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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 397 records · Page 22

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NASA NTRS1988

Deflection prediction for serial manipulators

A method of deflection analysis for a general serial manipulator which considers end-effector, gravity, and inertial loads is described. The conceptualized manipulator can have many degrees of freedom and be of the most general geometry. The analysis returns end-effector error based on a quasi-static approach. Thus, small oscillations (due to vibrations) are ignored and the inertial loads are considered applied loads. A kinematic analysis based on geometric influence coefficients is used to obtaining resultant joint loads. A flexibility analysis sufficient to describe general link deformation is performed to yield the local link deformations. These local values are transformed to end-effector deflections through the use of the kinematic influence coefficients as a first order approximation. End-effector deflection due to flexibilities in the joint actuators is addressed. A description of the generalized end-effector spring is presented.

Fresonke, D. A.↗

DOE OSTI2026

Robust Design Under Uncertainty in Quantum Error Mitigation

Error mitigation techniques are crucial to achieving near-term quantum advantage. Classical postprocessing of quantum computation outcomes is a popular approach for error mitigation, which includes methods, such as zero noise extrapolation, virtual distillation, and learning-based error mitigation. However, these techniques have limitations due to the propagation of uncertainty resulting from the finite shot number of a quantum measurement. In this work, we introduce general and unbiased methods for quantifying the uncertainty and error of error-mitigated observables based on the strategic sampling of error mitigation outcomes. We then extend our approach to demonstrate the optimization of performance and robustness of error mitigation under uncertainty. To illustrate our methods, we apply them to zero noise extrapolation and Clifford date regression in the ground state of the XY model simulated using depolarizing and International Business Machines Corporation (IBM) Toronto noise models, respectively. In particular, we optimize the choice of noise levels and the allocation of shots for zero noise extrapolation and the distribution of the training circuits for Clifford data regression. While our methods are readily applicable to any postprocessing-based error mitigation approach, in practice they must not be prohibitively expensive—even though they perform optimizations of the error mitigation hyperparameters requiring sampling of a statistical distribution of error mitigation outcomes. By leveraging surrogate-based optimization, we show that our methods can efficiently perform optimal design for a zero noise extrapolation implementation. We then further demonstrate the transferability of learned zero noise extrapolation hyperparameters to other similar circuits.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1985

An experimental approach to validating a theory of human error in complex systems

The problem of 'human error' is pervasive in engineering systems in which the human is involved. In contrast to the common engineering approach of dealing with error probabilistically, the present research seeks to alleviate problems associated with error by gaining a greater understanding of causes and contributing factors from a human information processing perspective. The general approach involves identifying conditions which are hypothesized to contribute to errors, and experimentally creating the conditions in order to verify the hypotheses. The conceptual framework which serves as the basis for this research is discussed briefly, followed by a description of upcoming research. Finally, the potential relevance of this research to design, training, and aiding issues is discussed.

Morris, N. M.↗

NASA NTRS1974

Rigid body mode pointing accuracy and stability criteria for an orbiting spacecraft

The effect of gravity gradient torque disturbances (which is an order of magnitude greater than the other torque disturbances and is sinusoidal with a frequency of two cycles per orbit) on pointing accuracy can be predicted very precisely. However, since the sensor noise such as star tracker and gyro inherent noise, is random, their effect can only be predicted statistically. The most common method used is computer simulation with appropriate sensor model and adjusting spacecraft control laws for minimum pointing error, as presented by Harris (1972). The general investigation outlined theoretically relates spacecraft controls to pointing accuracy in terms of the sensor noise power spectrum. The results are presented in graphical form.

Sandhu, G. S.↗

NASA NTRS1977

The July climate and a comparison of the January and July climates simulated by the GISS general circulation model

Results are presented for a study directed to evaluate the ability of the global general circulation model of the Goddard Institute for Space Studies (GISS) in simulating seasonal differences as related to an experiment simulating the July climatology which parallels the January simulation presented by Somerville et al. (1974). The July and January simulations are compared with each other and with climatological data on seasonal changes, mainly for the Northern Hemisphere troposphere. The comparison shows that the model-generated energy cycle, distribution of winds, temperature, humidity and pressure, dynamical transports, diabatic heating, evaporation, precipitation and cloud cover are all realistic for the Northern Hemisphere troposphere in July. The model's simulation of seasonal differences is generally quite realistic since the systematic quantitative errors do not affect the simulation of relative changes, to first order. Defects that could seriously bias the model's performance in particular climate experiments are identified and discussed.

