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At least 1,639 records · Page 91
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

User's manual for MacPASCO

A user's manual is presented for MacPASCO, which is an interactive, graphic, preprocessor for panel design. MacPASCO creates input for PASCO, an existing computer code for structural analysis and sizing of longitudinally stiffened composite panels. MacPASCO provides a graphical user interface which simplifies the specification of panel geometry and reduces user input errors. The user draws the initial structural geometry and reduces user input errors. The user draws the initial structural geometry on the computer screen, then uses a combination of graphic and text inputs to: refine the structural geometry; specify information required for analysis such as panel load and boundary conditions; and define design variables and constraints for minimum mass optimization. Only the use of MacPASCO is described, since the use of PASCO has been documented elsewhere.

Lucas, S. H.↗
NASA NTRS1992

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Hale, J. P., II↗
NASA NTRS1992

Robust momentum management and attitude control system for the Space Station

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very accurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Rhee, Ihnseok↗
NASA NTRS1991

A consensual neural network

A neural network architecture called a consensual neural network (CNN) is proposed for the classification of data from multiple sources. Its relation to hierarchical and ensemble neural networks is discussed. CNN is based on the statistical consensus theory and uses nonlinearly transformed input data. The input data are transformed several times, and the different transformed data are applied as if they were independent inputs. The independent inputs are classified using stage neural networks and outputs from the stage networks are then weighted and combined to make a decision. Experimental results based on remote-sensing data and geographic data are given.

Benediktsson, J. A.↗
NASA NTRS1992

Several recursive techniques for observer/Kalman filter system identification from data

This paper derives algorithms for identifying autoregressive models, with external input, of multi-input multi-output systems from data using a fast transversal filter or a least-squares lattice filter. The autoregressive models including external inputs are used to identify state-space models and the corresponding observer/Kalman filter gains of the system. The derivation is an extension of scalar autoregressive model approaches, modified to cope with multivariables, external inputs and an extra direct-influence term. Comparisons between the fast transversal filter, the least-squares lattice filter and the classical least-squares method are made in terms of complexity, computational cost and practical applications issues. A numerical example is included to illustrate the approach.

Chen, Chung-Wen↗
NASA NTRS1992

Functional expansion representations of artificial neural networks

In the past few years, significant interest has developed in using artificial neural networks to model and control nonlinear dynamical systems. While there exists many proposed schemes for accomplishing this and a wealth of supporting empirical results, most approaches to date tend to be ad hoc in nature and rely mainly on heuristic justifications. The purpose of this project was to further develop some analytical tools for representing nonlinear discrete-time input-output systems, which when applied to neural networks would give insight on architecture selection, pruning strategies, and learning algorithms. A long term goal is to determine in what sense, if any, a neural network can be used as a universal approximator for nonliner input-output maps with memory (i.e., realized by a dynamical system). This property is well known for the case of static or memoryless input-output maps. The general architecture under consideration in this project was a single-input, single-output recurrent feedforward network.

Gray, W. Steven↗
NASA NTRS1992

Fuzzy set approach to quality function deployment: An investigation

The final report of the 1992 NASA/ASEE Summer Faculty Fellowship at the Space Exploration Initiative Office (SEIO) in Langley Research Center is presented. Quality Function Deployment (QFD) is a process, focused on facilitating the integration of the customer's voice in the design and development of a product or service. Various input, in the form of judgements and evaluations, are required during the QFD analyses. All the input variables in these analyses are treated as numeric variables. The purpose of the research was to investigate how QFD analyses can be performed when some or all of the input variables are treated as linguistic variables with values expressed as fuzzy numbers. The reason for this consideration is that human judgement, perception, and cognition are often ambiguous and are better represented as fuzzy numbers. Two approaches for using fuzzy sets in QFD have been proposed. In both cases, all the input variables are considered as linguistic variables with values indicated as linguistic expressions. These expressions are then converted to fuzzy numbers. The difference between the two approaches is due to how the QFD computations are performed with these fuzzy numbers. In Approach 1, the fuzzy numbers are first converted to their equivalent crisp scores and then the QFD computations are performed using these crisp scores. As a result, the output of this approach are crisp numbers, similar to those in traditional QFD. In Approach 2, all the QFD computations are performed with the fuzzy numbers and the output are fuzzy numbers also. Both the approaches have been explained with the help of illustrative examples of QFD application. Approach 2 has also been applied in a QFD application exercise in SEIO, involving a 'mini moon rover' design. The mini moon rover is a proposed tele-operated vehicle that will traverse and perform various tasks, including autonomous operations, on the moon surface. The output of the moon rover application exercise is a ranking of the rover functions so that a subset of these functions can be targeted for design improvement. The illustrative examples and the mini rover application exercise confirm that the proposed approaches for using fuzzy sets in QFD are viable. However, further research is needed to study the various issues involved and to verify/validate the methods proposed.

