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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 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Design and performance comparison of fuzzy logic based tracking controllers

Several camera tracking controllers based on fuzzy logic principles have been designed and tested in software simulation in the software technology branch at the Johnson Space Center. The fuzzy logic based controllers utilize range measurement and pixel positions from the image as input parameters and provide pan and tilt gimble rate commands as output. Two designs of the rulebase and tuning process applied to the membership functions are discussed in light of optimizing performance. Seven test cases have been designed to test the performance of the controllers for proximity operations where approaches like v-bar, fly-around and station keeping are performed. The controllers are compared in terms of responsiveness, and ability to maintain the object in the field-of-view of the camera. Advantages of the fuzzy logic approach with respect to the conventional approach have been discussed in terms of simplicity and robustness.

Lea, Robert N.↗
NASA NTRS2006

Tracking Positions and Attitudes of Mars Rovers

The Surface Attitude Position and Pointing (SAPP) software, which runs on computers aboard the Mars Exploration Rovers, tracks the positions and attitudes of the rovers on the surface of Mars. Each rover acquires data on attitude from a combination of accelerometer readings and images of the Sun acquired autonomously, using a pointable camera to search the sky for the Sun. Depending on the nature of movement commanded remotely by operators on Earth, the software propagates attitude and position by use of either (1) accelerometer and gyroscope readings or (2) gyroscope readings and wheel odometry. Where necessary, visual odometry is performed on images to fine-tune the position updates, particularly on high-wheel-slip terrain. The attitude data are used by other software and ground-based personnel for pointing a high-gain antenna, planning and execution of driving, and positioning and aiming scientific instruments.

Ali, Khaled↗
NASA NTRS2006

Computing for Aiming a Spaceborne Bistatic-Radar Transmitter

BISTAT is a computer program for use in aiming a spaceborne bistatic-radar transmitting antenna at a remote planet that has an atmosphere, such that after refraction by the atmosphere and reflection from the surface of the planet, the radar signal travels toward a receiver on Earth. BISTAT includes an algorithm that neglects atmospheric refraction and calculates a specular-reflection point for a spacecraft at a given location. The specular-reflection point is then used as an initial guess for a modified limb-track algorithm that takes atmospheric refraction into account. The output of BISTAT for all spacecraft positions of interest constitutes a pointing profile; the output data are in the form of an inertial-vector file and a Doppler-residual file. The inertial-vector file is used to command the attitude of the spacecraft; the Doppler-residual file is used to determine a downlink frequency file for the receiver.

Rappaport, Nicole↗
NASA NTRS2015

Evaluating Performance of UAS Detect-And-Avoid System Using a Fast-Time Simulation Tool

Most unmanned aircraft systems will be required to be equipped with a Detect-and-Avoid (DAA) system. The surveillance performance of the DAA system to detect and track intruder aircraft will depend on the encounter geometries that unmanned aircraft are expected to have with other aircraft in the airspace. The performance of DAA alerting and avoidance system is also dependent on the timeliness of alerting for UAS pilots to give a sufficient time to determine and command a resolution maneuver to avoid well clear separation violations. This presentation introduces general background of UAS DAA systems and concept of well clear separation standard to satisfy see and avoid regulations. The presentation shows the several UAS mission profiles and analysis of the encounter geometries that were simulated using historical VFR traffic data and some proposed UAS missions. This presentation introduces several potential metrics for evaluating the performance of a DAA system and shows the results that measured through fast-time simulation with traffic scenarios that include NAS-wide VFR manned aircraft and IFR UAS flights. At the end, some research areas will be briefly discussed.

UAS↗
NASA NTRS1985

Directional handling qualities requirements for nap of the earth (NOE) tasks

A piloted simulator experiment has been conducted to ascertain the directional axis handling requirements of hover and below 40-kt tasks of a scout/attack helicopter, with attention to such light helicopter configurations as those being considered for the 'LHX' program. Two types of yaw stability and control augmentation system were implemented: one consisted of a washed-out yaw rate feedback and shaped control unit, while the other involved a yaw rate command heading-hold system. Experiment results indicate that rotorcraft configurations with high directional gust sensitivity require greater minimum yaw damping to maintain satisfactory handling qualities in nap of the earth flight. Yaw damping and control response are critical handling qualities parameters in air-to-air target acquisition and tracking.

