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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 1,279 records · Page 71
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Plasma confinement state classification via FPP relevant microwave diagnostics

We present a parsimonious and robust machine learning approach for identifying plasma confinement states in fusion power plants (FPPs) where reliable identification of the low-confinement and high-confinement regimes is critical for safe and efficient operation. Unlike research-oriented devices, FPPs must operate with a severely constrained set of diagnostics. To address this challenge, we demonstrate that a minimalist model, using only electron cyclotron emission (ECE) signals, can achieve accurate and reliable state classification. ECE provides electron temperature profiles without the engineering or survivability issues of in-vessel probes, making it a primary candidate for FPP-relevant diagnostics. Our framework employs ECE as input, extracts features using radial basis functions, and applies a gradient boosting classifier, achieving a test accuracy of 96% (correct predictions). Robustness analysis and feature importance analyzes confirm the approach’s reliability. These results demonstrate that state-of-the-art performance is attainable from a restricted diagnostic set, paving the way for minimalist yet resilient plasma control architectures for FPPs.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1988

Vertically reciprocating auger

The mathematical model and test results developed for the Vertically Reciprocating Auger (VRA) are summarized. The VRA is a device capable of transporting cuttings that result from below surface drilling. It was developed chiefly for the lunar surface, where conventional fluid flushing while drilling would not be practical. The VRA uses only reciprocating motion and transports material through reflections with the surface above. Particles are reflected forward and land ahead of radially placed fences, which prevent the particles from rolling back down the auger. Three input wave forms are considered to drive the auger. A modified sawtooth wave form was chosen for testing, over a modified square wave or sine wave, due to its simplicity and effectiveness. The three-dimensional mathematical model predicted a sand throughput rate of 0.2667 pounds/stroke, while the actual test setup transported 0.075 pounds/stroke. Based on this result, a correction factor of 0.281 is suggested for a modified sawtooth input.

Etheridge, Mark↗
NASA NTRS2011

NASA Tech Briefs, March 2011

Topics covered include: Optimal Tuner Selection for Kalman-Filter-Based Aircraft Engine Performance Estimation; Airborne Radar Interferometric Repeat-Pass Processing; Plug-and-Play Environmental Monitoring Spacecraft Subsystem; Power-Combined GaN Amplifier with 2.28-W Output Power at 87 GHz; Wallops Ship Surveillance System; Source Lines Counter (SLiC) Version 4.0; Guidance, Navigation, and Control Program; Single-Frame Terrain Mapping Software for Robotic Vehicles; Auto Draw from Excel Input Files; Observation Scheduling System; CFDP for Interplanetary Overlay Network; X-Windows Widget for Image Display; Binary-Signal Recovery; Volumetric 3D Display System with Static Screen; MMIC Replacement for Gunn Diode Oscillators; Feature Acquisition with Imbalanced Training Data; Mount Protects Thin-Walled Glass or Ceramic Tubes from Large Thermal and Vibration Loads; Carbon Nanotube-Based Structural Health Monitoring Sensors; Wireless Inductive Power Device Suppresses Blade Vibrations; Safe, Advanced, Adaptable Isolation System Eliminates the Need for Critical Lifts; Anti-Rotation Device Releasable by Insertion of a Tool; A Magnetically Coupled Cryogenic Pump; Single Piezo-Actuator Rotary-Hammering Drill; Fire-Retardant Polymeric Additives; Catalytic Generation of Lift Gases for Balloons; Ionic Liquids to Replace Hydrazine; Variable Emittance Electrochromics Using Ionic Electrolytes and Low Solar Absorptance Coatings; Spacecraft Radiator Freeze Protection Using a Regenerative Heat Exchanger; Multi-Mission Power Analysis Tool; Correction for Self-Heating When Using Thermometers as Heaters in Precision Control Applications; Gravitational Wave Detection with Single-Laser Atom Interferometers; Titanium Alloy Strong Back for IXO Mirror Segments; Improved Ambient Pressure Pyroelectric Ion Source; Multi-Modal Image Registration and Matching for Localization of a Balloon on Titan; Entanglement in Quantum-Classical Hybrid; Algorithm for Autonomous Landing; Quantum-Classical Hybrid for Information Processing; Small-Scale Dissipation in Binary-Species Transitional Mixing Layers; Superpixel-Augmented Endmember Detection for Hyperspectral Images; Coding for Parallel Links to Maximize the Expected Value of Decodable Messages; and Microwave Tissue Soldering for Immediate Wound Closure.

