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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 1,675 records · Page 93
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Extended Kalman filter for attitude estimation of the earth radiation budget satellite

The design and testing of an Extended Kalman Filter (EKF) for ground attitude determination, misalignment estimation and sensor calibration of the Earth Radiation Budget Satellite (ERBS) are described. Attitude is represented by the quaternion of rotation and the attitude estimation error is defined as an additive error. Quaternion normalization is used for increasing the convergence rate and for minimizing the need for filter tuning. The development of the filter dynamic model, the gyro error model and the measurement models of the Sun sensors, the IR horizon scanner and the magnetometers which are used to generate vector measurements are also presented. The filter is applied to real data transmitted by ERBS sensors. Results are presented and analyzed and the EKF advantages as well as sensitivities are discussed. On the whole the filter meets the expected synergism, accuracy and robustness.

Deutschmann, Julie↗
NASA NTRS1990

Feasibility of using Extreme Ultraviolet Explorer (EUVE) reaction wheels to satisfy Space Infrared Telescope Facility (SIRTF) maneuver requirements

A digital computer simulation is used to determine if the extreme ultraviolet explorer (EUVE) reaction wheels can provide sufficient torque and momentum storage capability to meet the space infrared telescope facility (SIRTF) maneuver requirements. A brief description of the pointing control system (PCS) and the sensor and actuator dynamic models used in the simulation is presented. A model to represent a disturbance such as fluid sloshing is developed. Results developed with the simulation, and a discussion of these results are presented.

Lightsey, W. D.↗
NASA NTRS1989

Expert systems for automated maintenance of a Mars oxygen production system

A prototype expert system was developed for maintaining autonomous operation of a Mars oxygen production system. Normal operation conditions and failure modes according to certain desired criteria are tested and identified. Several schemes for failure detection and isolation using forward chaining, backward chaining, knowledge-based and rule-based are devised to perform several housekeeping functions. These functions include self-health checkout, an emergency shut down program, fault detection and conventional control activities. An effort was made to derive the dynamic model of the system using Bond-Graph technique in order to develop the model-based failure detection and isolation scheme by estimation method. Finally, computer simulations and experimental results demonstrated the feasibility of the expert system and a preliminary reliability analysis for the oxygen production system is also provided.

Ash, Robert L.↗
NASA NTRS1989

A robot arm simulation with a shared memory multiprocessor machine

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Kim, Sung-Soo↗
NASA NTRS1989

A real time, FEM based optimal control algorithm and its implementation using parallel processing hardware (transistors) in a microprocessor environment

There is an evident need to discover a means of establishing reliable, implementable controls for systems that are plagued by nonlinear and, or uncertain, model dynamics. The development of a generic controller design tool for tough-to-control systems is reported. The method utilizes a moving grid, time infinite element based solution of the necessary conditions that describe an optimal controller for a system. The technique produces a discrete feedback controller. Real time laboratory experiments are now being conducted to demonstrate the viability of the method. The algorithm that results is being implemented in a microprocessor environment. Critical computational tasks are accomplished using a low cost, on-board, multiprocessor (INMOS T800 Transputers) and parallel processing. Progress to date validates the methodology presented. Applications of the technique to the control of highly flexible robotic appendages are suggested.

Patten, William Neff↗
NASA NTRS1990

Dynamic analysis of space-related linear and non-linear structures

In order to be cost effective, space structures must be extremely light weight, and subsequently, very flexible structures. The power system for Space Station Freedom is such a structure. Each array consists of a deployable truss mast and a split blanket of photovoltaic solar collectors. The solar arrays are deployed in orbit, and the blanket is stretched into position as the mast is extended. Geometric stiffness due to the preload make this an interesting non-linear problem. The space station will be subjected to various dynamic loads, during shuttle docking, solar tracking, attitude adjustment, etc. Accurate prediction of the natural frequencies and mode shapes of the space station components, including the solar arrays, is critical for determining the structural adequacy of the components, and for designing a dynamic controls system. The process used in developing and verifying the finite element dynamic model of the photo-voltaic arrays is documented. Various problems were identified, such as grounding effects due to geometric stiffness, large displacement effects, and pseudo-stiffness (grounding) due to lack of required rigid body modes. Analysis techniques, such as development of rigorous solutions using continuum mechanics, finite element solution sequence altering, equivalent systems using a curvature basis, Craig-Bampton superelement approach, and modal ordering schemes were utilized. The grounding problems associated with the geometric stiffness are emphasized.

