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At least 955 records · Page 53

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NASA NTRS1990

Terrain interaction with the quarter scale beam walker

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Chun, Wendell H.↗

NASA NTRS1993

Technical support for digital systems technology development. Task order 1: ISP contention analysis and control

Alternatives for realizing a packet-based network switch for use on a frequency division multiple access/time division multiplexed (FDMA/TDM) geostationary communication satellite were investigated. Each of the eight downlink beams supports eight directed dwells. The design needed to accommodate multicast packets with very low probability of loss due to contention. Three switch architectures were designed and analyzed. An output-queued, shared bus system yielded a functionally simple system, utilizing a first-in, first-out (FIFO) memory per downlink dwell, but at the expense of a large total memory requirement. A shared memory architecture offered the most efficiency in memory requirements, requiring about half the memory of the shared bus design. The processing requirement for the shared-memory system adds system complexity that may offset the benefits of the smaller memory. An alternative design using a shared memory buffer per downlink beam decreases circuit complexity through a distributed design, and requires at most 1000 packets of memory more than the completely shared memory design. Modifications to the basic packet switch designs were proposed to accommodate circuit-switched traffic, which must be served on a periodic basis with minimal delay. Methods for dynamically controlling the downlink dwell lengths were developed and analyzed. These methods adapt quickly to changing traffic demands, and do not add significant complexity or cost to the satellite and ground station designs. Methods for reducing the memory requirement by not requiring the satellite to store full packets were also proposed and analyzed. In addition, optimal packet and dwell lengths were computed as functions of memory size for the three switch architectures.

Stehle, Roy H.↗

NASA NTRS1981

Optimum damper locations for a free-free beam

Algorithms to optimally locate and design dampers for large space structures were developed. The requirements for distributed sensing and actuation in control of structural systems were determined. Mathematical programming was used to solve for optimum damping rate and location. Actuator dynamics were considered to solve for optimum actuator mass.

Horner, G. C.↗

NASA NTRS2010

Mode Tracker for Mode-Hop-Free Operation of a Laser

A mode-tracking system that includes a mode-controlling subsystem has been incorporated into an external-cavity (EC) quantum cascade laser that operates in a mid-infrared wavelength range. The mode-tracking system makes it possible to perform mode-hop-free wavelength scans, as needed for high-resolution spectroscopy and detection of trace gases. The laser includes a gain chip, a beam-collimating lens, and a diffraction grating. The grating is mounted on a platform, the position of which can be varied to effect independent control of the EC length and the grating angle. The position actuators include a piezoelectric stage for translation control and a motorized stage for coarse rotation control equipped with a piezoelectric actuator for fine rotation control. Together, these actuators enable control of the EC length over a range of about 90 m with a resolution of 0.9 nm, and control of the grating angle over a coarse-tuning range of +/-6.3deg and a fine-tuning range of +/-520 microrad with a resolution of 10 nrad. A mirror mounted on the platform with the grating assures always the same direction of the output laser beam.

Wysocki, Gerard↗

NASA NTRS1991

Interaction dynamics of on-orbit construction

Deployment and assembly of large structures in orbit is a critical technology to the overall problem of orbital construction. The attendant large configuration changes of structures will cause significant changes in the dynamic characteristics of the entire system, and perturbation to the orbital dynamics of the spacecraft from which the structures are deployed and/or assembled. To better design structures for deployment and assembly, and to better design controlled deployment/assembly processes, accurate modeling techniques are absolutely essential. The problem of modeling the dynamics of deploying and retrieving beam-like structures from a rotating base was addressed. A methodology for discrete modeling, and a computational procedure were developed. These results give us the capability of understanding and predicting the effects on the overall satellite motion of deploying flexible appendages. This is an initial step towards a general capability of treating axially moving three-dimensional beams. The interaction dynamics of the orbiter, its flexible manipulator, and the structures to be assembled/deployed, as a prerequisite in order to simulate incremental in-space structural construction processes are investigated. Preliminary results so obtained indicate that, as the inertia properties of the flexible large space structure under construction change during the space assembly/construction process, the interaction dynamics undergo significant changes in their characteristics, thus revealing the need for a variety of control strategies throughout construction.

Park, K. C.↗

NASA NTRS1990

On the nature of the interaction between structures and actuators in vibration suppression

This lecture presents a summary of work on the analysis of the interaction between a structure, an actuator used to suppress the vibration of the structure, and the control law implemented by the actuator. Two control applications are considered. First, a proof-mass actuator with experimentally verified dynamics, capable of being used in a space structure configuration is examined. This is connected to a cantilevered beam modeled as a single degree of freedom system. Secondly, an electric motor, again with experimentally verified dynamics, is used to slew a beam modeled by a partial differential equation. Both the experimental and numerical configuration predict the presence of potential instabilities in system performance if proper consideration is not given to interactions between the control law, the structure and the actuator. In addition, an understanding of the interaction is shown to greatly effect performance. In particular it is shown that judicious choice of actuator parameters greatly improves closed loop performance.

