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NASA NTRS1991

Radar simulation program upgrade and algorithm development

The NASA Radar Simulation Program is a comprehensive calculation of the expected output of an airborne coherent pulse Doppler radar system viewing a low level microburst along or near the approach path. Inputs to the program include the radar system parameters and data files that contain the characteristics of the microbursts to be simulated, the ground clutter map, and the discrete target data base which provides a simulation of the moving ground clutter. For each range bin, the simulation calculates the received signal amplitude level by integrating the product of the antenna gain pattern and the scattering source amplitude and phase of a spherical shell volume segment defined by the pulse width, radar range, and ground plane intersection. A series of in-phase and quadrature pulses are generated and stored for further processing if desired. In addition, various signal processing techniques are used to derive the simulated velocity and hazard measurements, and store them for use in plotting and display programs.

Britt, Charles L.↗

NASA NTRS1993

The dynamic phenomena of a tethered satellite: NASA's first Tethered Satellite Mission, TSS-1

The tethered satellite system (TSS) was envisioned as a means of extending a satellite from its base (space shuttle, space station, space platform) into a lower or higher altitude in order to more efficiently acquire data and perform science experiments. This is accomplished by attaching the satellite to a tether, deploying it, then reeling it in. When its mission is completed, the satellite can be returned to its base for reuse. If the tether contains a conductor, it can also be used as a means to generate and flow current to and from the satellite to the base. When current is flowed, the tether interacts with the Earth's magnetic field, deflecting the tether. When the current flows in one direction, the system becomes a propulsive system that can be used to boost the orbiting system. In the other direction, it is a power generating system. Pulsing the current sets up a dynamic oscillation in the tether, which can upset the satellite attitude and preclude docking. A basic problem occurs around 400-m tether length, during satellite retrieval when the satellite's pendulous (rotational) mode gets in resonance with the first lateral tether string mode. The problem's magnitude is determined by the amount of skiprope present coming into this resonance condition. This paper deals with the tethered satellite, its dynamic phenomena, and how the resulting problems were solved for the first tethered satellite mission (TSS-1). Proposals for improvements for future tethered satellite missions are included. Results from the first tethered satellite flight are summarized.

Ryan, R. S.↗

NASA NTRS1992

Imager of low energy neutral atoms (ILENA) - Imaging neutrals from the magnetosphere at energies below 20 keV

We describe a new imager suitable for measurements of magnetospheric neutrals with energies from about 100 eV to about 10 keV; an energy range adequate for imaging the plasmasheet neutral atoms out to about 10 R(E). The instrument, an outgrowth of a study of atom-surface collisions in support of satellite drag calculations, separates incident photons from neutral atoms by surface scattering and conversion of the neutrals to ions. Subsequently, the ions formed on the first surface are accelerated through a light rejection section which also disperses the ions according to energy. The dispersed ion beam is then allowed to impact a second surface where a start pulse is generated to obtain ion velocity and energy/charge. The second surface is chosen to give large secondary electron emission without regard to charge state of the particles reflected from it. The data supporting the proposed ILENA design is presented in the first part of the paper.

Herrero, Federico A.↗

NASA NTRS1993

Strategies and methodologies to develop techniques for computer-assisted analysis of gas phase formation during altitude decompression

It would be of operational significance if one possessed a device that would indicate the presence of gas phase formation in the body during hypobaric decompression. Automated analysis of Doppler gas bubble signals has been attempted for 2 decades but with generally unfavorable results, except with surgically implanted transducers. Recently, efforts have intensified with the introduction of low-cost computer programs. Current NASA work is directed towards the development of a computer-assisted method specifically targeted to EVA, and we are most interested in Spencer Grade 4. We note that Spencer Doppler Grades 1 to 3 have increased in the FFT sonogram and spectrogram in the amplitude domain, and the frequency domain is sometimes increased over that created by the normal blood flow envelope. The amplitude perturbations are of very short duration, in both systole and diastole and at random temporal positions. Grade 4 is characteristic in the amplitude domain but with modest increases in the FFT sonogram and spectral frequency power from 2K to 4K over all of the cardiac cycle. Heart valve motion appears to characteristic display signals: (1) the demodulated Doppler signal amplitude is considerably above the Doppler-shifted blow flow signal (even Grade 4); and (2) demodulated Doppler frequency shifts are considerably greater (often several kHz) than the upper edge of the blood flow envelope. Knowledge of these facts will aid in the construction of a real-time, computer-assisted discriminator to eliminate cardiac motion artifacts. There could also exist perturbations in the following: (1) modifications of the pattern of blood flow in accordance with Poiseuille's Law, (2) flow changes with a change in the Reynolds number, (3) an increase in the pulsatility index, and/or (4) diminished diastolic flow or 'runoff.' Doppler ultrasound devices have been constructed with a three-transducer array and a pulsed frequency generator.

