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At least 55 records · Page 3

Synthesis and analysis of a new class of six-degree-of-freedom parallel minimanipulators

A new class of six-degree-of-freedom parallel minimanipulators capable of providing high resolution and high-stiffness for fine position and force control in a hybrid serial-parallel manipulator system is presented. Positional resolution and stiffness of minimanipulators are improved using two-degree-of-freedom planar linkages as drivers. The minimanipulators are based on only three inextensible limbs, as opposed to most of the six-limbed parallel manipulators, which makes it possible to reduce its direct kinematics to solving a polynomial in a single variable and to diminish possibility of mechanical interference between limbs. The base-mounted minimanipulator actuators are characterized by high payload capacity, small actuator size, and low power dissipitation.

Tsai, Lung-Wen↗

Performance of a single fuel-vaporizing combustor with six injectors adapted for gaseous hydrogen

The combustor was operated over a range of inlet-air pressures from 5.3 to 24.0 inches of mercury absolute and inlet-air reference velocities from 60 to 100 feet per second. The combustion efficiencies obtained with the six configurations varied from about 65 to 95 percent for a combustor temperature-rise range of 200 degrees to 1400 degrees F. At a temperature rise of 1200 degrees F (near-rated engine conditions), the spread in efficiencies of the six configurations was about 5 percent. Efficiencies in the range of 65 to 85 percent were obtained at operating conditions beyond the burning range of conventional jet fuels. A fuel-injector configuration that fed only gaseous hydrogen fuel into the standard liquid-fuel-vaporizing tubes generally gave the highest efficiencies. This configuration minimizes the possibility of combustion in the fuel-vaporizing tubes and could be easily adapted to the full-scale engine combustor.

Wear, Jerrold D↗

Six-Degree-Of-Freedom Parallel Minimanipulator

Six-degree-of-freedom parallel minimanipulator stiffer and simpler than earlier six-degree-of-freedom manipulators. Includes only three inextensible limbs with universal joints at ends. Limbs have equal lengths and act in parallel as they share load on manipulated platform. Designed to provide high resolution and high stiffness for fine control of position and force in hybrid serial/parallel-manipulator system.

Tahmasebi, Farhad↗

A six degree of freedom, plume-fuel optimal trajectory planner for spacecraft proximity operations using an A* node search

Spacecraft proximity operations are complicated by the fact that exhaust plume impingement from the reaction control jets of space vehicles can cause structural damage, contamination of sensitive arrays and instruments, or attitude misalignment during docking. The occurrence and effect of jet plume impingement can be reduced by planning approach trajectories with plume effects considered. An A* node search is used to find plume-fuel optimal trajectories through a discretized six dimensional attitude-translation space. A plume cost function which approximates jet plume isopressure envelopes is presented. The function is then applied to find relative costs for predictable 'trajectory altering' firings and unpredictable 'deadbanding' firings. Trajectory altering firings are calculated by running the spacecraft jet selection algorithm and summing the cost contribution from each jet fired. A 'deadbanding effects' function is defined and integrated to determine the potential for deadbanding impingement along candidate trajectories. Plume costs are weighed against fuel costs in finding the optimal solution. A* convergence speed is improved by solving approach trajectory problems in reverse time. Results are obtained on a high fidelity space shuttle/space station simulation. Trajectory following is accomplished by a six degree of freedom autopilot. Trajectories planned with, and without, plume costs are compared in terms of force applied to the target structure.

Jackson, Mark Charles↗

Six degree of freedom fine motion positioning stage based on magnetic levitation

The design of a magnetically suspended six degree of freedom positioning system capable of nanometer positioning is presented. The sample holder is controlled in six degrees of freedom (DOF) over 300 micrometers of travel in the X, Y, and Z directions. A design and control summary and test results indicating stability and power dissipation are included in the paper. The system is vacuum compatible, uses commercially available materials, and requires minimal assembly and setup.

Arling, R. W.↗

A six year timing solution for PSR B1951 + 32

Six years of pulse time-of-arrival measurements have been collected from observations of the young, fast pulsar PSR B1951 + 32 in the CTB 80 supernova remnant using the Jodrell Bank and Arecibo radio telescopes. The combined data allow for the determination of a phase connected solution between 1987 August 21 and 1993 September 21. This solution provides an accurate rotational ephemeris for high energy x-ray and gamma-ray observations of this source made during the six years of radio timing observations to an accuracy of better than one tenth of a pulse period (4 ms). The pulsar has an activity parameter comparable with the value seen in the Crab pulsar.

