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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 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS2001

Hollow Retroreflectors Offer Solid Benefits

A technician who lead a successful team of scientists, engineers, and other technicians in the design, fabrication, and characterization of cryogenic retroreflectors for the NASA Cassini/Composite Infrared Spectrometer (CIRS) mission to Saturn, developed a hollow retroreflector technology while working at NASA Goddard Space Flight Center. With 16 years of NASA experience, the technician teamed up with another NASA colleague and formed PROSystems, Inc., of Sharpsburg, Maryland, to provide the optics community with an alternative source for precision hollow retroreflectors. The company's hollow retroreflectors are front surface glass substrates assembled to provide many advantages over existing hollow retroreflectors and solid glass retroreflectors. Previous to this new technology, some companies chose not to use hollow retroreflectors due to large seam widths and loss of signal. The "tongue and groove" facet design of PROSystems's retroreflector allows for an extremely small seam width of .001 inches. Feedback from users is very positive regarding this characteristic. Most of PROSystems's primary customers mount the hollow retroreflectors in chrome steel balls for laser tracker targets in applications such as automobile manufacturing and spacecraft assembly.

Source record↗
NASA NTRS2004

ASAP Aerospace Safety Advisory Panel

This is the First Quarterly Report for the newly reconstituted Aerospace Safety Advisory Panel (ASAP). The NASA Administrator rechartered the Panel on November 18,2003, to provide an independent, vigilant, and long-term oversight of NASA's safety policies and programs well beyond Return to Flight of the Space Shuttle. The charter was revised to be consistent with the original intent of Congress in enacting the statute establishing ASAP in 1967 to focus on NASA's safety and quality systems, including industrial and systems safety, risk-management and trend analysis, and the management of these activities.The charter also was revised to provide more timely feedback to NASA by requiring quarterly rather than annual reports, and by requiring ASAP to perform special assessments with immediate feedback to NASA. ASAP was positioned to help institutionalize the safety culture of NASA in the post- Stafford-Covey Return to Flight environment.

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NASA NTRS2017

Modeling Pilot Pulse Control

In this study, behavioral models are developed that closely reproduced pulsive control response of two pilots from the experimental pool using markedly different control techniques (styles) while conducting a tracking task. An intriguing find was that the pilots appeared to: 1) produce a continuous, internally-generated stick signal that they integrated in time; 2) integrate the actual stick position; and 3) compare the two integrations to issue and cease pulse commands. This suggests that the pilots utilized kinesthetic feedback in order to perceive and integrate stick position, supporting the hypothesis that pilots can access and employ the proprioceptive inner feedback loop proposed by Hess' pilot Structural Model. The Pulse Models used in conjunction with the pilot Structural Model closely recreated the pilot data both in the frequency and time domains during closed-loop simulation. This indicates that for the range of tasks and control styles encountered, the models captured the fundamental mechanisms governing pulsive and control processes. The pilot Pulse Models give important insight for the amount of remnant (stick output uncorrelated with the forcing function) that arises from nonlinear pilot technique, and for the remaining remnant arising from different sources unrelated to tracking control (i.e. neuromuscular tremor, reallocation of cognitive resources, etc.).

workload↗
NASA NTRS2018

Linking the Pilot Structural Model and Pilot Workload

Behavioral models are developed that closely reproduced pulsive control response of two pilots using markedly different control techniques while conducting a tracking task. An intriguing find was that the pilots appeared to: 1) produce a continuous, internally-generated stick signal that they integrated in time; 2) integrate the actual stick position; and 3) compare the two integrations to either issue or cease a pulse command. This suggests that the pilots utilized kinesthetic feedback in order to sense and integrate stick position, supporting the hypothesis that pilots can access and employ the proprioceptive inner feedback loop proposed by Hess's pilot Structural Model. A Pilot Cost Index was developed, whose elements include estimated workload, performance, and the degree to which the pilot employs kinesthetic feedback. Preliminary results suggest that a pilot's operating point (parameter values) may be based on control style and index minimization.

