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At least 235 records · Page 13

Design of multivariable controllers for robot manipulators

The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

Seraji, H.↗

Linear adaptive control of a single-tether system

A control law for a single-tether orbiting satellite system based on a reduced order linear adaptive control technique is presented. The main advantages of this technique are its design simplicity and the facts that specific system parameters and model linearization are not required when designing the controller. Two controllers are developed: one which uses only tension in the tether as control actuation and one which uses both tension and in-plane thrusters as control actuation. Both a sixth-order nonlinear and an 11th-order bead model of a tethered satellite system are used for simulation purposes, demonstrating the ability of the controller to manage an uncertain system. Retrieval and stationkeeping results using these nonlinear models and the linear adaptive controller demonstrate the feasibility of the method. The robustness of the controller with respect to parameter uncertainties is also demonstrated by changing the nonlinear model and parameters within the model without redesigning the controller.

Greene, M. E.↗

A linear shock cell model for non-circular jets using conformal mapping with a pseudo-spectral hybrid scheme

The shock structure in non-circular supersonic jets is predicted using a linear model. This model includes the effects of the finite thickness of the mixing layer and the turbulence in the jet shear layer. A numerical solution is obtained using a conformal mapping grid generation scheme with a hybrid pseudo-spectral discretization method. The uniform pressure perturbation at the jet exit is approximated by a Fourier-Mathieu series. The pressure at downstream locations is obtained from an eigenfunction expansion that is matched to the pressure perturbation at the jet exit. Results are presented for a circular jet and for an elliptic jet of aspect ratio 2.0. Comparisons are made with experimental data.

Bhat, Thonse R. S.↗

Saccades to remembered targets: the effects of smooth pursuit and illusory stimulus motion

1. Measurements were made in four normal human subjects of the accuracy of saccades to remembered locations of targets that were flashed on a 20 x 30 deg random dot display that was either stationary or moving horizontally and sinusoidally at +/-9 deg at 0.3 Hz. During the interval between the target flash and the memory-guided saccade, the "memory period" (1.4 s), subjects either fixated a stationary spot or pursued a spot moving vertically sinusoidally at +/-9 deg at 0.3 Hz. 2. When saccades were made toward the location of targets previously flashed on a stationary background as subjects fixated the stationary spot, median saccadic error was 0.93 deg horizontally and 1.1 deg vertically. These errors were greater than for saccades to visible targets, which had median values of 0.59 deg horizontally and 0.60 deg vertically. 3. When targets were flashed as subjects smoothly pursued a spot that moved vertically across the stationary background, median saccadic error was 1.1 deg horizontally and 1.2 deg vertically, thus being of similar accuracy to when targets were flashed during fixation. In addition, the vertical component of the memory-guided saccade was much more closely correlated with the "spatial error" than with the "retinal error"; this indicated that, when programming the saccade, the brain had taken into account eye movements that occurred during the memory period. 4. When saccades were made to targets flashed during attempted fixation of a stationary spot on a horizontally moving background, a condition that produces a weak Duncker-type illusion of horizontal movement of the primary target, median saccadic error increased horizontally to 3.2 deg but was 1.1 deg vertically. 5. When targets were flashed as subjects smoothly pursued a spot that moved vertically on the horizontally moving background, a condition that induces a strong illusion of diagonal target motion, median saccadic error was 4.0 deg horizontally and 1.5 deg vertically; thus the horizontal error was greater than under any other experimental condition. 6. In most trials, the initial saccade to the remembered target was followed by additional saccades while the subject was still in darkness. These secondary saccades, which were executed in the absence of visual feedback, brought the eye closer to the target location. During paradigms involving horizontal background movement, these corrections were more prominent horizontally than vertically. 7. Further measurements were made in two subjects to determine whether inaccuracy of memory-guided saccades, in the horizontal plane, was due to mislocalization at the time that the target flashed, misrepresentation of the trajectory of the pursuit eye movement during the memory period, or both. 8. The magnitude of the saccadic error, both with and without corrections made in darkness, was mislocalized by approximately 30% of the displacement of the background at the time that the target flashed. The magnitude of the saccadic error also was influenced by net movement of the background during the memory period, corresponding to approximately 25% of net background movement for the initial saccade and approximately 13% for the final eye position achieved in darkness. 9. We formulated simple linear models to test specific hypotheses about which combinations of signals best describe the observed saccadic amplitudes. We tested the possibilities that the brain made an accurate memory of target location and a reliable representation of the eye movement during the memory period, or that one or both of these was corrupted by the illusory visual stimulus. Our data were best accounted for by a model in which both the working memory of target location and the internal representation of the horizontal eye movements were corrupted by the illusory visual stimulus. We conclude that extraretinal signals played only a minor role, in comparison with visual estimates of the direction of gaze, in planning eye movements to remembered targ.