Stone, P. H.↗

NASA NTRS1980

VLBI measurements of radio source positions at the Jet Propulsion Laboratory

The results of approximately 1300 observations of 67 radio sources are presented. Most of the measurements were made at the stations of the Deep Space Network in California, Spain, and Australia at wavelengths of 13.1 and 3.6 cm, between 1971 and 1978. The formal errors in the derived source positions are generally in the neighborhood of 0.01 seconds of arc and the positions agree fairly well with those previously published.

Purcell, G. H., Jr.↗

NASA NTRS1980

A new method of measuring radio source parameters of a partially polarized distributed source from spacecraft observations

An experimental system is analyzed which is designed to determine the angular and polarization properties of low frequency radio sources from measurements made on a spinning spacecraft. The system has been optimized to provide high accuracies for sources at high as well as low elevation angles. Theoretical expressions are derived for the response of this system to a partially polarized point source. Integrations are then carried out to get the system response to a uniform circular distributed source. Data processing techniques are derived so that computer simulations can be carried out to investigate the accuracy of this technique. It is shown that using 24 measurements of a partially polarized source (with Q = U = V = 0.5), taken in one spacecraft rotation, the resulting rms errors in angular position are less than one degree and the errors in determining the Stokes parameters are generally 1-10% for a wide range of source elevations.

Manning, R.↗

NASA NTRS1980

Comments on the dissipation of hydromagnetic surface waves

A recent paper by Wentzel, which claims to calculate a plasma heating rate due to dissipation of surface waves in an ideal magnetohydrodynamic (MHD) fluid, is found to be in error in interpretation. A well-established general theorem pertaining to the conservative ideal MHD fluid requires that the normal mode calculated by Wentzel be oscillatory in time. Within ideal MHD, dissipation and plasma heating are therefore impossible.

Lee, M. A.↗

NASA NTRS1982

Design and flight testing of a digital optimal control general aviation autopilot

This paper presents the designs of Proportional-Integral-Filter (PIF) autopilots for a General Aviation (NAVION) aircraft. The PIF autopilots use modern control theory to determine heading select and altitude select and hold autopilot modes. The PIF control law uses typical General Aviation sensors for state feedback; command error integration for command tracking; digital complimentary filtering and analog prefiltering for sensor noise suppression; a control filter for computation delay accommodation; and the incremental form to eliminate trim values in implementation. Theoretical developments for the control law are described which combine the sampled-data regulator with command generator tracking for use as a digital flight control system. The digital PIF autopilots are evaluated using closed-loop eigenvalues and simulations. Successful flight test results for the PIF autopilots are presented for different turbulence conditions and quadratic weights.

Broussard, J. R.↗

NASA NTRS1983

Design, implementation and flight testing of PIF autopilots for general aviation aircraft

The designs of Proportional-Integrated-Filter (PIF) auto-pilots for a General Aviation (NAVION) aircraft are presented. The PIF autopilot uses the sampled-data regulator and command generator tracking to determine roll select, pitch select, heading select, altitude select and localizer/glideslope capture and hold autopilot modes. The PIF control law uses typical General Aviation sensors for state feedback, command error integration for command tracking, digital complementary filtering and analog prefiltering for sensor noise suppression, a control filter for computation delay accommodation and the incremental form to eliminate trim values in implementation. Theoretical developments described in detail, were needed to combine the sampled-data regulator with command generator tracking for use as a digital flight control system. The digital PIF autopilots are evaluated using closed-loop eigenvalues and linear simulations. The implementation of the PIF autopilots in a digital flight computer using a high order language (FORTRAN) is briefly described. The successful flight test results for each PIF autopilot mode is presented.

