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This project dealt with the application of a Direct Model Reference Adaptive Control algorithm to the control of a PUMA 560 Robotic Manipulator. This chapter will present some motivation for using Direct Model Reference Adaptive Control, followed by a brief historical review, the project goals, and a summary of the subsequent chapters.
On July 18 and 19, 1991 the Center for Intelligent Robotic Systems for Space Exploration presented a course on its robotic testbed support software as it then existed. The course materials are collected as a reflection of the state of those systems at that time.
A conceptual design of a very large aeroballistic range is presented, as are its operational characteristics and procedures. The proposed model launcher is a two-stage light-gas gun, having a launch tube diameter of 254 mm, and the capability of accelerating a 14 kg launch mass to 6.1 km/sec. The gun's 91.4 cm diameter piston is driven by pressurized helium. High pressures in the central breech are contained by a multiple disk arrangement. The blast tank and sabot separation tank are described, as are methods for arresting sabot segments. The conceptual design of the range itself includes a 3.3 m diameter test or flight chamber some 330 m in length. Provisions are made for testing of free flight models and tests in which the model is confined by a track system. Methods for model deceleration and recovery are described. Provisions required for future addition of advanced model launchers such as an electromagnetic launcher or ram accelerator are addressed. Siting and safety issues are also addressed.
The product of a working group assembled to help define the science objectives and measurement requirements of a spaceborne L-band microwave radiometer devoted to remote sensing of surface soil moisture and sea surface salinity is presented. Remote sensing in this long-wavelength portion of the microwave spectrum requires large antennas in low-Earth orbit to achieve acceptable spatial resolution. The proposed radiometer, ESTAR, is unique in that it employs aperture synthesis to reduce the antenna area requirements for a space system.
Visual photometry and methane-band imaging indicate that Neptune underwent a period of atmospheric activity in the 1986-1989 period with an enhancement of 8900 A CH4-band brightness and an increased standard deviation of the mean yearly magnitudes at visual and near-IR wavelengths. These observations are presently interpreted as due to a localized upwelling source that could be similar to the 'great white spots' that have been periodically observed on Saturn.
The processes in the plasma sheet in the earth's magnetotail that can generate the field-aligned currents associated with auroral arcs are investigated using a two-and-a-half-dimensional nonradiative electromagnetic particle code in the Darwin approximation. All three components of the magnetic field, as well as the effect of electrostatic interaction, are calculated. The results include the response of the plasma sheet to the application of a convection electric field, the heating of plasma sheet ions, and the generation of y-directed magnetic fields and currents in the plane of simulation. The relation of these results to other morphological features of auroral/magnetospheric substorms is discussed.
This study confirms the finding of Comiso et al. (1991) that the probability density function (pdf) of the ice freeboard in the Arctic Ocean can be converted to a pdf of ice draft by applying a simple coordinate factor. The coordinate factor, R, which is the ratio of mean draft to mean freeboard pdf is related to the mean material (ice plus snow) density, rho(m), and the near-surface water density rho(w) by the relationship R = rho(m)/(rho(w) - rho(m)). The measured value of R was applied to each of six 50-km sections north of Greenland of a joint airborne laser and submarine sonar profile obtained along nearly coincident tracks from the Arctic Basin north of Greenland and was found to be consistent over all sections tested, despite differences in the ice regime. This indicates that a single value of R might be used for measurements done in this season of the year. The mean value R from all six sections was found to be 7.89.
On two evenings in 1968, anomalous field-aligned brightenings or emission enhancements of up to 3X were observed to move rapidly through three different Ba(+) clouds over Andoya, Norway. Similar effects were observed in Ba(+) clouds released from rockets launched from Poker Flat, Alaska, on March 21, 1973 and on March 22, 1980. On these occasions, auroras on or near the Ba(+) L shell also exhibited active rapid ray motions, which prompts the assumption that the two phenomena are related and the expectation that an explanation of the rapid ray motions in the Ba(+) clouds would lead to a better understanding of the physics of auroral ray motions and the auroral atmosphere. Seven possible mechanisms to produce the observed moving emission enhancements are discussed. The observations provide strong evidence for the existence of transient electric fields of order 100 mV/m at altitudes as low as 200 km during active aurora with rapid ray motions.
While the integrated column intensities in the 0-0 band emission at 3914 A, as measured from the Atlas-1 mission, are found to be in good agreement with model values, Spacelab 1 intensities appear to have been significantly affected by vehicle-induced effects. The ion environment, in particular, appears to have been highly perturbed. The absence of the large pressurized double-Spacelab module, and the revised Space Shuttle Orbiter processing procedures, appeared to have yielded a much improved remote sensing environment.
