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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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NASA NTRS1987

An adaptive Cartesian control scheme for manipulators

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Seraji, H.↗

NASA NTRS1990

Adaptive quadrilateral and triangular finite-element scheme for compressible flows

The development of an adaptive mesh refinement procedure for analyzing high-speed compressible flows using the finite-element method is described. This new adaptation procedure, which uses both quadrilateral and triangular elements, was implemented with two explicit finite-element algorithms - the two-step Taylor-Galerkin and the multistep Galerkin-Runge-Kutta schemes. A von Neumann stability analysis and a rotating 'cosine hill'problem demonstrate the instability of the Taylor-Galerkin scheme when coupled with the adaptation procedure. For the same adaptive refinement scheme, the Galerkin-Runge-Kutta procedure yields stable solutions within its explicit stability limit. The utility of this new adaptation procedure for the prediction of compressible flow features is illustrated for inviscid problems involving strong shock interactions at hypersonic speeds.

Ramakrishnan, R.↗

NASA NTRS1990

A three-dimensional dynamic solution-adaptive mesh algorithm

A solution-adaptive grid algorithm has been developed for use in two and three dimensions. The algorithm uses a transformation from the cartesian coordinate system to a general coordinate space, which will be defined as a parallelepiped. A weighting function for adaption of the grid is developed that will allow adaption to the gradients of any combination of dependent variables in the flow. The adaption is carried out in the parametric space and a simple inverse mapping to return the new parametric space to the physical space is derived. The concept used to relocate the grid-points in the parametric space is based on the center of mass of distributed weights. Solution-adaptive results are presented for various laminar flows in two dimensions and for mathematical weighting functions in three dimensions.

Benson, Rusty A.↗

NASA NTRS1990

Adaptive truss structure

This paper discusses the research in adaptive structures conducted at NASA Langley Research Center. The objective in the research program on adaptive truss structures is to develop an integrated approach for the design, test, and evaluation of adaptive trusses. An adaptive structure must include sensors for measuring some of the states of the mechanism, a controller that processes the sensor information and generates command signals, and a device that will cause the struts in the mechanism to change length. Based on the results of the research program, it is concluded that alternative designs for future space applications are offered, and adaptive truss has been demonstrated to be effective for vibration suppression.

Horner, C. G.↗

NASA NTRS1991

Experimental study of adaptive pointing and tracking for large flexible space structures

This paper describes an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used in this study is based on a multivariable direct model reference adaptive control law. Several experimental validation studies were performed earlier using this algorithm for vibration damping and robust regulation, with excellent results. The current work extends previous studies by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error.

Boussalis, D.↗

NASA NTRS1992

Joint Japan/U.S. Conference on Adaptive Structures, 2nd, Nagoya, Japan, Nov. 12-14, 1991, Collection of Papers

The present conference discusses the development status of adaptive structures in Europe and in Japan, the 'Cosmo-Lab' structures/robotics cooperation concept, active-adhesion concepts for in-orbit structural assembly, adaptively controlled truss structures, object-oriented modeling in structural analysis, the control effectiveness and energy efficiency of an active mass damper, a space truss with experimental tendon control, and piezoelectric actuator-based space trusses. Also discussed is the control of resonant frequencies in adaptive structures through prestressing, active control of vortex-excited vibrations of flexible cylindrical structures, shape adjustment of a flexible space antenna reflector, the SDIO Adaptive Structures Program, optimal trajectories of iterative manipulation for space robots, a docking device as an adaptive structure, shape-memory polymers and their hybrid composites, and fuzzy control methods for structural dynamics.

Matsuzaki, Yuji↗

NASA NTRS1991

Adaptive snakes - Control of damping and material parameters

The stability of active contour models or 'snakes' is studied. It is shown that the modification of snake parameters using adaptive systems improves both the stability of the snakes and the boundaries obtained. The adaptive snakes perform better with images of varying contrasts, noisy images and images with different curvatures along the boundaries. The computational costs at each iteration for the adaptive snakes is still of order N, where N is the number of points on the snakes. Comparisons of the results for non-adaptive and adaptive snakes are shown using both computer simulations and satellite images.

