Engineering topics

Grodsinsky, C. M.

Publications and source records attributed to Grodsinsky, C. M..

16 records

NASA NTRS2011

An Integrated Musculoskeletal Countermeasure Battery for Long-Duration Lunar Missions

During extended periods of skeletal unloading, losses in strength and density of the proximal femur will occur. In long-duration spaceflight, resistive exercise is used to replace the normal loads exerted on the spine and hip. At the present time, there is no conclusive evidence that hip bone loss has been prevented in this scenario. Our group has recently developed and clinically evaluated a multifunctional exercise system, the Combined Countermeasure Device (CCD). The CCD comprises a low-footprint Stuart Platform for lower-body resistance exercise and balance training, and a cardiovascular exercise bicycle. A consideration for resistance exercise was targeting of the hip abductor and adductor muscles, which attach directly at the hip and which should subject it to the largest loads. In our training study, we found that CCD exercise increased hip adductor and abductor strength, and modeling results suggest that this exercise exerts forces on the hip of approx. 4-6 body weights at 1g, compared to forces of approx.2.5 body weight y squatting exercise. In our current study, we hypothesize that abductor and adductor exercise will increase the density and strength of the proximal femur.

Lang, T. F.↗

NASA NTRS1996

Active Vibration Isolation of Microgravity Experiments with Spring Umbilicals Using an Electrodynamic Actuator

Microgravity experiments will require active vibration isolation in the low to mid frequency range of 0.1 Hz to 10 Hz. Approximately two orders of acceleration reduction (40 dB) will be required. Previous works have reported results for accelerations transmitted through the umbilical. This paper describes experimental and theoretical results for vibration isolation in one dimension (horizontal) where the simulated experiment is connected to the spacecraft by a spring umbilical. The experiment consisted of a spacecraft (shaker), experiment (mass), umbilical, accelerometer, control electronics, and Lorentz actuator. The experiment mass was supported in magnetic bearings to avoid any stiction problems. Acceleration feedback control was employed to obtain the vibration isolation. Three different spring umbilicals were employed. Acceleration reductions on the order of 40 dB were obtained over the frequency range of 0.1 Hz to 10 Hz. Good agreement was obtained between theory and experiment.

Banerjee, B. B.↗

NASA NTRS1994

Microgravity isolation system design: A case study

Many acceleration-sensitive, microgravity science experiments will require active vibration isolation from manned orbiters on which they will be mounted. The isolation problem, especially in the case of a tethered payload, is a complex three-dimensional one that is best suited to modern-control design methods. In this paper, extended H(sub 2) synthesis is used to design an active isolator (i.e., controller) for a realistic single-input-multiple-output (SIMO) microgravity vibration isolation problem. Complex mu-analysis methods are used to analyze the isolation system with respect to sensor, actuator, and umbilical uncertainties. The paper fully discusses the design process employed and the insights gained. This design case study provides a practical approach for isolation problems of greater complexity. Issues addressed include a physically intuitive state-space description of the system, disturbance and noise filters, filters for frequency weighting, and uncertainty models. The controlled system satisfies all the performance specifications and is robust with respect to model uncertainties.

Hampton, R. D.↗

NASA NTRS1994

Microgravity isolation system design: A modern control synthesis framework

Manned orbiters will require active vibration isolation for acceleration-sensitive microgravity science experiments. Since umbilicals are highly desirable or even indispensable for many experiments, and since their presence greatly affects the complexity of the isolation problem, they should be considered in control synthesis. A general framework is presented for applying extended H2 synthesis methods to the three-dimensional microgravity isolation problem. The methodology integrates control and state frequency weighting and input and output disturbance accommodation techniques into the basic H2 synthesis approach. The various system models needed for design and analysis are also presented. The paper concludes with a discussion of a general design philosophy for the microgravity vibration isolation problem.

