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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 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Yun, Xiaoping↗
NASA NTRS1991

Growth-speed dependence of primary arm spacings in directionally solidified Pb-10 wt pct Sn

The dependence of primary arm spacings on growth speed has been investigated for cellular and dendritic arrays in directionally solidified Pb-10 wt pct Sn. The spatial arrangements of cells and dendrites, as given by their coordination number, are not very different from each other. The primary arm spacing maxima and the cell-to-dendrite transition appear to be strongly influenced by the magnitude of the solute partition coefficient (k). The planar-to-cellular transition in Pb-Sn (k = 0.50) is supercritical as compared to the subcritical behavior reported in Al-Cu (k = 0.14) and succinonitrile-acetone (k = 0.1).

Chopra, M. A.↗
NASA NTRS1993

Adaptive control strategies for flexible robotic arm

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Bialasiewicz, Jan T.↗
NASA NTRS1992

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

Batch simulation studies which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm are presented. For man-in-the-loop evaluation, a real-time simulator has been developed that samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. It is shown that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s utilizing only a hub motor.

Montgomery, Raymond C.↗
NASA NTRS1990

Two arm robot path planning in a static environment using polytopes and string stretching

The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.

Schima, Francis J., III↗
NASA NTRS1994

Dynamic Coordination Of A Two-Arm Robotic Manipulator

Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

Lee, Sukhan↗
NASA NTRS1994

Packaging Of Control Circuits In A Robot Arm

Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

Kast, William↗
NASA NTRS1989

A dual-armed free flyer

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.

Beck, D.↗
NASA NTRS1993

Atmospheric Radiation Measurement (ARM)/CART site

The DOE's Atmospheric Radiation Measurement (ARM) goals are as follows: (1) to provide an experimental test bed for improving the treatment of radiative transfer in global climate models (GCM's) under all kinds of cloud cover; and (2) to improve the parameterization and modeling of cloud formation, maintenance, dissipation, and related processes in GCM's. The scientific requirements which are most critical to the objectives of ARM are discussed.

Pennell, Bill↗
NASA NTRS1995

Some mechanical design aspects of the European Robotic Arm

The European Robotic Arm (ERA) is a contribution to the Russian Segment of the International Space Station Alpha. It will start operating on the Russian Segment during the assembly phase. ERA is designed and produced by a large industrial consortium spread over Europe with Fokker Space & Systems as prime contractor. In this paper, we will describe some of the overall design aspects and focus on the development of several mechanisms within ERA. The operation of ERA during the approach of its end effector towards the grapple interface and the grapple operation is discussed, with a focus on mechanisms. This includes the geometry of the end effector leading edge, which is carefully designed to provide the correct and complete tactile information to a torque-force sensor (TFS). The data from this TFS are used to steer the arm such that forces and moments are kept below 20 N and 20 N.m respectively during the grappling operation. Two hardware models of the end effector are built. The problems encountered are described as well as their solutions. The joints in the wrists and the elbow initially used a harmonic drive lubricated by MoS2. During development testing, this combination showed an insufficient lifetime in air to survive the acceptance test program. The switch-over to a system comprising planetary gearboxes with grease lubrication is described. From these development efforts, conclusions are drawn and recommendations are given for the design of complex space mechanisms.

Lambooy, Peter J.↗
NASA NTRS1995

Raman lidar and sun photometer measurements of aerosols and water vapor during the ARM RCS experiment

The first Atmospheric Radiation Measurement (ARM) Remote Cloud Study (RCS) Intensive Operations Period (IOP) was held during April 1994 at the Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site near Lamont, Oklahoma. This experiment was conducted to evaluate and calibrate state-of-the-art, ground based remote sensing instruments and to use the data acquired by these instruments to validate retrieval algorithms developed under the ARM program. These activities are part of an overall plan to assess general circulation model (GCM) parameterization research. Since radiation processes are one of the key areas included in this parameterization research, measurements of water vapor and aerosols are required because of the important roles these atmospheric constituents play in radiative transfer. Two instruments were deployed during this IOP to measure water vapor and aerosols and study their relationship. The NASA/Goddard Space Flight Center (GSFC) Scanning Raman Lidar (SRL) acquired water vapor and aerosol profile data during 15 nights of operations. The lidar acquired vertical profiles as well as nearly horizontal profiles directed near an instrumented 60 meter tower. Aerosol optical thickness, phase function, size distribution, and integrated water vapor were derived from measurements with a multiband automatic sun and sky scanning radiometer deployed at this site.

