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All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

Minimization of Retinal Slip Cannot Explain Human Smooth-Pursuit Eye Movements

Existing models assume that pursuit attempts a direct minimization of retinal image motion or "slip" (e.g. Robinson et al., 1986; Krauzlis & Weisberger, 1989). Using occluded line-figure stimuli, we have previously shown that humans can accurately pursue stimuli for which perfect tracking does not zero retinal slip (Neurologic ARCO). These findings are inconsistent with the standard control strategy of matching eye motion to a target-motion signal reconstructed by adding retinal slip and eye motion, but consistent with a visual front-end which estimates target motion via a global spatio-temporal integration for pursuit and perception. Another possible explanation is that pursuit simply attempts to minimize slip perpendicular to the segments (and neglects parallel "sliding" motion). To resolve this, 4 observers (3 naive) were asked to pursue the center of 2 types of stimuli with identical velocity-space descriptions and matched motion energy. The line-figure "diamond" stimulus was viewed through 2 invisible 3 deg-wide vertical apertures (38 cd/m2 equal to background) such that only the sinusoidal motion of 4 oblique line segments (44 cd/m2 was visible. The "cross" was identical except that the segments exchanged positions. Two trajectories (8's and infinity's) with 4 possible initial directions were randomly interleaved (1.25 cycles, 2.5s period, Ax = Ay = 1.4 deg). In 91% of trials, the diamond appeared rigid. Correspondingly, pursuit was vigorous (mean Again: 0.74) with a V/H aspect ratio approx. 1 (mean: 0.9). Despite a valid rigid solution, the cross however appeared rigid in 8% of trials. Correspondingly, pursuit was weaker (mean Hgain: 0.38) with an incorrect aspect ratio (mean: 1.5). If pursuit were just minimizing perpendicular slip, performance would be the same in both conditions.

Stone, Leland S.↗
NASA NTRS1991

Aircraft Ship Operations

The interest in the use of shipborne aircraft is widespread among NATO countries. Major weapons systems like aircraft carriers with conventional fixed-wing aircraft, VSTOL aircraft or helicopters embarked, are operated by the United States, the United Kingdom, France, Italy and Spain. Nearly all NATO countries employ various classes of smaller ships as helicopter platforms for amphibious assault, anti-submarine warfare or search and rescue. The deployment of aircraft on board ships presents unusual and difficult technical and operational problems. Considering the multi-national interest in aircraft/ship operations it was considered meaningful and timely for the Flight Mechanics Panel to sponsor a symposium on this topic. This symposium considered problems of mutual interest connected with fixed and rotary wing aircraft operations from ships, and the application of new technology to enhance such operations. The Symposium reviewed and assessed the current problems and possible future progress in: - The ship environment in terms of wind, temperature, precipitation, turbulence and deck motion. - Guidance, Controls and Displays, primarily in the approach and landing phase. - Flight Test and Simulation Techniques. - Launch, Recovery and Handling Systems Developments. - Operational/Pilot Views. - Future Developments.

Aircraft carriers↗
NASA NTRS2002

Numerical Simulation of a Convective Turbulence Encounter

A numerical simulation of a convective turbulence event is investigated and compared with observational data. The numerical results show severe turbulence of similar scale and intensity to that encountered during the test flight. This turbulence is associated with buoyant plumes that penetrate the upper-level thunderstorm outflow. The simulated radar reflectivity compares well with that obtained from the aircraft's onboard radar. Resolved scales of motion as small as 50 m are needed in order to accurately diagnose aircraft normal load accelerations. Given this requirement, realistic turbulence fields may be created by merging subgrid-scales of turbulence to a convective-cloud simulation. A hazard algorithm for use with model data sets is demonstrated. The algorithm diagnoses the RMS normal loads from second moments of the vertical velocity field and is independent of aircraft motion.

