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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,513 records · Page 84

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NASA NTRS1973

On the structure of context-sensitive grammars

Consideration of the problem of explaining the use of context in generating noncontext-free languages. A number of existing results regarding the constraints placed on the form of the rules (i.e., on the context) of context-sensitive grammars are reviewed and interpreted. Three types of constraints are considered - namely, constraints which do not restrict the weak generative capacity of the class of grammars (i.e., all the context-sensitive languages are generated by grammars with these constraints), constraints which restrict the weak generative capacity to the extent that all context-sensitive languages are not generated but some noncontext-free languages are generated, and constraints which restrict the weak generative capacity to such an extent that only context-free languages are generated.

Book, R. V.↗

NASA NTRS1974

Design and control considerations for industrial and space manipulators

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

Whitney, D. E.↗

NASA NTRS1974

Reversal-bounded multipushdown machines

Several representations of the recursively enumerable (r.e.) sets are presented. The first states that every r.e. set is the homomorphic image of the intersection of two linear context-free languages. The second states that every r.e. set is accepted by an on-line Turing acceptor with two pushdown stores such that in every computation, each pushdown store can make at most one reversal (that is, one change from 'pushing' to 'popping'). It is shown that this automata theoretic representation cannot be strengthened by restricting the acceptors to be deterministic multitape, nondeterministic one-tape, or nondeterministic multicounter acceptors. This provides evidence that reversal bounds are not a natural measure of computational complexity for multitape Turing acceptors.

Baker, B. S.↗

NASA NTRS1975

Feedback control of two beam, two joint systems with distributed flexibility

The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.

Book, W. J.↗

NASA NTRS1976

Dynamic analysis of a class of mixed lumped-distributed parameter systems via numerical techniques

The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system's dynamic response via numerical methods is presented. These methods utilize numerical searches in the complex plane for the roots of the transcendental characteristic equation to determine the closed loop system eigenvalues. The fast Fourier transform (FFT) algorithm is utilized but in the inverse fashion (from frequency domain to time domain). The information obtained is identical to that contained in a model in modal coordinates, and can be used to construct such a model. An interactive computer program to do the required calculation is described, as well as its application to a manipulator arm design problem.

Book, W. J.↗

NASA NTRS1982

Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

Book, W. J.↗

NASA NTRS1987

High speed, precision motion strategies for lightweight structures

Abstracts of published papers and dissertations generated during the reporting period are compiled. Work on fine motion control was completed. Specifically, real time control of flexible manipulator vibrations were experimentally investigated. A linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes was examined with respect to model order requirements, and modal candidate selection. State feedback control laws were implemented based upon linear quadratic regulator design. Specification of the closed loop poles in the regulator design process was obtained by inclusion of a prescribed degree of stability in the manipulator model. Work on gross motion planning and control is also summarized. A systematic method to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators was developed.

Book, Wayne J.↗

NASA NTRS1987

High speed precision motion strategies for lightweight structures

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included.

Book, Wayne J.↗

NASA NTRS1986

Reconstruction and robust reduced-order observation of flexible variables

This paper discusses reconstruction and estimation of flexible variables from multiple strain measurements for use in state feedback control of flexible manipulators. Reconstruction is proposed for obtaining flexible mode amplitudes from the measurements, and estimation for the modal velocities. Design of the observer for estimation of the velocities is discussed with regard to robust implementation. The performance of the observer is examined experimentally for several specifications of the error dynamics.

Hastings, Gordon G.↗

NASA NTRS1987

Symbolic modeling of flexible manipulators

An algorithm is presented to symbolically derive the full nonlinear dynamic equations of motion of multilink flexible manipulators. Lagrange's assumed modes method is the basis of new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm by means of a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.

Cetinkunt, Sabri↗

NASA NTRS1988

Decentralized adaptive control of robot manipulators with robust stabilization design

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Yuan, Bau-San↗

NASA NTRS1988

Performance of lightweight manipulators under joint variable feedback control - Analytical study of limitations

The performance limitations of joint-variable-feedback-controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite-dimensional time-domain manipulator model is used in the study. Fine-motion analysis results agree very well with the previously reported results of infinite-dimensional frequency-domain models. The limitations of a class of adaptive controllers in high-speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.

Cetinkunt, Sabri↗

NASA NTRS1988

Experimental verification of a large flexible manipulator

A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

Lee, Jac Won↗

NASA NTRS1989

High speed, precision motion strategies for lightweight structures

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms.

Book, Wayne J.↗

NASA NTRS1989

Small motion experiments on a large flexible arm with strain feedback

Initial experiments on state-space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements has been designed to minimize a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple proportional-derivative joint control.

Yuan, B. S.↗

NASA NTRS1989

Manipulation strategies for massive space payloads

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration.

Book, Wayne J.↗

NASA NTRS1990

Experimentally determined wear behavior of an Al2O3-SiC composite from 25 to 1200 C

The sliding wear behavior of a self-mated alumina-silicon carbide whisker toughened composite was studied using optical, scanning electron (SEM) and transmission electron (TEM) microscopy. Because of its excellent strength and toughness properties this composite material is under consideration for use in heat engine applications for sliding contacts which operate at elevated temperatures. The composite's wear behavior and especially its wear mechanisms are not well understood. Pin-on-disk specimens were slid in air at 2.7 m/s sliding velocity, under a 26.5-N load, at temperatures 25 to 1200 C. Pin wear increased with increasing temperature. Based upon the microscopic analyses, the wear mechanism seems to be loosening of the reinforcing whiskers due to frictional and bulk heating. This leads to whisker pullout and increased wear.

Dellacorte, Christopher↗

NASA NTRS1989

Robot vibration control using inertial damping forces

The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Lee, Soo Han↗