Bivens, C. C.↗
NASA NTRS1992

An analysis of the Hubble Space Telescope fine guidance sensor Fine Lock mode

There are two guiding modes of the Hubble Space Telescope used for the acquisition of astronomical data by one of its six scientific instruments. The more precise one is called Fine Lock. Command and control problems in the on-board electronics, compounded by the aberrations in the main optics, has limited routinely successful Fine Lock to brighter stars, V less than 13.0 mag, instead of fulfilling its prelaunch goal of V = 14.5 mag. Consequently, the less precise guiding mode of Coarse Track (about 25 milliarcsecond in practice) has to be used fairly frequently. Indeed, almost half of the celestial hemisphere has stars too faint to support guidance in the Fine Lock mode. Hence, some of the scientific observations to have been made with the Hubble Space Telescope will be compromised. In this paper a report on the only realistic or extensive simulations of the Fine Lock guidance mode is presented. The theoretical analysis underlying the Monte Carlo experiments and the numerical computations show that the control electronics have significant limitations and how to adjust the various control parameters in an attempt to extend Fine Lock guiding performance back to V - 14.0 mag.

Taff, L. G.↗
NASA NTRS1991

Controls for space structures

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.

Balas, Mark↗
NASA NTRS1994

Design and evaluation of a Stochastic Optimal Feed-forward and Feedback Technology (SOFFT) flight control architecture

This paper describes the design and evaluation of a stochastic optimal feed-forward and feedback technology (SOFFT) control architecture with emphasis on the feed-forward controller design. The SOFFT approach allows the designer to independently design the feed-forward and feedback controllers to meet separate objectives and then integrate the two controllers. The feed-forward controller has been integrated with an existing high-angle-of-attack (high-alpha) feedback controller. The feed-forward controller includes a variable command model with parameters selected to satisfy level 1 flying qualities with a high-alpha adjustment to achieve desired agility guidelines, a nonlinear interpolation approach that scales entire matrices for approximation of the plant model, and equations for calculating feed-forward gains developed for perfect plant-model tracking. The SOFFT design was applied to a nonlinear batch simulation model of an F/A-18 aircraft modified for thrust vectoring. Simulation results show that agility guidelines are met and that the SOFFT controller filters undesired pilot-induced frequencies more effectively during a tracking task than a flight controller that has the same feedback control law but does not have the SOFFT feed-forward control.

Ostroff, Aaron J.↗
NASA NTRS2008

NASA 2007 Western States Fire Missions (WSFM)

This viewgraph presentation describes the Western states Fire Missions (WSFM) that occurred in 2007. The objectives of this mission are: (1) Demonstrate capabilities of UAS to overfly and collect sensor data on widespread fires throughout Western US. (1) Demonstrate long-endurance mission capabilities (20-hours+). (2) Image multiple fires (greater than 4 fires per mission), to showcase extendable mission configuration and ability to either linger over key fires or station over disparate regional fires. (3) Demonstrate new UAV-compatible, autonomous sensor for improved thermal characterization of fires. (4) Provide automated, on-board, terrain and geo-rectified sensor imagery over OTH satcom links to national fire personnel and Incident commanders. (5) Deliver real-time imagery to (within 10-minutes of acquisition). (6) Demonstrate capabilities of OTS technologies (GoogleEarth) to serve and display mission-critical sensor data, coincident with other pertinent data elements to facilitate information processing (WX data, ground asset data, other satellite data, R/T video, flight track info, etc).

