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Results for “LATERAL STABILITY AND CONTROL”

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NASA NTRS2002

Modulation of head movement control in humans during treadmill walking

The purpose of this study was to investigate the coordination of the head relative to the trunk within a gait cycle during gaze fixation. Nine normal subjects walked on a motorized treadmill driven at 1.79 m/s (20 s trials) while fixing their gaze on a centrally located earth-fixed target positioned at a distance of 2 m from their eyes. The net and relative angular motions of the head about the three axes of rotations, as well as the corresponding values for the moments acting on it relative to the trunk during the gait cycle were quantified and used as measures of coordination. The average net moment, as well as the average moments about the different axes were significantly different (P<0.01) between the high impact and low/no impact phases of the gait cycle. However, the average net angular displacement as well as the average angular displacement about the axial rotation axis of the head relative to the trunk was maintained uniform (P>0.01) throughout the gait cycle. The average angular displacement about the lateral bending axis was significantly increased (P<0.01) during the high impact phase while that about the flexion-extension axis was significantly decreased (P<0.01) throughout the gait cycle. Thus, the coordination of the motion of the head relative to the trunk during walking is dynamically modulated depending on the behavioral events occurring in the gait cycle. This modulation may serve to aid stabilization of the head by counteracting the force variations acting on the upper body that may aid in the visual fixation of targets during walking.

Clinical Trial↗

NASA NTRS1993

A SIMULINK environment for flight dynamics and control analysis: Application to the DHC-2 Beaver. Part 1: Implementation of a model library in SIMULINK. Part 2: Nonlinear analysis of the Beaver autopilot

The design of advanced Automatic Aircraft Control Systems (AACS's) can be improved upon considerably if the designer can access all models and tools required for control system design and analysis through a graphical user-interface, from within one software environment. This MSc-thesis presents the first step in the development of such an environment, which is currently being done at the Section for Stability and Control of Delft University of Technology, Faculty of Aerospace Engineering. The environment is implemented within the commercially available software package MATLAB/SIMULINK. The report consists of two parts. Part I gives a detailed description of the AACS design environment. The heart of this environment is formed by the SIMULINK implementation of a nonlinear aircraft model in block-diagram format. The model has been worked out for the old laboratory aircraft of the Faculty, the De Havilland DHC-2 'Beaver', but due to its modular structure, it can easily be adapted for other aircraft. Part I also describes MATLAB programs which can be applied for finding steady-state trimmed-flight conditions and for linearization of the aircraft model, and it shows how the built-in simulation routines of SIMULINK have been used for open-loop analysis of the aircraft dynamics. Apart from the implementation of the models and tools, a thorough treatment of the theoretical backgrounds is presented. Part II of this report presents a part of an autopilot design process for the 'Beaver' aircraft, which clearly demonstrates the power and flexibility of the AACS design environment from part I. Evaluations of all longitudinal and lateral control laws by means of nonlinear simulations are treated in detail. The AACS design environment from part I proved to be a very useful tool for designing the control laws of the 'Beaver' autopilot within a very tight time-schedule. The autopilot design process itself will be used as a guideline for future AACS research at the Faculty of Aerospace Engineering. Flight tests of the 'Beaver' autopilot, done after evaluating the control laws in the SIMULINK package, proved to be quite successful. In the future, the AACS design package will evolve into a standardized, integrated design environment which can be applied to virtually any type of aircraft. The AACS design cycle will be shortened further by developing tools for automatically porting control laws from the MATLAB/SIMULINK environment to a piloted real-time flight simulator and the Flight Control Computers of the aircraft.

Flight Control System Design↗

NASA NTRS1978

Aerodynamic characteristics of a hypersonic research airplane concept having a 70 deg swept double-delta wing at Mach number 0.2

