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At least 667 records · Page 37

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NASA NTRS1987

An adaptive finite element scheme for the Euler and Navier-Stokes equations

The implementation of two explicit finite element schemes for the solution of the compressible Euler and Navier-Stokes equations is presented. The schemes can be employed with general unstructured triangular meshes in two dimensions. Either scheme can therefore be used as the basic solver in a solution adaptive mesh procedure in a direct manner. The particular adaptive approach which is advocated here is intended for the solution of steady state problems only and involves an adaptive regeneration of the grid at prescribed stages during the false transient. The grid regeneration is accomplished by a mesh generator which has the capability of generating triangular grids over computational domains of arbitrary shape. The procedure is illustrated by solving transonic flows over multi-airfoil configurations and high speed flows, involving shock interactions, past circular cylinders.

Morgan, K.↗

NASA NTRS1987

Wall interference tests of a CAST 10-2/DOA 2 airfoil in an adaptive-wall test section

A wind-tunnel investigation of a CAST 10-2/DOA 2 airfoil model has been conducted in the adaptive-wall test section of the Langley 0.3-Meter Transonic Cryogenic Tunnel (TCT) and in the National Aeronautical Establishment High Reynolds Number Two-Dimensional Test Facility. The primary goal of the tests was to assess two different wall-interference correction techniques: adaptive test-section walls and classical analytical corrections. Tests were conducted over a Mach number range from 0.3 to 0.8 and over a chord Reynolds number range from 6 million to 70 million. The airfoil aerodynamic characteristics from the tests in the 0.3-m TCT have been corrected for wall interference by the movement of the adaptive walls. No additional corrections for any residual interference have been applied to the data, to allow comparison with the classically corrected data from the same model in the conventional National Aeronautical Establishment facility. The data are presented graphically in this report as integrated force-and-moment coefficients and chordwise pressure distributions.

Mineck, Raymond E.↗

NASA NTRS1988

Dual adaptive control: Design principles and applications

The design of an actively adaptive dual controller based on an approximation of the stochastic dynamic programming equation for a multi-step horizon is presented. A dual controller that can enhance identification of the system while controlling it at the same time is derived for multi-dimensional problems. This dual controller uses sensitivity functions of the expected future cost with respect to the parameter uncertainties. A passively adaptive cautious controller and the actively adaptive dual controller are examined. In many instances, the cautious controller is seen to turn off while the latter avoids the turn-off of the control and the slow convergence of the parameter estimates, characteristic of the cautious controller. The algorithms have been applied to a multi-variable static model which represents a simplified linear version of the relationship between the vibration output and the higher harmonic control input for a helicopter. Monte Carlo comparisons based on parametric and nonparametric statistical analysis indicate the superiority of the dual controller over the baseline controller.

Mookerjee, Purusottam↗

NASA NTRS1988

An experimental study of an adaptive-wall wind tunnel

A series of adaptive wall ventilated wind tunnel experiments was carried out to demonstrate the feasibility of using the side wall pressure distribution as the flow variable for the assessment of compatibility with free air conditions. Iterative and one step convergence methods were applied using the streamwise velocity component, the side wall pressure distribution and the normal velocity component in order to investigate their relative merits. The advantage of using the side wall pressure as the flow variable is to reduce the data taking time which is one the major contributors to the total testing time. In ventilated adaptive wall wind tunnel testing, side wall pressure measurements require simple instrumentation as opposed to the Laser Doppler Velocimetry used to measure the velocity components. In ventilated adaptive wall tunnel testing, influence coefficients are required to determine the pressure corrections in the plenum compartment. Experiments were carried out to evaluate the influence coefficients from side wall pressure distributions, and from streamwise and normal velocity distributions at two control levels. Velocity measurements were made using a two component Laser Doppler Velocimeter system.

Celik, Zeki↗

NASA NTRS1987

Adaptive control strategies for cooperative dual-arm manipulators

Three strategies for adaptive control of cooperative dual-arm robots are discussed. Implementation of these adaptive controllers does not require the use of complex mathematical models of the arm dynamics or knowledge of the arm dynamic parameters or load parameters. These strategies have simple structures, and are computationally fast for on-line implementation with high sampling rates. In all three cases, the coupling effects between the arms through the load are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. Simulation results demonstrate the usefulness of the controllers.

Seraji, H.↗

NASA NTRS1988

Adaptive p-version based finite element formulations for thermal modeling/analysis of structural configurations

Adaptive p-version based hierarchical finite element formulations in conjunction with a posteriori error estimation concepts are described with emphasis on applicability for thermal modeling/analysis of structural configurations. The basic concepts and formulations of hierarchical p-versiion finite element for thermal analysis are first described. A posteriori error estimation features are utililzed to steer the process of adaptive refinement. Several configurations comprised of one-dimensional structures are evaluated to validate the applicability of the proposed formulations and to demonstrate the potential of the p-version adaptive formulations for thermal modeling/analysis. The methodology offers potential and promises to be an attractive alternative to conventional finite element thermal modeling/analysis approaches.

Tamma, Kumar K.↗

NASA NTRS1987

Adaptive identification and control for manipulators without using joint accelerations

The authors present a new scheme for the adaptive control of mechanical manipulators along with proof of convergence. Difficulties encountered in the input-error type adaptive controller are remedied by combining an explicit identifier with discrete time updates of the parameter values along with a computed torque type control law. The new scheme requires no matrix inversion with its consequent drain on the computational power of the controller. A discussion is presented of the dynamic model of a manipulator, a computed torque adaptive scheme, an input error identifier, and a hybrid identifier.