Clinical Trial↗

LEO high voltage solar array arcing response model

A series of mathematical models were developed that describe the electrical behavior of a large solar cell array floating electrically in the low Earth orbit (LEO) space plasma and struck by an arc at a point of negative bias. There are now three models in this series: ARCII, which is a fully analytical, linearized model; ARCIII, which is an extension of ARCIII that includes solar cell inductance as well as load reactance; Nonlinear ARC, which is a numerical model able to treat effects such as non-linearized, i.e., logarithmic solar cell I/V characteristics, conductance switching as a solar cell crosses plasma ground on a voltage excursion and non-ohmic plasma leakage current collection.

Metz, Roger N.↗

Engineering Overview of a Multidisciplinary HSCT Design Framework Using Medium-Fidelity Analysis Codes

An objective of the HPCC Program at NASA Langley has been to promote the use of advanced computing techniques to more rapidly solve the problem of multidisciplinary optimization of a supersonic transport configuration. As a result, a software system has been designed and is being implemented to integrate a set of existing discipline analysis codes, some of them CPU-intensive, into a distributed computational framework for the design of a High Speed Civil Transport (HSCT) configuration. The proposed paper will describe the engineering aspects of integrating these analysis codes and additional interface codes into an automated design system. The objective of the design problem is to optimize the aircraft weight for given mission conditions, range, and payload requirements, subject to aerodynamic, structural, and performance constraints. The design variables include both thicknesses of structural elements and geometric parameters that define the external aircraft shape. An optimization model has been adopted that uses the multidisciplinary analysis results and the derivatives of the solution with respect to the design variables to formulate a linearized model that provides input to the CONMIN optimization code, which outputs new values for the design variables. The analysis process begins by deriving the updated geometries and grids from the baseline geometries and grids using the new values for the design variables. This free-form deformation approach provides internal FEM (finite element method) grids that are consistent with aerodynamic surface grids. The next step involves using the derived FEM and section properties in a weights process to calculate detailed weights and the center of gravity location for specified flight conditions. The weights process computes the as-built weight, weight distribution, and weight sensitivities for given aircraft configurations at various mass cases. Currently, two mass cases are considered: cruise and gross take-off weight (GTOW). Weights information is obtained from correlations of data from three sources: 1) as-built initial structural and non-structural weights from an existing database, 2) theoretical FEM structural weights and sensitivities from Genesis, and 3) empirical as-built weight increments, non-structural weights, and weight sensitivities from FLOPS. For the aeroelastic analysis, a variable-fidelity aerodynamic analysis has been adopted. This approach uses infrequent CPU-intensive non-linear CFD to calculate a non-linear correction relative to a linear aero calculation for the same aerodynamic surface at an angle of attack that results in the same configuration lift. For efficiency, this nonlinear correction is applied after each subsequent linear aero solution during the iterations between the aerodynamic and structural analyses. Convergence is achieved when the vehicle shape being used for the aerodynamic calculations is consistent with the structural deformations caused by the aerodynamic loads. To make the structural analyses more efficient, a linearized structural deformation model has been adopted, in which a single stiffness matrix can be used to solve for the deformations under all the load conditions. Using the converged aerodynamic loads, a final set of structural analyses are performed to determine the stress distributions and the buckling conditions for constraint calculation. Performance constraints are obtained by running FLOPS using drag polars that are computed using results from non-linear corrections to the linear aero code plus several codes to provide drag increments due to skin friction, wave drag, and other miscellaneous drag contributions. The status of the integration effort will be presented in the proposed paper, and results will be provided that illustrate the degree of accuracy in the linearizations that have been employed.