A wind-tunnel of the static longitudinal, lateral and directional stability characteristics of a hypersonic research airplane concept having a 70 deg swept double-delta wing was conducted in the Langley low-turbulence pressure tunnel. The configuration variables included wing planform, tip fins, center fin, and scramjet engine modules. A mach number of 0.2 was investigated over a Reynolds number (based on fuselage length) range of 2,200,000 to 19.75 x 1,000,000 (with a majority of tests at 10.0 x 1,000,000. Tests were conducted through an angle-of-attack range from about -2 deg to 34 deg at angles of sideslip of 0 deg to 5 deg, and at elevon deflection of 0 deg, -5 deg, -10 deg, -15 deg, and -20 deg. The drag coefficient of the integrated scramjet engine appears relatively constant with Reynolds number at the test Mach number of 0.2. Mild pitch-up was exhibited by the models equipped with tip fins. The forward delta, a highly swept forward portion of the wing, was destabilizing. The center fin model has a higher trimmed maximum lift-drag ratio and a wider trim lift and angle-of-attack range than the tip fin model. Both the tip fin models and center fin models exhibited positive dihedral effect and positive directional stability. Roll control was positive for the tip fin model, but yaw due to roll control was unfavorable.

Penland, J. A.↗

DOE OSTI2023

Black Start of Unbalanced Microgrids Harmonizing Single- and Three-Phase Grid-Forming Inverters

As power systems are transforming with increasing penetrations of inverter-based resources (IBRs), system restoration using IBRs has drawn attention. Using distributed grid-forming (GFM) assets located near critical loads, either three-phase or single-phase, to establish microgrid voltages in the absence of a bulk grid, a distribution system could obtain high system survivability. For swift and secure recovery of a critical load in a single-phase lateral, local single-phase GFM inverters can form a microgrid, and then it can be combined with a neighbouring grid with the inverters remaining in GFM mode for voltage and frequency regulation until the bulk grid comes online. It leads to dynamic interoperation of single-phase GFM inverters with three-phase ones in the black start process. This paper studies the novel approach with electromagnetic transient (EMT) simulations. To evaluate the potential and the technical challenges of the heterogeneous IBR-driven black start, three-phase and single-phase GFM inverter models are developed, including negative-sequence control for voltage balance and a phase-by-phase current limiter (three-phase) and current magnitude limiter (single-phase). To examine dynamic aspects of the black-start process, the EMT simulation also models transformer and motor dynamics emulating their inrush and startup behavior as well as network dynamics. Involvement of grid-following assets to facilitate the black-start process is also modeled. By allowing multiple GFM inverters to collectively black start without leader-follower coordination, regardless of phases, a system can achieve extreme resilience. An inverter-driven black start of a heavily unbalanced 2-MVA distribution feeder using 1 three-phase and 3 single-phase GFM inverters is demonstrated. The simulation shows the heterogeneous system can maintain stability with the single-phase GFM dynamics coupled with the three-phase one.

grid-forming inverter↗

DOE OSTI2023

Black Start of Unbalanced Microgrids Harmonizing Single- and Three-Phase Grid-Forming Inverters: Preprint

grid-forming inverter↗

NASA NTRS1999

Step Bunching: Influence of Impurities and Solution Flow

Step bunching results in striations even at relatively early stages of its development and in inclusions of mother liquor at the later stages. Therefore, eliminating step bunching is crucial for high crystal perfection. At least 5 major effects causing and influencing step bunching are known: (1) Basic morphological instability of stepped interfaces. It is caused by concentration gradient in the solution normal to the face and by the redistribution of solute tangentially to the interface which redistribution enhances occasional perturbations in step density due to various types of noise; (2) Aggravation of the above basic instability by solution flowing tangentially to the face in the same directions as the steps or stabilization of equidistant step train if these flows are antiparallel; (3) Enhanced bunching at supersaturation where step velocity v increases with relative supersaturation s much faster than linear. This v(s) dependence is believed to be associated with impurities. The impurities of which adsorption time is comparable with the time needed to deposit one lattice layer may also be responsible for bunching; (4) Very intensive solution flow stabilizes growing interface even at parallel solution and step flows; (5) Macrosteps were observed to nucleate at crystal corners and edges. Numerical simulation, assuming step-step interactions via surface diffusion also show that step bunching may be induced by random step nucleation at the facet edge and by discontinuity in the step density (a ridge) somewhere in the middle of a face. The corresponding bunching patterns produce the ones observed in experiment. The nature of step bunching generated at the corners and edges and by dislocation step sources, as well as the also relative importance and interrelations between mechanisms 1-5 is not clear, both from experimental and theoretical standpoints. Furthermore, several laws controlling the evolution of existing step bunches have been suggested, though unambiguous conclusions are still missing. Addressing these issues is the major goal of the present project. The theory addressing the above problem, experimental methods, several figures which include: (1) the spatial wave numbers at which the system is neutrally stable as a function of growth velocity for linear kinetics and supersaturation for nonlinear kinetics; (2) a schematic of the experiment of lysozyme crystal growing under conditions of natural convection; (3) fluctuations in time, t, of the normal growth rate, R(t), vicinal slope, p(t) and Fourier Spectra of R(t), discussions and conclusions are presented.

