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At least 559 records · Page 31

Trajectory control of robot manipulators with closed-kinematic chain mechanism

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Nguyen, Charles C.↗

The NASA Langley Laminar-Flow-Control (LFC) experiment on a swept, supercritical airfoil: Design overview

A large-chord, swept, supercritical, laminar-flow-control (LFC) airfoil was designed and constructed and is currently undergoing tests in the Langley 8 ft Transonic Pressure Tunnel. The experiment was directed toward evaluating the compatibility of LFC and supercritical airfoils, validating prediction techniques, and generating a data base for future transport airfoil design as part of NASA's ongoing research program to significantly reduce drag and increase aircraft efficiency. Unique features of the airfoil included a high design Mach number with shock free flow and boundary layer control by suction. Special requirements for the experiment included modifications to the wind tunnel to achieve the necessary flow quality and contouring of the test section walls to simulate free air flow about a swept model at transonic speeds. Design of the airfoil with a slotted suction surface, the suction system, and modifications to the tunnel to meet test requirements are discussed.

Harris, Charles D.↗

Preliminary results of a flight investigation of rotorcraft control and display laws for hover

A flight experiment designed to evaluate the effects of compatible versus incompatible display and control system response characteristics, and to evaluate a candidate display law design methodology, is described. The experiment was conducted on the NASA/Army CH-47B variable-stability helicopter using its model-following control system and a color, panel-mounted display. Three control response types representative of modern highly augmented rotorcraft and three corresponding sets of display dynamics were considered for three hover and low-speed tasks performed in simulated instrument conditions. Preliminary results based on pilot handling qualities ratings and comments indicate that performance and workload can be significantly affected by certain control and display combinations and that the display design methodology shows promise for improving the handling qualities of rotorcraft operating in conditions of low visibility.

Eshow, Michelle M.↗

Advanced instrumentation for aircraft icing research

A compact and rugged probe based on the phase Doppler method was evaluated as a means for characterizing icing clouds using airborne platforms and for advancing aircraft icing research in large scale wind tunnels. The Phase Doppler Particle Analyzer (PDPA) upon which the new probe was based is now widely recognized as an accurate method for the complete characterization of sprays. The prototype fiber optic-based probe was evaluated in simulated aircraft icing clouds and found to have the qualities essential to providing information that will advance aircraft icing research. Measurement comparisons of the size and velocity distributions made with the standard PDPA and the fiber optic probe were in excellent agreement as were the measurements of number density and liquid water content. Preliminary testing in the NASA Lewis Icing Research Tunnel (IRT) produced reasonable results but revealed some problems with vibration and signal quality at high speeds. The cause of these problems were identified and design changes were proposed to eliminate the shortcomings of the probe.

Bachalo, W.↗

Quantitative computer simulations of extraterrestrial processing operations

The automation of a small, solid propellant mixer was studied. Temperature control is under investigation. A numerical simulation of the system is under development and will be tested using different control options. Control system hardware is currently being put into place. The construction of mathematical models and simulation techniques for understanding various engineering processes is also studied. Computer graphics packages were utilized for better visualization of the simulation results. The mechanical mixing of propellants is examined. Simulation of the mixing process is being done to study how one can control for chaotic behavior to meet specified mixing requirements. An experimental mixing chamber is also being built. It will allow visual tracking of particles under mixing. The experimental unit will be used to test ideas from chaos theory, as well as to verify simulation results. This project has applications to extraterrestrial propellant quality and reliability.

Vincent, T. L.↗

In-flight simulation at the NASA Dryden Flight Research Facility

An account of the in-flight simulation at the Dryden Flight Research Facility is presented and various aircraft and tests performed are discussed. In-flight simulation has been utilized for a variety of flying quality investigations including low-lift-to-drag ratio approach characteristics for vehicles like the X-15, the lifting bodies, and the Space Shuttle. Consideration is given to the effects of time delays on controllability of aircraft with digital flight-control systems, flight control systems for such aircraft as the X-29, and the causes and cures of pilot-induced oscillation in diverse aircraft.

Shafer, Mary F.↗

STOVL Control Integration Program

An integrated flight/propulsion control for an advanced vector thrust supersonic STOVL aircraft, was developed by Pratt & Whitney and McDonnell Douglas Aerospace East. The IFPC design was based upon the partitioning of the global requirements into flight control and propulsion control requirements. To validate the design, aircraft and engine models were also developed for use on a NASA Ames piloted simulator. Different flight control implementations, evaluated for their handling qualities, are documented in the report along with the propulsion control, engine model, and aircraft model.

