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At least 595 records · Page 33
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

V/STOL systems research aircraft: A tool for cockpit integration

The next generation ASTOVL aircraft will have a complicated propulsion system. The configuration choices include Direct Lift, Lift-Fan and Lift + Lift/Cruise but the aircraft must also have supersonic performance and low-observable characteristics. The propulsion system may have features such as flow blockers, vectoring nozzles and flow transfer schemes. The flight control system will necessarily fully integrate the aerodynamic surfaces and the propulsive elements. With a fully integrated, fly-by-wire flight/propulsion control system, the options for cockpit integration are interesting and varied. It is possible to de-couple longitudinal and vertical responses allowing the pilot to close the loop on flightpath and flightpath acceleration directly. In the hover, the pilot can control the translational rate directly without having to stabilize the inner rate and attitude loops. The benefit of this approach, reduced workload and increased precision, has previously been demonstrated through several motion-based simulations. In order to prove the results in flight, the V/STOL System Research Aircraft (VSRA) was developed at the NASA Ames Research Center. The VSRA is the YAV-8B Prototype modified with a research flight control system using a series-parallel servo configuration in all the longitudinal degrees of freedom (including thrust and thrust vector angle) to provide an integrated flight and propulsion control system in a limited envelope. Development of the system has been completed and flight evaluations of the response types have been performed. In this paper we will discuss the development of the VSRA, the evolution of the flightpath command and translational rate command response types and the Guest Pilot evaluations of the system. Pilot evaluation results are used to draw conclusions regarding the suitability of the system to satisfy V/STOL requirements.

Stortz, Michael W.↗
NASA NTRS1995

A new RF package suitable for aeronautical commercial and DSCS satellite applications

Higher levels of integration through the use of GaAs and silicon MMIC devices, a die-cast housing, and the reduction of the number of subassemblies has enabled a large reduction of the size and weight of the electronics package for commercial and military satellite communications. This paper presents an electronics architecture and hardware that utilizes many new integrated circuits and design techniques, and allows flexibility for future satellite frequency changes and expansion. Key features of the radio are extended C-band, InSat, Defense Satellite Communications System (DSCS), and Ku-band coverage options; 70 (or 140) MHz transponder bandwidth or L-band block bandwidth IFs; integrated RS-232 control through local handheld terminal or remote computer; remote control of crystal reference oscillator for aging and temperature compensation; integrated 2 or 5 watt solid-state power amplifiers (SSPA); optional integrated solid-state booster amplifiers to 40 watts; optional external amplifiers to 100 watts; integral beacon tracking with second integrated downcoverter for antenna positioning; radio, including low-noise block converter (LNB) and SSPA, weighs 8.5 kg and measures 32 x 23 x 16.5 cm; environmentally ruggedized for -40 to +60 C; O-ring sealed for waterproofing; passive (convection) cooling; and simple cabling and installation, with a single cable between radio and LNB, and two cables between radio and IF interface. The small size and light weight of the radio make it ideal for mounting on stabilized antenna platforms (gyroscopic or servo). Several input power options (110 or 220 VAC; +48, +12, or -24 VDC) facilitate operation on multiple platforms.

Hamilton, Robert J., Jr.↗
NASA NTRS1995

Modal Correction Method For Dynamically Induced Errors In Wind-Tunnel Model Attitude Measurements

This paper describes a method for correcting the dynamically induced bias errors in wind tunnel model attitude measurements using measured modal properties of the model system. At NASA Langley Research Center, the predominant instrumentation used to measure model attitude is a servo-accelerometer device that senses the model attitude with respect to the local vertical. Under smooth wind tunnel operating conditions, this inertial device can measure the model attitude with an accuracy of 0.01 degree. During wind tunnel tests when the model is responding at high dynamic amplitudes, the inertial device also senses the centrifugal acceleration associated with model vibration. This centrifugal acceleration results in a bias error in the model attitude measurement. A study of the response of a cantilevered model system to a simulated dynamic environment shows significant bias error in the model attitude measurement can occur and is vibration mode and amplitude dependent. For each vibration mode contributing to the bias error, the error is estimated from the measured modal properties and tangential accelerations at the model attitude device. Linear superposition is used to combine the bias estimates for individual modes to determine the overall bias error as a function of time. The modal correction model predicts the bias error to a high degree of accuracy for the vibration modes characterized in the simulated dynamic environment.