Chernov, A. A.↗

NASA NTRS1959

Subsonic Aerodynamic Characteristics of an Airplane Configuration with a 63 deg Sweptback Wing and Twin-Boom Tails

A wind-tunnel investigation has been conducted to determine the effects of an unconventional tail arrangement on the subsonic static longitudinal and lateral stability characteristics of a model having a 63 deg sweptback wing of aspect ratio 3.5 and a fuselage. Tail booms, extending rearward from approximately the midsemispan of each wing panel, supported independent tail assemblies well outboard of the usual position at the rear of the fuselage. The horizontal-tail surfaces had the leading edge swept back 45 deg and an aspect ratio of 2.4. The vertical tail surfaces were geometrically similar to one panel of the horizontal tail. For comparative purposes, the wing-body combination was also tested with conventional fuselage-mounted tail surfaces. The wind-tunnel tests were conducted at Mach numbers from 0.25 to 0.95 with a Reynolds number of 2,000,000, at a Mach number of 0.46 with a Reynolds number of 3,500,000, and at a Mach number of 0.20 with a Reynolds number of 7,000,000. The results of the investigation indicate that longitudinal stability existed to considerably higher lift coefficients for the outboard tail configuration than for the configuration with conventional tail. Wing fences were necessary with both configurations for the elimination of sudden changes in longitudinal stability at lift coefficients between 0.3 and 0.5. Sideslip angles up to 15 deg had only small effects upon the pitching-moment characteristics of the outboard tail configuration. There was an increase in the directional stability for the outboard tail configuration at the higher angles of attack as opposed to a decrease for the conventional tail configuration at most of the Mach numbers and Reynolds numbers of this investigation. The dihedral effect increased rapidly with increasing angle of attack for both the outboard and the conventional tail configurations but the increase was greater for the outboard tail configuration. The data indicate that the outboard tail is an effective roll control.

Savage, Howard F.↗

NASA NTRS1995

Cytoskeletal filament assembly and the control of cell spreading and function by extracellular matrix

This study was undertaken to analyze how cell binding to extracellular matrix produces changes in cell shape. We focused on the initial process of cell spreading that follows cell attachment to matrix and, thus, cell 'shape' changes are defined here in terms of alterations in projected cell areas, as determined by computerized image analysis. Cell spreading kinetics and changes in microtubule and actin microfilament mass were simultaneously quantitated in hepatocytes plated on different extracellular matrix substrata. The initial rate of cell spreading was highly dependent on the matrix coating density and decreased from 740 microns 2/h to 50 microns 2/h as the coating density was lowered from 1000 to 1 ng/cm2. At approximately 4 to 6 hours after plating, this initial rapid spreading rate slowed and became independent of the matrix density regardless of whether laminin, fibronectin, type I collagen or type IV collagen was used for cell attachment. Analysis of F-actin mass revealed that cell adhesion to extracellular matrix resulted in a 20-fold increase in polymerized actin within 30 minutes after plating, before any significant change in cell shape was observed. This was followed by a phase of actin microfilament disassembly which correlated with the most rapid phase of cell extension and ended at about 6 hours; F-actin mass remained relatively constant during the slow matrix-independent spreading phase. Microtubule mass increased more slowly in spreading cells, peaking at 4 hours, the time at which the transition between rapid and slow spreading rates was observed. However, inhibition of this early rise in microtubule mass using either nocodazole or cycloheximide did not prevent this transition. Use of cytochalasin D revealed that microfilament integrity was absolutely required for hepatocyte spreading whereas interference with microtubule assembly (using nocodazole or taxol) or protein synthesis (using cycloheximide) only partially suppressed cell extension. In contrast, cell spreading could be completely inhibited by combining suboptimal doses of cytochalasin D and nocodazole, suggesting that intact microtubules can stabilize cell form when the microfilament lattice is partially compromised. The physiological relevance of the cytoskeleton and cell shape in hepatocyte physiology was highlighted by the finding that a short exposure (6 hour) of cells to nocodazole resulted in production of smaller cells 42 hours later that exhibited enhanced production of a liver-specific product (albumin). These data demonstrate that spreading and flattening of the entire cell body is not driven directly by net polymerization of either microfilaments or microtubules.(ABSTRACT TRUNCATED AT 400 WORDS).