Bosela, Paul A.↗
NASA NTRS1990

Research at NASA's NFAC wind tunnels

The National Full-Scale Aerodynamics Complex (NFAC) is a unique combination of wind tunnels that allow the testing of aerodynamic and dynamic models at full or large scale. It can even accommodate actual aircraft with their engines running. Maintaining full-scale Reynolds numbers and testing with surface irregularities, protuberances, and control surface gaps that either closely match the full-scale or indeed are those of the full-scale aircraft help produce test data that accurately predict what can be expected from future flight investigations. This complex has grown from the venerable 40- by 80-ft wind tunnel that has served for over 40 years helping researchers obtain data to better understand the aerodynamics of a wide range of aircraft from helicopters to the space shuttle. A recent modification to the tunnel expanded its maximum speed capabilities, added a new 80- by 120-ft test section and provided extensive acoustic treatment. The modification is certain to make the NFAC an even more useful facility for NASA's ongoing research activities. A brief background is presented on the original facility and the kind of testing that has been accomplished using it through the years. A summary of the modification project and the measured capabilities of the two test sections is followed by a review of recent testing activities and of research projected for the future.

Edenborough, H. Kipling↗
NASA NTRS1989

A new approach to global control of redundant manipulators

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Seraji, Homayoun↗
NASA NTRS1989

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗
NASA NTRS1989

Long-term exposure to zero-g and the gastro-intestinal tract function

The gastrointestinal tract (GIT) function is described with emphasis placed on its important role to smooth, delay, and modify sudden fluid load stress applied to the fluid distribution control system in the body. Two basic components of the GIT are considered: stomach dynamics, which involves storage, mixing, and discharge of food into the intestine after addition of gastric juices; and absorption of water and electrolytes from the small intestine. A dynamic model of these components is described, along with performance characteristics computed consecutively for one g and zero g conditions. The main impact of the zero g condition appears to be through a change in osmotic driven transport across the gut wall. A dramatic change in transport characteristics is predicted with implication for many body systems (the immune system in particular) during long-term exposure to zero g. Experimental measurements in zero g are needed to evaluate these predictions.

Mccormack, Percial D.↗
NASA NTRS1989

Obstacle avoidance for redundant robots using configuration control

The article presents a new and simple solution to the obstacle avoidance problem for redundant robots. In the proposed approach, called configuraiton control, the redundancy is utilized to configure the robot so as to satisfy a set of kinematic inequality constraints representing obstacle avoidance, while the end-effector is tracking a desired trajectory. The robot control scheme is very simple, and uses on-line adaptation to eliminate the need for the complex dynamic model and parameter values of the robot. Several simulation results for a four-link planar robot are presented to illustrate the versatility of the approach. These include reaching around a stationary obstacle, simultaneous avoidance of two obstacles, robot reconfiguration to avoid a moving obstacle, and avoidance of rectangular obstacles.

Colbaugh, R.↗
NASA NTRS1990

Theory of radiation from low velocity heated air

The application of hypersonic computational fluid dynamics models to low velocity vehicles is examined. Modeling aspects such as chemical kinetics, electronic excitation/deexcitation mechanisms, and existence of equilibrium versus nonequilibrium conditions in the flow were examined. Flowfield properties and in-band radiances in the wavelength region of .25 micron in the vicinity of the stagnation streamline are given for a three-inch hemisphere.

Levin, D. A.↗
NASA NTRS1990

Impact of nose-probe chines on the vortex flows about the F-16C

A 1/15-scale model of the F-16C aircraft was tested at subsonic and transonic speeds to determine the effects of small nose-probe chines on the high angle-of-attack aerodynamic and stability characteristics. Off-body flow visualization using a laser vapor screen technique and six-component forces and moments were obtained at freestream Mach numbers of 0.30, 0.60, and 0.80. The nose-probe chines generated strong vortices interacting with the vortices generated over the smooth forebody or over the strakes. These vortices in turn led to global flow unsteadiness and model dynamics at the high angles of attack. The test results underscore the sensitivity of the high angle-of-attack flow field to small geometry changes in the nose region.

