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At least 775 records · Page 43

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NASA NTRS1997

Method for neural network control of motion using real-time environmental feedback

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

Buckley, Theresa M.↗

NASA NTRS1991

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Nicewarner, Keith E.↗

NASA NTRS1992

Efficient visual grasping alignment for cylinders

Nicewarner, Keith E.↗

NASA NTRS1989

Hydrogen-silicon carbide interactions

A study of the thermochemistry and kinetics of hydrogen environmental attack of silicon carbide was conducted for temperatures in the range from 1100 C to 1400 C. Thermodynamic maps based on the parameters of pressure and oxygen/moisture content were constructed. With increasing moisture levels, four distinct regions of attack were identified. Each region is defined by the thermodynamically stable solid phases. The theoretically stable solid phases of Region 1 are silicon carbide and silicon. Experimental evidence is provided to support this thermodynamic prediction. Silicon carbide is the single stable solid phase in Region 2. Active attack of the silicon carbide in this region occurs by the formation of gases of SiO, CO, CH4, SiH4, and SiH. Analysis of the kinetics of reaction for Region 2 at 1300 C show the attack of the silicon carbide to be controlled by gas phase diffusion of H2O to the sample. Silicon carbide and silica are the stable phases common to Regions 3 and 4. These two regions are characterized by the passive oxidation of silicon carbide and formation of a protective silica layer.

Eckel, Andrew J.↗

NASA NTRS1990

Hydrogen-silicon carbide interactions

A study of the thermochemistry and kinetics of hydrogen environmental attack of silicon carbide was conducted for temperatures in the range from 1100 C to 1400 C. Thermodynamics maps based on the parameters of pressure and oxygen/moisture content were constructed. With increasing moisture levels, four distinct regions of attack were identified. Each region is defined by the thermodynamically stable solid phases. The theoretically stable solid phases of region 1 are silicon carbide and silicon. Experimental evidence is provided to support this thermodynamic prediction. Silicone carbide is the single stable solid phase in region 2. Active attack of the silicon carbide in this region occurs by the formation of gases of SiO, CO, CH4, SiH4 and SiH. Analyses of the kinetics of reaction for region 2 at 1300 C show the attack of the silicon carbide to be controlled by gas phase diffusion of H2O to the sample. Silicon carbide and silica are the stable phases common to regions 3 and 4. These two regions are characterized by the passive oxidation of silicon carbide and formation of a protective silica layer.

Eckel, Andrew J.↗

NASA NTRS1989

Doppler radar with multiphase modulation of transmitted and reflected signal

A microwave radar signal is generated and split by a circulator. A phase shifter introduces a series of phase shifts into a first part of the split signal which is then transmitted by antenna. A like number of phase shifts is introduced by the phase shifter into the return signal from the target. The circulator delivers the phase shifted return signal and the leakage signal from the circulator to a mixer which generates an IF signal output at the Doppler frequency. The IF signal is amplified, filtered, counted per unit of time, and the result displayed to provide indications of target sense and range rate. An oscillator controls rate of phase shift in the transmitted and received radar signals and provides a time base for the counter. The phase shift magnitude increases may be continuous and linear or discrete functions of time.

Shores, Paul W.↗

NASA NTRS2010

Phase-Array Approach to Optical Whispering Gallery Modulators

This technology leverages the well-defined orbital number of a whispering gallery modulator (WGM) to expand the range of applications for such resonators. This property rigidly connects the phase variation of the field in this mode with the azimuthal angle between the coupling locations. A WGM with orbital momentum L has exactly L instant nodes around the circumference of the WGM resonator supporting such a mode. Therefore, in two locations separated by the arc alpha, the phase difference of such a field will be equal to phi= alpha L. Coupling the field out of such locations, and into a balanced interferometer, once can observe a complete constructive or distractive interference (or have any situation in between) depending on the angle alpha. Similarly, a mode L + delta L will pick up the phase phi + alpha delta L. In all applications of a WGM resonator as a modulator, the orbital numbers for the carrier and sidebands are different, and their differences delta L are known (usually, but not necessarily, delta L = 1). Therefore, the choice of the angle alpha, and of the interferometer arms difference, allows one to control the relative phase between different modes and to perform the conversion, separation, and filtering tasks necessary.

Strekalov, Dmitry↗

NASA NTRSDate not supplied

The ZBOT-NC Experiment - Effects of Non-Condensable Gases on Propellant Tank Pressurization and Pressure Control

