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At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex electrical-thermal-mechanical interactions and hysteresis. This article proposes a framework for in-situ sensing and dynamics modeling of actuator states, particularly temperature of SMA wires, which is used to predict robot motions. A planar soft limb is developed, actuated by a pair of SMA coils, that includes compact and robust sensors for temperature and angular deflection. Data from these sensors are used to train a neural network-based on the long short-term memory (LSTM) architecture to model both unidirectional (single SMA) and bidirectional (both SMAs) motion. Predictions from the model demonstrate that data from the temperature sensor, combined with control inputs, allow for dynamics predictions over extraordinarily long open-loop timescales (10 min) with little drift. Prediction errors are on the order of the soft deflection sensor’s accuracy. This architecture allows for compact designs of electrothermally-actuated soft robots that include sensing sufficient for motion predictions, helping to bring these robots into practical application.

Sabelhaus, Andrew P.↗
NASA NTRS1977

Successful trnasfer of adaptation environments in navy flight training

Two flight students, grounded for the reason they were highly susceptible to motion sickness, completed their training after gradually adapting 10 rpm, achieved by executing head movements during small stepwise increases in angular velocity. Subject 1 executed a total of about 77,000 head movements within a period of five months and Subject 2 executed about 108,000 head movements within a period of 42 days. The transfer of the adaptation acquired in the laboratory to most motion environments aloft was good; the notable exception involved weightless maneuvers in the case of Subject 1. Both were on flight status when contacted recently. The current motion sickness susceptibility in Subject 1 in the fall of 1975 was assessed. He reached a (mild) motion sickness endpoint, in the rotating room, at 17 rpm; the average endpoint is 7 to 8 rpm. Some practical and theoretical implications are discussed.

Cramer, D. B.↗
NASA NTRS1974

The effect of spurious angular accelerations on tracking in dynamic simulation

A laboratory study was conducted to investigate the effect of spurious simulator yaw motions on a pilot's control performance. A second objective was to compare the efficiency of static and dynamic simulator tracking in previously unexamined vehicle dynamics. Twelve airline pilots served as subjects in a moving-base flight simulator under congruent-motion, spurious-motion, and no-motion conditions. The results indicated a significant increase in the amount of error with increasing levels of spurious motion during the initially administered series of trials. The influence of spurious motion, however, was absent in a second series of trials. The data suggest that the pilots learned to compensate in their performance for the spurious inputs. It was also found that congruent visual and rotational cueing produced superior performance to that of tracking with visual information alone.

Beck, L. J.↗
NASA NTRS1990

Spiral structure of M51: Streaming motions across the spiral arms

The atomic hydrogen (HI) and the H alpha emission line in the grand-design spiral galaxy M51 have been observed with the Westerbork Synthesis Radio Telescope and the Taurus Fabry-Perot imaging spectrometer, respectively. Across the inner spiral arms significant tangential and radial velocity gradients are detected in the H alpha emission after subtraction of the axi-symmetric component of the velocity field. The shift is positive on the inside and negative on the outside of the northern arm. Across the southern arm this situation is reversed. The direction of the shifts is such that the material is moving inward and faster compared to circular rotation in both arms, consistent with the velocity perturbations predicted by spiral density wave models for gas downstream of a spiral shock. The observed shifts amount to 20 to 30 km (s-1), corresponding to streaming motions of 60 to 90 km (s-1) in the plane of the disk (inclination angle 20 degrees). Comparable velocity gradients have also been observed by Vogel et al. in the CO emission from the inner northern arm of M51. The streaming motions in M51 are about 2 to 3 times as large as the ones found in HI by Rots in M81, and successfully modelled by Visser with a self-consistent density wave model. Researchers have not been able to detect conclusively streaming motions in the HI emission from the arms, perhaps due to the relatively poor angular resolution (approx. 15 seconds) of the HI observations.