Buehrle, R. D.↗
NASA NTRS1996

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.↗
NASA NTRS1997

Robot Position Sensor Fault Tolerance

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Aldridge, Hal A.↗
NASA NTRS1997

Torque-Limiting Infinitely-Variable CAM Release Mechanism for a Rotatable Joint

The invention relates to a mechanism for permitting convenient manual or servo-powered control of a boom assembly, which is rotatably positionable about yaw and pitch axes by means of releasably locking, yaw and pitch torque-limiting mechanisms, each of which may be locked, unlocked, and positioned by respective yaw and pitch levers. The boom may be longitudinally projected and withdrawn by rotating a boom extension/retraction crank. Torque limiting is provided by spring loaded clutch mechanisms, whereby positioning forces applied to the handles are effective to move the boom unless overcome by greater opposing forces, sufficient to overcome the torque applied by the torque limiting clutch mechanisms. In operation, a structure positionable by the invention (e.g., and end-effector or robot arm) may be rotatably moved about yaw and pitch axes by moving a selected one of the three levers.

Moetteli, John B.↗
NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗
NASA NTRS1997

Elucidation of Free Radical and Optogalvanic Spectroscopy Associated with Microgravity Combustion via Conventional and Novel Laser Platforms

Combustion studies under both normal gravity and microgravity conditions depend a great deal on the availability and quality of the diagnostic systems used for such investigations. Microgravity phenomena are specially susceptible to even small perturbations and therefore non-intrusive diagnostic techniques are of paramount importance for successful understanding of reduced-gravity combustion phenomena. Several non-intrusive diagnostic techniques are available for probing and delineating normal as well as reduced gravity combustion processes, such as Rayleigh scattering, Raman scattering, Mie scattering, velocimetry, interferometric and Schlieren techniques, emission and laser-induced fluorescence (LIF) spectroscopy. Our approach is to use the LIF technique as a non-intrusive diagnostic tool for the study of combustion-associated free radicals and use the concomitant optogalvanic transitions to accomplish precise calibration of the laser wavelengths used for recording the excitation spectra of transient molecular species. In attempting to perform spectroscopic measurements on chemical intermediates, we have used conventional laser sources as well as new and novel platforms employing rare-earth doped solid-state lasers. Conventional (commercially available) sources of tunable UV laser radiation are extremely cumbersome and energy-consuming devices that are not very suitable for either in-space or in-flight (or microgravity drop tower) experiments. Traditional LIF sources of tunable UV laser radiation involve in addition to a pump laser (usually a Nd:YAG laser with an attached frequency-doubling stage), a tunable dye laser. In turn, the dye laser has to be provided with a dye circulation system and a subsequent stage for frequency-doubling of the dye laser radiation, together with a servo-tuning system (termed the 'Autotracker') to follow the wavelength changes and also an optical system (called the 'Frequency Separator') for separation of the emanating visible and UV beams. In contrast to this approach, we have devised an alternate arrangement for recording LIF excitation spectra of free radicals (following appropriate precursor fragmentation) that utilizes a tunable rare-earth doped solid state laser system with direct UV pumping. We have designed a compact and portable tunable UV laser system incorporating features necessary for both in-space and in-flight spectroscopy experiments. For the purpose of LIF excitation, we have developed an all-solid-state tunable UV laser that employs direct pumping of the solid-state UV-active medium employing UV harmonics from a Nd:YAG laser. An optical scheme with counterpropagating photolysis and excitation beams focused by suitable lenses into a reaction vacuum chamber was employed.

Misra, Prabhakar↗
NASA NTRS1997

Updating Gimbal Actuators for the Long Journey to Saturn

The Cassini mission requires extraordinary life and reliability from the linear servo-actuators which position the spacecraft's redundant rocket engines. Both commercial actuators and existing in-house actuator designs were studied for this application. Ultimately a device inherited from JPL's Mariner and Viking missions to Mars was selected because of its close match to functional requirements and its flight pedigree. However, several design improvements were necessary to meet life and reliability goals. Special attention was focused on reliability testing of the motor and mechanism at all stages of procurement and assembly because a brush type of DC motor was retained from the old design. These improvements and, in particular, efforts to develop new component sources are discussed in this paper.

