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Valve plate made to translate as well as rotate. Valve opened and closed by turning shaft and lever. Interactions among lever, spring, valve plate, and face seal cause plate to undergo combination of translation and rotation so valve plate clears seal during parts of opening and closing motions.
HONTIOR computer program implements third-order neural network exhibiting invariance under translation, change of scale, and in-plane rotation. Invariance incorporated directly into architecture of network. Only one view of each object needed to train network for two-dimensional-translation-invariant recognition of object. Also used for three-dimensional-transformation-invariant recognition by training network on only set of out-of-plane rotated views. Written in C language.
Semiautomatic eddy-current-probe apparatus makes noncontact measurements of nominally round holes in electrically conductive specimens and processes measurement data into diameters and eccentricities of holes. Includes x-y translation platform, which holds specimen and moves it horizontally. Probe mounted on probe scanner, positioning probe along vertical (z) direction and rotates probe about vertical axis at preset low speed. Eddy-current sensing coil mounted in side of probe near tip. As probe rotates, impedance analyzer measures electrical impedance (Z) of coil as function of instantaneous rotation angle. Translation and rotation mechanisms and impedance analyzer controlled by computer, which also processes impedance-measurement data.
Welding in the vacuum of space represents an important and fundamental problem for space exploration. Repairs or connection of metal components on orbit or during travel to the moon or distant planets may be required. Cracks or holes in spacecraft skin or supporting structures external to the pressurized section will require some type of repair that must be permanently made to the skin or support by welding. The development of a translation/positioning system that will permit research into welding of metal samples in a small vacuum chamber located at Marshall Space Flight Center (MSFC) is addressed. The system and associated software was tested to the extent possible without the availability of the welder power supply or control computer that must be supplied by MSFC. Software has been developed for straight line welding. More extensive and varied translations are possible with simple alterations to the operating software to use the full capabilities of this three axes system. The source code 'VW.BAS' has been provided to serve as an example for further development of the vacuum welder translation system.
The theme of this NASA Scientific and Technical Information Program Coordinating Council was International Acquisitions. Included are both visuals for presentations and reports on discussions related to the topics. Presentations were made on the following topics: Coordination council organization international plan, STI global network, International aerospace climate, Foreign exchange program, Foreign activities RMS & AIAA, NASA translation program, A.F. machine translation system, and CIRC cooperation.
The automated alignment system, described herein, employs a reflective, passive (requiring no power) target and includes a PC-based imaging system and one camera mounted on a six degree of freedom robot manipulator. The system detects and corrects for manipulator misalignment in three translational and three rotational directions by employing the Targeting and Reflective Alignment Concept (TRAC), which simplifies alignment by decoupling translational and rotational alignment control. The concept uses information on the camera and the target's relative position based on video feedback from the camera. These relative positions are converted into alignment errors and minimized by motions of the robot. The system is robust to exogenous lighting by virtue of a subtraction algorithm which enables the camera to only see the target. These capabilities are realized with relatively minimal complexity and expense.
Proximity operations can be defined as the maneuvering of two or more spacecraft within 1 nautical mile range, with relative velocity less than 10 feet per second. The passive vehicle is nontranslating and should provide for maintenance of the desired approach attitude. It must accommodate the active (translating) vehicle induced structural loads and performance characteristics (mating hardware tolerances), and support sensor compatibility (transponder, visual targets, etc.). The active vehicle must provide adequate sensor systems (relative state information, field-of-view, redundancy), flight control hardware (thruster sizing, minimal cross-coupling, performance margins, redundancy) and software (reconfigurable, attitude/rate modes, translation and rotation fine control authority) characteristic, and adequate non-propulsive consumables such as power. Operational concerns must be considered. These include the following: (1) the desired approach trajectory and relative orientation; (2) the active vehicle thruster plume effects (forces, torques, contamination) on the passive vehicle; and (3) procedures for contingencies such as loss of communications, sensor or propulsion failures, and target vehicle loss of control.
