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NASA NTRS1982

The effects of the delays on systems subject to manual control

Results are presented of an experimental study to determine the effects of time delays in manual control systems. A simple, fixed-base laboratory simulation facility is used for determining pilot dynamics and tracking performance in a series of single-axis, compensatory tracking tasks. In these tasks, three time-delay values and three controlled-element dynamics are used. The delays are chosen to encompass values encountered in experimental and operational aircraft. It is noted that the controlled-element dynamics replicate those found in many previous manual control studies, that is, the classical displacement, rate, and acceleration control systems. The experimental effort is complemented with an analytical pilot modeling study where the parameters of a structural model of the human pilot are adjusted so as to provide excellent matches to the experimentally determined pilot dynamics. The experimental and analytical studies both indicate that time delays cause significant changes in pilot equalization requirements.

Hess, R. A.↗

NASA NTRS1981

A comparison of tracking with visual and kinesthetic-tactual displays

Recent research on manual tracking with a kinesthetic-tactual (KT) display suggests that under appropriate conditions it may be an effective means of providing visual workload relief. In order to better understand how KT tracking differs from visual tracking, both a critical tracking task and stationary single-axis tracking tasks were conducted with and without velocity quickening. On the critical tracking task, the visual displays were superior; however, the KT quickened display was approximately equal to the visual unquickened display. Mean squared error scores in the stationary tracking tasks for the visual and KT displays were approximately equal in the quickened conditions, and the describing functions were very similar. In the unquickened conditions, the visual display was superior. Subjects using the unquickened KT display exhibited a low frequency lead-lag that may be related to sensory adaptation.

Jagacinski, R. J.↗

NASA NTRS1982

Development of a magnetic acquisition and attitude control system for spinning rocket payloads

An attitude control system capable of pointing the roll principle axis of a spinning payload to within one degree of the magnetic field vector was flown successfully in 1981-82 aboard three Black Brant X payloads and one Terrier Malemute payload, and additional flights with the system have been requested. Using a filtered linear combination of signals provided by a single-axis rate gyro and a two-axis magnetometer, and control actuation from two cold-gas thrusters, the system can be assembled from standard rocket components and fitted to any payload size.

Olney, D. J.↗

NASA NTRS1983

Compensation for time delay in flight simulator visual-display systems

A piloted aircraft can be viewed as a closed-loop, man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability, and these changes bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. Delay compensation, designed to restore pilot-aircraft system stability, was evaluated in several studies which are reported here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish statistical significance of the results) to a brief evaluation of compensation of a computer-generated-imagery (CGI) visual display system in a full six-degree-of-freedom simulation. The compensation was effective - improvements in pilot performance and workload or aircraft handling-qualities rating (HQR) were observed. Results from recent aircraft handling-qualities research literature which support the compensation design approach are also reviewed.

Crane, D. F.↗

NASA NTRS1983

A comparison of visual and kinesthetic-tactual displays for compensatory tracking

Recent research on manual tracking with a kinesthetic-tactual (KT) display suggests that under certain conditions it can be an effective alternative or supplement to visual displays. In order to understand better how KT tracking compares with visual tracking, both a critical tracking and stationary single-axis tracking tasks were conducted with and without velocity quickening. In the critical tracking task, the visual displays were superior, however, the quickened KT display was approximately equal to the unquickened visual display. In stationary tracking tasks, subjects adopted lag equalization with the quickened KT and visual displays, and mean-squared error scores were approximately equal. With the unquickened displays, subjects adopted lag-lead equalization, and the visual displays were superior. This superiority was partly due to the servomotor lag in the implementation of the KT display and partly due to modality differences.

Jagacinski, R. J.↗

NASA NTRS1984

Velocity vector analysis of a juncture flow using a three component laser velocimeter

A specialized single-axis, five-beam three-component laser velocimeter was constructed and used to study the flow field in a juncture. The juncture was defined by a blunt leading edged vertical splitter plate and a sharp leading edged horizontal plate. The investigations were conducted in the Low Turbulence Pressure Tunnel at a Mach number of 0.1 and a Reynolds number of 2.2 x 10 to the 6th per meter over the model. The three-component velocity flow field in the juncture was measured, Reynolds stresses calculated, and the velocity vector analysis performed.

Meyers, J. F.↗

NASA NTRS1983

Description of the containerless melting of glass in low gravity

A brief description is given of a single-axis, acoustic levitator/furnace apparatus used to position, heat, melt, and quench multicomponent oxide, glass-forming compositions in low gravity. This apparatus is capable of processing eight approximately spherical samples (about 6 mm diameter) at temperatures up to 1550 C in a dry air atmosphere. Results are also presented for a containerless melting experiment conducted on SPAR VI where a ternary CaO-Ga2O3-SiO2 composition was levitated and quenched to a glass. Selected properties of the glass prepared on SPAR VI are compared with the properties of glass samples of identical composition prepared on earth.