Source record↗
NASA NTRS2018

A 3D Citizen Science Video Game for NeMO-Net, the NASA Neural Multi-Modal Observation and Training Network for Global Coral Reef Assessment

NeMO-Net, the NASA neural multi-modal observation and training network for global coral reef assessment, is an open-source deep convolutional neural network aimed at accurately assessing the present and past dynamics of coral reef ecosystems through determination of percent living cover and morphology. We present here the active learning component of the project, which consists of an interactive video game prototype for tablet and mobile devices where players are able to intuitively label morphology classifications over mm-scale 3D coral reef imagery. Active learning applications present a novel methodology for engaging the public while efficiently providing large-scale training and test data for increasingly complex and data-intensive machine learning algorithms. NeMO-Net trains players on domain-specific knowledge through interactive tutorials and periodically checks players' input against pre-classified coral imagery to gauge their accuracy and utilize in-game mechanics to provide personalized classification training. Players can rate the classifications of other players, unlock rewards and join a global community as they explore and classify coral reefs and other shallow marine environments.

Citizen Science↗
NASA NTRS2005

Using CFD as a Rocket Injector Design Tool: Recent Progress at Marshall Space Flight Center

New programs are forcing American propulsion system designers into unfamiliar territory. For instance, industry s answer to the cost and reliability goals set out by the Next Generation Launch Technology Program are engine concepts based on the Oxygen- Rich Staged Combustion Cycle. Historical injector design tools are not well suited for this new task. The empirical correlations do not apply directly to the injector concepts associated with the ORSC cycle. These legacy tools focus primarily on performance with environment evaluation a secondary objective. Additionally, the environmental capability of these tools is usually one-dimensional while the actual environments are at least two- and often three-dimensional. CFD has the potential to calculate performance and multi-dimensional environments but its use in the injector design process has been retarded by long solution turnaround times and insufficient demonstrated accuracy. This paper has documented the parallel paths of program support and technology development currently employed at Marshall Space Flight Center in an effort to move CFD to the forefront of injector design. MSFC has established a long-term goal for use of CFD for combustion devices design. The work on injector design is the heart of that vision and the Combustion Devices CFD Simulation Capability Roadmap that focuses the vision. The SRL concept, combining solution fidelity, robustness and accuracy, has been established as a quantitative gauge of current and desired capability. Three examples of current injector analysis for program support have been presented and discussed. These examples are used to establish the current capability at MSFC for these problems. Shortcomings identified from this experience are being used as inputs to the Roadmap process. The SRL evaluation identified lack of demonstrated solution accuracy as a major issue. Accordingly, the MSFC view of code validation and current MSFC-funded validation efforts were discussed in some detail. The objectives of each effort were noted. Issues relative to code validation for injector design were discussed in some detail. The requirement for CFD support during the design of the experiment was noted and discussed in terms of instrumentation placement and experimental rig uncertainty. In conclusion, MSFC has made significant progress in the last two years in advancing CFD toward the goal of application to injector design. A parallel effort focused on program support and technology development via the SCIT Task have enabled the progress.

