SEARCH · Search NASA

Results for “Configuration Control”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

All sources NASA NTRS DOE OSTI

NASA NTRS1992

A new neural net approach to robot 3D perception and visuo-motor coordination

A novel neural network approach to robot hand-eye coordination is presented. The approach provides a true sense of visual error servoing, redundant arm configuration control for collision avoidance, and invariant visuo-motor learning under gazing control. A 3-D perception network is introduced to represent the robot internal 3-D metric space in which visual error servoing and arm configuration control are performed. The arm kinematic network performs the bidirectional association between 3-D space arm configurations and joint angles, and enforces the legitimate arm configurations. The arm kinematic net is structured by a radial-based competitive and cooperative network with hierarchical self-organizing learning. The main goal of the present work is to demonstrate that the neural net representation of the robot 3-D perception net serves as an important intermediate functional block connecting robot eyes and arms.

Lee, Sukhan↗

NASA NTRS1983

Software control and system configuration management - A process that works

A comprehensive software control and system configuration management process for flight-crucial digital control systems of advanced aircraft has been developed and refined to insure efficient flight system development and safe flight operations. Because of the highly complex interactions among the hardware, software, and system elements of state-of-the-art digital flight control system designs, a systems-wide approach to configuration control and management has been used. Specific procedures are implemented to govern discrepancy reporting and reconciliation, software and hardware change control, systems verification and validation testing, and formal documentation requirements. An active and knowledgeable configuration control board reviews and approves all flight system configuration modifications and revalidation tests. This flexible process has proved effective during the development and flight testing of several research aircraft and remotely piloted research vehicles with digital flight control systems that ranged from relatively simple to highly complex, integrated mechanizations.

Petersen, K. L.↗

NASA NTRS1979

Control considerations for CCV fighters at high angles of attack

Wind tunnel and piloted simulation studies show that the use of the CCV concept of relaxed static pitch stability on fighter aircraft at high angles of attack can result in pitch departures caused by inertia and/or kinematic coupling and in deep stall trim. These problems can be avoided by sufficient nose-down pitch control at high attack angles, and effectiveness of several pitch control configurations such as aft-mounted stabilators, canard mounted flaps, and all-movable canards was investigated. A variable incidence canard with a large travel range was the most effective means of obtaining the required pitch control, although very large deflections may be required on highly unstable configurations. Control laws were developed for cases where the high angle of pitch control requirement is not met, but they can limit aircraft roll capability and thus compromise maneuverability.

Nguyen, L. T.↗

NASA NTRS1989

A new approach to global control of redundant manipulators

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Seraji, Homayoun↗

NASA NTRS2010

Digitally Controlled Slot Coupled Patch Array

A four-element array conformed to a singly curved conducting surface has been demonstrated to provide 2 dB axial ratio of 14 percent, while maintaining VSWR (voltage standing wave ratio) of 2:1 and gain of 13 dBiC. The array is digitally controlled and can be scanned with the LMS Adaptive Algorithm using the power spectrum as the objective, as well as the Direction of Arrival (DoA) of the beam to set the amplitude of the power spectrum. The total height of the array above the conducting surface is 1.5 inches (3.8 cm). A uniquely configured microstrip-coupled aperture over a conducting surface produced supergain characteristics, achieving 12.5 dBiC across the 2-to-2.13- GHz and 2.2-to-2.3-GHz frequency bands. This design is optimized to retain VSWR and axial ratio across the band as well. The four elements are uniquely configured with respect to one another for performance enhancement, and the appropriate phase excitation to each element for scan can be found either by analytical beam synthesis using the genetic algorithm with the measured or simulated far field radiation pattern, or an adaptive algorithm implemented with the digitized signal. The commercially available tuners and field-programmable gate array (FPGA) boards utilized required precise phase coherent configuration control, and with custom code developed by Nokomis, Inc., were shown to be fully functional in a two-channel configuration controlled by FPGA boards. A four-channel tuner configuration and oscilloscope configuration were also demonstrated although algorithm post-processing was required.

