A pathfinding algorithm for an autonomous roving vehicle
Routing algorithm for computer controlled unmanned autonomous roving vehicle on Martian surface
Kirk, D. E.↗
SEARCH · Engineering Papers
Results for “control algorithm”
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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Sub-optimal control of discrete systems with bounded state and control variables
Suboptimal control of discrete input system with bounded state and control variables, developing algorithm for on-line computation
Boland, J. S., III↗
Optimum impulsive midcourse guidance with control dependent errors.
The problem of determining the optimum guidance policy for an interplanetary spacecraft is treated as a stochastic optimal control problem. An algorithm for computing the optimum velocity correction and the optimum execution time (with allowance for correction-dependent errors) is derived in the case of a single midcourse correction. The performance index was chosen to be an upper bound for the probability that the mission fails, and it is defined as a function of the maximum allowable velocity correction and the maximum allowable deviation of the terminal state. Numerical results obtained for a Jupiter fly-by mission indicate that the execution errors have a significant influence on the performance index, but an acceptably small upper bound on the probability of mission failure can be obtained for sufficiently small execution errors.
Tapley, B. D.↗
Flexible format, computer accessed telemetry system
With this system, it is possible to sample and generate two or more simultaneous formats; one can be transmitted to ground station in real time, and other is stored for later transmission. Sensor output comparison data, plus information to control format, compression algorithm, and allowable degree of sensor activity, are stored in memory.
Easton, R. A.↗
Architecture and data processing alternatives for Tse computer. Volume 1: Tse logic design concepts and the development of image processing machine architectures
Digital computer components which perform two dimensional array logic operations (Tse logic) on binary data arrays are described. The properties of Golay transforms which make them useful in image processing are reviewed, and several architectures for Golay transform processors are presented with emphasis on the skeletonizing algorithm. Conventional logic control units developed for the Golay transform processors are described. One is a unique microprogrammable control unit that uses a microprocessor to control the Tse computer. The remaining control units are based on programmable logic arrays. Performance criteria are established and utilized to compare the various Golay transform machines developed. A critique of Tse logic is presented, and recommendations for additional research are included.
Rickard, D. A.↗
Dynamics and control simulation of the Spacelab Experiment Pointing Mount
Computer simulations were developed to evaluate the performance of four Experiment Pointing Mounts (EPM) being considered for Spacelab experiments in the 1980-1990 time frame. The system modeled compromises a multibody system consisting of the shuttle, a mechanical isolation device, the EPM, celestial and inertial sensors, bearings, gimbal torque motors and associated nonlinearities, the experiment payload, and control and estimator algorithms. Each mount was subjected to a common disturbance (shuttle vernier thruster firing and man push off) and command (stellar pointing or solar raster scan) input. The fundamental limitation common to all mounts was found to be sensor noise. System dynamics and hardware nonlinearities have secondary effects on pointing performance for sufficiently high bandwidth.
Marsh, E. L.↗
Flexible body stability analysis of Space Shuttle ascent flight control system by using lambda matrix solution techniques
A lambda matrix solution technique is being developed to perform an open loop frequency analysis of a high order dynamic system. The procedure evaluates the right and left latent vectors corresponding to the respective latent roots. The latent vectors are used to evaluate the partial fraction expansion formulation required to compute the flexible body open loop feedback gains for the Space Shuttle Digital Ascent Flight Control System. The algorithm is in the final stages of development and will be used to insure that the feedback gains meet the design specification.
Bown, R. L.↗
The control and estimation of large space structures
A shape control or estimation problem for a large space structure can be modeled by a partial differential equation which represents changes in shape with respect to space and time, together with spatially discrete forcing functions or observations which represent the placement of actuators or sensors at discrete points along the structure. The use of Green's functions to convert boundary value problems into integral equations provides a convenient treatment of this mixture of continuous and discrete mathematics. Control and estimation algorithms are developed for the one-dimensional static beam to illustrate this technique.
Weeks, C.↗
ORACLS - A linear-quadratic-Gaussian computer-aided design package
ORACLS, an acronym denoting Optimal Regular Algorithms for the Control of Linear Systems, is a collection of FORTRAN coded subroutines dedicated to the formulation and solution of the Linear-Quadratic-Gaussian (LQG) design problem modeled in both continuous and discrete form. The ORACLS system is under continuous development at the NASA Langley Research Center, Hampton, Virginia, and is widely used by universities and industry within the U.S.A. The current (operational) ORACLS version as well as new software under development is described.
Armstrong, E. S.↗
Slew maneuvers on the SCOLE Laboratory Facility
The Spacecraft Control Laboratory Experiment (SCOLE) was conceived to provide a physical test bed for the investigation of control techniques for large flexible spacecraft. The control problems studied are slewing maneuvers and pointing operations. The slew is defined as a minimum time maneuver to bring the antenna line-of-sight (LOS) pointing to within an error limit of the pointing target. The second objective is to rotate about the LOS within the 0.02 degree error limit. The SCOLE problem is defined as two design challenges: control laws for a mathematical model of a large antenna attached to the Space Shuttle by a long flexible mast; and a control scheme on a laboratory representation of the structure modelled on the control laws. Control sensors and actuators are typical of those which the control designer would have to deal with on an actual spacecraft. Computational facilities consist of microcomputer based central processing units with appropriate analog interfaces for implementation of the primary control system, and the attitude estimation algorithm. Preliminary results of some slewing control experiments are given.