Foster, R. S.↗

Feedback Linearization in a Six Degree-of-Freedom MAG-LEV Stage

A six degree-of-freedom electromagnetically suspended motion control stage (the Angstrom Stage) has been designed and constructed for use in short-travel, high-resolution motion control applications. It achieves better than 0.5 nm resolution over a 100 micron range of travel. The stage consists of a single moving element (the platen) floating in an oil filled chamber. The oil is crucial to the stage's operation since it forms squeeze film dampers between the platen and the frame. Twelve electromagnetic actuators provide the forces necessary to suspend and servo the platen, and six capacitance probes measure its position relative to the frame. The system is controlled using a digital signal processing board residing in a '486 based PC. This digital controller implements a feedback linearization algorithm in real-time to account for nonlinearities in both the magnetic actuators and the fluid film dampers. The feedback linearization technique reduces a highly nonlinear plant with coupling between the degrees of freedom into one that is linear, decoupled, and setpoint independent. The key to this procedure is a detailed plant model. The operation of the feedback linearization procedure is transparent to the outer loop of the controller, and so a proportional controller is sufficient for normal operation. We envision applications of this stage in scanned probe microscopy and for integrated circuit measurement.

Ludwick, Stephen J.↗

Stability Characteristics of Two Missiles of Fineness Ratios 12 and 18 with Six Rectangular Fins of Very Low Aspect Ratio Over a Mach Number Range of 1.4 to 3.2

Two rocket-propelled missiles have been test flown by the Langley Pilotless Aircraft Research Division in order to study the stability characteristics of a body with six rectangular fins of very low aspect ratio. The fins, which had exposed aspect ratios of approximately o.o4 and 0.02 per fin, were mounted on bodies of fineness ratios of 12 and 18, respectively. Each body had a nose with a fineness ratio of 3.5 and a cylindrical afterbody. The body and the fin chord of the model having a fineness ratio of 12 were extended the length of 6 body diameters to produce the model with a fineness ratio of 18. The missiles were disturbed in flight by pulse rockets in order to obtain the stability data. The tests were performed over a Mach number range of 1.4 to 3.2 and a Reynolds number range of 2 x 10(exp 6) to 21 x l0(exp 6). The results of these tests indicate that these configurations with the long rectangular fins of very low aspect ratio showed little induced roll" with the missile of highest fineness ratio and longest fin chord exhibiting the least amount. Extending the body and fin chord of the shorter missile six body diameters and thereby increasing the fin area approximately 115 percent increased the lift-curve slope based on body cross-sectional area approximately 40 to 55 percent, increased the dynamic stability by a substantial amount, and increased the drag from 14 to 33 percent throughout the comparable Mach number range. The center-of-pressure location of both missiles remained constant over the Mach number range.

Henning, Allen B.↗

Effect of Six Missile-Bay Baffle Configurations and a Rocket End Plate on Ejection Releases of an MB-1 Rocket from a 0.05 Scale Model of the Convair F-106A Airplane

As a continuation of an investigation of the release characteristics of an MB-1 rocket carried internally by the Convair F-106A airplane, six missile-bay baffle configurations and a rocket end plate have been investigated in the 27- by 27-inch preflight jet of the NASA Wallops Station. The MB-1 rocket used had retractable fins and was ejected from a missile bay modified by the addition of six different baffle configurations. For some tests a rocket end plate was added to the model. Dynamically scaled models (0.04956 scale) were tested at a simulated altitude of 22,450 feet and Mach numbers of 0.86, 1.59, and 1.98, and at a simulated altitude of 29,450 feet and a Mach number of 1.98. The results of this investigation indicate that the missile-bay baffle configurations and the rocket end plate may be used to reduce the positive pitch amplitude of the MB-1 rocket after release. The initial negative pitching velocity applied to the MB-1 rocket might then be reduced in order to maintain a near-level-flight attitude after release. As the fuselage angle of attack is increased, the negative pitch amplitude of the rocket is decreased.

Hinson, William F.↗

Six Years of Parallel Computing at NAS (1987 - 1993): What Have we Learned?

In the fall of 1987 the age of parallelism at NAS began with the installation of a 32K processor CM-2 from Thinking Machines. In 1987 this was described as an "experiment" in parallel processing. In the six years since, NAS acquired a series of parallel machines, and conducted an active research and development effort focused on the use of highly parallel machines for applications in the computational aerosciences. In this time period parallel processing for scientific applications evolved from a fringe research topic into the one of main activities at NAS. In this presentation I will review the history of parallel computing at NAS in the context of the major progress, which has been made in the field in general. I will attempt to summarize the lessons we have learned so far, and the contributions NAS has made to the state of the art. Based on these insights I will comment on the current state of parallel computing (including the HPCC effort) and try to predict some trends for the next six years.

