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Proposed linear actuator includes ball-screw mechanism made to engage or disengage piston as needed. Requires low power to maintain release and no power to maintain engagement. Pins sliding radially in solenoids in yoke engage or disengage slot in piston. With help of optoelectronic feedback, yoke made to follow free piston during disengagement so always in position to "grab" piston.
In this paper we develop a dynamical model of a rotor and the active magnetic bearings used to support the rotor. We use this model to develop a stable state feedback control of the magnetic bearing system. We present the development of a rigid body model of the rotor, utilizing both Rotation Matrices (Euler Angles) and Euler Parameters (Quaternions). In the latter half of the paper we develop a stable state feedback control of the actively controlled magnetic bearing to control the rotor position under inbalances. The control law developed takes into account the variation of the model with rotational speed. We show stability over the whole operating range of speeds for the magnetic bearing system. Simulation results are presented to demonstrate the closed loop system performance. We develop the model of the magnetic bearing, and present two schemes for the excitation of the poles of the actively controlled magnetic bearing. We also present a scheme for averaging multiple sensor measurements and splitting the actuation forces amongst redundant actuators.
A static enclosure method was applied to determine the exchange of dimethyl sulfide (DMS) and carbonyl sulfide (OCS) between the surface of Sphagnum peatlands and the atmosphere. Measurements were performed concurrently with dynamic (flow through) enclosure measurements with sulfur-free air used as sweep gas. This latter technique has been used to acquire the majority of available data on the exchange of S gases between the atmosphere and the continental surfaces and has been criticized because it is thought to overestimate the true flux of gases by disrupting natural S gas gradients. DMS emission rates determined by both methods were not statistically different between 4 and greater than 400 nmol/sq m/h, indicating that previous data on emissions of at least DMS are probably valid. However, the increase in DMS in static enclosures was not linear, indicating the potential for a negative feedback of enlosure DMS concentrations on efflux. The dynamic enclosure method measured positive OCS flux rates (emission) at all sites, while data using static enclosures indicated that OCS was consumed from the atmosphere at these same sites at rates of 3.7 to 55 nmol/sq m/h. Measurements using both enclosure techniques at a site devoid of vegetation showed that peat was a source of both DMS and OCS. However, the rate of OCS efflux from decomposing peat was more than counterbalanced by OCS consumption by vegetation, including Sphagnum mosses, and net OCS uptake occurred at all sites. We propose that all wetlands are net sinks for OCS.
Relationship between sea surface temperature (SST) and cloud/water vapor reveals important information about radiative-climate feedbacks. Many previous studies have found that cloud amount and SST are positively correlated for SST between 28-29.5 C, for SST greater than 29.5 C, cloud amount actually decreases with increasing SST. The breakdown of SST-cloud correlation at 29.5 C was suggested to be related to the formation of localized hot spots with very high SST due to increased solar radiation in regions of strong subsidence forced by convection elsewhere. In this study, the breakdown is related to the radiative cooling in the subsidence regime over the cold pool surrounding the warm pool. We show model and observational evidence that radiative cooling over the cold pool limits the strength of SST-induced tropical circulation. As a result, occurrence of convection is also limited when SST contrast between the warm pool and cold pool is large.
This paper addresses the problem of reorienting a rigid spacecraft from arbitrary initial conditions to prescribed final conditions with zero angular velocity. The control law analyzed is based on quaternion feedback and leaves the user to choose two gains as functions of position, angular rate, and time. For arbitrary initial states, conditions on the controller gains are identified that guarantee global asymptotic stability. For the special case of rest-to-rest reorientations, the control law reduces to earlier results involving a principal axis rotation. The paper also addresses slew rate constraints, both, in terms of the two and infinity norms.
