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At least 433 records · Page 24

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NASA NTRS1993

Parametric motion control of robotic arms: A biologically based approach using neural networks

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

Bock, O.↗

NASA NTRS1993

Jet-induced ground effects on a parametric flat-plate model in hover

The jet-induced forces generated on short takeoff and vertical landing (STOVL) aircraft when in close proximity to the ground can have a significant effect on aircraft performance. Therefore, accurate predictions of these aerodynamic characteristics are highly desirable. Empirical procedures for estimating jet-induced forces during the vertical/short takeoff and landing (V/STOL) portions of the flight envelope are currently limited in accuracy. The jet-induced force data presented significantly add to the current STOVL configurations data base. Further development of empirical prediction methods for jet-induced forces, to provide more configuration diversity and improved overall accuracy, depends on the viability of this STOVL data base. The data base may also be used to validate computational fluid dynamics (CFD) analysis codes. The hover data obtained at the NASA Ames Jet Calibration and Hover Test (JCAHT) facility for a parametric flat-plate model is presented. The model tested was designed to allow variations in the planform aspect ratio, number of jets, nozzle shape, and jet location. There were 31 different planform/nozzle configurations tested. Each configuration had numerous pressure taps installed to measure the pressures on the undersurface of the model. All pressure data along with the balance jet-induced lift and pitching-moment increments are tabulated. For selected runs, pressure data are presented in the form of contour plots that show lines of constant pressure coefficient on the model undersurface. Nozzle-thrust calibrations and jet flow-pressure survey information are also provided.

Wardwell, Douglas A.↗

NASA NTRS1991

mu analysis with real parametric uncertainty

The authors give a broad overview, from a LFT (linear fractional transformation)/mu perspective, of some of the theoretical and practical issues associated with robustness in the presence of real parametric uncertainty, with a focus on computation. Recent results on the properties of mu in the mixed case are reviewed, including issues of NP completeness, continuity, computation of bounds, the equivalence of mu and its bounds, and some direct comparisons with Kharitonov-type analysis methods. In addition, some advances in the computational aspects of the problem, including a novel branch and bound algorithm, are briefly presented together with numerical results. The results suggest that while the mixed mu problem may have inherently combinatoric worst-case behavior, practical algorithms with modest computational requirements can be developed for problems of medium size (less than 100 parameters) that are of engineering interest.

Young, Peter M.↗

NASA NTRS1993

An experimental parametric study of geometric, Reynolds number, and ratio of specific heats effects in three-dimensional sidewall compression scramjet inlets at Mach 6

The effects of the decrease in the ratio of specific heats have been investigated in generic 3D sidewall compression scramjet inlets with leading-edge sweep angles of 30 and 70 degrees. The effects of a decrease in ratio of specific heats were seen by comparing data from two facilities in two test gases: in the Langley Mach 6 CF4 Tunnel in tetrafluoromethane and in the Langley 15-Inch Mach 6 Air Tunnel in perfect gas air. In addition to the simulated real gas effects, the parametric effects of cowl position, contraction ratio, leading-edge sweep, and Reynolds number were investigated in the 15-Inch Mach 6 Air Tunnel. The models were instrumented with a total of 45 static pressure orifices distributed on the sidewalls and baseplate. Surface streamline patterns were examined via oil flow, and schlieren videos were made of the external flow field. The results of these tests have significant implications to ground based testing of inlets in facilities which do not operate at flight enthalpies.

Holland, Scott D.↗

NASA NTRS1993

Parametric instabilities of circularly polarized Alfven waves in high-beta plasmas

CGL relations including the effect of finite ion Larmor radius are used to consider a class of parametric instabilities of finite-amplitude, circularly polarized Alfven waves in high-beta plasmas. The disperison relation governing the instabilities is a sixth-order polynomial which is solved numerically. There are two types of instabilities: a modulational instability at k is less than k(0) and a relatively weak and narrow bandwidth instability at k is less than approximately k(0), where k and k(0) are the wavenumbers of the unstable density fluctuation and the 'pump' wave, respectively. It is shown that these instabilities can occur for left-handed pump waves and that the modulational instability is unstable over a very broad band in k with a maximum growth rate at finite k is not equal to 0.

Hamabata, Hiromitsu↗

NASA NTRS1992

Parametric instabilities of large amplitude Alfven waves with obliquely propagating sidebands

This paper presents a brief report on properties of the parametric decay and modulational, filamentation, and magnetoacoustic instabilities of a large amplitude, circularly polarized Alfven wave. We allow the daughter and sideband waves to propagate at an arbitrary angle to the background magnetic field so that the electrostatic and electromagnetic characteristics of these waves are coupled. We investigate the dependance of these instabilities on dispersion, plasma/beta, pump wave amplitude, and propagation angle. Analytical and numerical results are compared with numerical simulations to investigate the full nonlinear evolution of these instabilities.

