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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 1,711 records · Page 95

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NASA NTRS1990

Stability analysis of position and force control problems for robot arms

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available. An explanation of instability is given for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved via the integral force feedback.

Wen, John T.↗

NASA NTRS1990

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 NTRS1991

The solar wind interaction with Mars - Mariner 4, Mars 2, Mars 3, Mars 5, and Phobos 2 observations of bow shock position and shape

An aggregate Mars bow shock data set using Mariner 4, Mars 2, Mars 3, Mars 5, and Phobos 2 observations has been analyzed. The results support the earlier conclusion that the mean distance to the subsolar shock at Mars is nearly 1.5 planetary radii, from which gas dynamic models predict an obstacle altitude of 500 km. The Martian bow shock does not appear to vary significantly in shape or altitude with the phase of the solar cycle. The unusually distant dayside bow shock crossings reported by Mars 2 and 3 also appear in the Phobos 3 observations, suggesting that the dayside obstacle can on rare occasions reach altitudes over 1000 km. The Martian bow shock differs from that of Venus in that its mean altitude is greater, it lacks a strong solar cycle variation, and its location is far more variable, including the occurrence of strong bow shocks over the dayside hemisphere at distances at least as great as the orbit of Phobos 2, i.e., 2.8 Mars radii.

Slavin, J. A.↗

NASA NTRS1991

Chaos in the plasma sheet

A simple dynamical model of the magnetotail is discussed, in which the electric field in the current sheet evolves in response to a solar-wind-induced electric field at the magnetopause, and depends on the specific entropy of the plasma in the plasma sheet. The entropy varies due to nonadiabatic heating in a region where ULF waves are absorbed by resonant mode conversion. The feedback between temperature and entropy change leads to an evolution which exhibits chaos when the solar wind electric field is neither very small nor very large. The onset of chaos may be quite sudden or may proceed through a sequence of period doublings.

Goertz, Christoph K.↗

NASA NTRS1991

Attitude control system conceptual design for the GOES-N spacecraft series

The attitude determination sensing and processing of the system are considered, and inertial reference units, star trackers, and beacons and landmarks are discussed as well as an extended Kalman filter and expected attitude-determination performance. The baseline controller is overviewed, and a spacecraft motion compensation (SMC) algorithm, disturbance environment, and SMC performance expectations are covered. Detailed simulation results are presented, and emphasis is placed on dynamic models, attitude estimation and control, and SMC disturbance accommmodation. It is shown that the attitude control system employing gyro/star tracker sensing and active three-axis control with reaction wheels is capable of maintaining attitude errors of 1.7 microrad or less on all axes in the absence of attitude disturbances, and that the sensor line-of-sight pointing errors can be reduced to 0.1 microrad by SMC.

Markley, F. L.↗

NASA NTRS1991

On the velocity fields of elliptical galaxies

A family of self-consistent maximum entropy dynamical models is presented for the triaxial 'perfect ellipsoids'. These models are projected in different viewing geometries to explore the possible morphologies of the 2D radial-velocity fields of elliptical galaxies. It is found that, typically, about half the time an 'ordinary' velocity field is seen with a mixture of major- and minor-axis rotation. For other lines of sight, the velocity fields are more complicated, showing multiple peaks, steep gradients, strongly twisted contours, or kinematically distinct or counter-rotating cores. The origin of each of these velocity field morphologies is explained in terms of competing contributions from the major families of tube orbits.

Statler, Thomas S.↗

NASA NTRS1991

Numerical analysis of a nuclear fuel element for nuclear thermal propulsion

A computational fluid dynamics model with porosity and permeability formulations in the transport equations has been developed to study the concept of nuclear thermal propulsion through the analysis of a pulsed irradiation of a particle bed element (PIPE). The numerical model is a time-accurate pressure-based formulation. An adaptive upwind scheme is employed for spatial discretization. The upwind scheme is based on second- and fourth-order central differencing with adaptive artificial dissipation. Multiblocked porosity regions have been formulated to model the cold frit, particle bed, and hot frit. Multiblocked permeability regions have been formulated to describe the flow shaping effect from the thickness-varying cold frit. Computational results for several zero-power density PIPEs and an elevated-particle-temperature PIPE are presented. The implications of the computational results are discussed.

Wang, Ten-See↗

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 NTRS1992

Direct Adaptive Control Of An Industrial Robot

Decentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.

Seraji, Homayoun↗

NASA NTRS1991

Comet and asteroid dynamics

In order to provide the ground-based observing community and NASA flight projects with accurate comet and asteroids ephemerides, improvements are being made to the existing dynamic models and new data type are being investigated. For active comets, non-gravitational forces must be taken into account; these forces are assumed due to the rocket-like thrusting of outgassing cometary ices.

Yeomans, Donald K.↗

NASA NTRS1991

GLOBEC (Global Ocean Ecosystems Dynamics: Northwest Atlantic program

The specific objective of the meeting was to plan an experiment in the Northwestern Atlantic to study the marine ecosystem and its role, together with that of climate and physical dynamics, in determining fisheries recruitment. The underlying focus of the GLOBEC initiative is to understand the marine ecosystem as it related to marine living resources and to understand how fluctuation in these resources are driven by climate change and exploitation. In this sense the goal is a solid scientific program to provide basic information concerning major fisheries stocks and the environment that sustains them. The plan is to attempt to reach this understanding through a multidisciplinary program that brings to bear new techniques as disparate as numerical fluid dynamic models of ocean circulation, molecular biology and modern acoustic imaging. The effort will also make use of the massive historical data sets on fisheries and the state of the climate in a coordinated manner.