Proctor, Fred H.↗
NASA NTRS1983

Influence of airplane components on rotational aerodynamic data for a typical single-engine airplane

The influence of airplane components, as well as wing location and tail length, on the rotational flow aerodynamics is discussed for a 1/6-scale general aviation airplane model. Examination of the individual component effects provides insight as to the source of the moment and forces that determine spin characteristics. For the subject airplane, it is seen that the presence of the horizontal tail adversely effects the yaw damping of the vertical tail such that at certain angles of attack the vertical actually becomes a propelling component in spinning motion. It is shown that the level of this adverse interaction is a function of the relative positions of the wing and the tail surfaces, e.g., relocating the wing to the high wing position or shortening the tail moment arm from the basic configuration both reduced or eliminated the adverse tail interference for certain angles of attack. The influence of wing location on the damping characteristics of the horizontal-vertical tail combination would not be addressed in any existing tail design criterion for spinning and could only be discerned through rotary balance testing.

Ralson, J.↗
NASA NTRS1971

Vertical shear in the Jovian equatorial zone.

Jupiter photographs taken in two different wavelength regions (blue and red) are studied for clues to differing Jovian atmosphere motions. The relative motions of features visible on these photographs may be interpreted as a vertical shear at visible cloud level. The value obtained implies that the north equatorial zone must be about 0.35 deg K warmer than the adjacent equatorial zone. Deeper in the atmosphere the reverse must hold.

Layton, R. G.↗
NASA NTRS1994

On the motion of air through the stratospheric polar vortex

Trajectory calculations using horizontal winds from the U.K. Meteorological Office data assimilation system and vertical velocities from a radiation calculation are used to simulate the three-dimensional motion of air through the stratospheric polar vortex for Northern Hemisphere (NH) and Southern Hemisphere (SH) winters since the launch of the Upper Atmosphere Research Satellite (UARS). Throughout the winter, air from the upper stratosphere moves poleward and descends into the middle stratosphere. In the SH lower to middle stratosphere, strongest descent occurs near the edge of the polar vortex, with that edge defined by mixing characteristics. The NH shows a similar pattern in late winter, but in early winter strongest descent is near the center of the vortex, except when wave activity is particularly strong. Strong barriers to latitudinal mixing exist above about 420 K throughout the winter. Below this, the polar night jet is weak in early winter, so air descending below that level mixes between polar and middle latitudes. In late winter, parcels descend less and the polar night jet moves downward, so there is less latitudinal mixing. The degree of mixing in the lower stratosphere thus depends strongly on the position and evolution of the polar night jet and on the amount of descent experienced by the air parcels; these characteristics show considerable interannual variability in both hemispheres. The computed trajectories provide a three-dimensional picture of air motion during the final warming. Large tongues of air are drawn off the vortex and stretched into increasingly long and narrow tongues extending into low latitudes. This vortex erosion process proceeds more rapidly in the NH than in he SH. In the lower stratosphere, the majority of air parcels remain confined within a lingering region of strong potential vorticity gradients into December in the SH and April in the NH, well after the vortex breaks up in the midstratosphere.

Manney, G. L.↗
NASA NTRS2012

Integrated Flight/Structural Mode Control for Very Flexible Aircraft Using L1 Adaptive Output Feedback Controller

This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.

Che, Jiaxing↗
NASA NTRS1984

Tunnel display for four-dimensional fixed-wing aircraft approaches

The present evaluation of a computer-generated perspective tunnel display for four-dimensional fixed wing aircraft landing approaches gives attention to the development and performance assessment of superimposed predictor symbology. Simulator tests indicate that a complex perspective vehicle symbol yields a decrease in bank angle activity, by comparison to a flat predictor cross, while yielding larger lateral and vertical deviations in most cases. The perspective vehicle symbol motions are successful in forward velocity control without affecting path-following performance. The perspective vehicle symbol's advantage over the flat predictor cross is nevertheless marginal. While the tunnel display used yields satisfactory response in the lateral control axis, the vertical axis lacks sensitivity to vertical path angle variations.

Grunwald, A. J.↗
NASA NTRS1994

On the Motion of Air Through the Stratospheric Polar Vortex

Trajectory calculations using horizontal winds from the United Kingdom Meteorological Office data assimilation system, and vertical velocities from a radiation calculation are used to simulate the three-dimensional motion of air through the stratospheric polar vortex, for several northern hemisphere(NH) and southern hemisphere (SH) winters since the launch of UARS.