Masud, Abu S. M.↗
NASA NTRS1993

A Software Package for Neural Network Applications Development

Original Backprop (Version 1.2) is an MS-DOS package of four stand-alone C-language programs that enable users to develop neural network solutions to a variety of practical problems. Original Backprop generates three-layer, feed-forward (series-coupled) networks which map fixed-length input vectors into fixed length output vectors through an intermediate (hidden) layer of binary threshold units. Version 1.2 can handle up to 200 input vectors at a time, each having up to 128 real-valued components. The first subprogram, TSET, appends a number (up to 16) of classification bits to each input, thus creating a training set of input output pairs. The second subprogram, BACKPROP, creates a trilayer network to do the prescribed mapping and modifies the weights of its connections incrementally until the training set is leaned. The learning algorithm is the 'back-propagating error correction procedures first described by F. Rosenblatt in 1961. The third subprogram, VIEWNET, lets the trained network be examined, tested, and 'pruned' (by the deletion of unnecessary hidden units). The fourth subprogram, DONET, makes a TSR routine by which the finished product of the neural net design-and-training exercise can be consulted under other MS-DOS applications.

Baran, Robert H.↗
NASA NTRS1993

Parallel inferencing method and apparatus for rule-based expert systems

The invention analyzes areas of conditions with an expert knowledge base of rules using plural separate nodes which fire respective rules of said knowledge base, each of said rules upon being fired altering certain of said conditions predicated upon the existence of other said conditions. The invention operates by constructing a P representation of all pairs of said rules which are input dependent or output dependent; constructing a C representation of all pairs of said rules which are communication dependent or input dependent; determining which of the rules are ready to fire by matching the predicate conditions of each rule with the conditions of said set; enabling said node means to simultaneously fire those of the rules ready to fire which are defined by said P representation as being free of input and output dependencies; and communicating from each node enabled by said enabling step the alteration of conditions by the corresponding rule to other nodes whose rules are defined by said C matrix means as being input or communication dependent upon the rule of said enabled node.

Schwuttke, Ursula M.↗
NASA NTRS1992

Self-tuning multivariable pole placement control of a multizone crystal growth furnace

This paper presents the design and implementation of a multivariable self-tuning temperature controller for the control of lead bromide crystal growth. The crystal grows inside a multizone transparent furnace. There are eight interacting heating zones shaping the axial temperature distribution inside the furnace. A multi-input, multi-output furnace model is identified on-line by a recursive least squares estimation algorithm. A multivariable pole placement controller based on this model is derived and implemented. Comparison between single-input, single-output and multi-input, multi-output self-tuning controllers demonstrates that the zone-to-zone interactions can be minimized better by a multi-input, multi-output controller design. This directly affects the quality of crystal grown.

Batur, C.↗
NASA NTRS1992

A non-iterative method for computing the infimum in H(infinity)-optimization

This paper presents a simple and non-iterative procedure for the computation of the exact value of the infimum in the singular H(infinity)-optimization problem, and is an extension of our earlier work. The problem formulation is general and does not place any restriction on the direct feedthrough terms between the control input and the controlled output variables, and between the disturbance input and the measurement output variables. Our method is applicable to a class of singular H(infinity)-optimization problems for which the transfer functions from the control input to the controlled output and from the disturbance input to the measurement output have no invariant zeros on the j-omega axis and also satisfy certain geometric conditions. The computation of the infimum in our method involves solving two well-defined Riccati and two Liapunov equations.

Chen, Ben M.↗
NASA NTRS1992

Non-iterative computation of the infimum in H-infinity-optimization for plants with invariant zeros on the j-omega axis

A simple and noniterative procedure for the computation of the exact value of the infimum in the singular H-infinity optimization problem is presented. The problem formulation is general, and no restrictions are placed on the finite and infinite zero structures of the system and on the direct feedthrough terms between the control input and the controlled output variables and between the disturbance input and the measurement output variables. The method is applicable to a class of singular H-infinity optimization problems for which the transfer functions from the control input to the controlled output and from the disturbance input to the measurement output satisfy certain geometric conditions. In particular, the authors extend the result of B. M. Chen et al. (1991) by allowing these two transfer functions to have invariant zeros on the j-omega axis.

Chen, Ben M.↗
NASA NTRS1991

The Upper Atmosphere Research Satellite (UARS) - An overview

UARS is designed to provide the most extensive data base ever obtained on the coupled energy input, chemistry, and dynamics of the earth's upper atmosphere to increase enormously the current understanding of the upper atmosphere and to improve assessments of the depletion of stratospheric ozone caused by human activities. The UARS mission, observatory, and investigations are described. The UARS experimental investigations consist of energy input experiments, chemical species and temperature experiments, and dynamics experiments. Two instruments measure solar UV energy input while another measures energetic particle energy input and associated X-radiation emission from the atmosphere. Four instruments address chemical concentrations, and two make direct measurements of upper atmosphere winds.