Ferrare, R. A.↗
NASA NTRS1998

LAPS Lidar Measurements at the ARM Alaska Northslope Site (Support to FIRE Project)

This report consists of data summaries of the results obtained during the May 1998 measurement period at Barrow Alaska. This report does not contain any data interpretation or analysis of the results which will follow this activity. This report is forwarded with a data set on magnetic media which contains the reduced data from the LAPS lidar in 15 minute intervals. The data was obtained during the period 15-30 May 1998. The measurement period overlapped with several aircraft flights conducted by NASA as part of the FIRE project. The report contains a summary list of the data obtained plus figures that have been prepared to help visualize the measurement periods. The order of the presentation is as follows: Section 1. A copy of the Statement of Work for the planned activity of the second measurement period at the ARM Northslope site is provided. Section 2. A list of the data collection periods shows the number of one minute data records stored during each hour of operation and the corresponding size (Mbytes) of the one hour data folders. The folder and file names are composed from the year, month, day, hour and minute. The date/time information is given in UTC for easier comparison with other data sets. Section 3. A set of 4 comparisons between the LAPS lidar results and the sondes released by the ARM scientists from a location nearby the lidar. The lidar results show the +/- 1 sigma statistical error on each of the independent 75 m altitude bins of the data. This set of 4 comparisons was used to set and validate the calibration value which was then used for the complete data set. Section 4. A set of false color figures with up to 10 hours of specific humidity measurements are shown in each graph. Two days of measurements are shown on each page. These plots are crude representations of the data and permit a survey which indicates when the clouds were very low or where interesting events may occur in the results. These plots are prepared using the real time sequence plot program which has no smoothing in either the altitude or time (except that you are allowed to pick the integration time and time step. All of these plots were prepared with 15 minute integration and 5 minute time step. Section 5. A set of time sequence data for all of the extended observation periods are shown with a smoothing algorithm from the Matlab plotting library. Most of these data are integrated for 5 minutes and stepped at I minute intervals but several plots are shown with both 15 minute integration and 5 minute steps. The upper level on these data was selected and converted to the white background where the error in the specific humidity reached 25%. Section 6. The set of one hour integrated plots shown with up to 4 hours per page are provided- from the real time analysis snapshot program. The only difference in these plots and the real time display is that the plots are stopped at an altitude where the error appears to be too large for the data to contain any meaningful information.

Philbrick, C. Russell↗
NASA NTRS1998

Modal Parameter Identification of a Flexible Arm System

In this paper an experiment is designed for the modal parameter identification of a flexible arm system. This experiment uses a function generator to provide input signal and an oscilloscope to save input and output response data. For each vibrational mode, many sets of sine-wave inputs with frequencies close to the natural frequency of the arm system are used to excite the vibration of this mode. Then a least-squares technique is used to analyze the experimental input/output data to obtain the identified parameters for this mode. The identified results are compared with the analytical model obtained by applying finite element analysis.

Barrington, Jason↗
NASA NTRS2001

Evaluation of Cirrus Cloud Simulations Using ARM Data - Development of a Case Study Data Set

Cloud-resolving models (CRMs) provide an effective linkage in terms of parameters and scales between observations and the parametric treatments of clouds in global climate models (GCMs). They also represent the best understanding of the physical processes acting to determine cloud system lifecycle. The goal of this project is to improve state-of-the-art CRMs used for studies of cirrus clouds and to establish a relative calibration with GCMs through comparisons among CRMs, single column model (SCM) versions of the GCMs, and observations. This project will compare and evaluate a variety of CRMs and SCMs, under the auspices of the GEWEX Cloud Systems Study (GCSS) Working Group on Cirrus Cloud Systems (WG2), using ARM data acquired at the Southern Great Plains (SGP) site. This poster will report on progress in developing a suitable WG2 case study data set based on the September 26, 1996 ARM IOP case - the Hurricane Nora outflow case. The environmental data (input) will be described as well as the wealth of validating cloud observations. We plan to also show results of preliminary simulations. The science questions to be addressed derive significantly from results of the GCSS WG2 cloud model comparison projects, which will be briefly summarized.

O'C.Starr, David↗
NASA NTRS2001

Comparison of Shortwave Cloud Radiative Forcing Derived from ARM SGP Surface and GOES-8 Satellite Measurements During ARESE I and ARESE II

One of the objectives of the ARM Enhanced Shortwave Experiment (ARESE) is to investigate the absorption of solar radiation by clouds over the ARM Southern Great Plains central facility. A variety of techniques employing various combinations Of Surface, aircraft, and satellite data have been used to estimate the absorption empirically. During ARESE-I conducted during fall 1995, conflicting results were produced from different analyses of the combined datasets leading to the need for a more controlled experiment. ARESE-II was conducted during spring 2000. Improved calibrations, different sampling strategies, and broadband satellite data were all available to minimize some of the sources of uncertainty in the data. In this paper, cloud absorption or its parametric surrogates (e.g., Cess et al. 1995) are derived from collocated and coincident surface and satellite radiometer data from both ARESE-I and ARESE-II using the latest satellite and surface instrument calibrations.

