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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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10 records

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NASA NTRS1991

Learning control of inverted pendulum system by neural network driven fuzzy reasoning: The learning function of NN-driven fuzzy reasoning under changes of reasoning environment

Whereas conventional fuzzy reasonings are associated with tuning problems, which are lack of membership functions and inference rule designs, a neural network driven fuzzy reasoning (NDF) capable of determining membership functions by neural network is formulated. In the antecedent parts of the neural network driven fuzzy reasoning, the optimum membership function is determined by a neural network, while in the consequent parts, an amount of control for each rule is determined by other plural neural networks. By introducing an algorithm of neural network driven fuzzy reasoning, inference rules for making a pendulum stand up from its lowest suspended point are determined for verifying the usefulness of the algorithm.

Hayashi, Isao↗

NASA NTRS1978

Sun tracking solar energy collector

A parabolic reflector is supported so that it can track the sun. The support for this reflector comprises an azimuth frame supported on two wheels and a central pivotal point which are positioned in a substantially triangular configuration. On top of the azimuth frame, there is provided an elevation frame. The reflector rides on wheels captured within curved rails. The wheels of the azimuth frame are driven by an azimuth actuator. The reflector structure is counterbalanced about its elevation axis by a pendulum cable system which is driven by a motor. At the focal point of the parabolic reflector, a heat engine or receiver is mounted independently on the reflector. Suitable means are provided for moving the reflector about its two axes.

Perkins, G. S.↗

NASA NTRS1987

Evanescent pressure gradient response in the upper ocean to subinertial wind stress forcing of finite wavelength

A schematic model is used to interpret field observations related to the mixed layer response to wind stress at subinertial frequencies. It is shown that subinertial density and pressure fluctuations can arise locally from the finite wavelength character of the wind stress forcing as a fundamental part of the upper ocean transient, wind-driven response on time scales of 2-10 pendulum days. Evanescent vertical motions arise which alter the density field of the pycnocline, and hence the pressure field over the entire upper ocean. It is thus found that in the real ocean driven by wind stress, a transient geostrophic response exists which can be as large or larger than the transient Eckman response.

White, Warren B.↗

NASA NTRS1926

NACA Flight-Path Angle and Air-Speed Recorder

A new trailing bomb-type instrument for photographically recording the flight-path angle and air speed of aircraft in unaccelerated flight is described. The instrument consists essentially of an inclinometer, air-speed meter and a film-drum case. The inclinometer carries an oil-damped pendulum which records optically the flight-path angle upon a rotating motor-driven film drum. The air-speed meter consists of a taut metal diaphragm of high natural frequency which is acted upon by the pressure difference of a Prandtl type Pitot-static tube. The inclinometer record and air-speed record are made optically on the same sensitive film. Two records taken by this instrument are shown.

Coleman, Donald G↗

NASA NTRS1989

Model based manipulator control

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Petrosky, Lyman J.↗

NASA NTRS2010

True Shear Parallel Plate Viscometer

This viscometer (which can also be used as a rheometer) is designed for use with liquids over a large temperature range. The device consists of horizontally disposed, similarly sized, parallel plates with a precisely known gap. The lower plate is driven laterally with a motor to apply shear to the liquid in the gap. The upper plate is freely suspended from a double-arm pendulum with a sufficiently long radius to reduce height variations during the swing to negligible levels. A sensitive load cell measures the shear force applied by the liquid to the upper plate. Viscosity is measured by taking the ratio of shear stress to shear rate.

Ethridge, Edwin↗

NASA NTRS2001

Experimental Results of Schlicher's Thrusting Antenna

Experiments were conducted to test the claims by Rex L. Schlicher, et al., (Patent 5,142,86 1) that a certain antenna geometry produces thrust greatly exceeding radiation reaction, when driven by repetitive, fast rise, and relatively slower decay current pulses. In order to test this hypothesis, the antenna was suspended by strings as a 3 in pendulum. Current pulses were fed to the antenna along the suspension path by a very flexible coaxial line constructed from loudspeaker cable and copper braid sheath. When driving the antenna via this cabling, our pulser was capable of sustaining 1200 A pulses at a rate of 30 per second up to a minute. In this way, bursts of pulses could be delivered in synch with the pendulum period in order to build up any motion. However, when using a laser beam passing through a lens attached to the antenna to amplify linear displacement by a factor of at least 25, no correlated motion of the beam spot could be detected on a distant wall. We conclude, in agreement with the momentum theorem of classical electromagnetic theory, that any thrust produced is far below practically useful levels. Hence, within classical electrodynamics, there is little hope of detecting any low level motion that cannot be explained by interactions with surrounding structural steel and the Earth's magnetic field.