Vinas, A. F.↗

NASA NTRS1992

Parametric estimation of R&M parameters during the conceptual design of space vehicles

Reliability and maintainability parameters of proposed space vehicles are estimated based on a comparability analysis of similar aircraft subsystems. Using multiple regression techniques, parametric equations are developed for each subsystem to predict mean flying hours between failure as a function of vehicle design and performance specifications. These estimates are then adjusted to account for reliability growth, environmental differences, and new technologies. Overall vehicle mission reliability may then be computed from subsystem reliability estimates.

Ebeling, Charles E.↗

NASA NTRS1992

Gravitational microlensing - Powerful combination of ray-shooting and parametric representation of caustics

We present a combination of two very different methods for numerically calculating the effects of gravitational microlensing: the backward-ray-tracing that results in two-dimensional magnification patterns, and the parametric representation of caustic lines; they are in a way complementary to each other. The combination of these methods is much more powerful than the sum of its parts. It allows to determine the total magnification and the number of microimages as a function of source position. The mean number of microimages is calculated analytically and compared to the numerical results. The peaks in the lightcurves, as obtained from one-dimensional tracks through the magnification pattern, can now be divided into two groups: those which correspond to a source crossing a caustic, and those which are due to sources passing outside cusps. We determine the frequencies of those two types of events as a function of the surface mass density, and the probability distributions of their magnitudes. We find that for low surface mass density as many as 40 percent of all events in a lightcurve are not due to caustic crossings, but rather due to passings outside cusps.

Wambsganss, J.↗

NASA NTRS1993

Lunar lander configuration study and parametric performance analysis

Future Lunar exploration plans will call for delivery of significant mounts or cargo to provide for crew habitation, surface tansportation, and scientific exploration activities. Minimization of costly surface based infrastructure is in large part directly related to the design of the cargo delivery/landing craft. This study focused on evaluating Lunar lander concepts from a logistics oriented perspective, and outlines the approach used in the development of a preferred configuration, sets forth the benefits derived from its utilization and describes the missions and system considered. Results indicate that only direct-to-surface downloading of payloads provides for unassisted cargo removal operations imperative to efficient and low risk site buildup, including the emplacement of Space Station derivative surface habitat modules, immediate cargo jettison for both descent abort and emergency surface ascent essential to piloted missions carrying cargo, and short habitat egress/ingress paths necessary to productive surface work tours for crew members carrying hand held experiments, tools and other bulky articles. Accommodating cargo in a position underneath the vehicles structural frame, landing craft described herein eliminate altogether the necessity for dedicated surface based off-loading vehicles, the operations and maintenance associated with their operation, and the precipitous ladder climbs to and from the surface that are inherent to traditional designs. Parametric evaluations illustrate performance and mass variation with respect to mission requirements.

Donahue, Benjamin B.↗

NASA NTRS1993

Parametric instabilities of finite-amplitude, circularly polarized Alfven waves in an anisotropic plasma

A class of parametric instabilities of finite-amplitude, circularly polarized Alfven waves in a plasma with pressure anisotropy is studied by application of the CGL equations. A linear perturbation analysis is used to find the dispersion relation governing the instabilities, which is a fifth-order polynomial and is solved numerically. A large-amplitude, circularly polarized wave is unstable with respect to decay into three waves: one sound-like wave and two side-band Alfven-like waves. It is found that, in addition to the decay instability, two new instabilities that are absent in the framework of the MHD equations can occur, depending on the plasma parameters.

Hamabata, Hiromitsu↗

NASA NTRS1993

On the dispersion relations for parametric instabilities of parallel-propagating Alfven waves

We consider the dispersion relation for the parametric instabilities of large-amplitude circularly polarized Alfven waves propagating parallel to the ambient magnetic field. A linear perturbation analysis is employed, and the perturbations are taken to propagate along the ambient field. We present an analysis based on Floquet's theorem. The result is a hierarchy of dispersion relations. However, all the dispersion relations are found to be equivalent to the one obtained via the standard analysis; the differences between them are due only to how ca and k are defined. Thus we conclude that physically there is really only one dispersion relation, namely the 'electrostatic dispersion relation', which is in agreement with earlier works. However, we disagree with Vinas and Goldstein (1991), who obtained additional dispersion relations which they have called the 'electromagnetic dispersion relations'. Their additional dispersion relations are a consequence of first truncating the dispersion relation for obliquely propagating perturbations and then taking the limit of parallel-propagating perturbations.

Yajanti, Venku↗

NASA NTRS1991

Decision boundary feature selection for non-parametric classifier

Feature selection has been one of the most important topics in pattern recognition. Although many authors have studied feature selection for parametric classifiers, few algorithms are available for feature selection for nonparametric classifiers. In this paper we propose a new feature selection algorithm based on decision boundaries for nonparametric classifiers. We first note that feature selection for pattern recognition is equivalent to retaining 'discriminantly informative features', and a discriminantly informative feature is related to the decision boundary. A procedure to extract discriminantly informative features based on a decision boundary for nonparametric classification is proposed. Experiments show that the proposed algorithm finds effective features for the nonparametric classifier with Parzen density estimation.

