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NASA NTRS2001

Electrophoretic Focusing

Electrophoretic focusing is a new method of continuous flow electrophoresis that introduces precision flow control to achieve high resolution separations. The electric field is applied perpendicular to an incoming sample lamina and buffer but also perpendicular to the broad faces of the thin rectangular chamber. A uniform fluid cross-flow then enters and exits the separation chamber through the same broad faces which are porous. A balance is achieved by adjusting either the electric field or the cross-flow so the desired sample fraction with its specific migration velocity encounters an opposing flow of the same velocity. Applying an electric field transverse to the incoming sample lamina and opposing this field with a carefully configured buffer flow, a sample constituent can be selected and focused into a narrow stream for subsequent analysis. Monotonically changing either electric field or buffer cross-flow will yield a scan of all constituents of the sample. Stopping the scan increases the collection time for minor constituents to improve their analysis. Using the high voltage gradients and/or cross-flow to rapidly deflect extraneous sample through the porous screens and into either of the side (purge) chambers, the selected sample is focused in the center plane of the separation chamber and collected without contact or interaction with the separation chamber walls. Results will be presented on the separation of a range of materials including dyes, proteins, and monodisperse polystyrene latexes. Sources of sample dispersion inherent in other electrokinetic techniques will be shown to be negligible for a variety of sample concentrations, buffer properties and operating conditions.

Snyder, Robert S.↗

NASA NTRS1992

Non-linear dynamic compensation system

A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.

Lin, Yu-Hwan↗

NASA NTRS2019

Low-Loss Microstrip Transmission Line Fabricated with Improved Liftoff Process

The µ-Spec integrated spectrometer operating at ~500 GHz, employs thin film superconducting Nb microstrip transmission lines deposited directly on a thin (450 nm) single-crystal silicon dielectric. This single-crystal silicon layer is chosen as the dielectric layer due to its low intrinsic loss, with the goal of achieving both high- efficiency and precise phase control in a compact spectrometer architecture. To avoid roughening or etching through the thin single-crystal silicon dielectric a liftoff technique was developed for patterning these microstrip transmission lines and ground plane structures. This two- layer liftoff process was designed for use with sputter deposition and resulted in a US patent. Although this original technique provided precise control of linewidth, results of initial prototype spectrometer devices and separate diagnostic co-planer waveguide resonator devices showed that unexpected loss was being introduced due to the lift-off process. This extra loss was believed to be due to the “tails” (thin tapered regions) at the edge of the metal traces resulting from the sputtering process, as well as an amorphous oxide layer at the Nb-Si interface. We have since demonstrated an improved lift-off technique, which provides a clean metal-Si interface and removes the loss-inducing tails by a two-step selective etching method. This results in a decrease in microwave loss by more than an order of magnitude when measured in co-planar waveguide microwave resonator structures. We present these microwave test results and also SEM and TEM images of the microstrip interfaces and edge profiles before and after application of the improved process.

Hess, Larry A.↗

NASA NTRS2004

High-Temperature Hybrid Rotor Support System Developed

The Army Research Laboratory Vehicle Technology Directorate and the NASA Glenn Research Center demonstrated a unique high-speed, high-temperature rotor support system in September 2003. Advanced turbomachinery is on its way to surpassing the capabilities of rolling-element bearings and conventional dampers. To meet these demands, gas turbine engines of the future will demand increased efficiency and thrust-to-weight ratio, and reduced specific fuel consumption and noise. The more-electric engine replaces oil-lubricated bearings, dampers, gears, and seals with electrical devices. One such device is the magnetic bearing. The Vehicle Technology Directorate and Glenn have demonstrated the operation of a radial magnetic bearing in combination with a hydrostatic bearing at 1000 F at 31,000 rpm (2.3 MDN1). This unique combination takes advantage of a high-temperature rub surface in the event of electrical power loss or sudden overloads. The hydrostatic bearings allow load sharing with the magnetic bearing. The magnetic-hydrostatic bearing combination eliminates wear and high contact stress from sudden acceleration of the rolling-element bearings and overheating. The magnetic bearing enables high damping, adaptive vibration control, and precise rotor positioning, diagnostics, and health monitoring. A model of the test facility used at Glenn for this technology demonstration is shown. A high-temperature heteropolar radial magnetic bearing is located at the center of gravity of the test rotor. There is a 0.022-in. radial air gap between the rotor and stator. Two rub surface hydrostatic bearings were placed on either side of the magnetic bearing. The rotor is supported by a 0.002-in. hydrostatic air film and the magnetic field. The prototype active magnetic bearing cost $24,000 to design and fabricate and a set of four high temperature, rub-surface, hydrostatic bearings cost $28,000. This work was funded by the Turbine-Based Combined Cycle program.

