Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “beam propagation method”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

Structured Type III Radio Bursts Observed in Interplanetary Space

Context . The last few decades have seen numerous studies dedicated to fine structures of type III radio bursts observed in the meter–decameter wavelengths. Most of the explanations of the structured radio emission involve the propagation of electron beams through the strongly inhomogeneous plasma in the low corona. To date, only a few type III bursts with fine structures, observed at hecto-kilometric wavelengths, have been reported. Aims . We report here the existence of numerous structured type III radio bursts observed during the STEREO era by all three WAVES instruments on board STEREO A, B, and Wind. The aim of the study is to report and classify structured type III bursts, and to present the characteristics of their fine structures. The final goal is to try to understand the physical mechanism responsible for the generation of structured radio emission. Methods . In this study we used data from all available spacecraft, specifically STEREO and Wind. We employed 1D density models to obtain the speed of the source of type III radio emission, the electron beam. We also performed a spectral analysis of the fine structures in order to compare their characteristics with the metric–decametric fine structures. Results . The presented similarities of the type III fine structures in the metric to decametric and interplanetary wavelengths indicate that the physical processes responsible for the generation of structured type III radio bursts could be the same, at heights from the low corona to the interplanetary range. We show that the observed structuring and intermittent nature of the type III bursts can be explained by the variation in the level of density fluctuations, at different distances from the Sun.

Non-thermal radiation mechanisms↗

Free-Space Optical Communication for Spacecraft and Satellites including CubeSats in Low Earth Orbit (LEO)

A new method for optical data transmissions from satellites using laser arrays for laser beam pointing. Combines a lens system and a vertical cavity surface-emitting laser (VCSEL)/Photodetector Array, both mature technologies, in a novel way. With further development, possible applications include communications from the Earth to spacecraft in Earth orbit and in deep space, such as at the moon and Mars. A possible application is to the Artemis Program for CubeSats in low-Lunar Orbit (LLO), which use body pointing, by providing a fine pointing capability. This system has been applied to satellites in low-Earth orbit, (LEO), in a study using computer simulations of the laser beam propagation.

Goorjian, Peter M.↗

Multibeam Laser Altimeter for Planetary Topographic Mapping

Laser altimetry provides an active, high-resolution, high-accuracy method for measurement of planetary and asteroid surface topography. The basis of the measurement is the timing of the roundtrip propagation of short-duration pulses of laser radiation between a spacecraft and the surface. Vertical, or elevation, resolution of the altimetry measurement is determined primarily by laser pulse width, surface-induced spreading in time of the reflected pulse, and the timing precision of the altimeter electronics. With conventional gain-switched pulses from solid-state lasers and nanosecond resolution timing electronics, submeter vertical range resolution is possible anywhere from orbital altitudes of approximately 1 km to altitudes of several hundred kilometers. Horizontal resolution is a function of laser beam footprint size at the surface and the spacing between successive laser pulses. Laser divergence angle and altimeter platform height above the surface determine the laser footprint size at the surface, while laser pulse repetition rate, laser transmitter beam configuration, and altimeter platform velocity determine the spacing between successive laser pulses. Multiple laser transmitters in a single laser altimeter instrument that is orbiting above a planetary or asteroid surface could provide across-track as well as along-track coverage that can be used to construct a range image (i.e., topographic map) of the surface. We are developing a pushbroom laser altimeter instrument concept that utilizes a linear array of laser transmitters to provide contiguous across-track and along-track data. The laser technology is based on the emerging monolithic combination of individual, 1-sq cm diode-pumped Nd:YAG laser pulse emitters. Details of the multi-emitter laser transmitter technology, the instrument configuration, and performance calculations for a realistic Discovery-class mission will be presented.