Simon, Horst D.↗

Six-month space greenhouse experiments--a step to creation of future biological life support systems

SVET Space Greenhouse (SG)--the first automated facility for growing of higher plants in microgravity was designed in the eighty years to be used for the future BLSS. The first successful experiment with vegetables was carried out in 1990 on the MIR Space Station (SS). The experiments in SVET SG were resumed in 1995, when an American Gas Exchange Measurement System (GEMS) was added. A three-month wheat experiment was carried out as part of MIR-SHUTTLE'95 program. SVET-2 SG Bulgarian equipment of a new generation with optimised characteristics was developed (financed by NASA). The new SVET-GEMS equipment was launched on board the MIR SS and a successful six-month experiments for growing up of two crops of wheat were conducted in 1996 - 97 as part of MIR-NASA-3 program. The first of these "Greenhouse" experiments (123 days) with the goal to grow wheat through a complete life cycle is described. Nearly 300 heads developed but no seeds were produced. A second crop of wheat was planted and after 42 days the plants were frozen for biochemical investigations. The main environmental parameters during the six-month experiments in SVET (substrate moisture and lighting period) are given. The results and the contribution to BLSS are discussed.

long duration↗

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Cotting, M. Christopher↗

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

A generic control system framework for both real-time and batch six-degree-of-freedom simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

Cox, Timothy H.↗

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Cotting, M. Christopher↗

Six Decades of Flight Research: Dryden Flight Research Center, 1946 - 2006 [DVD]

This DVD contains an introduction by Center Director Kevin Peterson, two videos on the history of NASA Dryden Flight Research Center and a bibliography of NASA Dryden Flight Research Center publications from 1946 through 2006. The NASA Dryden 60th Anniversary Summary Documentary video is narrated by Michael Dorn and give a brief history of Dryden. The Six Decades of Flight Research at NASA Dryden lasts approximately 75 minutes and is broken up in six decades: 1. The Early X-Plane Era; 2. The X-15 Era; 3. The Lifting Body Era; 4. The Space Shuttle Era; 5. The High Alpha and Thrust Vectoring Era; and 6. The technology Demonstration Era. The bibliography provides citations for NASA Technical Reports and Conference Papers, Tech Briefs, Contractor Reports, UCLA Flight Systems Research Center publications and Dryden videos. Finally, a link is provided to the NASA Dryden Gallery that features video clips and photos of the many unique aircraft flown at NASA Dryden and its predecessor organizations.

Fisher, David F.↗

Human Behavior and Performance Support for ISS Operations and Astronaut Selections: NASA Operational Psychology for Six-Crew Operations

The Behavioral Health and Performance group at NASA Johnson Space Center provides psychological support services and behavioral health monitoring for ISS astronauts and their families. The ISS began as an austere outpost with minimal comforts of home and minimal communication capabilities with family, friends, and colleagues outside of the Mission Control Center. Since 1998, the work of international partners involved in the Space Flight Human Behavior and Performance Working Group has prepared high-level requirements for behavioral monitoring and support. The "buffet" of services from which crewmembers can choose has increased substantially. Through the process of development, implementation, reviewing effectiveness and modifying as needed, the NASA and Wyle team have proven successful in managing the psychological health and well being of the crews and families with which they work. Increasing the crew size from three to six brought additional challenges. For the first time, all partners had to collaborate at the planning and implementation level, and the U.S. served as mentor to extrapolate their experiences to the others. Parity in available resources, upmass, and stowage had to be worked out. Steady progress was made in improving off-hours living and making provisions for new technologies within a system that has difficulty moving quickly on certifications. In some respect, the BHP support team fell victim to its previous successes. With increasing numbers of crewmembers in training, requests to engage our services spiraled upward. With finite people and funds, a cap had to placed on many services to ensure that parity could be maintained. The evolution of NASA BHP services as the ISS progressed from three- to six-crew composition will be reviewed, and future challenges that may be encountered as the ISS matures in its assembly-complete state will be discussed.

VanderArk, Steve↗

Modal Test of Six-Meter Hypersonic Inflatable Aerodynamic Decelerator

A modal test was performed on the six-meter Hypersonic Inflatable Aerodynamic Decelerator (HIAD) test article to gain a firm understanding of the dynamic characteristics of the unloaded structure within the low frequency range. The tests involved various configurations of the HIAD to understand the influence of the tri-torus, the varying pressure within the toroids and the influence of straps. The primary test was conducted utilizing an eletrodynamic shaker and the results were verified using a step relaxation technique. The analysis results show an increase in the structure's stiffness with respect to increasing pressure. The results also show the rise of coupled modes with the tri-torus configurations. During the testing activity, the attached straps exhibited a behavior that is similar to that described as fuzzy structures in the literature. Therefore extensive tests were also performed by utilizing foam to mitigate these effects as well as understand the modal parameters of these fuzzy sub structures. Results are being utilized to update the finite element model of the six-meter HIAD and to gain a better understanding of the modeling of complex inflatable structures.

Abraham, Nijo↗