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Dynamics and control of instrumented harmonic drives
Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method's limitations.
Performance trade-offs in reconfigurable networks for HPC
Designing efficient interconnects to support high-bandwidth and low-latency communication is critical toward realizing high performance computing (HPC) and data center (DC) systems in the exascale era. At extreme computing scales, providing the requisite bandwidth through overprovisioning becomes impractical. These challenges have motivated studies exploring reconfigurable network architectures that can adapt to traffic patterns at runtime using optical circuit switching. Despite the plethora of proposed architectures, surprisingly little is known about the relative performances and trade-offs among different reconfigurable network designs. We aim to bridge this gap by tackling two key issues in reconfigurable network design. First, we study how cost, power consumption, network performance, and scalability vary based on optical circuit switch (OCS) placement in the physical topology. Specifically, we consider two classes of reconfigurable architectures: one that places OCSs between top-of-rack (ToR) switches—ToR-reconfigurable networks (TRNs)—and one that places OCSs between pods of racks—pod-reconfigurable networks (PRNs). Second, we tackle the effects of reconfiguration frequency on network performance. Our results, based on network simulations driven by real HPC and DC workloads, show that while TRNs are optimized for low fan-out communication patterns, they are less suited for carrying high fan-out workloads. PRNs exhibit better overall trade-off, capable of performing comparably to a fully non-blocking fat tree for low fan-out workloads, and significantly outperform TRNs for high fan-out communication patterns.
A lightweight electronically commutated dc motor for electric passenger vehicles
A functional model breadboard converter and a rare-earth-cobalt, permanent magnet motor; as well as an engineering model converter and PM motor suitable for vehicle installations were developed and tested. The converter and motor achieved an 88% peak efficiency, a maximum output of 26 kW at 26,000 rpm, and a continuous rating of 15 kW. The system also generated power to the source during braking, with a demonstrated peak power available at the converter terminals of approximately 26 kW at 88% efficiency. Major conclusions include: (1) the SAE J227a(D) driving cycle efficiency for the converter/motor is 86% to 88% when energy available for recovery at the converter terminals is included; (2) the converter initial cost is approximately five times that of the permanent magnet motor, but can be reduced by means of LSI logic and integrated liquid cooled semiconductor packages; and (3) an electronically commutated motor with a liquid cooled converter will operate reliably without service or maintenance for the life of a passenger vehicle.
Ultra-Fast Resonant DC Breaker
This project’s focus was to create an ultra-fast resonant hybrid dc circuit breaker for medium voltage electric systems. Medium voltage DC systems offer higher efficiency, additional resiliency, more controllability, and greater flexibility over comparable AC systems. Although technically, medium voltage DC systems are more attractive than their AC counterparts, no solution exists for the protection of medium voltage DC systems, and thus one cannot build a reliable MVDC system. This research will fill the technology gap, providing a MVDC protection solution, allowing mass adoption and proliferation of MVDC systems. MVDC systems will allow greater integration of renewable energy sources, higher efficiency of transmission and distribution, reduced losses in transmission lines, reduce carbon emissions, and higher electric power reliability.
Cost and sizing sensitivities for the solar power satellite
A summary is provided of the characteristics and error parameters of the reference microwave transmission system for the solar power satellite (SPS). The relative importance of electrical and mechanical tolerances upon scattered microwave power and electrical costs is investigated. It is found that small increases in efficiency and/or reduction of losses (less than one percent) can improve the revenue from a single satellite over its 30-year lifetime by several hundred million dollars. Attention is given to a system definition, cost sensitivities for the reference system, the klystron dc-RF conversion efficiency, the transmitting antenna, the rectenna collection efficiency, system sizing tradeoffs, a cost analysis, and multiple antennas.
Traveling wakefield tube: THz source powered by nonrelativistic electron beam
High peak power, tunable, narrowband terahertz emitters are becoming sought after given their portability, efficiency, and ability to be deployed in the field for industrial, medical, and military applications. The use of accelerator systems producing THz frequencies via Cherenkov radiation, generated by passing an electron beam through a slow-wave wakefield structure, is a promising method to meet future THz requirements. To date, efforts have been dedicated to analysis and design of sources utilizing laser seeded bunched electron beam drivers with relativistic energies beyond 5 MeV. Presented here is a wakefield THz generation scheme based on passing a long quasi-dc nonrelativistic beam (200 keV) through a dielectric loaded travelling wave structure. Reduced energy allows for compactness and portability of the accelerator as the size and weight of the dielectric slow wave structure is vanishingly small compared to the accelerator unit. The presented scheme can serve as a tunable high peak power THz source operated between 0.4-1.6 THz and produces power gain by a factor of five with an average efficiency of 6.8%
Wind-powered asynchronous AC/DC/AC converter system
Two asynchronous ac/dc/ac systems are modelled that utilize wind power to drive a variable or constant hertz alternator. The first system employs a high power 60-hertz inverter tie to the large backup supply of the power company to either supplement them from wind energy, storage, or from a combination of both at a preset desired current; rectifier and inverter are identical and operate in either mode depending on the silicon control rectifier firing angle. The second system employs the same rectification but from a 60-hertz alternator arrangement; it provides mainly dc output, some sinusoidal 60-hertz from the wind bus and some high harmonic content 60-hertz from an 800-watt inverter.