Samadani, Ramin↗

NASA NTRS1993

Adaptive control of a Stewart platform-based manipulator

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Nguyen, Charles C.↗

NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗

NASA NTRS1993

Space marching calculations about hypersonic configurations using a solution-adaptive mesh algorithm

A solution-adaptive marching algorithm is developed and applied to a three-dimensional parabolized Navier-Stokes equation solver. The resulting algorithm obtains accurate solutions by using a spatial-marching/adaptive grid procedure. The adaptation step redistributes grid points line by line in both crossflow directions, with grid point motion controlled by forces analogous to tensional and torsional spring forces with the tensional force proportional to the error measure or weighting functions. The solution-adaptive marching procedure is applied to the hypersonic flow about two generic aircraft configurations. The first of these is an all-body-type geometry with elliptical cross sections and is studied at angles of attack of 0.5, and 15 deg. The second geometry is a generic blended-wing-body design. Results are presented that demonstrate the improvements in flowfield resolution obtainable with the solution-adaptive marching procedure over conventional fixed grid techniques. Computed pitot pressure profiles obtained using the solution-adaptive algorithm show improved agreement with experimental data compared to predictions obtained using a fixed grid.

Harvey, Albert D.↗

NASA NTRS1990

Frequency domain FIR and IIR adaptive filters

A discussion of the LMS adaptive filter relating to its convergence characteristics and the problems associated with disparate eigenvalues is presented. This is used to introduce the concept of proportional convergence. An approach is used to analyze the convergence characteristics of block frequency-domain adaptive filters. This leads to a development showing how the frequency-domain FIR adaptive filter is easily modified to provide proportional convergence. These ideas are extended to a block frequency-domain IIR adaptive filter and the idea of proportional convergence is applied. Experimental results illustrating proportional convergence in both FIR and IIR frequency-domain block adaptive filters is presented.

Lynn, D. W.↗

NASA NTRS1994

Adaptive wall technology for minimization of wind tunnel boundary interferences - where are we now?

The status of adaptive wall technology to improve wind tunnel simulations for 2- and 3-D testing is reviewed. This technology relies on the test section flow boundaries being adjustable, using a tunnel/computer system to control the boundary shapes without knowledge of the model under test. This paper briefly overviews the benefits and shortcomings of adaptive wall testing techniques. A historical perspective highlights the disjointed development of these testing techniques from 1938 to present. Currently operational transonic Adaptive Wall Test Sections (AWTSs) are detailed, showing a preference for the simplest AWTS design with two solid flexible walls. Research highlights show that quick wall adjustment procedures are available and AWTSs, with impervious or ventilated walls, can be used through the transonic range up to M(sub infinity) = 1.2. The requirements for production testing in AWTSs are discussed, and conclusions drawn as to the current status of adaptive wall technology. In 2-D testing, adaptive wall technology is mature enough for general use, even in cryogenic wind tunnels. In 3-D testing, this technology has not been pursued aggressively, because of the inertia against change in testing techniques, and preconceptions about the difficulties of using AWTSs.

Wolf, Stephen W. D.↗

NASA NTRS1995

Adaptive Optimization of Aircraft Engine Performance Using Neural Networks

Preliminary results are presented on the development of an adaptive neural network based control algorithm to enhance aircraft engine performance. This work builds upon a previous National Aeronautics and Space Administration (NASA) effort known as Performance Seeking Control (PSC). PSC is an adaptive control algorithm which contains a model of the aircraft's propulsion system which is updated on-line to match the operation of the aircraft's actual propulsion system. Information from the on-line model is used to adapt the control system during flight to allow optimal operation of the aircraft's propulsion system (inlet, engine, and nozzle) to improve aircraft engine performance without compromising reliability or operability. Performance Seeking Control has been shown to yield reductions in fuel flow, increases in thrust, and reductions in engine fan turbine inlet temperature. The neural network based adaptive control, like PSC, will contain a model of the propulsion system which will be used to calculate optimal control commands on-line. Hopes are that it will be able to provide some additional benefits above and beyond those of PSC. The PSC algorithm is computationally intensive, it is valid only at near steady-state flight conditions, and it has no way to adapt or learn on-line. These issues are being addressed in the development of the optimal neural controller. Specialized neural network processing hardware is being developed to run the software, the algorithm will be valid at steady-state and transient conditions, and will take advantage of the on-line learning capability of neural networks. Future plans include testing the neural network software and hardware prototype against an aircraft engine simulation. In this paper, the proposed neural network software and hardware is described and preliminary neural network training results are presented.

Simon, Donald L.↗

NASA NTRS1995

An adaptive remeshing scheme for vortex dominated flows using three-dimensional unstructured grids

An adaptive remeshing procedure for vortex dominated flows is described, which uses three-dimensional unstructured grids. Surface grid adaptation is achieved using the static pressure as an adaptation parameter, while entropy is used in the field to accurately identify high vorticity regions. An emphasis has been placed in making the scheme as automatic as possible so that a minimum user interaction is required between remeshing cycles. Adapted flow solutions are obtained on two sharp-edged configurations at low speed, high angle-of-attack flow conditions. The results thus obtained are compared with fine grid CFD solutions and experimental data, and conclusions are drawn as to the efficiency of the adaptive procedure.

