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At least 181 records · Page 10

Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described.

Duffie, Neil A.↗

The use of UNIX in a real-time environment

This paper describes a project to evaluate the feasibility of using commercial off-the-shelf hardware and the UNIX operating system, to implement a real-time control and monitor system. A functional subset of the Checkout, Control and Monitor System was chosen as the test bed for the project. The project consists of three separate architecture implementations: a local area bus network, a star network, and a central host. The motivation for this project stemmed from the need to find a way to implement real-time systems, without the cost burden of developing and maintaining custom hardware and unique software. This has always been accepted as the only option because of the need to optimize the implementation for performance. However, with the cost/performance of today's hardware, the inefficiencies of high-level languages and portable operating systems can be effectively overcome.

Luken, R. D.↗

Intermediate Levels of Autonomy within the SSM/PMAD Breadboard

The Space Station Module Power Management and Distribution (SSM/PMAD) bread-board is a test bed for the development of advanced power system control and automation. Software control in the SSM/PMAD breadboard is through co-operating systems, called Autonomous Agents. Agents can be a mixture of algorithmic software and expert systems. The early SSM/PMAD system was envisioned as being completely autonomous. It soon became apparent, though, that there would always be a need for human intervention, at least as long as a human interacts with the system in any way. In a system designed only for autonomous operation, manual intervention meant taking full control of the whole system, and loosing whatever expertise was in the system. Several methods for allowing humans to interact at an appropriate level of control were developed. This paper examines some of these intermediate modes of autonomy. The least humanly intrusive mode is simple monitoring. The ability to modify future behavior by altering a schedule involves high-level interaction. Modification of operating activities comes next. The coarsest mode of control is individual, unplanned operation of individual Power System components. Each of these levels is integrated into the SSM/PMAD breadboard, with support for the user (such as warnings of the consequences of control decisions) at every level.

Dugal-Whitehead, Norma R.↗

Tone Noise and Nearfield Pressure Produced by Jet-Cavity Interaction

Cavity flow resonance can cause numerous problems in aerospace applications. While our long-term goal is to understand cavity flows well enough to devise effective cavity resonance suppression techniques, this paper describes a fundamental study of resonant tones produced by jet-cavity interaction at subsonic and supersonic speeds. Our specific jet-cavity configuration can also be used as a test bed for evaluating active and passive flow resonance control concepts. Two significant findings emerge from this study. 1) Originally, we expected that tones produced by jet-cavity interaction would resemble cavity tones or jet tones or would involve some simple combinations of each. The experimental data do not support these expectations: instead, the jet cavity interaction produce a unique set of tones. We propose simple yet and physically insightful correlations for these tones. Although the pressure patterns on the cavity floor display very complex variations with the Mach number for a length/depth = 8 cavity, the tones correspond to the acoustic modes of the cavity-independent of flow. For a length/ depth = 3 cavity, however, a surprise emerges: the pressure patterns on the cavity floor are not so complex but the tones depend significantly on the flow. Additionally, we examine the role of external feedback unique to jet-cavity interaction. 2) Previous research led us to expect that traditional classifications (open, transitional, or closed) for cavities in an infinite flight stream would be insensitive to small changes in Mach number and would depend primarily on cavity length/depth ratios. Use of the novel high resolution photoluminescent pressure sensitive paint shows that the classifications are actually quite sensitive to jet Mach number for a length/depth = 8 cavity. However, these classifications provide no guidance whatsoever for tone amplitude or frequency. Detailed experimental data and insights presented here will assist researchers who are performing numerical simulations of jet-cavity flows as a first step toward devising resonance suppression methods.

