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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 703 records · Page 39
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗
NASA NTRS1989

Discrete-time adaptive control of robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.

Tarokh, M.↗
NASA NTRS1989

Asynchronous multilevel adaptive methods for solving partial differential equations on multiprocessors - Performance results

The fast adaptive composite grid method (FAC) is an algorithm that uses various levels of uniform grids (global and local) to provide adaptive resolution and fast solution of PDEs. Like all such methods, it offers parallelism by using possibly many disconnected patches per level, but is hindered by the need to handle these levels sequentially. The finest levels must therefore wait for processing to be essentially completed on all the coarser ones. A recently developed asynchronous version of FAC, called AFAC, completely eliminates this bottleneck to parallelism. This paper describes timing results for AFAC, coupled with a simple load balancing scheme, applied to the solution of elliptic PDEs on an Intel iPSC hypercube. These tests include performance of certain processes necessary in adaptive methods, including moving grids and changing refinement. A companion paper reports on numerical and analytical results for estimating convergence factors of AFAC applied to very large scale examples.

Mccormick, S.↗
NASA NTRS1989

Adaptive control of linearizable systems

Initial results are reported regarding the adaptive control of minimum-phase nonlinear systems which are exactly input-output linearizable by state feedback. Parameter adaptation is used as a technique to make robust the exact cancellation of nonlinear terms, which is called for in the linearization technique. The application of the adaptive technique to control of robot manipulators is discussed. Only the continuous-time case is considered; extensions to the discrete-time and sampled-data cases are not obvious.

Sastry, S. Shankar↗
NASA NTRS1989

Adaptive narrow-band interference rejection in a DS spread-spectrum intercept receiver using transform domain signal processing techniques

An intercept receiver which uses a transform-domain-processing filter is described. This receiver detects direct-sequence BPSK spread-spectrum signals in the presence of narrowband interference by employing adaptive narrowband interference rejection techniques. The improvement in the system performance over that of conventional detection techniques is shown by presenting the results of experimental measurements of probability of detection versus false alarm for an enhanced total power detector. Also presented are certain results corresponding to detection of the spectral lines generated at twice the carrier frequency, wherein the goal is often not just signal detection, but also carrier frequency estimation. The receiver uses one of two transform-domain-processing techniques for adaptive narrowband interference rejection. In the first technique, the narrowband interference is detected and excised in the transform domain by using an adaptive notch filter. In the second technique, the interference is suppressed using soft-limiting in the transform domain.

Gevargiz, John↗
NASA NTRS1990

Experimental study on direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a direct adaptive control scheme on a PUMA 560 industrial robot is discussed. The design theory for direct adaptive control of manipulators is outlined and the test facility and software are described. Results are presented from the experiments on the simultaneous control of all of the six joint angles and control of the end-effector position and orientation of the robot. Also, the possible applications of the direct adaptive control scheme are considered.

Seraji, H.↗
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 NTRS1990

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗
NASA NTRS1990

Interactive grid adaption

An interactive grid adaption method is developed, discussed and applied to the unsteady flow about an oscillating airfoil. The user is allowed to have direct interaction with the adaption of the grid as well as the solution procedure. Grid points are allowed to adapt simultaneously to several variables. In addition to the theory and results, the hardware and software requirements are discussed.

Abolhassani, Jamshid S.↗
NASA NTRS1991

Spatial adaption procedures on unstructured meshes for accurate unsteady aerodynamic flow computation

Spatial adaption procedures for the accurate and efficient solution of steady and unsteady inviscid flow problems are described. The adaption procedures were developed and implemented within a two-dimensional unstructured-grid upwind-type Euler code. These procedures involve mesh enrichment and mesh coarsening to either add points in a high gradient region or the flow or remove points where they are not needed, respectively, to produce solutions of high spatial accuracy at minimal computational costs. A detailed description is given of the enrichment and coarsening procedures and comparisons with alternative results and experimental data are presented to provide an assessment of the accuracy and efficiency of the capability. Steady and unsteady transonic results, obtained using spatial adaption for the NACA 0012 airfoil, are shown to be of high spatial accuracy, primarily in that the shock waves are very sharply captured. The results were obtained with a computational savings of a factor of approximately fifty-three for a steady case and as much as twenty-five for the unsteady cases.

Rausch, Russ D.↗
NASA NTRS1991

Indirect techniques for adaptive input-output linearization of non-linear systems

A technique of indirect adaptive control based on certainty equivalence for input output linearization of nonlinear systems is proven convergent. It does not suffer from the overparameterization drawbacks of the direct adaptive control techniques on the same plant. This paper also contains a semiindirect adaptive controller which has several attractive features of both the direct and indirect schemes.

