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At least 1,585 records · Page 88
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NASA NTRS1990

Nonlinear feedback method of robot control - A preliminary experimental study

The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

Tarn, T. J.↗
NASA NTRS1990

Harmonic analysis of nonlinear devices on spacecraft power systems

A nonlinear device modeling algorithm (NOLID) has been developed for use in spacecraft power system analysis. This algorithm is designed to explore the effects of nonlinear devices and loads on a spacecraft power system. Application of this harmonic modeling algorithm in spacecraft power system management programs such as harmonic power flow analysis packages is discussed. It is shown that the NOLID algorithm can be applied in conjunction with a harmonic power flow to give a more accurate description of system state.

Williamson, Frank↗
NASA NTRS1991

Nonlinear evolution of subsonic and supersonic disturbances on a compressible free shear layer

The effects of a nonlinear-nonequilibrium-viscous critical layer on the spatial evolution of subsonic and supersonic instability modes on a compressible free shear layer is considered. It is shown that the instability wave amplitude is governed by an integrodifferential equation with cubic-type nonlinearity. Numerical and asymptotic solutions to this equation show that the amplitude either ends in a singularity at a finite downstream distance or reaches an equilibrium value, depending on the Prandtl number, viscosity law, viscous parameter and a real parameter which is determined by the linear inviscid stability theory. A necessary condition for the existence of the equilibrium solution is derived, and whether or not this condition is met is determined numerically for a wide range of physical parameters including both subsonic and supersonic disturbances. it is found that no equilibrium solution exists for the subsonic modes unless the temperature ratio of the low-to-high-speed streams exceeds a critical value, while equilibrium solutions for the most rapidly growing supersonic mode exist over most of the parameter range examined.

Leib, S. J.↗
NASA NTRS1991

Reconstructing the primordial spectrum of fluctuations of the universe from the observed nonlinear clustering of galaxies

It was discovered that the nonlinear evolution of the two point correlation function in N-body experiments of galaxy clustering with Omega = 1 appears to be described to good approximation by a simple general formula. The underlying form of the formula is physically motivated, but its detailed representation is obtained empirically by fitting to N-body experiments. In this paper, the formula is presented along with an inverse formula which converts a final, nonlinear correlation function into the initial linear correlation function. The inverse formula is applied to observational data from the CfA, IRAs, and APM galaxy surveys, and the initial spectrum of fluctuations of the universe, if Omega = 1.

Hamilton, A. J. S.↗
NASA NTRS1991

Resonance excitation of spiral density waves in a gaseous disk. II - A nonlinear theory and application to the 3 kiloparsec arm

The present nonlinear theory of spiral density waves in a thin, viscous, self-gravitating gaseous disk views the waves as generated near the Lindblad resonance by periodic disturbances through an excitation mechanism. The suggestion of Yuan (1984), that either a minor oval distortion or an uneven distribution of mass in the center can excite a spiral density wave whose radial velocity and mass concentration are in excellent agreement with observations of the 3 kpc arm of the Galaxy, is confirmed. Reliable results are obtained for nonlinear density waves either in a gaseous disk or in the gas components of a galactic disk.

Yuan, Chi↗
NASA NTRS1991

Nonlinear instability of the accretion line

The instability of the flow along the accretion line in the two-dimensional Bondi-Hoyle-Lyttleton type accretion flow is studied. By means of numerical simulations, the nonlinear regime of the instability is explored, thus extending a previous work that dealt with the linear regime using the WKB approximation. In contrast to the behavior in the linear regime, in the nonlinear regime the radial and tangential modes are coupled. The radial instability, which manifests itself as large density and velocity variations on short distances, grows far beyond the linear regime. The tangential instability, on the other hand, stays in the linear regime and is dominant by long-wavelength perturbations. This results from both the influence of the radial instability and the incoming material (the material accreted onto the accretion line).

Soker, Noam↗
NASA NTRS1991

Maximized gust loads for a nonlinear airplane using matched filter theory and constrained optimization

This paper describes and illustrates two matched-filter-theory based schemes for obtaining maximized and time-correlated gust-loads for a nonlinear airplane. The first scheme is computationally fast because it uses a simple one-dimensional search procedure to obtain its answers. The second scheme is computationally slow because it uses a more complex multidimensional search procedure to obtain its answers, but it consistently provides slightly higher maximum loads than the first scheme. Both schemes are illustrated with numerical examples involving a nonlinear control system.

