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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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment

This article presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control approaches, feedback and feedforward controllers are designed based on the nominal model which cannot capture the uncertainties, disturbances and changing working conditions so that they cannot ensure precise path tracking performance in the outdoor environment. In TELC algorithm, the feedforward control actions are updated by using the tracking error dynamics and the plant-model mismatch problem is thus discarded. Therefore, the feedforward controller gradually eliminates the feedback controller from the control of the system once the mobile robot has been ontrack. In addition to the proof of the stability, it is proven that the cost functions do not have local minima so that the coefficients in TELC algorithm guarantee that the global minimum is reached. The experimental results show that the TELC algorithm results in better path tracking performance than the traditional tracking error-based control method. The mobile robot controlled by TELC algorithm can track a target path precisely with less than 10 cm error in off-road terrain.

42 ENGINEERING↗
NASA NTRS1977

The linear Fresnel lens - Solar optical analysis of tracking error effects

Real sun-tracking solar concentrators imperfectly follow the solar disk, operationally sustaining both transverse and axial misalignments. This paper describes an analysis of the solar concentration performance of a line-focusing flat-base Fresnel lens in the presence of small transverse tracking errors. Simple optics and ray-tracing techniques are used to evaluate the lens solar transmittance and focal-plane imaging characteristics. Computer-generated example data for an f/1.0 lens indicate that less than a 1% transmittance degradation occurs for transverse errors up to 2.5 deg. In this range, solar-image profiles shift laterally in the focal plane, the peak concentration ratio drops, and profile asymmetry increases with tracking error. With profile shift as the primary factor, the ninety-percent target-intercept width increases rapidly for small misalignments, e.g., almost threefold for a 1-deg error. The analytical model and computational results provide a design base for tracking and absorber systems for the linear-Fresnel-lens solar concentrator.

Cosby, R. M.↗
NASA NTRS1990

Frequency-Tracking-Error Detector

Frequency-tracking-error detector compares average period of output signal from band-pass tracking filter with average period of signal of frequency 100 f(sub 0) that controls center frequency f(sub 0) of tracking filter. Measures difference between f(sub 0) and frequency of one of periodic components in output of bearing sensor. Bearing sensor is accelerometer, strain gauge, or deflectometer mounted on bearing housing. Detector part of system of electronic equipment used to measure vibrations in bearings in rotating machinery.

Randall, Richard L.↗
NASA NTRS1986

Loss factors associated with spatial and temporal tracking errors in intersatellite PPM communication links

The performance of an optical PPM intersatellite link in the presence of spatial and temporal tracking errors is investigated. It is shown that for a given rms spatial tracking error, an optimal transmitter beamwidth exists which minimizes the probability of bit error. The power penalty associated with the spatial tracking error when the transmitter beamwidth is adjusted to achieve optimal performance is shown to be large (greater than 9 dB) when the rms pointing jitter becomes a significant fraction (greater than 30 percent) of the diffraction limited beamwidth. The power penalty due to temporal tracking error, on the other hand, is relatively small (less than 0.1 dB) when the tracking loop bandwidth is less than 0.1 percent of the slot frequency. By properly allocating losses to spatial and temporal tracking errors, it is seen that a 10 to the -9th error rate can be achieved for a realistic link design with an approximately 3 dB signal power margin.

Chen, C. C.↗
NASA NTRS1990

Computing maximum tracking error due to payload dynamics

The determination of maximum endpoint tracking error due to uncompensated inertial payload dynamics is investigated. The problem is formulated on the basis of well-known kinetic and kinematic relationships with constraints on maximum joint positions and velocities as well as the generalized force/speed constraint relationship for each actuator. An endpoint tracking error objective function is formed, and numerical optimization is used to determine the maximum. An example computation is presented to show the tracking error under progressively increasing payload using a PUMA 560 manipulator with its first three joints in motion.