Weston, R. P.↗

Possibility that the far ultraviolet excess in M31 is due to main sequence stars

The far ultraviolet excess in the central region of M31, observed by OAO-2, could be due to young main sequence stars. More than enough such stars are present in the model for the M31 inner disk population derived by Tinsley and Spinrad (1971) to match line- and color-indices at longer wavelengths. If the far ultraviolet radiation of typical galaxies arises from young stars, the theoretical ultraviolet background is enhanced greatly by evolutionary effects. For evolution at the rate of Tinsley and Spinrad's model for M31, or of Arnett's (1971) linear model for our galaxy, the enhancement is a factor 2.5 to 14, depending on the Hubble constant and the spectrum at wavelengths below 1700 A.

Tinsley, B. M.↗

Peak Oxygen Uptake during and after Long-duration Space Flight

Aerobic capacity (VO2peak) previously has not been measured during or after long-duration spaceflight. PURPOSE: To measure VO2peak and submaximal exercise responses during and after International Space Station (ISS) missions. METHODS: Astronauts (9 M, 5 F: 49 +/- 5 yr, 175 +/- 7 cm, 77.2 +/- 15.1 kg, 40.6 +/- 6.4 mL/kg/min [mean +/-SD]) performed graded peak cycle tests ~90 days before spaceflight, 15 d (FD15) after launch and every ~30 d thereafter during flight, and 1 (R+1), 10 (R+10), and 30 d (R+30) after landing. Oxygen consumption (VO2) and heart rate (HR) were measured from rest to peak exercise, while cardiac output (Q), stroke volume (SV), and arterial-venous oxygen difference (a-vO2diff) were measured only during rest and submaximal exercise. Data were analyzed using mixed-model linear regression. Body mass contributed significantly to statistical models, and thus results are reported as modeled estimates for an average subject. RESULTS: Early inflight (FD15) VO2peak was 17% lower (95% CI = - 22%, -13%) than preflight. VO2peak increased during spaceflight (0.001 L/min/d, P = 0.02) but did not return to preflight levels. On R+1 VO2peak was 15% (95% CI = -19%, -10%) lower than preflight but recovered to within 2% of preflight by R+30 (95% CI = -6%, +3%). Peak HR was not significantly different from preflight at any time. Inflight submaximal VO2 and a-vO2diff were generally lower than preflight, but the Q vs. VO2 slope was unchanged. In contrast, the SV vs. VO2 slope was lower (P < 0.001), primarily due to elevated SV at rest, and the HR vs. VO2 slope was greater (P < 0.001), largely due to elevated HR during more intense exercise. On R+1 although the relationships between VO2 and Q, SV, and HR were not statistically different than preflight, resting and submaximal exercise SV was lower (P < 0.001), resting and submaximal exercise HR was higher (P < 0.002), and a-vO2diff was unchanged. HR and SV returned to preflight levels by R+30. CONCLUSION: In the average astronaut VO2peak was reduced during spaceflight and immediately after landing but factors contributing to lower VO2peak may be different during spaceflight and recovery. Maintaining Q while VO2 is reduced inflight may be suggestive of an elevated blood flow to vascular beds other than exercising muscles, but decreased SV after flight likely reduces Q at peak exertion.

Moore, Alan D., Jr.↗

Reynolds-Averaged Navier-Stokes Computations of the NASA Juncture Flow Model Using FUN3D and OVERFLOW

Two Reynolds-averaged Navier-Stokes codes, FUN3D and OVERFLOW, are used to assess the capability of Spalart-Allmaras-based turbulence models to predict the flow over the NASA Juncture Flow model. Both free-air and in-tunnel simulations are performed. While the tunnel walls have some influence, it is found to be relatively minor in the juncture region of interest. Results from the two codes are found to be consistent with each other in attached flow regions, but results in the area of separation still show grid and code sensitivity, even on grids as large as 400 million unknowns. Nonetheless, it is possible to draw conclusions regarding the model capabilities. Without a quadratic constitutive relation, the linear model predicts a separation size that is too large. The inclusion of a nonlinear quadratic constitutive relation improves results significantly, but separation still occurs too far upstream. Prediction of turbulent normal stress differences play a key role in this flow. Although the nonlinear model makes better predictions in this regard, they could still be improved, particularly in the streamwise normal component near the wall.