Tucker, Kevin↗
NASA NTRS2007

High-Power, High-Efficiency Ka-Band Space Traveling-Wave Tube

The L-3 Communications Model 999H traveling-wave tube (TWT) has been demonstrated to generate an output power of 144 W at 60-percent overall efficiency in continuous-wave operation over the frequency band from 31.8 to 32.3 GHz. The best TWT heretofore commercially available for operation in the affected frequency band is characterized by an output power of only 35 W and an efficiency of 50 percent. Moreover, whereas prior TWTs are limited to single output power levels, it has been shown that the output power of the Model 999H can be varied from 54 to 144 W. A TWT is a vacuum electronic device used to amplify microwave signals. TWTs are typically used in free-space communication systems because they are capable of operating at power and efficiency levels significantly higher than those of solid-state devices. In a TWT, an electron beam is generated by an electron gun consisting of a cathode, focusing electrodes, and an anode. The electrons pass through a hole in the anode and are focused into a cylindrical beam by a stack of periodic permanent magnets and travel along the axis of an electrically conductive helix, along which propagates an electromagnetic wave that has been launched by an input signal that is to be amplified. The beam travels within the helix at a velocity close to the phase velocity of the electromagnetic wave. The electromagnetic field decelerates some of the electrons and accelerates others, causing the beam to become formed into electron bunches, which further interact with the electromagnetic wave in such a manner as to surrender kinetic energy to the wave, thereby amplifying the wave. The net result is to amplify the input signal by a factor of about 100,000. After the electrons have passed along the helix, they impinge on electrodes in a collector. The collector decelerates the electrons in such a manner as to recover most of the remaining kinetic energy and thereby significantly increase the power efficiency of the TWT.

Krawczyk, Richard↗
DOE OSTI2021

TEAMER: Electrically Engaged Undulation (EEL) System

The Electrically Engaged UnduLation (EEL) system is a buoyancy-driven submersible device for powering oceanographic instruments. Physically, EEL is a slender body whose flexible spine is made up of energy units interconnected by uniaxial hinges. Each unit consists of a pair of piezoelectric elements that converts the bending stress into electrical current to a battery charging circuit. An outer plastic skin forms a seal against water and allows for flexibility at hinge locations. At the top is a bluff body with electronics that holds a ballast for buoyancy adjustment. The bluff body is also responsible for creating fluid instabilities in its wake. When gliding through the water (mode 2), the spine will flex in response to the alternating vortices that shed from the head. This "lock-in" phenomenon occurs when the frequency at which vortices shed resonates with the EEL natural frequency, during which the efficient gaits were found in species of sea snake, eels, and fish. For active propulsion, a single motor can be placed at the first segment and provide the oscillatory input for propulsion similar to a dolphin's kick. Such anguilliform swimming is both efficient and nearly silent compared to a spinning propeller. Ultimately, mimicking bio-locomotion provides a viable path to a drag-reduced, self-propelled energy harvesting system for ocean monitoring.

16 TIDAL AND WAVE POWER↗
DOE OSTI2018

Modelling the effect of divertor closure on detachment onset in DIII-D with the SOLPS code

SOLPS modelling has shown that divertor plasma detachment occurs at a lower upstream separatrix density in the more closed DIII-D upper divertor than the open lower divertor, demonstrating the utility of the divertor closure in widening the range of acceptable densities for adequate heat handling. To achieve reduced heat flux and erosion at the plasma-facing components, future devices will need to operate in at least partially detached divertor conditions . Two-dimensional fluid plasma models coupled to Monte Carlo neutral transport simulations, such as SOLPS, have been widely used to predict the onset of detachment. In modelling the DIII-D discharges, the cross-field transport coefficients are constrained to reproduce the experimental upstream profiles. The closed divertor has been modelled with the same input parameters of the open divertor, allowing a direct comparison of the target conditions in both geometries. SOLPS simulations indicate that a higher molecular density correlates strongly with lower electron temperatures. The increased closure of the upper divertor improves the trapping of neutrals, thereby reducing the power density deposited at the target and facilitating detachment, in agreement with experimental observations.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2014

A versatile LabVIEW and field-programmable gate array-based scanning probe microscope for in operando electronic device characterization

