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This project dealt with the application of a Direct Model Reference Adaptive Control algorithm to the control of a PUMA 560 Robotic Manipulator. This chapter will present some motivation for using Direct Model Reference Adaptive Control, followed by a brief historical review, the project goals, and a summary of the subsequent chapters.
The high-level abstractions that underlie modern storage systems are identified. The information to generate the model was collected from major practitioners who have built and operated large storage facilities, and represents a distillation of the wisdom they have acquired over the years. The model provides a common terminology and set of concepts to allow existing systems to be examined and new systems to be discussed and built. It is intended that the model and the interfaces identified from it will allow and encourage vendors to develop mutually-compatible storage components that can be combined to form integrated storage systems and services. The reference model presents an abstract view of the concepts and organization of storage systems. From this abstraction will come the identification of the interfaces and modules that will be used in IEEE storage system standards. The model is not yet suitable as a standard; it does not contain implementation decisions, such as how abstract objects should be broken up into software modules or how software modules should be mapped to hosts; it does not give policy specifications, such as when files should be migrated; does not describe how the abstract objects should be used or connected; and does not refer to specific hardware components. In particular, it does not fully specify the interfaces.
A modification to a direct command generator tracker-based model reference adaptive control (MRAC) system is suggested in this paper. This modification incorporates a feedforward into the reference model's output as well as the plant's output. Its purpose is to eliminate the bounded model following error present in steady state when previous MRAC systems were used. The algorithm was evaluated using the dynamics for a single-link flexible-joint arm. The results of these simulations show a response with zero steady state model following error. These results encourage further use of MRAC for various types of nonlinear plants.
We describe the status of the development and testing program for the inertial reference system for the Gravity Probe B gyroscopes. The gyroscope housings are attached to a cryogenic telescope with a 14 cm aperture that continuously points at a guide star. The star image is split to provide quadrant pointing information which is used to steer the spacecraft. This data is also combined with the gyro readout data to provide an absolute precession measurement. Motion of the guide star is independently checked by reference to background galaxies. Room temperature testing of a prototype telescope has been completed and preparations are being made for low temperature tests.
A new set of spin orbitals is proposed for single-reference correlation procedures based on an open-shell restricted Hartree-Fock (RHF) reference function. The spatial parts of the new spin orbitals are from an open-shell RHF calculation. These spin orbitals form a complete, orthonormal set. The RHF single determinant based on these spin orbitals is an S sub 2 eigenfunction, but a linear combination of S sub z eigenfunctions. The advantage of these spin orbitals is that equations for perturbation theory or coupled-cluster theory are symmetric in the spin indices and hence the number of independent parameters to be determined is dramatically reduced.
This report is the second of a series giving the results obtained in the 20-foot wind tunnel of the National Advisory Committee for Aeronautics on the interference drag and propulsive efficiency of nacelle-propeller-wing combinations. The first report gave the results of the test of a N.A.C.A. cowled air-cooled engine nacelle located in 21 positions with reference to a thick wing. The present report gives results of tests of a normal engine nacelle with several types of cowling and fairings in four of the positions with reference to the same wing. (author)
This report is the sixth of a series giving wind tunnel tests results on the interference drag and propulsive efficiency of nacelle-propeller-wing combinations. The present report gives the results of tests of a radial-engine nacelle with pusher propeller in 17 positions with reference to a Clark Y wing; tests of the same nacelle and propeller in three positions with reference to a thick wing; and tests of a body and pusher propeller with the thick wing, simulating the case of a propeller driven by an extension shaft from an engine within the wing. Some preliminary tests were made on pusher nacelles alone.
The Frequency Standards Laboratory at the Jet Propulsion Laboratory (JPL) is responsible for the generation and distribution of ultra-stable reference frequency in NASA's Deep Space Network (DSN). Certain assemblies and components of the Radio Science and VLBI systems are located in the cones of tracking antennas hundreds of meters from the Frequency and Timing Subsystem's frequency standards. The very stringent requirements of these users challenge the performance of state-of-the-art frequency sources as well as the associated signal distribution system. The reference frequency distribution system described is designed around a low temperature coefficient of delay (TCD) optical fiber. On-site measurements of the fiber optic link alone indicate 100 MHz phase noise performance on the order of -120 dBc at 1 Hz from the carrier and Allan deviation on the order of parts in 10(exp 16) at 1000 seconds averaging time. The measured phase noise and stability of the link indicate that the performance characteristics of the hydrogen maser frequency standards are not degraded by the distribution system. Thus, optical fibers and electro-optic devices as distribution media appear to be a viable alternative to the classical coaxial cable distribution systems.
The NASA Charging Analyzer Program (NASCAP) is a computer program designed to model the electrostatic charging of complicated three-dimensional objects, both in a test tank and at geosynchronous altitudes. This document is a programmer's reference manual and user's guide. It is designed as a reference to experienced users of the code, as well as an introduction to its use for beginners. All of the many capabilities of NASCAP are covered in detail, together with examples of their use. These include the definition of objects, plasma environments, potential calculations, particle emission and detection simulations, and charging analysis.
Two different carrier frequencies modulated by a reference frequency are transmitted to each receiver to be synchronized therewith. Each receiver responds to local phase differences between the two received signals to correct the phase of one of them so as to maintain the corrected signal as a reliable synchronization reference.
