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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1977

Stability analysis for linear systems with time delays

Time delays in the mathematical description of a physical system occur whenever the system is affected not only by conditions at the present time, but also by conditions which have occurred in the past. The tau-decomposition method, as refined by Lee and Hsu, is a method for studying the effects of time delay on the stability of retarded dynamical systems. In this paper, the method is extended to examine the stability and relative stability of: (1) retarded systems with many time delays; and (2) a class of neutral systems with one delay. Applications are included which illustrate the power of the technique.

Barker, L. K.↗
NASA NTRS1984

Measurements of Pilot Time Delay as Influenced by Controller Characteristics and Vehicles Time Delays

A study to measure and compare pilot time delay when using a space shuttle rotational hand controller and a more conventional control stick was conducted at NASA Ames Research Center's Dryden Flight Research Facility. The space shuttle controller has a palm pivot in the pitch axis. The more conventional controller used was a general-purpose engineering simulator stick that has a pivot length between that of a typical aircraft center stick and a sidestick. Measurements of the pilot's effective time delay were obtained through a first-order, closed-loop, compensatory tracking task in pitch. The tasks were implemented through a space shuttle cockpit simulator and a critical task tester device. The study consisted of 450 data runs with four test pilots and one nonpilot, and used three control stick configurations and two system delays. Results showed that the heavier conventional stick had the lowest pilot effective time delays associated with it, whereas the shuttle and light conventional sticks each had similar higher pilot time delay characteristics. It was also determined that each control stick showed an increase in pilot time delay when the total system delay was increased.

Privoznik, C. M.↗
NASA NTRS1970

Solid state variable time delay

Variable time delay line does not require use of a magnetic field to control a time delay, and can both amplify and delay a signal. Device is inexpensive and space saving, it does not require mecanically moving components, eliminating detrimental vibrations in a sensitive environment.

Fitzgerald, T. M.↗
NASA NTRS1988

Effects of computing time delay on real-time control systems

The reliability of a real-time digital control system depends not only on the reliability of the hardware and software used, but also on the speed in executing control algorithms. The latter is due to the negative effects of computing time delay on control system performance. For a given sampling interval, the effects of computing time delay are classified into the delay problem and the loss problem. Analysis of these two problems is presented as a means of evaluating real-time control systems. As an example, both the self-tuning predicted (STP) control and Proportional-Integral-Derivative (PID) control are applied to the problem of tracking robot trajectories, and their respective effects of computing time delay on control performance are comparatively evaluated. For this example, the STP (PID) controller is shown to outperform the PID (STP) controller in coping with the delay (loss) problem.

Shin, Kang G.↗
NASA NTRS1987

Delay time for the onset of beam plasma discharge

The interaction of a nonrelativistic electron beam with a neutral gas in a large chamber is considered, and the time interval before ignition of beam plasma discharge (BPD) is studied. A new theoretical expression for the time delay before BPD ignition is found as a function of the critical current necessary for BPD to be established. There are two parameters in the theoretical expression, and both are derived from two different experiments. These parameters are used to write the time evolution equation for plasma density as a function of time.

Parish, J. L.↗
NASA NTRS1982

A comparison of control modes for time-delayed remote manipulation

Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.

Starr, G. P.↗
DOE OSTI2025

Correcting for Selection Biases in the Determination of the Hubble Constant from Time-Delay Cosmography