Raman, Ganesh↗

The Perfect Mate for Safe Fueling

Referred to as the "lifeline for any space launch vehicle" by NASA Space Launch Initiative Program Manager Warren Wiley, an umbilical is a large device that transports power, communications, instrument readings, and fluids such as propellants, pressurization gases, and coolants from one source to another. Numerous launch vehicles, planetary systems, and rovers require umbilical "mating". This process is a driving factor for dependable and affordable space access. With future-generation space vehicles in mind, NASA recently designed a smart, automated method for quickly and reliably mating and demating electrical and fluid umbilical connectors. The new umbilical concept is expected to replace NASA s traditional umbilical systems that release at vehicle lift-off (T-0). The idea is to increase safety by automatically performing hazardous tasks, thus reducing potential failure modes and the time and labor hours necessary to prepare for launch. The new system will also be used as a test bed for quick disconnect development and for advance control and leak detection. It incorporates concepts such as a secondary mate plate, robotic machine vision, and compliant motor motion control, and is destined to advance usage of automated umbilicals in a variety of aerospace and commercial applications.

Source record↗

Chapter 12 - Flight Envelope

The term "flight envelope" is used to refer to the boundaries of aircraft loading and flight conditions within which operation of the aircraft is satisfactory, and beyond which some aspect becomes unacceptable. This flight envelope represents, in fact, the limiting conditions arising from a matrix of inter-related flight envelopes covering the appropriate variables. Thus, for each loading (i.e., external stores configuration and its associated range of weight and center of gravity (c.g.) position) and aircraft configuration (i.e., position of undercarriage (u/c), flaps, slats, etc.), the envelopes of airspeed versus altitude, airspeed versus load factor, angle of attack versus angle of sideslip, etc., must be investigated to establish the limits within which all aspects such as handling qualities, engine behavior, structural loads, etc., remain acceptable. Flight testing of new or derivative aircraft models is carried out with the initial purpose of defining a flight envelope which is, first and foremost, safe and secondarily, which enables the effective use of the vehicle for its intended purpose. Flight testing occurs only after numerous reviews of the design and review of results from ground tests and predictions of flight characteristics in such areas as structures, aerodynamics, stability and control, flight controls (particularly fly-by-wire control systems, propulsion, etc.). Accordingly, opening and expanding the envelope is a task that must be approached cautiously, systematically, and with coordination and cooperation of the many disciplines involved in the design and test of an airplane. (Sections 8 and 10 cover test planning and safety of flight considerations, respectively). The fundamental tenet in establishing a flight envelope via flight test is risk reduction. This is reflected in the typical sequence of events leading to initial flight test - design reviews (both hardware and software), then ground test involving singular disciplines (windtunnel tests for aerodynamics, structurally loading the wing/fuselage/nacelle on a ground test article with loads anticipated to occur in flight, flight control system control law checkout, propulsion test cell runs and/or flying test bed tests, etc.), and then ground tests involving multi-disciplines (See Section 9). Only after these have been accomplished will an initial, limited, low-risk, flight envelope be established. The limited envelope will typically be in the middle of the projected final flight envelope. Subsequent flight tests will then be devoted to expanding the initial envelope by operating the airplane at increasing ranges - representing increasing risk - of engine operation, airspeeds both fast and slow, altitude, load factor both above and below 1g, centers of gravity (fore and aft), and with system/subsystem failures. Whether flight tests are to define a flight envelope on a new model airplane with the attendant new airframe, new engine(s), and new subsystems (hydraulics, pressurization, etc.), or on an airplane involving only a few of these areas such as new engines in an old airframe, the fundamental approach to establishing an envelope is the same.

H Walgemoed↗

Identification and Active Disturbance Rejection for the JPL Phase B Test Bed

Active disturbance rejection to minimize optical path length error is illustrated by experimental results from the JPL Phase B Test Bed, which incorporates an interferometric sensor and a controllable trolley mounted on a flexible truss structure. The controller actively isolates the optical instruments from structural vibrations induced by external disturbances consisting of linear combinations of sinusoidal signals.