Lee, Chulhee↗

NASA NTRS1993

Quantum noise and squeezing in optical parametric oscillator with arbitrary output coupling

The redistribution of intrinsic quantum noise in the quadratures of the field generated in a sub-threshold degenerate optical parametric oscillator exhibits interesting dependences on the individual output mirror transmittances, when they are included exactly. We present a physical picture of this problem, based on mirror boundary conditions, which is valid for arbitrary transmittances. Hence, our picture applies uniformly to all values of the cavity Q factor representing, in the opposite extremes, both perfect oscillator and amplifier configurations. Beginning with a classical second-harmonic pump, we shall generalize our analysis to the finite amplitude and phase fluctuations of the pump.

Prasad, Sudhakar↗

NASA NTRS1991

Measurement selection for parametric IC fault diagnosis

Experimental results obtained with the use of measurement reduction for statistical IC fault diagnosis are described. The reduction method used involves data pre-processing in a fashion consistent with a specific definition of parametric faults. The effects of this preprocessing are examined.

Wu, A.↗

NASA NTRS1993

Numerical parametric studies of spray combustion instability

A coupled numerical algorithm has been developed for studies of combustion instabilities in spray-driven liquid rocket engines. The model couples gas and liquid phase physics using the method of fractional steps. Also introduced is a novel, efficient methodology for accounting for spray formation through direct solution of liquid phase equations. Preliminary parametric studies show marked sensitivity of spray penetration and geometry to droplet diameter, considerations of liquid core, and acoustic interactions. Less sensitivity was shown to the combustion model type although more rigorous (multi-step) formulations may be needed for the differences to become apparent.

Pindera, M. Z.↗

NASA NTRS1993

A parametric study of harmonic rotor hub loads

A parametric study of vibratory rotor hub loads in a nonrotating system is presented. The study is based on a CAMRAD/JA model constructed for the GBH (Growth Version of Blackhawk Helicopter) Mach-scaled wind tunnel rotor model with high blade twist (-16 deg). The theoretical hub load predictions are validated by correlation with available measured data. Effects of various blade aeroelastic design changes on the harmonic nonrotating frame hub loads at both low and high forward flight speeds are investigated. The study aims to illustrate some of the physical mechanisms for change in the harmonic rotor hub loads due to blade design variations.

He, Chengjian↗

NASA NTRS1993

Parametric uncertainty modeling for application to robust control

Viewgraphs and a paper on parametric uncertainty modeling for application to robust control are included. Advanced robust control system analysis and design is based on the availability of an uncertainty description which separates the uncertain system elements from the nominal system. Although this modeling structure is relatively straightforward to obtain for multiple unstructured uncertainties modeled throughout the system, it is difficult to formulate for many problems involving real parameter variations. Furthermore, it is difficult to ensure that the uncertainty model is formulated such that the dimension of the resulting model is minimal. A procedure for obtaining an uncertainty model for real uncertain parameter problems in which the uncertain parameters can be represented in a multilinear form is presented. Furthermore, the procedure is formulated such that the resulting uncertainty model is minimal (or near minimal) relative to a given state space realization of the system. The approach is demonstrated for a multivariable third-order example problem having four uncertain parameters.

Belcastro, Christine M.↗

NASA NTRS1994

A parametric sensitivity study for single-stage-to-orbit hypersonic vehicles using trajectory optimization

The class of hypersonic vehicle configurations with single stage-to-orbit (SSTO) capability reflect highly integrated airframe and propulsion systems. These designs are also known to exhibit a large degree of interaction between the airframe and engine dynamics. Consequently, even simplified hypersonic models are characterized by tightly coupled nonlinear equations of motion. In addition, hypersonic SSTO vehicles present a major system design challenge; the vehicle's overall mission performance is a function of its subsystem efficiencies including structural, aerodynamic, propulsive, and operational. Further, all subsystem efficiencies are interrelated, hence, independent optimization of the subsystems is not likely to lead to an optimum design. Thus, it is desired to know the effect of various subsystem efficiencies on overall mission performance. For the purposes of this analysis, mission performance will be measured in terms of the payload weight inserted into orbit. In this report, a trajectory optimization problem is formulated for a generic hypersonic lifting body for a specified orbit-injection mission. A solution method is outlined, and results are detailed for the generic vehicle, referred to as the baseline model. After evaluating the performance of the baseline model, a sensitivity study is presented to determine the effect of various subsystem efficiencies on mission performance. This consists of performing a parametric analysis of the basic design parameters, generating a matrix of configurations, and determining the mission performance of each configuration. Also, the performance loss due to constraining the total head load experienced by the vehicle is evaluated. The key results from this analysis include the formulation of the sizing problem for this vehicle class using trajectory optimization, characteristics of the optimal trajectories, and the subsystem design sensitivities.

Lovell, T. Alan↗