Hampton, R. D.↗

NASA NTRS1994

Microgravity isolation system design: A modern control analysis framework

Many acceleration-sensitive, microgravity science experiments will require active vibration isolation from the manned orbiters on which they will be mounted. The isolation problem, especially in the case of a tethered payload, is a complex three-dimensional one that is best suited to modern-control design methods. These methods, although more powerful than their classical counterparts, can nonetheless go only so far in meeting the design requirements for practical systems. Once a tentative controller design is available, it must still be evaluated to determine whether or not it is fully acceptable, and to compare it with other possible design candidates. Realistically, such evaluation will be an inherent part of a necessary iterative design process. In this paper, an approach is presented for applying complex mu-analysis methods to a closed-loop vibration isolation system (experiment plus controller). An analysis framework is presented for evaluating nominal stability, nominal performance, robust stability, and robust performance of active microgravity isolation systems, with emphasis on the effective use of mu-analysis methods.

Hampton, R. D.↗

NASA NTRS1994

Microgravity isolation system design: A modern control synthesis framework

Manned orbiters will require active vibration isolation for acceleration-sensitive microgravity science experiments. Since umbilicals are highly desirable or even indispensable for many experiments, and since their presence greatly affects the complexity of the isolation problem, they should be considered in control synthesis. In this paper a general framework is presented for applying extended H2 synthesis methods to the three-dimensional microgravity isolation problem. The methodology integrates control and state frequency weighting and input and output disturbance accommodation techniques into the basic H2 synthesis approach. The various system models needed for design and analysis are also presented. The paper concludes with a discussion of a general design philosophy for the microgravity vibration isolation problem.

Hampton, R. D.↗

NASA NTRS1993

Microgravity Research on the NASA Lewis Learjet Test Facility

Results from preliminary performance tests conducted in an aircraft low-G testbed for nonfree-floating experimental packages have identified several operational variables that directly influence the duration and quality of each trajectory. Flight test measurements were made to identify and quantify the presence of higher-frequency airborne and structureborne noise that may affect the correlation of research data with acceleration levels recorded on trajectory traces.

Boyer, E. O.↗

NASA NTRS1993

Vibration isolation technology - An executive summary of systems development and demonstration

A program was organized to develop the enabling technologies needed for the use of Space Station Freedom as a viable microgravity experimental platform. One of these development programs was the Vibration Isolation Technology (VIT). This technology development program grew because of increased awareness that the acceleration disturbances present on the Space Transportation System (STS) orbiter can and are detrimental to many microgravity experiments proposed for STS, and in the future, Space Station Freedom (SSF). Overall technological organization are covered of the VIT program. Emphasis is given to the results from development and demonstration of enabling technologies to achieve the acceleration requirements perceived as those most likely needed for a variety of microgravity science experiments. In so doing, a brief summary of general theoretical approaches to controlling the acceleration environment of an isolated space based payload and the design and/or performance of two prototype six degree of freedom active magnetic isolation systems is presented.

Grodsinsky, C. M.↗

NASA NTRS1992

Controller design for microgravity vibration isolation systems

Control aspects of the vibration isolation problem of manned orbiters are investigated, and a viable robust control is proposed. The application of modern control theory to this problem, incorporating frequency-weighting and disturbance accommodation techniques, is investigated. The resulting controller achieves excellent performance for plants within a reasonable range of variations from the nominal. Robust stability and performance guarantees are measured by singular value and structured singular value checks, yielding guarantees on allowable real plant parameter uncertainties and on acceptable controller and sensor phase and gain variations. The problem of unmodeled HG modes is eliminated by using frequency weighting to reduce controller bandwidth. The method is applied successfully to the single-degree-of-freedom isolation problem.