The time delay between multiple images of strongly lensed quasars has been used to infer the Hubble constant. The primary systematic uncertainty for time-delay cosmography is the mass-sheet transform (MST), which preserves the lensing observables while altering the inferred ⁠H 0 . The TDCOSMO collaboration used velocity dispersion measurements of lensed quasars and lensed galaxies to infer that mass sheets are present, which decrease the inferred H 0 by 8 per cent. Here, we test the assumption that the density profiles of galaxy–galaxy and galaxy–quasar lenses are the same. We use a composite star-plus-dark-matter mass profile for the parent deflector population and model the selection function for galaxy–galaxy and galaxy–quasar lenses. We find that a power-law density profile with an MST is a good approximation to a two-component mass profile around the Einstein radius, but we find that galaxy–galaxy lenses have systematically higher mass-sheet components than galaxy–quasar lenses. For individual systems, λ int correlates with the ratio of the half-light radius and Einstein radius of the lens. By propagating these results through the TDCOSMO hierarchical inference code, we find that H 0 is lowered by a further 3 per cent. Using a more recent measurement of velocity dispersions and our fiducial model for selection biases, we infer H 0 = 66 ± 4 (stat) ± 1 (model sys) ± 2 (measurement sys) km s -1 Mpc -1 for the TDCOSMO plus SLACS data set. The first residual systematic error is due to plausible alternative choices in modelling the selection function, and the second is an estimate of the remaining systematic error in the measurement of velocity dispersions for SLACS lenses. Accurate time-delay cosmography requires precise velocity dispersion measurements and accurate calibration of selection biases.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1990

Describing-function analysis of a ripple regulator with slew-rate limits and time delays

The effects of time delays and slew-rate limits on the steady-state operating points and performance of a free-running ripple regulator are evaluated using describing-function analysis. The describing function of an ideal comparator (no time delays or slew rate limits) has no phase shift and is independent of frequency. It is found that turn-on delay and turn-off delay have different effects on gain and phase and cannot be combined. Comparator hysteresis affects both gain and phase; likewise, time delays generally affect both gain and phase. It is found that the effective time delay around the feedback loop is one half the sum of turn-on and turn-off delays, regardless of whether the delays are caused by storage time or slew rate limits. Expressions are formulated for the switching frequency, switch duty ratio, dc output, and output ripple. For the case of no hysteresis, a simple, graphical solution for the switching frequency is possible, and the resulting switching frequency is independent of first-order variations of input or load.

Wester, Gene W.↗
NASA NTRS1972

Best-fit estimate of relativistic effects in time-delay experiments.

Time-delay experiments are analyzed within the frame of a curved space-time. Residuals from Newtonian best fits of relativistic data are used as a measure of the 'relativistic effects.' Radial transponder trajectories are considered. If the motion is towards the sun, the relativistic residuals are of the order of 100 m. If the motion is away from the sun, they are at the 10-km level and the fraction due to the second-order curvature of the metric is at the 1-km level. Those effects are significantly smaller than those calculated from the divergence of the Newtonian and relativistic predictions after exact fit of the initial measurements.

Richard, J.-P.↗
NASA NTRS1990

The phantom robot - Predictive displays for teleoperation with time delay

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Bejczy, Antal K.↗
NASA NTRS1986

Methane oxidation behind reflected shock waves: Ignition delay times measured by pressure and flame band emission

Ignition delay data were recorded for three methane-oxygen-argon mixtures (phi = 0.5, 1.0, 2.0) for the temperature range 1500 to 1920 K. Quiet pressure trances enabled us to obtain delay times for the start of the experimental pressure rise. These times were in good agreement with those obtained from the flame band emission at 3700 A. The data correlated well with the oxygen and methane dependence of Lifshitz, but showed a much stronger temperature dependence (phi = 0.5 delta E = 51.9, phi = 1.0 delta = 58.8, phi = 2.0 delta E = 58.7 Kcal). The effect of probe location on the delay time measurement was studied. It appears that the probe located 83 mm from the reflecting surface measured delay times which may not be related to the initial temperature and pressure. It was estimated that for a probe located 7 mm from the reflecting surface, the measured delay time would be about 10 microseconds too short, and it was suggested that delay times less than 100 microsecond should not be used. The ignition period was defined as the time interval between start of the experimental pressure rise and 50 percent of the ignition pressure. This time interval was measured for three gas mixtures and found to be similar (40 to 60 micro sec) for phi = 1.0 and 0.5 but much longer (100 to 120) microsecond for phi = 2.0. It was suggested that the ignition period would be very useful to the kinetic modeler in judging the agreement between experimental and calculated delay times.