Active↗

Artificial Gravity as a Multi-System Countermeasure to Bed Rest Deconditioning: Preliminary Results

Artificial gravity paradigms may offer effective, efficient, multi-system protection from the untoward effects of adaptation to the microgravity of space or the hypogravity of planetary surfaces. Intermittent artificial gravity (AG) produced by a horizontal short-radius centrifuge (SRC) has recently been utilized on human test subjects deconditioned by bed rest. This presentation will review preliminary results of a 41 day study conducted at the University of Texas Medical Branch, Galveston, TX bed rest facility. During the first eleven days of the protocol, subjects were ambulatory, but confined to the facility. They began a carefully controlled diet, and participated in multiple baseline tests of bone, muscle, cardiovascular, sensory-motor, immunological, and psychological function. On the twelfth day, subjects entered the bed rest phase of the study, during which they were confined to strict 6deg head down tilt bed rest for 21 days. Beginning 24 hrs into this period, treatment subjects received one hour daily exposures to artificial gravity which was produced by spinning the subjects on a 3.0 m radius SRC. They were oriented radially in the supine position so that the centrifugal force was aligned with their long body axis, and while spinning, they "stood" on a force plate, supporting the centrifugal loading (2.5 g at the feet, 1.0 g at the heart). The subject station allowed free translation over approximately 10 cm to ensure full loading of the lower extremities and to allow for anti-orthostatic muscle contractions. Control subjects were positioned on the centrifuge but did not spin. Following the bed rest phase, subjects were allowed to ambulate again, but remained within the facility for an additional 9 days and participated in multiple follow-up tests of physiological function.

