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At least 1,693 records · Page 94
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗
NASA NTRS1992

Advanced electromagnetic methods for aerospace vehicles

The Advanced Helicopter Electromagnetics (AHE) Industrial Associates Program continues its research on variety of main topics identified and recommended by the Advisory Task Force of the program. The research activities center on issues that advance technology related to helicopter electromagnetics. While most of the topics are a continuation of previous works, special effort has been focused on some of the areas due to recommendations from the last annual conference. The main topics addressed in this report are: composite materials, and antenna technology. The area of composite materials continues getting special attention in this period. The research has focused on: (1) measurements of the electrical properties of low-conductivity materials; (2) modeling of material discontinuity and their effects on the scattering patterns; (3) preliminary analysis on interaction of electromagnetic fields with multi-layered graphite fiberglass plates; and (4) finite difference time domain (FDTD) modeling of fields penetration through composite panels of a helicopter.

Balanis, Constantine A.↗
NASA NTRS1992

A numerical study of two-dimensional vortex shedding from rectangular cylinders

An efficient time-marching, non-iterative calculation method is used to analyze time-dependent flows around rectangular cylinders. The turbulent flow in the wake region of a square section cylinder is analyzed using an anisotropic k-epsilon model. Initiation and subsequent development of the vortex shedding phenomenon is naturally captured once a perturbation is introduced in the flow. Transient calculations using standard eddy-viscosity and an anisotropic k-epsilon model averaged over an integral number of cycles to get the fluctuating energy (organized and turbulent) are compared with experimental data. It is shown that the anisotropic k-epsilon model resolves the anisotropy of the Reynolds stresses and gives mean energy distribution closer to the experiment than the standard k-epsilon model.

Hadid, A. H.↗
NASA NTRS1991

Magnetoacoustic heating of the solar chromosphere

Long-period acoustic waves generated in the solar convection zone can propagate radially outward through the overlying atmosphere and get resonantly absorbed in the magnetic arches of the low-lying chromospheric canopy. The resulting Poynting and acoustic flux that enters the magnetic canopy in the network regions is demonstrated to be adequate to account for the observed chromospheric emission.

Davila, Joseph M.↗
NASA NTRS1991

Learning process mapping heuristics under stochastic sampling overheads

A statistical method was developed previously for improving process mapping heuristics. The method systematically explores the space of possible heuristics under a specified time constraint. Its goal is to get the best possible heuristics while trading between the solution quality of the process mapping heuristics and their execution time. The statistical selection method is extended to take into consideration the variations in the amount of time used to evaluate heuristics on a problem instance. The improvement in performance is presented using the more realistic assumption along with some methods that alleviate the additional complexity.

Ieumwananonthachai, Arthur↗
NASA NTRS1991

Toward a global lunar resource survey - The Lunar Observer mission

The present status of NASA's Lunar Observer study effort at JPL is discussed in the context of an ongoing 20-year series of studies focused on defining a robotic, low-altitude, polar-orbiting mission to the moon. The primary emphasis of the discussion is a review of the various systems-level factors that drive the overall mission plan. Selected top-level project and science requirements are summarized and the current mission and science objectives are presented. A brief description of the candidate science instrument complement is included. Several significant orbital effects caused by the lunar gravity field are explained and the variety of trajectory and maneuver options considered for both getting to the moon and orbiting there are described. The baseline mission scenario that results is a single-spacecraft, single-launch scenario which includes a small subsatellite for lunar gravity field determination.

Ridenoure, Rex W.↗
NASA NTRS1992

Self-organization of cosmic radiation pressure instability. II - One-dimensional simulations

The clustering of statistically uniform discrete absorbing particles moving solely under the influence of radiation pressure from uniformly distributed emitters is studied in a simple one-dimensional model. Radiation pressure tends to amplify statistical clustering in the absorbers; the absorbing material is swept into empty bubbles, the biggest bubbles grow bigger almost as they would in a uniform medium, and the smaller ones get crushed and disappear. Numerical simulations of a one-dimensional system are used to support the conjecture that the system is self-organizing. Simple statistics indicate that a wide range of initial conditions produce structure approaching the same self-similar statistical distribution, whose scaling properties follow those of the attractor solution for an isolated bubble. The importance of the process for large-scale structuring of the interstellar medium is briefly discussed.