Garvin, J. B.↗

Simultaneous Conoscopic Holography and Raman Spectroscopy

A new instrument was developed for chemical characterization of surfaces that combines the analytical power of Raman spectroscopy with the three-dimensional topographic information provided by conoscopic holography. The figure schematically depicts the proposed hybrid instrument. The output of the conoscopic holographic portion of the instrument is a topographical map of the surface; the output of the Raman portion of the instrument is hyperspectral Raman data, from which the chemical and/or biological composition of the surface would be deduced. By virtue of the basic principles of design and operation of the instrument, the hyperspectral image data would be inherently spatially registered with the topographical data. In conoscopic holography, the object and reference beams of classical holography are replaced by the ordinary and extraordinary components generated by a single beam traveling through a birefringent, uniaxial crystal. In the basic conoscopic configuration, a laser light is projected onto a specimen and the resulting illuminated spot becomes a point source of diffuse light that propagates in every direction. The laser beam is rasterscanned in two dimensions (x and y) perpendicular to the beam axis (z), and at each x,y location, the pattern of interference between the ordinary and extraordinary rays is recorded. The recorded interferogram constitutes the conoscopic hologram. Of particular significance for the proposed instrument is that the conoscopic hologram contains information on the z coordinate (height) of the illuminated surface spot. Hence, a topographical map of the specimen is constructed point-by-point by rastering the laser beam in the x and y directions and correlating the x and y coordinates with the z information obtained from the interferograms. Conoscopic imaging is an established method, and conoscopic laboratory instruments for surface metrology are commercially available. In Raman spectroscopy of a surface, one measures the spectrum of laser light scattered inelastically from a laser-illuminated spot on the surface. The wavelengths of the inelastically scattered light differ from that of the incident laser beam by amounts that correspond to the energies of molecular vibrations. The resulting vibrational spectrum can be used to identify the molecules. Raman spectroscopy is a standard laboratory technique for identifying mineralogical, biological, and other specific chemical compositions.

Schramm, Harry F.↗

Micromechanics, Fracture Mechanics and Gas Permeability of Composite Laminates for Cryogenic Storage Systems

A micromechanics method is developed to investigate microcrack propagation in a liquid hydrogen composite tank at cryogenic temperature. The unit cell is modeled using square and hexagonal shapes depends on fiber and matrix layout from microscopic images of composite laminates. Periodic boundary conditions are applied to the unit cell. The temperature dependent properties are taken into account in the analysis. The laminate properties estimated by the micromechanics method are compared with empirical solutions using constituent properties. The micro stresses in the fiber and matrix phases based on boundary conditions in laminate level are calculated to predict the formation of microcracks in the matrix. The method is applied to an actual liquid hydrogen storage system. The analysis predicts micro stresses in the matrix phase are large enough to cause microcracks in the composite. Stress singularity of a transverse crack normal to a ply-interface is investigated to predict the fracture behavior at cryogenic conditions using analytical and finite element analysis. When a transverse crack touches a ply-interface of a composite layer with same fiber orientation, the stress singularity is equal to 1/2. When the transverse crack propagates to a stiffer layer normal to the ply-direction, the singularity becomes less than 1/2 and vice versa. Finite element analysis is performed to predict the fracture toughness of a laminated beam subjected to fracture loads measured by four-point bending tests at room and cryogenic temperatures. As results, the fracture load at cryogenic temperature is significantly lower than that at room temperature. However, when thermal stresses are taken into consideration, for both cases of room and cryogenic temperatures, the difference of the fracture toughness becomes insignificant. The result indicates fracture toughness is a characteristic property, which is independent to temperature changes. The experimental analysis is performed to investigate the effect of cryogenic cycling on permeability for various composite material systems. Textile composites have lower permeability than laminated composites even with increasing number of cryogenic cycle. Nano-particles dispersed in laminated composites do not show improvement on permeability. The optical inspection is performed to investigate the microcrack propagation and void content in laminated composites and compared the microscopic results before and after cryogenic cycling.

Choi, Sukjoo↗

The GSFC 20 and 30 GHz millimeter wave propagation experiment

The Goddard Space Flight Center Millimeter Wave Experiment (MWE) aboard ATS-6, designed to evaluate the propagation characteristics of earth-space communications links at 20 and 30 GHz, is outlined, and the major results to date are presented. The 20 and 30 GHz transmitters operate through spot beam or continental coverage antenna systems. The transmitted signals consist of 9 tones spaced out to 1440 MHz. A communications link 6 GHz up and 20 or 30 GHz down is provided. Attenuation ratio measurements between the 20 and 30 GHz links indicate values higher than those predicted. Clear sky scintillations have been observed with spectral components up to about 50 Hz. Observations of rain depolarization indicate that attenuation effects predominate over depolarization effects in frequency re-use communications systems in the 20 GHz region. Various methods of predicting path attenuation are under investigation.