Introduction Integral to all phases of NASA’s projected planetary expeditions is affordable and reliable cryogenic fluid storage for use in propellant or life support systems. It is greatly advantageous to develop innovative vent-less pressure control designs based on cooling/mixing of the bulk tank fluid to allow storage of the cryogenic fluid with zero or reduced boil-off. The presence of noncondensable gases, can interfere with the condensation at the interface impacting tank pressure control during subcooled jet mixing especially in microgravity. The Zero-Boil-Off Tank (ZBOT) Experiments are a series of small-scale experiments aboard the International Space Station (ISS) that use a transparent volatile simulant fluid in a transparent sealed tank to delineate various fundamental fluid flow, heat and mass transport, and phase change phenomena associated with storage tank pressurization and pressure control in microgravity. The ZBOT-1 experiment was performed on the ISS 2017-2018 timeframe and collected data to validate a state-of-the-art CFD model for tank pressurization and pressure control for a pure system. The ZBOT-NC Experiment is the second experiment in the series to be performed on the International Space Station (ISS) in 2025. Its goal is to investigate the effects of noncondensable gases on interfacial evaporation and condensation during self -pressurization and jet-mixing pressure control in microgravity for a two-component system. Materials & Methods In this work, we will describe the detailed features of the ZBOT-NC experimental hardware and Diagnostics that includes nonintrusive Quantum Dot Thermometry (QDT) for whole field temperature measurement. All microgravity pressurization and pressure control tests will be performed for both the pure and the two-components systems with Xenon and Neon as the two noncondensable gases spanning small and large molecular weights and sizes. The two-phase CFD model that is developed as part of the project will be also presented and discussed. Results Ground-based pressurization and jet mixing experiments and CFD simulation results are compared to each other to validate both the fidelity of the CFD model predictions and the accuracy of the QDT measurement. Model simulations for noncondensable gas effects will also be compared against large Cryogenic LH2-GHe experiments to indicate the noncondensable gas effects on tank pressure control during jet mixing in 1G. Finally, CFD results will be presented to predict the effects of the noncondensable gas during subcooled jet mixing during the ZBOT-NC in advance of the microgravity experiment in 2015.

Evaporation Condensation↗

NASA NTRS1999

Two-Phase Technology at NASA/Johnson Space Center

Since the baseline International Space Station (ISS) External Active Thermal Control System (EATCS) was changed from a two-phase mechanically pumped system to a single phase cascade system in the fall of 1993, two-phase EATCS research has continued at a low level at JSC. One of-the lessons of the ISS EATCS selection was that two-phase thermal control systems must have significantly lower power than comparable single phase systems to overcome their larger radiator area, larger line and fluid mass, and perceived higher technical risk. Therefore, research at JSC has concentrated on low power mechanically pumped two-phase EATCSs. In the presentation, the results of a study investigating the trade of single and two-phase mechanically pumped EATCSs for space vehicles will be summarized. The low power two-phase mechanically pumped EATCS system under development at JSC will be described in detail and the current design status of the subscale test unit will be reviewed. Also, performance predictions for a full size EATCS will be presented. In addition to the discussion of two-phase mechanically pumped EATCS development at JSC, two-phase technologies under development for biological water processing will be discussed. These biological water processor technologies are being prepared for a 2001 flight experiment and subsequent usage on the TransHab module on the International Space Station.

Ungar, Eugene K.↗

NASA NTRS1978

Study of aerodynamic technology for VSTOL fighter/attack aircraft, phase 1

A conceptual design study was performed of a vertical attitude takeoff and landing (VATOL) fighter/attack aircraft. The configuration has a close-coupled canard-delta wing, side two-dimensional ramp inlets, and two augmented turbofan engines with thrust vectoring capability. Performance and sensitivities to objective requirements were calculated. Aerodynamic characteristics were estimated based on contractor and NASA wind tunnel data. Computer simulations of VATOL transitions were performed. Successful transitions can be made, even with series post-stall instabilities, if reaction controls are properly phased. Principal aerodynamic uncertainties identified were post-stall aerodynamics, transonic aerodynamics with thrust vectoring and inlet performance in VATOL transition. A wind tunnel research program was recommended to resolve the aerodynamic uncertainties.

Driggers, H. H.↗

NASA NTRS1972

An experimental and theoretical evaluation of increased thermal diffusivity phase change devices

This study was to experimentally evaluate and mathematically model the performance of phase change thermal control devices containing high thermal conductivity metal matrices. Three aluminum honeycomb filters were evaluated at five different heat flux levels using n-oct-adecane as the test material. The system was mathematically modeled by approximating the partial differential equations with a three-dimensional implicit alternating direction technique. The mathematical model predicts the system quite well. All of the phase change times are predicted. The heating of solid phase is predicted exactly while there is some variation between theoretical and experimental results in the liquid phase. This variation in the liquid phase could be accounted for by the fact that there are some heat losses in the cell and there could be some convection in the experimental system.

White, S. P.↗

NASA NTRS1975

Digital phase-locked-loop speed sensor for accuracy improvement in analog speed controls

A digital speed control that can be combined with a proportional analog controller is described. The stability and transient response of the analog controller were retained and combined with the long-term accuracy of a crystal-controlled integral controller. A relatively simple circuit was developed by using phase-locked-loop techniques and total error storage. The integral digital controller will maintain speed control accuracy equal to that of the crystal reference oscillator.

