and material sciences. JSC is a recognized NASA center of excellence for curation, and in future will allow PIs and mission teams easy access to samples in Curation facilities that they have been approved to study. Our curation expertise could also be used for a collection of experimental run products that could be shared and distributed to COMPRES community members. These experimental run products could range from 1 bar controlled atmosphere furnace, piston cylinder, multi-anvil, CETUS (see companion abstract), to shocked products. Coordinated analyses of samples is one of the major strengths of our division, where a single sample can be prepared with minimal destruction for a variety of chemical and structural analyses, from macro to nano-scale.

Danielson, Lisa↗

NASA NTRS2016

Partnering With NASA JSC for Community Research Needs; Collaborative and Student Opportunities via Jacobs and PSAMS Initiative

Danielson, Lisa↗