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At least 415 records · Page 23

A high-powered siren for stable acoustic levitation of dense materials in the earth's gravity

Levitation of large dense samples (e.g., 1-cm diameter steel balls) has been performed in a 1-g environment. A siren was used to study the effects of reflector geometry and variable-frequency operation in order to attain stable acoustic positioning. The harmonic content and spatial distribution of the acoustic field have been investigated. The best stability was obtained with an open reflector system, using a flat lower reflector and a slightly concave upper reflector while operating at a frequency slightly below resonance.

Gammel, Paul M.↗

Speckle interferometry using fiber optic phase stepping

A system employing closed-loop phase-stepping is used to measure the out-of-plane deformation of a diffusely reflecting object. Optical fibers are used to provide reference and object beam illumination for a standard two-beam speckle interferometer, providing set-up flexibility and ease of alignment. Piezoelectric fiber-stretchers and a phase-measurement/servo system are used to provide highly accurate phase steps. Intensity data is captured with a charge-injection-device camera, and is converted into a phase map using a desktop computer. The closed-loop phase-stepping system provides 90 deg phase steps which are accurate to 0.02 deg, greatly improving this system relative to open-loop interferometers. The system is demonstrated on a speckle interferometer, measuring the rigid-body translation of a diffusely reflecting object with an accuracy + or - 10 deg, or roughly + or - 15 nanometers. This accuracy is achieved without the use of a pneumatically mounted optics table.

Mercer, Carolyn R.↗

Transmission-zero bounds for large space structures, with applications

Many large space structure control problems lead quite naturally to the application of an optimal regulator, so the transmission zeros of the open-loop system give fundamental information about the speed of response achievable by the closed-loop system. Despite the importance of this and other well-known zeros properties, little attention has been given to the transmission zeros of large space structures, except for the special case of a rigid spacecraft with flexible appendages. The object of this paper is to remedy this deficiency. In particular, it is proved that the zeros of a structure with colocated sensors and actuators must lie in a region of the complex plane that is defined by its natural frequencies and damping ratios. This generic result, a consequence of the special form of the equations of motion of structural dynamics, admits a very simple graphical interpretation: it is the generalization of the classical pole-zero interlacing property of undamped single-input/single-output structures. The number of sensor/actuator pairs, and their locations, specify where in the permissible region transmission zeros actually lie, thus quantifying the effect of sensor/actuator placement on closed-loop system performance. These points are illustrated by simple examples.

Williams, Trevor↗

Motion and force control for multiple cooperative manipulators

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

Systematic generation of multibody equations of motion suitable for recursive and parallel manipulation

The formulation of a method known as the joint coordinate method for automatic generation of the equations of motion for multibody systems is summarized. For systems containing open or closed kinematic loops, the equations of motion can be reduced systematically to a minimum number of second order differential equations. The application of recursive and nonrecursive algorithms to this formulation, computational considerations and the feasibility of implementing this formulation on multiprocessor computers are discussed.

Nikravesh, Parviz E.↗

Effects of source vs. interactive actuator assumptions on modelling of a smart structure

Embedded or internal actuators in a structure are being utilized to perform vibration attenuation, pointing maneuvers, damage control, and other adaptive tasks. The controls-structures-interaction (CSI) design process depends strongly on the coupled dynamic response of the structure and the actuators. A bond graph approach is used to guide this analytical study to uncover the effects of certain generic actuator types on the closed-loop, initial condition control of a single-mode structural model and an eighteen-state model of an active truss. So-called 'flow' and 'effort' source actuator types were studied and were shown to have significant differences in closed-loop response for ranges of initial conditions and system open-loop natural frequencies.