Understanding the complex properties of electronic and spintronic devices at the micro- and nano-scale is a topic of intense current interest as it becomes increasingly important for scientific progress and technological applications. In operando characterization of such devices by scanning probe techniques is particularly well-suited for the microscopic study of these properties. We have developed a scanning probe microscope (SPM) which is capable of both standard force imaging (atomic, magnetic, electrostatic) and simultaneous electrical transport measurements. We utilize flexible and inexpensive FPGA (field-programmable gate array) hardware and a custom software framework developed in National Instrument's LabVIEW environment to perform the various aspects of microscope operation and device measurement. The FPGA-based approach enables sensitive, real-time cantilever frequency-shift detection. Using this system, we demonstrate electrostatic force microscopy of an electrically biased graphene field-effect transistor device. The combination of SPM and electrical transport also enables imaging of the transport response to a localized perturbation provided by the scanned cantilever tip. Facilitated by the broad presence of LabVIEW in the experimental sciences and the openness of our software solution, our system permits a wide variety of combined scanning and transport measurements by providing standardized interfaces and flexible access to all aspects of a measurement (input and output signals, and processed data). Our system also enables precise control of timing (synchronization of scanning and transport operations) and implementation of sophisticated feedback protocols, and thus should be broadly interesting and useful to practitioners in the field.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2025

Using a Large Language Model as a Building Block to Generate Usable Validation and Verification Suite for OpenMP

In the HPC area, both hardware and software move quickly. Often new hardware is developed and deployed, the corresponding software stack, including compilers and other tools, are under active development while leading edge software developers are working to port and tune their applications, all at the same time. While the software ecosystem is in flux, one of the key challenges for users is obtaining insight into the state of implementation of key features in the programming languages and models their applications are using – whether they have been implemented, and whether the implementation conforms to the specification, especially for newly implemented features (less tested by widespread use). OpenMP is one of the most prominent shared memory programming models used for on-node programming in HPC. With the shift towards accelerators (such as GPUs and FPGAs) and heterogeneous programming OpenMP features are getting more complex. It is natural to ask whether generative AI approaches, and large language models (LLMs) in particular, can help in producing validation and verification test suites to allow users better and faster insights into the availability and correctness of OpenMP features of interest. In this work, we explore the use of ChatGPT-4 to generate a suite of tests for OpenMP features. We have chosen a set of directives and clauses, a total of 78 combinations, which first appeared in OpenMP 3.0 (released in May 2008) but are also relevant for accelerators. We prompted ChatGPT to generate tests in the C and Fortran languages, for both host (CPU) and device (accelerator). On the Summit super-computer using the GNU implementation, we found that, of the 78 generated tests 67 C tests and 43 Fortran tests compiled successfully and fewer than those executed to completion. On further analysis we show that not all generated tests are valid. We document the process, results, and provide detailed analysis regarding the quality of tests generated. With the aim of providing input to a production quality validation and verification suite, we manually implement the corrections required to make the tests valid according to the current OpenMP specification. We quantify this effort as small, medium, or large, and record the lines of code changed to correct the invalid tests. With the corrected tests we validate recent implementations from HPE, AMD, and GNU on the Frontier supercomputer. Our experiment and subsequent analysis show that although LLMs are capable of producing HPC specific codes, they are limited by their understanding of the deeper semantics and restrictions of programming models such as OpenMP. Unsurprisingly more commonly used features have better support, while some OpenMP 3.0 directives such as sections and tasking are not universally supported on accelerators. We demonstrate that successful compilation and execution to completion are inadequate metrics for evaluating generated code and that, at this time, commodity LLMs require expert intervention for code verification. This points to gaps in the training data that is currently available for HPC. We demonstrate that with "small" effort 37% of generated invalid C tests and 63% of generated invalid Fortran tests could be corrected. This improves productivity of test generation as we circumvent writing from scratch and the common programming errors associated with it.

Pophale, Swaroop [ORNL] (ORCID:0000000185446367)↗
DOE OSTI2022

GAAF: Searching Activation Functions for Binary Neural Networks Through Genetic Algorithm

Binary neural networks (BNNs) show promising utilization in cost and power-restricted domains such as edge devices and mobile systems. This is due to its significantly less computation and storage demand, but at the cost of degraded performance. To close the accuracy gap, in this paper we propose to add a complementary activation function (AF) ahead of the sign based binarization, and rely on the genetic algorithm (GA) to automatically search for the ideal AFs. These AFs can help extract extra information from the input data in the forward pass, while allowing improved gradient approximation in the backward pass. Fifteen novel AFs are identified through our GA-based search, while most of them show improved performance (up to 2.54% on ImageNet) when testing on different datasets and network models. Interestingly, periodic functions are identified as a key component for most of the discovered AFs, which rarely exist in human designed AFs. Our method offers a novel approach for designing general and application-specific BNN architecture.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2017