NASA Discipline Cell Biology↗

DOE OSTI2022

Iron precipitation under controlled oxygen flow: Mineralogical implications for BIF precursors in the Archean ocean

Banded iron formation (BIF) deposition in the Archean ocean is thought to have been initiated by the oxidation of dissolved iron into ferric primary precursor phases that descended through the water column and were deposited on the seafloor. Effective interpretation of the trace element and isotopic composition of BIFs in the geologic record requires an understanding of the identity and longevity of those precursor phases. Temporal and spatial variation in oxidant concentration and ocean chemistry may have driven precursor mineralogy. Furthermore, precursor phases may undergo transitions during descent and burial. This experimental study follows the evolution of iron mineralogy, speciation, and redox state during the precipitation of iron under variable oxygen fluxes and in fluids containing different iron-complexing anions (chloride, sulfate, and phosphate). Additionally, suspensions collected after incomplete oxidation were anoxically aged to simulate changes to precursor mineralogy during descent below the seawater redoxcline. Results from X-ray diffraction, sequential dissolution, colorimetric determination of Fe redox state, and Fe K-edge X-ray absorption fine structure spectroscopy showed that under all experimental conditions, intermediate precipitates collected before complete iron uptake contained mineralized ferrous iron. Purely ferric mineral assemblages were not observed until iron was removed from solution. In low-oxygen experiments, intermediate precipitates contained phases with stoichiometric Fe 2+ , including magnetite, vivianite, and green rust (GR). Chloride green rust (GR1) had more ferric iron than sulfate green rust (GR2) and more readily transitioned to magnetite via disproportionation. GR2 was stable over a broader range of iron uptake; magnetite appeared mainly as an additional oxidation product in sulfate solution. In high oxygen experiments, mineralized ferrous iron occurred in amorphous phases or as a non-stoichiometric component in ferric oxides; final ferric assemblages were less crystalline than in low-oxygen equivalents. Low concentrations of phosphate increased the total iron oxidation rate, but also increased the ferrous content of intermediate precipitates. The incorporation of phosphate stabilized GR2 and facilitated GR2 precipitation over a larger range of iron uptake. In higher concentrations of phosphate, vivianite and poorly crystalline ferric hydroxides formed in place of GR. Here, these findings suggest that over a range of possible ocean chemistries, mixed-valence phases may have been short lived but relevant precursors to BIF. Additionally, anionic chemistry and oxidant concentration are shown to influence the crystallinity and chemical resistivity of final ferric assemblages, affecting their reactivity during later anoxic burial.

58 GEOSCIENCES↗

DOE OSTI2023

Computational and Experimental Investigation of Thermal-Mechanical- Chemical Mechanisms of High-burnup Spent Nuclear Fuel (SNF) Processes at Elevated Temperatures and Degradation Behavior in Geologic Repositories

