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At least 793 records · Page 44

Control of elastic robotic systems by nonlinear inversion and modal damping

Energy efficient, lightweight robot arms for space applications have considerable structural flexibility. For large and fast motions, both the nonlinear coupled dynamics and the elastic behavior of the robots must be considered in control system designs. This paper presents an approach to the control of a class of flexible robotic systems. A control law is derived which decouples the joint-angle motion from the flexible motion and asymptotically decomposes the elastic dynamics into two subsystems, representing the transverse vibrations of the elastic link in two orthogonal planes. This decomposition allows the design of an elastic mode stabilizer independently based on lower order models representing structural flexibility. The closed-loop system is shown to be globally asymptotically stable and robust to uncertainty in system parameters. Simulation results are presented to show that large, fast control of joint angles can be performed in spite of space vehicle motion and uncertainty in the payload.

Singh, S. N.↗

Disturbance and vibration isolation in space stations by means of mechanical decoupling

A decoupling approach to disturbance and vibration isolation in large space stations composed of modules interconnected by flexible members is proposed. A simplified mathematical model for the motion of the space station core and a laboratory module with both torsional vibration and translational motion decouplers is used in this study. The dynamic behavior of the model in the presence of decoupler friction is analyzed. Estimates for the maximum excursions of the laboratory module induced by various types of external disturbance are derived. The paper concludes with a simulation study involving the hard-docking of a space shuttle with a space station.

Wang, P. K. C.↗

Passive dynamic controllers for non-linear mechanical systems

The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.

Jer-Nan Juang↗

Spinoff 2010

Topics covered include: Burnishing Techniques Strengthen Hip Implants; Signal Processing Methods Monitor Cranial Pressure; Ultraviolet-Blocking Lenses Protect, Enhance Vision; Hyperspectral Systems Increase Imaging Capabilities; Programs Model the Future of Air Traffic Management; Tail Rotor Airfoils Stabilize Helicopters, Reduce Noise; Personal Aircraft Point to the Future of Transportation; Ducted Fan Designs Lead to Potential New Vehicles; Winglets Save Billions of Dollars in Fuel Costs; Sensor Systems Collect Critical Aerodynamics Data; Coatings Extend Life of Engines and Infrastructure; Radiometers Optimize Local Weather Prediction; Energy-Efficient Systems Eliminate Icing Danger for UAVs; Rocket-Powered Parachutes Rescue Entire Planes; Technologies Advance UAVs for Science, Military; Inflatable Antennas Support Emergency Communication; Smart Sensors Assess Structural Health; Hand-Held Devices Detect Explosives and Chemical Agents; Terahertz Tools Advance Imaging for Security, Industry; LED Systems Target Plant Growth; Aerogels Insulate Against Extreme Temperatures; Image Sensors Enhance Camera Technologies; Lightweight Material Patches Allow for Quick Repairs; Nanomaterials Transform Hairstyling Tools; Do-It-Yourself Additives Recharge Auto Air Conditioning; Systems Analyze Water Quality in Real Time; Compact Radiometers Expand Climate Knowledge; Energy Servers Deliver Clean, Affordable Power; Solutions Remediate Contaminated Groundwater; Bacteria Provide Cleanup of Oil Spills, Wastewater; Reflective Coatings Protect People and Animals; Innovative Techniques Simplify Vibration Analysis; Modeling Tools Predict Flow in Fluid Dynamics; Verification Tools Secure Online Shopping, Banking; Toolsets Maintain Health of Complex Systems; Framework Resources Multiply Computing Power; Tools Automate Spacecraft Testing, Operation; GPS Software Packages Deliver Positioning Solutions; Solid-State Recorders Enhance Scientific Data Collection; Computer Models Simulate Fine Particle Dispersion; Composite Sandwich Technologies Lighten Components; Cameras Reveal Elements in the Short Wave Infrared; Deformable Mirrors Correct Optical Distortions; Stitching Techniques Advance Optics Manufacturing; Compact, Robust Chips Integrate Optical Functions; Fuel Cell Stations Automate Processes, Catalyst Testing; Onboard Systems Record Unique Videos of Space Missions; Space Research Results Purify Semiconductor Materials; and Toolkits Control Motion of Complex Robotics.

Source record↗

More About the Phase-Synchronized Enhancement Method

A report presents further details regarding the subject matter of "Phase-Synchronized Enhancement Method for Engine Diagnostics" (MFS-26435), NASA Tech Briefs, Vol. 22, No. 1 (January 1998), page 54. To recapitulate: The phase-synchronized enhancement method (PSEM) involves the digital resampling of a quasi-periodic signal in synchronism with the instantaneous phase of one of its spectral components. This resampling transforms the quasi-periodic signal into a periodic one more amenable to analysis. It is particularly useful for diagnosis of a rotating machine through analysis of vibration spectra that include components at the fundamental and harmonics of a slightly fluctuating rotation frequency. The report discusses the machinery-signal-analysis problem, outlines the PSEM algorithms, presents the mathematical basis of the PSEM, and presents examples of application of the PSEM in some computational simulations.