A multichannel dielectric-resonator oscillator (DRO), built as a prototype of a local oscillator for an X-band transmitter or receiver, is capable of being electrically tuned among and within 26 adjacent frequency channels, each 1.16 MHz wide, in a band ranging from 7,040 to 7,070 GHz. The tunability of this oscillator is what sets it apart from other DROs, making it possible to use mass-produced oscillator units of identical design in diverse X-band applications in which there are requirements to use different fixed frequencies or to switch among frequency channels. The oscillator (see figure) includes a custom-designed voltage-controlled-oscillator (VCO) monolithic microwave integrated circuit (MMIC), a dielectric resonator disk (puck), and two varactor-coupling circuits, all laid out on a 25-mil (0.635-mm)-thick alumina substrate having a length and width of 17.8 mm. The resonator disk has a diameter of 8.89 mm and a thickness of 4.01 mm. The oscillator is mounted in an 8.9-mm-deep cavity in a metal housing. The VCO MMIC incorporates a negative- resistance oscillator amplifier along with a buffer amplifier. The resonator disk is coupled to a microstrip transmission line connected to the negative-resistance port of the VCO MMIC. The two varactor-coupling circuits include microstrip lines, laid out orthogonally to each other, for coupling with the resonator disk. Each varactor microstrip line is DC-coupled to an external port via a microwave choke. One varactor is used for coarse tuning to select a channel; the other varactor is used (1) for fine tuning across the 1.16-MHz width of each channel and (2) as a feedback port for a phase-lock loop. The resonator disk is positioned to obtain (1) the most desirable bandwidth, (2) relatively tight coupling with the microstrip connected to the coarse-tuning varactor, and (3) relatively loose coupling with the microstrip connected to the fine-tuning varactor. Measurements of performance showed that the oscillator can be switched among any of the 26 channels and can be phase-locked to a nominal frequency in any channel. The degree of nonlinearity of tuning was found not to exceed 2.5 percent. The tuning sensitivity was found to be 6.15 MHz/V at a bias offset of -2 V on the phase-lock-loop varactor. The phase noise of the oscillator in free-running operation was found to be -107 dBc/Hz (where dBc signifies decibels relative to the carrier signal) at 100 kHz away from the carrier frequency.
The computer based urban decision-making game BUILD is described. BUILD is aimed at: (1) allowing maximum expression of value positions by participants through resolution of intense, task-oriented conflicts: (2) heuristically gathering information on both the technical and social functioning of the city through feedback from participants: (3) providing community participants with access to technical expertise in urban decision making, and to expose professionals to the value positions of the community: and (4) laying the groundwork for eventual development of an actual policy making tool. A brief description of the roles, sample input/output formats, an initial scenario, and information on accessing the game through a time-sharing system are included.
Systems to provide improved tactile feedback to aircraft pilots are being developed to help the pilots maintain harmony between their control actions and the positions of aircraft control surfaces, thereby helping to prevent loss of control. A system of this type, denoted a loss-of-control-inhibitor system (LOCIS) can be implemented as a relatively simple addition to almost any pre-existing flight-control system. The LOCIS concept offers at least a partial solution to the problem of (1) keeping a pilot aware of the state of the control system and the aircraft and (2) maintaining sufficient control under conditions that, as described below, have been known to lead to loss of control. Current commercial aircraft exhibit uneven responses of primary flight-control surfaces to aggressive pilot control commands, leading to deterioration of pilots ability to control their aircraft. In severe cases, this phenomenon can result in loss of control and consequent loss of aircraft. For an older aircraft equipped with a purely mechanical control system, the loss of harmony between a pilot s command action and the control- surface response can be attributed to compliance in the control system (caused, for example, by stretching of control cables, flexing of push rods, or servo-valve distortion). In a newer aircraft equipped with a fly-by-wire control system, the major contributions to loss of harmony between the pilot and the control surfaces are delays attributable to computer cycle time, control shaping, filtering, aliasing, servo-valve distortion, and actuator rate limiting. In addition, a fly-by-wire control system provides no tactile feedback that would enable the pilot to sense such features of the control state as surface flutter, surface jam, position limiting, actuator rate limiting, and control limiting imposed by the aircraft operational envelope. Hence, for example, when a pilot is involved in aggressive closed-loop maneuvering, as when encountering a wake-vortex upset on final landing approach, the control-surface delay can lead to loss of control. Aggressive piloting can be triggered and exacerbated by control-system anomalies, which the pilot cannot diagnose because of the lack of symptoms caused by the absence of feedback through the controls. The purpose served by a LOCIS is to counteract these adverse effects by providing real-time feedback that notifies the pilot that the aircraft is tending to lag the pilot s commands. A LOCIS (see figure) includes cockpit control input-position sensors, control-surface output-position sensors, variable dampers (for example, shock absorbers containing magneto-rheological fluids such that the damping forces can be varied within times of the order of milliseconds by varying applied magnetic fields) attached to the cockpit control levers, electromagnet coils to apply the magnetic fields, and feedback control circuits to drive the electromagnet coils. The feedback control gains are chosen so that the current applied to each electromagnet coil results in a damping force that increases in a suitable nonlinear manner (e.g., exponentially) with the difference between the actual and commanded positions of the affected control surface. The increasing damping force both alerts the pilot to the onset of a potentially dangerous situation and resists the pilot s effort to command a control surface to change position at an excessive rate