An error reduction algorithm to improve lidar turbulence estimates for wind energy

Abstract. Remote-sensing devices such as lidars are currently being investigated as alternatives to cup anemometers on meteorological towers for the measurement of wind speed and direction. Although lidars can measure mean wind speeds at heights spanning an entire turbine rotor disk and can be easily moved from one location to another, they measure different values of turbulence than an instrument on a tower. Current methods for improving lidar turbulence estimates include the use of analytical turbulence models and expensive scanning lidars. While these methods provide accurate results in a research setting, they cannot be easily applied to smaller, vertically profiling lidars in locations where high-resolution sonic anemometer data are not available. Thus, there is clearly a need for a turbulence error reduction model that is simpler and more easily applicable to lidars that are used in the wind energy industry. In this work, a new turbulence error reduction algorithm for lidars is described. The Lidar Turbulence Error Reduction Algorithm, L-TERRA, can be applied using only data from a stand-alone vertically profiling lidar and requires minimal training with meteorological tower data. The basis of L-TERRA is a series of physics-based corrections that are applied to the lidar data to mitigate errors from instrument noise, volume averaging, and variance contamination. These corrections are applied in conjunction with a trained machine-learning model to improve turbulence estimates from a vertically profiling WINDCUBE v2 lidar. The lessons learned from creating the L-TERRA model for a WINDCUBE v2 lidar can also be applied to other lidar devices. L-TERRA was tested on data from two sites in the Southern Plains region of the United States. The physics-based corrections in L-TERRA brought regression line slopes much closer to 1 at both sites and significantly reduced the sensitivity of lidar turbulence errors to atmospheric stability. The accuracy of machine-learning methods in L-TERRA was highly dependent on the input variables and training dataset used, suggesting that machine learning may not be the best technique for reducing lidar turbulence intensity (TI) error. Future work will include the use of a lidar simulator to better understand how different factors affect lidar turbulence error and to determine how these errors can be reduced using information from a stand-alone lidar.

17 WIND ENERGY↗
NASA NTRS1991

Atmospheric pressure flow reactor: Gas phase chemical kinetics under tropospheric conditions without wall effects

A flow reactor for simulating the interaction in the troposphere is set forth. A first reactant mixed with a carrier gas is delivered from a pump and flows through a duct having louvers therein. The louvers straighten out the flow, reduce turbulence and provide laminar flow discharge from the duct. A second reactant delivered from a source through a pump is input into the flowing stream, the second reactant being diffused through a plurality of small diffusion tubes to avoid disturbing the laminar flow. The commingled first and second reactants in the carrier gas are then directed along an elongated duct where the walls are spaced away from the flow of reactants to avoid wall interference, disturbance or turbulence arising from the walls. A probe connected with a measuring device can be inserted through various sampling ports in the second duct to complete measurements of the first and second reactants and the product of their reaction at selected XYZ locations relative to the flowing system.

Koontz, Steven L.↗
NASA NTRS2023

Human Systems Integration: Managing Risk in Anesthesia

The practice of anesthesia relies on clinicians’ ability to safely manage increasingly complex equipment. Devices such as ventilators, drug infusion pumps, and physiologic monitors use sophisticated algorithms to deliver care, but most clinicians are only trained to manage automated systems during normal operation. Few if any receive training on how to manage system failures. Although manufacturers are required to consult with human factors engineers as part of the equipment design process, most pieces of equipment are ultimately brought to market without extensive input from clinicians. Systems in the operating room can be as simple as an oxygen tank, or as complex as a multi-institutional healthcare organization. Humans are also a complex system, and play a critical role in the domains of operations, design, fabrication, maintenance, repair, and ultimately, dismantling and closeout. HSI seeks to provide a means for advocating the human side of the system. Human Systems Integration (HSI) is the cross disciplinary process used as part of the Systems Engineering process to reduce risk in systems. HSI professionals consider the human, hardware, and software elements of system design to optimize system performance and improve safety. HSI professionals work in domains of study that include training, management, human factors engineering, safety, and occupational health, among others. This article discusses the role of systems in the practice of anesthesia, and how consideration of the human during all phases of the system life cycle helps manage risks and promote a better patient outcome.

