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At least 253 records · Page 14

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NASA NTRS1987

Effect of control sampling rates on model-based manipulator control schemes

The effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes is discussed. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. Researchers discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, researchers also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system.

Khosla, P. K.↗

NASA NTRS1998

Assessment Study of the State of the Art in Adaptive Control and its Applications to Aircraft Control

Many papers relevant to reconfigurable flight control have appeared over the past fifteen years. In general these have consisted of theoretical issues, simulation experiments, and in some cases, actual flight tests. Results indicate that reconfiguration of flight controls is certainly feasible for a wide class of failures. However many of the proposed procedures although quite attractive, need further analytical and experimental studies for meaningful validation. Many procedures assume the availability of failure detection and identification logic that will supply adequately fast, the dynamics corresponding to the failed aircraft. This in general implies that the failure detection and fault identification logic must have access to all possible anticipated faults and the corresponding dynamical equations of motion. Unless some sort of explicit on line parameter identification is included, the computational demands could possibly be too excessive. This suggests the need for some form of adaptive control, either by itself as the prime procedure for control reconfiguration or in conjunction with the failure detection logic. If explicit or indirect adaptive control is used, then it is important that the identified models be such that the corresponding computed controls deliver adequate performance to the actual aircraft. Unknown changes in trim should be modelled, and parameter identification needs to be adequately insensitive to noise and at the same time capable of tracking abrupt changes. If however, both failure detection and system parameter identification turn out to be too time consuming in an emergency situation, then the concepts of direct adaptive control should be considered. If direct model reference adaptive control is to be used (on a linear model) with stability assurances, then a positive real or passivity condition needs to be satisfied for all possible configurations. This condition is often satisfied with a feedforward compensator around the plant. This compensator must be robustly designed such that the compensated plant satisfies the required positive real conditions over all expected parameter values. Furthermore, with the feedforward only around the plant, a nonzero (but bounded error) will exist in steady state between the plant and model outputs. This error can be removed by placing the compensator also in the reference model. Design of such a compensator should not be too difficult a problem since for flight control it is generally possible to feedback all the system states.

Kaufman, Howard↗

NASA NTRSDate not supplied

Evaluation of Automotive Grade Resistors for Space Flight

Over the past decade, electronic, electrical, and electromechanical (EEE) parts for space applications have undergone significant changes, largely driven by CubeSat and commercial space developers pushing the boundaries on the utilization of commercial parts in space. Global product shortages and shipping delays are still impacting space flight project deadlines. Many projects have turned to automotive grade resistors as an alternate to their MIL-SPEC counterparts to fulfill requirements. In addition, automotive grade resistors may offer designers a wider range of parts to consider. A recent NASA study recommended the use of high-volume manufactured commercial components for space applications provided these components show evidence of stringent fabrication controls and thorough reliability monitoring practices [1]. Automotive grade components have stringent qualification requirements per the Automotive Electronic Council (AEC). However, the end user usually does not have insight into the practices the manufacturer may use to reduce/eliminate infant mortality nor for compliance to all datasheet specifications. Screening, Life and Accelerated Life testing on a set of standard automotive-grade chip resistors is proposed to evaluate the reliability of these components. Requirements from both the AEC-Q (Automotive Electronic Council Qualification) and EEE-INST-002 (Instructions for EEE Parts Selection, Screening, Qualification, and Derating) for resistors is compared and discussed. The resistors have been tested by using a modified methodology from EEE-INST-002 to evaluate their reliability for space flight projects. The findings of this study indicate that the underlying degradation mechanisms at rated temperature and power are best represented by power law models with a fitted exponent between 0 and 1. A linear model is more conservative which compensates for potential model uncertainty given the wide range of design and materials used in automotive resistors, while still providing useful long-term resistance drift estimates. No electrical anomalies or failures were observed throughout the 1,000-hour Life Tests other than small in tolerance resistance drift aging. Degradation models were utilized to quantify and extrapolate the long-term resistance drift under operating conditions for the components. The models demonstrated that some automotive-grade resistors are likely to operate 10 years at nominal usage conditions while others might fail earlier.