Robertshaw, Harry H.↗

Model for human use of motion cues in vehicular control

A feedback model for human use of motion cues in tracking and regulation tasks is offered. The motion cue model is developed as a simple extension of a structural model of the human pilot, although other equivalent dynamic representations of the pilot could be used in place of the structural model. In the structural model,it is hypothesized that proprioceptive cues and an internal representation of the vehicle dynamics allow the human to create compensation characteristics that are appropriate for the dynamics of the particular vehicle being controlled. It is shown that an additional loop closure involving motion feedback can improve the pilot/vehicle dynamics by decreasing high-frequency phase lags in the effective open-loop system transfer function. Data from a roll-attitude tracking/regulation task conducted on a moving base simulator are used to verify the modeling approach.

Hess, Ronald A.↗

A survey of the role of thermodynamic stability in viscous flow

The stability of near-equilibrium states has been studied as a branch of the general field of nonequilibrium thermodynamics. By treating steady viscous flow as an open thermodynamic system, nonequilibrium principles such as the condition of minimum entropy-production rate for steady, near-equilibrium processes can be used to generate flow distributions from variational analyses. Examples considered in this paper are steady heat conduction, channel flow, and unconstrained three-dimensional flow. The entropy-production-rate condition has also been used for hydrodynamic stability criteria, and calculations of the stability of a laminar wall jet support this interpretation.

Horne, W. C.↗

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

A numerical approach to controller design with an application to a space structure test facility

An iterative numerical algorithm that improves feasible closed loop design criteria by updating the parameters of a linear controller is developed. The algorithm allows the use of experimentally derived data collected from the open loop plant. It eliminates the need for an accurate parametric model of the open loop system. Experimental results from the application of a controller designed for a large space structure ground test facility using the algorithm are presented.

Frazier, W. G.↗

Experimental and analytical study of cryogenic propellant boiloff to develop and verify alternate pressurization concepts for Space Shuttle external tank using a scaled down tank

Self pressurization by propellant boiloff is experimentally studied as an alternate pressurization concept for the Space Shuttle external tank (ET). The experimental setup used in the study is an open flow system which is composed of a variable area test tank and a recovery tank. The vacuum jacketed test tank is geometrically similar to the external LOx tank for the Space Shuttle. It is equipped with instrumentation to measure the temperature and pressure histories within the liquid and vapor, and viewports to accommodate visual observations and Laser-Doppler Anemometry measurements of fluid velocities. A set of experiments were conducted using liquid Nitrogen to determine the temperature stratification in the liquid and vapor, and pressure histories of the vapor during sudden and continuous depressurization for various different boundary and initial conditions. The study also includes the development and calibration of a computer model to simulate the experiments. This model is a one-dimensional, multi-node type which assumes the liquid and the vapor to be under non-equilibrium conditions during the depressurization. It has been tested for a limited number of cases. The preliminary results indicate that the accuracy of the simulations is determined by the accuracy of the heat transfer coefficients for the vapor and the liquid at the interface which are taken to be the calibration parameters in the present model.

Akyuzlu, K. M.↗

RECON Replacement Project

The background, project components, and interface requirements of the RECON/STIMS Replacement Project are described. A requirements document was developed outlining the desired functions, architecture, and capabilities to be covered in the procurement process and a Request for Proposal (RFP) was disseminated. The data structure of the existing bibliographic records and files were examined and an inventory of all existing data elements in RECON records was performed. The goal is a standards based, open architecture system.

Hill, Linda↗

Multifractal characterizations of nonstationarity and intermittency in geophysical fields: Observed, retrieved, or simulated