Buoni, Greg↗
NASA NTRS2017

Effect of Angle of Attack on Slope Climbing Performance

Ascending steep slopes is often a very difficult challenge for off-road vehicles, whether on Earth or on extraterrestrial bodies. This challenge is even greater if the surface consists of loose granular soil that does not provide much shear strength. This study investigated how the path at which a vehicle traverses a slope, specifically the angle that it is commanded to drive relative to the base of the hill (the angle of attack), can affect its performance. A vehicle was driven in loose sand at slope angles up to 15 degrees and angles of attack ranging from 10 to 90 degrees. A novel photogrammetry technique was implemented to both track vehicle motion and create a three-dimensional profile of the terrain. This allowed for true wheel sinkage measurements. The study showed that though low angles of attack result in lower wheel slip and sinkage, the efficiency of the vehicles uphill motion increased at higher angles of attack. For slopes up to 15 degrees, a 90 degree angle of attack provided the greatest likelihood of successful ascent.

wheel↗
NASA NTRS1984

Future interactive data systems

The information and control requirements of the investigator-users of future free-flying, platform-based, or Space Station-based scientific experiments are assessed, and the implications of these requirements for the design of the information systems are discussed. The principal requirements include near-real-time interaction with the payload, distributed or remote payload command and control, rapid access to quick-look data, flexibility of payload command sequences, on-demand uplink-downlink availability, system transparency, and modular design to facilitate replacement of system components. Current developments in systems architecture such as increased use of onboard microprocessors to select and preprocess data and transmit autonomous streams directly to the user, standardization of interfaces, and the NASA Tracking and Data Relay Satellite System are characterized, and block diagrams of present and future systems are provided.

Bracken, P. A.↗
NASA NTRS1987

Navigation of spacecraft on deep space missions

The control of deep mission spacecraft by computing and signaling to the spacecraft a series of propulsive, velocity correction commands which maneuver the craft to its desired course is examined. The technical elements of the global navigation system (measurement, communications, computation, and propulsion) are described. The ground-computing facilities used to navigate spacecraft on deep space missions consist of computer and software systems used to compute orbits from radio tracking and on-board optical image data (radio, Doppler, and VLBI measurements). The accuracy of these measurements is evaluated, and the modeling of the data is discussed. Examples concerned with the navigation of Voyager and Galileo are presented.

Jordan, James F.↗
NASA NTRS1990

Learning control for minimizing a quadratic cost during repetitions of a task

In many applications, control systems are asked to perform the same task repeatedly. Learning control laws have been developed over the last few years that allow the controller to improve its performance each repetition, and to converge to zero error in tracking a desired trajectory. This paper generates a new type of learning control law that learns to minimize a quadratic cost function for tracking. Besides being of interest in its own right, this objective alleviates the need to specify a desired trajectory that can actually be performed by the system. The approach used here is to adapt appropriate methods from numerical optimization theory in order to produce learning control algorithms that adjust the system command from repetition to repetition in order to converge to the quadratic cost optimal trajectory.

Longman, Richard W.↗
NASA NTRS2004

Orbiter Interface Unit and Early Communication System

This report describes the Orbiter Interface Unit (OIU) and the Early Communication System (ECOMM), which are systems of electronic hardware and software that serve as the primary communication links for the International Space Station (ISS). When a space shuttle is at or near the ISS during assembly and resupply missions, the OIU sends groundor crew-initiated commands from the space shuttle to the ISS and relays telemetry from the ISS to the space shuttle s payload data systems. The shuttle then forwards the telemetry to the ground. In the absence of a space shuttle, the ECOMM handles communications between the ISS and Johnson Space Center via the Tracking and Data Relay Satellite System (TDRSS). Innovative features described in the report include (1) a "smart data-buffering algorithm that helps to preserve synchronization (and thereby minimize loss) of telemetric data between the OIU and the space-shuttle payload data interleaver; (2) an ECOMM antenna-autotracking algorithm that selects whichever of two phased-array antennas gives the best TDRSS signal and electronically steers that antenna to track the TDRSS source; and (3) an ECOMM radiation-latchup controller, which detects an abrupt increase in current indicative of radiation-induced latchup and temporarily turns off power to clear the latchup, restoring power after the charge dissipates.