The overarching goal of the combined computational and experimental R&D activities proposed in this project is to enhance understanding of the mechanisms and thermal-mechanical-chemical (TMC) parameters controlling the instant release fraction (IRF) and matrix dissolution of high-burnup (HB; burnup) spent nuclear fuels (SNFs) and the subsequent formation, stability, and phase transformations of SNF alteration products under long-term storage and geological disposal conditions. Uranium dioxide may undergo oxidative corrosion/alteration, and the IRF may be increased for HB SNF, both of which may affect environmental systems associated with SNF long-term storage and disposal. The oxidative matrix dissolution may form various complex uranyl-based phases, including a rich variety of oxides, silicates, carbonates and other secondary minerals in varied geological environments (e.g., studtite, metastudtite, amorphous uranyl peroxide, uranium trioxide, triuranium octoxide, schoepite, dehydrated schoepite, metaschoepite, becquerelite, soddyite, rutherfordine,...). These uranyl phases generally have higher mobility UO 2 +2 species than less soluble U 4+ phases. However, limited information on the thermodynamic properties and formation kinetics of these uranyl-bearing phases is available to predict explicitly paragenesis under the conditions relevant to long-term storage or disposal. The proposed project draws on complementary expertise and research backgrounds from the team members: (i) to apply a combined ab initio modeling (UNLV/UTEP and SNL) and experimental (UNLV) strategy investigating the high-temperature TMC mechanisms of alteration of SNF under α-radiolysis conditions; (ii) to investigate the mechanistic of phase transformations in UNF degradation products under various conditions expected in long-term storage systems (e.g. (UO 2 )O 2 (H 2 O) 4 → (UO 2 )O 2 (H 2 O) 2 → U 2 O 7 → UO 3 → U 3 O 8 ); (iii) to determine high-accuracy TMC parameters for complex uranyl-based phases formed in storage or geological disposal environments (e.g. UO 3 (H 2 O) 2 , Ca[(UO 2 ) 6 O 4 (OH) 8 ] 8 H 2 O, (UO 2 ) 2 (SiO 4 ) 3 2H 2 O,…). The unforeseen COVID-19 pandemic led to the laboratory/campus closure since March 2020, that resulted in a significant delay in reaching milestones in a satisfactory manner, due to (i) the statewide recommendation from stop-working to later limited work in the lab and work-from-home (WFH), (ii) no in-person interactions, and (iii) a hiring freeze at UNLV. Therefore, a no cost extension (10/01/2021- 9/30/2022) was requested to help make up the time we lost during the global pandemic in 2020-2021, leading to paradigm shifts in the focus of the project in the following three main tasks: Task 1 (Computational), Task 2 (Experimental), and Task 3 (Final report, due on 12/29/2022).

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

DOE OSTI2023

A comparative investigation of the effect of gas type on foam strength and flow behavior in tight carbonates

Foam generation technique has been practically applied to overcome gas mobility issue during enhanced oil recovery (EOR) processes. Incorporated with the utilized gas, the capability of foaming agent to generate persistent foam determines the flow performance under reservoir conditions. Here, in this study, we first identified the surfactants with excellent phase behavior and foaming properties and, second, evaluated their bulk foam performance with different gases, including N 2 , CO 2 , and hydrocarbon gas (CH 4 ) under high-pressure and high-temperature conditions. In bulk, the foam generated with the high-density gas, i.e., CO 2 , exhibited the greatest foamability but the lowest foam stability. With amidoamine oxide-based surfactant, CH 4 -foam was found to be more stable than N 2 -foam, while the opposite was observed for sulfobetaine-based surfactant. The most effective surfactant was later used to perform flow experiments on two tight carbonate rocks, including Minnesota Norther Cream Buff and Edwards limestone, with permeabilities of ~0.8 and 16 mD, respectively. The core-flooding experiments showed that the optimum quality of CO 2 -foam was lower than that of N 2 - and CH 4 -foams. For a given flow rate and fixed foam quality, the steady-state strength followed the descending order of CH 4 -, N 2 -, and CO 2 -foam. However, in general, the difference in foam strength between N 2 - and CH 4 -foams was insignificant when the total flow rate was varied. We also found that the variation in rock permeability had a greater effect on the strength of the CO 2 -foam compared to those generated with N 2 and CH 4 . In the presence of oil, the shear-thinning behavior of all foams was found more prominent. The increase in oil saturation had a more adverse effect on the strength of N 2 - and CH 4 -foams, particularly in the higher permeability rock. The results indicated that the foam strength, which is key in the effectiveness of foam EOR applications, is greatly influenced by several factors such as gas density, gas solubility in water, the presence of oil, and rock permeability.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2022

Mineral Protection and Resource Limitations Combine to Explain Profile-Scale Soil Carbon Persistence