Montague, Gerald T.↗

NASA NTRSDate not supplied

Repurposing the James Webb Space Telescope’s center of curvature optical bench hexapod for future mirror calibration testing at NASA Marshall’s x-ray & cryogenic facility

The James Webb Space Telescope’s (JWST) center of curvature optical bench (CoCOB) hexapod was repurposed to enhance NASA Marshall Space Flight Center’s X-Ray & Cryogenic Facility (XRCF) optical metrology capabilities. This upgrade unlocked higher test article load capacity and extended the allowable ranges of motion of the CoCOB hexapod. The hexapod was also coupled to a new long-stroke, linear motion axis to form a 7 degrees of freedom system and allow for high precision testing of larger diameter test articles. A 9 degrees of freedom motion system, consisting of a three-axis linear mount in an X-Y-Z configuration and a commercially available hexapod, was also designed to allow high resolution positioning of the focal plane instrumentation over a large range of motion. A modern control architecture and graphical user interface was developed for the CoCOB hexapod and additional motion stages to permit streamlined commanding and operation. This paper discusses the justification for re-using the CoCOB hexapod by highlighting its unique precision motion control capabilities in a high vacuum and optically clean environment. The design, key component selection, and environmental compatibility for each of the additional motion stages is presented along with testing results for achieved range, repeatability, and minimum step size performance for all motion axes. Finally, a summary of the motion control system architecture and its flexibility to address tomorrow’s optical metrology needs are presented.

hexapod↗

NASA NTRS2000

Antenna Control Systems: From PI to H_Infinity

Newly designed NASA Deep Space Network antennas are retrofitted for high frequency spacecraft communication, which require high pointing precision.

control↗

NASA NTRS2003

Thruster Limitation Consideration for Formation Flight Control

Physical constraints of any real system can have a drastic effect on its performance. Some of the more recognized constraints are actuator and sensor saturation and bandwidth, power consumption, sampling rate (sensor and control-loop) and computation limits. These constraints can degrade system s performance, such as settling time, overshoot, rising time, and stability margins. In order to address these issues, researchers have investigated the use of robust and nonlinear controllers that can incorporate uncertainty and constraints into a controller design. For instance, uncertainties can be addressed in the synthesis model used in such algorithms as H(sub infinity), or mu. There is a significant amount of literature addressing this type of problem. However, there is one constraint that has not often been considered; that is, actuator authority resolution. In this work, thruster resolution and controller schemes to compensate for this effect are investigated for position and attitude control of a Low Earth Orbit formation flight system. In many academic problems, actuators are assumed to have infinite resolution. In real system applications, such as formation flight systems, the system actuators will not have infinite resolution. High-precision formation flying requires the relative position and the relative attitude to be controlled on the order of millimeters and arc-seconds, respectively. Therefore, the minimum force resolution is a significant concern in this application. Without the sufficient actuator resolution, the system may be unable to attain the required pointing and position precision control. Furthermore, fuel may be wasted due to high-frequency chattering phenomena when attempting to provide a fine control with inadequate actuators. To address this issue, a Sliding Mode Controller is developed along with the boundary Layer Control to provide the best control resolution constraints. A Genetic algorithm is used to optimize the controller parameters according to the states error and fuel consumption criterion. The tradeoffs and effects of the minimum force limitation on performance are studied and compared to the case without the limitation. Furthermore, two methods are proposed to reduce chattering and improve precision.

Yunjun Xu↗

NASA NTRS2004

Formation Control for the Maxim Mission.

