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At least 1,531 records · Page 85

Lessons learned in the transition to Ada from FORTRAN at NASA/Goddard

Two dynamics satellite simulators are developed from the same requirements, one in Ada and the other in FORTRAN. The purpose of the research was to find out how well the prescriptive Ada development model worked to develop the Ada simulator. The FORTRAN simulator development, as well as past FORTRAN developments, provided a baseline for comparison. Since this was the first simulator developed, the prescriptive Ada development model had many similarities to the usual FORTRAN development model. However, it was modified to include longer design and shorter testing phases, which is generally expected with Ada developments. One result was that the percentage of time the Ada project spent in the various development activities was very similar to the percentage of time spent in these activities when doing a FORTRAN project. Another finding was the difficulty the Ada team had with unit testing as well as with integration. It was realized that adding additional steps to the design phase, such as an abstract data type analysis, and certain guidelines to the implementation phase, such as to use primarily library units and nest sparingly, would have made development easier. These are among the recommendations made to be incorporated in a new Ada development model next time.

Brophy, Carolyn Elizabeth↗

Position control of redundant manipulators using an adaptive error-based control scheme

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that the manipulator performs non-compliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

Electrodynamics of the Getaway Tether Experiment

An electrodynamic circuit model of the interaction of a pair of small tethered satellites and the ionosphere is developed and analyzed. The system under study, the Getaway Tether Experiment (GATE), is composed of two small satellites and 1 km of insulated conducting tether. The nonlinear model has elements representing the emission, collection, and resistive flow of charge through an electrically conductive tether, plasma contactors, and the ionosphere. The circuit model is incorporated into a dynamic orbital simulation to predict mission performance. Simulation results show the feasibility to bilaterally transfer energy between stored electrical energy and orbital momentum. A transient model is also developed using the circuit model and a string of N lumped-parameter modules, each consisting of resistance, capacitance, and induced potential for the tether. Transients are shown via simulation to occur over millisecond intervals.

Greene, Michael↗

Active control of buckling of flexible beams

Mathematical models are presented that simulate the dynamic characteristics of shape memory alloy actuators made of nickel-titanium alloy (Nitinol) controlling the buckling of compressive structural members. A closed-loop computer-controlled system has been designed, based on the proposed mathematical models, and has been implemented to control the buckling of simple beams. The performance of the computer-controlled system is evaluated experimentally and compared with the theoretical predictions to validate the developed models. The results emphasized the importance of buckling control and suggest the potential of shape memory alloy actuators as attractive means for controlling structural deformation in a simple and reliable way.

Baz, A.↗

Supersonic flameholding by attached oblique shock waves

The object of this investigation was to explore various regimes of shock-induced combustion that may occur as a result of supersonic flow of a reactive gas mixture past a simple compression ramp or wedge. Attention was confined to combinations of wedge angles, fuel-air mixture ratios and freestream velocities that permit the resulting oblique shock or oblique detonation wave to remain attached. Computational fluid dynamic (CFD) simulations, both inviscid and viscous, were performed and analyzed in order to investigate two modes of compression ramp flameholding; namely, complete oblique detonation wave (ODW) and shock-induced combustion. In addition, the possibility of flame persistence or hysteresis was explored. It was preliminarily concluded that inclusion of viscous effects may be essential to accurately predict the occurrence of the various flameholding modes.

Fort, James A.↗

A parallel row-based algorithm for standard cell placement with integrated error control

A new row-based parallel algorithm for standard-cell placement targeted for execution on a hypercube multiprocessor is presented. Key features of this implementation include a dynamic simulated-annealing schedule, row-partitioning of the VLSI chip image, and two novel approaches to control error in parallel cell-placement algorithms: (1) Heuristic Cell-Coloring; (2) Adaptive Sequence Length Control.

Sargent, Jeff S.↗

Demand Assignment in the ACTS LBR System

On the Advanced Communications Technology Satellite (ACTS) being developed at NASA Lewis, low-burst-rate (LBR) traffic stations will access the ACTS multibeam package via two hopping beams that can be directed at certain areas in the continental U.S. An onboard baseband processor (BBP) demodulates uplink traffic, switches it between uplink and downlink beams at baseband, and then remodulates it for retransmission at 20 GHz. This study describes the demand-assigned operation of the ACTS LBR system, where the onboard switch is remote from both traffic stations and master control station (MCS). Network control uses inbound and outbound orderwire channels and a BBP control channel, allowing the MCS to coordinate assignment of individual 64-kb/s spacecraft channels. Models are developed to simulate the dynamics of the assignment process and verify the call blocking behavior, to predict control channel loads, and to evaluate algorithms for burst time plan rearrangement.

