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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 181 records · Page 10
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NASA NTRS1988

A mathematical theory of learning control for linear discrete multivariable systems

When tracking control systems are used in repetitive operations such as robots in various manufacturing processes, the controller will make the same errors repeatedly. Here consideration is given to learning controllers that look at the tracking errors in each repetition of the process and adjust the control to decrease these errors in the next repetition. A general formalism is developed for learning control of discrete-time (time-varying or time-invariant) linear multivariable systems. Methods of specifying a desired trajectory (such that the trajectory can actually be performed by the discrete system) are discussed, and learning controllers are developed. Stability criteria are obtained which are relatively easy to use to insure convergence of the learning process, and proper gain settings are discussed in light of measurement noise and system uncertainties.

Phan, Minh↗
NASA NTRS1988

An averaging analysis of discrete-time indirect adaptive control

An averaging analysis of indirect, discrete-time, adaptive control systems is presented. The analysis results in a signal-dependent stability condition and accounts for unmodeled plant dynamics as well as exogenous disturbances. This analysis is applied to two discrete-time adaptive algorithms: an unnormalized gradient algorithm and a recursive least-squares (RLS) algorithm with resetting. Since linearization and averaging are used for the gradient analysis, a local stability result valid for small adaptation gains is found. For RLS with resetting, the assumption is that there is a long time between resets. The results for the two algorithms are virtually identical, emphasizing their similarities in adaptive control.

Phillips, Stephen M.↗
NASA NTRS1988

On discrete inner-outer and spectral factorizations

Reliable algorithms are developed to perform inner-outer, coprime, and spectral factorizations for discrete FDLTI systems. It is shown that the discrete algebraic Riccati equation plays an important role in obtaining state-space representations for all key factorizations. The implementation of algorithms can be carried out efficiently using real matrix operations.

Chu, Cheng-Chih↗
NASA NTRS1989

Discrete-Time Model-Reference Adaptive Control

Paper discusses stability of digital model-reference adaptive control (MRAC) of robotic system or plant that operates at discrete time steps. Command-generator tracker (CGT) concept, originally proposed for continuous-time systems, is applied in discrete-time setting, enabling relaxation of some restrictive assumptions that guarantee stability of system controlled according to resulting algorithm. Likely applications include systems in which sensors and actuators not placed together.

Wen, John T.↗
NASA NTRS1989

Ideal Resampling Of Discrete Sequences

Spectral information preserved to extent possible. Technique developed to shrink or expand discrete input sequence of numbers into output sequence in manner preserving input spectrum up to Nyquist limit of smaller of two sequences. In case of expansion, technique also prevents introduction of spurious frequencies not present in input. While applicable to many kinds of data sampled at regular interval, particularly useful in processing and enhancement of images, where discrete sequences spatially ordered sets of picture-element brightness values. Image coarsened by resampling to reduce number of picture elements while preserving as much as possible of original image information. Used to generate intermediate images at small intervals between frames, thereby suppressing appearance of jerky motion caused by sudden jumps between frames at low frame rate.

Watson, Andrew B.↗
NASA NTRS1988

Nonconforming mortar element methods: Application to spectral discretizations

Spectral element methods are p-type weighted residual techniques for partial differential equations that combine the generality of finite element methods with the accuracy of spectral methods. Presented here is a new nonconforming discretization which greatly improves the flexibility of the spectral element approach as regards automatic mesh generation and non-propagating local mesh refinement. The method is based on the introduction of an auxiliary mortar trace space, and constitutes a new approach to discretization-driven domain decomposition characterized by a clean decoupling of the local, structure-preserving residual evaluations and the transmission of boundary and continuity conditions. The flexibility of the mortar method is illustrated by several nonconforming adaptive Navier-Stokes calculations in complex geometry.

Maday, Yvon↗
NASA NTRS1989

A penalty approach for nonlinear optimization with discrete design variables

Introduced here is a simple approach to minimization problems with discrete design variables by modifying the penaly function approach of converting the constrained problems into sequential unconstrained minimization technique (SUMT) problems. It was discovered, during the course of the present work, that a similar idea was suggested by Marcal and Gellatly. However, no further work has been encountered. A brief description of the SUMT is presented. The form of the penalty function for the discrete-valued design variables and strategy used for the implementation of the procedure is discussed next. Finally, several design examples are used to demonstrate the procedure, and results are compared with the ones available in the literature.

Shin, Dong K.↗
NASA NTRS1987

Model reduction for discrete bilinear systems

A model reduction method for discrete bilinear systems is developed which matches q sets of Volterra and covariance parameters. These parameters are shown to represent both deterministic and stochastic attributes of the discrete bilinear system. A reduced order model which matches these q sets of parameters is defined to be a q-Volterra covariance equivalent realization (q-Volterra COVER). An algorithm is presented which constructs a class of q-Volterra COVERs parameterized by solutions to a Hermitian, quadratic, matrix equation. The algorithm is applied to a bilinear model of a robot manipulator.

King, A. M.↗
NASA NTRS1989

Control of the errors of discretization and idealization in finite element analysis

Understanding of the basic principles which control errors of discretization in finite element analysis has increased very substantially since 1980. The main milestones were: (1) development of the theoretical basis of p-extensions (1981); (2) understanding of the proper interplay between mesh design and assignment of polynomial degree to elements. Practical realization of exponential convergence rates, independently of the smoothness of the exact solution (1984); and (3) industrial experience with the new finite element technology known as the p- or hp-version of the finite element method: General Dynamics reported thirty- to forty-fold savings in terms of human time and large savings in computer time (1986). Lockheed reported favorably on their evaluation of error estimation and quality control capabilities of the p-version in industrial settings (1987). The gains in our understanding of how to control the errors of discretization represent only half of the control necessary to ensure that a numerical model is in fact an accurate representation of the corresponding physical system. Control of the errors of idealization is equally important. A brief overview of the main ideas of how to ensure the quality and reliability of mathematical models of structural systems is presented.