Hampton, R. D.↗

NASA NTRS1992

Optimal microgravity vibration isolation - An algebraic introduction

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) (exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics quaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, R. D.↗

NASA NTRS1992

Microgravity vibration isolation: Optimal preview and feedback control

In order to achieve adequate low-frequency vibration isolation for certain space experiments an active control is needed, due to inherent passive-isolator limitations. Proposed here are five possible state-space models for a one-dimensional vibration isolation system with a quadratic performance index. The five models are subsets of a general set of nonhomogeneous state space equations which includes disturbance terms. An optimal control is determined, using a differential equations approach, for this class of problems. This control is expressed in terms of constant, Linear Quadratic Regulator (LQR) feedback gains and constant feedforward (preview) gains. The gains can be easily determined numerically. They result in a robust controller and offers substantial improvements over a control that uses standard LQR feedback alone.

Hampton, R. D.↗

NASA NTRS1991

Microgravity vibration isolation: An optimal control law for the one-dimensional case

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega)(exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, R. D.↗

NASA NTRS1991

Development of a vibration isolation prototype system for microgravity space experiments

The presence of small levels of low-frequency accelerations on the Space Shuttle orbiters has degraded the microgravity environment for the science community. Growing concern about this microgravity environment has generated interest in systems that can isolate microgravity science experiments from vibrations. This interest has resulted primarily in studies of isolation systems with active methods of compensation. The development of a magnetically suspended, six-degree-of-freedom active vibration isolation prototype system capable of providing the needed compensation to the orbital environment is presented. A design for the magnetic actuators is described, and the control law for the prototype system that gives a nonintrusive inertial isolation respone to the system is also described. Relative and inertial sensors are used to provide an inertial reference for isolating the payload.

Logsdon, K. A.↗

NASA NTRS1990

The vibro-acoustic mapping of low gravity trajectories on a Learjet aircraft

Terrestrial low gravity research techniques have been employed to gain a more thorough understanding of basic science and technology concepts. One technique frequently used involves flying parabolic trajectories aboard the NASA Lewis Research Center Learjet aircraft. A measurement program was developed to support an isolation system conceptual design. This program primarily was intended to measure time correlated high frequency accelerations (up to 100 Hz) present at various locations throughout the Learjet during a series of trajectories and flights. As suspected, the measurements obtained revealed that the environment aboard such an aircraft can not simply be described in terms of the static level low gravity g vector obtained, but that it also must account for both rigid body and high frequency vibro-acoustic dynamics.

Grodsinsky, C. M.↗

NASA NTRS1990

The vibro-acoustic mapping of low gravity trajectories on a Learjet aircraft

The NASA LeRC Learjet aircraft is used to fly parabolic trajectories for carrying out in-flight microgravity experiments. To derive full benefit from data obtained in such experiments, it is not only required to understand the low- to moderate-frequency accelerations present but also necessary to characterize the broadband aircraft vibro-acoustic environment. A vibro-acoustic measurement program was conducted during a series of low-gravity trajectories flown on the Learjet. The fuselage and an experiment rack were instrumented with 13 channels of accelerometers and three channels of pressure transducers. The locations of these sensors were determined in order to build a time history of the dynamics involved in the flight of such a parabolic trajectory and thus determine the typical rigid-body and vibro-acoustic loading a payload would experience. The instrumentation, data acquisition sequence, and experimental results showing residual accelerations and high-frequency dynamics are presented. As suspected, the measurements revealed that the aircraft environment cannot simply be described in terms of the static level low-gravity g-vector obtained, but that it also must account for both rigid-body and high-frequency vibro-acoustic dynamics.

Grodsinsky, C. M.↗

NASA NTRS1989

Low frequency vibration isolation technology for microgravity space experiments

The dynamic acceleration environment observed on Space Shuttle flights to date and predicted for the Space Station has complicated the analysis of prior microgravity experiments and prompted concern for the viability of proposed space experiments requiring long-term, low-g environments. Isolation systems capable of providing significant improvements in this environment exist, but have not been demonstrated in flight configurations. This paper presents a summary of the theoretical evaluation for two one degree-of-freedom (DOF) active magnetic isolators and their predicted response to both direct and base excitations, that can be used to isolate acceleration sensitive microgravity space experiments.

Grodsinsky, C. M.↗