Teel, Andrew↗
NASA NTRS1991

An experimental SMI adaptive antenna array simulator for weak interfering signals

An experimental sample matrix inversion (SMI) adaptive antenna array for suppressing weak interfering signals is described. The experimental adaptive array uses a modified SMI algorithm to increase the interference suppression. In the modified SMI algorithm, the sample covariance matrix is redefined to reduce the effect of thermal noise on the weights of an adaptive array. This is accomplished by subtracting a fraction of the smallest eigenvalue of the original covariance matrix from its diagonal entries. The test results obtained using the experimental system are compared with theoretical results. The two show a good agreement.

Dilsavor, Ronald S.↗
NASA NTRS1991

Spatial adaption procedures on unstructured meshes for accurate unsteady aerodynamic flow computation

Spatial adaption procedures for the accurate and efficient solution of steady and unsteady inviscid flow problems are described. The adaption procedures were developed and implemented within a two-dimensional unstructured-grid upwind-type Euler code. These procedures involve mesh enrichment and mesh coarsening to either add points in high gradient regions of the flow or remove points where they are not needed, respectively, to produce solutions of high spatial accuracy at minimal computational cost. The paper gives a detailed description of the enrichment and coarsening procedures and presents comparisons with alternative results and experimental data to provide an assessment of the accuracy and efficiency of the capability. Steady and unsteady transonic results, obtained using spatial adaption for the NACA 0012 airfoil, are shown to be of high spatial accuracy, primarily in that the shock waves are very sharply captured. The results were obtained with a computational savings of a factor of approximately fifty-three for a steady case and as much as twenty-five for the unsteady cases.

Rausch, Russ D.↗
NASA NTRS1991

The analysis and large-angle control of a flexible beam using an adaptive truss

This preliminary study of an adaptive truss slewing problem investigates the static positioning of an adaptive truss at slewed orientations and the dynamic vibrations of an attached flexible beam. A nonlinear model of an adaptive truss and flexible beam is derived. Linear control laws are developed and simulated for various truss configurations. Results show the linear control laws developed at a slewed configuration perform best at that configuration.

Warrington, Thomas J.↗
NASA NTRS1990

Adaptive state estimation for control of flexible structures

This paper proposes a new approach of obtaining adaptive state estimation of a system in the presence of unknown system disturbances and measurement noise. In the beginning, a non-optimal Kalman filter with arbitrary initial guess for the process and measurement noises is implemented. At the same time, an adaptive transversal predictor (ATP) based on the recursive least-squares (RLS) algorithm is used to yield optimal one- to p- step-ahead output predictions using the previous input/output data. Referring to these optimal predictions the Kalman filter gain is updated and the performance of the state estimation is thus improved. If forgetting factor is implemented in the recursive least-squares algorithm, this method is also capable of dealing with the situation when the noise statistics are slowly time-varying. This feature makes this new approach especially suitable for the control of flexible structures. A numerical example demonstrates the feasibility of this real time adaptive state estimation method.

Chen, Chung-Wen↗
NASA NTRS1991

Grid convergence for adaptive methods

The ability of adaptive methods to obtain accurate results is examined using two different Euler solvers for a near-sonic flow containing several important flow features. It is shown that the accuracy obtained can be greatly affected by the lack of resolution of smooth portions of the flow caused by adapting only to the more prevalent flow features such as discontinuities. In particular, common methods of adaptation can lead to results in which shocks are well resolved but whose locations are highly inaccurate due to the lack of resolution of the smoother regions. An explanation for this behavior is given and a correction is proposed.

Warren, Gary P.↗
NASA NTRS1991

Adaptive finite element analysis of hypersonic laminar flows for aerothermal load predictions

The use of an adaptive mesh refinement procedure for analyzing hypersonic laminar flows with application to aerothermal load predictions is described. The adaptation procedure, which uses both quadrilateral and triangular elements, is implemented with the multistep Galerkin-Runge-Kutta scheme. Elements that lie in regions of strong gradients are refined based on indicators to obtain better definition of flow features. The effectiveness of the adaptive procedure is demonstrated by modeling Mach 11.7 flow over a 15-deg ramp. Numerical results are compared with predictions of strong interaction theories and experimental data. Surface quantities such as heating rates and pressure loads, critical for the effective design of high-speed vehicles, are found to be in good agreement with experimental values.

Ramakrishnan, R.↗
NASA NTRS1991

Adaptive control of propellant slosh for a launch vehicle with multiple tanks

This paper discusses the use of an adaptive system to stabilize a multi-tank launch vehicle with sloshable fuel. The adaptive system utilizes a sensor to measure the fluid slosh angle, a recursive-least-squares estimator to estimate the natural frequency of the sloshing fuel, and a linear filter which stabilizes the unstable fuel slosh using the frequency estimate. Single-input and multiinput estimators were investigated. The time-varying complexity of the slosh control loop keeps the system persistently excited through flight, even though the attitude is controlled by a conventional PID controller. For the first portion of flight, the adaptive system maintains stability. A modification is proposed for latter portions of flight. The approach requires no tank baffles or partitions.

Saugen, John D.↗