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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 595 records · Page 33
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NASA NTRS1988

Precise orbit determination for NASA's earth observing system using GPS (Global Positioning System)

An application of a precision orbit determination technique for NASA's Earth Observing System (EOS) using the Global Positioning System (GPS) is described. This technique allows the geometric information from measurements of GPS carrier phase and P-code pseudo-range to be exploited while minimizing requirements for precision dynamical modeling. The method combines geometric and dynamic information to determine the spacecraft trajectory; the weight on the dynamic information is controlled by adjusting fictitious spacecraft accelerations in three dimensions which are treated as first order exponentially time correlated stochastic processes. By varying the time correlation and uncertainty of the stochastic accelerations, the technique can range from purely geometric to purely dynamic. Performance estimates for this technique as applied to the orbit geometry planned for the EOS platforms indicate that decimeter accuracies for EOS orbit position may be obtainable. The sensitivity of the predicted orbit uncertainties to model errors for station locations, nongravitational platform accelerations, and Earth gravity is also presented.

Williams, B. G.↗
NASA NTRS1987

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

Wen, J. T.↗
NASA NTRS1989

A new state reconstructor for digital controls systems using weighted-average measurements

A state reconstructor is presented for a linear continuous-time plant driven by a zero-order-hold. It takes a continuous-time output vector from the plant and convolutes it with a weighting-function matrix whose elements are time dependent. This result is integrated over T second intervals to generate weighted-averaged measurements, every T seconds, that are used in the state reconstruction process. If the plant is noise-free and can be modeled precisely, the output of this state reconstructor exactly equals the true state of the plant and accomplishes this without knowledge of the plant's initial state. If noise or modeling errors are a problem, it can be catenated with a state observer or a Kalman filter for a synergistic effect.

Polites, Michael E.↗
NASA NTRS1988

Precise orbit determination for NASA's Earth Observing System using GPS

A precision orbit determination technique for NASA's Earth Observing System (EOS) is discussed. The technique exploits the redundant geometric information from GPS carrier phase and P-code pseudorange measurements and minimizes the requirements for precision dynamical modeling. Performance estimates for the application of the technique to the orbit geometry planned for the EOS platforms show that decimeter accuracies of orbit position may be obtained. The sensitivity of the predicted orbit uncertainties to model errors for station locations, nongravitational platform accelerations, and earth gravity are presented.

Williams, Bobby G.↗
NASA NTRS1989

Sensor failure detection using generalized parity relations for flexible structures

Analytical redundancy may be preferable to hardware redundancy in failure detection/isolation tasks for such large-scale systems as space structures. Generalized single-sensor parity relations are presently applied to this problem; they are noted to yield a very simple isolation logic, and their generation is found to be extremely rapid, even in the case of extremely complex systems, provided only that the eigenstructure of the system be known. Their implementation is, however, extremely sensitive to modeling errors and noise.

Mercadal, Mathieu↗
NASA NTRS1988

On the design of the dissipative LQG-type controllers

The design of dissipative linear-quadratic-Gaussian-type compensators for positive real plants is considered. It is shown that if the noise covariance matrices (used as weighting matrices) satisfy certain conditions, the compensator has a strictly positive real transfer function matrix. The stability of the resulting closed-loop system is guaranteed regardless of modeling errors as long as the plant remains positive real. In view of this property, the controller is expected to be useful for vibration suppression in large, flexible space structures.

Lozano-Leal, R.↗
NASA NTRS1989

Observability studies of inertial navigation systems

The present work deals with an undamped three-channel inertial-navigation-system error model. It is shown that it is possible to fully observe, and thus estimate, all the states of the system. This is in contrast to a previous two-channel system, in which it was impossible to fully observe and estimate all the states of the system. The conclusions of the analysis are verified through covariance simulation, which yields identical results.

Bar-Itzhack, I. Y.↗
NASA NTRS1989

The inverse gravimetric problem in gravity modelling

One of the main purposes of geodesy is to determine the gravity field of the Earth in the space outside its physical surface. This purpose can be pursued without any particular knowledge of the internal density even if the exact shape of the physical surface of the Earth is not known, though this seems to entangle the two domains, as it was in the old Stoke's theory before the appearance of Molodensky's approach. Nevertheless, even when large, dense and homogeneous data sets are available, it was always recognized that subtracting from the gravity field the effect of the outer layer of the masses (topographic effect) yields a much smoother field. This is obviously more important when a sparse data set is bad so that any smoothing of the gravity field helps in interpolating between the data without raising the modeling error, this approach is generally followed because it has become very cheap in terms of computing time since the appearance of spectral techniques. The mathematical description of the Inverse Gravimetric Problem (IGP) is dominated mainly by two principles, which in loose terms can be formulated as follows: the knowledge of the external gravity field determines mainly the lateral variations of the density; and the deeper the density anomaly giving rise to a gravity anomaly, the more improperly posed is the problem of recovering the former from the latter. The statistical relation between rho and n (and its inverse) is also investigated in its general form, proving that degree cross-covariances have to be introduced to describe the behavior of rho. The problem of the simultaneous estimate of a spherical anomalous potential and of the external, topographic masses is addressed criticizing the choice of the mixed collection approach.

Sanso, F.↗
NASA NTRS1989

Optimization of the structural and control system for LSS with reduced-order model

The objective is the simultaneous design of the structural and control system for space structures. The minimum weight of the structure is the objective function, and the constraints are placed on the closed loop distribution of the frequencies and the damping parameters. The controls approach used is linear quadratic regulator with constant feedback. A reduced-order control system is used. The effect of uncontrolled modes is taken into consideration by the model error sensitivity suppression (MESS) technique which modified the weighting parameters for the control forces. For illustration, an ACOSS-FOUR structure is designed for a different number of controlled modes with specified values for the closed loop damping parameters and frequencies. The dynamic response of the optimum designs for an initial disturbance is compared.