A computer-based simulation system creates a visual and haptic virtual environment for training a medical practitioner in laparoscopic surgery. Heretofore, it has been common practice to perform training in partial laparoscopic surgical procedures by use of a laparoscopic training box that encloses a pair of laparoscopic tools, objects to be manipulated by the tools, and an endoscopic video camera. However, the surgical procedures simulated by use of a training box are usually poor imitations of the actual ones. The present computer-based system improves training by presenting a more realistic simulated environment to the trainee. The system includes a computer monitor that displays a real-time image of the affected interior region of the patient, showing laparoscopic instruments interacting with organs and tissues, as would be viewed by use of an endoscopic video camera and displayed to a surgeon during a laparoscopic operation. The system also includes laparoscopic tools that the trainee manipulates while observing the image on the computer monitor (see figure). The instrumentation on the tools consists of (1) position and orientation sensors that provide input data for the simulation and (2) actuators that provide force feedback to simulate the contact forces between the tools and tissues. The simulation software includes components that model the geometries of surgical tools, components that model the geometries and physical behaviors of soft tissues, and components that detect collisions between them. Using the measured positions and orientations of the tools, the software detects whether they are in contact with tissues. In the event of contact, the deformations of the tissues and contact forces are computed by use of the geometric and physical models. The image on the computer screen shows tissues deformed accordingly, while the actuators apply the corresponding forces to the distal ends of the tools. For the purpose of demonstration, the system has been set up to simulate the insertion of a flexible catheter in a bile duct. [As thus configured, the system can also be used to simulate other endoscopic procedures (e.g., bronchoscopy and colonoscopy) that include the insertion of flexible tubes into flexible ducts.] A hybrid approach has been followed in developing the software for real-time simulation of the visual and haptic interactions (1) between forceps and the catheter, (2) between the forceps and the duct, and (3) between the catheter and the duct. The deformations of the duct are simulated by finite-element and modalanalysis procedures, using only the most significant vibration modes of the duct for computing deformations and interaction forces. The catheter is modeled as a set of virtual particles uniformly distributed along the center line of the catheter and connected to each other via linear and torsional springs and damping elements. The interactions between the forceps and the duct as well as the catheter are simulated by use of a ray-based haptic-interaction- simulating technique in which the forceps are modeled as connected line segments.
The scanning tunneling microscope (STM) has enabled manipulation and interrogation of surfaces with atomic-scale resolution. Electronic information about a surface is obtained by combining the imaging capability of the STM with scanning tunneling spectroscopy, i.e., measurement of current-voltage (I/V) characteristics of the surface. We propose a change in the STM feedback loop that enables capturing a higher quality dI/dV image. A high frequency dither voltage is added to the bias voltage of the sample, and the fundamental frequency component of the resulting current is demodulated. The in-phase component of this signal is then plotted along with the X and Y position data, constructing the dI/dV image. Here, we show that by incorporating notch filters in the STM feedback loop, we may utilize a high-amplitude dither voltage to significantly improve the quality of the obtained dI/dV image.
Systems and methods are provided for an integrated graphical user interface which facilitates the display and editing of aircraft flight-plan data. A user (e.g., a pilot) located within the aircraft provides input to a processor through a cursor control device and receives visual feedback via a display produced by a monitor. The display includes various graphical elements associated with the lateral position, vertical position, flight-plan and/or other indicia of the aircraft's operational state as determined from avionics data and/or various data sources. Through use of the cursor control device, the user may modify the flight-plan and/or other such indicia graphically in accordance with feedback provided by the display. In one embodiment, the display includes a lateral view, a vertical profile view, and a hot-map view configured to simplify the display and editing of the aircraft's flight-plan data.
This presentation summarizes the integration of a programmable logic controller (PLC) into the Horn A magnetic field mapping device for the Long-Baseline Neutrino Facility (LBNF). The device is used to position magnetic field probes along the centerline of the Horn A inner conductor to verify that the magnetic field within this region is approximately zero. The presentation covers the PLC hardware and electrical integration, stepper motor and encoder control, ladder logic development, mechanical integration, and system testing. Results include successful bidirectional motion and encoder feedback for the translation and rotation axes, as well as characterization of translational motion for repeatable probe positioning.
Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.
The 2010 Desert Research and Technology Studies (DRATS) of the VEGGIE Food Production System in the Habitat Demonstration Unit (HDU) Pressurized Excursion Module (PEM) was the first operational evaluation of salad crop production technology in a NASA analog test. A systematic evaluation of rooting media and nutrient delivery systems were evaluated for three lettuce cultivars that have shown promise as candidates for a surface based food production system. The VEGGIE nutrient delivery system worked well, was able to be maintained by multiple operators with a minimum of training, and supported excellent lettuce growth for the duration of the test. A Hazard Analysis and Critical Control Point (HACCP) evaluation was performed using ProSan(tm) as sanitation agent prior to consumption was approved, and the crew was allowed to consume the lettuce grown using the VEGGIE light cap and gravity based nutrient delivery system at the completion of the 14-day DRAT field test. The DRAT field test validated the crew operations; Growth of all lettuce cultivars was excellent. The operational DRAT field testing in the HDU identified light quality issues related to morphology and pigment development that will need to be addressed through additional testing. Feedback from the crew, ground support personnel, and human factors leads was uniformly positive on the psychological value of having the crop production system in the excursion module. A number of areas have been identified for future work, to minimize the "footprint" of the Food Production system through creative use of unused wall and floor space in the unit.
