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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
NASA NTRS2008

On the Observed Robustness of Disturbance-Observers; A Technical Explanation and Simulation Validation

This paper examines the ability of a real-time "disturbance-observer" to adapt-to and closely estimate the time-behavior of a disturbance-input w(t) (and of it's state-vector z(t)) even when the actual w(t) time-behavior deviates from the observer's "internal-copy" of the nominal/predicted w(t)-behavior. By means of technical explanations and confirming simulation studies of numerical examples, the disturbance-observer's adaptive ability is explained in terms-of the underlying spline-model used to derive the disturbance state-model and the intrinsic dynamic characteristics of a state-observer.

Hannan, Michael R.↗
NASA NTRS2015

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Mehling, Joshua S.↗
DOE OSTI2023

Gradient-Descent-Based Learning Gain for Backstepping Controller and Disturbance Observer of Nonlinear Systems

This paper proposes a gradient-descent-based learning (GL) gain for backstepping controller and disturbance observer (DOB) of nonlinear system. The proposed method consists of the GL gain update law, controller, and DOB. The GL gain update law is proposed to adapt the control gain and DOB gain according to the direction that minimizes the cost function. The mathematical analysis reveals that the GL gain always has a positive sign and upper bound. The controller is designed via a backstepping procedure to track the desired output with GL control gain. The DOB is designed to estimate the unknown external disturbance with the GL DOB gain. Because the control and DOB gains are simultaneously tuned to achieve improved performance, the time consumption for tuning can be reduced. In addition, the peaking phenomenon can be avoided initially by a small initial value of GL gains. The stability of the closed-loop system is guaranteed using the input-to-state stability property. The performance of the proposed method was validated via simulations and experiments using a DC motor.

42 ENGINEERING↗
NASA NTRS1993

Solar cycle variation of interplanetary disturbances observed as Doppler scintillation transients

Interplanetary disturbances characterized by plasma that is more turbulence and/or moves faster than the background solar wind are readily defected as transients in Doppler scintillation measurements of the near-Sun solar wind. Systematic analysis of over 23,000 hours of Pioneer Venus Orbiter Doppler measurements obtained inside 0.5 AU during 1979-1987 have made it possible for the first time to investigate the frequency of occurrence of Doppler scintillation transients under solar minimum conditions and to determine its dependence on solar cycle. On the basis of a total of 142 transients, Doppler scintillation transient rates vary from a high of 0.22 in 1979 (one every 4.6 days) to a low of 0.077 transients/d in 1986 (one every 13 days), a decrease by almost a factor of 3 from solar maximum to solar minimum. This solar cycle variation, the strongest yet of any solar wind Doppler scintillation property, is highly correlated with both solar activity characterized by sunspot number and the coronal mass ejection rates deduced from Solswind and Solar Maximum Mission (SMM) coronagraph observations. These results indicate that coronal mass ejections and Doppler scintillation transients are closely related not just during solar maximum, as occasional individual comparisons have shown in the past, but throughout the entire solar cycle, and strengthen the notation that the Doppler scintillation and optical transients are different manifestations of the same physical phenomenon. The magnitudes of the transients, as described by the ratio of peak to pretransient scintillation levels (EF for enhancement factor), and their distribution iwth heliocentric distance also vary with solar cycle. While EF tends to diminish with increasing heliocentric distance during high solar activity, it is more evenly distributed during low solar activity. EF is also lower during solar minimum, as 13% of the transients during solar maximum have values exceeding 23, the highest EF observed during solar minimum. These results are consistent with the fact that occasional major fast-moving interplanetary shocks that are observed during solar maximum are very rate during solar minimum.

Woo, Richard↗
NASA NTRS1995

A CME-Driven Solar Wind Disturbance Observed at both Low and High Heliographic Latitudes

A solar wind disturbance produced by a fast coronal mass ejection, CME, that departed from the Sun on February 20, 1994 was observed in the ecliptic plane at 1 AU by IMP 8 and at high heliographic latitudes at 3.53 AU by Ulysses. In the ecliptic the disturbance included a strong forward shock but no reverse shock, while at high latitudes the disturbance was bounded by a relatively weak forward-reverse shock pair. It is clear that the disturbance in the ecliptic plane was driven primarily by the relative speed between the CME and a slower ambient solar wind ahead, whereas at higher latitudes the disturbance was driven by expansion of the CME. The combined IMP 8 and Ulysses observations thus provide a graphic illustration of how a single fast CME can produce very different types of solar wind disturbances at low and high heliographic latitudes. Simple numerical simulations help explain observed differences at the two spacecraft.

Gosling, J. T.↗
NASA NTRS2016

Relativistic Electrons Produced by Foreshock Disturbances Observed Upstream of Earth's Bow Shock

Charged particles can be reflected and accelerated by strong (i.e., high Mach number) astrophysical collisionless shock waves, streaming away to form a foreshock region in communication with the shock. Foreshocks are primarily populated by suprathermal ions that can generate foreshock disturbances-largescale (i.e., tens to thousands of thermal ion Larmor radii), transient (approximately 5-10 per day) structures. They have recently been found to accelerate ions to energies of several keV. Although electrons in Saturn's high Mach number (M > 40) bow shock can be accelerated to relativistic energies (nearly 1000 keV), it has hitherto been thought impossible to accelerate electrons beyond a few tens of keV at Earth's low Mach number (1 ≤M <20) bow shock. Here we report observations of electrons energized by foreshock disturbances to energies up to at least approximately 300 keV. Although such energetic electrons have been previously observed, their presence has been attributed to escaping magnetospheric particles or solar events. These relativistic electrons are not associated with any solar or magnetospheric activity. Further, due to their relatively small Larmor radii (compared to magnetic gradient scale lengths) and large thermal speeds (compared to shock speeds), no known shock acceleration mechanism can energize thermal electrons up to relativistic energies. The discovery of relativistic electrons associated with foreshock structures commonly generated in astrophysical shocks could provide a new paradigm for electron injections and acceleration in collisionless plasmas.