Human Factors↗
DOE OSTI2014

A reconsideration of the noise equivalent power and the data analysis procedure for the infrared imaging video bolometers

The infrared imaging video bolometer (IRVB) used for measurement of the two-dimensional (2D) radiation profiles from the Large Helical Device has been significantly upgraded recently to improve its signal to noise ratio, sensitivity, and calibration, which ultimately provides quantitative measurements of the radiation from the plasma. The reliability of the quantified data needs to be established by various checks. The noise estimates also need to be revised and more realistic values need to be established. It is shown that the 2D heat diffusion equation can be used for estimating the power falling on the IRVB foil, even with a significant amount of spatial variation in the thermal diffusivity across the area of the platinum foil found experimentally during foil calibration. The equation for the noise equivalent power density (NEPD) is re-derived to include the errors in the measurement of the thermophysical and the optical properties of the IRVB foil. The theoretical value estimated using this newly derived equation matches closely, within 5.5%, with the mean experimental value. The change in the contribution of each error term of the NEPD equation with rising foil temperature is also studied and the blackbody term is found to dominate the other terms at elevated operating temperatures. The IRVB foil is also sensitive to the charge exchange (CX) neutrals escaping from the plasma. The CX neutral contribution is estimated to be marginally higher than the noise equivalent power (NEP) of the IRVB. It is also established that the radiation measured by the IRVB originates from the impurity line radiation from the plasma and not from the heated divertor tiles. The change in the power density due to noise reduction measures such as data smoothing and averaging is found to be comparable to the IRVB NEPD. The precautions that need to be considered during background subtraction are also discussed with experimental illustrations. Finally, the analysis algorithm with all the improvements is validated and found to reproduce the input power well within 10% accuracy. This article answers many fundamental questions relevant to the IRVB and illustrates the care to be exercised while processing the IRVB data.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2019

Towards quantum machine learning with tensor networks

Machine learning is a promising application of quantum computing, but challenges remain for implementation today because near-term devices have a limited number of physical qubits and high error rates. Motivated by the usefulness of tensor networks for machine learning in the classical context, we propose quantum computing approaches to both discriminative and generative learning, with circuits based on tree and matrix product state tensor networks, that could already have benefits with such near-term devices. The result is a unified framework in which classical and quantum computing can benefit from the same theoretical and algorithmic developments, and the same model can be trained classically then transferred to the quantum setting for additional optimization. Tensor network circuits can also provide qubit-efficient schemes in which, depending on the architecture, the number of physical qubits required scales only logarithmically with, or independently of the input or output data sizes. Here, we demonstrate our proposals with numerical experiments, training a discriminative model to perform handwriting recognition using a hybrid quantum-classical optimization procedure that could be carried out on quantum hardware today, and testing the noise resilience of the trained model.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2018

Measured Pollutant Performance of Island Overhead Kitchen Exhaust

Cooking is one of the most substantial sources of indoor air pollution in most residences. This is mitigated most often by exhaust devices located near cooking surfaces. In this study, we measured the efficacy of one type of kitchen ventilation device: an island overhead kitchen exhaust. Laboratory tests using tracer gas capture were performed on a full-scale mock-up of a kitchen with a cooktop in an island. The results show that the Capture Efficiency (CE) varies greatly from about 10% to nearly 100%. CE generally increased with exhaust flow rate, but results did not show clear trends when changing hood mounting height or the power input to the cooktop burners. Burner power had an effect on measured capture efficiency of the same magnitude as exhaust flow rate. As with earlier work on wall-mount exhaust hoods, these results indicate that standardized testing will have to clearly specify mounting heights, power input (and or temperatures) and the geometry of the tracer gas emitter.

42 ENGINEERING↗
NASA NTRS1988

Local position control: A new concept for control of manipulators

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Kelly, Frederick A.↗