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Brewer, D. W.

Publications and source records attributed to Brewer, D. W..

5 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Parameter identification and sensitivity analysis for a robotic manipulator arm

The development of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint is described. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to difficulties caused by the large sensitivity of the model with respect to unknown parameters. Performance of the parameter identification algorithm is improved by choosing a control input that allows actuator emf to be included in an electro-mechanical model of the manipulator system.

Brewer, D. W.↗
NASA NTRS1985

Parameter identification for a robotic manipulator arm

The development is described of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to the role of sensitivity in the formulation of robust models of this motion. The importance of actuator effects in the reduction of sensitivity is established and used to develop an electromechanical model of the manipulator system.

Brewer, D. W.↗
NASA NTRS1983

Some properties of a 5-parameter bivariate probability distribution

A five-parameter bivariate gamma distribution having two shape parameters, two location parameters and a correlation parameter was developed. This more general bivariate gamma distribution reduces to the known four-parameter distribution. The five-parameter distribution gives a better fit to the gust data. The statistical properties of this general bivariate gamma distribution and a hypothesis test were investigated. Although these developments have come too late in the Shuttle program to be used directly as design criteria for ascent wind gust loads, the new wind gust model has helped to explain the wind profile conditions which cause large dynamic loads. Other potential applications of the newly developed five-parameter bivariate gamma distribution are in the areas of reliability theory, signal noise, and vibration mechanics.

Tubbs, J. D.↗
NASA NTRS1983

Statistical modeling of space shuttle environmental data

Statistical models which use a class of bivariate gamma distribution are examined. Topics discussed include: (1) the ratio of positively correlated gamma varieties; (2) a method to determine if unequal shape parameters are necessary in bivariate gamma distribution; (3) differential equations for modal location of a family of bivariate gamma distribution; and (4) analysis of some wind gust data using the analytical results developed for modeling application.

Tubbs, J. D.↗