The 2010 Desert Research and Technology Studies (DRATS) of the VEGGIE Food Production System in the Habitat Demonstration Unit (HDU) Pressurized Excursion Module (PEM) was the first operational evaluation of salad crop production technology in a NASA analog test. A systematic evaluation of rooting media and nutrient delivery systems were evaluated for three lettuce cultivars that have shown promise as candidates for a surface based food production system. The VEGGIE nutrient delivery system worked well, was able to be maintained by multiple operators with a minimum of training, and supported excellent lettuce growth for the duration of the test. A Hazard Analysis and Critical Control Point (HACCP) evaluation was performed using ProSantm as sanitation agent prior to consumption was approved, and the crew was allowed to consume the lettuce grown using the VEGGIE light cap and gravity based nutrient delivery system at the completion of the 14-day DRAT field test. The DRAT field test validated the crew operations; Growth of all lettuce cultivars was excellent. The operational DRAT field testing in the HDU identified light quality issues related to morphology and pigment development that will need to be addressed through additional testing. Feedback from the crew, ground support personnel, and human factors leads was uniformly positive on the psychological value of having the crop production system in the excursion module. A number of areas have been identified for future work, to minimize the "footprint" of the Food Production system through creative use of unused wall and floor space in the unit.
NASA's 2010 Desert Research and Technology Studies (DRATS) of the VEGGIE Food Production System in the Habitat Demonstration Unit (HDU) Pressurized Excursion Module (PEM) was the first operational evaluation of salad crop production technology in a NASA analog test. Rooting media and slow release fertilizers were evaluated for three lettuce cultivars that had shown promise as candidates for a surface based food production system. These tests involved comparing growth, color and quality of the lettuce cultivars grown under VEGGIE LED array (Orbitec, Madison, WI) or Biomass Production System for Education ((BSEe), Orbitec, Madison, WI) compact fluorescent lamps using a gravity feed water delivery system. Mission relevant conditions of CO2, temperature and RH were maintained using controlled environment chambers (EGC, Chagrin Falls, OH). Growth data was obtained for the two red leaf lettuce cultivars, Outredgeous and Firecracker, and the green Bibb lettuce cultivar, Flandria. Growth and quality was evaluated using different concentrations (7.5 g/L and 15 g/L) of commercial slow release fertilizer (Osmocote Plus 15-9-12, Scotts, Maryville, OH) and Nutricote 18-6-8 (Florikan, Sarasota, FL) in either a peat/vermiculite media (sunshine LP5 MiX, Sungro, Bellview, WA) or calcined montmorillonite clay [(arcillite,)Turface Proleague, Profile LLC, Buffalo Grove, IL]. The commercial peat/vermiculite mix generally resulted in larger plants than those grown in arcillite. Increasing the concentration of Osmocote from 7.5 to 15 g/L increased the height, dry mass, and leaf area of lettuce cultivars. In contrast, there was a decrease in growth parameters when concentration of Nutricote was increased from 7.5 to 15 g/L. The best growth was obtained with the 7.5 g/L Nutricote using a commercial peat/vermiculite mixture. This media was used for field testing VEGGIE plant system in the 2010 DRAT test. The VEGGIE nutrient delivery system worked well, was able to be maintained by multiple operators with a minimum of training, and supported excellent lettuce growth for the duration of the 14-day test. The operational DRAT field testing in the HDU identified light quality issues related to morphology and pigment development that will need to be addressed through additional testing. Feedback from the crew, ground support personnel, and human factors leads was uniformly positive on the psychological value of having the crop production system in the pressurized excursion module. Data are being used to design a plant atrium with LED lighting to evaluate salad crop growth during NASA's 2011 DRATS test.
A matrix converter system having a current control mode operation is provided. The system includes a matrix converter having a switching matrix. The matrix converter is coupled at its low-voltage side to a generator and at its output load side to a load. A controller having a pulse width modulation (PWM) control circuit is configured to control the matrix converter via its switching matrix to increase energy within the internal inductances of the generator when the switching matrix causes a short circuit. A feed forward calculator is configured to calculate a feed forward output phase angle. The feed forward output phase angle is an estimation of an angle between an output current vector and an output voltage vector that represent feedback signals of current and voltage output by the matrix converter. The angular position of the voltage output vector is adjusted as a function of the feed forward output phase angle to align angular position or phase angle of the voltage output vector that represents the voltage output with a selected angular position or phase angle.
The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.