Microwave and infrared measurements are reported for the van der Waals complex ArCH3CCH and its isotopomers. The structure is T-shaped with equilibrium center-of-mass separation of 3.73 A and an angle of 82 deg between the molecule symmetry axis and the van der Waals bond. The infrared and microwave spectra are complex due to the effects of a slightly hindered internal rotor. Analysis of the spectral data shows that the dipole moment is almost parallel to the dimer b axis. A modified vibration/rotation Hamiltonian that includes an internal rotor potential is used to show that the barrier to internal rotation is near 10.8/cm.
Calibration algorithms for a synthetic aperture microwave radiometer are presented. The calibration is geared to Earth remote sensing applications, and is demonstrated on an airborne prototype of thinned array imager. Two approaches to the system calibration are presented; the first utilizes commonly available reference brightness temperature scenes, such as open water, and the second utilizes data collected on the antenna range. Both algorithms yield spatial response information which is cast in matrix form and inverted to obtain the image reconstruction formula. Experimental results are examined, and errors in some reconstructed images are linked to the present prototype antenna design. Algorithms for improving the synthesized antenna pattern side lobe performance are also presented. In one solution, the pattern efficiency is optimized by minimizing the pattern outside a defined beam. In another solution, the patterns are matched to a desired model pattern by the method of least squared errors. Both techniques offer an attractive alternative to aperture weighting.
Measurements of EM bias at the 13.6 GHz and 5.3 GHz operating frequencies of the NASA altimeter on the TOPEX/POSEIDON satellite in a series of 11 aircraft flights from January 17, 1991 through March 4, 1991, during the Surface Wave Dynamics Experiment, are reported. The data are consistent with an earlier set of airborne measurements and indicate that EM bias is slightly higher at 5.3 GHz than at 13.6 GHz, and that the magnitudes of both biases increase with increasing wind speed, as does their difference. With some exceptions, EM bias shows little variation over a mesoscale region on a given day or within 1 or 2 h, but it can change significantly over a 6-h period. Recent tower, airborne, and satellite measurements exhibit a consistency in the characteristics of the wind speed dependence but suggest that there may be a height dependence in the determinations, with the bias decreasing with increasing altitude.
The measurement of soil moisture from space requires putting relatively large microwave antennas in orbit. Aperture synthesis, an interferometric technique for reducing the antenna aperture needed in space, offers the potential for a practical means of meeting these requirements. An aircraft prototype, electronically steered thinned array L-band radiometer (ESTAR), has been built to develop this concept and to demonstrate its suitability for the measurement of soil moisture. Recent flights over the Walnut Gulch Watershed in Arizona show good agreement with ground truth and with measurements with the Pushbroom Microwave Radiometer (PBMR).
The application of an electronically steered thinned array L-band radiometer (ESTAR) for soil moisture mapping is investigated over the arid rangeland Walnut Gulch Watershed. Antecedent rainfall and evaporation for the flights are very different and result in a wide range of soil moisture conditions. The high spatial variability of rainfall events within this region results in moisture conditions with dramatic spatial patterns. Sensor performance is verified using two approaches. Microwave data are used in conjunction with a microwave emission model to predict soil moisture. These predictions are compared to ground observations of soil moisture. A second verification is possible using an extensive data set. Both tests showed that the ESTAR is capable of providing soil moisture with the same level of accuracy as existing systems.
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The primary methodology during the grant period has been the use of micro or meso-scale simulations to address specific questions concerning magnetospheric processes related to the aurora and substorm morphology. This approach, while useful in providing some answers, has its limitations. Many of the problems relating to the magnetosphere are inherently global and kinetic. Effort during the last year of the grant period has increasingly focused on development of a global-scale hybrid code to model the entire, coupled magnetosheath - magnetosphere - ionosphere system. In particular, numerical procedures for curvilinear coordinate generation and exactly conservative differencing schemes for hybrid codes in curvilinear coordinates have been developed. The new computer algorithms and the massively parallel computer architectures now make this global code a feasible proposition. Support provided by this project has played an important role in laying the groundwork for the eventual development or a global-scale code to model and forecast magnetospheric weather.
This report details a new design for a variable speed controller which can be used to operate lunar machinery without the astronaut using his or her upper body. In order to demonstrate the design, a treadle for an industrial sewing machine was redesigned to be used by a standing operator. Since the invention of an electrically powered sewing machine, the operator has been seated. Today, companies are switching from sit down to stand up operation involving modular stations. The old treadle worked well with a sitting operator, but problems have been found when trying to use the same treadle with a standing operator. Emphasis is placed on the ease of use by the operator along with the ergonomics involved. Included with the design analysis are suggestions for possible uses for the speed controller in other applications.
The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.