Weiss, C.↗

Techniques for Improving the Performance of Future EVA Maneuvering Systems

The Simplified Aid for EVA Rescue (SAFER) is a small propulsive backpack that was developed as an in-house effort at Johnson Space Center; it is a lightweight system which attaches to the underside of the Primary Life Support Subsystem (PLSS) backpack of the Extravehicular Mobility Unit (EMU). SAFER provides full six-axis control, as well as Automatic Attitude Hold (AAH), by means of a set of cold-gas nitrogen thrusters and a rate sensor-based control system. For compactness, a single hand controller is used, together with mode switching, to command all six axes. SAFER was successfully test-flown on the STS-64 mission in September 1994 as a Development Test Objective (DTO); development of an operational version is now proceeding. This version will be available for EVA self-rescue on the International Space Station and Mir, starting with the STS-86/Mir-7 mission in September 1997. The DTO SAFER was heavily instrumented, and produced in-flight data that was stored in a 12 MB computer memory on-board. This has allowed post-flight analysis to yield good estimates for the actual mass properties (moments and products of inertia and center of mass location) encountered on-orbit. By contrast, Manned Maneuvering Unit (MMU) post-flight results were generated mainly from analysis of video images, and so were not very accurate. The main goal of the research reported here was to use the detailed SAFER on-orbit mass properties data to optimize the design of future EVA maneuvering systems, with the aim being to improve flying qualities and/or reduce propellant consumption. The Automation, Robotics and Simulation Division Virtual Reality (VR) Laboratory proved to be a valuable research tool for such studies. A second objective of the grant was to generate an accurate dynamics model in support of the reflight of the DTO SAFER on STS-76/Mir-3. One complicating factor was the fact that a hand controller stowage box was added to the underside of SAFER on this flight; the position of this box was such that two of the SAFER jets plume it. A second complication was that the EVA astronaut will sometimes be transporting a massive experiment package. This will not only alter the overall mass properties significantly, but can itself also be plumed.

Williams, Trevor W.↗

Production Strategies for Production-Quality Parts for Aerospace Applications

A combination of rapid prototyping processes (3D Systems' stereolithography and Sanders Prototyping's ModelMaker) are combined with gelcasting to produce high quality silicon nitride components that were performance tested under simulated use conditions. Two types of aerospace components were produced, a low-force rocket thruster and a simulated airfoil section. The rocket was tested in a test stand using varying mixtures of H2 and O2, whereas the simulated airfoil was tested by subjecting it to a 0.3 Mach jet-fuel burner flame. Both parts performed successfully, demonstrating the usefulness of the rapid prototyping in efforts to effect materials substitution. In addition, the simulated airfoil was used to explore the possibility of applying thermal/environmental barrier coatings and providing for internal cooling of ceramic parts. It is concluded that this strategy for processing offers the ceramic engineer all the flexibility normally associated with investment casting of superalloys.

Cawley, J. D.↗

Linear-Parameter-Varying Antiwindup Compensation for Enhanced Flight Control Performance

Actuator saturation is one of the major issues of flight control in the high angle-of-attack region. This paper presents a saturation control scheme for linear parameter varyjing (LPV) systems from an antiwindup control perspective. The proposed control approach is advantageous from the implementation standpoint because it can be thought of as an augmented control algorithm to the existing control system. Moreover, the synthesis condition for an antiwindup compensator is formulated as a linear matrix inequality (LMI) optimization problem and can be solved efficiently. We have applied te LPV antiwindup controller to an F-16 longitudinal autopilot control system design and compared it with the thrust vectoring control scheme. The nonlinear simulations show that an LPV antiwindup controller improves flight quality and offers advantages over thrust vectoring in a high angle-of-attack region.