Powell, Michael R.↗

NASA NTRS1992

Modulation characteristics of a high-power semiconductor Master Oscillator Power Amplifier (MOPA)

A semiconductor master oscillator-power amplifier was demonstrated using an anti-reflection (AR) coated broad area laser as the amplifier. Under CW operation, diffraction-limited single-longitudinal-mode powers up to 340 mW were demonstrated. The characteristics of the far-field pattern were measured and compared to a two-dimensional reflective Fabry-Perot amplifier model of the device. The MOPA configuration was modulated by the master oscillator. Prior to injection into the amplifier, the amplitude and frequency modulation properties of the master oscillator were characterized. The frequency response of the MOPA configuration was characterized for an AM/FM modulated injection beam, and was found to be a function of the frequency detuning between the master oscillator and the resonant amplifier. A shift in the phase was also observed as a function of frequency detuning; this phase shift is attributed to the optical phase shift imparted to a wave reflected from a Fabry-Perot cavity. Square-wave optical pulses were generated at 10 MHz and 250 MHz with diffraction-limited peak powers of 200 mW and 250 mW. The peak power for a given modulation frequency is found to be limited by the injected power and the FM modulation at that frequency. The modulation results make the MOPA attractive for use as a transmitter source in applications such as free-space communications and ranging/altimetry.

Cornwell, Donald Mitchell, Jr.↗

NASA NTRS1997

Simulation results of Pulse Shape Discrimination (PSD) for background reduction in INTEGRAL Spectrometer (SPI) germanium detectors

Pulse Shape Discrimination (PSD) for background reduction will be used in the INTErnational Gamma Ray Astrophysics Laboratory (INTEGRAL) imaging spectrometer (SPI) to improve the sensitivity from 200 keV to 2 MeV. The observation of significant astrophysical gamma ray lines in this energy range is expected, where the dominant component of the background is the beta(sup -) decay in the Ge detectors due to the activation of Ge nuclei by cosmic rays. The sensitivity of the SPI will be improved by rejecting beta(sup -) decay events while retaining photon events. The PSD technique will distinguish between single and multiple site events. Simulation results of PSD for INTEGRAL-type Ge detectors using a numerical model for pulse shape generation are presented. The model was shown to agree with the experimental results for a narrow inner bore closed end cylindrical detector. Using PSD, a sensitivity improvement factor of the order of 2.4 at 0.8 MeV is expected.

Slassi-Sennou, S. A.↗

NASA NTRS1997

Kinetics and Thermochemistry of Reversible Adduct Formation in the Reaction of Cl((sup 2)P(sub J)) with CS2

Reversible adduct formation in the reaction of Cl((sup 2)P(sub J)) with CS2 has been observed over the temperature range 193-258 K by use of time-resolved resonance fluorescence spectroscopy to follow the decay of pulsed-laser-generated Cl((sup 2)P(sub J)) into equilbrium with CS2Cl. Rate coefficients for CS2Cl formation and decomposition have been determined as a function of temperature and pressure; hence, the equilbrium constant has been determined as a function of temperature. A second-law analysis of the temperature dependence of Kp and heat capacity corrections calculated with use of an assumed CS2Cl structure yields the following thermodynamic parameters for the association reaction: Delta-H(sub 298) = -10.5 +/- 0.5 kcal/mol, Delta-H(sub 0) = -9.5 +/- 0.7 kcal/mol, Delta-S(sub 298) = -26.8 +/- 2.4 cal/mol.deg., and Delta-H(sub f,298)(CS2Cl) = 46.4 +/- 0.6 kcal/mol. The resonance fluorescence detection scheme has been adapted to allow detection of Cl((sup 2)P(sub J)) in the presence of large concentrations of O2, thus allowing the CS2Cl + Cl + O2 reaction to be investigated. We find that the rate coefficient for CS2Cl + O2 reaction via all channels that do not generate Cl((sup 2)P(sub J)) is less than 2.5 x 10(exp-16) cu cm/(molecule.s) at 293 K and 300-Torr total pressure and that the total rate coefficient is less than 2 x 10 (exp -15) cu cm/(molecule.s) at 230 K and 30-Torr total pressure. Evidence for reversible adduct formation in the reaction of Cl((sup 2)P(sub J)) with COS was sought but not observed, even at temperatures as low as 194 K.