Kelkar, Atul G.↗
DOE OSTI2023

Assessing the Optical Performance Impact of Tracking Error in an Operational Concentrated Solar Power Plant Using Monte Carlo Ray-Tracing Simulation

Concentrating Solar Power (CSP) provides firm and dispatchable electricity due to its thermal storage and hybridization capabilities, which supports the decarbonization of our energy supply. Of the various CSP technologies, parabolic trough collectors are the most mature, with over 500 MW operating worldwide. The optical performance of parabolic trough systems is sensitive to tracking error, which is defined as the angular offset of a collector away from the sun position in the transversal plane. Tracking error commonly occurs due to non-continuous adjustment of the trough angle to point toward the sun, but other factors such as gravity, heating, and wind loading can also contribute to tracking error. Researchers have explored the impact of tracking error on optical performance both numerically and experimentally, but existing studies do not include measurements from operational utility-scale power plants. Tilt angle measurements of parabolic troughs at operational utility-scale power plants illustrate spatial variations in optical performance and include various sources of tracking error such as gravity, heating, and wind loading. To fully characterize wind driven loads on parabolic troughs, we are conducting a long-term field measurement campaign at the Nevada Solar One CSP plant located in Boulder City, NV, which has a nominal capacity of 72 MW and 0.5 hours of full-load storage. We record load measurements on four outer trough rows, collecting support structure bending moments, drive torque moments, dynamic accelerations of the spaceframe, mirror displacement, and tilt angles. Using the tilt measurements acquired at 20 Hz frequency, we calculate the deviation between the nominal sun position and the tracker angle. Using a Monte-Carlo ray-tracing simulation software, we assess the impact of the tracker angle deviation on optical performance throughout the diurnal cycle at various spatial locations within the CSP plant. In our view, this first-of-a-kind study will provide important guidance for future trough designs that reduce the impact of various sources of tracking error on performance.

concentrating solar power↗
NASA NTRS1989

Impact of random pointing and tracking errors on the design of coherent and incoherent optical intersatellite communication links

Given the rms transmitter pointing error and the desired probability of bit error (PBE), it can be shown that an optimal transmitter antenna gain exists which minimizes the required transmitter power. Given the rms local oscillator tracking error, an optimum receiver antenna gain can be found which optimizes the receiver performance. The impact of pointing and tracking errors on the design of direct-detection pulse-position modulation (PPM) and heterodyne noncoherent frequency-shift keying (NCFSK) systems are then analyzed in terms of constraints on the antenna size and the power penalty incurred. It is shown that in the limit of large spatial tracking errors, the advantage in receiver sensitivity for the heterodyne system is quickly offset by the smaller antenna gain and the higher power penalty due to tracking errors. In contrast, for systems with small spatial tracking errors, the heterodyne system is superior because of the higher receiver sensitivity.

Chen, Chien-Chung↗
NASA NTRS1975

On the nature of the radial and cross track errors for artificial earth satellites

The analysis of the radial and cross track errors of artificial earth satellites is discussed in terms of the interference of two one-dimensional celestial mechanical wave trains. Resulting equations for these tracking errors describe the behavior of the uncertainties in the orbital parameters as oscillatory in nature, with a rapidly oscillating term, which is a function of the sum of the observed and computed orbital frequencies, modulated in amplitude by a slowly varying oscillation. This latter term is itself a function of either the difference between these orbital frequencies or between the values of the computed and observed right ascensions, depending upon whether it is the radial or cross track case under consideration. These results indicate that the cross track calculation describes the behavior of uncertainties in the right ascension of the ascending node and the inclination, while the radial calculation gives information on uncertainties in the semi-major axis, the eccentricity, and the argument of perigee. In addition, expressions for the radial and cross track oscillatory frequencies are obtained in terms of the orbital frequencies of the satellites. Data show that the time average of the radial and cross track errors in any case, will both approach zero.

Bonavito, N. L.↗
DOE OSTI2017

Dosimetric Implications of Residual Tracking Errors During Robotic SBRT of Liver Metastases