Lu, Bei↗

Part-Task Simulation of Synthetic and Enhanced Vision Concepts for Lunar Landing

During Apollo, the constraints placed by the design of the Lunar Module (LM) window for crew visibility and landing trajectory were a major problem. Lunar landing trajectories were tailored to provide crew visibility using nearly 70 degrees look-down angle from the canted LM windows. Apollo landings were scheduled only at specific times and locations to provide optimal sunlight on the landing site. The complications of trajectory design and crew visibility are still a problem today. Practical vehicle designs for lunar lander missions using optimal or near-optimal fuel trajectories render the natural vision of the crew from windows inadequate for the approach and landing task. Further, the sun angles for the desirable landing areas in the lunar polar regions create visually powerful, season-long shadow effects. Fortunately, Synthetic and Enhanced Vision (S/EV) technologies, conceived and developed in the aviation domain, may provide solutions to this visibility problem and enable additional benefits for safer, more efficient lunar operations. Piloted simulation evaluations have been conducted to assess the handling qualities of the various lunar landing concepts, including the influence of cockpit displays and the informational data and formats. Evaluation pilots flew various landing scenarios with S/EV displays. For some of the evaluation trials, an eye glasses-mounted, monochrome monocular display, coupled with head tracking, was worn. The head-worn display scene consisted of S/EV fusion concepts. The results of this experiment showed that a head-worn system did not increase the pilot s workload when compared to using just the head-down displays. As expected, the head-worn system did not provide an increase in performance measures. Some pilots commented that the head-worn system provided greater situational awareness compared to just head-down displays.

Arthur, Jarvis J., III↗

The Influence of Restraint Systems on Panel Behavior

When a panel is tested in uniaxial compression in a test machine, the boundary conditions are not quite the same as they would be if it were part of a complete structure. A restraint system may be used to simulate conditions found in a complete vehicle. Quantifying the quality of the restraint with only point-measurement devices can leave an inadequate characterization of the out-of-plane behavior. However, today s full-field displacement monitoring techniques allow for much more accurate views of the global panel deformation and strain, and therefore allow for a better understanding of panel behavior. In the current study, the behavior of a hat-stiffened and two rod-stiffened carbon-epoxy panels is considered. Panels were approximately 2 meters tall and 0.76 to 1.06 m wide. Unloaded edges were supported by knife edges and stiffeners were attached to a support structure at selected locations to restrain out-of-plane motion. A comparison is made between test results based on full-field measurements and analyses based on assumptions of boundary conditions of a completely rigid edge restraint and the absence of any edge restraint. Results indicate that motion at the restrained edges must be considered to obtain accurate test-analysis correlation.

Jegley, Dawn C.↗

UH-60A Airloads Flight Test Program: Data Counter 8513

The data collection portion of the UH-60A Airloads Flight Test Program was conducted between July 1993 and February 1994. At the time, the UH-60A Airloads Program was the most comprehensive and data-rich rotorcraft flight test program that NASA and the U.S. Army had ever attempted. It was part of the Modern Technology Rotors Program, where several different rotors were tested in small- and full-scale wind tunnels combined with flight testing. The UH-60A portion of this program allowed for comparison between other tests performed and served as a scientific quality database for validating current and new computational and simulation models. The UH-60A flight test data was stored in a comprehensive, easily accessed database known as the Tilt Rotor Engineering Database System, or TRENDS. With over 30 years of rotor testing experience, NASA and the Army’s goal of the Airloads Flight Test Program was to collect data for a wide range of operating conditions and provide an extensive amount of data to improve the understanding of rotors and validate and improve prediction codes. This report presents the entire archived data set from Counter 8513 (Run 85, point 13) from the UH-60A Airloads Flight Test Program. There were 1,078 total data set counters acquired and archived during 57 accumulated flight hours and 31 research flights. Over 900 counters were research flight data acquisition data points. Counter 8513 is a low-speed, level-flight test condition.

Kufeld, Robert M.↗

UH-60A Airloads Flight Test Program: Data Counter 9505

The data collection portion of the UH-60A Airloads Flight Test Program (ref. 1) was conducted between July 1993 and February 1994. At the time, the UH-60A Airloads Program was the most comprehensive and data-rich rotorcraft flight test program that NASA and the U.S. Army had ever attempted. It was part of the Modern Technology Rotors Program (ref. 2), where several different rotors were tested in small- and full-scale wind tunnels combined with flight testing. The UH-60A portion of this program allowed for comparison between other tests performed and served as a scientific quality database for validating current and new computational and simulation models. The UH-60A flight test data was stored in a comprehensive, easily accessed database known as the Tilt Rotor Engineering Database System, or TRENDS (ref. 3). With over 30 years of rotor testing experience (ref. 4), NASA and the Army’s goal of the Airloads Flight Test Program was to collect data for a wide range of operating conditions, and to provide an extensive amount of data to improve the understanding of rotors and validate and improve prediction codes. This report presents the entire archived data set from Counter 9505 (Run 95, point 5) from the UH-60A Airloads Flight Test Program. There were 1,078 total data set counters acquired and archived during 57 accumulated flight hours and 31 research flights. Over 900 counters were research flight data acquisition data points. Counter 9505 is a low altitude, moderate airspeed, level-flight test condition. Ground acoustic microphone data was acquired for this counter but the acoustic data is not included in this report.