Nicovich, J. M.↗

NASA NTRS1999

High-Energy Space Propulsion Based on Magnetized Target Fusion

Magnetized target fusion is an approach in which a magnetized target plasma is compressed inertially by an imploding material wall. A high energy plasma liner may be used to produce the required implosion. The plasma liner is formed by the merging of a number of high momentum plasma jets converging towards the center of a sphere where two compact toroids have been introduced. Preliminary 3-D hydrodynamics modeling results using the SPHINX code of Los Alamos National Laboratory have been very encouraging and confirm earlier theoretical expectations. The concept appears ready for experimental exploration and plans for doing so are being pursued. In this talk, we explore conceptually how this innovative fusion approach could be packaged for space propulsion for interplanetary travel. We discuss the generally generic components of a baseline propulsion concept including the fusion engine, high velocity plasma accelerators, generators of compact toroids using conical theta pinches, magnetic nozzle, neutron absorption blanket, tritium reprocessing system, shock absorber, magnetohydrodynamic generator, capacitor pulsed power system, thermal management system, and micrometeorite shields.

Thio, Y. C. F.↗

NASA NTRS1999

Magnetic Flux Compression Using Detonation Plasma Armatures and Superconductor Stators: Integrated Propulsion and Power Applications

This presentation discusses the use of magnetic flux compression for space flight applications as a propulsion and other power applications. The qualities of this technology that make it suitable for spaceflight propulsion and power, are that it has high power density, it can give multimegawatt energy bursts, and terawatt power bursts, it can produce the pulse power for low impedance dense plasma devices (e.g., pulse fusion drivers), and it can produce direct thrust. The issues of a metal vs plasma armature are discussed, and the requirements for high energy output, and fast pulse rise time requires a high speed armature. The plasma armature enables repetitive firing capabilities. The issues concerning the high temperature superconductor stator are also discussed. The concept of the radial mode pulse power generator is described. The proposed research strategy combines the use of computational modeling (i.e., magnetohydrodynamic computations, and finite element modeling) and laboratory experiments to create a demonstration device.

Litchford, Ron↗

NASA NTRS1999

The Near-Earth Asteroid Rendezvous (NEAR) Mission, the Mars Surveyor 2001 (MS01) Mission, and the Planetary Instrument Definition and Development Program (PIDDP)

The NEAR Mission was launched on February 17, 1996 for a three year cruise to the asteroid 433 Eros. During October, November, and December 1998 cruise measurements with the gamma-ray spectrometer were made at three different escape-window-width settings. These were done in order to understand how the count rate and peak width change as the window width settings change. Analysis of these spectra was completed using the latest version of the spectral analysis program, RobWin. Results as a function of energy were combined with the results from the Schlumberger-Doll Research experiments (described below). Laboratory measurements were needed to confirm efficiency calculations above 6 MeV and to understand the relationship between the full energy peak areas and the areas of the first and second escape peaks as a function of the escape peak widths. A week of measurements was made at Schlumberger-Doll Research using their 14-MeV pulsed neutron generator and large soil samples. Data were collected after adding iron and nickel to the sample to increase the emission of high-energy lines. Approximately 24 hours of data were accumulated at each of three escape peak window widths. These data were analyzed with RobWin. Combining results from the cruise measurements and the laboratory measurements indicated that both data sets had similar energy dependence and that this energy dependence was different from that obtained using standard Monte Carlo calculations. Alternate methods of simulating the response of the detector to changes in the escape window widths are being investigated.