Parikh, Paresh↗

NASA NTRS1996

Global Load Balancing with Parallel Mesh Adaption on Distributed-Memory Systems

Dynamic mesh adaption on unstructured grids is a powerful tool for efficiently computing unsteady problems to resolve solution features of interest. Unfortunately, this causes load imbalance among processors on a parallel machine. This paper describes the parallel implementation of a tetrahedral mesh adaption scheme and a new global load balancing method. A heuristic remapping algorithm is presented that assigns partitions to processors such that the redistribution cost is minimized. Results indicate that the parallel performance of the mesh adaption code depends on the nature of the adaption region and show a 35.5X speedup on 64 processors of an SP2 when 35% of the mesh is randomly adapted. For large-scale scientific computations, our load balancing strategy gives almost a sixfold reduction in solver execution times over non-balanced loads. Furthermore, our heuristic remapper yields processor assignments that are less than 3% off the optimal solutions but requires only 1% of the computational time.

Biswas, Rupak↗

NASA NTRS1996

Global Load Balancing with Parallel Mesh Adaption on Distributed-Memory Systems

Dynamic mesh adaptation on unstructured grids is a powerful tool for efficiently computing unsteady problems to resolve solution features of interest. Unfortunately, this causes load inbalances among processors on a parallel machine. This paper described the parallel implementation of a tetrahedral mesh adaption scheme and a new global load balancing method. A heuristic remapping algorithm is presented that assigns partitions to processors such that the redistribution coast is minimized. Results indicate that the parallel performance of the mesh adaption code depends on the nature of the adaption region and show a 35.5X speedup on 64 processors of an SP2 when 35 percent of the mesh is randomly adapted. For large scale scientific computations, our load balancing strategy gives an almost sixfold reduction in solver execution times over non-balanced loads. Furthermore, our heuristic remappier yields processor assignments that are less than 3 percent of the optimal solutions, but requires only 1 percent of the computational time.

Biswas, Rupak↗

NASA NTRS1998

A Novel Approach for Adaptive Signal Processing

Adaptive linear predictors have been used extensively in practice in a wide variety of forms. In the main, their theoretical development is based upon the assumption of stationarity of the signals involved, particularly with respect to the second order statistics. On this basis, the well-known normal equations can be formulated. If high- order statistical stationarity is assumed, then the equivalent normal equations involve high-order signal moments. In either case, the cross moments (second or higher) are needed. This renders the adaptive prediction procedure non-blind. A novel procedure for blind adaptive prediction has been proposed and considerable implementation has been made in our contributions in the past year. The approach is based upon a suitable interpretation of blind equalization methods that satisfy the constant modulus property and offers significant deviations from the standard prediction methods. These blind adaptive algorithms are derived by formulating Lagrange equivalents from mechanisms of constrained optimization. In this report, other new update algorithms are derived from the fundamental concepts of advanced system identification to carry out the proposed blind adaptive prediction. The results of the work can be extended to a number of control-related problems, such as disturbance identification. The basic principles are outlined in this report and differences from other existing methods are discussed. The applications implemented are speech processing, such as coding and synthesis. Simulations are included to verify the novel modelling method.

Chen, Ya-Chin↗

NASA NTRS1999

Context-Specific Adaptation of Gravity-Dependent Vestibular Reflex Responses (NSBRI Neurovestibular Project 1)

Impairment of gaze and head stabilization reflexes can lead to disorientation and reduced performance in sensorimotor tasks such as piloting of spacecraft. Transitions between different gravitoinertial force (gif) environments - as during different phases of space flight - provide an extreme test of the adaptive capabilities of these mechanisms. We wish to determine to what extent the sensorimotor skills acquired in one gravity environment will transfer to others, and to what extent gravity serves as a context cue for inhibiting such transfer. We use the general approach of adapting a response (saccades, vestibuloocular reflex: VOR, or vestibulocollic reflex: VCR) to a particular change in gain or phase in one gif condition, adapting to a different gain or phase in a second gif condition, and then seeing if gif itself - the context cue - can recall the previously-learned adapted responses. Previous evidence indicates that unless there is specific training to induce context-specificity, reflex adaptation is sequential rather than simultaneous. Various experiments in this project investigate the behavioral properties, neurophysiological basis, and anatomical substrate of context-specific learning, using otolith (gravity) signals as a context cue. In the following, we outline the methods for all experiments in this project, and provide details and results on selected experiments.

Shelhamer, Mark↗