Hsu, Ping↗

NASA NTRS1988

Adaptive guidance for an aero-assisted boost vehicle

An adaptive guidance system incorporating dynamic pressure constraint is studied for a single stage to low earth orbit (LEO) aero-assist booster with thrust gimbal angle as the control variable. To derive an adaptive guidance law, cubic spline functions are used to represent the ascent profile. The booster flight to LEO is divided into initial and terminal phases. In the initial phase, the ascent profile is continuously updated to maximize the performance of the boost vehicle enroute. A linear feedback control is used in the terminal phase to guide the aero-assisted booster onto the desired LEO. The computer simulation of the vehicle dynamics considers a rotating spherical earth, inverse square (Newtonian) gravity field and an exponential model for the earth's atmospheric density. This adaptive guidance algorithm is capable of handling large deviations in both atmospheric conditions and modeling uncertainties, while ensuring maximum booster performance.

Pamadi, Bandu N.↗

NASA NTRS1988

Development of an adaptive LDV signal processor

Recent attempts at realization of a frequency domain signal processor exhibit practical drawbacks such as manual gain, filter and sampling adjustments, and simplistic adaptations of frequency domain techniques. This paper introduces an adaptive LDV signal processor, one which requires no operator intervention under any circumstances by adapting dynamically to burst characteristics, while surpassing all previous techniques in range and accuracy.

Baker, Glenn D.↗

NASA NTRS1989

Adaptive Telemetry Multiplexer

Telemetry-data-acquisition unit adjusted remotely to produce changes in sampling rate, sampling channels, measurement scale, and output-bias level. Functional configuration adapted to changing conditions or new requirements by distant operator over telemetry link. Reconfiguration done in real time, without removing equipment from service. Bus-interface unit accepts reprogramming commands and translates them for low-rate adaptive multiplexer. Reprogrammable equipment reduces need for spare parts, since not necessary to stock variety of hardware with fixed characteristics. Adaptive multiplexer performs well in tests, amplitude errors less than 0.5 percent, distortion less than 0.25 percent, and crosstalk and common-mode rejection indiscernible.

Sinderson, R. L.↗

NASA NTRS1987

An adaptive control scheme for a flexible manipulator

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Yang, T. C.↗

NASA NTRS1988

Three-dimensional self-adaptive grid method for complex flows

A self-adaptive grid procedure for efficient computation of three-dimensional complex flow fields is described. The method is based on variational principles to minimize the energy of a spring system analogy which redistributes the grid points. Grid control parameters are determined by specifying maximum and minimum grid spacing. Multidirectional adaptation is achieved by splitting the procedure into a sequence of successive applications of a unidirectional adaptation. One-sided, two-directional constraints for orthogonality and smoothness are used to enhance the efficiency of the method. Feasibility of the scheme is demonstrated by application to a multinozzle, afterbody, plume flow field. Application of the algorithm for initial grid generation is illustrated by constructing a three-dimensional grid about a bump-like geometry.

Djomehri, M. Jahed↗

NASA NTRS1988

Strategies for adding adaptive learning mechanisms to rule-based diagnostic expert systems

Rule-based diagnostic expert systems can be used to perform many of the diagnostic chores necessary in today's complex space systems. These expert systems typically take a set of symptoms as input and produce diagnostic advice as output. The primary objective of such expert systems is to provide accurate and comprehensive advice which can be used to help return the space system in question to nominal operation. The development and maintenance of diagnostic expert systems is time and labor intensive since the services of both knowledge engineer(s) and domain expert(s) are required. The use of adaptive learning mechanisms to increment evaluate and refine rules promises to reduce both time and labor costs associated with such systems. This paper describes the basic adaptive learning mechanisms of strengthening, weakening, generalization, discrimination, and discovery. Next basic strategies are discussed for adding these learning mechanisms to rule-based diagnostic expert systems. These strategies support the incremental evaluation and refinement of rules in the knowledge base by comparing the set of advice given by the expert system (A) with the correct diagnosis (C). Techniques are described for selecting those rules in the in the knowledge base which should participate in adaptive learning. The strategies presented may be used with a wide variety of learning algorithms. Further, these strategies are applicable to a large number of rule-based diagnostic expert systems. They may be used to provide either immediate or deferred updating of the knowledge base.

Stclair, D. C.↗

NASA NTRS1989

Hardware and operating features of the adaptive wall test section for the 0.3-meter transonic cryogenic tunnel

A 13- by 13-inch adaptive wall test section was installed in the Langley 0.3-Meter Transonic Cryogenic Tunnel circuit. This test section has four solid walls and is configured for two-dimensional airfoil testing. The top and bottom walls are flexible and movable, whereas the sidwalls are rigid and fixed. The test section has a turntable to support airfoil models, a survey mechanism to probe the model wake, and provisions for a sidewall boundary-layer-control system. Details of the adaptive wall test section, the tunnel circuit modifications, the supporting instrumentation, the monitoring and control hardware, and the wall adaptation strategy are discussed. Sample results of shakedown tests with the test section empty and with an airfoil installed are also included.

Mineck, Raymond E.↗

NASA NTRS1987

A survey of adaptive control technology in robotics

Previous work on the adaptive control of robotic systems is reviewed. Although the field is relatively new and does not yet represent a mature discipline, considerable attention has been given to the design of sophisticated robot controllers. Here, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review.

Tosunoglu, S.↗

NASA NTRS1987

Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.

Skowronski, J. M.↗

NASA NTRS1988

Adaptive control techniques for the SCOLE configuration

Two adaptive controllers designed for the Spacecraft Control Laboratory Experiment (SCOLE) at NASA Langley Research Center are discussed. The first controller is an adaptive model following variable structure controller and the second is an indirect LQ adaptive controller. For each technique, the design of the controller is outlined and simulation results are presented. Plans for future studies are also discussed.

Ossman, K.↗

NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