Scott, Robert C.↗
NASA NTRS1991

Nonlinear effects in a plain journal bearing. I - Analytical study. II - Results

In the first part of this work, a numerical model is presented which couples the variable-property Reynolds equation with a rotor-dynamics model for the calculation of a plain journal bearing's nonlinear characteristics when working with a cryogenic fluid, LOX. The effects of load on the linear/nonlinear plain journal bearing characteristics are analyzed and presented in a parametric form. The second part of this work presents numerical results obtained for specific parametric-study input variables (lubricant inlet temperature, external load, angular rotational speed, and axial misalignment). Attention is given to the interrelations between pressure profiles and bearing linear and nonlinear characteristics.

Choy, F. K.↗
NASA NTRS1991

Modeling of nonlinear constitutive relations of woven ceramic composites

The linear and nonlinear tensile behavior of SiC/SiC composites is examined. This analysis is based on the observed stress-strain behavior and damage evolution from a series of loading and unloading tensile tests. Stress distribution of the composite with transverse cracks in the transverse yarns is examined, and the nonlinearity of the composite stress-strain relation due to the presence of transverse cracks is predicted by application of a maximum failure strain criterion for the transverse yarn.

Kuo, Wen-Shyong↗
NASA NTRS1992

Nonlinear Maneuver Autopilot

Trajectory-control laws based on singular-perturbation theory and nonlinear dynamical modeling. Nonlinear maneuver autopilot commands flight-test trajectories of F-15 airplane. Underlying theory of controller enables separation of variables processed in fast and slow control loops, reducing amount of computation required.

Menon, P. K. A.↗
NASA NTRS1991

Maximized gust loads for a nonlinear airplane using matched filter theory and constrained optimization

Two matched filter theory based schemes are described and illustrated for obtaining maximized and time correlated gust loads for a nonlinear aircraft. The first scheme is computationally fast because it uses a simple 1-D search procedure to obtain its answers. The second scheme is computationally slow because it uses a more complex multi-dimensional search procedure to obtain its answers, but it consistently provides slightly higher maximum loads than the first scheme. Both schemes are illustrated with numerical examples involving a nonlinear control system.

Scott, Robert C.↗
NASA NTRS1991

Numerical identification of boundary conditions on nonlinearly radiating inverse heat conduction problems

An explicit and unconditionally stable finite difference method for the solution of the transient inverse heat conduction problem in a semi-infinite or finite slab mediums subject to nonlinear radiation boundary conditions is presented. After measuring two interior temperature histories, the mollification method is used to determine the surface transient heat source if the energy radiation law is known. Alternatively, if the active surface is heated by a source at a rate proportional to a given function, the nonlinear surface radiation law is then recovered as a function of the interface temperature when the problem is feasible. Two typical examples corresponding to Newton cooling law and Stefan-Boltzmann radiation law respectively are illustrated. In all cases, the method predicts the surface conditions with an accuracy suitable for many practical purposes.

Murio, Diego A.↗
NASA NTRS1991

The effects of suction on the nonlinear stability of the three-dimensional boundary layer above a rotating disc

There exist two types of stationary instability of the flow over a rotating disc corresponding to the upper branch, inviscid mode and the lower branch mode, which has a triple deck structure, of the neutral stability curve. A theoretical study of the linear problem and an account of the weakly nonlinear properties of the lower branch modes have been undertaken by Hall and MacKerrell respectively. Motivated by recent reports of experimental sightings of the lower branch mode and an examination of the role of suction on the linear stability properties of the flow here, the effects are studied of suction on the nonlinear disturbance described by MacKerrell. The additional analysis required in order to incorporate suction is relatively straightforward and enables the derivation of an amplitude equation which describes the evolution of the mode. For each value of the suction, a threshold value of the disturbance amplitude is obtained; modes of size greater than this threshold grow without limit as they develop away from the point of neutral stability.

Bassom, Andrew P.↗
NASA NTRS1992

Nonlinear feedback guidance law for aero-assisted orbit transfer maneuvers

Aero-assisted orbit transfer vehicles have the potential for significantly reducing the fuel requirements in certain classes of orbit transfer operations. Development of a nonlinear feedback guidance law for performing aero-assisted maneuvers that accomplish simultaneous change of all the orbital elements with least vehicle acceleration magnitude is discussed. The analysis is based on a sixth order nonlinear point-mass vehicle model with lift, bank angle, thrust and drag modulation as the control variables. The guidance law uses detailed vehicle aerodynamic and the atmosphere models in the feedback loop. Higher-order gravitational harmonics, planetary atmosphere rotation and ambient winds are included in the formulation. Due to modest computational requirements, the guidance law is implementable on-board an orbit transfer vehicle. The guidance performance is illustrated for three sets of boundary conditions.