Khot, N. S.↗
NASA NTRS1988

Active control of tiltrotor blade in-plane loads during maneuvers

The origin of one/rev rotor aerodynamic loads which arise in tiltrotor aircraft during airplane-mode high speed pull-up and push-over maneuvers is examined using a coupled rotor/fuselage dynamic simulation. A modified eigenstructure assignment technique is used to design a controller which alleviates the in-plane loads during high pitch rate maneuvers. The controller utilizes rotor cyclic pitch inputs to restructure the aircraft short period and phugoid responses in order to achieve the coupling between pitch rate and rotor flapping responses which minimizes the rotor aerodynamic loading. Realistic time delays in the feedback path are considered during the controller design. Stability robustness in the presence of high frequency modeling errors is ensured through the use of singular value analysis.

Miller, David G.↗
NASA NTRS1990

Geodetic and oceanographic results from the analysis of 1 year of Geosat data

The radial error model of Engelis (1987) is extended using the altimeter data obtained by the Geosat Exact Repeat Mission for simultaneous measurements of the stationary sea surface topography and geopotential coefficients. It is shown that the proper utilization of the Geosat altimeter data significantly improved the quality of field modeling at wave numbers by providing, simultaneously, the solution for improved orbits and the oceanographic information on the global scale. A new set of Geosat geophysical data records with the improved orbits was created, which also contains the values of the geoid undulation computed from a recent spherical harmonic expansion to degree 360.

Denker, Heiner↗
NASA NTRS1990

High-accuracy Mars approach navigation with radio metric and optical data

The aerocapture of a space vehicle on hyperbolic approach to Mars results in tight navigation requirements at atmospheric entry. The purpose of this paper is to examine several different methods for approach navigation and to determine what accuracies are possible. The methods are broken into four groups as follows (1) navigation with only Deep Space Network (DSN) tracking of the approach vehicle, (2) navigation with the DSN plus ranging between the approach vehicle and spacecraft in orbit about Mars, (3) navigation with the DSN plus optical data involving the Martian moons, and (4) navigation with DSN range data and differenced range data involving the approach spacecraft and orbiters at Mars. If the current modeling errors that affect earth-based radio metric data, such as errors in tracking station locations, the Martian ephemeris, and differences in the quasar and planetary coordinate frames, are improved, then perhaps earth-based tracking could meet the entry error requirements imposed by aerocapture. If not, then the other three options of intervehicular range, optical data, or differenced range provide highly accurate entry knowledge at least twelve hours before entry.

Konopliv, Alex↗
NASA NTRS1990

Orthogonal series generalized likelihood ratio test for failure detection and isolation

A new failure detection and isolation algorithm for linear dynamic systems is presented. This algorithm, the Orthogonal Series Generalized Likelihood Ratio (OSGLR) test, is based on the assumption that the failure modes of interest can be represented by truncated series expansions. This assumption leads to a failure detection algorithm with several desirable properties. Computer simulation results are presented for the detection of the failures of actuators and sensors of a C-130 aircraft. The results show that the OSGLR test generally performs as well as the GLR test in terms of time to detect a failure and is more robust to failure mode uncertainty. However, the OSGLR test is also somewhat more sensitive to modeling errors than the GLR test.

Hall, Steven R.↗
NASA NTRS1989

Learning control for slewing of a flexible panel

This paper studies the applicability of a discrete-time learning control method to the slewing control of a large flexible panel. Among the issues discussed are feasibility of the desired trajectories and their specification schemes, learning control by linear feedback, limitation of the actuator device output, and robustness to parameter changes or modeling errors associated with the chosen learning control design. To demonstrate the effectiveness of learning control, the system is designed with a proportional controller of the base angle only. Then application of the learning control is shown to make the system learn quickly to achieve the desired slewing without residual vibration at the end of the maneuver. Simulation results are reported and discussed.

Phan, M.↗
NASA NTRS1990

Robust control of an active precision truss structure

A description is given of the efforts in control of an active precision truss structure experiment. The control objective is to provide vibration suppression to selected modes of the structure subject to a bandlimited disturbance and modeling errors. Based on performance requirements and an uncertainty description, several control laws using the H-infinity optimization method are synthesized. The controllers are implemented on the experimental facility. Preliminary experimental results are presented.

Chu, C. C.↗
NASA NTRS1991

Collision avoidance sensor skin

The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

Source record↗
NASA NTRS1991

Calibration of a polarimetric imaging SAR

Calibration of polarimetric imaging Synthetic Aperture Radars (SAR's) using point calibration targets is discussed. The four-port network calibration technique is used to describe the radar error model. The polarimetric ambiguity function of the SAR is then found using a single point target, namely a trihedral corner reflector. Based on this, an estimate for the backscattering coefficient of the terrain is found by a deconvolution process. A radar image taken by the JPL Airborne SAR (AIRSAR) is used for verification of the deconvolution calibration method. The calibrated responses of point targets in the image are compared both with theory and the POLCAL technique. Also, response of a distributed target are compared using the deconvolution and POLCAL techniques.

Sarabandi, K.↗
NASA NTRS1992

Sensor filter designs for large flexible spacecraft

Traditional control methods may excite flexible modes causing degraded performance or instability of large flexible space structures (LFSS). Control techniques developed for control of LFSS requires a numerical model of the structure and some knowledge of model error. This will be increasingly difficult with the complex space structures planned for the future. If filters could be used to condition the sensor output, control design would be less demanding. This paper is presented in viewgraph format.

Nimmo, Nancy A.↗