Brabbs, T. A.↗
NASA NTRS1987

The carbon dioxide chaperon efficiency for the reaction H + O2 + M yields HO2 + M from ignition delay times behind reflected shock waves

Ignition delay times for stoichiometric hydrogen-oxygen in argon with and without carbon dioxide were measured behind reflected shock waves. A 20-reaction kinetic mechanism models the measured hydrogen-oxygen delay times over the temperature range 950 to 1300 K. The chaperon efficiency for carbon dioxide determined for the hydrogen-oxygen carbon dioxide mixture was 7.0. This value is in agreement with literature values but much less than a recent value obtained from flow tube experiments. Delay times measured behind a reflected shock wave were about 20% longer than those measured behind incident shock waves. The kinetic mechanism successfully modeled the high-pressure data of Skinner and the hydrogen-air data of Stack. It is suggested that the lowest temperature points for the hydrogen-air data of Slack are unreliable and that the 0.27-atm data may illustrate a case where vibrational relaxation of nitrogen is important. The reaction pathway HO2 yields H2O2 yields OH yields H was required to model the high-pressure data of Skinner. The successful modeling of the stoichiometric hydrogen-air data demonstrates the appropriateness of deriving kinetic models from data for gas mixtures highly diluted with argon. The technique of reducing a detailed kinetic mechanism to only the important reactions for a limited range of experimental data may render the mechanism useless for other test conditions.

Brabbs, Theodore A.↗
NASA NTRS1981

A broadband RF continuously variable time delay device

A method for implementation of continuously variable time delay of broadband RF signals is described. The method uses Bragg Cell and optical heterodyne technology. The signal to be delayed is applied to the Bragg Cell acoustic transducer, and the delay time is the acoustic transit time from this transducer to the incident light beam. By translating the light beam, the delay is varied. Expressions describing the Bragg Cell diffraction, lens Fourier transformation, and the optical heterodyne processes are developed. Specifications for the variable delay including bandwidth, range of delay, and insertion loss are provided. Applications include radar signal processing, spread spectrum intercept, radar ECM, and adaptive array antenna processing.

Freyre, F. W.↗
NASA NTRS1994

Large-scale structure effects on the gravitational lens image positions and time delay

We compute the fluctuations in gravitational lens image positions and time delay caused by large-scale structure correlations. We show that these fluctuations can be expressed as a simple integral over the density power spectrum. Using the Cosmic Background Explorer (COBE) normalization we find that positions of objects at cosmological distances are expected to deviate from their true positions by few arcminutes. These deflections are not directly observable. The positions of the images relative to one another fluctuate by a few percent of the relative separation, implying that one does not expect multiple images to be produced by large-scale structure. Nevertheless, the fluctuations are larger than the observational errors on the positions and affect reconstructions of the lens potential. The time delay fluctuations have a geometrical and a gravitational contribution. Both are much larger than the expected time delay from the primary lens, but partially cancel each other. We find that large-scale structure weakly affects the time delay and time delay measurements can be used as a probe of the distance scale in the universe.

Seljak, Uros↗
NASA NTRS2006

Integrated Planning for Telepresence with Time Delays

Teleoperation of remote robotic systems over time delays in the range of 2-10 seconds poses a unique set of challenges. In the context of a supervisory control system for the JSC Robonaut humanoid robot, we have developed an 'intelligent assistant' that integrates an Artificial Intelligence planner (JSHOP2) with execution monitoring of the state of both the human supervisor and the remote robot. The assistant reasons simultaneously about the world state on both sides of the time delay, which represents a novel application of this technology. The purpose of the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved. To do this, the assistant must simultaneously monitor and react to various data sources, including actions taken by the supervisor who is issuing commands to the robot (e.g. with a data glove), actions taken by the robot, and the environment of the robot, both as currently perceived over the time delay, along with the current sequence of goals. We have developed a 'leader/follower' software architecture to handle the dual time-shifted streams of execution feedback. In this paper we describe the integrated planner and its executive, and how it operates in normal and anomaly situations.

remote robotic systems↗