Menon, P. K. A.↗
NASA NTRS1992

A 6 degree-of-freedom Lorentz force vibration isolator with nonlinear controller

This program demonstrated the technical feasibility of constructing large-stroke magnetic suspensions that can meet the active vibration isolation requirements of Space Station. These requirements include: (1) strokes over 1 cm in all directions, (2) actuator bandwidths over 100 Hz, (3) isolator roll-off frequencies below 10(exp -2) Hertz, and (4) force capability over 1 Newton in all axes. The 100 Hz actuator bandwidth allows the suspension to reject any direct force disturbances that act on the microgravity experiment, for example forces created by cable connections. The low isolator roll-off frequency and large stroke allow the magnetic suspension to isolate the microgravity experiment from Space Station vibrations above the roll-off frequency. The capability to meet these requirements was demonstrated by designing, constructing and testing a six-degree-of-freedom, prototype magnetic suspension system that featured high-performance, Lorentz-force actuators and full multi-input, multi-output control. This prototype suspension is designed to isolate large orbiter locker experiments under typical spacecraft constraints of size, weight, and power. Suspension in the full six-degrees-of-freedom was successfully demonstrated in this program while using a gravity-force unload mechanism to simulate a space environment. The prototype isolator is capable of space-based isolation service with relatively minor modification. The use of advanced, nonlinear control algorithms were investigated on a specially designed single-degree-of-freedom testbed. This low acceleration test facility simulates the Space Station vibration isolation problem in a single horizontal axis with low-friction, air-slide support. This allowed testing at the desired microgravity levels, without the gravity bias effects that are seen in a full six-degrees-of-freedom suspension. Precision components were used to reduce residual accelerations to microgravity levels so that the effects of sensor, actuator, and electronic noise could be evaluated. During the Phase 2 program, this testbed was used to demonstrate the advantages of nonlinear control algorithms to provide increased vibration isolation performance.

Fenn, Ralph↗
NASA NTRS1992

Detecting and disentangling nonlinear structure from solar flux time series

Interest in solar activity has grown in the past two decades for many reasons. Most importantly for flight dynamics, solar activity changes the atmospheric density, which has important implications for spacecraft trajectory and lifetime prediction. Building upon the previously developed Rayleigh-Benard nonlinear dynamic solar model, which exhibits many dynamic behaviors observed in the Sun, this work introduces new chaotic solar forecasting techniques. Our attempt to use recently developed nonlinear chaotic techniques to model and forecast solar activity has uncovered highly entangled dynamics. Numerical techniques for decoupling additive and multiplicative white noise from deterministic dynamics and examines falloff of the power spectra at high frequencies as a possible means of distinguishing deterministic chaos from noise than spectrally white or colored are presented. The power spectral techniques presented are less cumbersome than current methods for identifying deterministic chaos, which require more computationally intensive calculations, such as those involving Lyapunov exponents and attractor dimension.

Ashrafi, S.↗
NASA NTRS1991

Two-dimensional hydrodynamic calculations of the nonlinear development of the Goldreich-Schubert-Fricke instability in a rotating annulus

Two-dimensional nonlinear hydrodynamic calculations are presented which may help assess the effectiveness of the instability in transporting angular momentum in the equatorial zones of stars and planets which are stably stratified with respect to convection. The calculations were made by numerically integrating the 2D axisymmetric Navier-Stokes equations, including viscosity and heat conduction. The instability was followed into the nonlinear regime. The maximum rms velocity amplitude was found to correlate well with the product of the linear growth rate and radial length scale of the instability, consistent with the idea that the instability grows to an amplitude such that an eddy turnover time becomes equal to the growth time defined by the inverse of the growth rate. The time scale for angular momentum to be redistributed to a state of marginal stability was consistent with this picture. The results suggest that in physical situations a state of marginal stability will be maintained, since departures from such a state will be rapidly corrected.

Korycansky, D. G.↗
NASA NTRS1991

Statistical linearization for multi-input/multi-output nonlinearities

Formulas are derived for the computation of the random input-describing functions for MIMO nonlinearities; these straightforward and rigorous derivations are based on the optimal mean square linear approximation. The computations involve evaluations of multiple integrals. It is shown that, for certain classes of nonlinearities, multiple-integral evaluations are obviated and the computations are significantly simplified.

Lin, Ching-An↗