Warren, L. E.↗

CryoCart Restoration and Vacuum Pipe Construction

Propulsion systems that utilize hypergolic propellants have been used to power space vehicles since the beginning of the space program. Liquid methane and oxygen propulsion systems have emerged as an alternative and have proven to be more environmentally friendly. The incorporation of liquid methane/liquid oxygen (LOX) into the propulsion system has demonstrated an increase in engine performance, as well as a reduction in the volume, size and complexity of the system. Consequently, reducing the total mass of the vehicle which is a crucial aspect that is considered when planning space missions to both the Moon and Mars [1]. Project Morpheus has made significant advancements in liquid oxygen/liquid methane propulsion system technologies by incorporating a LOX/methane propulsion system to a vertical test bed. The vehicle consisted of a 5,000 lb main engine and four 20 lb remote control system (RCS) engines that utilize liquid methane/LOX as its propellant [1]. The vehicle completed successful flight testing at Kennedy Space Center in 2014 which marked the completion of the Morpheus project. Subsequent projects utilizing Morpheus' vertical test bed have been developed to make further advancements. One of the subsequent projects consisted of the addition of a smaller 2,000 lb main engine and a cold helium heat exchanger which would make it possible for a pressurant tank systems to be send to Mars or the Moon by significantly decreasing the overall mass and volume of the pressurant tank. The hot fire tests of the integrated system with the smaller main engine and cold helium heat exchanger were successful at sea level, but further studies are being conducted to better understand how the vertical test bed will behave under thermal-vacuum conditions. For this reason, the integrated vehicle will be taken to Plum Brook to be tested in a chamber capable of simulating these conditions. To ensure that the vehicle will function properly under vacuum conditions, testing will be first completed at the component level. During this process, the igniter of the main engine and the RCS thrusters will be tested under a vacuum. To complete the testing of the components, the test setup first needed to be finalized. The CryoCart is being used to feed the propellants to the test article. The CryoCart is a movable test set-up that was developed in 2009 to provide a mobile platform for testing oxygen/methane systems with hot-fire capability up to 100 lbf. The CryoCart consists of three different systems: Oxygen, Methane, and liquid Nitrogen. The Oxygen and Methane systems are placed into two different carts while the liquid nitrogen system is mainly located in the methane cart. Over the years, the CryoCart has been utilized for different projects and has undergone deterioration. For this reason, a new phase has been developed to rebuild it to working conditions once again. During my internship, I was aiding in the construction and restoration of the CryoCart. In the initial stages of the process, I updated the fluid and electrical schematics for the oxygen, methane, and test article systems. The original CryoCart consisted of an electrical panel that utilized electromechanical relays and a terminal to drive the igniter power and signal, as well as the main fuel and oxygen valves. This electrical panel connected to the CryoCart through various wire harnesses that could be found exiting from the CryoCart. First, it was determined how these harnesses connected to the electromechanical relays so that they worked correctly. Once the electrical system was understood, an alternative for the electromechanical relays and the Molex connectors used throughout the system was sought since these components can often prove to be unreliable. Solid State relays and MIL connectors were purchased to serve as replacements. Upon arrival of the parts, crimping and wiring was completed to install the new solid state relays and MIL connectors. During the replacement of the relays and connectors, system checks of the electrical system were ran to ensure that the system was working correctly. While completing system checks, the pressure transducers that were not functioning properly were also replaced and any issue with the wiring or signal was addressed. Once the electrical components were replaced, the restoration of the fluid system began. Parts of the tubing in the CryoCart had to be rebuild and often consisted of sizing, cutting, bending, filing, and sanding the tubing to prepare it to be flared. Many components had to be proof-tested to bring their certifications up to date, and several components had to be replaced. Various flex hoses, valves, and fittings were send to the Clean Lab because they were new, dirty, or had gone through proof-testing. Once they arrived from the cleaning lab they had to be put back to the system and leak checks and functional tests were conducted. In the Nitrogen system, the copper tubing located in the Oxygen cart was rebuild and Aerogel insulation was added to this section. A new gaseous nitrogen system was added to the CryoCart to purge the vacuum tube which will serve as the test chamber. Once the CryoCart was completed, construction of parts of the vacuum tube began. A flange was manufactured with welded fittings to hold the line of the vacuum pump as well as some extra fittings which will serve as extra inlets used to introduce fluid lines to the vacuum tube. Stress analysis was ran in this flange to ensure that it would not fail under vacuum conditions. The fluid lines leading from the air side of the vacuum to the test article were also constructed and added to the mount that had already been manufactured. Three different sets of tubing were constructed to accommodate the seven different RCS thruster and the main engine igniter that are going to be tested. Full electrical system checks were completed to ensure that all the wire harnesses and valves were functioning. Upon the completion of the CryoCart and the vacuum tube, hot fire testing for the RCS thrusters and the main engine igniter are going to begin. During this time any issues encountered with the engines or igniter will be addressed to ensure that the components function under vacuum conditions. After successful completion of testing, the vertical test bed, Morpheus, will be rebuilt and prepared to be sent to Plum Brook. In Plum Brook, the vehicle will be tested in the thermal-vacuum chamber to demonstrate that integrated lox-methane propulsion system operation in space-like conditions. This internship has allowed me the opportunity to gain valuable hands on experience and to develop skills that will aid in my education as well as in the workforce, while at the same time helping me determine that I would like to further pursue a career in propulsion engineering.

Chaidez, Mariana↗

Autonomous Path-Following for a Tilt-Wing, Distributed Electric Propulsion, Vertical Take-Off and Landing Unmanned Aerial System in Hover Mode

This paper presents an autonomous path-following control architecture for a tilt-wing, distributed electric propulsion, vertical take-off and landing unmanned aerial system in hover mode and presents indoor flight test results. The test-bed vehicle is a subscale model with the same configuration as the NASA GL-10 aircraft. The control architecture consists of an inner-loop attitude controller, outer-loop trajec­tory controller, and a trajectory generation scheme. The flight test results show that the vehicle can satisfactorily follow a path prescribed by a list of waypoints around the indoor flight room.

Cooper, John R.↗

Recovery After Prolonged Bed-Rest Deconditioning

Recovery data were analyzed from normal healthy test subjects maintained in the horizontal or head-down body position in well-controlled bed rest (BR) studies in which adherence to the well-designed protocol was monitored. Because recovery data were almost always of secondary importance to the data collected during the BR period, there was little consistency in the recovery experimental designs regarding control factors (e.g., diet or exercise), duration, or timing of data collection. Thus, only about half of the BR studies that provided appropriate data were analyzed here. These recovery data were sorted into two groups: those from BR protocols of less than 37 days, and those from protocols greater than 36 days. There was great disparity in the unchanged responses at the end of BR in these two groups. Likewise with the variables that required more than 40 days for recovery; for example, some immune variables required more than 180 days. Knowledge of the recovery process after BR in healthy people should assist rehabilitation workers in differentiating "healthy" BR recovery responses from those of the infirmity of sick or injured patients; this should result in more appropriate and efficient health care.