Williams, Jeffrey P.↗
Algorithm For The Discrete-O timal-Output-Feedback Problem
Change in cost function due to change in feedback gain calculated. Algorithm for feedback control systems considers stochastic, infinite-time, discrete-output-feedback problem for time-invariant linear systems. Optimal-output-feedback problem formulates modern control-law-design problem in which only selected number of plant-state variables used.
Halyo, Nesim↗
STRUTEX: A prototype knowledge-based system for initially configuring a structure to support point loads in two dimensions
Only recently have engineers begun making use of Artificial Intelligence (AI) tools in the area of conceptual design. To continue filling this void in the design process, a prototype knowledge-based system, called STRUTEX has been developed to initially configure a structure to support point loads in two dimensions. This prototype was developed for testing the application of AI tools to conceptual design as opposed to being a testbed for new methods for improving structural analysis and optimization. This system combines numerical and symbolic processing by the computer with interactive problem solving aided by the vision of the user. How the system is constructed to interact with the user is described. Of special interest is the information flow between the knowledge base and the data base under control of the algorithmic main program. Examples of computed and refined structures are presented during the explanation of the system.
Robers, James L.↗
Reaction torque minimization techniques for articulated payloads
Articulated payloads on spacecraft, such as antenna telemetry systems and robotic elements, impart reaction torques back into the vehicle which can significantly affect the performance of other payloads. This paper discusses ways to minimize the reaction torques of articulated payloads through command-shaping algorithms and unique control implementations. The effects of reaction torques encountered on Landsat are presented and compared with simulated and measured data of prototype systems employing these improvements.
Kral, Kevin↗
A graphically oriented specification language for automatic code generation. GRASP/Ada: A Graphical Representation of Algorithms, Structure, and Processes for Ada, phase 1
The first phase of a three-phase effort to develop a new graphically oriented specification language which will facilitate the reverse engineering of Ada source code into graphical representations (GRs) as well as the automatic generation of Ada source code is described. A simplified view of the three phases of Graphical Representations for Algorithms, Structure, and Processes for Ada (GRASP/Ada) with respect to three basic classes of GRs is presented. Phase 1 concentrated on the derivation of an algorithmic diagram, the control structure diagram (CSD) (CRO88a) from Ada source code or Ada PDL. Phase 2 includes the generation of architectural and system level diagrams such as structure charts and data flow diagrams and should result in a requirements specification for a graphically oriented language able to support automatic code generation. Phase 3 will concentrate on the development of a prototype to demonstrate the feasibility of this new specification language.
Cross, James H., II↗
Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed
Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.
Charles, Steve↗
Optimal trajectories for an aerospace plane. Part 2: Data, tables, and graphs
Data, tables, and graphs relative to the optimal trajectories for an aerospace plane are presented. A single-stage-to-orbit (SSTO) configuration is considered, and the transition from low supersonic speeds to orbital speeds is studied for a single aerodynamic model (GHAME) and three engine models. Four optimization problems are solved using the sequential gradient-restoration algorithm for optimal control problems: (1) minimization of the weight of fuel consumed; (2) minimization of the peak dynamic pressure; (3) minimization of the peak heating rate; and (4) minimization of the peak tangential acceleration. The above optimization studies are carried out for different combinations of constraints, specifically: initial path inclination that is either free or given; dynamic pressure that is either free or bounded; and tangential acceleration that is either free or bounded.
Miele, Angelo↗
Time-domain finite elements in optimal control with application to launch-vehicle guidance
A time-domain finite element method is developed for optimal control problems. The theory derived is general enough to handle a large class of problems including optimal control problems that are continuous in the states and controls, problems with discontinuities in the states and/or system equations, problems with control inequality constraints, problems with state inequality constraints, or problems involving any combination of the above. The theory is developed in such a way that no numerical quadrature is necessary regardless of the degree of nonlinearity in the equations. Also, the same shape functions may be employed for every problem because all strong boundary conditions are transformed into natural or weak boundary conditions. In addition, the resulting nonlinear algebraic equations are very sparse. Use of sparse matrix solvers allows for the rapid and accurate solution of very difficult optimization problems. The formulation is applied to launch-vehicle trajectory optimization problems, and results show that real-time optimal guidance is realizable with this method. Finally, a general problem solving environment is created for solving a large class of optimal control problems. The algorithm uses both FORTRAN and a symbolic computation program to solve problems with a minimum of user interaction. The use of symbolic computation eliminates the need for user-written subroutines which greatly reduces the setup time for solving problems.
Bless, Robert R.↗
The variable polarity plasma arc welding process: Characteristics and performance
Significant advantages of the Variable Polarity Plasma Arc (VPPA) Welding Process include faster welding, fewer repairs, less joint preparation, reduced weldment distortion, and absence of porosity. The power distribution was analyzed for an argon plasma gas flow constituting the fluid in the VPPA Welding Process. The major heat loss at the torch nozzle is convective heat transfer; in the space between the outlet of the nozzle and the workpiece; radiative heat transfer; and in the keyhole in the workpiece, convective heat transfer. The power absorbed at the workpiece produces the molten puddle that solidifies into the weld bead. Crown and root widths, and crown and root heights of the weld bead are predicted. The basis is provided for an algorithm for automatic control of VPPA welding machine parameters to obtain desired weld bead dimensions.
Hung, R. J.↗