Inman, Daniel J.↗

NASA NTRS1994

A modular solid state detector for measuring high energy heavy ion fragmentation near the beam axis

A multi-element solid state detector has been designed to measure fluences of fragments produced near the beam axis by high energy heavy ion beams in thick targets. The detector is compact and modular, so as to be readily reconfigured according to the range of fragment charges and energies to be measured. Preamplifier gain settings and detector calibrations are adjustable remotely under computer control. We describe the central detector, its associated detectors and electronics, triggering scheme, data acquisition and particle identification techniques, illustrated by data taken with 600 MeV/u 56Fe beams and thick polyethylene targets at the LBL Bevalac. The applications of this work to space radiation protection are discussed.

NASA Center HQS↗

NASA NTRS1972

Comparison of advanced propulsion concepts for deep space exploration

Equations and charts are presented that permit rapid estimation of propulsion-system performance requirements for some typical deep-space missions. A number of advanced propulsion concepts for which performance estimates are available are compared with respect to their capability for flyby, rendezvous, and roundtrip planetary missions. Based on these estimates, the gas-core nuclear fission rocket and the pulsed fusion rocket yield the fastest trip times to the near planets. For round trips to Jupiter and beyond, the controlled fusion rocket shows progressively superior capabilities. Several propulsion concepts based on use of impinging laser beams are found to be noncompetitive with the other advanced concepts for deep space missions. Requirements for attainment of interstellar distances within a human lifetime are found to be some orders of magnitude beyond the capabilities of any propulsion concepts for which performance estimates are now possible.

Moeckel, W. E.↗

NASA NTRS1972

Comparison of advanced propulsion concepts for deep space exploration.

Equations and charts are presented which permit rapid estimation of propulsion system performance requirements for some typical deep space missions. The simplicity results from use of gravity-free equations of motion, which are shown to yield good approximations to trip times obtained with solar gravity and planetary motion included. The agreement is satisfactory for missions that do not enter or depart from low orbits about the major planets. A number of advanced propulsion concepts for which performance estimates are available are compared with respect to their capability for fly-by, rendezvous, and round-trip planetary missions. Based on these estimates, the gas-core nuclear fission rocket and the pulsed fusion rocket yield the fastest trip times to the near planets. For round trips to Jupiter and beyond, the controlled fusion rocket shows progressively superior capabilities. Several propulsion concepts based on use of impinging laser beams are found to be noncompetitive with the other advanced concepts for deep space missions.

Moeckel, W. E.↗

NASA NTRS1975

Spatially coherent radiation from an array of GaAs lasers

Spatially coherent radiation from a monolithic array of three homostructure GaAs lasers is reported. The three lasers, with their mirror faces antireflection coated, are operated in an external optical cavity built of spherical lenses and plane mirrors. The spatially coherent beam formation makes use of the Fourier transformation property of the internal lenses. The transverse mode control is performed by a spatial filter. The optical peak power at room temperature of the device was measured to be 5 W, three times the power of a single laser in the array. From the synthesized far-field distribution which was evaluated, we conclude that the laser radiation is of spatial coherence.

Philipp-Rutz, E. M.↗

NASA NTRS1979

Manufacturing processes for fabricating graphite/PMR 15 polyimide structural elements

Investigations were conducted to obtain commercially available graphite/PMR-15 polyimide prepreg, develop an autoclave manufacturing process, and demonstrate the process by manufacturing structural elements. Controls were established on polymer, prepreg, composite fabrication, and quality assurance, Successful material quality control and processes were demonstrated by fabricating major structural elements including flat laminates, hat sections, I beam sections, honeycomb sandwich structures, and molded graphite reinforced fittings. Successful fabrication of structural elements and simulated section of the space shuttle aft body flap shows that the graphite/PMR-15 polyimide system and the developed processes are ready for further evaluation in flight test hardware.

Sheppard, C. H.↗

NASA NTRS1985

Stochastic response analysis, order reduction, and output feedback controllers for flexible spacecraft

Real disturbances and real sensors have finite bandwidths. The first objective of this paper is to incorporate this finiteness in the 'open-loop modal cost analysis' as applied to a flexible spacecraft. Analysis based on residue calculus shows that among other factors, significance of a mode depends on the power spectral density of disturbances and the response spectral density of sensors at the modal frequency. The second objective of this article is to compare performances of an optimal and a suboptimal output feedback controller, the latter based on 'minimum error excitation' of Kosut. Both the performances are found to be nearly the same, leading us to favor the latter technique because it entails only linear computations. Our final objective is to detect an instability due to truncated modes by representing them as a multiplicative and an additive perturbation in a nominal transfer function. In an example problem it is found that this procedure leads to a narrow range of permissible controller gains, and that it labels a wrong mode as a cause of instability. A free beam is used to illustrate the analysis in this work.