C L Rumsey↗

Modeling and Simulation of Rotary Sloshing in Launch Vehicles

The nonlinear dynamics of propellant sloshing during orbital ascent are usually neglected in the flight control analysis of large boost vehicles under the assumption that the viscous damping of the fluid is sufficient to suppress nonlinear phenomena and confine the fluid to small, planar free surface displacements. In this case, the sloshing dynamics can be modeled using a spring-mass-damper or linearized pendulum mechanical analog. However, large, smooth-wall tanks without significant internal hardware or ring baffles are still susceptible to nonlinear effects. In particular, rotary sloshing can present a risk to flight control as it involves the formation of a stable limit cycle which can lead to undesirable roll coupling. The underlying phenomena of jump resonance does not manifest in linear models, but can be reproduced using a nonlinear spherical pendulum or the Bauer paraboloid model developed during the Apollo/Saturn program. In this paper, a detailed analysis of the rotary sloshing dynamics of these mechanical analogs is presented, and discussed in the context of flight control stability. High-fidelity simulations of a representative boost vehicle are used to verify the semi-analytical predictions of the nonlinear dynamic response.

Modeling↗

Linear simulation of the stationary eddies in a general circulation model. I - The no-mountain model

A linear primitive-equation stationary-wave model is developed to describe Northern Hemisphere winter stationary eddies on a sphere, and simulation results are compared with the predictions of a flat-lower-boundary GCM in extensive graphs and maps. The linear model is shown to reproduce the general behavior of the GCM well, with 10-30-percent underestimation of amplitudes in the Northern Hemisphere extratropical upper troposphere. The response to global heating plus transient eddy flux convergences is then decomposed into responses to total tropical forcing (heating plus transients) and total extratropical forcing (upper and lower tropospheric transients and latent, sensible, and radiative heating). The quality of the simulation is found to deteriorate rapidly if transient forcing is omitted, although somewhat better results are obtained by substituting thermal damping for transient forcing. The importance of low-level-transient parameterization for theories of time-mean low-level flow is emphasized.

Nigam, Sumant↗

Linear analysis of opto-mechanical systems

A general framework is presented for the matrix-form, linear optical model analysis of controlled optomechanical systems; the models are conjoined with linear models of structures and controls to compute system performance as a function of optics, structures, and control parameters. Covariance analysis, optimization, and estimation/simulation are used. Attention is given to a tolerancing example for the Hubble Space Telescope's Wide Field and Planetary Camera, which involves the creation of a linear model of residual pupil shear.

Redding, David C.↗

Probabilistic analysis for fatigue strength degradation of materials

This report presents the results of the first year of a research program conducted for NASA-LeRC by the University of Texas at San Antonio. The research included development of methodology that provides a probabilistic treatment of lifetime prediction of structural components of aerospace propulsion systems subjected to fatigue. Material strength degradation models, based on primitive variables, include both a fatigue strength reduction model and a fatigue crack growth model. Linear elastic fracture mechanics is utilized in the latter model. Probabilistic analysis is based on simulation, and both maximum entropy and maximum penalized likelihood methods are used for the generation of probability density functions. The resulting constitutive relationships are included in several computer programs, RANDOM2, RANDOM3, and RANDOM4. These programs determine the random lifetime of an engine component, in mechanical load cycles, to reach a critical fatigue strength or crack size. The material considered was a cast nickel base superalloy, one typical of those used in the Space Shuttle Main Engine.