Jong, Jen-Yi↗

Fiber release from impacted graphite reinforced epoxy composites

Carbon fibers released from composites by aircraft fires and crashes can cause electrical shorts and consequent equipment damage. This report investigates less vigorous release mechanisms than that previously simulated by explosive burn/blast tests. When AS/3501-6 composites are impacted by various head and weight configurations of a pendulum impactor, less than 0.2 percent by weight of the original sample is released as single fibers. Other fiber release mechanisms studied were air blasts, constant airflow, torsion, flexural, and vibration of composite samples. The full significance of the low single fiber release rates found here is to be evaluated by NASA in their aircraft vulnerability studies.

Babinsky, T. C.↗

GetAway Tether Experiment (GATE) for the Tether Dynamics Explorer (TDE) series

Designs for the GetAway Tether Experiment (GATE) can easily be adapted and applied to the Tether Dynamics Explorer (TDE) series. The GATE development schedule coincides with the planned first flight of the TDE. GATE technology has centered on the development of miniature deployers/actuators, sensors, control laws and simulation capability. The sensors currently under development are a tension sensor and a video based tether tracker. Both sensors are currently undergoing laboratory testing and development. The actuators currently being investigated are a small reel/deployed for active control of the tether and a small tether crawler to damp vibrations of the tether. Laboratory results are presented and the designs reviewed and discussed.

Greene, Michael↗

Development and testing of cabin sidewall acoustic resonators for the reduction of cabin tone levels in propfan-powered aircraft

The use of Helmholtz resonators to increase the sidewall transmission loss (TL) in aircraft cabin sidewalls is evaluated. Development, construction, and test of an aircraft cabin acoustic enclosure, built in support of the Propfan Test Assessment (PTA) program, is described. Laboratory and flight test results are discussed. Resonators (448) were located between the enclosure trim panels and the fuselage shell. In addition, 152 resonators were placed between the enclosure and aircraft floors. The 600 resonators were each tuned to a propfan fundamental blade passage frequency (235 Hz). After flight testing on the PTA aircraft, noise reduction (NR) tests were performed with the enclosure in the Kelly Johnson Research and Development Center Acoustics Laboratory. Broadband and tonal excitations were used in the laboratory. Tonal excitation simulated the propfan flight test excitation. The resonators increase the NR of the cabin walls around the resonance frequency of the resonator array. Increases in NR of up to 11 dB were measured. The effects of flanking, sidewall absorption, cabin absorption, resonator loading of trim panels, and panel vibrations are presented. Resonator and sidewall panel design and test are discussed.

Kuntz, H. L.↗

Adaptive Control Strategies for Flexible Robotic Arm

The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

Bialasiewicz, Jan T.↗

NASA C-17 Usage Overview

The usage and integrated vehicle health management of the NASA C-17. Propulsion health management flight objectives for the aircraft include mapping of the High Pressure Compressor in order to calibrate a Pratt and Whitney engine model and the fusion of data collected from existing sensors and signals to develop models, analysis methods and information fusion algorithms. An additional health manage flight objective is to demonstrate that the Commercial Modular Aero-Propulsion Systems Simulation engine model can successfully execute in real time onboard the C-17 T-1 aircraft using engine and aircraft flight data as inputs. Future work will address aircraft durability and aging, airframe health management, and propulsion health management research in the areas of gas path and engine vibration.

Miller, Christopher R.↗

The vibration of a box-type structure. II - Response to a travelling pressure wave.

A finite element method is formulated for determining the transient response of a box-type structure to a traveling, arbitrarily shaped pressure wave. The method is illustrated by considering an example of practical concern - the sonic boom. The acceleration-time histories of a closed box are compared with those obtained experimentally from a simulated boom. Satisfactory agreement is obtained with only four rectangular elements per individual face and a simplified loading of the box.

Popplewell, N.↗

Forced vibrations of multi-component compliant tanks and feedlines

An analytical and experimental research program was performed to investigate the effects of flexible tanks and lines and the total system dynamic response of a simple physical system which had some of the essential features of a liquid-fueled launch vehicle. Several vessel-wall materials were used to obtain a range of elastic moduli. Water was used to simulate the fuel and an electromagnetic shaker provided external excitation such as might originate from a rocket-propulsion system. Experimental data were compared to values obtained from mathematical models for the many degree-of-freedom lumped-mass representation.

Smith, H. W.↗

Comparative Study of Vibration Condition Indicators for Detecting Cracks in Spur Gears

This paper reports the results of an empirical study on the tooth breakage failure mode in spur gears. Of four dominant gear failure modes (breakage, wear, pitting, and scoring), tooth breakage is the most precipitous and often leads to catastrophic failures. The cracks were initiated using a fatigue tester and a custom-designed single-tooth bending fixture to simulate over-load conditions, instead of traditional notching using wire electrical discharge machining (EDM). The cracks were then propagated on a dynamometer. The ground truth of damage level during crack propagation was monitored with crack-propagation sensors. Ten crack propagations have been performed to compare the existing condition indicators (CIs) with respect to their: ability to detect a crack, ability to assess the damage, and sensitivity to sensor placement. Of more than thirty computed CIs, this paper compares five commonly used: raw RMS, FM0, NA4, raw kurtosis, and NP4. The performance of combined CIs was also investigated, using linear, logistic, and boosted regression trees based feature fusion.

