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At least 361 records · Page 20

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NASA NTRS1984

Precise control of flexible manipulators

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam.

Cannon, R. H., Jr.↗

NASA NTRS1993

On-line upgrade of program modules

This paper presents a taxonomy of problems that must be solved in order to achieve on-line upgradability of long-lived programs, and presents a solution to the fundamental problems in the taxonomy. The solutions are based upon AdaPT, a set of language extensions designed to aid in the distribution of a single Ada program. AdaPT introduces three major units, the public, the partition, and the node. Publics are primarily used to share type information. Partitions are the basic units of distribution while nodes are used to control the configuration of the program. Nodes and partitions can be created dynamically via the allocator. A node-level routine controls the replacement process. The controlling node creates a new instance of the routine being replaced; the run-time system must ensure that the new instance is the updated one. Once access to the new version has been established, all further calls to the module are redirected to the new version and the caller is informed of the change so that it may make subsequent calls directly. When a module is being upgraded, there is a transition period during which both the old and new versions are present. We require that clients of a potentially replaceable module 'check in' with the controlling node. The controlling node keeps track of the number of clients that have been redirected to the replacement. When all have been redirected, the old version can be deallocated.

Waldrop, Raymond S.↗

NASA NTRS1986

An empirical study of flight control software reliability

The results of a laboratory experiment in flight control software reliability are reported. The experiment tests a small sample of implementations of a pitch axis control law for a PA28 aircraft with over 14 million pitch commands with varying levels of additive input and feedback noise. The testing which uses the method of n-version programming for error detection surfaced four software faults in one implementation of the control law. The small number of detected faults precluded the conduct of the error burst analyses. The pitch axis problem provides data for use in constructing a model in the prediction of the reliability of software in systems with feedback. The study is undertaken to find means to perform reliability evaluations of flight control software.

Dunham, J. R.↗

NASA NTRS1994

A model for the evolution of CO2 on Mars

We have constructed a model that predicts the evolution of CO2 on Mars from the end of the heavy bombardment period to the present. The model draws on published estimates of the main processes believed to affect the fate of CO2 during this period: chemical weathering, regolith uptake, polar cap formation, and atmospheric escape. Except for escape, the rate at which these processes act is controlled by surface temperatures which we calculate using a modified version of the Gierasch and Toon energy balance model. The modifications account for the change in solar luminosity with time, the greenhouse effect, and a polar and equatorial energy budget. Using published estimates for the main parameters, we find no evolutionary scenario in which CO2 is capable of producing a warm (global mean temperatures greater than 250 K) and wet (surface pressures greater than 30 mbar) early climate, and then evolves to present conditions with approximately 7 mbar in the atmosphere, less than 300 mbar in the regolith, and less than 5 mbar in the caps. Such scenarios would only exist if the early sun were brighter than standard solar models suggest, if greenhouse gases other than CO2 were present in the early atmosphere, or if the polar albedo were significantly lower than 0.75. However, these scenarios generally require the storage of large amounts of CO2 (greater than 1 bar) in the carbonate reservoir. If the warm and wet early Mars constraint is relaxed, then we find best overall agreement with present day reservoirs for initial CO2 inventories of 0.5-1.0 bar. We also find that the polar caps can have a profound effect on how the system evolves. If the initial amount of CO2 is less than some critical value, then there is not enough heating of the poles to prevent permanent caps from forming. Once formed, these caps control how the system evolves, because they set the surface pressure and, hence, the thermal environment. If the initial amount of CO2 is greater than this critical value, then caps do not form initially, but can form later on, when weathering and escape lower the surface pressure to a point at which polar heating is no longer sufficient to prevent cap formation and the collapse of the climate system. Our modeling suggests this critical initial amount of CO2 is between 1 and 2 bar, but its true value will depend on all factors affecting the polar heat budget.