Geophysical data rarely show any smoothness at any scale, and this often makes comparison with theoretical model output difficult. However, highly fluctuating signals and fractal structures are typical of open dissipative systems with nonlinear dynamics, the focus of most geophysical research. High levels of variability are excited over a large range of scales by the combined actions of external forcing and internal instability. At very small scales we expect geophysical fields to be smooth, but these are rarely resolved with available instrumentation or simulation tools; nondifferentiable and even discontinuous models are therefore in order. We need methods of statistically analyzing geophysical data, whether measured in situ, remotely sensed or even generated by a computer model, that are adapted to these characteristics. An important preliminary task is to define statistically stationary features in generally nonstationary signals. We first discuss a simple criterion for stationarity in finite data streams that exhibit power law energy spectra and then, guided by developments in turbulence studies, we advocate the use of two ways of analyzing the scale dependence of statistical information: singular measures and qth order structure functions. In nonstationary situations, the approach based on singular measures seeks power law behavior in integrals over all possible scales of a nonnegative stationary field derived from the data, leading to a characterization of the intermittency in this (gradient-related) field. In contrast, the approach based on structure functions uses the signal itself, seeking power laws for the statistical moments of absolute increments over arbitrarily large scales, leading to a characterization of the prevailing nonstationarity in both quantitative and qualitative terms. We explain graphically, step by step, both multifractal statistics which are largely complementary to each other. The geometrical manifestations of nonstationarity and intermittency, 'roughness' and 'sparseness', respectively, are illustrated and the associated analytical (differentiability and continuity) properties are discussed. As an example, the two techniques are applied to a series of recent measurements of liquid water distributions inside marine stratocumulus decks; these are found to be multifractal over scales ranging from approximately 60 m to approximately 60 km. Finally, we define the 'mean multifractal plane' and show it to be a simple yet comprehensive tool with many applications including data intercomparison, (dynamical or stochastic) model and retrieval validations.

Davis, Anthony↗

Synthesis of minimum-time feedback laws for dynamic systems using neural networks

The paper presents the synthesis of neural network based feedback laws for dynamic systems using the computed optimal and time histories of the state and control variables. The efficacy of the proposed approach has been successfully demonstrated on a minimum time orbit injection problem. If the method is found to be effective to real life problems with many state and control variables, it can used for a variety of guidance and control problems.

TRT-THEORETICAL↗

Multiphase gas in quasar absorption-line systems

In the standard model for H I Lyman-limit (LL) quasar absorption-line systems, the absorbing matter is galactic disk and halo gas, heated and photoionized by the metagalactic radiation field produced by active galaxies. In recent Hubble Space Telescope (HST) observations (Reimers et al. 1992; Vogel & Reimers 1993; Reimers & Vogel 1993) of LL systems along the line of sight to the quasar HS 1700+6416, surprisingly high He I/H I ratios and a wide distribution of column densities of C, N, and O ions are deduced from extreme ultraviolet absorption lines. We show that these observations are incompatible with photoionization equilibrium by a single metagalactic ionizing background. We argue that these quasar absorption systems possess a multiphase interstellar medium similar to that of our Galaxy, in which extended hot, collisionally ionized gas is responsible for some or all of the high ionization stages of heavy elements. From the He/H ratios we obtain -4.0 less than or = log U less than or = -3.0, while the CNO ions are consistent with hot gas in collisional ionization equilibrium at log T = 5.3 and (O/H) = -1.6. The supernova rate necessary to produce these heavy elements and maintain the hot-gas energy budget of approximately 10(exp 41.5) ergs/s is approximately 10(exp -2)/yr, similar to that which maintains the 'three-phase' interstellar medium in our own Galaxy. As a consequence of the change in interpretation from photoionized gas to a multiphase medium, the derived heavy-element abundances (e.g., O/C) of these systems are open to question owing to substantial ionization corrections for unseen C V in the hot phase. The metal-line ratios may also lead to erroneous diagnostics of the shape of the metagalactic ionizaing spectrum and the ionizing parameter of the absorbers.