Nanadic, Nenad↗

Active vibration absorber for CSI evolutionary model: Design and experimental results

The development of control of large flexible structures technology must include practical demonstration to aid in the understanding and characterization of controlled structures in space. To support this effort, a testbed facility was developed to study practical implementation of new control technologies under realistic conditions. The design is discussed of a second order, acceleration feedback controller which acts as an active vibration absorber. This controller provides guaranteed stability margins for collocated sensor/actuator pairs in the absence of sensor/actuator dynamics and computational time delay. The primary performance objective considered is damping augmentation of the first nine structural modes. Comparison of experimental and predicted closed loop damping is presented, including test and simulation time histories for open and closed loop cases. Although the simulation and test results are not in full agreement, robustness of this design under model uncertainty is demonstrated. The basic advantage of this second order controller design is that the stability of the controller is model independent.

Bruner, Anne M.↗

Preconditioning for the Navier-Stokes equations with finite-rate chemistry

The extension of Van Leer's preconditioning procedure to generalized finite-rate chemistry is discussed. Application to viscous flow is begun with the proper preconditioning matrix for the one-dimensional Navier-Stokes equations. Eigenvalue stiffness is resolved and convergence-rate acceleration is demonstrated over the entire Mach-number range from nearly stagnant flow to hypersonic. Specific benefits are realized at the low and transonic flow speeds typical of complete propulsion-system simulations. The extended preconditioning matrix necessarily accounts for both thermal and chemical nonequilibrium. Numerical analysis reveals the possible theoretical improvements from using a preconditioner for all Mach number regimes. Numerical results confirm the expectations from the numerical analysis. Representative test cases include flows with previously troublesome embedded high-condition-number areas. Van Leer, Lee, and Roe recently developed an optimal, analytic preconditioning technique to reduce eigenvalue stiffness over the full Mach-number range. By multiplying the flux-balance residual with the preconditioning matrix, the acoustic wave speeds are scaled so that all waves propagate at the same rate, an essential property to eliminate inherent eigenvalue stiffness. This session discusses a synthesis of the thermochemical nonequilibrium flux-splitting developed by Grossman and Cinnella and the characteristic wave preconditioning of Van Leer into a powerful tool for implicitly solving two and three-dimensional flows with generalized finite-rate chemistry. For finite-rate chemistry, the state vector of unknowns is variable in length. Therefore, the preconditioning matrix extended to generalized finite-rate chemistry must accommodate a flexible system of moving waves. Fortunately, no new kind of wave appears in the system. The only existing waves are entropy and vorticity waves, which move with the fluid, and acoustic waves, which propagate in Mach number dependent directions. The nonequilibrium vibrational energies and species densities in the unknown state vector act strictly as convective waves. The essential concept for extending the preconditioning to generalized chemistry models is determining the differential variables which symmetrize the flux Jacobians. The extension is then straight-forward. This algorithm research effort will be released in a future version of the production level computational code coined the General Aerodynamic Simulation Program (GASP), developed by Walters, Slack, and McGrory.

Godfrey, Andrew G.↗

ONE-DIMENSIONAL FLOW WITH CHEMICAL REACTION IN NOZZLE EXPANSIONS

This report presents calculations for a system involving the constituents CO, 02, CO2, and an inert gas having the thermal properties of a mixture of N2 and H20. The proportions of constituents are the same as those of a stoichiometric hydrocarbon-air system; however, only one overall reaction, that of CO + 1/2 O2 ⇄ C02, is assumed to occur. The results of calculations at simulated Mach numbers of 4, 7, and 10 are shown. The effect of uncertainties in the reaction rate constant are also shown. A comparison of the results of the more exact calculations with interpretations based on Penner's criteria is presented. Modes of energy storage other than chemical (for example, vibrational and rotational modes) were assumed to be at equilibrium. Finally, the extent of entropy change in the nonequilibrium reacting gas flow is discussed.

T W Reynolds↗

Dynamic analysis of a system of hinge-connected rigid bodies with nonrigid appendages

Equations of motion are derived for use in simulating a spacecraft or other complex electromechanical system amenable to idealization as a set of hinge-connected rigid bodies of tree topology, with rigid axisymmetric rotors and nonrigid appendages attached to each rigid body in the set. In conjunction with a previously published report on finite-element appendage vibration equations, this report provides a complete minimum-dimension formulation suitable for generic programming for digital computer numerical integration.

Likins, P. W.↗

Evaluation of Emergency-Locator-Transmitter performance in real and simulated crash tests

Emergency locator transmitter (ELT) activation problems were investigated by testing a sampling of ELT units in actual crashes and in a special test apparatus which simulated longitudinal crash pulses with superimposed local structural resonances. The probable causes of excessive false alarms and nonactivation of ELT's during crash situations were determined. Solutions to operational and technical problems were also examined as well as the sensitivity of ELT impact switches to orientation and to local structural vibrations.

Carden, H. D.↗