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Analysis predicts decrease in fluid viscosity by comparing pressure profile of fluid/gas mixture with that of power-law fluid. Fluid is taken to be viscous, non-Newtonian, and incompressible; the gas to be ideal; the flow to be inertia-free, isothermal, and one dimensional. Analysis assists in design of flow systems for petroleum, coal, polymers, and other materials.
Two types of advanced seals for liquid oxygen (LOX) turbopumps were investigated. One was a spiral-groove face seal whose function is to seal high-pressure LOX at the impeller end of the turbopump. The other was a floating-ring, Rayleigh-step, helium buffered seal used to prevent LOX ingress to the turbine side of the unit. For each seal type, two sizes were investigated (50 and 20 mm). A turbine-driven test rig was designed and manufactured, and a test program was completed on the 50 mm floating-ring, Rayleigh-step, helium buffered seal. Significant results were: vaporization in the flow path could cause failure by overheating; therefore, the spiral-groove pumping portion of the seal that provides the fluid film must circulate fluid without disruption if vaporization occurs in the sealing dam. This is successfully accomplished by a pressure-balanced spiral-groove concept that is described. The spiral-groove configuration is affected by turbulence in the fluid film and pressure drops due to fluid inertia at sudden contractions. The net results of these effects are deep grooves, large operating films, and high power loss when compared against seals operating with laminar films. Turbulence and inertia are induced by the high-density and low-viscosity characteristics of LOX. The program clearly pointed out the need to consider system environmental factors such as thermal and centrifugal distortions and rotor vibrations in the seal design.
An aircraft capable of transporting containerized cargo over intercontinental distances is analyzed. The specifications for payload weight, density, and dimensions in essence configure the wing and establish unusually low values of wing loading and aspect ratio. The structural weight comprises only about 18 percent of the design maximum gross weight. Although the geometric aspect ratio is 4.53, the winglet effect of the wing-tip-mounted vertical tails, increase the effective aspect ratio to approximately 7.9. Sufficient control power to handle the large rolling moment of inertia dictates a relatively high minimum approach velocity of 315 km/hr (170 knots). The airplane has acceptable spiral, Dutch roll, and roll-damping modes. A hardened stability augmentation system is required. The most significant noise source is that of the airframe. However, for both take-off and approach, the levels are below the FAR-36 limit of 108 db. The design mission fuel efficiency is approximately 50 percent greater than that of the most advanced, currently operational, large freighter aircraft. The direct operating cost is significantly lower than that of current freighters, the advantage increasing as fuel price increases.
Results are presented of dynamic structural analyses of 75 and 300 kW versions of a solar dynamic (SD) power supply for the Space Station (MSS). The SD is being seriously considered as an alternative to solar panels due to lower areal and mass requirements and higher efficiencies. The functioning principle is to use parabolic concentrators to focus sunlight on a heat engine to boil liquids to drive a turbine. Potential problems are foreseen in terms of the torques which would be experienced by the MSS and the subsequent orbital stability effects. The stability would be altered by changing aerodynmaic drag, altered moment of inertia and angular momentum and the altered center of mass location. The problem is exacerbated by the need to first equip the MSS with solar panels while the SD technology is developed. The analysis shows that the attitude control system will need to be redesigned and resized to accommodate MSS growth with either power system. The effects of the rotating parts of the SD system can be minimized, but further studies are required to determine the effects on the pointing accuracy of the SD, which must be 10 times as precise as that needed by a photovoltaic array.
A program was conducted to design and develop an advanced-concept motor specifically created for propulsion of electric vehicles with increased range, reduced energy consumption, and reduced life-cycle costs in comparison with conventional systems. The motor developed is a brushless, dc, rare-earth cobalt, permanent magnet, axial air gap inductor machine that uses an ironless stator. Air cooling is inherent provided by the centrifugal-fan action of the rotor poles. An extensive design phase was conducted, which included analysis of the system performance versus the SAE J227a(D) driving cycle. A proof-of-principle model was developed and tested, and a functional model was developed and tested. Full generator-level testing was conducted on the functional model, recording electromagnetic, thermal, aerodynamic, and acoustic noise data. The machine demonstrated 20.3 kW output at 1466 rad/s and 160 dc. The novel ironless stator demonstated the capability to continuously operate at peak current. The projected system performance based on the use of a transistor inverter is 23.6 kW output power at 1466 rad/s and 83.3 percent efficiency. Design areas of concern regarding electric vehicle applications include the inherently high windage loss and rotor inertia.