Ray, C. S.↗

NASA NTRS1984

The effects of time delay in man-machine control systems: Implications for design of flight simulator Visual-Display-Delay compensation

When human operators are performing precision tracking tasks, their dynamic response can often be modeled by quasilinear describing functions. That fact permits analysis of the effects of delay in certain man machine control systems using linear control system analysis techniques. The analysis indicates that a reduction in system stability is the immediate effect of additional control system delay, and that system characteristics moderate or exaggerate the importance of the delay. A selection of data (simulator and flight test) consistent with the analysis is reviewed. Flight simulator visual-display delay compensation, designed to restore pilot aircraft system stability, was evaluated in several studies which are reviewed here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish the statistical significance of the results) to a brief evaluation of compensation of a computer generated imagery (CGI) visual display system in a full six degree of freedom simulation. The compensation was effective, improvements in pilot performance and workload or aircraft handling qualities rating (HQR) were observed. Results from recent aircraft handling qualities research literature, which support the compensation design approach, are also reviewed.

Crane, D. F.↗

NASA NTRS1985

Time-optimal bang-bang slew of rigidized SCOLE configuration

This paper addresses: (1) an application of the well-known time-optimal bang-bang control theory to the design of minimal-time limited-torque single-axis slew maneuvers for the rigidized configuration of NASA Langley Research Center's Spacecraft Control Laboratory Experiment (SCOLE) and (2) the associated generic side effects due to spillover of slew motions and applied torques. Numerical experiments that helped pinpoint the specific causes of performance degradation are discussed. Analytical as well as scientifically interesting numerical research results are given.

Lin, J. G.↗

NASA NTRS1985

Plasma-depleted holes, waves, and energized particles from high-altitude explosive plasma perturbation experiments

The results of high-explosive shaped charge experiments King Crab and Bubble Machines I and II, intended to perturb the ambient plasma and magnetic field, are discussed. The instrumentation was flown above an altitude of 460 km in March 1980 and 1981 and comprised a single-axis dipole electric field detector, a fixed bias cylindrical Langmuir probe, a three-axis attitude magnetometer, and curved plated energetic ion and electron electrostatic analyzer. Among the effects of the explosion which are detailed, emphasis is placed on the creation of an ion-depleted dark hole during the Bubble Machine II experiment; mechanisms explaining the phenomenon are outlined. The auroral intensity ion beams with energies of up to 6.8 keV, observed following the explosion in the field-aligned ion electrostatic analyzer, are suggested to represent an existing ion conic population pitch angle scattered by the released barium into the view of the detector.

Wescott, E. M.↗

NASA NTRS1985

Analytical investigation of the dynamics of tethered constellations in Earth orbit, phase 2

This Quarterly Report deals with the deployment maneuver of a single-axis, vertical constellation with three masses. A new, easy to handle, computer code that simulates the two-dimensional dynamics of the constellation has been implemented. This computer code is used for designing control laws for the deployment maneuver that minimizes the acceleration level of the low-g platform during the maneuver.

Lorenzini, E.↗

NASA NTRS1986

Inflight redesign of the IUE attitude control system

The one- and two-gyro system designs of the International Ultraviolet Explorer (IUE) attitude control system (ACS) are examined. The inertial reference assembly that provides the primary attitude reference for IUE consists of six rate sensors which are single-axis rate integrating gyros. The gyros operate in a pulse rebalanced mode that produces an output pulse for 0.01 arcsec of motion about the input axis. The functions of the fine error sensor, fine sun sensor (FSS), the IUE reaction wheels, the onboard computer, and the hold/slew algorithm are described. The use of the hold/slew algorithm to compute the control voltage for the ACS based on the Kalman filter is studied. A two-gyro system was incorporated into IUE following gyro failure. The procedures for establishing attitude control with the two-gyro design based on the FSS is analyzed. The performance of the two-gyro system is evaluated; it is observed that the pitch and yaw gyro control is 0.24 arcsec and the control is sufficient to permit extended periods of observation.

Femiano, M. D.↗

NASA NTRS1986

Development of the Lens Antenna Deployment Demonstration (LADD) shuttle-attached flight experiment

The primary objective of the LADD Program is to develop a technology demonstration test article that can be used for both ground and flight tests to demonstrate the structural and mechanical feasibility and reliability of the single-axis roll-out space based radar (SBR) approach. As designed, the LADD will essentially be a generic strucutural experiment which incorporates all critical technology elements of the operational satellite and is applicable to a number of future antenna systems. However, to fully determine its design integrity for meeting the lens flatness and constant geometry requirements in a zero g environment under extreme thermal conditions, the LADD must be space flight tested. By accurately surveying the structure under varying conditions the membrane tolerance-holding capabilities of the structure will be demonstrated. The flight test will provide data to verify analytical tools used to predict thermal and structural behavior. Most important, the experiment will provide an initial indication of structural damping in a zero g vacuum environment. The recently completed Solar Array Flight Experiment (SAFE) showed orbital damping greater than that experienced during ground testing. From the experience and the information obtained from LADD it is hoped that designs can be confidently extrapolated to operational satellites with apertures in the 20 m by 60 m size range.