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NASA NTRS2000

Magnetic Flux Compression Concept for Nuclear Pulse Propulsion and Power

The desire for fast, efficient interplanetary transport requires propulsion systems having short acceleration times and very high specific impulse attributes. Unfortunately, most highly efficient propulsion systems which are within the capabilities of present day technologies are either very heavy or yield very low impulse such that the acceleration time to final velocity is too long to be of lasting interest, One exception, the nuclear thermal thruster, could achieve the desired acceleration but it would require inordinately large mass ratios to reach the range of desired final velocities. An alternative approach, among several competing concepts that are beyond our modern technical capabilities, is a pulsed thermonuclear device utilizing microfusion detonations. In this paper, we examine the feasibility of an innovative magnetic flux compression concept for utilizing microfusion detonations, assuming that such low yield nuclear bursts can be realized in practice. In this concept, a magnetic field is compressed between an expanding detonation driven diamagnetic plasma and a stationary structure formed from a high temperature superconductor (HTSC). In general, we are interested in accomplishing two important functions: (1) collimation of a hot diamagnetic plasma for direct thrust production; and (2) pulse power generation for dense plasma ignition. For the purposes of this research, it is assumed that rnicrofusion detonation technology may become available within a few decades, and that this approach could capitalize on recent advances in inertial confinement fusion ICF) technologies including magnetized target concepts and antimatter initiated nuclear detonations. The charged particle expansion velocity in these detonations can be on the order of 10 (exp 6)- 10 (exp 7) meters per second, and, if effectively collimated by a magnetic nozzle, can yield the Isp and the acceleration levels needed for practical interplanetary spaceflight. The ability to ignite pure fusion micro-bursts with reasonable levels of input energy is an equally challenging scientific problem. It remains to be seen, however, whether an effective ignition driver can be developed which meets the requirements for practical spaceflight application (namely high power density, compactness, low weight, and low cost). In this paper, system level performance and design issues are examined including generator performance, magnetic flux compression processes, magnetic diffusion processes, high temperature superconductor (HTSC) material properties, plasmadynamic processes, detonation plasma expansion processes, magnetohydrodynamic instabilities, magnetic nozzle performance, and thrust production performance. Representative generator performance calculations based on a simplified skin layer formulation are presented as well as the results of exploratory small-scale laboratory experiments on magnetic flux diffusion in HTSC materials. In addition, planned follow-on scientific feasibility experiments are described which utilize high explosive detonations and high energy gas discharges to simulate the plasma conditions associated with thermonuclear micro-detonations.

Litchford, Ronald J.↗

NASA NTRS1999

Reducing Conservatism of Analytic Transient Response Bounds via Shaping Filters

Recent results show that the peak transient response of a linear system to bounded energy inputs can be computed using the energy-to-peak gain of the system. However, analytically computed peak response bound can be conservative for a class of class bounded energy signals, specifically pulse trains generated from jet firings encountered in space vehicles. In this paper, shaping filters are proposed as a Methodology to reduce the conservatism of peak response analytic bounds. This Methodology was applied to a realistic Space Station assembly operation subject to jet firings. The results indicate that shaping filters indeed reduce the predicted peak response bounds.

Kwan, Aiyueh↗

NASA NTRS2001

Baseline Validation of Unstructured Grid Reynolds-Averaged Navier-Stokes Toward Flow Control

The value of the use of the Reynolds-averaged Navier-Stokes methodology for active flow control applications is assessed. An experimental flow control database exists for a NACA0015 airfoil modified at the leading edge to implement a fluidic actuator; hence, this configuration is used. Computational results are documented for the baseline wing configuration (no control) with the experimental results and assumes two-dimensional flow. The baseline wing configuration has discontinuities at the leading edge, trailing edge, and aft of midchord on the upper surface. A limited number of active flow control applications have been tested in the laboratory and in flight. These applications include dynamic stall control using a deformable leading edge, separation control for takeoff and landing flight conditions using piezoelectric devices, pulsed vortex generators, zero-net-mass oscillations, and thrust vectoring with zero-net-mass piezoelectric-driven oscillatory actuation. As yet, there is no definitive comparison with experimental data that indicates current computational capabilities can quantitatively predict the large aerodynamic performance gains achieved with active flow control in the laboratory. However, one study using the Reynolds-averaged Navier-Stokes (RANS) methodology has shown good quantitative agreement with experimental results for an isolated zero-net-mass actuator. In addition, some recent studies have used RANS to demonstrate qualitative performance gains compared with the experimental data for separation control on an airfoil. Those quantitative comparisons for both baseline and flow control cases indicated that computational results were in poor quantitative agreement with the experiments. The current research thrust will investigate the potential use of an unstructured grid RANS approach to predict aerodynamic performance for active flow control applications building on the early studies. First the computational results must quantitatively match experiments for the no-control case before proceeding to the time-dependent flow control case. This paper documents the baseline (no-control) case using an unswept airfoil configuration. The next section describes the configurations used for the computations and the experimentals. The computational approach is then described followed by results and concluding remarks.