Cobbs, Ronald M.↗
NASA NTRS1976

Probing the earth's gravity field using Satellite-to-Satellite Tracking (SST)

Satellite-to-Satellite (SST) tests, namely: (a) the ATS-6/GEOS-3 and (b) the ATS-6/Apollo-Soyuz experiment and some of the results obtained are described. The main purpose of these two experiments was first to track via ATS-6 the GEOS-3 as well as the Apollo-Soyuz and to use these tracking data to determine (a) both orbits, that is, ATS-6, GEOS-3 and/or the Apollo-Soyuz orbits at the same time; (b) each of these orbits alone; and (c) test the ATS-6/GEOS-3 and/or Apollo-Soyuz SST link to study local gravity anomalies; and, second, to test communications, command, and data transmission from the ground via ATS-6 to these spacecraft and back again to the ground. The Apollo-Soyuz Geodynamics Experiment is discussed in some detail.

Vonbun, F. O.↗
NASA NTRS1975

Perceived visual motion as effective stimulus to pursuit eye movement system

Human eye tracking of a foveal afterimage during angular head oscillation in the dark produced smooth eye movements exceeding those for normal vestibular nystagmus, and a reduction in the frequency of the fast phase component of nystagmus eye movements. These results may support a closed loop extension of the corollary discharge theory, with oculomotor commands based on perceived object velocity.

Yasui, S.↗
NASA NTRS1989

Design Of Combined Stochastic Feedforward/Feedback Control

Methodology accommodates variety of control structures and design techniques. In methodology for combined stochastic feedforward/feedback control, main objectives of feedforward and feedback control laws seen clearly. Inclusion of error-integral feedback, dynamic compensation, rate-command control structure, and like integral element of methodology. Another advantage of methodology flexibility to develop variety of techniques for design of feedback control with arbitrary structures to obtain feedback controller: includes stochastic output feedback, multiconfiguration control, decentralized control, or frequency and classical control methods. Control modes of system include capture and tracking of localizer and glideslope, crab, decrab, and flare. By use of recommended incremental implementation, control laws simulated on digital computer and connected with nonlinear digital simulation of aircraft and its systems.

Halyo, Nesim↗
NASA NTRS1992

Experimental tests of a superposition hypothesis to explain the relationship between the vestibuloocular reflex and smooth pursuit during horizontal combined eye-head tracking in humans

1. We used a modeling approach to test the hypothesis that, in humans, the smooth pursuit (SP) system provides the primary signal for cancelling the vestibuloocular reflex (VOR) during combined eye-head tracking (CEHT) of a target moving smoothly in the horizontal plane. Separate models for SP and the VOR were developed. The optimal values of parameters of the two models were calculated using measured responses of four subjects to trials of SP and the visually enhanced VOR. After optimal parameter values were specified, each model generated waveforms that accurately reflected the subjects' responses to SP and vestibular stimuli. The models were then combined into a CEHT model wherein the final eye movement command signal was generated as the linear summation of the signals from the SP and VOR pathways. 2. The SP-VOR superposition hypothesis was tested using two types of CEHT stimuli, both of which involved passive rotation of subjects in a vestibular chair. The first stimulus consisted of a "chair brake" or sudden stop of the subject's head during CEHT; the visual target continued to move. The second stimulus consisted of a sudden change from the visually enhanced VOR to CEHT ("delayed target onset" paradigm); as the vestibular chair rotated past the angular position of the stationary visual stimulus, the latter started to move in synchrony with the chair. Data collected during experiments that employed these stimuli were compared quantitatively with predictions made by the CEHT model. 3. During CEHT, when the chair was suddenly and unexpectedly stopped, the eye promptly began to move in the orbit to track the moving target. Initially, gaze velocity did not completely match target velocity, however; this finally occurred approximately 100 ms after the brake onset. The model did predict the prompt onset of eye-in-orbit motion after the brake, but it did not predict that gaze velocity would initially be only approximately 70% of target velocity. One possible explanation for this discrepancy is that VOR gain can be dynamically modulated and, during sustained CEHT, it may assume a lower value. Consequently, during CEHT, a smaller-amplitude SP signal would be needed to cancel the lower-gain VOR. This reduction of the SP signal could account for the attenuated tracking response observed immediately after the brake. We found evidence for the dynamic modulation of VOR gain by noting differences in responses to the onset and offset of head rotation in trials of the visually enhanced VOR.(ABSTRACT TRUNCATED AT 400 WORDS).

Non-NASA Center↗