The control of large space structures was studied to determine what, if any, limitations are imposed on the size of spacecraft which may be controlled using current control system design technology. Using a typical structure in the 35 to 70 meter size category, a control system design that used actuators that are currently available was designed. The amount of control power required to maintain the vehicle in a stabilized gravity gradient pointing orientation that also damped various structural motions was determined. The moment of inertia and mass properties of this structure were varied to verify that stability and performance were maintained. The study concludes that the structure's size is required to change by at least a factor of two before any stability problems arise. The stability margin that is lost is due to the scaling of the gravity gradient torques (the rigid body control) and as such can easily be corrected by changing the control gains associated with the rigid body control. A secondary conclusion from the study is that the control design that accommodates the structural motions (to damp them) is a little more sensitive than the design that works on attitude control of the rigid body only.
This presentation provides an introductory overview of system dynamics and frequency control in electric power systems, with a focus on concepts relevant to small and interconnected grids such as those in Malawi. It explains foundational principles of AC system frequency, the relationship between generation-demand balance and frequency deviations, and the operational limits of generators and end-use equipment. The deck discusses frequency stability within broader system stability classifications and illustrates how inertia and turbine-governor dynamics shape system response to disturbances. It then outlines the tiered approach to frequency control - primary, secondary, and tertiary - detailing the roles, characteristics, timescales, and response mechanisms of each. Special emphasis is placed on hydro and thermal unit behavior, area control error (ACE), automatic generation control (AGC), and the operational implications of interconnecting small systems with larger grids. The material was developed to support Malawi's electricity sector and the establishment of the Southern Africa Battery Energy Storage Center of Excellence (SABESS CoE).
This presentation provides an introductory overview of system dynamics and frequency control in electric power systems, with a focus on concepts relevant to small and interconnected grids such as those in Malawi. It explains foundational principles of AC system frequency, the relationship between generation-demand balance and frequency deviations, and the operational limits of generators and end-use equipment. The deck discusses frequency stability within broader system stability classifications and illustrates how inertia and turbine-governor dynamics shape system response to disturbances. It then outlines the tiered approach to frequency control - primary, secondary, and tertiary - detailing the roles, characteristics, timescales, and response mechanisms of each. Special emphasis is placed on hydro and thermal unit behavior, area control error (ACE), automatic generation control (AGC), and the operational implications of interconnecting small systems with larger grids. The material was developed to support Malawi's electricity sector and the establishment of the Southern Africa Battery Energy Storage Center of Excellence (SABESS CoE).
The purpose of this investigation was to determine the effect of different cadences on the ground reaction force (GRF(sub R)) during the squat exercise. It is known that squats performed with greater acceleration will produce greater inertial forces; however, it is not well understood how different squat cadences affect GRF(sub R). It was hypothesized that faster squat cadences will result in greater peak GRF(sub R). METHODS: Six male subjects (30.8+/-4.4 y, 179.5+/-8.9 cm, 88.8+/-13.3 kg) with previous squat experience performed three sets of three squats using three different cadences (FC = 1 sec descent/1 sec ascent; MC = 3 sec descent/1 sec ascent; SC = 4 sec descent/2 sec ascent) with barbell mass equal to body mass. Ground reaction force was used to calculate inertial force trajectories of the body plus barbell (FI(sub system)). Forces were normalized to body mass. RESULTS: Peak GRF(sub R) and peak FI(sub system) were significantly higher in FC squats compared to MC (p=0.0002) and SC (p=0.0002). Range of GRF(sub R) and FI(sub system) were also significantly higher in FC compared to MC (p<0.05), and MC were significantly higher than SC (p<0.05). DISCUSSION: Faster squat cadences result in significantly greater peak GRF(sub R) due to the inertia of the system. GRF(sub R) was more dependent upon decent cadence than on ascent cadence. PRACTICAL APPLICATION: This study demonstrates that faster squat cadences produce greater ground reaction forces. Therefore, the use of faster squat cadences might enhance strength and power adaptations to long-term resistance exercise training. Key Words: velocity, weight training, resistive exercise
Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.