A navigation and control system was designed and implemented for an orbital autonomous rescue vehicle envisioned to retrieve astronauts or equipment in the case that they become disengaged from the space station. The rescue vehicle, termed the Extra-Vehicular Activity Retriever (EVAR), has an on-board inertial measurement unit ahd GPS receivers for self state estimation, a laser range imager (LRI) and cameras for object state estimation, and a data link for reception of space station state information. The states of the retriever and objects (obstacles and the target object) are estimated by inertial state propagation which is corrected via measurements from the GPS, the LRI system, or the camera system. Kalman filters are utilized to perform sensor fusion and estimate the state propagation errors. Control actuation is performed by a Manned Maneuvering Unit (MMU). Phase plane control techniques are used to control the rotational and translational state of the retriever. The translational controller provides station-keeping or motion along either Clohessy-Wiltshire trajectories or straight line trajectories in the LVLH frame of any sufficiently observed object or of the space station. The software was used to successfully control a prototype EVAR on an air bearing floor facility, and a simulated EVAR operating in a simulated orbital environment. The design of the navigation system and the control system are presented. Also discussed are the hardware systems and the overall software architecture.
Traditional control theory is well-developed mainly for linear control situations. In non-linear cases there is no general method of generating a good control, so we have to rely on the ability of the experts (operators) to control them. If we want to automate their control, we must acquire their knowledge and translate it into a precise control strategy. The experts' knowledge is usually represented in non-numeric terms, namely, in terms of uncertain statements of the type 'if the obstacle is straight ahead, the distance to it is small, and the velocity of the car is medium, press the brakes hard'. Fuzzy control is a methodology that translates such statements into precise formulas for control. The necessary first step of this strategy consists of assigning membership functions to all the terms that the expert uses in his rules (in our sample phrase these words are 'small', 'medium', and 'hard'). The appropriate choice of a membership function can drastically improve the quality of a fuzzy control. In the simplest cases, we can take the functions whose domains have equally spaced endpoints. Because of that, many software packages for fuzzy control are based on this choice of membership functions. This choice is not very efficient in more complicated cases. Therefore, methods have been developed that use neural networks or generic algorithms to 'tune' membership functions. But this tuning takes lots of time (for example, several thousands iterations are typical for neural networks). In some cases there are evident physical reasons why equally space domains do not work: e.g., if the control variable u is always positive (i.e., if we control temperature in a reactor), then negative values (that are generated by equal spacing) simply make no sense. In this case it sounds reasonable to choose another scale u' = f(u) to represent u, so that equal spacing will work fine for u'. In the present paper we formulate the problem of finding the best rescaling function, solve this problem, and show (on a real-life example) that after an optimal rescaling, the un-tuned fuzzy control can be as good as the best state-of-art traditional non-linear controls.
This document describes a simple nonequilibrium energy exchange and chemical reaction model to be used in a computational fluid dynamics calculation for a hydrogen plasma excited by microwaves. The model takes into account the exchange between the electrons and excited states of molecular and atomic hydrogen. Specifically, electron-translation, electron-vibration, translation-vibration, ionization, and dissociation are included. The model assumes three temperatures, translational/rotational, vibrational, and electron, each describing a Boltzmann distribution for its respective energy mode. The energy from the microwave source is coupled to the energy equation via a source term that depends on an effective electric field which must be calculated outside the present model. This electric field must be found by coupling the results of the fluid dynamics and kinetics solution with a solution to Maxwell's equations that includes the effects of the plasma permittivity. The solution to Maxwell's equations is not within the scope of this present paper.
As part of the RICIS project, the reinforcement learning techniques developed at Ames Research Center are being applied to proximity and docking operations using the Shuttle and Solar Maximum Mission (SMM) satellite simulation. In utilizing these fuzzy learning techniques, we use the Approximate Reasoning based Intelligent Control (ARIC) architecture, and so we use these two terms interchangeably to imply the same. This activity is carried out in the Software Technology Laboratory utilizing the Orbital Operations Simulator (OOS) and programming/testing support from other contractor personnel. This report is the final deliverable D4 in our milestones and project activity. It provides the test results for the special testcase of approach/docking scenario for the shuttle and SMM satellite. Based on our experience and analysis with the attitude and translational controllers, we have modified the basic configuration of the reinforcement learning algorithm in ARIC. The shuttle translational controller and its implementation in ARIC is described in our deliverable D3. In order to simulate the final approach and docking operations, we have set-up this special testcase as described in section 2. The ARIC performance results for these operations are discussed in section 3 and conclusions are provided in section 4 along with the summary for the project.
