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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 487 records · Page 27

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NASA NTRS1989

Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

Tadikonda, S. S. K.↗

NASA NTRS1990

A dynamic motion simulator for future European docking systems

Europe's first confrontation with docking in space will require extensive testing to verify design and performance and to qualify hardware. For this purpose, a Docking Dynamics Test Facility (DDTF) was developed. It allows reproduction on the ground of the same impact loads and relative motion dynamics which would occur in space during docking. It uses a 9 degree of freedom, servo-motion system, controlled by a real time computer, which simulates the docking spacecraft in a zero-g environment. The test technique involves and active loop based on six axis force and torque detection, a mathematical simulation of individual spacecraft dynamics, and a 9 degree of freedom servomotion of which 3 DOFs allow extension of the kinematic range to 5 m. The configuration was checked out by closed loop tests involving spacecraft control models and real sensor hardware. The test facility at present has an extensive configuration that allows evaluation of both proximity control and docking systems. It provides a versatile tool to verify system design, hardware items and performance capabilities in the ongoing HERMES and COLUMBUS programs. The test system is described and its capabilities are summarized.

Brondino, G.↗

NASA NTRS1989

Integrated control-system design via generalized LQG (GLQG) theory

Thirty years of control systems research has produced an enormous body of theoretical results in feedback synthesis. Yet such results see relatively little practical application, and there remains an unsettling gap between classical single-loop techniques (Nyquist, Bode, root locus, pole placement) and modern multivariable approaches (LQG and H infinity theory). Large scale, complex systems, such as high performance aircraft and flexible space structures, now demand efficient, reliable design of multivariable feedback controllers which optimally tradeoff performance against modeling accuracy, bandwidth, sensor noise, actuator power, and control law complexity. A methodology is described which encompasses numerous practical design constraints within a single unified formulation. The approach, which is based upon coupled systems or modified Riccati and Lyapunov equations, encompasses time-domain linear-quadratic-Gaussian theory and frequency-domain H theory, as well as classical objectives such as gain and phase margin via the Nyquist circle criterion. In addition, this approach encompasses the optimal projection approach to reduced-order controller design. The current status of the overall theory will be reviewed including both continuous-time and discrete-time (sampled-data) formulations.

Bernstein, Dennis S.↗

NASA NTRS1992

The middeck active control experiment: Gravity and suspension effects

Viewgraphs on the Middeck Active Control Experiment (MACE): Gravity and Suspension Effects are presented. Topics covered include: gravity and suspension influences; gravity and suspension effects on structure; gravity effects on sensors and actuators; modeling of gravity and suspension effects on structure; geometric stiffness theory and initial static deformation calculation; modeling gravity's effect on accelerometers and PMA's; application to MACE; MACE EM configuration study; and MACE DM configuration study.

Crawley, Edward F.↗

NASA NTRS1992

Measurement of Attachment-Line Location in a Wind-Tunnel and in Supersonic Flight

As a part of the supersonic laminar flow control research program, experiments are being conducted to measure the attachment-line flow characteristics and its location on a highly swept aircraft wing. Initially, subsonic wind tunnel tests were performed on two-dimensional models to develop sensors and techniques for the flight application. The wind tunnel test results suggest that, under certain conditions at the leading edge there are low frequency streamwise velocity fluctuations present in the laminar boundary layer which undergo a phase change at the stagnation point Therefore, if present in flight, this distinct change in phase, i.e., time shift of signals from either side of the stagnation point, can be used to determine the stagnation-line or attachment-line location. The phase-reversal phenomenon was examined to determine the attachment-line location on a highly swept wing. Test results indicate that the phase-reversal phenomenon may not be applicable in flight. Additional data analyses is continuing to account for phase differences introduced by the recording system. A final determination on the existence of phase-reversal in flight will require the results of further analysis and possibly additional flight testing. Some representative attachment-line data are presented and discussed as well as the results from the wind tunnel investigation.