Zainab Abdullahi↗

NASA NTRSDate not supplied

Evaluation of Automotive Grade Resistors for Space Flight

Over the past decade, electronic, electrical, and electromechanical (EEE) parts for space applications have undergone significant changes, largely driven by CubeSat and commercial space developers pushing the boundaries on the utilization of commercial parts in space. Global product shortages and shipping delays are still impacting space flight project deadlines. Many projects have turned to automotive grade resistors as an alternate to their MILSPEC counterparts to fulfill requirements. In addition, automotive grade resistors may offer designers a wider range of parts to consider. A recent NASA study recommended the use of high-volume manufactured commercial components for space applications provided these components show evidence of stringent fabrication controls and thorough reliability monitoring practices. Automotive grade components have stringent qualification requirements per the Automotive Electronic Council (AEC). However, the end user usually does not have insight into the practices the manufacturer may use to reduce/eliminate infant mortality nor for compliance to all datasheet specifications. Screening, Life and Accelerated Life testing on a set of standard automotive-grade chip resistors is proposed to evaluate the reliability of these components. Requirements from both the AEC-Q (Automotive Electronic Council Qualification) and EEE-INST-002 (Instructions for EEE Parts Selection, Screening, Qualification, and Derating) for resistors is compared and discussed. The resistors have been tested by using a modified methodology from EEEINST-002 to evaluate their reliability for space flight projects. The findings of this study indicate that the underlying degradation mechanisms at rated temperature and power are best represented by power law models with a fitted exponent between 0 and 1. A linear model is more conservative which compensates for potential model uncertainty given the wide range of design and materials used in automotive resistors, while still providing useful long-term resistance drift estimates. No electrical anomalies or failures were observed throughout the 1000-hour Life Tests other than small in tolerance resistance drift aging. Degradation models were utilized to quantify and extrapolate the long-term resistance drift under operating conditions for the components. The models demonstrated that some automotive-grade resistors are likely to operate 10 years at nominal usage conditions while others might fail earlier.

Zainab Abdullahi↗

NASA NTRS1990

Model checking for linear temporal logic: An efficient implementation

This report provides evidence to support the claim that model checking for linear temporal logic (LTL) is practically efficient. Two implementations of a linear temporal logic model checker is described. One is based on transforming the model checking problem into a satisfiability problem; the other checks an LTL formula for a finite model by computing the cross-product of the finite state transition graph of the program with a structure containing all possible models for the property. An experiment was done with a set of mutual exclusion algorithms and tested safety and liveness under fairness for these algorithms.

Sherman, Rivi↗

NASA NTRS1999

Adaptive Error Estimation in Linearized Ocean General Circulation Models

Data assimilation methods are routinely used in oceanography. The statistics of the model and measurement errors need to be specified a priori. This study addresses the problem of estimating model and measurement error statistics from observations. We start by testing innovation based methods of adaptive error estimation with low-dimensional models in the North Pacific (5-60 deg N, 132-252 deg E) to TOPEX/POSEIDON (TIP) sea level anomaly data, acoustic tomography data from the ATOC project, and the MIT General Circulation Model (GCM). A reduced state linear model that describes large scale internal (baroclinic) error dynamics is used. The methods are shown to be sensitive to the initial guess for the error statistics and the type of observations. A new off-line approach is developed, the covariance matching approach (CMA), where covariance matrices of model-data residuals are "matched" to their theoretical expectations using familiar least squares methods. This method uses observations directly instead of the innovations sequence and is shown to be related to the MT method and the method of Fu et al. (1993). Twin experiments using the same linearized MIT GCM suggest that altimetric data are ill-suited to the estimation of internal GCM errors, but that such estimates can in theory be obtained using acoustic data. The CMA is then applied to T/P sea level anomaly data and a linearization of a global GFDL GCM which uses two vertical modes. We show that the CMA method can be used with a global model and a global data set, and that the estimates of the error statistics are robust. We show that the fraction of the GCM-T/P residual variance explained by the model error is larger than that derived in Fukumori et al.(1999) with the method of Fu et al.(1993). Most of the model error is explained by the barotropic mode. However, we find that impact of the change in the error statistics on the data assimilation estimates is very small. This is explained by the large representation error, i.e. the dominance of the mesoscale eddies in the T/P signal, which are not part of the 21 by 1" GCM. Therefore, the impact of the observations on the assimilation is very small even after the adjustment of the error statistics. This work demonstrates that simult&neous estimation of the model and measurement error statistics for data assimilation with global ocean data sets and linearized GCMs is possible. However, the error covariance estimation problem is in general highly underdetermined, much more so than the state estimation problem. In other words there exist a very large number of statistical models that can be made consistent with the available data. Therefore, methods for obtaining quantitative error estimates, powerful though they may be, cannot replace physical insight. Used in the right context, as a tool for guiding the choice of a small number of model error parameters, covariance matching can be a useful addition to the repertory of tools available to oceanographers.