Pilot workload↗
NASA NTRS1992

Single link flexible beam testbed project

This thesis describes the single link flexible beam testbed at the CLaMS laboratory in terms of its hardware, software, and linear model, and presents two controllers, each including a hub angle proportional-derivative (PD) feedback compensator and one augmented by a second static gain full state feedback loop, based upon a synthesized strictly positive real (SPR) output, that increases specific flexible mode pole damping ratios w.r.t the PD only case and hence reduces unwanted residual oscillation effects. Restricting full state feedback gains so as to produce a SPR open loop transfer function ensures that the associated compensator has an infinite gain margin and a phase margin of at least (-90, 90) degrees. Both experimental and simulation data are evaluated in order to compare some different observer performance when applied to the real testbed and to the linear model when uncompensated flexible modes are included.

Hughes, Declan↗
NASA NTRS2011

Position Control of Tendon-Driven Fingers

Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I

Abdallah, Muhammad E.↗
NASA NTRS1974

Feedback precision and postfeedback interval duration

Precision of feedback gain was manipulated in a simple positioning task. An optimum was found; an increase in precision past that optimum produced deleterious effects upon rate of acquisition. In a second study, increasing postfeedback interval removed that optimum. The feedback precision effects were then replicated in a timing task. The combined results of the 3 studies were interpreted as supportive of an information-processing approach to the study of postfeedback interval events for simple motor skills. The findings additionally supported specific predictions by Bilodeau and deductions from Adams' 1971 theory of motor learning.

Rogers, C. A., Jr.↗
NASA NTRS1976

Digital adaptive control of a VTOL aircraft

A technique has been developed for calculating feedback and feedforward gain matrices that stabilize a VTOL aircraft while enabling it to track input commands of forward and vertical velocity. Leverrier's algorithm is used in a procedure for determining a set of state variable, feedback gains that force the closed loop poles and zeroes of one pilot input transfer function to be at preselected positions in the s plane. This set of feedback gains is then used to calculate the feedback and feedforward gains for the velocity command controller. The method is computationally attractive since the gains are determined by solving systems of linear, simultaneous equations. Responses obtained using a digital simulation of the longitudinal dynamics of the CH-47 helicopter are presented.

Reid, G. F.↗
NASA NTRS1983

Cumulus role in tropical circulations

The present investigation is concerned with the effects of cumulus clouds upon their surroundings, and the interaction of the cumulus scale of motion with the larger scales of motion in the tropics. Charney and Eliassen (1964) have conducted a study of the growth of the hurricane depression and proposed the CISK (Conditional Instability of the Second Kind) mechanism. The CISK concept was used in several of the pioneering models of hurricanes and tropical disturbances. Since the 1960's, the CISK concept has been generalized and extended. However, the feedback between convection and the large-scale flow is still positive. In the present investigation the philosophy is extended to a negative feedback which contributes to the stability (mainly in direction) of the trade winds. Attention is given to the classical Ekman layer and early CISK, cumulus momentum transports, the role of cumuli in the trade-wind moisture and heat budgets, the trade wind model, and the equatorial trough and hot tower hypothesis.

Simpson, J.↗
NASA NTRS1997

Cloud Radiation Forcings and Feedbacks: General Circulation Model Tests and Observational Validation

Using an atmospheric general circulation model (the National Center for Atmospheric Research Community Climate Model: CCM2), the effects on climate sensitivity of several different cloud radiation parameterizations have been investigated. In addition to the original cloud radiation scheme of CCM2, four parameterizations incorporating prognostic cloud water were tested: one version with prescribed cloud radiative properties and three other versions with interactive cloud radiative properties. The authors' numerical experiments employ perpetual July integrations driven by globally constant sea surface temperature forcings of two degrees, both positive and negative. A diagnostic radiation calculation has been applied to investigate the partial contributions of high, middle, and low cloud to the total cloud radiative forcing, as well as the contributions of water vapor, temperature, and cloud to the net climate feedback. The high cloud net radiative forcing is positive, and the middle and low cloud net radiative forcings are negative. The total net cloud forcing is negative in all of the model versions. The effect of interactive cloud radiative properties on global climate sensitivity is significant. The net cloud radiative feedbacks consist of quite different shortwave and longwave components between the schemes with interactive cloud radiative properties and the schemes with specified properties. The increase in cloud water content in the warmer climate leads to optically thicker middle- and low-level clouds and in turn to negative shortwave feedbacks for the interactive radiative schemes, while the decrease in cloud amount simply produces a positive shortwave feedback for the schemes with a specified cloud water path. For the longwave feedbacks, the decrease in high effective cloudiness for the schemes without interactive radiative properties leads to a negative feedback, while for the other cases, the longwave feedback is positive. These cloud radiation parameterizations are empirically validated by using a single-column diagnostic model. together with measurements from the Atmospheric Radiation Measurement program and from the Tropical Ocean Global Atmosphere Combined Ocean-Atmosphere Response Experiment. The inclusion of prognostic cloud water produces a notable improvement in the realism of the parameterizations, as judged by these observations. Furthermore, the observational evidence suggests that deriving cloud radiative properties from cloud water content and microphysical characteristics is a promising route to further improvement.