Flight Testing↗

NASA NTRS1994

Control of Wind Tunnel Operations Using Neural Net Interpretation of Flow Visualization Records

Neural net control of operations in a small subsonic/transonic/supersonic wind tunnel at Lewis Research Center is discussed. The tunnel and the layout for neural net control or control by other parallel processing techniques are described. The tunnel is an affordable, multiuser platform for testing instrumentation and components, as well as parallel processing and control strategies. Neural nets have already been tested on archival schlieren and holographic visualizations from this tunnel as well as recent supersonic and transonic shadowgraph. This paper discusses the performance of neural nets for interpreting shadowgraph images in connection with a recent exercise for tuning the tunnel in a subsonic/transonic cascade mode of operation. That mode was operated for performing wake surveys in connection with NASA's Advanced Subsonic Technology (AST) noise reduction program. The shadowgraph was presented to the neural nets as 60 by 60 pixel arrays. The outputs were tunnel parameters such as valve settings or tunnel state identifiers for selected tunnel operating points, conditions, or states. The neural nets were very sensitive, perhaps too sensitive, to shadowgraph pattern detail. However, the nets exhibited good immunity to variations in brightness, to noise, and to changes in contrast. The nets are fast enough so that ten or more can be combined per control operation to interpret flow visualization data, point sensor data, and model calculations. The pattern sensitivity of the nets will be utilized and tested to control wind tunnel operations at Mach 2.0 based on shock wave patterns.

Buggele, Alvin E.↗

NASA NTRS1993

Simulation development of a forward sensor-enhanced low-altitude guidance system

The requirement to operate aircraft at low-altitude near the terrain is common in the military community and essential for helicopters. The risk and crew workload in this flight regime is severe, with navigation, guidance, and obstacle avoidance demanding high attention. A guidance system relying on digitized terrain elevation maps has been developed that employs airborne navigation, mission requirements, aircraft performance limits, and radar altimeter returns to generate a valley-seeking, low-altitude trajectory between waypoints for display to the pilot. This system has been flight demonstrated to 150 ft above ground level altitude, and is primarily limited by the ability of the pilot to perform obstacle detection and avoidance. In this study, a wide field of view forward sensor has been modeled and incorporated in the guidance system for the purpose of relieving the pilot of the obstacle avoidance duty. The results of a piloted, motion-based simulation of this enhanced low-altitude guidance system is presented. Simulated flights to 50 ft altitude in the presence of obstacles were demonstrated while maintaining situational awareness and close tracking of the guidance trajectory.

Zelenka, Richard E.↗

NASA NTRS1994

Low-light video observations of frequent luminous structures in the stratosphere above thunderstorms

A new series of video measurements were made of the phenomenon provisionally termed the cloud-to-stratosphere (CS) event, an electrical discharge extending to great heights above thunderstorm tops. This new series of measurements were accomplished by properly positioning a sensor, the Xybion model ISS 225 low-light monochrome imaging system with a C-mount fl.8 manual zoom lens, and training it on the appropriate portion of the sky above a distant thunderstorm complex mean Fort Collins, Colorado. The resulting images are currently undergoing intensive analysis. Some tentative conclusions are given. Cloud-to-stratosphere events occur far more frequently than previously suspected and are perhaps a ubiquitous aspect of many larger convective systems. Cloud-to-stratosphere events are also of substantial horizontal extent, on the order of tens of kilometers in some cases.

Lyons, Walter A.↗

NASA NTRS1996

Smart Materials Research at NRL

This presentation covers the use of smart materials in Naval Research Laboratory (NRL) research for sensors, actuators, and modeling and control. Emphasis is on optical fiber Bragg gratings, piezoelectric actuators, shape memory alloy actuators, and polymer matrix and interfaces.

Matic, Peter↗

NASA NTRS1997

Prototype Conflict Alerting Logic for Free Flight

This paper discusses the development of a prototype alerting system for a conceptual Free Flight environment. The concept assumes that datalink between aircraft is available and that conflicts are primarily resolved on the flight deck. Four alert stages are generated depending on the likelihood of a conflict. If the conflict is not resolved by the flight crews, Air Traffic Control is notified to take over separation authority. The alerting logic is based on probabilistic analysis through modeling of aircraft sensor and trajectory uncertainties. Monte Carlo simulations were used over a range of encounter situations to determine conflict probability. The four alert stages were then defined based on probability of conflict and on the number of avoidance maneuvers available to the flight crew. Preliminary results from numerical evaluations and from a piloted simulator study at NASA Ames Research Center are summarized.

Yang, Lee C.↗

NASA NTRS1998

Development of Ultrasonic and Fabry-Perot Interferometer for Non-Destruction Inspection of Aging Aircraft

Fabry-Perot Interferometer (FPI) sensor detection system was continued and refined modifications were made in the data acquisition and evaluation process during the last year. The ultrasonic and FPI detection system was improved from one to multiple sensor detectors. Physical models were developed to understand the physical phenomenon of this work. Multilayered flawed samples were fabricated for inspection by a prototype ultrasonic and FPI detection. Experimental data was verified with simulated results. Undergraduate students that were associated with this research gained valuable knowledge from this experience. This was a learning process helping students to understand the importance of research and its application to solve important technological problems. As a result of our students exposure to this research two and planning to continue this type of research work in graduate school. A prototype instrument package was laboratory tested an actual airframe structure for documentation purposes.