Tilanus, R. P. J.↗
NASA NTRS1991

Elimination of secular terms from the differential equations for the elements of perturbed two-body motion

In 1961, Sperling linearized and regularized the differential equations of motion of the two-body problem by changing the independent variable from time to fictitious time by Sundman's transformation (r = dt/ds) and by embedding the two-body energy integral and the Laplace vector. In 1968, Burdet developed a perturbation theory which was uniformly valid for all types of orbits using a variation of parameters approach on the elements which appeared in Sperling's equations for the two-body solution. In 1973, Bond and Hanssen improved Burdet's set of differential equations by embedding the total energy (which is a constant when the potential function is explicitly dependent upon time.) The Jacobian constant was used as an element to replace the total energy in a reformulation of the differential equations of motion. In the process, another element which is proportional to a component of the angular momentum was introduced. Recently trajectories computed during numerical studies of atmospheric entry from circular orbits and low thrust beginning in near-circular orbits exhibited numerical instability when solved by the method of Bond and Gottlieb (1989) for long time intervals. It was found that this instability was due to secular terms which appear on the righthand sides of the differential equations of some of the elements. In this paper, this instability is removed by the introduction of another vector integral called the delta integral (which replaces the Laplace Vector) and another scalar integral which removes the secular terms. The introduction of these integrals requires a new derivation of the differential equations for most of the elements. For this rederivation, the Lagrange method of variation of parameters is used, making the development more concise. Numerical examples of this improvement are presented.

Bond, Victor R.↗
NASA NTRS1998

Instrument for Achieving High Angular Resolution on the Infrared Telescope

Aberrations in stellar images caused by the atmosphere sets a significant limit on angular resolution in ground based astronomy. The largest of these aberrations is the image motion or wavefront tilt. Since the image motion is random it causes a blurring of the image, and this causes a blurring of the image from 0.3 arcseconds to about 0.7 arcseconds. The purpose of the tip-tilt project was to devise a system for the NASA Infrared Telescope Facility that would measure the image movement and correct it by rapidly tilting a mirror in two axes (tip and tilt). The system would involve building a CCD sensor package to measure the image motion, a new top end for the telescope to hold the tip-tilt mirror, a control system, and software. The system was designed to correct images for the facility camera, NSFCAM, and for the facility spectrometer, SPEX. Both of these instruments are equipped with a cold beamsplitter to feed the sensor package.

Hall, Donald N. B.↗
NASA NTRS2012

Direct Imaging of Extra-Solar Planets in Star Forming Regions: Lessons Learned from a False Positive Around IM Lup

Context. Most exoplanet imagers consist of ground-based adaptive optics coronagraphic cameras which are currently limited in contrast, sensitivity and astrometric precision, but advantageously observe in the near-infrared window (1 5 m). Because of these practical limitations, our current observational aim at detecting and characterizing planets puts heavy constraints on target selection, observing strategies, data reduction, and follow-up. Most surveys so far have thus targeted young systems (1 100 Myr) to catch the putative remnant thermal radiation of giant planets, which peaks in the near-infrared. They also favor systems in the solar neighborhood (d less than 80 pc), which eases angular resolution requirements but also ensures a good knowledge of the distance and proper motion, which are critical to secure the planet status, and enable subsequent characterization. Aims. Because of their youth, it is very tempting to target the nearby star forming regions, which are typically twice as far as the bulk of objects usually combed for planets by direct imaging. Probing these interesting reservoirs sets additional constraints that we review in this paper by presenting the planet search that we initiated in 2008 around the disk-bearing T Tauri star IM Lup, which is part of the Lupus star forming region (140-190 pc). Methods. We show and discuss why age determination, the choice of evolutionary model for both the central star and the planet, precise knowledge of the host star proper motion, relative or absolute (between different instruments) astrometric accuracy (including plate scale calibration), and patience are the key ingredients for exoplanet searches around more distant young stars. Results. Unfortunately, most of the time, precision and perseverance are not paying off: we discovered a candidate companion around IM Lup in 2008, which we report here to be an unbound background object. We nevertheless review in details the lessons learned from our endeavor, and additionally present the best detection limits ever calculated for IM Lup. We also accessorily report on the successful use of innovative data reduction techniques, such as the damped-LOCI and iterative roll subtraction.