In Jan. 1991, the LaRc SSFO performed an assessment of the configuration characteristics of the proposed pre-integrated Space Station Freedom (SSF) concept. Of particular concern was the relationship of solar array operation and orientation with respect to spacecraft controllability. For the man-tended configuration (MTC), it was determined that torque equilibrium attitude (TEA) seeking Control Moment Gyroscope (CMG) control laws could not always maintain attitude. The control problems occurred when the solar arrays were tracking the sun to produce full power while flying in an arrow or gravity gradient flight mode. The large solar array articulations that sometimes result from having the functions of the alpha and beta joints reversed on MTC induced large product of inertia changes that can invalidate the control system gains during an orbit. Several modified sun tracking techniques were evaluated with respect to producing a controllable configuration requiring no modifications to the CMG control algorithms. Another assessment involved the permanently manned configuration (PMC) which has a third asymmetric PV unit on one side of the transverse boom. Recommendations include constraining alpha rotations for MTC in the arrow and gravity gradient flight modes and perhaps developing new non-TEA seeking control laws. Recommendations for PMC include raising the operational altitude and moving to a symmetric configuration as soon as possible.
HyPER is a hardware-in-the-loop laboratory that was designed specifically to investigate the dynamic interactions between turbomachinery, the electric power system, and the constantly varying loads of electrified aircraft. It is a small-scale lab capable of rapid reconfiguration through software. This allows the emulation of new engines using simulation models that are easily replaced and then appropriately scaled for power and inertia to the test hardware.
This report summarizes the work performed on the 40 BP electro-mechanical actuator (EMA) system developed on NASA contract NAS3-25799 for the NASA National Launch System and Electrical Actuation (ELA) Technology Bridging Programs. The system was designed to demonstrate the capability of large, high power linear ELA's for applications such as Thrust Vector Control (TVC) on rocket engines. It consists of a motor controller, high frequency power source, drive electronics and a linear actuator. The power source is a 25kVA 20 kHz Mapham inverter. The drive electronics are based on the pulse population modulation concept and operate at a nominal frequency of 40 kHz. The induction motor is a specially designed high speed, low inertia motor capable of a 68 peak HP. The actuator was originally designed by MOOG Aerospace under an internal R & D program to meet Space Shuttle Main Engine (SSME) TVC requirements. The design was modified to meet this programs linear rate specification of 7.4 inches/second. The motor and driver were tested on a dynamometer at the Martin Marietta Space Systems facility. System frequency response and step response tests were conducted at the Marshall Space Flight Center facility. A complete description of the system and all test results can be found in the body of the report.
Control co-design (CCD) in Wave Energy Converters (WECs) integrates the controller, power take-off (PTO), and buoy models during system design to optimize power output. Using the bi-conjugate impedance matching principle, this study models the PTO as a two-port network, revealing impedance matching conditions at the input and output ports as a function of the buoy, PTO, and controller. Here, this study examines the pairing of a flywheel-type pitch resonator PTO within a given buoy constrained by limited space and ballast capacity. The results show that physical constraints imposed by the buoy affect PTO performance. While controller tuning achieves optimal output impedance matching and flywheel inertia is maximized within the buoy's limitations, the PTO's input impedance remains smaller than the complex conjugate of the buoy's intrinsic impedance. This mismatch limits the PTO's ability to generate sufficient reaction torque, particularly outside the resonance frequency, resulting in narrow-band power transfer. The findings emphasize the need for PTO design modifications to improve input power transfer. Pendulum-based PTO mechanisms are proposed as alternatives to couple with multiple buoy motion modes and improve wave-to-wire efficiency while respecting system constraints.
