Adaptive tracking for complex systems using reduced-order models

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory

A dynamic measure of controllability and observability for the placement of actuators and sensors on large space structures

The degree of controllability of a large space structure is found by a four step procedure: (1) finding the minimum control energy for driving the system from a given initial state to the origin in the prescribed time; (2) finding the region of initial state which can be driven to the origin with constrained control energy and time using optimal control strategy; (3) scaling the axes so that a unit displacement in every direction is equally important to control; and (4) finding the linear measurement of the weighted "volume" of the ellipsoid in the equicontrol space. For observability, the error covariance must be reduced toward zero using measurements optimally, and the criterion must be standardized by the magnitude of tolerable errors. The results obtained using these methods are applied to the vibration modes of a free-free beam

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths

Number and placement of control system components considering possible failures

A decision making methodology is presented which is intended to be useful in the early stages of system design, before a control system is designed in detail. The methodology accounts for the likelihood of failure among the sensors and actuators in a control system. A method to compute the degree of controllability and degree of observability of a system for a given set of actuators and sensors is also presented

Space shuttle molecular and wake vacuum measurements

The wake environment of the space shuttle is analyzed to determine whether it is feasible to perform ultrahigh vacuum experiments in or near the payload bay with the shuttle oriented such that the payload bay faces the antivelocity direction. Several mechanisms were considered by which molecules could approach the payload bay from this direction and their relative contributions to the wake environment are estimated. These mechanisms include ambient atmospheric molecules that have velocities in excess of the orbital velocity which can overtake the shuttle, ambient atmospheric molecules that are backscattered by collisions with the shuttle induced atmosphere, and self scattering from the induced atmosphere. These estimates are compared with the measurements made with the collimated mass spectrometer which was part of the Induced Environment Contamination Monitor flown on several of the early shuttle flights. Although the collimated mass spectrometer was not designed for this purpose and the instrument background for the species for which the collimator is effective is above the expected levels, upper limits can be established for these species in the wake environment which are consistent with the analysis. There was considerably more helium and argon observed in the wake direction than was predicted, however. Possible origins of these gases are discussed

N2 temperature and density data for the 150 to 300 km region and their implications

Molecular nitrogen density and temperature measurements in thermosphere by thermosphere prob

Design study for electronic system for Jupiter Orbit Probe (JOP)

The conceptual design of the Jupiter probe spectrometer is presented. Block and circuit diagrams are presented along with tabulated parts lists. Problem areas are considered to be (1) the schedule, (2) weight limitations for the electronic systems, and (3) radiation hardness of the electronic devices

Advanced Langmuir Probe (LP)

The dynamic response of the MK-2 version of the Langmuir probe amplifier was studied. The settling time of the step response is increased by: (1) stray node-to-ground capacitance at series connections between high value feedback resistors; and (2) input capacitance due to the input cable, FET switches, and input source follower. The stray node-to-ground capacitances can be reduced to tolerable levels by elevating the string of feedback resistors above the printing board. A new feedback network was considered, with promising results. The design uses resistances having much lower nominal values, thereby minimizing the effect of stray capacitances. Faster settling times can be achieved by using an operational amplifier having a higher gain-bandwidth product

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified

An acoustic wind measuring technique Scientific report no. 1

Technique for measuring winds using Saturn exhaust noise - acoustic technique, wind profile determined during Saturn SA-9 flight, and data reduction metho