D Mawet↗
NASA NTRS2004

Resolving the Issues with Flywheel Position Sensors

For the past few years, the Advanced Electrical Systems Branch here at NASA Glenn has been pursuing research in the area of flywheels. The purpose of these pursuits has been t o explore the potential for flywheels to replace current battery-powered systems in space. So far it has been learned that flywheels offer large momentum storage capacity, comparatively small volume, high durability, and near- complete discharge capabilities, all of which are advancements over the existing nickel hydrogen and nickel cadmium batteries. Another significant advantage of flywheels is the potential they offer for combining the function of attitude control with energy storage. During the summer of 2004, I worked with Dr. Barbara Kenny in the Advanced Electrical Systems Branch, supporting the work she is doing by analyzing and testing some new components for the new Generation-2 flywheel. To monitor the speed and angular position of the flywheel rotor, a once-around (OAR) signal along with a sensorless algorithm is used. The OAR signal is used for the magnetic bearings that keep the flywheel suspended for frictionless operation. The sensorless algorithm is used for the flywheel motor/generator control. The OAR is generated from position sensors that monitor a circular plate. The plate has a cut down the middle such that one half of the circle is on a slightly lower level than the other. Every half-turn, or 180, the sensors detect the "cut" on the plate, and trigger the OAR, telling the computer that the rotor has made half a revolution. This, however, doesn't provide needed detailed information about the angular position of the rotor, since it only provides a signal alert every half- revolution. This is enough information for the magnetic bearing control but is insufficient for the motor/generator control. A new resolver was designed such that it would give continuous angle information rather than the 180 degree information of the OAR. The new resolver has two separate observable pieces: a flat middle section to monitor vertical motion, and an angled section around the circumference, which, when observed from above, produces a sine-wave displacement through the entire 360" revolution. My first job when I arrived this summer was to calibrate the sensors that would be mounted on the inside of the flywheel casing to monitor the position (angular and vertical) of the shaft. After calibration, I used the sensors to evaluate voltage outputs created by position differences between two pairs of sensors on the angled portion of the resolver for eight different angular positions, moving the resolver vertically and laterally through its entire potential range of motion. The results of these tests will be used to determine the rotor angular (and axial) position from the sensor readings once the new flywheel unit is assembled. The sensorless algorighm mentioned above consists of two operations: the signal injection method and the back electro-motive force (EMF). The signal injection is meant to work at low speeds, while the back EMF algorithm is meant to work at higher speeds. Both work together to determine the correct estimate of rotor position and speed based on the measured motor/generator current. It was determined that we wanted to know exactly how accurate our estimation methods were, and so a resolver (a commercially available mechanical sensor mounted to the motor/generator shaft to measure rotor position and speed) and a "Resolver to Digital" (R2D) circuit board was purchased to make the comparison to the existing estimation. My work related to the R2D board has included the following: creating two connector cables (one to power the circuit and one to get readable output off the board), writing Simulink code to process the board's output, and building a dSpace panel to control and monitor the circuit. The next step in the process will be to perform tests to compare the estimated rotor position and speed from the sensorless algorithm to the actual rotor and speed from the resolver signal.