This paper investigates a class of decomposable codes, their distance and structural properties. it is shown that this class includes several classes of well known and efficient codes as subclasses. Several methods for constructing decomposable codes or decomposing codes are presented. A two-stage soft decision decoding scheme for decomposable codes, their translates or unions of translates is devised. This two-stage soft-decision decoding is suboptimum, and provides an excellent trade-off between the error performance and decoding complexity for codes of moderate and long block length.
An optical disk buffer concept can provide gigabit-per-second data rates and terabit capacity through the use of arrays of solid state lasers applied to a stack of erasable/reusable optical disks. The RCA optical disk buffer has evoked interest by NASA for space applications. The porous graphite air bearings in the rotary spindle as well as those used in the linear translation of the read/write head would be replaced by magnetic bearings or mechanical (ball or roller) bearings. Based upon past experience, roller or ball bearings for the translation stages are not feasible. Unsatisfactory, although limited experience exists with ball bearing spindles also. Magnetic bearings, however, appear ideally suited for both applications. The use of magnetic bearings is advantageous in the optical disk buffer because of the absence of physical contact between the rotating and stationary members. This frictionless operation leads to extended life and reduced drag. The manufacturing tolerances that are required to fabricate magnetic bearings would also be relaxed from those required for precision ball and gas bearings. Since magnetic bearings require no lubricant, they are inherently compatible with a space (vacuum) environment. Magnetic bearings also allow the dynamics of the rotor/bearing system to be altered through the use of active control. This provides the potential for reduced vibration, extended regions of stable operation, and more precise control of position.
A 'two-body' elasto-plastic finite element model of 2-dimensional rolling and rolling-plus-sliding was developed to treat the effect of surface irregularities. The model consists of a smooth cylinder in contact with a semi-infinite half-space that is either smooth or fitted with one of 0.4 microns deep or 7 microns deep groove, or a 0.4 microns high ridge-like asperity. The model incorporates elastic-linear-kinematic hardening-plastic (ELKP) and non-linear-kinematic hardening-plastic (NLKP) material constitutive relations appropriate for hardened bearing steel and the 440C grade. The calculated contact pressure distribution is Hertzian for smooth body contact, and it displays intense, stationary, pressure spikes superposed on the Hertzian pressure for contact with the grooved and ridged surface. The results obtained for the 0.4 microns deep groove compare well with those reported by Elsharkawy and Hamrock for an EHD lubricated contact. The effect of translating the counterface on the half space as opposed to indenting the half space with the counter face with no translation is studied. The stress and strain values near the surface are found to be similar for the two cases, whereas they are significantly different in the subsurface. It is seen that when tiny shoulders are introduced at the edge of the groove in the finite element model, the incremental plasticity and residual stresses are significantly higher in the vicinity of the right shoulder (rolling direction is from left to right) than at the left shoulder. This may explain the experimental observation that the spall nucleation occurs at the exit end of the artificially planted indents. Pure rolling calculations are compared with rolling + sliding calculations. For a coefficient of friction, mu = 0.1, the effect of friction is found to be small. Efforts were made to identify the material constitutive relations which best describe the deformation characteristics of the bearing steels in the initial few cycles. Elastic-linear-kinematic hardening-plastic (ELKP) material constitutive relations produce less net plastic deformation in the initial stages for a given stress, than seen in experiments. A new set of constitutive relations: non-linear-kinematic hardening-plastic (NLKP) was used. This material model produces more plasticity than the ELKP model and shows promise for treating the net distortions in the early stages. Techniques for performing experimental measurements that can be compared with the finite element calculations were devised. The measurements are being performed on 9mm-diameter, 440C steel cylindrical rolling elements in contact with 12.5 mm-diameter, 52100 steel balls in a 3-ball-rod fatigue test machine operating at 3600 RPM. Artificial, 7 microns deep, indents were inserted on the running track of the cylindrical rolling elements and profilometer measurements of these indents made, before and after the rolling. These preliminary measurements show that the indents are substantially deformed plastically in the process of rolling. The deformations of the groove calculated with the finite element model are comparable to those measured experimentally.