Over the next twenty years, a wave of change is occurring in the spacebased scientific remote sensing community. While the fundamental limits in the spatial and angular resolution achievable in spacecraft have been reached, based on today's technology, an expansive new technology base has appeared over the past decade in the area of Distributed Space Systems (DSS). A key subset of the DSS technology area is that which covers precision formation flying of space vehicles. Through precision formation flying, the baselines, previously defined by the largest monolithic structure which could fit in the largest launch vehicle fairing, are now virtually unlimited. Several missions including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), and the Stellar Imager will drive the formation flying challenges to achieve unprecedented baselines for high resolution, extended-scene, interferometry in the ultraviolet and X-ray regimes. This paper focuses on establishing the feasibility for the formation control of the MAXIM mission. The Stellar Imager mission requirements are on the same order of those for MAXIM. This paper specifically addresses: (1) high-level science requirements for these missions and how they evolve into engineering requirements; (2) the formation control architecture devised for such missions; (3) the design of the formation control laws to maintain very high precision relative positions; and (4) the levels of fuel usage required in the duration of these missions. Specific preliminary results are presented for two spacecraft within the MAXIM mission.

Luquette, Richard J.↗

NASA NTRS1990

Fracture-tough, corrosion-resistant bearing steels

The fundamental principles allowing design of stainless bearing steels with enhanced toughness and stress corrosion resistance has involved both investigation of basic phenomena in model alloys and evaluation of a prototype bearing steel based on a conceptual design exercise. Progress in model studies has included a scanning Auger microprobe (SAM) study of the kinetics of interfacial segregation of embrittling impurities which compete with the kinetics of alloy carbide precipitation in secondary hardening steels. These results can define minimum allowable carbide precipitation rates and/or maximum allowable free impurity contents in these ultrahigh strength steels. Characterization of the prototype bearing steel designed to combine precipitated austenite transformation toughening with secondary hardening shows good agreement between predicted and observed solution treatment response including the nature of the high temperature carbides. An approximate equilibrium constraint applied in the preliminary design calculations to maintain a high martensitic temperature proved inadequate, and the solution treated alloy remained fully austenitic down to liquid nitrogen temperature rather than transforming above 200 C. The alloy can be martensitically transformed by cryogenic deformation, and material so processed will be studied further to test predicted carbide and austenite precipitation behavior. A mechanistically-based martensitic kinetic model was developed and parameters are being evaluated from available kinetic data to allow precise control of martensitic temperatures of high alloy steels in future designs. Preliminary calculations incorporating the prototype stability results suggest that the transformation-toughened secondary-hardening martensitic-stainless design concept is still viable, but may require lowering Cr content to 9 wt. pct. and adding 0.5 to 1.0 wt. pct. Al. An alternative design approach based on strain-induced martensitic transformation during cryogenic forming, thus removing the high martensitic constraint, may permit alloy compositions offering higher fracture roughness.

Olson, Gregory B.↗

NASA NTRS1986

Baseline experiments in teleoperator control

Studies have been conducted at the NASA Langley Research Center (LaRC) to establish baseline human teleoperator interface data and to assess the influence of some of the interface parameters on human performance in teleoperation. As baseline data, the results will be used to assess future interface improvements resulting from this research in basic teleoperator human factors. In addition, the data have been used to validate LaRC's basic teleoperator hardware setup and to compare initial teleoperator study results. Four subjects controlled a modified industrial manipulator to perform a simple task involving both high and low precision. Two different schemes for controlling the manipulator were studied along with both direct and indirect viewing of the task. Performance of the task was measured as the length of time required to complete the task along with the number of errors made in the process. Analyses of variance were computed to determine the significance of the influences of each of the independent variables. Comparisons were also made between the LaRC data and data taken earlier by Grumman Aerospace Corp. at their facilities.