Fehrmann, Elizabeth A.↗
NASA NTRS2003

Quantifying Astronaut Tasks: Robotic Technology and Future Space Suit Design

The primary aim of this research effort was to advance the current understanding of astronauts' capabilities and limitations in space-suited EVA by developing models of the constitutive and compatibility relations of a space suit, based on experimental data gained from human test subjects as well as a 12 degree-of-freedom human-sized robot, and utilizing these fundamental relations to estimate a human factors performance metric for space suited EVA work. The three specific objectives are to: 1) Compile a detailed database of torques required to bend the joints of a space suit, using realistic, multi- joint human motions. 2) Develop a mathematical model of the constitutive relations between space suit joint torques and joint angular positions, based on experimental data and compare other investigators' physics-based models to experimental data. 3) Estimate the work envelope of a space suited astronaut, using the constitutive and compatibility relations of the space suit. The body of work that makes up this report includes experimentation, empirical and physics-based modeling, and model applications. A detailed space suit joint torque-angle database was compiled with a novel experimental approach that used space-suited human test subjects to generate realistic, multi-joint motions and an instrumented robot to measure the torques required to accomplish these motions in a space suit. Based on the experimental data, a mathematical model is developed to predict joint torque from the joint angle history. Two physics-based models of pressurized fabric cylinder bending are compared to experimental data, yielding design insights. The mathematical model is applied to EVA operations in an inverse kinematic analysis coupled to the space suit model to calculate the volume in which space-suited astronauts can work with their hands, demonstrating that operational human factors metrics can be predicted from fundamental space suit information.

Newman, Dava↗
NASA NTRS2008

Post-Flight Estimation of Motion of Space Structures: Part 1

A computer program estimates the relative positions and orientations of two space structures from data on the angular positions and distances of fiducial objects on one structure as measured by a target tracking electronic camera and laser range finders on another structure. The program is written specifically for determining the relative alignments of two antennas, connected by a long truss, deployed in outer space from a space shuttle. The program is based partly on transformations among the various coordinate systems involved in the measurements and on a nonlinear mathematical model of vibrations of the truss. The program implements a Kalman filter that blends the measurement data with data from the model. Using time series of measurement data from the tracking camera and range finders, the program generates time series of data on the relative position and orientation of the antennas. A similar program described in a prior NASA Tech Briefs article was used onboard for monitoring the structures during flight. The present program is more precise and designed for use on Earth in post-flight processing of the measurement data to enable correction, for antenna motions, of scientific data acquired by use of the antennas.

Brugarolas, Paul↗
NASA NTRS2011

Toward Realistic Dynamics of Rotating Orbital Debris, and Implications for Lightcurve Interpretation

Optical observations of rotating space debris near GEO contain important information on size, shape, composition, and rotational states, but these aspects are difficult to extract due to data limitations and the high number of degrees of freedom in the modeling process. For tri-axial rigid debris objects created by satellite fragmentations, the most likely initial rotation state has a large component of initial angular velocity directed along the intermediate axis of inertia, leading to large angular reorientations of the body on the timescale of the rotation period. This lends some support to the simplest possible interpretation of light curves -- that they represent sets of random orientations of the objects of study. However, effects of internal friction and solar radiation are likely to cause significant modification of rotation states within a time as short as a few orbital periods. In order to examine the rotational dynamics of debris objects under the influences of these effects, a set of seven first-order coupled equations of motion were assembled in state form: three are Euler equations describing the rates of change of the components of angular velocity in the body frame, and four describe the rates of change of the components of the unit quaternion. Quaternions are a four-dimensional extension of complex numbers that form a seamless, singularity-free representation of body orientation on S3. The Euler equations contain explicit terms describing torque from solar radiation in terms of spherical harmonics, and terms representing effects of a prescribed rate of internal friction. Numerical integrations of these equations of motion are being performed, and results will be presented. Initial tests show that internal friction without solar radiation torque leads to rotation about the maximum principal axis of inertia, as required, and solar radiation torque is expected to lead to spin-up of objects. Because the axis of maximum rotational inertia tends to be roughly coincident with the normal to the largest projected cross-sectional area, internal friction is expected to lead to reduced variation of light curve amplitudes at a given phase angle, but a large dependence of the same on phase angle. At a given phase angle, databases are generated which contain reflected intensities for comprehensive sets of equally-likely orientations, represented as unit quaternions. When projected onto three dimensions (S2) and color-coded by intensity, the set is depicted as points within a solid, semi-transparent unit sphere, within which all possible reflected intensities for an object at a given phase angle may be inspected simultaneously. Rotational sequences are represented by trajectories through the sphere. Databases are generated for each of a set of phase angles separately, forming a comprehensive dataset of reflected intensities spanning all object orientations and solar phase angles. Symmetries in the problem suggest that preferred rotation states are likely, defined relative to the object-sun direction in inertial space and relative to the maximum principal axis of inertia in the body coordinate system. Such rotation states may greatly simplify the problem of light curve interpretation by reducing the number of degrees of freedom in the problem.

