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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Cetinkunt, Sabri↗
NASA NTRS1989

Visually guided control of self motion

A workshop entitled 'Visually Guided Control of Movement' was held at NASA Ames Research Center on June 26 - July 14, 1989. The workshop brought together individuals with diverse backgrounds related to the areas of the visual perception and control of motion. During the workshop, participants designed and conducted experiments using NASA Ames flight simulation research facilities. These studies contrasted participants' alternative theoretical approaches to the visual control of self motion. Panel members, drawn from the workshop's participants, will discuss their approaches to the study of the control of self motion and will present interpretations of the outcomes of the workshop.

Hettinger, Lawrence J.↗
NASA NTRS2000

Magnetically Actuated Propellant Orientation Experiment, Controlling Fluid Motion With Magnetic Fields in a Low-Gravity Environment

This report details the results of a series of fluid motion experiments to investigate the use of magnets to orient fluids in a low-gravity environment. The fluid of interest for this project was liquid oxygen (LO2) since it exhibits a paramagnetic behavior (is attracted to magnetic fields). However, due to safety and handling concerns, a water-based ferromagnetic mixture (produced by Ferrofluidics Corporation) was selected to simplify procedures. Three ferromagnetic fluid mixture strengths and a nonmagnetic water baseline were tested using three different initial fluid positions with respect to the magnet. Experiment accelerometer data were used with a modified computational fluid dynamics code termed CFX-4 (by AEA Technologies) to predict fluid motion. These predictions compared favorably with experiment video data, verifying the code's ability to predict fluid motion with and without magnetic influences. Additional predictions were generated for LO2 with the same test conditions and geometries used in the testing. Test hardware consisted of a cylindrical Plexiglas tank (6-in. bore with 10-in. length), a 6,000-G rare Earth magnet (10-in. ring), three-axis accelerometer package, and a video recorder system. All tests were conducted aboard the NASA Reduced-Gravity Workshop, a KC-135A aircraft.

Martin, J. J.↗
NASA NTRSDate not supplied

HelioSwarm: Relative Orbit Maintenance in Eccentric P/2 Lunar Resonant Orbit

Science missions employing multi-point measurements require planned and repeatable swarm geometries. Cis-lunar orbits enable heliophysics studies of solar wind but introduce new challenges in relative motion control. For a multi-satellite swarm in lunar-resonant orbit, insertion and maintenance maneuvers address orbit eccentricity and evolution, as well as three-body gravitational perturbations. Local Velocity-Normal-Conormal coordinates prove to be an effective framework for relative motion design and control. Parametric studies investigate maneuver placement efficiency in controlling relative motion in cis-lunar orbit.

Relative Motion↗
NASA NTRS1989

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

Vold, Havard I.↗
NASA NTRS1990

Decentralized digital adaptive control of robot motion

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Tarokh, M.↗
NASA NTRS1939

Theory of automatic control of airplanes

Methods of automatically controlling the airplane are reviewed. Equations for the controlled motion including inertia effects of the control are developed and methods of investigating the stability of the resulting fifth and higher order equations are presented. The equations for longitudinal and lateral motion with both ideal and non-ideal controls are developed in dimensionless form in terms of control parameters based on simple dynamic tests of the isolated control unit.

Weiss, Herbert K↗
NASA NTRS2019

System, Apparatus and Method for Pedal Control

An apparatus, method, and system for controlling motion in six degrees of freedom is described. The apparatus includes a support structure, a first pedal and a second pedal. A first set of three independent articulating mechanisms is operatively connected to the support structure and the first pedal. The first set of three independent articulating mechanisms, in combination, enable motion of the first pedal in three control axes corresponding to three discrete degrees of freedom. A second set of three independent articulating mechanisms, operatively connected to the second pedal, enable motion, in combination, in three control axes corresponding to a discrete second set of three degrees of freedom. The apparatus may also include first and second sensors configured to detect the motion of the first and second pedals.

