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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 109 records · Page 6

Trajectory control of robot manipulators with closed-kinematic chain mechanism

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Nguyen, Charles C.↗

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Nguyen, Charles C.↗

Entry Attitude Controller for the Mars Science Laboratory

This paper describes the preliminary concept for the RCS 3-axis attitude controller for the exo-atmospheric and guided entry phases of the Mars Science Laboratory Entry, Descend and Landing. The entry controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via simulation.

Mars↗

Attitude Controller for the Atmospheric Entry of the Mars Science Laboratory

This paper describes the attitude controller for the atmospheric entry of the Mars Science Laboratory (MSL). The controller will command 8 RCS thrusters to control the 3- axis attitude of the entry capsule. The Entry Controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback path. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D control structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via computer simulations.

attitude controller↗

Eccentricity and argument of perigee control for orbits with repeat ground tracks

In order to gain an understanding into the problem of eccentricity (e) and argument of perigee (omega) control for TOPEX/Poseidon, the two cases where the highest latitude crossing time and one of the equator crossings are held constant are investigated. Variations in e and omega cause a significant effect on the satellite's ground-track repeatability. Maintaining e and omega near their frozen values will minimize this variation. Analytical expressions are found to express this relationship while keeping an arbitrary point of the ground track fixed. The initial offset of the ground track from its nominal path determines the subsequent evolution of e and omega about their frozen values. This long-term behavior is numerically determined using an earth gravitational field including the first 17 zonal harmonics. The numerical results are plotted together with the analytical constraints to see if the later values of e and omega cause unacceptable deviation in the ground track.

Vincent, Mark A.↗

Four-dimensional guidance algorithms for aircraft in an air traffic control environment

Theoretical development and computer implementation of three guidance algorithms are presented. From a small set of input parameters the algorithms generate the ground track, altitude profile, and speed profile required to implement an experimental 4-D guidance system. Given a sequence of waypoints that define a nominal flight path, the first algorithm generates a realistic, flyable ground track consisting of a sequence of straight line segments and circular arcs. Each circular turn is constrained by the minimum turning radius of the aircraft. The ground track and the specified waypoint altitudes are used as inputs to the second algorithm which generates the altitude profile. The altitude profile consists of piecewise constant flight path angle segments, each segment lying within specified upper and lower bounds. The third algorithm generates a feasible speed profile subject to constraints on the rate of change in speed, permissible speed ranges, and effects of wind. Flight path parameters are then combined into a chronological sequence to form the 4-D guidance vectors. These vectors can be used to drive the autopilot/autothrottle of the aircraft so that a 4-D flight path could be tracked completely automatically; or these vectors may be used to drive the flight director and other cockpit displays, thereby enabling the pilot to track a 4-D flight path manually.

Pecsvaradi, T.↗

Experimental investigation of adaptive control of a parallel manipulator

The implementation of a joint-space adaptive control scheme used to control non-compliant motion of a Stewart Platform-based Manipulator (SPBM) is presented. The SPBM is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by DC motors, and possesses six degrees of freedom. The report briefly reviews the development of the adaptive control scheme which is composed of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Nguyen, Charles C.↗

Radio occultation studies of the Venus atmosphere with the Magellan spacecraft. 1: Experimental description and performance

While primarily designed for radar studies of the Venus surface, the high effective isotropic radiated power (EIRP) from the Magellan spacecraft makes it an ideal transmitter for use in radio occultation measurements of the refractivity and absorptivity of the Venus atmosphere. Such experiments have been conducted involving transmissions at 2.3 GHz and 8.4 GHz (13 cm and 3.6 cm, respectively), during spacecraft ingress. Since the stability of the spacecraft transmitter is critical for accurately determining the Doppler shift and amplitude attenuation created as the ray penetrates the atmosphere, the spacecraft transmitter was locked to a 2.1 GHz uplink from a 70-meter DSN station which also received the signals. Because of the high directivity of the spacecraft antenna, and the significant ray bending in the deep Venus atmosphere, a spacecraft tracking maneuver was designed to keep the spacecraft antenna pointed in the direction of the refracted ray path back to Earth. This tracking maneuver, plus the high EIRP of the Magellan transmitter has yielded 3.6 cm refractivity and absorptivity profiles down to the 35 km altitude and 13 cm profiles down to the altitude of critical refraction (approximately 33 km). The statistical uncertainties in the derived profiles are significantly lower than those previously obtained, resulting in extremely accurate profiles of H2SO4 (g) abundance as discussed in an accompanying paper.

Steffes, Paul G.↗

Online thermal profile prediction for large format additive manufacturing: A hybrid CNN-LSTM based approach

Large format additive manufacturing (LFAM) is an advanced 3D printing technique that efficiently fabricates large-scale components through a layer-by-layer extrusion and deposition process. Accurate surface layer temperature monitoring is essential to prevent manufacturing failures and ensure final product quality. Traditional physics-based offline approaches for simulating thermal behavior are often inefficient and complex, posing challenges on real-time, in-situ monitoring. Here, to address this, we propose a data-driven hybrid CNN-LSTM model to predict sequential thermal images of arbitrary length using real-time infrared thermal imaging. In this approach, a Convolutional Neural Networks (CNN) is trained offline to capture spatial features, reduce dimensional complexity, and enhance time efficiency, while a stacked Long Short-Term Memory (LSTM) is applied online to capture temporal information for improved prediction of future thermal behavior in subsequent printing layers. Model performance is evaluated using MSE, SSIM, and PSNR metrics and is benchmarked against stacked LSTM and convolutional LSTM models, demonstrating superior accuracy and applicability. Additionally, to mitigate noise from moving extruders and gantry backgrounds in thermal images, a fine-tuned semantic segmentation model is implemented offline to extract printing geometry, enabling precise temperature tracking along the tool path for further thermal analysis. The frameworks developed in this study significantly advance temperature monitoring, thermal analysis, and in-situ manufacturing control for LFAM, bridging the gap between theoretical modeling and practical application.