Load flows and faults considering dc current injections
The authors present novel methods for incorporating current injection sources into dc power flow computations and determining network fault currents when electronic devices limit fault currents. Combinations of current and voltage sources into a single network are considered in a general formulation. An example of relay coordination is presented. The present study is pertinent to the development of the Space Station Freedom electrical generation, transmission, and distribution system.
A quasioptical resonant-tunneling-diode oscillator operating above 200 GHz
We have fabricated and characterized a quasioptically stabilized resonant-tunneling-diode (RTD) oscillator having attractive performance characteristics for application as a radiometric local oscillator. The fundamental frequency of the oscillator is tunable from about 200 to 215 GHz, the instantaneous linewidth is between 10 and 20 kHz, and the output power across the tuning band is about 50 micro-W. The narrow linewidth and fine tuning of the frequency are made possible by a scanning semiconfocal open cavity which acts as the high-Q resonator for the oscillator. The cavity is compact, portable, and insensitive to vibration and temperature variation. The total dc power consumption (RTD plus bias supply) is only 10 mW. The present oscillator provides the highest power obtained to date from an RTD above 200 GHz. We attribute this partly to the use of the quasioptical resonator, but primarily to the quality of the RTD. It is fabricated from the In(0.53)Ga(0.47)As/AlAs materials system, which historically has yielded the best overall resonant-tunneling characteristics of any material system. The RTD active area is 4 sq microns, and the room-temperature peak current density and peak-to-valley current ratio are 2.5x10(exp 5) A cm(exp -2) and 9, respectively. The RTD is mounted in a WR-3 standard-height rectangular waveguide and is contacted across the waveguide by a fine wire that protrudes through a via hole in a Si3N4 'honeycomb' overlayer. We estimate that the theoretical maximum frequency of oscillation of this RTD is approximately 1.1 THz, and that scaled-down versions of the same quasioptical oscillator design should operate in a fundamental mode up to frequencies of at least 500 GHz.
Design, fabrication and calibration of alpha particle densitometers for measuring planetary atmospheric density
An alpha particle densitometer was developed for possible application to measurement of the atmospheric density-altitude profile on Martian entry. The device uses an Am-241 radioactive-foil source, which emits a distributed energy spectrum, located about 25 to 75 cm from a semiconductor detector. System response - defined as the number of alphas per second reaching the detector with energy above a fixed threshold - is given for Ar and CO2. The altitude profile of density measurement accuracy is given for a pure CO2 atmosphere with 5 mb surface pressure. The entire unit, including dc-dc converters, requires less than 350 milliwatts of power from +28 volts, weighs about 0.85 lb and occupies less than 15 cubic inches volume.
Solar photovoltaic power stations
The subsystems of a solar photovoltaic central power system are identified and the cost of major components are estimated. The central power system, which would have a peak power capability in the range of 50 to 1000 MW, utilizes two types of subsystems - a power conditioner and a solar array. Despite differences in costs of inverters, the overall cost of the total power conditioning subsystem is about the same for all approaches considered. A combination of two inverters operating from balanced dc buses as a pair of 6-pulse groups is recommended. A number of different solar cell modules and tracking array structures were analyzed. It is concluded that when solar cell costs are high (greater than $500/kW), high concentration modules are more cost effective than those with low concentration. Vertical-axis tracking is the most effective of the studied tracking modes. For less expensive solar cells (less than $400/kW), fixed tilt collector/reflector modules are more cost effective than those which track.
Load positioning system with gravity compensation
A load positioning system with gravity compensation has a servomotor, position sensing feedback potentiometer and velocity sensing tachometer in a conventional closed loop servo arrangement to cause a lead screw and a ball nut to vertically position a load. Gravity compensating components comprise the DC motor, gears, which couple torque from the motor to the lead screw, and constant current power supply. The constant weight of the load applied to the lead screw via the ball nut tend to cause the lead screw to rotate, the constant torque of which is opposed by the constant torque produced by the motor when fed from the constant current source. The constant current is preset as required by the potentiometer to effect equilibration of the load which thereby enables the positioning servomotor to see the load as weightless under both static and dynamic conditions. Positioning acceleration and velocity performance are therefore symmetrical.
Preliminary results on noncollocated torque control of space robot actuators
In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.