SLAMS↗
NASA NTRS1982

An analysis of shock wave disturbances observed at 1 AU from 1971 through 1978

IMP 6, 7, and 8 data from 104 shock wave disturbances were employed to document the occurrence frequency and properties of the solar wind shock which produce He ion abundance enhancements. The shocks were identified over the 1971-1978 time period and were characterized by a preshock flow with lower than usual average bulk density, a shocked gas layer 12 hr thick, and a postshocked gas layer 1.5 days thick with a high He abundance. A high-temperature peak was found to occur in the first 12 hrs after a He-enriched shock and was not seen when He-enhancement was absent. The total pressure was also three times higher with He-shocks, and speed jumps were greater than 50 km/sec in 56% of the He events. It is concluded that all shock waves in the solar wind at 1 AU originate in coronal mass ejection events, and the presence of He-enrichment is attributable to the geometry of the area that produced the event.

Borrini, G.↗
NASA NTRS1985

Two classes of medium-scale traveling ionospheric disturbances observed with an array on HF-Doppler sounders

The importance of the quasi-evanescent mode of acoustic-gravity waves (AGW) was recently stressed to elaborate on the daytime dispersion characteristics of horizontal velocity of medium-scale traveling ionospheric disturbances (MS-TID) which were observed by a high frequency Doppler (HFD) sounder array in central Japan. Observed MS-TIDs were classified into two categories: the internal mode and the quasi-evanescent mode as regards physical implication. Nonlinear wave-wave interaction is proposed in an attempt to explain salient features of the latter-class TID.

Shibata, T.↗
NASA NTRS1995

A transient solar wind disturbance observed at both low and high heliographic latitudes

Ulysses observations have revealed a new class of forward-reverse shock pairs in the solar wind that appears to be restricted to high heliographic latitudes. Shock pairs in this new class of events are produced by over-expansion (i.e., expansion driven by a high internal pressure) of coronal mass ejections, CMEs, that have speeds comparable to that of the surrounding solar wind plasma. Here we compare low- and high-latitude observations of an event observed both near Earth by IMP 8 and at high latitudes by Ulysses. At the time of these observations Ulysses was at 3.53 AU and was situated 47.2 deg south and 11.4 deg west of Earth (in the sense of planetary motion about the Sun). A fast CME that departed from the Sun on February 20, 1994 produced both a major (forward) shock wave disturbance in the ecliptic plane at 1 AU (and a large geomagnetic storm) and a forward reverse shock pair associated with over-expansion of the CME at high heliographic latitudes. The combined measurements provide a graphic illustration of how the same fast CME can produce totally different types of disturbances at low and high latitudes. Differences in the disturbances generated by the CME at high and low latitudes are due primarily to the different speeds initially prevailing in the ambient solar wind ahead of it. These observations are consistent with the results of simple numerical simulations of the event.

Gosling, J. T.↗
NASA NTRS1980

Disturbances observed near Ganymede by Voyager 2

In the present paper, it is suggested that the observation of cavities near Ganymede can be explained by a model which postulates that Ganymede continuously creates a cavity that is stretched out into a sheet along X by rotation and is spatially distorted by a spectrum of Alfven waves with perturbations along Y and with wavelengths comparable to the size of the field lines passing through Ganymede. Possible causes of the cavities are examined.

Burlaga, L. F.↗
NASA NTRS2013

United States Forest Disturbance Trends Observed Using Landsat Time Series

Disturbance events strongly affect the composition, structure, and function of forest ecosystems; however, existing U.S. land management inventories were not designed to monitor disturbance. To begin addressing this gap, the North American Forest Dynamics (NAFD) project has examined a geographic sample of 50 Landsat satellite image time series to assess trends in forest disturbance across the conterminous United States for 1985-2005. The geographic sample design used a probability-based scheme to encompass major forest types and maximize geographic dispersion. For each sample location disturbance was identified in the Landsat series using the Vegetation Change Tracker (VCT) algorithm. The NAFD analysis indicates that, on average, 2.77 Mha/yr of forests were disturbed annually, representing 1.09%/yr of US forestland. These satellite-based national disturbance rates estimates tend to be lower than those derived from land management inventories, reflecting both methodological and definitional differences. In particular the VCT approach used with a biennial time step has limited sensitivity to low-intensity disturbances. Unlike prior satellite studies, our biennial forest disturbance rates vary by nearly a factor of two between high and low years. High western US disturbance rates were associated with active fire years and insect activity, while variability in the east is more strongly related to harvest rates in managed forests. We note that generating a geographic sample based on representing forest type and variability may be problematic since the spatial pattern of disturbance does not necessarily correlate with forest type. We also find that the prevalence of diffuse, non-stand clearing disturbance in US forests makes the application of a biennial geographic sample problematic. Future satellite-based studies of disturbance at regional and national scales should focus on wall-to-wall analyses with annual time step for improved accuracy.

Masek, Jeffrey G.↗