Haberle, Robert M.↗

NASA NTRS2011

Evaluation of JPL Version-5.9.12 Temperature Profiles, Ocean Skin Temperature, Surface Emissivity, and Cloud Cleared Radiances

Slide presentation discusses: (1) Modifications to JPL 5.9.12 compared to V5.9.1, (2) Some results showing that V5.9.12 O, with original water vapor sounding channels, is preferable to V5.9.12 N with Antonia Gambacorta s new water vapor channels. (3) Comparison of V5.9.12, V5.9.12 AO, V5.9.1, and V5.0, (4) Accuracy and yield of channel by channel Quality Controlled clear-column radiances R(sub i) and (5) Plans for Version-7.

Susskind, Joel↗

NASA NTRSDate not supplied

Space Suit Portable Life Support System Thermal Control Valve Ball Design

A Thermal Control Valve (TCV) has been in development for the Exploration Extravehicular Mobility Unit Portable Life Support System (xEMU PLSS). The xEMU PLSS TCV controls flow going to the liquid cooling and ventilation garment that the crew member wears during extra-vehicular activity to expel waste heat. A pervious TCV version with a linear actuator and diverter valve has been tested extensively to attempt to control the flow accurately. The previous TCV diverter valve has a non-linear flow response relative to valve position and has struggled to accurately meet the setpoints desired for precision thermal control. While many diverter valve design variations have been attempted, previous designs have all had difficulty in meeting set points. Additionally, high precision machining is required for these diverter valves to create a metal-on-metal seal which has its own drawbacks and doesn’t always meet requirements for internal leakage. This metal compression seal also requires stalling the linear actuator to load the seal in compression or tension which has demonstrated valve sticking failures when stalled. The xEMU PLSS TCV implements a new approach and design for a TCV which uses a rotational ball to control flow and has demonstrated a much more precise and linear flow control. The design functions like a two-way ball valve with two Teflon seats that cradle and compress the ball for sealing. A new geometric design modification to the ball outlet can create a set-able orifice like hole which is more predictable at controlling flow than using an annulus with the previous diverter valve. Additionally, the Teflon seat performs much better for preventing internal leakage than the metal seal and prevents sticking by having a large range in which it is sealed without having to stall the actuator. This paper will review a new proposed xEMU PLSS TCV ball design and compare it with previous iterations of the design.

Ryan Ogilvie↗

NASA NTRS2005

Atmospheric Soundings from AIRS/AMSU in Partial Cloud Cover

Simultaneous use of AIRS/AMSU-A observations allow for the determination of accurate atmospheric soundings under partial cloud cover conditions. The methodology involves the determination of the radiances AIRS would have seen if the AIRS fields of view were clear, called clear column radiances, and use of these radiances to infer the atmospheric and surface conditions giving rise to these clear column radiances. Susskind et al. demonstrate via simulation that accurate temperature soundings and clear column radiances can be derived from AIRS/AMSU-A observations in cases of up to 80% partial cloud cover, with only a small degradation in accuracy compared to that obtained in clear scenes. Susskind and Atlas show that these findings hold for real AIRS/AMSU-A soundings as well. For data assimilation purposes, this small degradation in accuracy is more than offset by a significant increase in spatial coverage (roughly 50% of global cases were accepted, compared to 3.6% of the global cases being diagnosed as clear), and assimilation of AIRS temperature soundings in partially cloudy conditions resulted in a larger improvement in forecast skill than when AIRS soundings were assimilated only under clear conditions. Alternatively, derived AIRS clear column radiances under partial cloud cover could also be used for data assimilation purposes. Further improvements in AIRS sounding methodology have been made since the results shown in Susskind and Atlas . A new version of the AIRS/AMSU-A retrieval algorithm, Version 4.0, was delivered to the Goddard DAAC in February 2005 for production of AIRS derived products, including clear column radiances. The major improvement in the Version 4.0 retrieval algorithm is with regard to a more flexible, parameter dependent, quality control. Results are shown of the accuracy and spatial distribution of temperature-moisture profiles and clear column radiances derived from AIRS/AMSU-A as a function of fractional cloud cover using the Version 4.0 algorithm. Use of the Version 4.0 AIRS temperature profiles increased the positive forecast impact arising from AIRS retrievals relative to what was shown in Susskind and Atlas .