Hall, R. M.↗
NASA NTRS1990

Navigation systems requirement analysis for the Aeroassist Flight Experiment (AFE)

Navigation requirements for Aeroassist Flight Experiment (AFE) spacecraft passing through the earth's atmosphere have been studied using a 6-DOF dynamics model, an Inertial Measurement Unit model, a baseline AFE aeropass flight guidance logic, and a baseline AFE aeropass control model. The goal of this study is to determine, in a statistical sense, how much flight path angle error can be tolerated at Entry Interface (EI) and still have acceptable delta-V requirements at exit to position the AFE spacecraft for recovery. Assuming there is fuel available to produce 370 ft/sec of delta-V at atmospheric exit, a 3-sigma standard deviation in flight path angle error of 0.04 degree at EI would result in a 98 percent probability of mission success. In addition to the required delta-V at exit, other aeropass parameters such as maximum aeroheating rate, fuel consumption, and the science requirements affecting mission success are also investigated.

Huang, K. H.↗
NASA NTRS1990

Possible effects of breaking gravity waves on the circulation of the middle atmosphere of Mars

The possible effect of breaking internal gravity waves on the circulation in the middle atmosphere of Mars was investigated using a quasi-geostrophic delta-plane dynamical model of the zonal-mean flow. The results of model simulations show that breaking gravity waves of intermediate horizontal scales (100-1000 km wavelengths) could act to 'close off' the winter westerly circumpolar jet in the 40-80 km altitude region and induce strong high-latitude warming at these levels, in accordance with recent thermal measurements indicating that Martian winter polar latitudes may be very warm in this middle atmospheric region. It was also found that, below about 40 km, wave breaking does not induce much warming, consistent with available data showing that winter high altitudes are normally very cold at lower levels.

Barnes, Jeffrey R.↗
NASA NTRS1990

Temperature and circulation in the stratosphere of the outer planets

A zonally symmetric, linear radiative-dynamical model is compared with observations of the upper tropospheres and stratospheres of the outer planets. Seasonal variation is included in the model. Friction is parameterized by linear drag (Rayleigh friction). Gas opacities are accounted for but aerosols are omitted. Horizontal temperature gradients are small on all the planets. Seasonal effects are strongest on Saturn and Neptune but are weak even in these cases, because the latitudinal gradient of radiative heating is weak. Seasonal effects on Uranus are extremely weak because the radiative time constant is longer than the orbital period. One free parameter in the model is the frictional time constant. Comparison with observed temperature perturbations over zonal currents in the troposphere shows that the frictional time constant is on the same order as the radiative time constant for all these objects. Vertical motions predicted by the model are extremely weak. They are much smaller than one scale height per orbital period, except in the immediate neighborhood of tropospheric and zonal currents.

Conrath, Barney J.↗
NASA NTRS1990

Nonlinear behavior of solar gravity modes driven by He-3 in the core. I - Bifurcation analysis

The nonlinear development of solar gravity modes driven by He-3 burning in the solar core is investigated by means of an idealized dynamical model. Possible outcomes that have been suggested in the literature include the triggering of subcritical direct convection, leading to core mixing, and the saturation of the excitation processes, leading to sustained finite-amplitude oscillations. The present simple model suggests that the latter is the more likely. The limiting amplitude of the oscillations is estimated, ignoring possible resonances with other gravity modes, to be of order 10 km/s at the solar surface. Such oscillations would be easily observable. That large-amplitude gravity modes have not been observed suggests either that these modes are not unstable in the present era or that they are limited to much smaller amplitudes by resonant coupling.

Merryfield, William J.↗
NASA NTRS1990

Two dimensional tethered satellite attitude dynamics

This paper discusses a simplified dynamical model of two-dimensional tethered satellite attitude motion (coning). The tether is assumed massless, inextensible, and long relative to the satellite dimension, and has no flexural rigidity. The satellite is assumed rigid, is constrained to planar motion, and the model includes a tension augmentation thruster. Problem formulation results in one second order differential equation which has one integral of motion that is not the system energy. Results of the analysis include methods of changing satellite rotational energy, the effects of changing the tether tension, and frequency/amplitude information.

Humble, Ronald W.↗