Royce, Lola↗

Model Effects on GLAS-Based Regional Estimates of Forest Biomass and Carbon

ICESat/GLAS waveform data are used to estimate biomass and carbon on a 1.27 million sq km study area. the Province of Quebec, Canada, below treeline. The same input data sets and sampling design are used in conjunction with four different predictive models to estimate total aboveground dry forest biomass and forest carbon. The four models include nonstratified and stratified versions of a multiple linear model where either biomass or (square root of) biomass serves as the dependent variable. The use of different models in Quebec introduces differences in Provincial biomass estimates of up to 0.35 Gt (range 4.942+/-0.28 Gt to 5.29+/-0.36 Gt). The results suggest that if different predictive models are used to estimate regional carbon stocks in different epochs, e.g., y2005, y2015, one might mistakenly infer an apparent aboveground carbon "change" of, in this case, 0.18 Gt, or approximately 7% of the aboveground carbon in Quebec, due solely to the use of different predictive models. These findings argue for model consistency in future, LiDAR-based carbon monitoring programs. Regional biomass estimates from the four GLAS models are compared to ground estimates derived from an extensive network of 16,814 ground plots located in southern Quebec. Stratified models proved to be more accurate and precise than either of the two nonstratified models tested.

Nelson, Ross↗

Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

Taleghani, Barmac K.↗

Benchmarking a Soil Moisture Data Assimilation System for Agricultural Drought Monitoring

Despite considerable interest in the application of land surface data assimilation systems (LDAS) for agricultural drought applications, relatively little is known about the large-scale performance of such systems and, thus, the optimal methodological approach for implementing them. To address this need, this paper evaluates an LDAS for agricultural drought monitoring by benchmarking individual components of the system (i.e., a satellite soil moisture retrieval algorithm, a soil water balance model and a sequential data assimilation filter) against a series of linear models which perform the same function (i.e., have the same basic inputoutput structure) as the full system component. Benchmarking is based on the calculation of the lagged rank cross-correlation between the normalized difference vegetation index (NDVI) and soil moisture estimates acquired for various components of the system. Lagged soil moistureNDVI correlations obtained using individual LDAS components versus their linear analogs reveal the degree to which non-linearities andor complexities contained within each component actually contribute to the performance of the LDAS system as a whole. Here, a particular system based on surface soil moisture retrievals from the Land Parameter Retrieval Model (LPRM), a two-layer Palmer soil water balance model and an Ensemble Kalman filter (EnKF) is benchmarked. Results suggest significant room for improvement in each component of the system.

soil moisture↗

HCMM hydrological analysis in Utah

The feasibility of applying a linear model to HCMM data in hopes of obtaining an accurate linear correlation was investigated. The relationship among HCMM sensed data surface temperature and red reflectivity on Utah Lake and water quality factors including algae concentrations, algae type, and nutrient and turbidity concentrations was established and evaluated. Correlation (composite) images of day infrared and reflectance imagery were assessed to determine if remote sensing offers the capability of using masses of accurate and comprehensive data in calculating evaporation. The effects of algae on temperature and evaporation were studied and the possibility of using satellite thermal data to locate areas within Utah Lake where significant thermal sources exist and areas of near surface groundwater was examined.

Miller, A. W.↗

An investigation into the vertical axis control power requirements for landing VTOL type aircraft onboard nonaviation ships in various sea states

The problem of determining the vertical axis control requirements for landing a VTOL aircraft on a moving ship deck in various sea states is examined. Both a fixed-base piloted simulation and a nonpiloted simulation were used to determine the landing performance as influenced by thrust-to-weight ratio, vertical damping, and engine lags. The piloted simulation was run using a fixed-based simulator at Ames Research center. Simplified versions of an existing AV-8A Harrier model and an existing head-up display format were used. The ship model used was that of a DD963 class destroyer. Simplified linear models of the pilot, aircraft, ship motion, and ship air-wake turbulence were developed for the nonpiloted simulation. A unique aspect of the nonpiloted simulation was the development of a model of the piloting strategy used for shipboard landing. This model was refined during the piloted simulation until it provided a reasonably good representation of observed pilot behavior.

Stevens, M. E.↗