Ippolito, L. J.↗

Free-Space Optical Communication for CubeSats in Low Lunar Orbit (LLO)

The NASA ARTEMIS Program will include LunaNet, a highly extensible, open architecture, lunar communications and navigation network. A constellation of CubeSats in Low Lunar Orbit (LLO), 100 km, could form an optical communications and navigation network as part of LunaNet, with terminals on the lunar surface, including mobile ones such as with astronauts and rovers. The proposed CubeSat nodes should provide data relay and navigational aid services. The proposed effort herein is to develop a fine pointing capability for laser beam pointing to augment body pointing by CubeSats. Body pointing was used by Aerospace Corporation for the CubeSats in LEO in NASA’s Optical Communications and Sensors Demonstration (OCSD) program [1]. Previously, this fine pointing capability was computer simulated for the OCSD program [2,3]. With fine pointing, the spot size on the Earth was reduced by a factor of eight with a reduction in laser output power by a factor of sixty-four, thereby mitigating the thermal load challenge on the CubeSats. The same reductions in spot size and laser output power can be achieved for CubeSats in LLO. A new method is described for optical data transmissions from satellites, which uses laser arrays for laser beam pointing. It combines a lens system and an array of vertical-cavity, surface-emitting lasers and photodetectors, an VCSEL/Photodetector Array, (both mature technologies), in a novel way. This system is applied to CubeSats in low lunar orbit, (LLO), which use body pointing. Also, It may be able to replace current architectures which use dynamical systems, (i.e., moving parts) to point the laser, and which may also use vibration isolation platforms. The computer simulations used the optics code, OpticStudio, from Zemax, LLC, which has the capabilities to model the laser source and diffraction effects from wave optics. These capabilities make it possible to model laser beam propagation over long space communication distances.

Goorjian, P. M.↗

Lidar multiple scattering: Dependence on atmospheric parameters

Backscatter lidars are very useful tools in gaining information about the atmosphere. Inversion of backscatter signals can be used to retrieve the spatial distribution of clouds and aerosols, e.g., vertical extensions of clouds and aerosol layers, detection of 'subvisible' cirrus, etc., very accurately compared to passive radiometers. To retrieve extinction coefficient profiles, in general, the so-called lidar equation is solved. This equation describes a laser pulse which propagates through an atmosphere with transmission exp(- integral of sigma(z')dz'), which is scattered singly under 180 degrees towards a receiver, and which is attenuated on its way back again by exp(- integral of sigma(z')dz'). For inversion, further information on optical properties of the scatterers are required (extinction to backscatter ratio). However, it is evident that, at least for optically thick clouds and/or large receiver's field-of-views, this approach may be erroneous because of multiply scattered photons. Several studies were performed to simulate multiple scattering in case of collimated beams or pulses including Monte Carlo, transport, and diffusion theory. Unfortunately, most of the approaches require an enormous amount of computer time. Thus, it is meaningful to elaborate approximate methods, and one such method is discussed. Our method is based on Bissonnett (1988). We have improved the numerical simulation of limited field-of-view detectors, and compared the results to Monte Carlo calculations and an exact model of Altmann (1989).

Wiegner, Matthias↗

Calibration Technique for Polarization-Sensitive Lidars

Polarization-sensitive lidars have proven to be highly effective in discriminating between spherical and non-spherical particles in the atmosphere. These lidars use a linearly polarized laser and are equipped with a receiver that can separately measure the components of the return signal polarized parallel and perpendicular to the outgoing beam. In this work we describe a technique for calibrating polarization-sensitive lidars that was originally developed at NASA s Langley Research Center (LaRC) and has been used continually over the past fifteen years. The procedure uses a rotatable half-wave plate inserted into the optical path of the lidar receiver to introduce controlled amounts of polarization cross-talk into a sequence of atmospheric backscatter measurements. Solving the resulting system of nonlinear equations generates the system calibration constants (gain ratio, G, and offset angle, theta) required for deriving calibrated measurements of depolarization ratio from the lidar signals. In addition, this procedure also determines the mean depolarization ratio within the region of the atmosphere that is analyzed. Simulations and error propagation studies show the method to be both reliable and well behaved. Operational details of the technique are illustrated using measurements obtained as part of Langley Research Center s participation in the First ISCCP Regional Experiment (FIRE).