Greenleaf, John E.↗

Initial operational capability of the ASTREX large space structures test bed

Future DOD, NASA, and SDI space systems will be larger than any spacecraft flown before. The economics of placing these large space systems (LSS) into orbit dictates that they be as low in mass as possible. The combination of very large size and relatively low mass produces systems which possess little structural rigidity. This flexibility causes severe technical problems when combined with the precise shape and pointing requirements associated with many future LSS missions. Development of new control technologies which can solve these problems and enable future LSS missions is under way, but a test bed is needed for demonstration and evaluation of the emerging control hardware (sensors and actuators) and methodologies. In particular, the need exists for a facility which enables both large angle slewing and subsequent pointing/shape control of a variety of flexible bodies. The Air Force Astronautics Laboratory (AFAL) has conceived the Advanced Space Structures Technology Research Experiments (ASTREX) facility to fill this need. An overview of the ASTREX facility is given.

Norris, G. A.↗

A flight-test methodology for identification of an aerodynamic model for a V/STOL aircraft

This paper describes a flight-test methodology for developing a data base to be used to identify an aerodynamic model of a V/STOL fighter aircraft. The aircraft serves as a test bed at NASA Ames for ongoing research in advanced V/STOL control and display concepts. The flight envelope to be modeled includes hover, transition to conventional flight and back to hover, STOL operation, and normal cruise. Although the aerodynamic model is highly nonlinear, it has been formulated to be linear in the parameters to be identified. Motivation for the flight-test methodology advocated in this paper is based on the choice of a linear least-squares method for model identification. The paper covers elements of the methodology from maneuver design to the completed data base. Major emphasis is placed on the use of state estimation with tracking data to ensure consistency among maneuver variables prior to their entry into the data base. The design and processing of a typical maneuver are illustrated.

Bach, R. E., Jr.↗

Effects of Bed Rest on Conduction Velocity of the Triceps Surae Stretch Reflex and Postural Control

Despite rigorous exercise and nutritional management during space missions, astronauts returning from microgravity exhibit neuromuscular deficits and a significant loss in muscle mass in the postural muscles of the lower leg. Similar changes in the postural muscles occur in subjects participating in long-duration bed rest studies. These adaptive muscle changes manifest as a reduction in reflex conduction velocity during head-down bed rest. Because the stretch reflex encompasses both the peripheral (muscle spindle and nerve axon) and central (spinal synapse) components involved in adaptation to calf muscle unloading, it may be used to provide feedback on the general condition of neuromuscular function, and might be used to evaluate the effectiveness of countermeasures aimed at preserving muscle mass and function during periods of unloading. Stretch reflexes were measured on 18 control subjects who spent 60 to 90 days in continuous 6 deg head-down bed rest. Using a motorized system capable of rotating the foot around the ankle joint (dorsiflexion) through an angle of 10 degrees at a peak velocity of about 250 deg/sec, a stretch reflex was recorded from the subject's left triceps surae muscle group. Using surface electromyography, about 300 reflex responses were obtained and ensemble-averaged on 3 separate days before bed rest, 3 to 4 times in bed, and 3 times after bed rest. The averaged responses for each test day were examined for reflex latency and conduction velocity (CV) across gender. Computerized posturography was also conducted on these same subjects before and after bed rest as part of the standard measures. Peak-to-peak sway was measured during Sensory Organization Tests (SOTs) to evaluate changes in the ability to effectively use or suppress visual, vestibular, and proprioceptive information for postural control. Although no gender differences were found, a significant increase in reflex latency and a significant decrease in CV were observed during the bed rest period, with a return to baseline 3 to 5 days after bed rest, depending on the duration of bed rest. In addition, a relationship between CV and loss of muscle strength in the lower leg was observed post bed rest for most subjects. Immediately post-bed rest, most subjects showed decreased performance on SOTs, with the greater decrements on sway-referenced support and head movement conditions. Post-bed rest decrements were less than typically observed following spaceflight. Decrements in postural control and the stretch reflex can be primarily attributed to the unloading mechanisms this ground-based analog provides. The stretch reflex is a concise test measurement that can be obtained during the head-down phase of bed rest, as it does not interfere with the bed rest paradigm. This makes it an ideal tool that can detect, early on, whether a countermeasure is successful in preserving muscle function.