White, Lawrence W.↗

NASA/ASEE Summer Faculty Fellowship Program, 1990, Volume 1

The 1990 Johnson Space Center (JSC) NASA/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program was conducted by the University of Houston-University Park and JSC. A compilation of the final reports on the research projects are presented. The topics covered include: the Space Station; the Space Shuttle; exobiology; cell biology; culture techniques; control systems design; laser induced fluorescence; spacecraft reliability analysis; reduced gravity; biotechnology; microgravity applications; regenerative life support systems; imaging techniques; cardiovascular system; physiological effects; extravehicular mobility units; mathematical models; bioreactors; computerized simulation; microgravity simulation; and dynamic structural analysis.

Bannerot, Richard B.↗

Climate dynamics experiments using a GCM simulations

The study of surface-atmosphere interactions has begun with studies of the effect of altering the ocean and land boundaries. A ten year simulation of global climate using observed sea surface temperature anomalies has begun using the NCAR Community Climate Model (CCM1). The results for low resolution (R15) were computed for the first 8 years of the simulation and compared with the observed surface temperatures and the MSU (Microwave Sounding Unit) observations of tropospheric temperature. A simulation at higher resolution (T42) was done to ascertain the effect of interactive soil hydrology on the system response to an El Nino sea surface temperature perturbation. Initial analysis of this simulations was completed.

Fitzjarrald, Dan↗

The substorm current wedge and field-aligned currents in MHD simulations of magnetotail reconnection

Results are reported from a three-dimensional MHD simulation of magnetotail reconnection, which, in contrast to earlier ones, starts from an equilibrium configuration that contains a region 1 type field-aligned current system at the plasma sheet/lobe boundary. This current system is found from equilibrium theory as the consequence of boundary conditions, which require that field lines at large distances from the earth become aligned-with the tail axis, consistent with observations and the expected consequences of the interaction with the solar wind. As in earlier simulations, the dynamic evolution develops from a slow diffusion to the fast growth of a three-dimensional tearing mode, initiated by the sudden occurrence or increase of resistivity, leading again to the formation and subsequent tailward ejection of a plasmoid, associated with fast plasma flows. In addition there are changes of the electric current system which are consistent with the substorm current wedge picture inferred from observations.

Birn, J.↗

Aerothermodynamic environment predictions in support of the Aeroassist Flight Experiment

A computational fluid dynamic (CFD) simulation has been made of the flow past an Aeroassist Flight Experiment (AFE) aerobrake model with a payload and sting. The simulation involves solving the complete Navier-Stokes equations in three dimensions. Comparisons with data taken in a Mach 10 wind tunnel test are made and agreement is shown to be very good. Points of comparison include the aerobrake surface pressure and heat transfer rate, the sting surface streamlines, and the sting heat transfer rate. The dependence of the solution on the grid is also explored. Finally, predictions are made for conditions which correspond to a hypersonic shock tunnel force and moment test to be carried out later this year.

Fay, John F.↗

Optimizing Reduced-Order Transfer Functions

Transfer-function approximations made optimal in special least-squares sense. Algorithm computes reduced-order rational-fraction approximates to single-input/single-output transfer functions. Reduces amount of computation needed for such purposes as numerical simulation of dynamics and design of control subsystems.

Spanos, John T.↗

The effects of multiple aerospace environmental stressors on human performance

An extended Fitt's law paradigm reaction time (RT) task was used to evaluate the effects of acceleration on human performance in the Dynamic Environment Simulator (DES) at Armstrong Laboratory, Wright-Patterson AFB, Ohio. This effort was combined with an evaluation of the standard CSU-13 P anti-gravity suit versus three configurations of a 'retrograde inflation anti-G suit'. Results indicated that RT and error rates increased 17 percent and 14 percent respectively from baseline to the end of the simulated aerial combat maneuver and that the most common error was pressing too few buttons.

Popper, S. E.↗

Hand controller commonality evaluation process

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

Stuart, Mark A.↗

Aerobrake aerothermodynamic environment predictions in support of the Aeroassist Flight Experiment

A computational fluid dynamic (CFD) simulation of the flow past an Aeroassist Flight Experiment (AFE) aerobrake under wind tunnel test conditions has been made. The Navier-Stokes equations in three dimensions were solved numerically using a finite-volume, implicit approach. Comparisons with experimental data include surface pressures and heat transfer rates and aerodynamic coefficients. Agreement with experiment is shown to be excellent. The dependence of the solution on the computational grid is explored. The present work is preliminary to simulation of the flow past the AFE under flight conditions, which at present cannot be duplicated with ground-based experimental facilities.

Fay, John F.↗

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