Hogan, Craig J.↗
NASA NTRS1990

Connectivity strategies for higher-order neural networks applied to pattern recognition

Different strategies for non-fully connected HONNs (higher-order neural networks) are discussed, showing that by using such strategies an input field of 128 x 128 pixels can be attained while still achieving in-plane rotation and translation-invariant recognition. These techniques allow HONNs to be used with the larger input scenes required for practical pattern-recognition applications. The number of interconnections that must be stored has been reduced by a factor of approximately 200,000 in a T/C case and about 2000 in a Space Shuttle/F-18 case by using regional connectivity. Third-order networks have been simulated using several connection strategies. The method found to work best is regional connectivity. The main advantages of this strategy are the following: (1) it considers features of various scales within the image and thus gets a better sample of what the image looks like; (2) it is invariant to shape-preserving geometric transformations, such as translation and rotation; (3) the connections are predetermined so that no extra computations are necessary during run time; and (4) it does not require any extra storage for recording which connections were formed.

Spirkovska, Lilly↗
NASA NTRS1992

Spectral solution of inviscid supersonic flows over wedges and axisymmetric cones

A shock-fitted multidomain spectral collocation method is used to solve both steady and unsteady inviscid supersonic flows over bodies. New aspects of the method include two subdomain interface types and a zonal solution procedure to get efficient convergence to steady-state in supersonic regions. Steady-state examples include flow over a sharp cone, a hyperbolic cone and a hyperbolic wedge. For the cone, the exact flow solution is used to show that the method is spectrally accurate. As an example of an unsteady flow, a calculation of the interaction of a free-stream hot ring with the flow over a sharp cone is presented.

Kopriva, David A.↗
NASA NTRS1992

Axially symmetric pulse propagation in semi-infinite hollow cylinders

The effects of dispersion and end conditions on axially symmetric pulse propagation in semiinfinite tubes are investigated. Numerical modeling of the dynamic response is accomplished using a stable and efficient finite element and wave propagation based method. This method yields the dispersive and modal data required to express displacements in a frequency domain modal expansion. Boundary conditions are applied to the tube end to obtain mode amplitudes. A fast Fourier transform is then used to get the time response. The specific end conditions considered are intended to give some insight into how the tube would behave as a member of a jointed truss structure.

Kohl, T.↗
NASA NTRS1992

Composition measurements of the 1989 Arctic winter stratosphere by airborne infrared solar absorption spectroscopy

The paper reports simultaneous measurements of the stratospheric burdens of H2O, HDO, OCS, CO2, O3, N2O, CO, CH4, CF2Cl2, CFCl3, CHF2Cl, C2H6, HCN, NO, NO2, HNO3, ClNO3, HOCl, HCl, and HF made by the JPL MkIV interferometer on board the NASA DC-8 aircraft during January and early February 1989 as part of the Airborne Arctic Stratosphere Experiment. Data were obtained on 11 flights at altitudes of up to 12 km over a geographic region covering the NE Atlantic Ocean, Iceland, and Greenland. Analyses of the chemically active gases reveal highly perturbed conditions within the vortex. The ClNO3 abundance was chemically enhanced near the edge of the vortex but was then depleted inside. NO2 was severely depleted inside the vortex. In contrast to Antarctica, H2O and HNO3 were both more abundant inside the vortex than outside. It is suggested that although the Arctic vortex did not get cold enough to produce any dehydration, or as vertically extensive denitrification as occurred in Antarctica, nevertheless, enough heterogeneous chemistry occurred to convert over 90 percent of the inorganic chlorine to active forms in the 14- to 27-km altitude range by early February 1989.

Toon, G. C.↗
NASA NTRS1992

Aircraft ride quality controller design using new robust root clustering theory for linear uncertain systems

The aspect of controller design for improving the ride quality of aircraft in terms of damping ratio and natural frequency specifications on the short period dynamics is addressed. The controller is designed to be robust with respect to uncertainties in the real parameters of the control design model such as uncertainties in the dimensional stability derivatives, imperfections in actuator/sensor locations and possibly variations in flight conditions, etc. The design is based on a new robust root clustering theory developed by the author by extending the nominal root clustering theory of Gutman and Jury to perturbed matrices. The proposed methodology allows to get an explicit relationship between the parameters of the root clustering region and the uncertainty radius of the parameter space. The current literature available for robust stability becomes a special case of this unified theory. The bounds derived on the parameter perturbation for robust root clustering are then used in selecting the robust controller.