Lee,Wan-Ho↗
NASA NTRS1987

Design of force/position controllers for manipulators

The paper presents simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal; and accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Seraji, H.↗
NASA NTRS1989

Prototype secondary mirror assembly design for the space infrared telescope facility

The authors describe the design of a liquid helium temperature prototype secondary mirror assembly (PSMA) under developement for the NASA Space Infrared Telescope Facility (SIRTF) program. The SIRTF secondary mirror assembly must operate below 4 K and provide highly precise two-axis dynamic tilting (chopping) in addition to the conventional functions needed by the SIRTF observatory. The PSMA design uses a fused quartz mirror kinematically attached at its center to an aluminum cruciform. The mirror/cruciform assembly is driven in tilt about its combined center of mass using a unique flexure pivot and a four-actuator control system with feedback provided by pairs of differential position sensors. The voice coil actuators are mounted on a second flexture-pivoted mass, enhancing servo system stability and isolating the telescope from vibration-induced disturbances. The mirror/cruciform and the reaction mass are attached to opposite sides of an aluminum mounting plate whose dimensional characteristics are nominally identical to those of the aluminum flexure pivot material. The mounting plate is connected to the outer housing by a six-degree-of-freedom focus and centering mechanism using pivoted actuation levers driven by lead screw/harmonic drive/stepper motor assemblies.

Stier, M.↗
NASA NTRS1989

Autonomous spacecraft attitude control using magnetic torquing only

Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

Musser, Keith L.↗
NASA NTRS1990

Walking robot: A design project for undergraduate students

The design and construction of the University of Maryland walking machine was completed during the 1989 to 1990 academic year. It was required that the machine be capable of completing a number of tasks including walking a straight line, turning to change direction, and manuevering over an obstacle such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear box and crank arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating this machine about this support. The machine can be controlled by using either a user-operated remote tether or the onboard computer for the execution of control commands. Absolute encoders are attached to all motors to provide the control computer with information regarding the status of the motors. Long and short range infrared sensors provide the computer with feedback information regarding the machine's position relative to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Source record↗
NASA NTRS1990

Design of a prototype secondary mirror assembly for the Space Infrared Telescope Facility

The design of a liquid helium temperature prototype secondary mirror assembly (PSMA) under development for the NASA Space Infrared Telescope Facility (SIRTF) program is described. The SIRTF assembly must operate below 4 K and provide the functions of highly precise two-axis periodic tilting ('chopping') in addition to the conventional functions of focus and collimation adjustment. The PSMA design employs a fused quartz mirror kinematically attached at its center to an aluminum cruciform. The mirror/cruciform assembly is driven in tilt about its combined center of mass using an aluminum flexure pivot of unique design and a four-actuator control system with feedback provided by pairs of differential position sensors. The voice coil actuators are mounted on a second flexure-pivoted mass to enhance servosystem stability and isolate the telescope from vibration-induced disturbances. The mirror/cruciform and reaction mass are attached to opposite sides of an aluminum mounting plate whose position relative to the outer housing is controlled by a six-degree-of-freedom focus and centering mechanism using pivoted actuation levers driven by lead screw/harmonic drive/stepper motor assemblies.

Stier, Mark T.↗