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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

Integrated multidisciplinary rotorcraft optimization research at the NASA Langley Research Center

NASA-Langley and U.S. Army researchers have developed optimization procedures for improving helicopter rotor blade design processes through more extensive integration of the requisite disciplines. These disciplines encompass rotor aerodynamics, rotor dynamics, rotor structures, airframe dynamics, and acoustics. In the first phase of this integrated optimization approach, acoustics and airframe aerodynamics are decoupled and accounted for as effective constraints on the design for the first three disciplines. In phase two, acoustics is integrated with the first three disciplines; in phase three, airframe dynamics are integrated with the other four disciplines. Representative results are presented from recent work on blade shear force reduction and aerodynamic/dynamic optimization.

Adelman, Howard M.↗

Equicontrollability and its application to model-following and decoupling.

Discussion of 'model following,' a term used to describe a class of problems characterized by having two dynamic systems, generically known as the 'plant' and the 'model,' it being required to find a controller to attach to the plant so as to make the resultant compensated system behave, in an input/output sense, in the same way as the model. The approach presented to the problem takes a structural point of view. The result is a complex but informative definition which solves the problem as posed. The application of both the algorithm and its basis, equicontrollability, to the decoupling problem is considered.

Curran, R. T.↗

Effect of motor dynamics on nonlinear feedback robot arm control

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Tarn, Tzyh-Jong↗

Dynamic ocean-tide effects on Earth's rotation

This article develops 'broad-band' Liouville equations which are capable of determining the effects on the rotation of the Earth of a periodic excitation even at frequencies as high as semi-diurnal; these equations are then used to predict the rotational effects of altimetric, numerical and 32-constituent spherical harmonic ocean-tide models. The rotational model includes a frequency-dependent decoupled core, the effects of which are especially marked near retrograde diurnal frequencies; and a fully dynamic oceanic response, whose effects appear to be minor despite significant frequency dependence. The model also includes solid-earth effects which are frequency dependent as the result of both anelasticity at long periods and the fluid-core resonance at nearly diurnal periods. The effects of both tidal inertia and relative angular momentum on Earth rotation (polar motion, length of day, 'nutation' and Universal Time) are presented for 32 long- and short-period ocean tides determined as solutions to the author's spherical harmonic tide theory. The lengthening of the Chandler wobble period by the pole tide is also re-computed using the author's full theory. Additionally, using the spherical harmonic theory, tidal currents and their effects on rotation are determined for available numerical and altimetric tide height models. For all models, we find that the effects of tidal currents are at least as important as those of tide height for diurnal and semi-diurnal constituents.

Dickman, S. R.↗

Decomposition and state variable feedback control of elastic robotic systems

Energy-efficient, lightweight robot arms for space applications have considerable structural flexibility. An approach to control of a class of flexible robotic systems is presented. A control law is derived which decouples the joint-angle motion from the flexible motion and, in addition, asymptotically decomposes the elastic dynamics into two subsystems. This allows the design of an elastic mode stabilizer independently based on lower order models representing structural flexibility. The closed-loop system is shown to be globally asymptotically stable and robust to uncertaintly in system parameters. Simulation results show that the combination of nonlinear decoupling and elastic stabilization permits rapid, accurate tracking of large joint angle commands with well damped elastic response, in spite of space vehicle motion and payload uncertainty.

Singh, S. N.↗

A novel approach to the modelling and control of flexible robot arms

A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

Ding, Xuru↗

Modelling and control of two coordinated robot arms

Two coordinated robot arms are modeled by considering the two arms as working on the same object simultaneously and as a closed kinematic chain. In both formulations, a novel dynamic control method is used which is based on feedback linearization and simultaneous output decoupling.

Tarn, T. J.↗

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗

Operator-assisted planning and execution of proximity operations subject to operational constraints

Future multi-vehicle operations will involve multiple scenarios that will require a planning tool for the rapid, interactive creation of fuel-efficient trajectories. The planning process must deal with higher-order, non-linear processes involving dynamics that are often counter-intuitive. The optimization of resulting trajectories can be difficult to envision. An interaction proximity operations planning system is being developed to provide the operator with easily interpreted visual feedback of trajectories and constraints. This system is hosted on an IRIS 4D graphics platform and utilizes the Clohessy-Wiltshire equations. An inverse dynamics algorithm is used to remove non-linearities while the trajectory maneuvers are decoupled and separated in a geometric spreadsheet. The operator has direct control of the position and time of trajectory waypoints to achieve the desired end conditions. Graphics provide the operator with visualization of satisfying operational constraints such as structural clearance, plume impingement, approach velocity limits, and arrival or departure corridors. Primer vector theory is combined with graphical presentation to improve operator understanding of suggested automated system solutions and to allow the operator to review, edit, or provide corrective action to the trajectory plan.