UARS↗
NASA NTRS2000

Transient cardio-respiratory responses to visually induced tilt illusions

Although the orthostatic cardio-respiratory response is primarily mediated by the baroreflex, studies have shown that vestibular cues also contribute in both humans and animals. We have demonstrated a visually mediated response to illusory tilt in some human subjects. Blood pressure, heart and respiration rate, and lung volume were monitored in 16 supine human subjects during two types of visual stimulation, and compared with responses to real passive whole body tilt from supine to head 80 degrees upright. Visual tilt stimuli consisted of either a static scene from an overhead mirror or constant velocity scene motion along different body axes generated by an ultra-wide dome projection system. Visual vertical cues were initially aligned with the longitudinal body axis. Subjective tilt and self-motion were reported verbally. Although significant changes in cardio-respiratory parameters to illusory tilts could not be demonstrated for the entire group, several subjects showed significant transient decreases in mean blood pressure resembling their initial response to passive head-up tilt. Changes in pulse pressure and a slight elevation in heart rate were noted. These transient responses are consistent with the hypothesis that visual-vestibular input contributes to the initial cardiovascular adjustment to a change in posture in humans. On average the static scene elicited perceived tilt without rotation. Dome scene pitch and yaw elicited perceived tilt and rotation, and dome roll motion elicited perceived rotation without tilt. A significant correlation between the magnitude of physiological and subjective reports could not be demonstrated.

NASA Center JSC↗
NASA NTRS2013

Isentropic Analysis of Convective Motions

This paper analyzes the convective mass transport by sorting air parcels in terms of their equivalent potential temperature to determine an isentropic streamfunction. By averaging the vertical mass flux at a constant value of the equivalent potential temperature, one can compute an isentropic mass transport that filters out reversible oscillatory motions such as gravity waves. This novel approach emphasizes the fact that the vertical energy and entropy transports by convection are due to the combination of ascending air parcels with high energy and entropy and subsiding air parcels with lower energy and entropy. Such conditional averaging can be extended to other dynamic and thermodynamic variables such as vertical velocity, temperature, or relative humidity to obtain a comprehensive description of convective motions. It is also shown how this approach can be used to determine the mean diabatic tendencies from the three-dimensional dynamic and thermodynamic fields. A two-stream approximation that partitions the isentropic circulation into a mean updraft and a mean downdraft is also introduced. This offers a straightforward way to identify the mean properties of rising and subsiding air parcels. The results from the two-stream approximation are compared with two other definitions of the cloud mass flux. It is argued that the isentropic analysis offers a robust definition of the convective mass transport that is not tainted by the need to arbitrarily distinguish between convection and its environment, and that separates the irreversible convective overturning fromoscillations associated with gravity waves.

Lagrangian circulation↗
NASA NTRS1985

The effect of the arbitrary level assignment of satellite cloud motion wind vectors on wind analyses in the pre-thunderstorm environment

The impact of satellite-derived cloud motion vectors on SESAME rawinsonde wind fields was studied in two separate cases. The effect of wind and moisture gradients on the arbitrary assignment of the satellite data is assessed to coordinate surfaces in a severe storm environment marked by strong vertical wind shear. Objective analyses of SESAME rawinsonde winds and combined winds are produced and differences between these two analyzed fields are used to make an assessment of coordinate level choice. It is shown that the standard method of arbitrarily assigning wind vectors to a low level coordinate surface yields systematic differences between the rawinsonde and combined wind analyses. Arbitrary assignment of cloud motions to the 0.9 sigma surface produces smaller differences than assignment to the 825 mb pressure surface. Systematic differences occur near moisture discontinuities and in regions of horizontal and vertical wind shears. The differences between the combined and SESAME wind fields are made smallest by vertically interpolating cloud motions to either a pressure or sigma surface.