A computer controlled scanning ultramicroscope has been built to assist in the characterization of transparent crystals. The device measures the scattering of a focused He-Ne laser beam by crystalline defects. As an XYZ translation table moves the crystal under the ultramicroscope, the scattered light is measured by a photodetector whose output is digitized and recorded. From this data, contour maps or three dimensional perspective plots of the scattering regions of the crystal can be generated to assist in finding patterns of defects which might be correlated with perturbations in the growth process. The verified resolution of the present instrument is about 1 micrometer, which is limited by the minimum step of the stepper-motor driven translation stages, optical diffraction effects and the sensitivity of the detector at the laser light frequency. The instrument was used to build a database of defects patterns in commercial laboratory grown triglycine sulphate (TGS) crystals, and to map defects in a TGS crystal grown from aqueous solution during the flight of Spacelab 3. This crystal shows indications of a reduction both in the generation of defects at the seed-new growth interface and in their propagation into the new crystal.
An efficient method for predicting the strength of debonded composite skin-stiffener configurations is presented. This method, which is based on fracture mechanics, models the skin and the stiffener with two-dimensional (2D) plate elements instead of three-dimensional (3D) solid elements. The skin and stiffener flange nodes are tied together by two modeling techniques. In one technique, the corresponding flange and skin nodes are required to have identical translational and rotational degrees-of-freedom. In the other technique, the corresponding flange and skin nodes are only required to have identical translational degrees-of-freedom. Strain energy release rate formulas are proposed for both modeling techniques. These formulas are used for skin-stiffener debond cases with and without cylindrical bending deformations. The cylindrical bending results are compared with plane-strain finite element results. Excellent agreement between the two sets of results is obtained when the second technique is used. Thus, from these limited studies, a preferable modeling technique for skin-stiffener debond analysis using plate elements is established.
A computer-aided flow visualization process has been developed to analyze video images acquired from rotating and translating light sheet visualization systems. The computer process integrates a mathematical model for image reconstruction, advanced computer graphics concepts, and digital image processing to provide a quantitative and visual analysis capability. The image reconstruction model, based on photogrammetry, uses knowledge of the camera and light sheet locations and orientations to project two-dimensional light sheet video images into three-dimensional space. A sophisticated computer visualization package, commonly used to analyze computational fluid dynamics (CFD) data sets, was chosen to interactively display the reconstructed light sheet images, along with the numerical surface geometry for the model or aircraft under study. A description is provided of the photogrammetric reconstruction technique, and the image processing and computer graphics techniques and equipment. Results of the computer aided process applied to both a wind tunnel translating light sheet experiment and an in-flight rotating light sheet experiment are presented. The capability to compare reconstructed experimental light sheet images and CFD solutions in the same graphics environment is also demonstrated.
A higher-order neural network (HONN) can be designed to be invariant to changes in scale, translation, and inplane rotation. Invariances are built directly into the architecture of a HONN and do not need to be learned. Consequently, fewer training passes and a smaller training set are required to learn to distinguish between objects. The size of the input field is limited, however, because of the memory required for the large number of interconnections in a fully connected HONN. By coarse coding the input image, the input field size can be increased to allow the larger input scenes required for practical object recognition problems. We describe a coarse coding technique and present simulation results illustrating its usefulness and its limitations. Our simulations show that a third-order neural network can be trained to distinguish between two objects in a 4096 x 4096 pixel input field independent of transformations in translation, in-plane rotation, and scale in less than ten passes through the training set. Furthermore, we empirically determine the limits of the coarse coding technique in the object recognition domain.