D'Arista, Thomas↗

NASA NTRS1993

Hand controller commonality evaluation process

Hand controller selection for NASA's Orbiter and Space Station Freedom is an important area of human-telerobot interface design and evaluation. These input devices will control remotely operated systems that include large crane-like manipulators (e.g., Remote Manipulator System or RMS), smaller, more dexterous manipulators (e.g., Flight Telerobotic Servicer or FTS), and free flyers (e.g., Orbital Maneuvering Vehicle or OMV). Candidate hand controller configurations for these systems vary in many ways: shape, size, number of degrees-of-freedom (DOF), operating modes, provision of force reflection, range of movement, and 'naturalness' of use. Unresolved design implementation issues remain, including such topics as how the current Orbiter RMS rotational and translational rate hand controllers compare with the proposed Space Station Freedom hand controllers, the advantages that position hand controllers offer for these applications, and whether separate hand controller configurations are required for each application. Since previous studies contain little empirical hand controller task performance data, a controlled study is needed that tests Space Station Freedom candidate hand controllers during representative tasks. This study also needs to include anthropometric and biomechanical considerations.

Stuart, Mark A.↗

NASA NTRS1984

Software control and system configuration management: A systems-wide approach

Petersen, K. L.↗

NASA NTRS1995

Coordinated Control Of Mobile Robotic Manipulators

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Seraji, Homayoun↗

NASA NTRS1976

Advanced control technology and its potential for future transport aircraft

This document is a compilation of papers presented at a symposium on advanced control technology held in Los Angeles, Calif. , July 9 to 11. 1974. Papers were presented by representatives of industry, the Air Force, and various NASA Centers. The topics covered included fly by wire, digital control, control-configured vehicles, applications to advanced flight vehicles, advanced propulsion control systems, and the benefits of applying active control technology to transport aircraft.

Flight control↗

NASA NTRS2006

Iterative Mechanism Solutions with Scenario and ADAMS

This slide presentation reviews the use of iterative solutions using Scenario for Motion (UG NX 2 Motion) to assist in designing the Mars Science Laboratory (MSL). The MSL will have very unique design requirements, and in order to meet these requirements the system must have the ability to design for static stability, simulate mechanism kinematics, simulate dynamic behaviour and be capable of reconfiguration, and iterations as designed. The legacy process used on the Mars Exploration rovers worked, but it was cumbersome using multiple tools, limited configuration control, with manual process and communication, and multiple steps. The aim is to develop a mechanism that would reduce turn around time, and make more reiterations possible, to improve the quality and quantity of data, and to enhance configuration control. Currently for NX Scenario for Motion uses are in the articulation studies, the simulations of traverse motions,and subsystem simulations. The design of the Rover landing model requires accurate results, flexible elements, such as beams, and the use of the full ADAMS solver has been used. In order to achieve this, when required, there has been a direct translation from Scenario to ADAMS, with additional data in ascii format. The process that has been designed to move from Scenario to ADAMS is reviewed.

Mars Science Laboratory (MSL)↗

NASA NTRS1995

Aerodynamic shape optimization of wing and wing-body configurations using control theory

This paper describes the implementation of optimization techniques based on control theory for wing and wing-body design. In previous studies it was shown that control theory could be used to devise an effective optimization procedure for airfoils and wings in which the shape and the surrounding body-fitted mesh are both generated analytically, and the control is the mapping function. Recently, the method has been implemented for both potential flows and flows governed by the Euler equations using an alternative formulation which employs numerically generated grids, so that it can more easily be extended to treat general configurations. Here results are presented both for the optimization of a swept wing using an analytic mapping, and for the optimization of wing and wing-body configurations using a general mesh.

Reuther, James↗

NASA NTRS1975

A new unified approach to analyze wing-body-tail configurations with control surfaces in steady, oscillatory and fully unsteady, subsonic and supersonic flows

A general formulation for the analysis of steady and unsteady, subsonic and supersonic potential aerodynamics for arbitrary complex geometries is presented. The theoretical formulation, the numerical procedure, and numerical results are included. In particular, generalized forces for fully unsteady (complex frequency) aerodynamics for an AGARD coplanar wing-tail interfering configuration in both subsonic and supersonic flows are considered.