Peslen, C. A.↗
NASA NTRS1986

The effect of the arbitrary level assignment of satellite cloud motion wind vectors on wind analyses in the pre-thunderstorm environment

The impact of satellite-derived cloud motion vectors on SESAME rawinsonde wind fields was studied in two separate cases. The effect of wind and moisture gradients on the arbitrary assignment of the satellite data is assessed to coordinate surfaces in a severe storm environment marked by strong vertical wind shear. Objective analyses of SESAME rawinsonde winds and combined winds are produced and differences between these two analyzed fields are used to make an assessment of coordinate level choice. It is shown that the standard method of arbitrarily assigning wind vectors to a low level coordinate surface yields systematic differences between the rawinsonde and combined wind analyses. Arbitrary assignment of cloud motions to the 0.9 sigma surface produces smaller differences than assignment to the 825 mb pressure surface. Systematic differences occur near moisture discontinuities and in regions of horizontal and vertical wind shears. The differences between the combined and SESAME wind fields are made smallest by vertically interpolating cloud motions to either a pressure or sigma surface.

Peslen, C. A.↗
NASA NTRS2013

Dynamics and Control of a Disordered System in Space

In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of N grains in orbit, with N greater than 10(exp 3). These grains can be large (Cubesat-size) or small (mm-size), and can be active, i.e., a fully equipped vehicle capable sensing their own position and attitude, and enabled with propulsion means, or entirely passive. The ultimate objective would be to study the behavior of the single grains and of large ensembles of grains in orbit and to identify ways to guide and control the shape of a cloud composed of these grains so that it can perform a useful function in space, for instance, as an element of an optical imaging system for astrophysical applications. This concept, in which the aperture does not need to be continuous and monolithic, would increase the aperture size several times compared to large NASA observatories such as ATLAST, allowing for a true Terrestrial Planet Imager that would be able to resolve exo-planet details and do meaningful spectroscopy on distant world. In the paper, we address the modeling and autonomous operation of a distributed assembly (the cloud) of large numbers of highly miniaturized space-borne elements (the grains). A multi-scale, multi-physics model is proposed of the dynamics of the cloud in orbit, as well as a control law for cloud shape maintenance, and preliminary simulation studies yield an estimate of the computational effort, indicating a scale factor of approximately N(exp 1.4) as a function of the number of grains. A granular spacecraft can be defined as a collection of a large number of space-borne elements (in the 1000s) designed and controlled such that a desirable collective behavior emerges, either from the interactions among neighboring grains, and/or between the grains and the environment. In this paper, each grain is considered to be a highly miniaturized spacecraft which has limited size and mass, hence it has limited actuation, limited propulsive capability, limited power, limited sensing, limited communication, limited computational resources, limited range of motion, limited lifetime, and may be expendable. The modeling and dynamics of clouds of vehicles is more challenging than with conventional vehicles because we are faced with a probabilistic vehicle composed of a large number of physically disconnected vehicles. First, different scales of motion occur simultaneously in a cloud: translations and rotations of the cloud as a whole (macro-dynamics), relative rotation and translation of one cloud member with respect to another (meso-dynamics), and individual cloud member dynamics (micro-dynamics). Second, the control design needs to be tolerant of the system complexity, of the system architecture (centralized vs. decentralized large scale system control) as well as robust to un-modeled dynamics and noise sources. Figure 1, top left, shows the kinematic parameters of a 1000 element cloud in orbit. The motion of the system is described with respect to a local vertical-local horizontal (LV-LH) orbiting reference frame (x,y,z)=F(sub ORF) of origin O(sub ORF) which rotates with mean motion omega and orbital semi-major axis R(sub 0). The orbital geometry at the initial time is defined in terms of its six orbital elements, and the orbital dynamics equation for point O(sub ORF) is propagated forward in time under the influence of the gravitational field of the primary and other external perturbations, described below. The origin of this frame coincides with the initial position of the center of mass of the system, and the coordinate axes are z along the local vertical, x toward the flight direction, and y in the orbit normal direction. The assumptions we used to model the dynamics are as follows: 1) The inertial frame is fixed at Earth's center. 2) The orbiting Frame ORF follows Keplerian orbit. 3) the cloud system dynamics is referred to ORF. 4) the attitude of each grain uses the principal body frame as body fixed frame. 5) the atmosphere is assumed to be rigidly rotating with the Earth. Regarding the grains forming the cloud: 1) each grain is modeled as a rigid body; 2) a simple attitude estimator provides attitude estimates, 3) a simple guidance logic commands the position and attitude of each grain, 4) a simple local feedback controller based on PD control of local states is used to stabilize the attitude of the vehicle. Regarding the cloud: 1) the cloud as a whole is modeled as an equivalent rigid body in orbit, and 2) an associated graph establishes agent connectivity and enables coupling between modes of motion at the micro and macro scales; 3) a simple guidance and estimation logic is modeled to estimate and command the attitude of this equivalent rigid body; 4) a cloud shape maintenance controller is based on the dynamics of a stable virtual truss in the orbiting frame. Regarding the environmental perturbations acting on the cloud: 1) a non-spherical gravity field including JO (Earth's spherical field) zonal component, J2 (Earth's oblateness) and J3 zonal components is implemented; 2) atmospheric drag is modeled with an exponential model; 3) solar pressure is modeled assuming the Sun is inertially fixed; and 4) the Earth's magnetic field is model using an equivalent dipole model. The equations of motion are written in a referential system with respect to the origin of the orbiting frame and the state is propagated forward in time using an incremental predictor-corrector scheme. A representative cloud with varying number of grains is simulated to identify the limitations in computation time as the number of grains grows. We derive a control law to track a desired surface in the ORF (equivalently to maintain a reference cloud shape) by defining an error from a desired surface shape, and designing a control law that is exponentially stable and reduces the tracking error to zero. Figure 1 (top right) shows a comparison of various requirements for simulation of single spacecraft vs. granular spacecraft, indicating the high degree of complexity that needs to be taken into consideration. The ORF components of control force required by one of the grains is, for this particular case, in the micro-Newton range. However, no attempt has been made yet to reconfigure (or re-orient) the cloud configuration internally, for which forces in the milli-Newton level are expected, depending on the time required to do the reconfiguration. Figure 1, bottom, shows the computation time as a function of the number of grains, indicating an order N(exp 1.43) scaling on a 8 Gb, 1067 MHz RAM MacOSX computer with a 3.06 GHz Intel Core 2 Duo processor. With this metric, the same simulation for a system of N=1000 grains would take 5.4 hours, and 146 hours (i.e., 6 days) for a system with N=10,000 grains. Therefore, efficient ways to simulate this complex system, where not only the time scales of natural system dynamics, but also the sampling times of the Guidance, Navigation, and Control are included, remain to be explored. Additional details on the cloud modeling, dynamics, and control will be described in the paper.