Purpose: Although the metric precision of robotic stereotactic body radiation therapy in the presence of breathing motion is widely known, we investigated the dosimetric implications of breathing phase–related residual tracking errors. Methods and Materials: In 24 patients (28 liver metastases) treated with the CyberKnife, we recorded the residual correlation, prediction, and rotational tracking errors from 90 fractions and binned them into 10 breathing phases. The average breathing phase errors were used to shift and rotate the clinical tumor volume (CTV) and planning target volume (PTV) for each phase to calculate a pseudo 4-dimensional error dose distribution for comparison with the original planned dose distribution. Results: The median systematic directional correlation, prediction, and absolute aggregate rotation errors were 0.3 mm (range, 0.1-1.3 mm), 0.01 mm (range, 0.00-0.05 mm), and 1.5° (range, 0.4°-2.7°), respectively. Dosimetrically, 44%, 81%, and 92% of all voxels differed by less than 1%, 3%, and 5% of the planned local dose, respectively. The median coverage reduction for the PTV was 1.1% (range in coverage difference, −7.8% to +0.8%), significantly depending on correlation (P=.026) and rotational (P=.005) error. With a 3-mm PTV margin, the median coverage change for the CTV was 0.0% (range, −1.0% to +5.4%), not significantly depending on any investigated parameter. In 42% of patients, the 3-mm margin did not fully compensate for the residual tracking errors, resulting in a CTV coverage reduction of 0.1% to 1.0%. Conclusions: For liver tumors treated with robotic stereotactic body radiation therapy, a safety margin of 3 mm is not always sufficient to cover all residual tracking errors. Dosimetrically, this translates into only small CTV coverage reductions.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS1976

On the nature of the radial and cross track errors for artificial earth satellites

The paper discusses the analysis of the radial and cross track errors of artificial earth satellites in terms of the interference of two one-dimensional celestial mechanical wave trains. The resulting equations for these tracking errors describe the behavior of the uncertainties in the orbital parameters as oscillatory in nature, with a rapidly oscillating term, which is a function of the sum of the observed and computed orbital frequencies, modulated in amplitude by a slowly varying oscillation. This latter term is itself a function of either the difference between these orbital frequencies or between the values of the computed and observed right ascensions, depending upon whether it is the radial or cross track case under consideration. Results indicate that the cross track calculation describes the behavior of uncertainties in the right ascension of the ascending node and the inclination, while the radial calculation gives information on uncertainties in the semi-major axis, the eccentricity, and the argument of perigee.

Bonavito, N. L.↗
NASA NTRS1978

Efficiency degradation due to tracking errors for point focusing solar collectors

An important parameter in the design of point focusing solar collectors is the intercept factor which is a measure of efficiency and of energy available for use in the receiver. Using statistical methods, an expression of the expected value of the intercept factor is derived for various configurations and control law implementations. The analysis assumes that a radially symmetric flux distribution (not necessarily Gaussian) is generated at the focal plane due to the sun's finite image and various reflector errors. The time-varying tracking errors are assumed to be uniformly distributed within the threshold limits and allows the expected value calculation.

Hughes, R. O.↗
NASA NTRS1995

Exponential Convergence of the Tracking Error in Adaptive Systems Without Persistent Excitation

Persistent excitation conditions which ensure parameter convergence in adaptive algorithms have been studied by many researchers. Here, conditions are investigated for exponential convergence of the tracking error in feedforward adaptive systems without persistent excitation. Particular attention is paid to the continuous-time LMS algorithm in the overparametrized case. Results are presented.

control↗
NASA NTRS1981

Modeling human tracking error in several different anti-tank systems

An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.

Kleinman, D. L.↗
NASA NTRS1978

Tracking error of 100-m antenna due to wind gust

A procedure is shown to derive root-mean-square tracking error for an antenna system in response to wind gust loading. Example calculations are illustrated for the design of a proposed 100 m antenna. The effect of wind gust correlation is also considered.

Massoudi, M.↗
NASA NTRS1973

Optical communication system performance with tracking error induced signal fading.

System performance is determined for an optical communication system using noncoherent detection in the presence of tracking error induced signal fading assuming (1) binary on-off modulation (OOK) with both fixed and adaptive threshold receivers, and (2) binary polarization modulation (BPM). BPM is shown to maintain its inherent 2- to 3-dB advantage over OOK when adaptive thresholding is used, and to have a substantially greater advantage when the OOK system is restricted to a fixed decision threshold.

Tycz, M.↗
NASA NTRS1977

The linear Fresnel lens solar concentrator: Transverse tracking error effects

The solar concentration performance of a line focusing, flat base Fresnel lens in the presence of small transverse tracking errors was analyzed. Solar transmittance of the lens and focal plane imaging characteristics were evaluated. Transmission losses by reflectance and material absorption were also studied.

Cosby, R. M.↗