Reschke, M. F.↗

Development and testing of a 180-volt dc electronic circuit breaker with a 335-ampere carry and 1200-ampere interrupt rating

NASA Lewis Research Center and associated contractors have conducted a program to assess the potential requirements for a high-current switch to conceptually design a switch using the best existing technology, and to build and demonstrate a breadboard which meets the requirements. The result is the high current remote bus isolator (HRBI). The HRBI is rated at 180 V dc, 335 A continuous with a 1200 A interrupt rating. It also incorporates remote-control and protective features called for by the Space Station Freedom PMAD dc test bed design. Two breadboard 335 A circuit breakers were built and tested that demonstrate a promising concept of paralleled current-limiting modules. The units incorporated all control and protective features required by advanced aerospace power systems. Component stresses in each unit were determined by design, and are consistent with a life of many thousands of fault operations.

Brush, A. S.↗

PKI solar thermal plant evaluation at Capitol Concrete Products, Topeka, Kansas

A system feasibility test to determine the technical and operational feasibility of using a solar collector to provide industrial process heat is discussed. The test is of a solar collector system in an industrial test bed plant at Capitol Concrete Products in Topeka, Kansas, with an experiment control at Sandia National Laboratories, Albuquerque. Plant evaluation will occur during a year-long period of industrial utilization. It will include performance testing, operability testing, and system failure analysis. Performance data will be recorded by a data acquisition system. User, community, and environmental inputs will be recorded in logs, journals, and files. Plant installation, start-up, and evaluation, are anticipated for late November, 1981.

Hauger, J. S.↗

Follow on Research for Multi-Utility Technology Test Bed Aircraft at NASA Dryden Flight Research Center (FY13 Progress Report)

Modern aircraft employ a significant fraction of their weight in composite materials to reduce weight and improve performance. Aircraft aeroservoelastic models are typically characterized by significant levels of model parameter uncertainty due to the composite manufacturing process. Small modeling errors in the finite element model will eventually induce errors in the structural flexibility and mass, thus propagating into unpredictable errors in the unsteady aerodynamics and the control law design. One of the primary objectives of Multi Utility Technology Test-bed (MUTT) aircraft is the flight demonstration of active flutter suppression, and therefore in this study, the identification of the primary and secondary modes for the structural model tuning based on the flutter analysis of MUTT aircraft. The ground vibration test-validated structural dynamic finite element model of the MUTT aircraft is created in this study. The structural dynamic finite element model of MUTT aircraft is improved using the in-house Multi-disciplinary Design, Analysis, and Optimization tool. In this study, two different weight configurations of MUTT aircraft have been improved simultaneously in a single model tuning procedure.

multi-utility technology test bed aircraft↗

Mission Adaptive Wing test program

With the completion of the F-111 test-bed Mission Adaptive Wing (MAW) test program's manual flight control system, emphasis has been shifted to flight testing of MAW automatic control modes. These encompass (1) cruise camber control, (2) maneuver camber control, (3) maneuver load control, and (4) maneuver enhancement and load alleviation control. The aircraft is currently cleared to a 2.5-g maneuvering limit due to generally higher variable-incidence wing pivot loads than had been anticipated, especially at the higher wing-camber settings. Buffet is noted to be somewhat higher than expected at the higher camber settings.

Birk, Frank T.↗