Chechelnitsky, Michael Y.↗

NASA NTRS1976

Space shuttle pogo active controller design using frequency domain optimization

A frequency domain parameter optimization technique was used to design active pogo suppression controls for the space shuttle. The technique uses a conjugate gradient search procedure and is well suited for designing low-order controllers for higher order systems. The shuttle model was a two-pump and six-structural-mode linear model representing a worst-case condition. A promising feedback controller structure was found to be a lead-lag design.

Seidel, R. C.↗

NASA NTRS1981

Determination of model structure and parameters of an airplane from pre- and post-stall flight data

A procedure for airplane model structure determination from flight data based on modified stepwise regression (MSR), several decision criteria and postulated aerodynamic model equations is presented. The MSR is constructed to force a linear model for the aerodynamic coefficient first, then select significant nonlinear terms and reject nonsignificant terms from the model. In addition to the statistical criteria in the stepwise regression, the prediction sum of squares (PRESS) criterion and analysis of residuals are examined for the selection of an adequate model. The procedure is used in examples with simulated and real flight data. It is shown that the MSR performs better than the ordinary stepwise regression and that the technique can be also applied to the large amplitude maneuvers.

Klein, V.↗

NASA NTRS1984

Exhibit D modular design attitude control system study

A dynamically equivalent four body approximation of the NASTRAN finite element model supplied for hybrid deployable truss to support the digital computer simulation of the ten body model of the flexible space platform that incorporates the four body truss model were investigated. Coefficients for sensitivity of state variables of the linearized model of the three axes rotational dynamics of the prototype flexible spacecraft were generated with respect to the model's parameters. Software changes required to accommodate addition of another rigid body to the five body model of the rotational dynamics of the prototype flexible spacecraft were evaluated.

Chichester, F.↗

NASA NTRS2004

The Modular Aero-Propulsion System Simulation (MAPSS) Users' Guide

The Modular Aero-Propulsion System Simulation is a flexible turbofan engine simulation environment that provides the user a platform to develop advanced control algorithms. It is capable of testing the performance of control designs on a validated and verified generic engine model. In addition, it is able to generate state-space linear models of the engine model to aid in controller design. The engine model used in MAPSS is a generic high-pressure ratio, dual-spool, lowbypass, military-type, variable cycle turbofan engine with a digital controller. MAPSS is controlled by a graphical user interface (GUI) and this guide explains how to use it to take advantage of the capabilities of MAPSS.

Parker, Khary I.↗

NASA NTRS2010

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

Ice, Cloud, and land Elevation Satellite (ICESat) / Geosciences Laser Altimeter System (GLAS) waveform data are used to estimate biomass and carbon on a 1.27 X 10(exp 6) square km study area in the Province of Quebec, Canada, below the tree line. The same input datasets 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 non-stratified and stratified versions of a multiple linear model where either biomass or (biomass)(exp 0.5) serves as the dependent variable. The use of different models in Quebec introduces differences in Provincial dry biomass estimates of up to 0.35 G, with a range of 4.94 +/- 0.28 Gt to 5.29 +/-0.36 Gt. The differences among model estimates are statistically non-significant, however, and the results demonstrate the degree to which carbon estimates vary strictly as a function of the model used to estimate regional biomass. Results also indicate that GLAS measurements become problematic with respect to height and biomass retrievals in the boreal forest when biomass values fall below 20 t/ha and when GLAS 75th percentile heights fall below 7 m.