Iskenderian, Theodore↗
NASA NTRS1997

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology]

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

Tesar, Delbert↗
NASA NTRS1997

Ranging Apparatus and Method Implementing Stereo Vision System

A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.

Li, Larry C.↗
NASA NTRS1997

Light-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target.

Wells, Dennis L.↗
NASA NTRS1961

Analog-Computer Investigation of Effects of Friction and Preload on the Dynamic Longitudinal Characteristics of a Pilot-Airplane Combination

With an electric analog computer, an investigation has been made of the effects of control frictions and preloads on the transient longitudinal response of a fighter airplane during abrupt small attitude corrections. The simulation included the airplane dynamics, powered control system, feel system, and a simple linearized pseudopilot. Control frictions at the stick pivot and at the servo valve as well as preloads of the stick and valve were considered individually and in combinations. It is believed that the results which are presented in the form of time histories and vector diagrams present a more detailed illustration of the effects of stray forces and compensating forces in the longitudinal control system than has previously been available. Consistent with the results of previous studies, the present results show that any of these four friction and preload forces caused some deterioration of the response. However, even a small amount of valve friction caused an oscillatory pitching response during which the phasing of the valve friction was such that it caused energy to be fed into the pitching oscillation of the air-plane. Of the other friction and preload forces which were considered, it was found that stick preload was close to 180 deg. out of phase with valve friction and thus could compensate in large measure for valve friction as long as the cycling of the stick encompassed the trim point. Either stick friction or valve preload provided a smaller stabilizing effect primarily through a reduction in the amplitude of the resultant force vector acting on the control system. Some data were obtained on the effects of friction when the damping or inertia of the control system or the pilot lag was varied.

Crane, Harold L.↗
NASA NTRS1958

Experimental Wind-Tunnel Investigation of the Transonic Damping-in-Pitch Characteristics of Two Wing-Body Combinations

The results of an experimental wind-tunnel investigation of the damping in pitch of two wing-body combinations are presented. The tests were conducted in the Ames 14-foot transonic wind tunnel over a Mach number range from 0.60 to 1.18. Reynolds numbers varied from 2.3 million to 5.5 million. One model with a triangular wing of aspect ratio 2 having NACA 0003-63 sections was oscillated at an amplitude of 1.5 and a frequency of 17 cycles per second. The second model with a straight, tapered wing of aspect ratio 3 having 3-percent biconvex circular-arc sections was oscillated at an amplitude of 1.0 deg and a frequency of 21 cycles per second. The tests were made with the models at a mean angle of attack of 0 deg. The models were oscillated with a dynamic balance that was actuated by an electrohydraulic servo valve. The results of this investigation indicate the usefulness of this new apparatus. The experimental results of a previous damping-in-pitch investigation conducted in the Ames 6- by 6-foot supersonic wind tunnel at Mach numbers from 1.2 to 1.7 are included along with the theoretical results for this Mach number range. In the region of Mach numbers available for comparison, good agreement is shown to exist between the data obtained in the two facilities, except for some inconsistency in the slopes of the curves at M = 1.2 for the triangular wing. The results of this investigation clearly show that for the models tested the maximum values of the damping in pitch occur at Mach numbers very close to 1.0, and that abrupt changes in the pitch damping are encountered near sonic velocity.

Emerson, Horace F.↗
NASA NTRS1959

A Flight Investigation to Determine the Lateral Oscillatory Damping Acceptable for an Airplane in the Landing Approach

An F-86E airplane, in which servo actuation of the ailerons and rudder provides artificial variation of the important lateral and directional aerodynamic stability parameters, has been flown by test pilots of the NASA, U.S. Air Force, and one aircraft manufacturer to determine satisfactory and acceptable levels of lateral oscillatory damping in the landing approach. In addition to normal operational use, particular consideration was given to the emergency condition of failure of stability-augmentation equipment. In this study, the pilots' opinions of the airplane dynamic stability and control characteristics in smooth and simulated rough air have been recorded according to a numerical rating scale. The results are presented in the form of boundaries in terms of cycles to damp to half amplitude, 1/C(sub 1/2), or time to damp to half amplitude, 1/T(1/2) and bank-to-sideslip ratio, and are discussed in relation to existing flying-qualities criteria. Though the present results, which were obtained at 170 knots indicated airspeed and 10,000-feet altitude, indicated that increased damping is required with increased bank-to-sideslip ratio (as found in previous work), consideration of the dampers-failed condition indicated a great reduction in the minimum acceptable damping. At moderate values of bank-to-sideslip ratio, effects of lateral-oscillation period on pilot-opinion variation with damping appeared to be taken into account by use of the parameter 1/T(sub 1/2).