Broussard, J. R.↗

NASA NTRS1983

A study on airborne integrated display system and human information processing

The cognitive behavior of pilots was examined in an experiment involving mock ups of an eight display electronic attitude direction indicator for an airborne integrated display. Displays were presented in digital, analog digital, and analog format to experienced pilots. Two tests were run, one involving the speed of memorization in a single exposure and the other comprising two five second exposures spaced 30 sec apart. Errors increased with the speed of memorization. Generally, the analog information was assimilated faster than the digital data, with regard to the response speed. Information processing was quantified as 25 bits for the first five second exposure and 15 bits during the second.

Mizumoto, K.↗

NASA NTRS1983

Redundant asynchronous microprocessor system for fault tolerant flight control and navigation

Unlike their synchronized counterparts, redundant channels in an asynchronous flight system can, under no-fault conditions, exhibit cross-channel data disparities. Sources of these errors are examined in terms of the general, individual functions of the flight control and navigation application in the asynchronous digital environment. The effects of asynchronism on trajectory programmers, dynamic control algorithms and data reconstruction processes are examined in terms of data skews, data latencies, and clock rate uncertainties. An example is presented in which time corrections are applied to reduce the data disparities. Practical limitations of the approach of the example are discussed.

Dunn, W. R.↗

NASA NTRS1985

Results of an interlaboratory fatigue test program conducted on alloy 800H at room and elevated temperatures

The experimental approach adopted for low cycle fatigue tests of alloy 800H involved the use of electrohydraulic test systems, hour glass geometry specimens, diametral extensometers, and axial strain computers. Attempts to identify possible problem areas were complicated by the lack of reliable data for the heat of Alloy 800H under investigation. The method adopted was to generate definitive test data in an Interlaboratory Fatigue Test Program. The laboratories participating in the program were Argonne National Laboratory, Battelle Columbus, Mar-Test, and NASA Lewis. Fatigue tests were conducted on both solid and turbular specimens at temperatures of 20, 593, and 760 C and strain ranges of 2.0, 1.0, and 0.5 percent. The subject test method can, under certain circumstances, produce fatigue data which are serious in error. This approach subsequently was abandoned at General Atomic Company in favor of parallel gage length specimens and axial extensiometers.

Ellis, J. R.↗

NASA NTRS1985

Improving the absolute positioning accuracy of robot manipulators

The absolute positioning accuracy of robot manipulator can be increased substantially by updating the nominal link parameters in the control software. This paper presents a general method to estimate the link parameter errors for any serial link manipulator (i.e., n links, and any combination of revolute and prismatic joints). The parameters are estimated through a linear kinematic model which relates the link bias errors to the end-effector positioning error. Only end-effector measurements are required instead of individual link measurements to implement this method.

Hayati, S.↗

NASA NTRS1986

The Shane-Wirtanen counts - Plate correction factors and correlation functions

It has recently been argued that the break in the galaxy correlation function observed in the Lick counts of Shane and Wirtanen may be an artifact of plate variations in limiting magnitude. This has stimulated us to generalize our analysis of the effect of errors in the plate depths to include a possible systematic term, and to develop tests for the random and systematic errors. The tests show that neither can have appreciably affected the distinctive feature found in the galaxy two-point correlation function for the Lick sample.

Groth, Edward J.↗

NASA NTRS1987

Results of an interlaboratory fatigue test program conducted on alloy 800H at room and elevated temperatures

Ellis, J. R.↗

NASA NTRS1988

Averaging analysis of adaptive control algorithms

The method of averaging is used to analyze discrete-time indirect adaptive control. The analysis focuses on various prediction-error-driven identification algorithms coupled with a general linear control law. The plant is not required to be in the model set of the identifier, which accounts for systems with unmodeled plant dynamics. Exogenous input signals including known command signals and unknown disturbances are also included. Both gradient and Newton-based algorithms are considered.

Phillips, Stephen M.↗

NASA NTRS1991

Evaporation over global oceans derived from satellite data and AGCM

Evaporation over ocean at 100 km has been estimated using operational satellite data. Recent satellite results are compared to data obtained through atmospheric general circulation models (AGCMs). A large systematic error is found in AGCM data which is considered to be due to overestimation of atmospheric moisture. It is suggested that the discrepancy may be caused by errors in operational infrared sounder data assimilated into the model. The error may also be caused by interpolation of very sparse in situ data in areas of sharp gradients.

Liu, W. T.↗