simulation↗
NASA NTRS1989

Measurement of vertical velocity using clear-air Doppler radars

A new clear air Doppler radar was constructed, called the Flatland radar, in very flat terrain near Champaign-Urbana, Illinois. The radar wavelength is 6.02 m. The radar has been measuring vertical velocity every 153 s with a range resolution of 750 m almost continuously since March 2, 1987. The variance of vertical velocity at Flatland is usually quite small, comparable to the variance at radars located near rough terrain during periods of small background wind. The absence of orographic effects over very flat terrain suggests that clear air Doppler radars can be used to study vertical velocities due to other processes, including synoptic scale motions and propagating gravity waves. For example, near rough terrain the shape of frequency spectra changes drastically as the background wind increases. But at Flatland the shape at periods shorter than a few hours changes only slowly, consistent with the changes predicted by Doppler shifting of gravity wave spectra. Thus it appears that the short period fluctuations of vertical velocity at Flatland are alsmost entirely due to the propagating gravity waves.

Vanzandt, T. E.↗
NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗
NASA NTRS1994

A Large Motion Suspension System for Simulation of Orbital Deployment

This paper describes the design and implementation of a vertical degree of freedom suspension system which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate the on-orbit deployment of spacecraft components. A unique aspect of this system is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing breakaway friction by an order of magnitude over the passive system alone. The paper describes the development of the suspension hardware and the feedback control algorithm. Experiments were performed to verify the suspensions system's ability to provide a gravity off-load as well as its effect on the modal characteristics of a test article.

Straube, T. M.↗