Joslin, Ronald D.↗

NASA NTRS1997

Comparison of N2O Emissions from Soils at Three Temperate Agricultural Sites

Nitrous oxide (N2O) flux simulations by four models were compared with year-round field measurements from five temperate agricultural sites in three countries. The field sites included an unfertilized, semi-arid rangeland with low N2O fluxes in eastern Colorado, USA; two fertilizer treatments (urea and nitrate) on a fertilized grass ley cut for silage in Scotland; and two fertilized, cultivated crop fields in Germany where N2O loss during the winter was quite high. The models used were daily trace gas versions of the CENTURY model, DNDC, ExpertN, and the NASA-Ames version of the CASA model. These models included similar components (soil physics, decomposition, plant growth, and nitrogen transformations), but in some cases used very different algorithms for these processes. All models generated similar results for the general cycling of nitrogen through the agro-ecosystems, but simulated nitrogen trace gas fluxes were quite different. In most cases the simulated N20 fluxes were within a factor of about 2 of the observed annual fluxes, but even when models produced similar N2O fluxes they often produced very different estimates of gaseous N loss as nitric oxide (NO), dinitrogen (N2), and ammonia (NH3). Accurate simulation of soil moisture appears to be a key requirement for reliable simulation of N2O emissions. All models simulated the general pattern of low background fluxes with high fluxes following fertilization at the Scottish sites, but they could not (or were not designed to) accurately capture the observed effects of different fertilizer types on N2O flux. None of the models were able to reliably generate large pulses of N2O during brief winter thaws that were observed at the two German sites. All models except DNDC simulated very low N2O fluxes for the dry site in Colorado. The US Trace Gas Network (TRAGNET) has provided a mechanism for this model and site intercomparison. Additional intercomparisons are needed with these and other models and additional data sets; these should include both tropical agro-ecosystems and new agricultural management techniques designed for sustainability.

Frolking, S. E.↗

NASA NTRS1980

Property Measurement

Van is used by Land Inventory Systems to measure and map property for tax assessment purposes. It is adapted from navigation system of the Lunar Rover wheeled vehicle in which moon-exploring astronauts traveled as much as 20 miles from their Lunar Module base. Astronauts had to know their precise position so that in case of emergency they could take the shortest route back. Computerized navigational system kept a highly accurate record of the directional path providing continuous position report. Distance measuring subsystem was a more accurate counterpart of automobile odometer system counts revolutions of wheels and encoders generate electrical pulses for each fractional revolution and the computer analyzed the pulses to determine the distance traveled in a given direction.