Birchenough, A. G.↗

NASA NTRS1983

Active flutter suppression using eigenspace and linear quadratic design techniques

Eigenspace (ES) and Linear Quadratic (LQ) techniques are used to design an active flutter suppression system for the DAST ARW-2 flight test vehicle. The performance of the ES and LQ controllers are very similar in meeting control surface activity specifications. The ES controller provides reduced wing root bending moment and shear but torsional stress is slightly higher than with the LQ controller. The ES controller also results in improved flutter boundaries compared with the LQ controller. The LQ controller exhibits significantly better phase margins at the flutter condition than does the ES controller but the LQ design requires large feedback gains on actuator states while the ES does not. This results in reduced overall actuator gain for the LQ design.

Garrard, W. L.↗

NASA NTRS1984

Identification of multivariable high-performance turbofan engine dynamics from closed loop data

A typical engine control design cycle consists of developing a dynamic engine simulation from steady-state component performance data, designing a control based upon this simulation, and then testing and modifying the control in an engine test cell to meet performance requirements. This design cycle was successful for state-of-the-art engines. However, for more advanced multivariable engines that exhibit strong variable interactions, this procedure will result in substantial trial and error modification of the control during the testing phase. One method to automate the design process and reduce control modification testing and development cost would be to identify accurate dynamic models directly from the closed-loop test data. These identified models would then be used in conjunction with a synthesis procedure to systematically refine the control. Recent advances in closed-loop identifiability present a methodology for this direct identification of engine model dynamics from closed-loop test data. The application of an identification method to simulated and actual closed-loop F100 engine data is described. This study was undertaken to determine if useful dynamic engine models could be identified directly from closed-loop engine test data.

Merrill, W. C.↗

NASA NTRS1992

Method and apparatus for minimizing multiple degree of freedom vibration transmission between two regions of a structure

Arrays of actuators are affixed to structural elements to impede the transmission of vibrational energy. A single pair is used to provide control of bending and extensional waves and two pairs are used to control torsional motion. The arrays are applied to a wide variety of structural elements such as a beam structure that is part of a larger framework that may or may not support a rigid or non-rigid skin. Electrical excitation is applied to the actuators that generate forces on the structure. These electrical inputs may be adjusted in their amplitude and phase by a controller in communication with appropriate vibrational wave sensors to impede the flow of vibrational power in all of the above mentioned wave forms beyond the actuator location. Additional sensor elements can be used to monitor the performance and adjust the electrical inputs to maximize the attenuation of vibrational energy.

Silcox, Richard J.↗

NASA NTRS1991

Mars Observer trajectory and orbit control

The Mars Observer mission will study Mars from a low-altitude orbit. During interplanetary cruise, propulsive maneuvers are required to ensure capture, with a secondary constraint to satisfy limits on the probability of impact with Mars. After capture, the spacecraft will be brought to a near-circular mapping orbit through a series of maneuvers. Mapping orbit maneuvers will be performed in order to follow a predetermined set of ground tracks and to maintain orbit altitude. This will allow accurate spacecraft command sequence generation and aid science planning throughout the mapping phase. Specific orbit control plans for the open and close of the launch period have been developed to meet these needs. This paper describes the control capabilities and the associated expected velocity changes for the mission.

Halsell, C. A.↗

NASA NTRS1980

Torque control for electric motors

Method for adjusting electric-motor torque output to accomodate various loads utilizes phase-lock loop to control relay connected to starting circuit. As load is imposed, motor slows down, and phase lock is lost. Phase-lock signal triggers relay to power starting coil and generate additional torque. Once phase lock is recoverd, relay restores starting circuit to its normal operating mode.

Bernard, C. A.↗

NASA NTRS2017

Elastomeric Thermal Insulation Design Considerations in Long, Aluminized Solid Rocket Motors

An all-new sounding rocket was designed at NASA's Marshall Space Flight Center that featured an aft finocyl, aluminized solid propellant grain and silica-filled ethylene-propylene-diene monomer (SFEPDM) internal insulation. Upon the initial static firing of the first of this new design, the solid rocket motor (SRM) case failed thermally just upstream of the aft closure early in the burn time. Subsequent fluid modeling indicated that the high-velocity combustion-product jets emanating from the fin-slots in the propellant grain were likely inducing a strongly swirling flow, thus substantially increasing the severity of the convective environment on the exposed portion of the SFEPDM insulation in this region. The aft portion of the fin-slots in another of the motors were filled with propellant to eliminate the possibility of both direct jet impingement on the exposed SFEPDM and the appearance of strongly swirling flow in the aft region of the motor. When static-fired, this motor's case still failed in the same axial location, and, though somewhat later than for the first static firing, still in less than 1/3rd of the desired burn duration. These results indicate that the extreme material decomposition rates of the SFEPDM in this application are not due to gas-phase convection or shear but rather to interactions with burning aluminum or alumina slag. Further comparisons with between SFEPDM performance in this design and that in other hot-fire tests provide insight into the mechanisms of SFEPDM decomposition in SRM aft domes that can guide the upcoming redesign effort, as well as other future SRM designs. These data also highlight the current limitations of modeling elastomeric insulators solely with diffusion-controlled, gas-phase thermochemistry in SRM regions with significant viscous shear and/or condense-phase impingement or flow.

Martin, Heath T.↗