Nelson, Ross F.↗

NASA NTRS1995

On modeling migrating solar tides

Recent updates and extensions to a steady-state two-dimensional linearized model of global-scale atmospheric waves have facilitated improved calculations of those which are subharmonics of a solar day and propagate with the apparent motion of the sun. The model improvements are briefly described and some updated predictions of the migrating solar diurnal component are highlighted. The latter represent the first numerical modeling effort to examining the seasonal variability of the migrating diurnal harmonic as it propagates into the mesosphere and lower thermosphere.

Hagan, M. E.↗

NASA NTRS1993

Variational data assimilation with a semi-Lagrangian semi-implicit global shallow-water equation model and its adjoint

An adjoint model is developed for variational data assimilation using the 2D semi-Lagrangian semi-implicit (SLSI) shallow-water equation global model of Bates et al. with special attention being paid to the linearization of the interpolation routines. It is demonstrated that with larger time steps the limit of the validity of the tangent linear model will be curtailed due to the interpolations, especially in regions where sharp gradients in the interpolated variables coupled with strong advective wind occur, a synoptic situation common in the high latitudes. This effect is particularly evident near the pole in the Northern Hemisphere during the winter season. Variational data assimilation experiments of 'identical twin' type with observations available only at the end of the assimilation period perform well with this adjoint model. It is confirmed that the computational efficiency of the semi-Lagrangian scheme is preserved during the minimization process, related to the variational data assimilation procedure.

Li, Y.↗

NASA NTRS2012

Quasi 1D Modeling of Mixed Compression Supersonic Inlets

The AeroServoElasticity task under the NASA Supersonics Project is developing dynamic models of the propulsion system and the vehicle in order to conduct research for integrated vehicle dynamic performance. As part of this effort, a nonlinear quasi 1-dimensional model of the 2-dimensional bifurcated mixed compression supersonic inlet is being developed. The model utilizes computational fluid dynamics for both the supersonic and subsonic diffusers. The oblique shocks are modeled utilizing compressible flow equations. This model also implements variable geometry required to control the normal shock position. The model is flexible and can also be utilized to simulate other mixed compression supersonic inlet designs. The model was validated both in time and in the frequency domain against the legacy LArge Perturbation INlet code, which has been previously verified using test data. This legacy code written in FORTRAN is quite extensive and complex in terms of the amount of software and number of subroutines. Further, the legacy code is not suitable for closed loop feedback controls design, and the simulation environment is not amenable to systems integration. Therefore, a solution is to develop an innovative, more simplified, mixed compression inlet model with the same steady state and dynamic performance as the legacy code that also can be used for controls design. The new nonlinear dynamic model is implemented in MATLAB Simulink. This environment allows easier development of linear models for controls design for shock positioning. The new model is also well suited for integration with a propulsion system model to study inlet/propulsion system performance, and integration with an aero-servo-elastic system model to study integrated vehicle ride quality, vehicle stability, and efficiency.

Kopasakis, George↗

NASA NTRS1994

Suboptimal schemes for atmospheric data assimilation based on the Kalman filter

This work is directed toward approximating the evolution of forecast error covariances for data assimilation. The performance of different algorithms based on simplification of the standard Kalman filter (KF) is studied. These are suboptimal schemes (SOSs) when compared to the KF, which is optimal for linear problems with known statistics. The SOSs considered here are several versions of optimal interpolation (OI), a scheme for height error variance advection, and a simplified KF in which the full height error covariance is advected. To employ a methodology for exact comparison among these schemes, a linear environment is maintained, in which a beta-plane shallow-water model linearized about a constant zonal flow is chosen for the test-bed dynamics. The results show that constructing dynamically balanced forecast error covariances rather than using conventional geostrophically balanced ones is essential for successful performance of any SOS. A posteriori initialization of SOSs to compensate for model - data imbalance sometimes results in poor performance. Instead, properly constructed dynamically balanced forecast error covariances eliminate the need for initialization. When the SOSs studied here make use of dynamically balanced forecast error covariances, the difference among their performances progresses naturally from conventional OI to the KF. In fact, the results suggest that even modest enhancements of OI, such as including an approximate dynamical equation for height error variances while leaving height error correlation structure homogeneous, go a long way toward achieving the performance of the KF, provided that dynamically balanced cross-covariances are constructed and that model errors are accounted for properly. The results indicate that such enhancements are necessary if unconventional data are to have a positive impact.