The widespread adoption of standard packet-based data communication protocols and services for spaceflight missions provides the foundation for other standard space data handling services. These space data handling services can be defined as increasingly sophisticated processing of data or information received from lower-level services, using a layering approach made famous in the International Organization for Standardization (ISO) Open System Interconnection Reference Model (OSI-RM). The Space Data System Interconnection Reference Model (SDSI-RM) incorporates the conventions of the OSIRM to provide a framework within which a complete set of space data handling services can be defined. The use of the SDSI-RM is illustrated through its application to data handling services and protocols that have been defined by, or are under consideration by, the Consultative Committee for Space Data Systems (CCSDS).
The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.
Since 1986, NASA's Commercial Remote Sensing Program (CRSP) at Stennis Space Center has supported commercial remote sensing partnerships with industry. CRSP's mission is to maximize U.S. market exploitation of remote sensing and related space-based technologies and to develop advanced technical solutions for spatial information requirements. Observation, geolocation, and communications technologies are converging and their integration is critical to realize the economic potential for spatial informational needs. Global positioning system (GPS) technology enables a virtual revolution in geopositionally accurate remote sensing of the earth. A majority of states are creating GPS-based reference networks, or high accuracy reference networks (HARN). A HARN can be defined for a variety of local applications and tied to aerial or satellite observations to provide an important contribution to geographic information systems (GIS). This paper details CRSP's experience in the design and implementation of a HARN in Mississippi and the design and support of future applications of integrated earth observations, geolocation, and communications technology.
This paper presents an overview of an Information Interchange Reference Model (IIRM) currently being developed by individuals participating in the Consultative Committee for Space Data Systems (CCSDS) Panel 2, the Planetary Data Systems (PDS), and the Committee on Earth Observing Satellites (CEOS). This is an ongoing research activity and is not an official position by these bodies. This reference model provides a framework for describing and assessing current and proposed methodologies for information interchange within and among the space agencies. It is hoped that this model will improve interoperability between the various methodologies. As such, this model attempts to address key information interchange issues as seen by the producers and users of space-related data and to put them into a coherent framework. Information is understood as the knowledge (e.g., the scientific content) represented by data. Therefore, concern is not primarily on mechanisms for transferring data from user to user (e.g., compact disk read-only memory (CD-ROM), wide-area networks, optical tape, and so forth) but on how information is encoded as data and how the information content is maintained with minimal loss or distortion during transmittal. The model assumes open systems, which means that the protocols or methods used should be fully described and the descriptions publicly available. Ideally these protocols are promoted by recognized standards organizations using processes that permit involvement by those most likely to be affected, thereby enhancing the protocol's stability and the likelihood of wide support.
An oil flow study of the reference Shuttle-C configuration is presented. The Shuttle-C vehicle was a proposed shuttle derived vehicle where the orbiter was to be replaced by an unmanned cargo carrier element. Oil flows are shown for the range of Mach numbers from Mach 1.10 to 3.48 at various angles-of-attack and roll angles. The major flow field phenomena over the Shuttle-C reference configuration are shown in these oil flows. Using the oil flows, a qualitative understanding of the flow around the vehicle can be determined, aiding the quantitative definition of aerodynamic data from theoretical analyses and test results. The oil flows presented in this study were obtained from configurations tested in the NASA Marshall Space Flight Center's 14-Inch Trisonic Wind Tunnel from October 1988 through February 1989.
Design emphasizes maintenance of stable frequency despite changes in temperature. Fiber-optic link delivers highly stable 100-MHz reference-frequency signal to receiver at distance of about 700 m from source of signal. Similar fiber-optic links used to transmit stable reference-frequency signals in other applications in which variations in temperature otherwise potentially cause variations in signal-propagation times and cause undesired variations in frequency. Use of fiber-optic link to transmit radio signal as modulation on optical carrier signal described previously in "Diplex Fiber-Optic Link for Frequency and Time Signals" (NPO-18180), and "Improved Microwave Fiber-Optic Link" (NPO-19007).
Performance Seeking Control (PSC) attempts to find and control the process at the operating condition that will generate maximum performance. In this paper a nonlinear multivariable PSC methodology will be developed, utilizing the Fuzzy Model Reference Learning Control (FMRLC) and the method of Steepest Descent or Gradient (SDG). This PSC control methodology employs the SDG method to find the operating condition that will generate maximum performance. This operating condition is in turn passed to the FMRLC controller as a set point for the control of the process. The conventional SDG algorithm is modified in this paper in order for convergence to occur monotonically. For the FMRLC control, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for effective tuning of the FMRLC controller.
Performance Seeking Control attempts to find the operating condition that will generate optimal performance and control the plant at that operating condition. In this paper a nonlinear multivariable Adaptive Performance Seeking Control (APSC) methodology will be developed and it will be demonstrated on a nonlinear system. The APSC is comprised of the Positive Gradient Control (PGC) and the Fuzzy Model Reference Learning Control (FMRLC). The PGC computes the positive gradients of the desired performance function with respect to the control inputs in order to drive the plant set points to the operating point that will produce optimal performance. The PGC approach will be derived in this paper. The feedback control of the plant is performed by the FMRLC. For the FMRLC, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for the effective tuning of the FMRLC controller.