Smith, Alphonso C.↗

NASA NTRS2000

Immersive Environment Technologies for Mars Exploration

JPL's charter includes the unmanned exploration of the Solar System. One of the tools for exploring other planets is the rover as exemplified by Sojourner on the Mars Pathfinder mission. The light speed turnaround time between Earth and the outer planets precludes the use of teleoperated rovers so autonomous operations are built in to the current and upcoming generation devices. As the level of autonomy increases, the mode of operations shifts from low-level specification of activities to a higher-level specification of goals. To support this higher-level activity, it is necessary to provide the operator with an effective understanding of the in-situ environment and also the tools needed to specify the higher-level goals. Immersive environments provide the needed sense of presence to achieve this goal. Use of immersive environments at JPL has two main thrusts that will be discussed in this talk. One is the generation of 3D models of the in-situ environment, in particular the merging of models from different sensors, different modes (orbital, descent, and lander), and even different missions. The other is the use of various tools to visualize the environment within which the rover will be operating to maximize the understanding by the operator. A suite of tools is under development which provide an integrated view into the environment while providing a variety of modes of visualization. This allows the operator to smoothly switch from one mode to another depending on the information and presentation desired.

Wright, John R.↗

NASA NTRS1999

Early Warning Signs

Developed under an SBIR contract with Goddard Space Flight Center, Jentek Sensors, Inc.'s GridStation Measurement System provides thermal spray coating thickness, porosity, and age degradation monitoring capability using comformable inductive and capacitative sensors and model-based grid measurement methods for data interpretation.

Source record↗

NASA NTRS1990

Gas Sensor

High Technology Sensors, Inc.'s Model SS-250 carbon dioxide detector uses a patented semiconductor optical source that efficiently creates infrared radiation, which is focused through an airway on a detector. Carbon dioxide passing through the airway absorbs the radiation causing the detector to generate a signal. The small size and low power requirements of the SS-250 make it attractive for incorporation in a variety of medical instruments.

Source record↗

NASA NTRS2004

Visualizing Distributions from Multi-Return Lidar Data to Understand Forest Structure

Spatially distributed probability density functions (pdfs) are becoming relevant to the Earth scientists and ecologists because of stochastic models and new sensors that provide numerous realizations or data points per unit area. One source of these data is from multi-return airborne lidar, a type of laser that records multiple returns for each pulse of light sent towards the ground. Data from multi-return lidar is a vital tool in helping us understand the structure of forest canopies over large extents. This paper presents several new visualization tools that allow scientists to rapidly explore, interpret and discover characteristic distributions within the entire spatial field. The major contribution from-this work is a paradigm shift which allows ecologists to think of and analyze their data in terms of the distribution. This provides a way to reveal information on the modality and shape of the distribution previously not possible. The tools allow the scientists to depart from traditional parametric statistical analyses and to associate multimodal distribution characteristics to forest structures. Examples are given using data from High Island, southeast Alaska.

Kao, David L.↗

NASA NTRS2006

A comparison of force sensing techniques for planetary manipulation

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

force sensing↗

NASA NTRS2007

The Application of NASA Technology to Public Health

NASA scientists have a history of applying technologies created to handle satellite data to human health at various spatial scales. Scientists are now engaged in multiple public health application projects that integrate NASA satellite data with measures of public health. Such integration requires overcoming disparities between the environmental and the health data. Ground based sensors, satellite imagery, model outputs and other environmental sources have inconsistent spatial and temporal distributions. The MSFC team has recognized the approach used by environmental scientists to fill in the empty places can also be applied to outcomes, exposures and similar data. A revisit to the classic epidemiology study of 1854 using modern day surface modeling and GIS technology, demonstrates how spatial technology can enhance and change the future of environmental epidemiology. Thus, NASA brings to public health, not just a set of data, but an innovative way of thinking about the data.

Rickman, Douglas L.↗

NASA NTRS2006

GNC Architecture Design for ARES Simulation. Revision 3.0

The purpose of this document is to describe the GNC architecture and associated interfaces for all ARES simulations. Establishing a common architecture facilitates development across the ARES simulations and provides an efficient mechanism for creating an end-to-end simulation capability. In general, the GNC architecture is the frame work in which all GNC development takes place, including sensor and effector models. All GNC software applications have a standard location within the architecture making integration easier and, thus more efficient.

Gay, Robert↗