Szabo, Barna A.↗
NASA NTRS1987

Fast and stable recursive algorithms for continuous-time and discrete-time model conversions

Based on the Newton-Raphson method, this paper presents recursive algorithms that are rapidly convergent and more stable for modeling the equivalent continuous-time (discrete-time) model from the available discrete-time (continuous-time) model for a fixed sampling period. The newly developed recursive algorithms relax the constraints imposed upon the existing model conversion algorithms, and, thus, enhance the applications of microprocessors and associated microelectronics to digital control systems. A practical example is presented to demonstrate the effectiveness of the proposed procedures.

Shieh, L. S.↗
NASA NTRS1989

Discrete cloud structure on Neptune

Recent CCD imaging data for the discrete cloud structure of Neptune shows that while cloud features at CH4-band wavelengths are manifest in the southern hemisphere, they have not been encountered in the northern hemisphere since 1986. A literature search has shown the reflected CH4-band light from the planet to have come from a single discrete feature at least twice in the last 10 years. Disk-integrated photometry derived from the imaging has demonstrated that a bright cloud feature was responsible for the observed 8900 A diurnal variation in 1986 and 1987.

Hammel, H. B.↗
NASA NTRS1990

Discrete-vortex model for the symmetric-vortex flow on cones

A relatively simple but accurate potential flow model was developed for studying the symmetric vortex flow on cones. The model is a modified version of the model first developed by Bryson, in which discrete vortices and straight-line feeding sheets were used to represent the flow field. It differs, however, in the zero-force condition used to position the vortices and determine their circulation strengths. The Bryson model imposed the condition that the net force on the feeding sheets and discrete vortices must be zero. The proposed model satisfies this zero-force condition by having the vortices move as free vortices, at a velocity equal to at the local crossflow velocity at their centers. When the free-vortex assumption is made, a solution is obtained in the form of two nonlinear algebraic equations that relate the vortex center coordinates and vortex strengths to the cone angle and angle of attack. The vortex center locations calculated using the model are in good agreement with experimental values. The cone normal forces as well as center locations are in good agreement with the vortex cloud method of calculating symmetric flow fields.

Gainer, Thomas G.↗
NASA NTRS1989

Discrete-time adaptive control of robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.

Tarokh, M.↗
NASA NTRS1989

AlGaAs/InGaAs heterostructures with doped channels for discrete devices and monolithic amplifiers

AlGaAs/InGaAs/GaAs-type heterostructure with one or two doped channels have been used to fabricate both discrete devices and monolithic amplifiers for millimeter-wave operation. Maximum current densities of 1 A/mm and maximum transconductances of 530 mS/mm were obtained. 0.25 x 50 micron discrete devices delivered a power density of 1 W/mm with 2.9-dB gain and 25 percent efficiency at 60 GHz. A 100-micron monolithic one-stage amplifier demonstrated 93 mW (0.93-W/mm power density) at 31.5 GHz with 4.2-dB gain and 29 percent efficiency. A record 34 percent efficiency was achieved with a 53.7-mW output power and 4.8-dB gain.

Saunier, Paul↗
NASA NTRS1990

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗
NASA NTRS1990

Stabilization of discrete-event processes

Discrete-event processes are modeled by state-machines in the Ramadge-Wonham framework with control by a feedback event disablement mechanism. In this paper, concepts of stabilization of discrete-event processes are defined and investigated. The possibility of driving a process (under control) from arbitrary initial states to a prescribed subset of the state set and then keeping it there indefinitely is examined. This stabilization property is studied also with respect to 'open-loop' processes and their asymptotic behavior is characterized. Polynomial time algorithms are presented for verifying various types of attraction and for the synthesis of attractors.

Brave, Y.↗
NASA NTRS1990

Characterization of the tip field of a discrete dislocation pileup for the development of physically based micromechanics

It is shown, on the basis of calculations by Eshelby et al. (1951), Armstrong et al. (1966), and Chou and Li (1969), that a single parameter, such as the force on the leading dislocation (F), the crack extension force, or the stress intensity factor, is capable of characterizing uniquely the entire tip field of a discrete dislocation pileup, including the positions of mobile dislocations behind the locked leading dislocation at the tip. Conversely, the position of the i-th mobile dislocation X(i) is related to the value of F and is capable of characterizing the entire stress, strain, and displacement fields at the tip of a discrete dislocation pileup. If the interactions between dislocations are linear elastic, the measured positions of the mobile dislocations can be used to determine the value of F, which can then be used as a quantitative measure of the strength of a dislocation barrier resisting the propagation of a microslip or the nucleation of a microfracture.

Gao, Q.↗
NASA NTRS1990

Concurrency and discrete event control

Much of discrete event control theory has been developed within the framework of automata and formal languages. An alternative approach inspired by the theories of process-algebra as developed in the computer science literature is presented. The framework, which rests on a new formalism of concurrency, can adequately handle nondeterminism and can be used for analysis of a wide range of discrete event phenomena.

Heymann, Michael↗