Ojakangas, Gregory W.↗
NASA NTRS1975

The dynamics of spin stabilized spacecraft with movable appendages, part 1

The motion and stability of spin stabilized spacecraft with movable external appendages are treated both analytically and numerically. The two basic types of appendages considered are: (1) a telescoping type of varying length and (2) a hinged type of fixed length whose orientation with respect to the main part of the spacecraft can vary. Two classes of telescoping appendages are considered: (a) where an end mass is mounted at the end of an (assumed) massless boom; and (b) where the appendage is assumed to consist of a uniformly distributed homogeneous mass throughout its length. For the telescoping system Eulerian equations of motion are developed. During all deployment sequences it is assumed that the transverse component of angular momentum is much smaller than the component along the major spin axis. Closed form analytical solutions for the time response of the transverse components of angular velocities are obtained when the spacecraft hub has a nearly spherical mass distribution.

Bainum, P. M.↗
NASA NTRS1976

Dynamics of spin stabilized spacecraft during deployment of telescoping appendages

The dynamics of a spin stabilized spacecraft with telescoping appendages are treated both analytically and numerically. Two types of telescoping appendages are considered: (a) where an end mass is mounted at the end of an (assumed) massless boom; and (b) where the appendage is assumed to consist of a uniformly distributed homogeneous mass throughout its length. For the telescoping system Eulerian equations of motion are developed. During all deployment sequences it is assumed that the transverse component of angular momentum is much smaller than the component along the major spin axis. Closed form analytical solutions for the time response of the transverse components of angular velocities are obtained when the spacecraft hub has a nearly spherical mass distribution. For the more general case, a series solution is obtained and this solution is limited by its radius of convergence. The comparison of the different approximate analytical methods with numerical integration results are studied and it is observed that the oscillatory nature of the responses of the transverse angular velocity components reduces rapidly with faster extension rates.

Sellappan, R.↗
NASA NTRS1977

Present-day plate motions

A data set comprising 110 spreading rates, 78 transform fault azimuths and 142 earthquake slip vectors was inverted to yield a new instantaneous plate motion model, designated RM2. The mean averaging interval for the relative motion data was reduced to less than 3 My. A detailed comparison of RM2 with angular velocity vectors which best fit the data along individual plate boundaries indicates that RM2 performs close to optimally in most regions, with several notable exceptions. On the other hand, a previous estimate (RM1) failed to satisfy an extensive set of new data collected in the South Atlantic Ocean. It is shown that RM1 incorrectly predicts the plate kinematics in the South Atlantic because the presently available data are inconsistent with the plate geometry assumed in deriving RM1. It is demonstrated that this inconsistency can be remedied by postulating the existence of internal deformation with the Indian plate, although alternate explanations are possible.

Minster, J. B.↗
NASA NTRS1985

Earth rotation and polar motion - Measurements and implications

Several methods used to measure earth rotation and polar motion are discussed. The development of techniques for combining smoothing, and intercomparing geodetic measurements is described. Emphasis is given to measurements obtained since 1980 using VLBI, lunar laser ranging (LLR) and satellite laser ranging (SLR) techniques. The calculation of atmospheric angular momentum (AAM) excitation functions is outlined, and a comparison of AAM excitation functions with variations in the length of day (LOD) and polar motion data is presented. The geophysical implications of geodetic measurements are addressed.