Kufeld, Robert M.↗

Integration of CFD and Wind-Tunnel Testing at NASA

The debate over when wind-tunnel testing will be replaced by Computational Fluid Dynamics (CFD) comes and goes. More recently, however, the debate has subsided with a more collaborative spirit between practitioners of these two disciplines. Combining these complementary disciplines has led to significant improvements in both as well as better understanding of aero- and fluid dynamics. Also, as CFD codes become more accurate, the need for comparisons with experimental data has increased. New measurement techniques, pressure-sensitive paint and off-body velocity measurements for example, have provided detailed, high-quality data for the comparisons. In-tunnel CFD simulations are also providing more direct comparisons between predicted and measured flows. Given this newenvironment, a concerted effort is now underway to facilitate in-tunnel CFD for the 12 major wind tunnels operated by NASA.The Aerosciences Evaluation and Test Capabilities Portfolio (AETC) manages the major aerodynamic ground-testing facilities within NASA. This group is responsible for the operation, maintenance, and improvement of the wind-tunnel facilities and their capabilities. AETC has recently added a project to integrate CFD and wind-tunnel testing to better support customers of the NASA wind tunnels and to better understand the flow in the wind tunnels themselves. Being able to perform CFD simulations of wind-tunnel models in the wind tunnel environment providesthe cleanest way to assess the accuracy of the simulations relative to test data. AETC plans to provide accurate geometry and guidance to wind-tunnel customers who request it, to facilitate in-tunnel simulations. How this effort got started will be presented along with the status and plans for the project.

CFD↗

Improvements in hover display dynamics for a combat helicopter

This paper describes a piloted simulation conducted on the NASA Ames Vertical Motion Simulator. The objective of the experiment was to investigate the handling qualities benefits attainable using new display law design methods for hover displays. The new display laws provide improved methods to specify the behavior of the display symbol that predicts the vehicle's ground velocity in the horizontal plane; it is the primary symbol that the pilot uses to control aircraft horizontal position. The display law design was applied to the Apache helmet-mounted display format, using the Apache vehicle dynamics to tailor the dynamics of the velocity predictor symbol. The representations of the Apache vehicle used in the display design process and in the simulation were derived from flight data. During the simulation, the new symbol dynamics were seen to improve the pilots' ability to maneuver about hover in poor visual cuing environments. The improvements were manifested in pilot handling qualities ratings and in measured task performance. The paper details the display design techniques, the experiment design and conduct, and the results.

Eshow, Michelle M.↗

Improvements in hover display dynamics for a combat helicopter

This paper describes a piloted simulation conducted on the NASA Ames Vertical Motion Simulator. The objective of the experiment was to investigate the handling qualities benefits attainable using new display law design methods for hover displays. The new display laws provide improved methods to specify the behavior of the display symbol that predicts the vehicle's ground velocity in the horizontal plane; it is the primary symbol that the pilot uses to control aircraft horizontal position. The display law design was applied to the Apache helmet-mounted display format, using the Apache vehicle dynamics to tailor the dynamics of the velocity predictor symbol. The representations of the Apache vehicle used in the display design process and in the simulation were derived from flight data. During the simulation, the new symbol dynamics were seen to improve the pilots' ability to maneuver about hover in poor visual cuing environments. The improvements were manifested in pilot handling qualities ratings and in measured task performance. The paper details the display design techniques, the experiment design and conduct, and the results.

Eshow, Michelle M.↗

MEDPRAT-SEL: Medical Resource Set Selector Searching High-Dimensionality Space

NASA Human Research Program's (HRP) next generation risk model closes the loop on medical risk and resource evaluation, providing researchers with a tool to assess and choose capabilities scientifically. The Medical Extensible Dynamic Probabilistic Risk Assessment Tool (MEDPRAT) simulator (SIM) evaluates resources in terms of medical benefit, such as reduced crew quality time lost (QTL), vs. cost, in mass or volume. The MEDPRAT resource set selector (SEL) searches the space of resource benefits v. cost, closing a feedback loop around the simulator, thus selecting resource sets with best benefit for cost. We discuss the design and results of the resource set selector. NASA HRP's emphasis on scientific assessment of risk, PRA, has led to the Cross-cutting Computational Modeling Project (CCMP).

Leinweber, Lawrence↗