Motor Drive Technologies for the Power-by-Wire (PBW) Program: Options, Trends and Tradeoffs
Power-By-Wire (PBW) is a program involving the replacement of hydraulic and pneumatic systems currently used in aircraft with an all-electric secondary power system. One of the largest loads of the all-electric secondary power system will be the motor loads which include pumps, compressors and Electrical Actuators (EA's). Issues of improved reliability, reduced maintenance and efficiency, among other advantages, are the motivation for replacing the existing aircraft actuators with electrical actuators. An EA system contains four major components. These are the motor, the power electronic converters, the actuator and the control system, including the sensors. This paper is a comparative literature review in motor drive technologies, with a focus on the trends and tradeoffs involved in the selection of a particular motor drive technology. The reported research comprises three motor drive technologies. These are the induction motor (IM), the brushless dc motor (BLDCM) and the switched reluctance motor (SRM). Each of the three drives has the potential for application in the PBW program. Many issues remain to be investigated and compared between the three motor drives, using actual mechanical loads expected in the PBW program.
Miniature Intelligent Sensor Module
An electronic unit denoted the Miniature Intelligent Sensor Module performs sensor-signal-conditioning functions and local processing of sensor data. The unit includes four channels of analog input/output circuitry, a processor, volatile and nonvolatile memory, and two Ethernet communication ports, all housed in a weathertight enclosure. The unit accepts AC or DC power. The analog inputs provide programmable gain, offset, and filtering as well as shunt calibration and auto-zeroing. Analog outputs include sine, square, and triangular waves having programmable frequencies and amplitudes, as well as programmable amplitude DC. One innovative aspect of the design of this unit is the integration of a relatively powerful processor and large amount of memory along with the sensor-signalconditioning circuitry so that sophisticated computer programs can be used to acquire and analyze sensor data and estimate and track the health of the overall sensor-data-acquisition system of which the unit is a part. The unit includes calibration, zeroing, and signalfeedback circuitry to facilitate health monitoring. The processor is also integrated with programmable logic circuitry in such a manner as to simplify and enhance acquisition of data and generation of analog outputs. A notable unique feature of the unit is a cold-junction compensation circuit in the back shell of a sensor connector. This circuit makes it possible to use Ktype thermocouples without compromising a housing seal. Replicas of this unit may prove useful in industrial and manufacturing settings - especially in such large outdoor facilities as refineries. Two features can be expected to simplify installation: the weathertight housings should make it possible to mount the units near sensors, and the Ethernet communication capability of the units should facilitate establishment of communication connections for the units.
An Ultra-Wideband, Microwave Radar for Measuring Snow Thickness on Sea Ice and Mapping Near-Surface Internal Layers in Polar Firn
Sea ice is generally covered with snow, which can vary in thickness from a few centimeters to >1 m. Snow cover acts as a thermal insulator modulating the heat exchange between the ocean and the atmosphere, and it impacts sea-ice growth rates and overall thickness, a key indicator of climate change in polar regions. Snow depth is required to estimate sea-ice thickness using freeboard measurements made with satellite altimeters. The snow cover also acts as a mechanical load that depresses ice freeboard (snow and ice above sea level). Freeboard depression can result in flooding of the snow/ice interface and the formation of a thick slush layer, particularly in the Antarctic sea-ice cover. The Center for Remote Sensing of Ice Sheets (CReSIS) has developed an ultra-wideband, microwave radar capable of operation on long-endurance aircraft to characterize the thickness of snow over sea ice. The low-power, 100mW signal is swept from 2 to 8GHz allowing the air/snow and snow/ ice interfaces to be mapped with 5 c range resolution in snow; this is an improvement over the original system that worked from 2 to 6.5 GHz. From 2009 to 2012, CReSIS successfully operated the radar on the NASA P-3B and DC-8 aircraft to collect data on snow-covered sea ice in the Arctic and Antarctic for NASA Operation IceBridge. The radar was found capable of snow depth retrievals ranging from 10cm to >1 m. We also demonstrated that this radar can be used to map near-surface internal layers in polar firn with fine range resolution. Here we describe the instrument design, characteristics and performance of the radar.
Static Measurements on HTS Coils of Fully Superconducting AC Electric Machines for Aircraft Electric Propulsion System
The NASA Glenn Research Center (GRC) has been developing the high efficiency and high-power density superconducting (SC) electric machines in full support of electrified aircraft propulsion (EAP) systems for a future electric aircraft. A SC coil test rig has been designed and built to perform static and AC measurements on BSCCO, (RE)BCO, and YBCO high temperature superconducting (HTS) wire and coils at liquid nitrogen (LN2) temperature. In this paper, DC measurements on five SC coil configurations of various geometry in zero external magnetic field are measured to develop good measurement technique and to determine the critical current (Ic) and the sharpness (n value) of the super-to-normal transition. Also, standard procedures for coil design, fabrication, coil mounting, micro-volt measurement, cryogenic testing, current control, and data acquisition technique were established. Experimentally measured critical currents are compared with theoretical predicted values based on an electric-field criterion (Ec). Data here are essential to quantify the SC electric machine operation limits where the SC begins to exhibit non-zero resistance. All test data will be utilized to assess the feasibility of using HTS coils for the fully superconducting AC electric machine development for an aircraft electric propulsion system.