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Active control technique, using accelerometer-controlled servovalve to operate a compensating piston, effectively eliminates pressure fluctuations due to longitudinal structural vibration within a relatively long bandwith.
Scattering calculations have been performed for low-energy collisions of CO with He using the 'effective potential' approximation of Rabitz (1972) and the 'coupled states' approximation of McGuire and Kouri (1973). These are compared with the accurate quantum close-coupling scattering results of Green and Thaddeus. All calculations employed a theoretical potential believed to represent accurately the true interaction. The effective potential method is found to be in qualitative agreement, and the coupled states method is found to be in semi-quantitative agreement, with close-coupling results for rotationally inelastic integral cross sections.
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A procedure for the design of n-dimensional dynamic compensators for systems of dimension 2n and uniform controllability and observability indexes two was developed. The design in state space and in frequency domain is presented. The design and a minimal dimension dynamic compensator and Luenberger observer are applied to a two-link nonlinear biped (n=2) model in the vicinity of the vertical stance to test the effectiveness of their regulating actions, and the results are presented.
A next-state optimization technique for monitoring spacecraft maneuvers is examined. The optimization technique permits simultaneous trajectory planning and tracking, incorporates actuator saturation and attitude constraints, and prevents overshoot and undershoot. The global linearization of the dynamics and kinematics for a spacecraft driven by reaction wheels is considered. The equations utilized to derive the spacecraft trajectories are presented. The applications of the next-state optimization procedure to a spacecraft maneuvered by momentum transfer devices and the tracking of the nominal trajectory of a critically damped harmonic oscillator response are described.
Simultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.
The capability for large angle slewing maneuvers with very demanding pointing accuracy and tracking speed is increasingly required for space-based systems. This is particularly the case for space-based directed energy beam pointing. A method is thus proposed in this paper for commanding general pointing and tracking maneuvers with automatic correction for slew-excited structural deformations. All existing rigid body multiaxial slewing algorithms and flexible body vibration damping algorithms can then be used simultaneously, without design iterations. In particular, an example is given of a retargeting maneuver with specified line-of-sight settling time and no torque saturation.
A dynamic analysis technique is presented that can be used to determine the response of a discrete model of a large linear structural system composed of multiple substructures. The technique circumvents the costly computation of the modal characteristics of the combined system. This is accomplished by relying on a predictor-corrector scheme to converge iteratively to the interface accelerations of the combined system, while the equations of motions of the individual structures are integrated separately. In this regard, the temporal slopes of the interface accelerations (jerks) are computed at each time point of integration to predict the interface accelerations at the next time point. The proposed technique is exemplified by conducting a Space Shuttle landing loads analysis; the obtained numerical data demonstrate its reliability and efficiency.
A numerical analysis has been conducted with the three-dimensional panel code VSAERO for two interacting lifting surfaces that are separated in the spanwise direction by a narrow gap, with the angle of attack of the outboard section being set independently of the inboard section, as in the 'free tip' rotor blade system proposed for helicopters. Computed values of tip surface lift and pitching moment coefficients are correlated with experimental data to determine the most suitable method for modeling the gap region between the surfaces. It is shown that the induced drag of the tip surface is reduced for negative incidence angles relative to the inboard section.
The present treatment of the related problems of minimal inversion and perfect output control in linear multivariable systems uses a simple analytical expression for the inverse of a square multivariate system's transfer-function matrix to construct a minimal-order inverse of the system. Because the poles of the minimal-order inverse are the transmission zeros of the system, necessary and sufficient conditions for the inverse system's stability are simply stated in terms of the zero polynomial of the original system. A necessary and sufficient condition for the existence of the required controllers is that the plant zero polynomial be neither identical to zero nor unstable.
The problem of hinged multibody dynamics is solved using an extension of the innovations approach of linear filtering and prediction theory to the problem of mechanical system modeling and control. This approach has been used quite effectively to diagonalize the equations for filtering and prediction for linear state space systems. It has similar advantages in the study of dynamics and control of multibody systems. The innovations approach advanced here consists of expressing the equations of motion in terms of two closely related processes: (1) the innovations process e, a sequence of moments, obtained from the applied moments T by means of a spatially recursive Kalman filter that goes from the tip of the manipulator to its base; (2) a residual process, a sequence of velocities, obtained from the joint-angle velocities by means of an outward smoothing operations. The innovations e and the applied moments T are related by means of the relationships e = (I - L)T and T = (I + K)e. The operation (I - L) is a causal lower triangular matrix which is generated by a spatially recursive Kalman filter and the corresponding discrete-step Riccati equation. Hence, the innovations and the applied moments can be obtained from each other by means of a causal operation which is itself casually invertible.
A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.
Chemical diffusivities for nonalkali major, minor, and selected trace elements have been measured at 10 kbar, 1300 C during interdiffusion of dacitic and rhyolitic melts. Sr tracer diffusivities were measured at the same conditions in melts of dacitic and rhyolitic composition and in a diffusion couple of these two melts undergoing simultaneous chemical diffusion. Chemical diffusivities of all elements studied are functions of the silica content of the melt, but at any one silica content the chemical diffusivities of all elements studied are within a factor of five of the Si and Al diffusivities. Si diffusivity varies from 2.8 x 10 to the -9th sq cm/s at 65 percent SiO2 to 5.1 x 10 to the -10th sq cm/s at 75 percent SiO2. The diffusivities of minor and trace elements are proposed to be controlled by the ability of the local melt structure to accommodate these elements while maintaining LTE. The measured Sr tracer diffusivities are an order of magnitude above Sr chemical diffusivities.
A difference-frequency laser spectrometer was used to record the Q-branch profiles of the nu1 + nu5, nu3 + nu4, and nu2 + 2nu4 + nu5 Pi(u)-Sigma(g) combination bands in the 2.5 micron C-H stretch-bend region of acetylene. The experiment was carried out at pressures in the range of 1 to 500 Torr. It is shown that line mixing causes substantial deviation of collisionally overlapped Q-branch profiles from the independently additive superposition of Lorentzian line shapes. It is also found that the degree of line mixing is greatly reduced from that assuming all the broadening arises from rotationally inelastic collisions coupling Q-branch lines only to one another.
Turbulent gas flows laden with small, dense particles are encountered in a wide number of important applications in both industrial settings and aerodynamics applications. Particle interactions with the underlying turbulent flow are exceedingly complex and, consequently, difficult to accurately model. The difficulty arises primarily due to the fact that response of a particle to the local environment is dictated by turbulence properties in the reference frame moving with the particle (particle-Lagrangian). The particle-Lagrangian reference frame is in turn dependent upon the particle relaxation time (time constant) as well as gravitational drift. The combination of inertial and gravitational effects in this frame complicates our ability to accurately predict particle-laden flows since measurements in the particle-Lagrangian reference frame are difficult to obtain. Therefore, in this work we will examine separately the effects of inertia and gravitational drift on particle dispersion through a combination of physical and numerical experiments. In this study, particle-Lagrangian measurements will be obtained in physical experiments using stereo image velocimetry. Gravitational drift will be varied in the variable-g environments of the NASA DC-9 and in the zero-g environment at the drop tower at NASA-Lewis. Direct numerical simulations will be used to corroborate the measurements from the variable-g experiments. We expect that this work will generate new insight into the underlying physics of particle dispersion and will, in turn, lead to more accurate models of particle transport in turbulent flows.