Geometry extraction↗

Fully Arbitrary Control of Frequency-Bin Qubits

Accurate control of two-level systems is a longstanding problem in quantum mechanics. One such quantum system is the frequency-bin qubit: a single photon existing in superposition of two discrete frequency modes. In this Letter, we demonstrate fully arbitrary control of frequency-bin qubits in a quantum frequency processor for the first time. Furthermore, we numerically establish optimal settings for multiple configurations of electro-optic phase modulators and pulse shapers, experimentally confirming near-unity mode-transformation fidelity for all fundamental rotations. Performance at the single-photon level is validated through the rotation of a single frequency-bin qubit to 41 points spread over the entire Bloch sphere, as well as tracking of the state path followed by the output of a tunable frequency beam splitter, with Bayesian tomography confirming state fidelities Fρ>0.98 for all cases. Overall, such high-fidelity transformations expand the practical potential of frequency encoding in quantum communications, offering exceptional precision and low noise in general qubit manipulation.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Investigation, development and application of optimal output feedback theory. Volume 2: Development of an optimal, limited state feedback outer-loop digital flight control system for 3-D terminal area operation

This report contains the development of a digital outer-loop three dimensional radio navigation (3-D RNAV) flight control system for a small commercial jet transport. The outer-loop control system is designed using optimal stochastic limited state feedback techniques. Options investigated using the optimal limited state feedback approach include integrated versus hierarchical control loop designs, 20 samples per second versus 5 samples per second outer-loop operation and alternative Type 1 integration command errors. Command generator tracking techniques used in the digital control design enable the jet transport to automatically track arbitrary curved flight paths generated by waypoints. The performance of the design is demonstrated using detailed nonlinear aircraft simulations in the terminal area, frequency domain multi-input sigma plots, frequency domain single-input Bode plots and closed-loop poles. The response of the system to a severe wind shear during a landing approach is also presented.

Broussard, J. R.↗

Digital-Difference Processing For Collision Avoidance.

Digital system for automotive crash avoidance measures and displays difference in frequency between two sinusoidal input signals of slightly different frequencies. Designed for use with Doppler radars. Characterized as digital mixer coupled to frequency counter measuring difference frequency in mixer output. Technique determines target path mathematically. Used for tracking cars, missiles, bullets, baseballs, and other fast-moving objects.

Shores, Paul↗

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗

Overconfidence, preview, and probability in strategic planning

The performance of eight subjects in a 'rescue' video game requiring choices as to which node they should fly to in order to rescue the simulated casualties is presently studied with a view to biases and display support criteria in strategic planning. After each choice, the subjects needed to fly a challenging tracking dynamic along a path to reach the next node. The results obtained indicate that the choices of the subjects were less optimal when full preview was offered, perhaps due to subjects' reliance on the simple strategy of choosing routes with the greatest number of casualties.

Wickens, Christopher D.↗

Architecture for Control of the K9 Rover

Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.

Bresina, John L.↗

Investigation of Mars Rotational Dynamics Using Earth-based Radio Tracking of Mars Landers

The development of space geodetic techniques over the past two decades has made it possible to measure the rotational dynamics of the Earth at the milliarcsecond level, improving our geophysical models of the Earth 's interior and the interactions between the solid Earth and its atmosphere. We have found that the rotational dynamics of Mars can be determined to nearly the same level of accuracy by acquiring Earth-based two-way radio tracking observations of three or more landers globally distributed on the surface of Mars. Our results indicate that the precession and long-term obliquity changes of the Mars pole direction can be determined to an angular accuracy corresponding to about 15 cm/yr at the planet's surface. In addition, periodic nutations of the pole and seasonal variations in the spin rate of the planet can be determined to 10 cm or less. Measuring the rotation of Mars at this accuracy would greatly improve the determination of the planet' s moment of inertia and would resolve the size of a planetary fluid core, providing a valuable constraint on Mars interior models. Detecting seasonal variations in the spin rate of Mars would provide global constraints on atmospheric angular momentum changes due to sublimation of the Mars CO2 polar ice caps. Finally, observation of quasisecular changes in Mars obliquity would have significant implications for understanding long-term climatic change. The key to achieving these accuracies is a globally distributed network of Mars landers with stable, phase-coherent radio transponders. By simultaneously acquiring coherent two-way carrier phase observations between a single Earth tracking station and multiple Mars landers, Earth media errors are essentially eliminated, providing an extremely sensitive measure of changes in the differential path lengths between the Earth tracking station and the Mars landers due to Mars rotation. Time variability of the instrumental phase delay through the radio transponder may represent the limiting error source for this technique. Calibration of the transponder stability to about 0.1 ns or less, over a single tracking arc of up to 12 hr, is sufficient to provide the decimeter-level determination of Mars orientation parameters quoted above. We will provide a detailed description of the multilander tracking technique and the requirements it imposes on both the lander radio system and the Earth-based ground-tracking system. This concept is currently part of the strawman science plan for the Mars Environmental Survey (MESUR) mission and complements many of the other MESUR science goals.

Edwards, C. D., Jr.↗