Fralick, Gustave C.↗

NASA NTRS1985

Quasiperiodically forced damped pendula and Schroedinger equations with quasiperiodic potentials - Implications of their equivalence

Certain first-order nonlinear ordinary differential equations exemplified by strongly damped, quasiperiodically driven pendula and Josephson junctions are isomorphic to Schroedinger equations with quasiperiodic potentials. The implications of this equivalence are discussed. In particular, it is shown that the transition to Anderson localization in the Schroedinger problem corresponds to the occurrence of a novel type of strange attractor in the pendulum problem. This transition should be experimentally observable in the frequency spectrum of the pendulum of Josephson junction.

Bondeson, A.↗

NASA NTRSDate not supplied

Safe Operational Envelope for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of long-reach cable-actuated robotic cranes. They are designed for planetary surface operations on the Moon and Mars. Their low structural weight and compact packaging reduces the fuel costs associated with space travel. The LSMS can be operated by humans, who can be on site or remotely, or autonomously. The goal of this research is to help human operators and path planning algorithms avoid unsafe states during operation. To this end, this work leverages a geometrical model of the LSMS and formulates a new dynamic model. These are later used to define the safe operational envelope for the LSMS family. The paper classifies the constraints that define the safe operational envelope in three groups: motor constraints, geometric constraints, and cable tension constraints. Keeping the cables under tension is necessary to maintain controllability over the joint angles. Two types of loss of tension events are identified for each of the cables. First, an excessive reel out of the cables can lead to a loss of tension, where the LSMS links behave like a pendulum. Second, an excessive reel in of the cables can lead to a link tip-over. This can cause a violent clash between the links on the LSMS. The paper visualizes these constraints for the LSMS-L35, the smallest robot within the family.

LSMS↗

NASA NTRS2008

Ultra-Stable Beacon Source for Laboratory Testing of Optical Tracking

The ultra-stable beacon source (USBS) provides a laser-beam output with a very low angular jitter and can be used as an absolute angular reference to simulate a beacon in the laboratory. The laser is mounted on the top of a very short (approximately equal to 1 m) inverted pendulum (IP) with its optical axis parallel to the carbon fiber pendulum leg. The 85-cm, carbon fiber rods making up the leg are very lightweight and rigid, and are supported by a flex-joint at the bottom (see figure). The gimbal-mounted laser is a weight-adjustable load of about 1.5 kg with its center of rotation co-located with the center of percussion of the inverted pendulum. This reduces the coupling of transverse motion at the base of the pendulum to angular motion of the laser at the top. The inverted pendulum is mounted on a gimbal with its center of rotation coinciding with the pivot position of the inverted pendulum flexure joint. This reduces coupling of ground tilt at the inverted pendulum base to motion of the laser mounted at the top. The mass of the top gimbal is adjusted to give the pendulum a very low resonant frequency (approximately equal to 10 mHz) that filters transverse seismic disturbances from the ground where the base is attached. The motion of the IP is monitored by an optical-lever sensor. The laser light is reflected by the mirror on the IP, and then is detected by a quadrant photo-detector (QPD). The position of the beam spot on the QPD corresponds to the tilt of the IP. Damping of this motion is provided by two coil and magnet pairs. The bottom gimbal mount consists of two plates. The IP is mounted on the second plate. The first plate is supported by two posts through needles and can be rotated about the axis connecting the tips of the needles. The second plate hangs from the first plate and can be rotated about the axis perpendicular to the first plate. As a result, the second plate acts as a two-axis rotation stage. Its center of rotation is located at the effective bending point of the flex-joint. The second plate is pressed against two screw actuators by the weight of the IP. The screw actuators are orthogonal to each other and are used to adjust the inclination of the second plate. The actuators are driven by stepper motors. The whole IP system is housed in a box made of Lexan plastic plates to provide isolation from air currents and temperature variations. The signals from the sensors are processed and recorded with a PC using the xPC Target realtime environment of Math- Works. The control algorithms are written using the Simulink package from The MathWorks.

Aso, Yoichi↗