Yedavalli, R. K.↗
NASA NTRS1990

Autonomous planetary rover at Carnegie Mellon

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Whittaker, William↗
NASA NTRS1988

Gamma ray astrophysics to the year 2000. Report of the NASA Gamma Ray Program Working Group

Important developments in gamma-ray astrophysics up to energies of 100 GeV during the last decade are reviewed. Also, the report seeks to define the major current scientific goals of the field and proposes a vigorous program to pursue them, extending to the year 2000. The goals of gamma-ray astronomy include the study of gamma rays which provide the most direct means of studying many important problems in high energy astrophysics including explosive nucleosynthesis, accelerated particle interactions and sources, and high-energy processes around compact objects. The current research program in gamma-ray astronomy in the U.S. including the space program, balloon program and foreign programs in gamma-ray astronomy is described. The high priority recommendations for future study include an Explorer-class high resolution gamma-ray spectroscopy mission and a Get Away Special cannister (GAS-can) or Scout class multiwavelength experiment for the study of gamma-ray bursts. Continuing programs include an extended Gamma Ray Observatory mission, continuation of the vigorous program of balloon observations of the nearby Supernova 1987A, augmentation of the balloon program to provide for new instruments and rapid scientific results, and continuation of support for theoretical research. Long term recommendations include new space missions using advanced detectors to better study gamma-ray sources, the development of these detectors, continued study for the assembly of large detectors in space, collaboration with the gamma-ray astronomy missions initiated by other countries, and consideration of the Space Station attached payloads for gamma-ray experiments.

Source record↗
NASA NTRS1992

Equations of motion of slung-load systems, including multilift systems

General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar.

Cicolani, Luigi S.↗
NASA NTRS1992

Framework Programmable Platform for the Advanced Software Development Workstation (FPP/ASDW). Demonstration framework document. Volume 2: Framework process description

In the second volume of the Demonstration Framework Document, the graphical representation of the demonstration framework is given. This second document was created to facilitate the reading and comprehension of the demonstration framework. It is designed to be viewed in parallel with Section 4.2 of the first volume to help give a picture of the relationships between the UOB's (Unit of Behavior) of the model. The model is quite large and the design team felt that this form of presentation would make it easier for the reader to get a feel for the processes described in this document. The IDEF3 (Process Description Capture Method) diagrams of the processes of an Information System Development are presented. Volume 1 describes the processes and the agents involved with each process, while this volume graphically shows the precedence relationships among the processes.

Mayer, Richard J.↗
NASA NTRS1992

The 1992 Shuttle Small Payloads Symposium

The 1992 Shuttle Small Payloads Symposium is a continuation of the Get Away Special Symposium convened from 1984 through 1988, and is proposed to continue as an annual conference. The focus of this conference is to educate potential Space Shuttle Payload Bay users as to the types of carrier systems provided and for current users to share experiment concepts.

Thomas, Lawrence R.↗
NASA NTRS1992

Spaceflight payload design flight experience G-408

Worcester Polytechnic Institute's first payload of spaceflight experiments flew aboard Columbia, STS-40, during June of 1991 and culminated eight years of work by students and faculty. The Get Away Special (GAS) payload was installed on the GAS bridge assembly at the aft end of the cargo bay behind the Spacelab Life Sciences (SLS-1) laboratory. The Experiments were turned on by astronaut signal after reaching orbit and then functioned for 72 hours. Environmental and experimental measurements were recorded on three cassette tapes which, together with zeolite crystals grown on orbit, formed the basis of subsequent analyses. The experiments were developed over a number of years by undergraduate students meeting their project requirements for graduation. The experiments included zeolite crystal growth, fluid behavior, and microgravity acceleration measurement in addition to environmental data acquisition. Preparation also included structural design, thermal design, payload integration, and experiment control. All of the experiments functioned on orbit and the payload system performed within design estimates.

Durgin, William W.↗