Tseng, K.↗

NASA NTRS2014

Sensitivity of Tropical Cyclones to Parameterized Convection in the NASA GEOS5 Model

The sensitivity of tropical cyclones (TCs) to changes in parameterized convection is investigated to improve the simulation of TCs in the North Atlantic. Specifically, the impact of reducing the influence of the Relaxed Arakawa-Schubert (RAS) scheme-based parameterized convection is explored using the Goddard Earth Observing System version5 (GEOS5) model at 0.25 horizontal resolution. The years 2005 and 2006 characterized by very active and inactive hurricane seasons, respectively, are selected for simulation. A reduction in parameterized deep convection results in an increase in TC activity (e.g., TC number and longer life cycle) to more realistic levels compared to the baseline control configuration. The vertical and horizontal structure of the strongest simulated hurricane shows the maximum lower-level (850-950hPa) wind speed greater than 60 ms and the minimum sea level pressure reaching 940mb, corresponding to a category 4 hurricane - a category never achieved by the control configuration. The radius of the maximum wind of 50km, the location of the warm core exceeding 10 C, and the horizontal compactness of the hurricane center are all quite realistic without any negatively affecting the atmospheric mean state. This study reveals that an increase in the threshold of minimum entrainment suppresses parameterized deep convection by entraining more dry air into the typical plume. This leads to cooling and drying at the mid- to upper-troposphere, along with the positive latent heat flux and moistening in the lower-troposphere. The resulting increase in conditional instability provides an environment that is more conducive to TC vortex development and upward moisture flux convergence by dynamically resolved moist convection, thereby increasing TC activity.

GEOS5↗

NASA NTRS2015

Simulation Apps Bring Us Closer to Mars

My work with mathematical modeling and computer simulations began in earnest in 1987 when I signed on with the National Aeronautics and Space Administration, better known as NASA. At the time I was developing computer simulations to support the design of carbon dioxide (CO2) removal systems for the International Space Station (ISS) life support system. CO2 is a human metabolic waste, produced at a rate of a kilogram per day per crewmember. CO2 must be removed from the crew cabin, as it will quickly become detrimental to crew health. The systems used to remove CO2 are typically based on sorption processes, which include complex interactions of heat transfer, mass transfer, and gas flow through porous media. At this time, there were no commercial options for solving a set of coupled mathematical models such as partial differential equations (PDEs); you either force-fit the physics into a thermal analysis package or wrote your own code, complete with discretization, meshing, and solution algorithms. Unfortunately, coding CO2 removal processes from scratch did not allow an appropriate focus on the challenging yet crucial task of understanding and capturing the underlying physics via appropriate mathematical models. Configuration control was often simply ignored due to tight schedules, resulting in a code that would be quicker for a second party to rewrite than modify. In the early 2000s, I decided to move CO2 removal simulations to a platform with built-in meshing, solvers, and postprocessing capabilities, and that could solve user-defined multiphysics PDEs. The program chosen to meet these needs was COMSOL Multiphysics®. Along with freeing the engineer to focus on the underlying physics, a degree of configuration control was automatically achieved via a consistent user interface, thus allowing COMSOL users to share computer models. My team has developed simulations that are already providing a valuable debugging capability for the ISS CO2 removal system, and will provide guidance in upgrades to that system.

Knox, Jim↗

NASA NTRS1981

On incorporating reliability considerations into control system designs

This paper considers reliability in designing control systems for large orbital structures that are expected to have appreciable flexibility. Reliability is considered for both the control configuration (i.e. selecting sensor and actuator locations over an admissible set) and the ultimate operation of the system. The approach presented is to construct a cost function that indicates the absolute goal of the system and, for a given structural design, to determine the lowest achievable costs conditioned on the failure states of the system (i.e. which actuators and sensors are operational). These costs are then weighted and summed to provide an overall system performance measure. This measure is then minimized over the set of admissible control configurations. The approach is illustrated using a beam that has four actuators with the goal of achieving a given parabolic shape.