Giroux, Mark L.↗

Biomechanically Induced and Controller Coupled Oscillations Experienced on the F-16XL Aircraft During Rolling Maneuvers

During rapid rolling maneuvers, the F-16 XL aircraft exhibits a 2.5 Hz lightly damped roll oscillation, perceived and described as 'roll ratcheting.' This phenomenon is common with fly-by-wire control systems, particularly when primary control is derived through a pedestal-mounted side-arm controller. Analytical studies have been conducted to model the nature of the integrated control characteristics. The analytical results complement the flight observations. A three-degree-of-freedom linearized set of aerodynamic matrices was assembled to simulate the aircraft plant. The lateral-directional control system was modeled as a linear system. A combination of two second-order transfer functions was derived to couple the lateral acceleration feed through effect of the operator's arm and controller to the roll stick force input. From the combined systems, open-loop frequency responses and a time history were derived, describing and predicting an analogous in-flight situation. This report describes the primary control, aircraft angular rate, and position time responses of the F-16 XL-2 aircraft during subsonic and high-dynamic-pressure rolling maneuvers. The analytical description of the pilot's arm and controller can be applied to other aircraft or simulations to assess roll ratcheting susceptibility.

Smith, John W.↗

Aerogel Projects Ongoing in MSFC's Engineering Directorate

When we speak of an aerogel material, we are referring more to process and structure am to a specific substance. Aerogel, considered the lightest solid material, has been made from silica for seventy years. Resorcinol-formaldehyde, organic aerogels have been developed more recently. However, aerogel can be made from almost any type of substance, even lead. Because an aerogel is mostly air (about 99 %), the solid substance used will affect the weight very little. The term "aerogel" connotes the sol-gel process used to manufacture the material. The aerogel begins as a liquid "sol," becomes a solid "alcogel," and is then dried to become an "aerogel." The final product has a unique structure, useful for exploitation. It is an "open pore" system with nano-sized particles and pores, has very high surface area, and is highly interconnected. Besides low weight, aerogels have ultimate (lowest) values in other properties: thermal conductivity, refractive index, sound speed, and dielectric constant. Aerogels were first prepared in 1931 by Steven Kistler, who used a supercritical drying step to replace the liquid in a gel with air, preserving the structure (1). Kistler's procedure involved a water-to-alcohol exchange step; in the 1970's, this step was eliminated when a French investigator introduced the use of tetramethylorthosilicate. Still, alcohol drying involved dangerously high temperatures and pressures. In the 1980's, the Microstructured Materials Group at Berkeley Laboratory found that the alcohol in the gel could be replaced with liquid carbon dioxide before supercritical drying, which greatly improved safety (2). 'Me most recent major contribution has been that of Deshpande, Smith and Brinker in New Mexico, who are working to eliminate the supercritical drying step (3). When aerogels were first being developed, they were evaporatively dried. However, the wet gel, when dried, underwent severe shrinkage and cracking; this product was termed "xerogel." When the autoclave drying step was introduced, the final product was without cracks and showed only minimal shrinkage; this product was termed "aerogel." In the 1990's, Deshpande, Smith and Brinker developed an evaporative drying procedure in which the wet gel is chemically "capped" so that the material, which undergoes shrinkage, springs back to its original size when evaporatively dried. This new type of xerogel, while uncracked and almost the same size as the wet gel, differs from the autoclave-dried product in that it is less porous (approximately 70%, as compared to 99% for aerogels).

Shular, David A.↗

An Open, Snow-based Hydrologic System on Noachian Mars

Properties of Noachian valley networks on Mars suggest that the conditions under which they formed were marginal for liquid water formation. The networks are sparsely scattered, poorly dissected, and tend to be small; a majority occupy areas only a few hundred kilometers in extent. Models in which networks formed by mass wasting are contra-indicated by the discovery of channels within the valleys. Greenhouse hypotheses for the stability of liquid water have foundered on familiar problems: first, a very substantial CO2 atmosphere would be required to bring global average conditions to 273 K; the CO2 should still be present in extensive carbonate deposits that have not been detected. Explanations that call upon groundwater sapping are hampered by the need for a hydrologic system to recharge the groundwater system, which effectively reinstates the need for a heavy CO2 atmosphere. Based upon field experience and geomorphic similarities between drainage developed in the periglacial terrain in and around the Haughton impact structure, Devon Island, Nuunavuut, Canada, we have suggested that some of the channel networks may have formed either subglacially, or as ice marginal structures.

Zent, A. P.↗