Grunwald, Arthur J.↗

Development and Operation of a Material Identification and Discrimination Imaging Spectroradiometer

Many imaging applications require quantitative determination of a scene's spectral radiance. This paper describes a new system capable of real-time spectroradiometric imagery. Operating at a full-spectrum update rate of 30Hz, this imager is capable of collecting a 30 point spectrum from each of three imaging heads: the first operates from 400 nm to 950 nm, with a 2% bandwidth; the second operates from 1.5 micro-m to 5.5 micro-m with a 1.5% bandwidth; the third operates from 5 micro-m to 12 micro-m, also at a 1.5% bandwidth. Standard image format is 256 x 256, with 512 x 512 possible in the VIS/NIR head. Spectra of up to 256 points are available at proportionately lower frame rates. In order to make such a tremendous amount of data more manageable, internal processing electronics perform four important operations on the spectral imagery data in real-time. First, all data in the spatial/spectral cube of data is spectro-radiometrically calibrated as it is collected. Second, to allow the imager to simulate sensors with arbitrary spectral response, any set of three spectral response functions may be loaded into the imager including delta functions to allow single wavelength viewing; the instrument then evaluates the integral of the product of the scene spectral radiances and the response function. Third, more powerful exploitation of the gathered spectral radiances can be effected by application of various spectral-matched filtering algorithms to identify pixels whose relative spectral radiance distribution matches a sought-after spectral radiance distribution, allowing materials-based identification and discrimination. Fourth, the instrument allows determination of spectral reflectance, surface temperature, and spectral emissivity, also in real-time. The spectral imaging technique used in the instrument allows tailoring of the frame rate and/or the spectral bandwidth to suit the scene radiance levels, i.e., frame rate can be reduced, or bandwidth increased to improve SNR when viewing low radiance scenes. The unique challenges of design and calibration are described. Pixel readout rates of 160 MHz, for full frame readout rates of 1000 Hz (512 x 512 image) present the first challenge; processing rates of nearly 600 million integer operations per second for sensor emulation, or over 2 billion per second for matched filtering, present the second. Spatial and spectral calibration of 66,536 pixels (262,144 for the 512 x 512 version) and up to 1,000 spectral positions mandate novel decoupling methods to keep the required calibration memory to a reasonable size. Large radiometric dynamic range also requires care to maintain precision operation with minimum memory size.

Dombrowski, Mark↗

Replicating the Hadley Cell Edge and Subtropical Jet Latitude Disconnect in Idealized Atmospheric Models

Recent work has shown that variability in the subtropical jet's (STJ) latitude, ϕSTJ, is not coupled to that of the Hadley cell (HC) edge, ϕHC, but the robustness of this disconnect has not been examined in detail. Here, we use meteorological reanalysis products, comprehensive climate models, and an idealized atmospheric model to determine the necessary processes for a disconnect between ϕHC and ϕSTJ in the Northern Hemisphere's December–January–February season. We find that a decoupling can occur in a dry general circulation model, indicating that large-scale dynamical processes are sufficient to reproduce the metrics' relationship. It is therefore not reliant on explicit variability in the zonal structure, convection, or radiation. Rather, the disconnect requires a sufficiently realistic climatological basic state. Further, we confirm that the robust disconnect between ϕSTJ and ϕHC across the model hierarchy reveals their differing sensitivities to midlatitude eddy momentum fluxes; ϕHC is consistently coupled to the latitude of maximum eddy momentum flux, but ϕSTJ is not.

Molly E. Menzel↗

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

Light element nucleosynthesis - A false clue?

It is proposed that the dynamically estimated value for the cosmological density parameter, Omega(dy) = 0.15 x 10 exp +/- 0.20, reflects the baryon density at decoupling, resulting in lower initial, primordial values of D and the He-3 than are observed. An early generation of massive stars, forming somewhat after decoupling, collapses to black holes with masses of about 10 exp 6.5 solar masses. If they later accrete gas and emit a quasarlike (X, gamma)-ray spectrum, then (gamma, (He-4)) photodisintegration reactions will increase D and He-3 to the observed range, leaving a high-energy background radiation field similar to that observed. The massive black holes become the dynamically observed dark matter galactic halos. This scenario obviates the need for nonbaryonic dark matter and provides a specific form for the requisite baryonic dark matter; it thus reduces the number of density parameters: Omega(0) - Omega(dy) = Omega(BBN) is approximately equal to 0.15.