Dickey, J. O.↗
NASA NTRS1995

Investigation of wing upper surface flow-field disturbance due to NASA DC-8-72 in-flight inboard thrust-reverser deployment

An investigation of the wing upper surface flow-field disturbance due to in-flight inboard thrust reverser deployment on the NASA DC-8-72, which was conducted cooperatively by NASA Ames, the Federal Aviation Administration (FAA), McDonnell Douglas, and the Aerospace Industry Association (AIA), is outlined and discussed in detail. The purpose of this flight test was to obtain tufted flow visualization data which demonstrates the effect of thrust reverser deployment on the wing upper surface flow field to determine if the disturbed flow regions could be modeled by computational methods. A total of six symmetric thrust reversals of the two inboard engines were performed to monitor tuft and flow cone patterns as well as the character of their movement at the nominal Mach numbers of 0.55, 0.70, and 0.85. The tufts and flow cones were photographed and video-taped to determine the type of flow field that occurs with and without the thrust reversers deployed. In addition, the normal NASA DC-8 onboard Data Acquisition Distribution System (DADS) was used to synchronize the cameras. Results of this flight test will be presented in two parts. First, three distinct flow patterns associated with the above Mach numbers were sketched from the motion videos and discussed in detail. Second, other relevant aircraft parameters, such as aircraft's angular orientation, altitude, Mach number, and vertical descent, are discussed. The flight test participants' comments were recorded on the videos and the interested reader is referred to the video supplement section of this report for that information.

Hamid, Hedayat U.↗
NASA NTRS1996

Development of a scan mirror assembly for an extreme ultraviolet atmospheric scanner

A Scan Mirror Assembly (SMA) was created to rotate its SiC mirror through 8.5 deg. in 90 seconds, then to return in 2 seconds, and repeating this motion continuously for at least three years. Unique design features are: lightly preloaded, large angular-contact bearings; bearing preload using a convoluted diaphragm; launch locks avoided by static balancing; limited-scan rotation so ball travel does not overlap; and silicon carbide mirror on semi-kinematic mounts.

McBirney, Thomas R.↗
NASA NTRS1999

Estimation of Non-Seasonal Oceanic Mass Redistribution and its Geodynamic Effects from the Topex/Poseidon Observation

Mass redistribution in terms of angular momentum will change the Earth's rotation under the conservation of angular momentum. It also changes the external gravitational field according to Newton's gravitational law. These small geodynamic variations can be measured very accurately by modem space geodetic techniques. We report on new estimates of the oceanic tidal angular momentum and hence the tidal variations in the Earth's rotation rate and polar motion. These are deduced from the new tidal solutions GOT99 and TPXO.3, plus M2 and Mf estimates (with error bars) from TPXO.4a. Comparisons with observed diurnal/semidiurnal tidal variations are generally similar to previous model estimates. Comparisons of models and observations of Mf polar motion are confused, with neither models nor observations agreeing among themselves or with each other. Part of this is caused by differences in Mf currents; model TPXO.4 shows current-intensive Rossby modes along western boundaries of major basins, which are indeed expected on theoretical grounds. Unfortunately, there are no reliable in situ observations of Mf currents useful for comparing models. On non-tidal oceanic mass redistribution we compute the principal components of the multi-year T/P sea surface height (SSH) field using EOF (empirical orthogonal functions) taking into consideration of the latitude-dependent area weighting. Emphasis is placed upon non-seasonal and interannual oscillations on regional scales, including ENSO and the North Atlantic Oscillation. Steric corrections to the observed SSH due to sea surface temperature changes (which has no geodynamic effects) is now under study using POCM ocean model output.

Chao, Benjamin F.↗