The fate of soil carbon (C) is largely controlled by microbial oxidation of organic matter (OM), which is constrained by a variety of mechanisms. OM association with soil minerals provides pronounced protection against microbial decomposition. However, factors such as climate, occlusion, and resource limitations also contribute to OM preservation. Here, we explore the factors explaining C distribution and age within an upland rainforest soil in Hawai'i, a site with abundant preferential flow paths (PFPs) and high short-range order (SRO) mineral content. We characterized lateral and vertical changes in Δ 14 C, SRO mineral content, C-functional group chemistry, and microbial community composition to elucidate the contributions of multiple protection mechanisms to OM preservation. Consistent with our expectation, SRO mineral content and Δ 14 C were strongly correlated (R 2 = 0.95), indicating strong mineral protection of OM throughout the profile. Surprisingly, distance from PFP was also a significant predictor of Δ 14 C and improved model fit, particularly in the shallow horizons (R 2 = 0.97). Elevated C/N ratios, decreased microbial abundance, and greater SRO mineral content suggest nitrogen limitations and enhanced mineral protection constrain OM turnover with distance from PFPs in deep, subsurface mineral horizons. Steady microbial abundance, increasing putative anaerobe abundance, and changes in C-functional group chemistry indicate oxygen limitations constrain OM turnover in the matrix of shallow mineral horizons. Given that oxygen and nutrient limitations contribute to OM preservation in this high SRO system—an exemplar of mineral protection—resource limitations may play an even more important role in OM preservation in other well-structured soils.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2023

Antarctic permafrost processes and antiphase dynamics of cold-based glaciers in the McMurdo Dry Valleys inferred from 10 Be and 26 Al cosmogenic nuclides

Abstract. Soil and sediment mixing and associated permafrost processes are not widely studied or understood in the McMurdo Dry Valleys of Antarctica. In this study, we investigate the stability and depositional history of near-surface permafrost sediments to ∼ 3 m depth in the Pearse and lower Wright valleys using measured cosmogenic 10Be and 26Al depth profiles. In Pearse Valley, we estimate a minimum depositional age of ∼ 74 ka for the active layer and paleoactive-layer sediments (< 0.65 m). Combined depth profile modelling of 10Be and 26Al gives a depositional age for near-surface (< 1.65 m) permafrost in Pearse Valley of 180 +20/-40 ka, implying that the deposition of permafrost sediments predates MIS 5 advances of Taylor Glacier. Deeper permafrost sediments (> 2.09 m) in Pearse Valley are thus inferred to have a depositional age of > 180 ka. At a coastal, lower-elevation site in neighbouring lower Wright Valley, 10Be and 26Al depth profiles from a second permafrost core exhibit near-constant concentrations with depth and indicate the sediments are either vertically mixed after deposition or sufficiently young so that post-depositional nuclide production is negligible relative to inheritance. 26Al/10Be concentration ratios for both depth profiles range between 4.0 and 5.2 and are all lower than the nominal surface production rate ratio of 6.75, indicating that prior to deposition, these sediments experienced complex, yet similar, exposure–burial histories. Assuming a single-cycle exposure–burial scenario, the observed 26Al/10Be ratios are equivalent to a total minimum exposure–burial history of ∼ 1.2 Myr. In proximity to the depth profile core site, we measured cosmogenic 10Be and 26Al in three granite cobbles from thin, patchy drift (Taylor 2 Drift) in Pearse Valley to constrain the timing of retreat of Taylor Glacier. Assuming simple continuous exposure, our minimum, zero-erosion exposure ages suggest Taylor Glacier partially retreated from Pearse Valley no later than 65–74 ka. The timing of retreat after 65 ka and until the Last Glacial Maximum (LGM) when Taylor Glacier was at a minimum position remains unresolved. The surface cobble ages and permafrost processes reveal Taylor Glacier advances during MIS 5 were non-erosive or mildly erosive, preserving the underlying permafrost sediments and peppering boulders and cobbles upon an older, relict surface. Our results are consistent with U/Th ages from central Taylor Valley and suggest changes in moisture delivery over Taylor Dome during MIS 5e, 5c, and 5a appear to be associated with the extent of the Ross Ice Shelf and sea ice in the Ross Sea. These data provide further evidence of antiphase behaviour through retreat of a peripheral lobe of Taylor Glacier in Pearse Valley, a region that was glaciated during MIS 5. We suggest a causal relationship of cold-based glacier advance and retreat that is controlled by an increase in moisture availability during retreat of sea ice and perhaps the Ross Ice Shelf, as well as, conversely, a decrease during times of sea ice and Ross Ice Shelf expansion in the Ross Sea.

58 GEOSCIENCES↗

NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