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NASA NTRS2002

Stability and Heat Transfer Characteristics of Condensing Films

The overall objective of this research is to investigate the fundamental physics of film condensation in reduced gravity. The condensation of vapor on a cool surface is important in many engineering problems,including spacecraft thermal control and also the behavior of condensate films that may form on the interior surfaces of spacecraft. To examine the effects of body force on condensing films, two different geometries have been tested in the laboratory: (1) a stabilizing gravitational body force (+1g, or condensing surface facing 'upwards') and (2) de-stabilizing gravitational body force (-1g, or 'downwards'). For each geometry, different fluid configurations are employed to help isolate the fluid mechanical and thermal mechanisms operative in condensing films. The fluid configurations are (a) a condensing film, and (b) a non-condensing film with film growth by mass addition by through the plate surface. Condensation experiments are conducted in a test cell containing a cooled copper or brass plate with an exposed diameter of 12.7 cm. The metal surface is polished to allow for double-pass shadowgraph imaging, and the test surface is instrumented with imbedded heat transfer gauges and thermocouples. Representative shadowgraph images of a condensing, unstable (-1g) n-pentane film are shown. The interfacial disturbances associated with the de-stabilizing body force leading to droplet formation and break-off can be clearly seen. The heat transfer coefficient associated with the condensing film is shown. The heat transfer coefficient is seen to initially decrease, consistent with the increased thermal resistance due to layer growth. For sufficiently long time, a steady value of heat transfer is observed, accompanied by continuous droplet formation and break-off. The non-condensing cell consists of a stack of thin stainless steel disks 10 cm in diameter mounted in a brass enclosure. The disks are perforated with a regular pattern of 361 holes each 0.25 mm in diameter. Non-condensing experiments in -1g have employed 50 cSt and 125 cSt silicone oil pumped through the perforated disks at a specified rate by a syringe micropump. The time to droplet break-off and the disturbance wavelengths appear to decrease with increasing pumping rate. The ability to reliably perform multi-point, ultrasonic measurements of the film thickness has been demonstrated. A linear array of eight transducers of 6 mm diameter (with a beam footprint of comparable size) are pulsed with a square-wave signal at a frequency of 5 MHz and a pulse duration of approximately 0.3 s. For thin films (60 m to 2-3 mm in thickness) the layer thickness is determined by frequency analysis, where the received ultrasound pulse is Fourier transformed and the spacing between the peaks in the frequency spectrum is analyzed. For thicker layers (up to at least 1 cm in thickness), time-domain analysis is performed of the received ultrasound pulses to generate directly the layer thickness. A time-trace of the film thickness at a point using a single transducer in the linear array is shown for the case of an unstable (-1g) n-pentane film. The oscillations in film thickness are evidently due to the passage and/or shedding of droplets from the cooled plate surface. The entire transducer array was used to measure the changes in film thickness resulting from the passage of gravity waves generated either by an oscillating wall or the impact of a single droplet on the free surface of a film. The enclosure in both cases was 14 cm square and the transducer spacing was 12 mm. Best results were obtained using as test fluid a mixture of 50% glycerol and 50% water with a fluid layer thickness of 3-5 mm. In both cases the measured wavelengths and wave propagation speeds using the ultrasound technique compared reasonably well with those observed by optical imaging. Additional information can be found in the original extended abstract.

Hermanson, J. C.↗

NASA NTRS2002

Pressure-Application Device for Testing Pressure Sensors

A portable pressure-application device has been designed and built for use in testing and calibrating piezoelectric pressure transducers in the field. The device generates pressure pulses of known amplitude. A pressure pulse (in contradistinction to a steady pressure) is needed because in the presence of a steady pressure, the electrical output of a piezoelectric pressure transducer decays rapidly with time. The device includes a stainless- steel compressed-air-storage cylinder of 500 cu cm volume. A manual hand pump with check valves and a pressure gauge are located at one end of the cylinder. A three-way solenoid valve that controls the release of pressurized air is located at the other end of the cylinder. Power for the device is provided by a 3.7-V cordless-telephone battery. The valve is controlled by means of a pushbutton switch, which activates a 5 V to +/-15 V DC-to-DC converter that powers the solenoid. The outlet of the solenoid valve is connected to the pressure transducer to be tested. Before the solenoid is energized, the transducer to be tested is at atmospheric pressure. When the solenoid is actuated by the push button, pressurized air from inside the cylinder is applied to the transducer. Once the pushbutton is released, the cylinder pressure is removed from the transducer and the pressurized air applied to the transducer is vented, bringing the transducer back to atmospheric pressure. Before this device was used for actual calibration, its accuracy was checked with a NIST (National Institute of Standards and Technology) traceable calibrator and commercially calibrated pressure transducers. This work was done by Wanda Solano of Stennis Space Center and Greg Richardson of Lockheed Martin Corp.

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NASA NTRS1996

Spacecraft with gradual acceleration of solar panels

A spacecraft (8) includes a movable appendage such as solar panels (12) operated by a stepping motor (28) driven by pulses (311). In order to reduce vibration andor attitude error, the drive pulses are generated by a clock down-counter (312) with variable count ratio. Predetermined desired clock ratios are stored in selectable memories (314a-d), and the selected ratio (R) is coupled to a comparator (330) together with the current ratio (C). An up-down counter (340) establishes the current count-down ratio by counting toward the desired ratio under the control of the comparator; thus, a step change of solar panel speed never occurs. When a direction change is commanded, a flag signal generator (350) disables the selectable memories, and enables a further store (360), which generates a count ratio representing a very slow solar panel rotational rate, so that the rotational rate always slows to a low value before direction is changed. The principles of the invention are applicable to any movable appendage.

Merhav, Tamir R.↗