Susskind, Joel↗

NASA NTRS1991

A microdynamic version of the tensile test machine

Very large space structures require structural reactions to control forces associated with nanometer-level displacements; JPL has accordingly built a tensile test machine capable of mN-level force measurements and nm-level displacement measurements, with a view to the study of structural linear joining technology at the lower limit of its resolution. The tester is composed of a moving table that is supported by six flexured legs and a test specimen cantilevered off the table to ground. Three vertical legs contain piezoactuators allowing changes in length up to 200 microns while generating axial load and bending moments. Displacements between ground and table are measured by means of three laser-interferometric channels.

Glaser, R. J.↗

NASA NTRS1982

Commutated automatic gain control system

The commutated automatic gain control (AGC) system was designed and built for the prototype Loran-C receiver is discussed. The current version of the prototype receiver, the Mini L-80, was tested initially in 1980. The receiver uses a super jolt microcomputer to control a memory aided phase loop (MAPLL). The microcomputer also controls the input/output, latitude/longitude conversion, and the recently added AGC system. The AGC control adjusts the level of each station signal, such that the early portion of each envelope rise is about at the same amplitude in the receiver envelope detector.

Yost, S. R.↗

NASA NTRS2018

Methods to Reduce Communication Workload for UAM Operations

Implementation of Urban Air Mobility (UAM) operations, or air passenger transportation systems within densely populated metropolitan areas, seeks to mitigate increasing traffic congestion. However, the development and integration of UAM operations into the national airspace system comes with its own unique challenges, such as vehicle requirements, flight planning and scheduling, and coordination between UAM flights and air traffic controllers. In particular, verbal coordination will play an integral part in the determined success of UAM operations and its ability to meet projected high consumer demands. In order to meet demands and higher traffic volumes on UAM routes, verbal communication between the UAM pilot and controller must be streamlined to reduce the controller's workload while helping to maintain safety within a given airspace. One method of reducing verbal workload are Letters Of Agreement (LOAs) that outline responsibilities and procedures for operations in an airspace. These LOAs will specify the operations, procedures, and routes for UAM flights. The proposed study will examine the usability of two route formatting styles for LOAs; (i) Verbal route descriptions and (ii) Tower En Route Control (TECs) routes. Verbal route descriptions will include the route name and associated visual cues on the route. The TEC route versions will include relevant waypoints and charts outlining the route with waypoints marked. The study will be part of a UAM X1 human in the loop (HITL) simulation. Controller participants will handle traditional air traffic including moderate levels of UAM traffic on current and modified helicopter routes within the Dallas Fort-Worth area. Scenarios will be counterbalanced and repeated to test both route formatting versions. After each trial, participants will rate the usability of the LOA used in the previous trial via a subjective questionnaire. We expect that controllers will prefer the LOA with TEC routes due to simplicity and visual elements available.

aerospace human factors↗

NASA NTRS1989

Control of the errors of discretization and idealization in finite element analysis

Understanding of the basic principles which control errors of discretization in finite element analysis has increased very substantially since 1980. The main milestones were: (1) development of the theoretical basis of p-extensions (1981); (2) understanding of the proper interplay between mesh design and assignment of polynomial degree to elements. Practical realization of exponential convergence rates, independently of the smoothness of the exact solution (1984); and (3) industrial experience with the new finite element technology known as the p- or hp-version of the finite element method: General Dynamics reported thirty- to forty-fold savings in terms of human time and large savings in computer time (1986). Lockheed reported favorably on their evaluation of error estimation and quality control capabilities of the p-version in industrial settings (1987). The gains in our understanding of how to control the errors of discretization represent only half of the control necessary to ensure that a numerical model is in fact an accurate representation of the corresponding physical system. Control of the errors of idealization is equally important. A brief overview of the main ideas of how to ensure the quality and reliability of mathematical models of structural systems is presented.