Hablani, H. B.↗

NASA NTRS1987

Finite element model of SCOLE laboratory configuration

The Spacecraft Control Laboratory Experiment (SCOLE) is defined by element properties: material constants; mast, reflector, rigid links as beam elements; cable as bar element; and space shuttle as very stiff beam. Two boundary conditions are modeled: suspended (6 degrees of freedom for all joints except the top of the cable) and cantilevered cables (shuttle platform fixed in all degrees of freedon). Calculations include stiffness and mass matrices, initial stresses, static displacements and reactions, and eigensolutions.

Lee, Beth↗

NASA NTRS1988

Attitude control system testing on SCOLE

This paper presents implementation of two control policies on SCOLE (Space Control Laboratory Experiment), a laboratory apparatus representing an offset-feed antenna attached to the Space Shuttle by a flexible mast. In the first case, the flexible mast was restrained by cables, permitting modeling of SCOLE as a rigid-body. Starting from an arbitrary state, SCOLE was maneuvered to a specified terminal state using rigid-body minimum-time control law. In the second case, the so called single step optimal control (SSOC) theory is applied to suppress vibrations of the flexible mast mounted as a cantilever beam. Based on the SSOC theory, two parameter optimization algorithms were developed.

Shenhar, J.↗

NASA NTRS1988

Carbon doping in molecular beam epitaxy of GaAs from a heated graphite filament

Carbon doping of GaAs grown by molecular beam epitaxy has been obtained for the first time by use of a heated graphite filament. Controlled carbon acceptor concentrations over the range of 10 to the 17th-10 to the 20th/cu cm were achieved by resistively heating a graphite filament with a direct current power supply. Capacitance-voltage, p/n junction and secondary-ion mass spectrometry measurements indicate that there is negligible diffusion of carbon during growth and with postgrowth rapid thermal annealing. Carbon was used for p-type doping in the base of Npn AlGaAs/GaAs heterojunction bipolar transistors. Current gains greater than 100 and near-ideal emitter heterojunctions were obtained in transistors with a carbon base doping of 1 x 10 to the 19th/cu cm. These preliminary results indicate that carbon doping from a solid graphite source may be an attractive substitute for beryllium, which is known to have a relatively high diffusion coefficient in GaAs.

Malik, R. J.↗

NASA NTRS1988

Initial test results for the mini-mast

The objectives of the 20-meter Mini-Mast were: (1) to learn how to efficiently test this type of large truss structure, (2) to relate component testing to the overall behavior of the structure, and (3) to update the associated analytical model based upon the experimental data. The Mini-Mast represents structural characteristics similar to the COFS beam which is planned to be flown on Shuttle to perform on-orbit structures and controls experiments. The information is of interest to LDR because it represents analysis and test information on a truss-type structure which may be similar to the Large Deployable Reflector (LDR) backup structure. The structure has a total of 111 titanium joints; the joint in the center of the truss element is a near-center latch joint. The results of this research indicate that linear deployable-type structures can be built, but difficulties do exist in extracting modes with identical frequencies; gravitational loading does affect the ground test results; and prediction of truss-type-structure dynamic characteristics is not trivial.

Horta, L.↗

NASA NTRS1990

Electron-impact ionization and electron attachment cross sections of radicals important in transient gaseous discharges

Electron-impact ionization and electron attachment cross sections of radicals and excited molecules were measured using an apparatus that consists of an electron beam, a molecular beam and a laser beam. The information obtained is needed for the pulse power applications in the areas of high power gaseous discharge switches, high energy lasers, particle beam experiments, and electromagnetic pulse systems. The basic data needed for the development of optically-controlled discharge switches were also investigated. Transient current pulses induced by laser irradiation of discharge media were observed and applied for the study of electron-molecule reaction kinetics in gaseous discharges.

Lee, Long C.↗

NASA NTRS1992

Comparative study of spermatogonial survival after X-ray exposure, high LET (HZE) irradiation or spaceflight

Spermatogonial cell loss has been observed in rats flown on Space Lab 3, Cosmos 1887, Cosmos 2044 and in mice following irradiation with X-ray or with HZE particle beams. Spermatogonial loss is determined by cell counting in maturation stage-6 seminferous tubules. With the exception of iron, laboratory irradiation experiments (with mice) revealed a similar pattern of spermatogonial loss proportional to the radiation dose at levels less than 0.1 Gy. Helium and argon irradiation resulted in a 5-percent loss of spermatogonia after only 0.01 Gy exposure. Significant spermatogonial loss (45 percent) occurred at this radiation level with iron particle beams. The loss of spermatogonia during each spaceflight was less than 10 percent when compared to control (nonflight) animals.

Sapp, W. J.↗