Gnedin, N. IU.↗

Space transportation system technology symposium. Volume 2 - Dynamics and aeroelasticity

The Space Shuttle, being an hybrid – an airplane and a launch vehicle – represents the greatest challenge that the dynamicist and the aeroelastician have faced. Some specific problem areas related to the Space Shuttle are listed on figure 1. Dynamics and aeroelasticity envelop many disciplines, including aerodynamics, vibration, random processes, structures, fluid flow, mechanics, etc., but, of more importance, they involve the interaction and coupling of many of these various disciplines. Fundamentally, we are concerned with structural integrity and safe flight, i.e., trying to ensure that the vehicle will remain structurally intact as well as function properly in the presence of the many faceted dynamic environment. A new area which may have an impact on our task is the effect of the high temperature environment. In the past, we have been able to successfully decouple the temperature effects from our problem formulation. For the Space Shuttle, this problem must be closely reexamined. As has been pointed out in the opening remarks of the Conference, the Dynamics and Aeroelasticity Technology Group comprises one of several technology groups which are attempting to provide the necessary research to support a successful and safe vehicle. The group has members from most of the NASA Centers as well as from the Air Force groups. We meet periodically to review ongoing work, search for new problem areas; and we are constantly updating and revising our program. The group is organized into three panels as shown on figure 2: a panel on Dynamic Loads and Response, one on Aeroelasticity, and one on Flight Dynamics and Environment. The Conference papers accordingly have been grouped in these same three areas, with each Panel Chairman acting as moderator for his particular session.

Source record↗

Quantifying Contributions of Land Carbon Fluxes Variability and Atmospheric Transport Variability to Atmospheric CO2 Variability

Much of the uncertainty in predicting variations in greenhouse gases originates in the complex dynamics of the land ecosystem and the atmosphere. To reduce the uncertainties, it is useful to decouple the contributions of land carbon fluxes and atmospheric transport to atmospheric carbon variability. Here we isolate these contributions using a version of the NASA GEOS model that couples carbon, energy and water cycles between the land and the atmosphere. Our current study is a follow-on to a preliminary analysis that suggested that an extreme event (e.g., imposed drought) in a free running AGCM simulation affects atmospheric CO2 more through its impact on atmospheric transport than through a modification of land carbon fluxes. In order to more carefully isolate the effects of the land carbon variability and atmospheric transport variability on atmospheric CO2 variability, we conducted two coupled-AGCM simulations in replay mode, a mode that forces the model's evolution of weather to match that of the MERRA-2 reanalysis. In the control simulation, the land carbon fluxes and the atmospheric CO2 concentrations, as well as the meteorology, are simulated over 2001-2015. We compute the climatological seasonal cycles of net land carbon production from this control simulation and then prescribe, in a second simulation, these climatological carbon fluxes to the atmosphere in the same replay mode. By comparing the atmospheric CO2 variability produced in the two simulations, we fully isolate the part of this variability associated with land surface fluxes. Relative contributions of land flux variability and atmospheric transport variability to CO2 variability are quantified both on a regional basis and as a function of height into the atmosphere to support interpretation of both ground-based and satellite observations.

Lee, Eunjee↗

A piloted evaluation of an oblique-wing research aircraft motion simulation with decoupling control laws

The NASA Ames Research Center developed an oblique-wing research plane from NASA's digital fly-by-wire airplane. Oblique-wing airplanes show large cross-coupling in control and dynamic behavior which is not present on conventional symmetric airplanes and must be compensated for to obtain acceptable handling qualities. The large vertical motion simulator at NASA Ames-Moffett was used in the piloted evaluation of a proposed flight control system designed to provide decoupled handling qualities. Five discrete flight conditions were evaluated ranging from low altitude subsonic Mach numbers to moderate altitude supersonic Mach numbers. The flight control system was effective in generally decoupling the airplane. However, all participating pilots objected to the high levels of lateral acceleration encountered in pitch maneuvers. In addition, the pilots were more critical of left turns (in the direction of the trailing wingtip when skewed) than they were of right turns due to the tendency to be rolled into the left turns and out of the right turns. Asymmetric side force as a function of angle of attack was the primary cause of lateral acceleration in pitch. Along with the lateral acceleration in pitch, variation of rolling and yawing moments as functions of angle of attack caused the tendency to roll into left turns and out of right turns.

Kempel, Robert W.↗

Dynamic control of robot arms in tasks space using nonlinear feedback

Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.

Bejczy, A. K.↗

On the synthesis of multivariable systems.

Description of a general synthesis procedure for the compensation of linear multivariable systems through the combined use of dynamic feed-forward compensation and linear state variable feedback. Applications of the synthesis algorithm presented to problems of decoupling and exact model matching illustrate its use.

Wolovich, W. A.↗