Hankins, W. W., III↗

NASA NTRSDate not supplied

Design and Performance of the Hitomi/XRISM Adiabatic Demagnetization Refrigerator Controller

The Resolve instrument in the recently launched X-ray Imaging and Spectroscopy Mission (XRISM) is a rebuild of the Soft X-ray Spectrometer (SXS) in Hitomi (aka Astro-H which had an unfortunately brief mission life in 2016). It is a high-resolution non-dispersive soft x-ray spectrometer from nominally 0.3 keV to 12 keV based on a calorimeter detector array operating at 50 mK with a resolution better than 7 eV FWHM at 6 keV. For such sensitive cryogenic instruments, temperature stability has a strong impact on the detector’s performance. The Adiabatic Demagnetization Refrigerator Controller (ADRC) in the XRISM Resolve instrument is an electronics box responsible for high-precision sub-K temperature readout and control of the multi-stage adiabatic demagnetization refrigerator subsystem to achieve a thermal stability better than 2.5 uK RMS (over a 10-minute interval) for the calorimeter detectors in both cryogen (liquid helium) and cryo-free modes. It has direct telemetry/command and power interfaces with the spacecraft. It also provides sensor read-out and heater circuits for decontamination of the filters in the cold aperture. As a part of the discussion on the design and performance of the ADRC, this paper will also include an overall view of the 50 mK temperature control, plus monitor and control of the aperture filter temperature for de-contamination purpose.

ADRC↗

NASA NTRSDate not supplied

Design and Performance of the Hitomi/XRISM Adiabatic Demagnetization Refrigerator Controller

ADRC↗

NASA NTRS1989

Experimental validation of flexible robot arm modeling and control

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Ulsoy, A. Galip↗

NASA NTRS1989

Active-member control of precision structures

This paper presents the results of closed loop experiments that use piezoelectric active-members to control the flexible motion of a precision truss structure. These experiments are directed toward the development of high performance structural systems as part of the Control/Structure Interaction program at JPL. Order of magnitude reductions in dynamic response are achieved with relatively simple control techniques. The practical implementation of high stiffness, high bandwidth active-members in a precision structure highlights specific issues of importance relating to the modelling and implementation of active-member control.

Fanson, J. L.↗

NASA NTRS1976

Gate assisted turn-off thyristor with cathode shunts and dynamic gate

A 1,000-V, 200-A gate-assisted turn-off thyristor (GATT) is described, whose design features include an interdigitated shunted cathode, a dynamic gate, a means for optimizing the carrier lifetime level, and a bypass diode. The device physics of gate-assisted turn-off are reviewed. Based on this, improvements in the design are described. It is shown that a prime failure mode can be eliminated and that the gate-assist signal voltage can be substantially decreased by employing a shunted cathode emitter. The test data show excellent turn-on characteristics due to the dynamic gate and the long perimeter of the edge of the main cathode. Turn-off times as short as 3 microsec are obtained. The combination of controlling the carrier lifetime with a precisely controlled and easily variable irradiation dose of high energy electrons with gate assist current provides for simple, precision tailoring of the device characteristics to the intended application.

Schlegel, E. S.↗

NASA NTRS1991

Recent results on structural control of an active precision structure

This paper describes recent results in structural control of an active precision truss structure at JPL. The goal is to develop practical control methodology and to apply to active truss structures intended for high precision space-based optics applications. The active structure considered incorporates piezoelectric active members which apply control forces internal to the structure and thereby improve the structure's dimensional stability. Two approaches to structural control system design were investigated. The first approach uses only noncollocated measurements of acceleration at the location of a simulated optical component to achieve structural stabilization. The second approach is essentially the same as the first one except that a viscous damper was used in place of a truss member on the structure to improve the dampings of selected flexible modes. The corresponding experimental closed-loop results are presented in this paper.

Chu, C. C.↗

NASA NTRS1972

Polarization tracking system for satellites.

The basic problem is to develop a 4 GHz polarization follower which tracks a linear vector transmitted by the satellite, with high precision. Applications include spacecraft attitude control, polarization following for linearly polarized communication receiving antennas, and Faraday rotation measurements. Considered primary information, an angular precision of better than 0.5 deg has been demonstrated at 4 GHz. Both theoretical and experimental aspects are discussed.

Taylor, R. E.↗

NASA NTRS1989

Test and validation for robot arm control dynamics simulation

The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Yae, K. Harold↗