Szabo, Barna A.↗

NASA NTRS1972

Space shuttle: Static stability and control investigation of NR/GD delta wing booster (B-20) and delta wing orbiter (134-D), volume 3

Experimental aerodynamic investigations have been made on a .0035 scale model North American Rockwell/General Dynamics version of the space shuttle in the NASA/MSFC 14 x 14 Inch Trisonic Wind Tunnel. Static stability and control data were obtained on the delta wing booster alone (B-20) and with the delta wing orbiter (134D) mounted in various positions on the booster. Six component aerodynamic force and moment data were recorded over an angle of attack range from -10 to 24 deg at 0 and 6 deg sideslip angles and from -10 to +10 deg sideslip at 0 deg angle of attack. Mach number ranged from 0.6 to 4.96.

Allen, E. C., Jr.↗

DOE OSTI2025

Site A5 - NREL Scanning Lidar (Halo Allsky SN235) / Reviewed Data

This dataset contains lidar data that have been standardized and quality-controlled through NREL/FIEXTA/LiDARGO (https://github.com/NREL/FIEXTA/tree/main/lidargo). Standardization rearranges the lidar data into convenient range vs beamID vs scanID coordinates that facilitates data analysis. The scan geometry (i.e., azimuth, elevation) is shifted on a regular grid based on the most likely angles within the scan file. Quality control of radial wind speed is performed through a generalized version of the dynamic lidar filter (Beck and Kuhn, 2017).

17 WIND ENERGY↗

DOE OSTI2025

Site A1 - ARM Scanning Lidar (Halo XR) / Reviewed Data

17 WIND ENERGY↗

DOE OSTI2026

FC Site 4.0 - NLR Scanning Lidar (Halo XR+ 235) / Standardized and Quality-Controlled Data

This dataset contains lidar data that have been standardized and quality-controlled through NatLabRockies/FIEXTA/LiDARGO (https://github.com/NatLabRockies/FIEXTA/tree/main/lidargo). Standardization rearranges the lidar data into convenient range vs beamID vs scanID coordinates that facilitate data analysis. The scan geometry (i.e., azimuth, elevation) is shifted on a regular grid based on the most likely angles within the scan file. Quality control of radial wind speed is performed through a generalized version of the dynamic lidar filter (Beck and Kuhn, 2017).

17 WIND ENERGY↗

DOE OSTI2026

FC Site 4.2 - NLR Scanning Lidar (Halo XR+ 199) / Standardized and Quality-Controlled Data

17 WIND ENERGY↗

DOE OSTI2026

FC Site 1.9 - NLR Scanning Lidar (Halo XR+ 200) / Standardized and Quality-Controlled Data

17 WIND ENERGY↗

NASA NTRS1975

Failure detection by pilots during automatic landing: Models and experiments

A model of the pilot as a monitor of instrument failures during automatic landing is proposed. The failure detection model consists of two stages: a linear estimator (Kalman Filter) and a decision mechanism which is based on sequential analysis. The filter equations are derived from a simplified version of the linearized dynamics of the airplane and the control loop. The perceptual observation noise is modelled to include the effects of the partition of attention among the several instruments. The final result is a simple model consisting of a high pass filter to produce the observation residuals, and a decision function which is a pure integration of the residuals minus a bias term. The dynamics of a Boeing 707 were used to simulate the fully coupled final approach in a fixed base simulator which also included failures in the airspeed, glideslope, and localizer indicators. Subjects monitored the approaches and detected the failures; their performance was compared with the predictions of the model with good agreement between the experimental data and the model.

Gai, E. G.↗