Rapp, A. D.↗
NASA NTRS2001

Sunphotometric Measurement of Columnar H2O and Aerosol Optical Depth During the 3rd Water Vapor IOP in Fall 2000 at the SGP ARM Site

We conducted ground-based measurements with the Ames Airborne Tracking 6-channel Sunphotometer (AATS-6) during the 3rd Water Vapor IOP (WVIOP3), September 18 - October 8, 2000 at the SGP ARM site. For this deployment our primary result was columnar water vapor (CWV) obtained from continuous solar transmittance measurements in the 0.94-micron band. In addition, we simultaneously measured aerosol optical depth (AOD) at 380, 450, 525, 864 and 1020 nm. During the IOP, preliminary results of CWV and AOD were displayed in real-time. The result files were made available to other investigators by noon of the next day. During WVIOP3 those data were shown on the daily intercomparison plots on the IOP web-site. Our preliminary results for CWV fell within the spread of values obtained from other techniques. After conclusion of WVIOP3, AATS-6 was shipped directly to Mauna Loa, Hawaii for post-mission calibration. The updated calibration, a cloud screening technique for AOD, along with other mostly cosmetic changes were applied to the WVIOP3 data set and released as version 0.1. The resulting changes in CWV are small, the changes in AOD and Angstrom parameter are more noticeable. Data version 0.1 was successfully submitted to the ARM External Data Center. In the poster we will show data examples for both CWV and AOD. We will also compare our CWV results with those obtained from a GPS (Global Positioning System) slant path method.

Schmid, B↗
NASA NTRS2002

Evaluation of Cirrus Cloud Simulations using ARM Data-Development of Case Study Data Set

Cloud-resolving models (CRMs) are being increasingly used to develop parametric treatments of clouds and related processes for use in global climate models (GCMs). CRMs represent the integrated knowledge of the physical processes acting to determine cloud system lifecycle and are well matched to typical observational data in terms of physical parameters/measurables and scale-resolved physical processes. Thus, they are suitable for direct comparison to field observations for model validation and improvement. The goal of this project is to improve state-of-the-art CRMs used for studies of cirrus clouds and to establish a relative calibration with GCMs through comparisons among CRMs, single column model (SCM) versions of the GCMs, and observations. The objective is to compare and evaluate a variety of CRMs and SCMs, under the auspices of the GEWEX Cloud Systems Study (GCSS) Working Group on Cirrus Cloud Systems (WG2), using ARM data acquired at the Southern Great Plains (SGP) site. This poster will report on progress in developing a suitable WG2 case study data set based on the September 26, 1996 ARM IOP case - the Hurricane Nora outflow case. Progress is assessing cloud and other environmental conditions will be described. Results of preliminary simulations using a regional cloud system model (MM5) and a CRM will be discussed. Focal science questions for the model comparison are strongly based on results of the idealized GCSS WG2 cirrus cloud model comparison projects (Idealized Cirrus Cloud Model Comparison Project and Cirrus Parcel Model Comparison Project), which will also be briefly summarized.

Starr, David OC.↗
NASA NTRS2002

CIMEL Measurements of Zenith Radiances at the ARM Site

Starting from October 1, 2001, Cimel at the ARM Central Facility in Oklahoma has been switched to a new "cloud mode." This mode allows taking measurements of zenith radiance when the Sun in blocked by clouds. In this case, every 13 min. Cimel points straight up and takes 10 measurements with 9 sec. time interval. The new Cimel's mode has four filters at 440, 670, 870 and 1020 nm. For cloudy conditions, the spectral contrast in surface albedo dominates over Rayleigh and aerosol effects; this makes normalized zenith radiances at 440 and 670 as well as for 870 and 1020 almost indistinguishable. We compare Cimel measurements with other ARM cart site instruments: Multi-Filter Rotating Shadowband Radiometer (MFRSR), Narrow Field of View (NFOV) sensor, and MicroWave Radiometer(MWR). Based on Cimel and MFRSR 670 and 870 nm channels, we build a normalized difference cloud index (NDCI) for radiances and fluxes, respectively. Radiance NDCI from Cimel and flux NDCI from MFRSR are compared between themselves as well as with cloud Liquid Water Path (LWP) retrieved from MWR. Based on our theoretical calculations and preliminary data analysis,there is a good correlation between NDCIs and LWP for cloudy sky above green vegetation. Based on this correlation, an algorithm to retrieve cloud optical depth from NDCI is proposed.

Marshak, Alexander↗