Inverter-based distributed energy resources (DERs) connected to distribution networks (DNs) can provide fast frequency support, but their reserve deliverability depends on feeder constraints and differs from synchronous primary frequency response (PFR). Existing transmission–distribution coordination studies usually treat reserve generically or neglect feeder-level feasibility, while frequency-security scheduling studies rarely represent distribution feeders explicitly. This paper develops a bi-level day-ahead scheduling framework for integrated transmission–distribution networks that jointly clears energy, transmission-side PFR, and distribution-side fast frequency response (FFR) under exogenous hourly inertia and largest-loss inputs from an external unit commitment (UC) schedule. The transmission problem is modeled with DC-optimal power flow (OPF) and closed-form second-order cone (SOC) frequency-security constraints, whereas each DN is represented by a reserve-aware branch-flow AC-OPF so that scheduled fast reserves remain deliverable during activation. The bi-level problem is reformulated through Karush–Kuhn–Tucker (KKT) conditions into a mixed-integer SOC program, and a penalty term is used to tighten the distribution-network relaxation. In the reduced test system, lower exogenous inertia increased the required primary response from 179.64 MW to 191.08 MW, distribution-side fast response reduced total frequency-response procurement by up to 4.9%, and neglecting distribution constraints overstated the combined distribution-side energy and reserve award by up to 18%. In the expanded study, the largest case was solved in 2.02 s with a 0.00% optimality gap. Time-domain simulations kept the frequency nadir above 59.0 Hz in all tested hours. These results demonstrate the value of fast-response modeling and distribution-feasible reserve delivery in coordinated market clearing.
The kinematics and dynamics of a Stewart Platform type parallel structure robot (NASA's Dynamic Docking Test System) were modeled using the method of kinematic influence coefficients (KIC) and isomorphic transformations of system dependence from one set of generalized coordinates to another. By specifying the end-effector (platform) time trajectory, the required generalized input forces which would theoretically yield the desired motion were determined. It was found that the relationship between the platform motion and the actuators motion was nonlinear. In addition, the contribution to the total generalized forces, required at the actuators, from the acceleration related terms were found to be more significant than the velocity related terms. Hence, the curve representing the total required actuator force generally resembled the curve for the acceleration related force. Another observation revealed that the acceleration related effective inertia matrix I sub dd had the tendency to decouple, with the elements on the main diagonal of I sub dd being larger than the off-diagonal elements, while the velocity related inertia power array P sub ddd did not show such tendency. This tendency results in the acceleration related force curve of a given actuator resembling the acceleration profile of that particular actuator. Furthermore, it was indicated that the effective inertia matrix for the legs is more decoupled than that for the platform. These observations provide essential information for further research to develop an effective control strategy for real-time control of the Dynamic Docking Test System.
Results are presented for the design and development of an upgraded engine. The design incorporated technology advancements which resulted from development testing on the Baseline Engine. The final engine performance with all retro-fitted components from the development program showed a value of 91 HP at design speed in contrast to the design value of 104 HP. The design speed SFC was 0.53 versus the goal value of 0.44. The miss in power was primarily due to missing the efficiency targets of small size turbomachinery. Most of the SFC deficit was attributed to missed goals in the heat recovery system relative to regenerator effectiveness and expected values of heat loss. Vehicular fuel consumption, as measured on a chassis dynamometer, for a vehicle inertia weight of 3500 lbs., was 15 MPG for combined urban and highway driving cycles. The baseline engine achieved 8 MPG with a 4500 lb. vehicle. Even though the goal of 18.3 MPG was not achieved with the upgraded engine, there was an improvement in fuel economy of 46% over the baseline engine, for comparable vehicle inertia weight.
Drive system rotates large-inertia load at constant low speed. Simple setup of motors, pulleys, and belts provides both torque and synchronism. Induction motor drives two loads: rotating instrument and slightly lagging synchronous motor. Provides ample torque to start and maintain rotation, and synchronous motor ensures rotation synchronized with ac power supply.