McNeill, Walter E.↗
NASA NTRS1998

Double-Edge Molecular Technique for Doppler Lidar Wind Measurement

The double-edge lidar technique for measuring the wind using molecular backscatter is described. Two high spectral resolution edge filters are located in the wings of the Rayleigh-Brillouin profile. This doubles the signal change per unit Doppler shift, the sensitivity, and gives nearly a factor of two improvement in measurement accuracy. The use of a crossover region is described where the sensitivity of a molecular and aerosol-based measurement are equal. This desensitizes the molecular measurement to the effects of aerosol scattering over a frequency range of +/- 100 m/s. We give methods for correcting for short-term frequency jitter and drift using a laser reference frequency measurement and methods for long-term frequency correction using a servo control system. The effects of Rayleigh-Brillouin scattering on the measurement are shown to be significant and are included in the analysis. Simulations for a conical scanning satellite-based lidar at 355 nm show an accuracy of 2-3 m/s for altitudes of 2 to 15 km for a 1 km vertical resolution, a satellite altitude of 400 km and a 200 km x 200 km spatial resolution. Results of ground based wind measurements are presented.

Flesia, Cristina↗
NASA NTRS1998

High-Alpha Research Vehicle Lateral-Directional Control Law Description, Analyses, and Simulation Results

This report contains a description of a lateral-directional control law designed for the NASA High-Alpha Research Vehicle (HARV). The HARV is a F/A-18 aircraft modified to include a research flight computer, spin chute, and thrust-vectoring in the pitch and yaw axes. Two separate design tools, CRAFT and Pseudo Controls, were integrated to synthesize the lateral-directional control law. This report contains a description of the lateral-directional control law, analyses, and nonlinear simulation (batch and piloted) results. Linear analysis results include closed-loop eigenvalues, stability margins, robustness to changes in various plant parameters, and servo-elastic frequency responses. Step time responses from nonlinear batch simulation are presented and compared to design guidelines. Piloted simulation task scenarios, task guidelines, and pilot subjective ratings for the various maneuvers are discussed. Linear analysis shows that the control law meets the stability margin guidelines and is robust to stability and control parameter changes. Nonlinear batch simulation analysis shows the control law exhibits good performance and meets most of the design guidelines over the entire range of angle-of-attack. This control law (designated NASA-1A) was flight tested during the Summer of 1994 at NASA Dryden Flight Research Center.

Davidson, John B.↗
NASA NTRS1998

Journey in Aeronautical Research: A Career at NASA Langley Research Center: Monographs in Aerospace History - No. 12

An autobiography, of a noted aeronautical engineer, W. Hewitt Phillips, whose career spanned 58 years (1940-1998) at NASA Langley is presented. This work covers his early years to the Sputnik launch. His interests have been in research in aeronautics and in the related problems of spaceflight. After an introduction, his early life through the college years is reviewed, and his early interest in model airplanes is described. The first assignment for the National Advisory Committee for Aeronautics (NACA), which would later become NASA, was with the Flight Research Division. His early work involved "Flying Qualities", i.e., the stability and control characteristics of an airplane. The next chapter describes his early analytical studies. His work during World War II in the design of military airplanes, and the other effects of the war on research activities, is covered in the next two chapters. This research was involved in such innovations and refinements as the swept wing, the flettner tabs, servo tabs, spring tabs and whirlerons. The rest of the work covers the research which Mr. Hewitt was involved in, after the war until the Sputnik launch. These areas include unsteady lift, measurements of turbulence in the atmosphere, gust alleviation, and lateral response to random turbulence. He was also involved in several investigations of airplane accidents. The last two chapters cover the administration of the Langley Research Center, and the dawn of the Space Age. A complete bibliography of reports written by Mr. Hewitt, is included.

Phillips, W. Hewitt↗