Todling, Ricardo↗

NASA NTRSDate not supplied

Modeling Boundary-Layer Transition in Subsonic Flow over a Swept Wing

Predicting the onset of boundary-layer transition is often more accurate using physics-based models that directly compute disturbance growth rather than phenomenological models often implemented into industrial CFD codes. The aim of this ongoing study is to calibrate linear, physics-based computations of transition in subsonic flows over swept wings against a large set of experimental data. Advancing the calibration of linear models of transition contributes to the CFD-Vision-2030 goal of automated boundary-layer transition prediction. This progress report uses the dual N-factor method to model transition over the swept NACA 64-2-015A wing. The flow conditions match selected test conditions from an extensive experimental dataset acquired from the NASA Ames 12-ft Pressure Tunnel. The OVERFLOW 2.4b flow solver is used to obtain laminar basic states based on an infinite-span assumption. Stability analyses are performed on 365 distinct configurations with linear stability theory (LST) and parabolized stability equations (PSE) from the Langley Stability and Transition Analysis Codes (LASTRAC), modeling the growth of Tollmien-Schlichting (TS) and stationary crossflow (SCF) disturbances. From a total of 67 data points for unswept, i.e., TS-dominant configurations, the critical N-factor based on PSE is found to be N_TS = 9. The SCF critical N-factor is found to be near 8 for the highly swept, SCF-dominant configurations. Dual N-factor curves for both LST and PSE computations demonstrate a high level of interaction between TS and SCF. It may be worthwhile to investigate an alternate metric to visualize maximal SCF amplification upstream of the transition location to account for the growth of SCF modes near the leading edge, which is not considered in the conventional applications of the dual N-factor criterion.

boundary-layer transition↗

NASA NTRSDate not supplied

Modeling Boundary-Layer Transition in Subsonic Flow over a Swept Wing

computational modeling↗

NASA NTRS1993

Thermal infrared emission spectroscopy of natural surfaces: Application to desert varnish coatings on rocks

Thermal infrared spectroscopy has become an increasingly important tool for remote compositional analysis and geologic mapping. Most published laboratory measurements have been obtained in bidirectional reflection or transmission, whereas remotely sensed thermal infrared data are obtained by measuring the emitted energy. Section 2 of this paper describes a laboratory technique for determining calibrated emissivities of natural surfaces. Equations are developed to account for the energy reflected from the environment and to determine directly the sample temperature from measurements of hot and cold blackbody targets. Two methods for determining emissivity are developed: one in which only a hot sample measurement is made and the reflected background energy is removed by modeling, and a second in which the sample is cooled and the reflected energy is measured directly. Relative emissivity can be obtained to approximately 1% and absolute emissivities can be obtained to 2-15%, depending on the validity of the assumption that the emissivity of the sample is unity at some wavelength. The emission data agree well within the hemispherically integrated reflection data but point out probelms associated with bidirectional reflectance measurements. Section 3 applies emissivity measurements to the study of layered surfaces consisting of desert varnish coatings on granite and granodiorite rock suites. Two linear models are developed: the first assumes linear mixing of independent emission from the substrate and varnish (checkerboard model); the second models tansmission through an absorbing/emitting medium. Regardless of whether the varnish is or is not relatively transparant and strongly absorptive, the spectral effect of varnish increases linearly with varnish thickness, indicating that thick patches of varnish dominate the spectral properties. As a result, medium varnish thickness can be determined from spectral measurements. In addition, the composition of a substrate can be estimated through varnish layers up to 40-50 micrometers in median thickness, and the composition of the varnish material can be determined if the substrate material is known. The varnishes studied are composed primarily of clay materials, consistent with previous studies of varnish composition.

Christensen, Philip R.↗