Hill, H.↗

NASA NTRS1986

Containerless processing technology

Ground- and space-based containerless processing levitation devices are described. Experiments performed in the MSFC drop tube, the JPL drag-free drop facilities, a single-axis tuned cavity acoustic levitator furnace on TEXUS-I, and a three-axis acoustic levitator and furnace on the STS-11 mission are discussed. Neither acoustic interference nor aerodynamic levitation trials have yielded promising results in sounding rocket and STS based experiments. An electrostatic levitator has furnished a high degree of positioning control with multiple objects in a terrestrial laboratory.

Naumann, R. J.↗

NASA NTRS1986

Electric field measurements during the Condor critical velocity experiment

The instrumentation of the Condor critical velocity Ba experiment (Wescott et al., 1986) for the measurements of the energetic particles and the electric field associated with a Ba explosion is described. The Ba explosion created a complex electric field pulse detected in situ by a single-axis double electric-field probe on a separate spacecraft. The measurements provide evidence of several important links in the critical-velocity chain, and are consistent with two hypotheses. The first hypothesis involves the creation of large polarization electric field due to charge separation; the second hypothesis implies a polarization of the beam by currents flowing across it. The chain of physical processes inferred from the observations is in agreement with most theories for the Alfven process.

Kelley, M. C.↗

NASA NTRS1986

An electromagnetic/electrostatic dual cathode system for electron beam instruments

A method of providing cathode redundancy which consists of two fixed cathodes and uses electromagnetic and/or electrostatic fields to direct the electron beam to the electron optical axis is presented, with application to the cathode system of the Scanning Electron Microscope and Particle Analyzer proposed for NASA's Mariner Mark II Comet Rendezvous/Asteroid Flyby projected for the 1990s. The symmetric double deflection system chosen has the optical property that the image of the effective electron source is formed above the magnet assembly near the apparent position of the effective source, and it makes the transverse positions of the electron sources independent of the electron beam energy. Good performance of the system is found, with the sample imaging resolution being the same as for the single-axis cathode.

Bradley, J. G.↗

NASA NTRS1961

Predicted Performance of On-Off Systems for Precise Satellite Attitude Control

An investigation has been made of the use of on-off reaction jets for precision attitude control of a satellite. Since a symmetrical vehicle is assumed, only single-axis control needs to be considered. The responses to initial disturbances and also limit-cycle characteristics for several systems have been evaluated. Calculated results indicate that realistic values of settling time and fuel consumption for the example considered can be obtained. The performance of a given system depends on the characteristics of the error detector used. In cases where the detector output was saturated for a relatively low error input, the settling time deteriorated when a lead network was used to provide damping. This deterioration could be eliminated if a separate rate signal to produce vehicle rate limiting were available. As an alternate approach, two systems were investigated which used a timed sequence of torques and could operate with a detector output of very small linear range. Although the performance of these systems was poorer than that of the lead network system without detector saturation, the performance was better than that of the lead network system with low values of detector saturation. The effects on limit-cycle characteristics of hysteresis, lead network constants, dead zone, and thrust time delays were also investigated.

Brown, Stuart C.↗

NASA NTRS1965

Human Tracking Performance in Uncoupled and Coupled Two-Axis Systems

This report presents tile results of an experimental and analytical study of human performance in uncoupled and coupled control systems. Human pilot performance in single and two-axis systems was mathematically modeled by linear second-order describing functions. Model parameters were determined using model matching techniques. Analysis of the models showed that the amplitude ratio and phase lead of the describing function increased with training indicating an increase in open loop bandwidth. The phase margin also decreased with training. Increasing the plant lag time constant resulted in an increase in the model lead time constant and a decrease in the zero frequency gain. No significant difference was found to exist in the normalized tracking error per axis between the two-axis tasks and the single-axis tasks. However tile model lead time constant was significantly greater in two-axis tracking. Manual tracking of two-axis systems with cross-coupling was studied experimentally and analytically. Approximate methods for modeling two-axis performance were developed and checked using a precise spectral analysis approach. Coupled and uncoupled, symmetrical and asymmetrical two-axis performance was compared. The results show that modeling of cross-coupled systems is feasible and that trained subjects are capable of decoupling the axes of some systems. A methodology study compared the identification performance of continuous, iterative, and extrapolation model matching techniques. An iterative technique employing sensitivity equations for the generation of influence coefficients was found to be the best technique due to its excellent identification accuracy and ease of implementation. Convergence in iterative techniques can be improved substantially by equalizing the parameter adjustment rates and limiting the maximum correction per iteration.

Todosiev, E. P.↗