Montgomery, R. C.↗

NASA NTRS1998

Development and Testing of Automatically Generated ACS Flight Software for the MAP Spacecraft

By integrating the attitude determination and control system (ACS) analysis and design, flight software development, and flight software testing processes, it is possible to improve the overall spacecraft development cycle, as well as allow for more thorough software testing. One of the ways to achieve this integration is to use code-generation tools to automatically generate components of the ACS flight software directly from a high-fidelity (HiFi) simulation. In the development of the Microwave Anisotropy Probe (MAP) spacecraft, currently underway at the NASA Goddard Space Flight Center, approximately 1/3 of the ACS flight software was automatically generated. In this paper, we will examine each phase of the ACS subsystem and flight software design life cycle: analysis, design, and testing. In the analysis phase, we scoped how much software we would automatically generate and created the initial interface. The design phase included parallel development of the HiFi simulation and the hand-coded flight software components. Everything came together in the test phase, in which the flight software was tested, using results from the HiFi simulation as one of the bases of comparison for testing. Because parts of the spacecraft HiFi simulation were converted into flight software, more care needed to be put into its development and configuration control to support both the HiFi simulation and flight software. The components of the HiFi simulation from which code was generated needed to be designed based on the fact that they would become flight software. This process involved such considerations as protecting against mathematical exceptions, using acceptable module and parameter naming conventions, and using an input/output interface compatible with the rest of the flight software. Maintaining good configuration control was an issue for the HiFi simulation and the flight software, and a way to track the two systems was devised. Finally, an integrated test approach was devised to support flight software testing at both the unit- and build-test levels using the HiFi simulation to generate data for performance verification. Another benefit of the simulation and code-generation application used on the MAP project is that it supported bringing flight software and test data into the HiFi simulation environment. It was possible to integrate parts of the hand-coded flight software into the HiFi simulation, and also possible to import flight software test data for comparison and performance verification. This capability was used to incorporate the flight software Kalman filter into the HiFi simulation. This enabled us to greatly increase the amount of testing that could be done on the filter, because we could exert a greater degree of control over the software-only simulation than over the flight software test environment. Also, since the simulation could be used to run the Kalman filter faster than real time, our testing efficiency was greatly increased. We will conclude our discussion with a summary of the lessons learned thus far using automatically- generated code for the MAP project, and the spacecraft status as we work towards our scheduled launch in the year 2000.

ODonnell, James R., Jr.↗

NASA NTRS1972

Apollo guidance, navigation, and control: Candidate configuration trade study, Stellar-Inertial Measurement System (SIMS) for an Earth Observation Satellite (EOS)

The ten candidate SIMS configurations were reduced to three in preparation for the final trade comparison. The report emphasizes subsystem design trades, star availability studies, data processing (smoothing) methods, and the analytical and simulation studies at subsystem and system levels from which candidate accuracy estimates will be presented.

Ogletree, G.↗

NASA NTRS1975

Low gravity synthesis of polymers with controlled molecular configuration

Heterogeneous chemical systems have been studied for the synthesis of isotactic polypropylene in order to establish baseline parameters for the reaction process and to develop sensitive and accurate methods of analysis. These parameters and analytical methods may be used to make a comparison between the polypropylene obtained at one g with that of zero g (gravity). Baseline reaction parameters have been established for the slurry (liquid monomer in heptane/solid catalyst) polymerization of propylene to yield high purity, 98% isotactic polypropylene. Kinetic data for the slurry reaction showed that a sufficient quantity of polymer for complete characterization can be produced in a reaction time of 5 min; this time is compatible with that available on a sounding rocket for a zero-g simulation experiment. The preformed (activated) catalyst was found to be more reproducible in its activity than the in situ formed catalyst.

Heimbuch, A. H.↗