Love, Stanley G.↗
NASA NTRS1998

A Method for Integrating Thrust-Vectoring and Actuated Forebody Strakes with Conventional Aerodynamic Controls on a High-Performance Fighter Airplane

A method, called pseudo controls, of integrating several airplane controls to achieve cooperative operation is presented. The method eliminates conflicting control motions, minimizes the number of feedback control gains, and reduces the complication of feedback gain schedules. The method is applied to the lateral/directional controls of a modified high-performance airplane. The airplane has a conventional set of aerodynamic controls, an experimental set of thrust-vectoring controls, and an experimental set of actuated forebody strakes. The experimental controls give the airplane additional control power for enhanced stability and maneuvering capabilities while flying over an expanded envelope, especially at high angles of attack. The flight controls are scheduled to generate independent body-axis control moments. These control moments are coordinated to produce stability-axis angular accelerations. Inertial coupling moments are compensated. Thrust-vectoring controls are engaged according to their effectiveness relative to that of the aerodynamic controls. Vane-relief logic removes steady and slowly varying commands from the thrust-vectoring controls to alleviate heating of the thrust turning devices. The actuated forebody strakes are engaged at high angles of attack. This report presents the forward-loop elements of a flight control system that positions the flight controls according to the desired stability-axis accelerations. This report does not include the generation of the required angular acceleration commands by means of pilot controls or the feedback of sensed airplane motions.

Lallman, Frederick J.↗
NASA NTRS1999

Helicopter Flight Simulation Motion Platform Requirements

To determine motion fidelity requirements, a series of piloted simulations was performed. Several key results were found. First, lateral and vertical translational platform cues had significant effects on fidelity. Their presence improved performance and reduced pilot workload. Second, yaw and roll rotational platform cues were not as important as the translational platform cues. In particular, the yaw rotational motion platform cue did not appear at all useful in improving performance or reducing workload. Third, when the lateral translational platform cue was combined with visual yaw rotational cues, pilots believed the platform was rotating when it was not. Thus, simulator systems can be made more efficient by proper combination of platform and visual cues. Fourth, motion fidelity specifications were revised that now provide simulator users with a better prediction of motion fidelity based upon the frequency responses of their motion control laws. Fifth, vertical platform motion affected pilot estimates of steady-state altitude during altitude repositioning. Finally, the combined results led to a general method for configuring helicopter motion systems and for developing simulator tasks that more likely represent actual flight. The overall results can serve as a guide to future simulator designers and to today's operators.

Schroeder, Jeffery Allyn↗
NASA NTRS1999

Transonic Dynamics Tunnel Force and Pressure Data Acquired on the HSR Rigid Semispan Model

This report describes the aerodynamic data acquired on the High Speed Research Rigid Semispan Model (HSR-RSM) during NASA Langley Transonic Dynamics Tunnel (TDT) Test 520 conducted from 18 March to 4 April, 1996. The purpose of this test was to assess the aerodynamic character of a rigid high speed civil transport wing. The wing was fitted with a single trailing edge control surface which was both steadily deflected and oscillated during the test to investigate the response of the aerodynamic data to steady and unsteady control motion. Angle-of-attack and control surface deflection polars at subsonic, transonic and low-supersonic Mach numbers were obtained in the tunnel?s heavy gas configuration. Unsteady pressure and steady loads data were acquired on the wing, while steady pressures were measured on the fuselage. These data were reduced using a variety of methods, programs and computer systems. The reduced data was ultimately compiled onto a CD-ROM volume which was distributed to HSR industry team members in July, 1996. This report documents the methods used to acquire and reduce the data, and provides an assessment of the quality, repeatability, and overall character of the aerodynamic data measured during this test.

Schuster, David M.↗
NASA NTRS2010

Visual Features Involving Motion Seen from Airport Control Towers

Visual motion cues are used by tower controllers to support both visual and anticipated separation. Some of these cues are tabulated as part of the overall set of visual features used in towers to separate aircraft. An initial analyses of one motion cue, landing deceleration, is provided as a basis for evaluating how controllers detect and use it for spacing aircraft on or near the surface. Understanding cues like it will help determine if they can be safely used in a remote/virtual tower in which their presentation may be visually degraded.

Ellis, Stephen R.↗