Mcneal, Robert J.↗
NASA NTRS1993

Intelligent data presentation for real-time spacecraft monitoring

This paper describes an intelligent user interface that is currently under development. The interface serves as a front end for real-time spacecraft monitoring software. The software operates under circumstances in which neither an intelligent human without automated assistance nor an automated system without intelligence are sufficiently effective. The user interface is supported by dynamic trade-off evaluation (DTE), a new technique that has been developed to automate general types of performance trade-offs in real-time problem solving systems. In this application, DTE is used to perform dynamic input data management for the purpose of determining which input data should be monitored in time constrained situations and how to present the monitoring information to a human analyst who has the ultimate responsibility for the spacecraft. This application has demonstrated that DTE can be used to dynamically vary the data that is monitored, making it possible to detect and correctly analyze all anomalous data by examining only a subset of the total input data. In carefully structured experimental evaluations that use real spacecraft data and real decision making, DTE provides the ability to handle a three-fold increase in input data (in real-time) without loss of performance and to intelligently present the information to a mission analyst.

Schwuttke, U. M.↗
NASA NTRS1992

Robust recognition of handwritten numerals based on dual cooperative network

An approach to robust recognition of handwritten numerals using two operating parallel networks is presented. The first network uses inputs in Cartesian coordinates, and the second network uses the same inputs transformed into polar coordinates. How the proposed approach realizes the robustness to local and global variations of input numerals by handling inputs both in Cartesian coordinates and in its transformed Polar coordinates is described. The required network structures and its learning scheme are discussed. Experimental results show that by tracking only a small number of distinctive features for each teaching numeral in each coordinate, the proposed system can provide robust recognition of handwritten numerals.

Lee, Sukhan↗
NASA NTRS1991

Digital modelling, ideal state reconstructor, and control for time-delay sampled-data systems

The cascaded discrete-time state-space representation of a cascaded continuous-time system with fractional input delays is established. Based on the time-delay digital modelling, a practically implementable ideal state reconstructor is also established such that system states are exactly reconstructed via the measurement histories of inputs and outputs without a state observer. By utilizing the blockpulse function approximation the digital modelling of cascaded continuous-time systems with fractional input delays can be carried out, and an artificial input design method is proposed to determine the state feedback gain. Thus the practically implementable digital control law can be established for digital control of time-delay sampled-data systems. An illustrative example is shown to demonstrate the effectiveness of the proposed method.

Tsai, J. S. H.↗
NASA NTRS1990

Simplified detection and correction of critical data for ill-conditioned systems

Ill-conditioned systems arising in analysis and optimization can display a high sensitivity to numerical precision for changes and errors in data input. Such data may be in the form of system parameter input or desired system response. The ill-conditioning referred to generally arises from the lack of sufficient independent data to define a complex system or the weak sensitivity of response to source input parameters. It is shown how small errors in data and assumed fixed and known parameters can lead to highly erroneous results in ill-conditioned linear algebraic equations. A simplified detection and correction of critical input data arising in the coefficient matrix and desired response (i.e., right hand side) is proposed.

Ojalvo, Irving U.↗
NASA NTRS1993

Computer program for analysis of high speed, single row, angular contact, spherical roller bearing, SASHBEAN. Volume 1: User's guide

The computer program SASHBEAN (Sikorsky Aircraft Spherical Roller High Speed Bearing Analysis) analyzes and predicts the operating characteristics of a Single Row, Angular Contact, Spherical Roller Bearing (SRACSRB). The program runs on an IBM or IBM compatible personal computer, and for a given set of input data analyzes the bearing design for it's ring deflections (axial and radial), roller deflections, contact areas and stresses, induced axial thrust, rolling element and cage rotation speeds, lubrication parameters, fatigue lives, and amount of heat generated in the bearing. The dynamic loading of rollers due to centrifugal forces and gyroscopic moments, which becomes quite significant at high speeds, is fully considered in this analysis. For a known application and it's parameters, the program is also capable of performing steady-state and time-transient thermal analyses of the bearing system. The steady-state analysis capability allows the user to estimate the expected steady-state temperature map in and around the bearing under normal operating conditions. On the other hand, the transient analysis feature provides the user a means to simulate the 'lost lubricant' condition and predict a time-temperature history of various critical points in the system. The bearing's 'time-to-failure' estimate may also be made from this (transient) analysis by considering the bearing as failed when a certain temperature limit is reached in the bearing components. The program is fully interactive and allows the user to get started and access most of its features with a minimal of training. For the most part, the program is menu driven, and adequate help messages were provided to guide a new user through various menu options and data input screens. All input data, both for mechanical and thermal analyses, are read through graphical input screens, thereby eliminating any need of a separate text editor/word processor to edit/create data files. Provision is also available to select and view the contents of output files on the monitor screen if no paper printouts are required. A separate volume (Volume-2) of this documentation describes, in detail, the underlying mathematical formulations, assumptions, and solution algorithms of this program.

Aggarwal, Arun K.↗