Source record↗

NASA NTRS1991

Analysis and testing of a space crane articulating joint testbed

The topics are presented in viewgraph form and include: space crane concept with mobile base; mechanical versus structural articulating joint; articulating joint test bed and reference truss; static and dynamic characterization completed for space crane reference truss configuration; improved linear actuators reduce articulating joint test bed backlash; 1-DOF space crane slew maneuver; boom 2 tip transient response finite element dynamic model; boom 2 tip transient response shear-corrected component modes torque driver profile; peak root member force vs. slew time torque driver profile; and open loop control of space crane motion.

Thomas R Sutter↗

NASA NTRS1992

Control-structure interaction/mirror motion compensation

Space Systems/Loral (formerly Ford Aerospace, Space Systems Division) has implemented a rigid-body Mirror Motion Compensation (MMC) scheme for the GOES-I/M spacecraft currently being built for NASA and NOAA. This has resulted in a factor of 15 reduction in pointing error due to rigid-body spacecraft motion induced by the periodic black-body calibration maneuvers required for the instruments. For GOES the spacecraft and the payload mirrors are considered as rigid bodies. The structural flexibility effects are small and are included in the total pointing budget as a separate item. This paper extends the MMC technique to include structural flexibility. For large multi-payload platforms, the structural flexibility effects can be more important in sensor pointing jitter as the result of payload motion. Sensitivity results are included to show the importance of the dynamic model fidelity.

Mclaren, Mark↗

NASA NTRS1990

Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

Colbaugh, R.↗

NASA NTRS1991

Rapid near-optimal aerospace plane trajectory generation and guidance

Problems associated with onboard trajectory optimization, propulsion system cycle selection, and the synthesis of guidance laws are addressed for ascent to low earth orbit of an airbreathing, single-stage-to-orbit vehicle. A multicycle propulsion system is assumed that incorporates turbojet, ramjet, scramjet, and rocket engines. An energy state approximation is applied to a singularly perturbed, four-state dynamic model for flight of a point mass over a spherical nonrotating earth. An algorithm is then derived for generating both the fuel-optimal climb profile and the guidance commands required to follow that profile. In particular, analytic switching conditions are derived that, under appropriate assumptions, efficiently govern optimal transition from one propulsion cycle to another. The algorithm proves to be computationally efficient and suitable for real-time implementation. The paper concludes with the presentation of representative numerical results that illustrate the nature of the fuel-optimal climb paths and the tracking performance of the guidance algorithm.

Corban, J. E.↗

NASA NTRS1992

Optimization and analysis of large chemical kinetic mechanisms using the solution mapping method - Combustion of methane

A method of systematic optimization, solution mapping, as applied to a large-scale dynamic model is presented. The basis of the technique is parameterization of model responses in terms of model parameters by simple algebraic expressions. These expressions are obtained by computer experiments arranged in a factorial design. The developed parameterized responses are then used in a joint multiparameter multidata-set optimization. A brief review of the mathematical background of the technique is given. The concept of active parameters is discussed. The technique is applied to determine an optimum set of parameters for a methane combustion mechanism. Five independent responses - comprising ignition delay times, pre-ignition methyl radical concentration profiles, and laminar premixed flame velocities - were optimized with respect to thirteen reaction rate parameters. The numerical predictions of the optimized model are compared to those computed with several recent literature mechanisms. The utility of the solution mapping technique in situations where the optimum is not unique is also demonstrated.

Frenklach, Michael↗

NASA NTRS1992

Patterns of seismic activity preceding large earthquakes

A mechanical model of seismic faults is employed to investigate the seismic activities that occur prior to major events. The block-and-spring model dynamically generates a statistical distribution of smaller slipping events that precede large events, and the results satisfy the Gutenberg-Richter law. The scaling behavior during a loading cycle suggests small but systematic variations in space and time with maximum activity acceleration near the future epicenter. Activity patterns inferred from data on seismicity in California demonstrate a regional aspect; increased activity in certain areas are found to precede major earthquake events. One example is given regarding the Loma Prieta earthquake of 1989 which is located near a fault section associated with increased activity levels.

Shaw, Bruce E.↗

NASA NTRS1992

Aeroelastic analysis of advanced propellers using an efficient Euler solver

A 3D Euler solver is coupled with a 3D structural dynamics model to investigate flutter of propfans. A hybrid scheme is used to reduce computational time for the Euler equations and a normal mode analysis is used for flutter calculations. Experimental and calculated flutter results are compared for an advanced propeller propfan which experienced flutter at transonic tip relative velocities. The predicted flutter calculations are in close agreement with the experimental data. A structural damping value of 0.5 percent was required to predict the behavior observed in the experiment. Computations show that the flutter behavior is dominated by the second mode, but coupling with the first mode is required. The addition of other modes to the calculations did not affect the flutter behavior.

Srivastava, R.↗