Alvarez, J. M.↗

T1 VSAT Fade Compensation Statistical Results

New satellite communication systems are steadily seeking to use higher frequency bands to accommodate the requirements for additional capacity. At these higher frequencies, propagation impairments that did not significantly affect the signal at lower frequencies begin to have considerable impact. In Ka-band. the next logical commercial frequency band to be used for satellite communication, attenuation of the signal due to rain is a primary concern. An experimental satellite built by NASA, the Advanced Communication Technology Satellite (ACTS). launched in September 1993, is the first U.S. communication satellite operating in the Ka-band. In addition to higher carrier frequencies, a number of other new technologies, including on-board baseband processing. multiple beam antennas, and rain fade detection and compensation techniques, were designed into the ACTS. Verification experiments have been conducted since the launch to characterize the new technologies. The focus of this paper is to characterize the method used by the ACTS TI Very Small Aperture Terminal (TI VSAT) ground stations in detecting the presence of fade in the communication signal and to adaptively compensate for it by the addition of burst rate reduction and forward error correction. Measured data obtained from the ACTS program was used to validate the compensation technique. A software process was developed and demonstrated to statistically characterize the increased availability achieved by the compensation techniques in terms of the bit error rate time enhancement factor. Several improvements to the ACTS technique are discussed and possible implementations for future Ka band system are offered.

Johnson, Sandra K.↗

Analysis of Fade Detection and Compensation Experimental Results in a Ka-Band Satellite System

The frequency bands being used for new satellite communication systems are constantly increasing to accommodate the requirements for additional capacity. At these higher frequencies, propagation impairments that did not significantly affect the signal at lower frequencies begin to have considerable impact. In Ka-band, the next logical commercial frequency band to be used for satellite communication, attenuation of the signal due to rain is a primary concern. An experimental satellite built by NASA, the Advanced Communication Technology Satellite (ACTS), launched in September 1993, is the first US communication satellite operating in the Ka-band. In addition to higher carrier frequencies, a number of other new technologies, including onboard baseband processing, multiple beam antennas, and rain fade detection and compensation techniques, were designed into the ACTS. Verification experiments have been conducted since the launch to characterize the new technologies. The focus of this thesis is to describe and validate the method used by the ACTS Very Small Aperture Terminal (VSAT) ground stations in detecting the presence of fade in the communication signal and to adaptively compensate for it by the addition of burst rate reduction and forward error correction. Measured data obtained from the ACTS program is used to validate the compensation technique. In this thesis, models in MATLAB are developed to statistically characterize the increased availability achieved by the compensation techniques in terms of the bit error rate time enhancement factor. Several improvements to the ACTS technique are discussed and possible implementations for future Ka-band systems are also presented.

Johnson, Sandra↗

Bayesian Analysis of the Cosmic Microwave Background

There is a wealth of cosmological information encoded in the spatial power spectrum of temperature anisotropies of the cosmic microwave background! Experiments designed to map the microwave sky are returning a flood of data (time streams of instrument response as a beam is swept over the sky) at several different frequencies (from 30 to 900 GHz), all with different resolutions and noise properties. The resulting analysis challenge is to estimate, and quantify our uncertainty in, the spatial power spectrum of the cosmic microwave background given the complexities of "missing data", foreground emission, and complicated instrumental noise. Bayesian formulation of this problem allows consistent treatment of many complexities including complicated instrumental noise and foregrounds, and can be numerically implemented with Gibbs sampling. Gibbs sampling has now been validated as an efficient, statistically exact, and practically useful method for low-resolution (as demonstrated on WMAP 1 and 3 year temperature and polarization data). Continuing development for Planck - the goal is to exploit the unique capabilities of Gibbs sampling to directly propagate uncertainties in both foreground and instrument models to total uncertainty in cosmological parameters.

methods - statistical↗

Evaluation of the Edge Crack Torsion (ECT) Test for Mode 3 Interlaminar Fracture Toughness of Laminated Composites

An analytical and experimental investigation was carried out on G40-800/R6376 graphite epoxy laminates to evaluate the Edge Crack Torsion (ECT) test as a candidate for a standard Mode 3 interlaminar fracture toughness test for laminated composites. The ECT test consists of a (90/(+/- 45)(sub 3)/(+/- 45)(sub 3)/90))(sub s) laminate with a delamination introduced by a non-adhesive film at the mid-plane along one edge and loaded in a special fixture to create torsion along the length of the laminate. Dye penetrate enhanced X-radiograph of failed specimens revealed that the delamination initiated at the middle of the specimen length and propagated in a self similar manner along the laminate mid-plane. A three-dimensional finite element analysis was performed that indicated that a pure Mode 3 delamination exists at the middle of specimen length away from both ends. At the ends near the loading point a small Mode 2 component exists. However, the magnitude of this Mode 2 strain energy release rate at the loading point is small compared to the magnitude of Mode 3 component in the mid-section of the specimen. Hence, the ECT test yielded the desired Mode 3 delamination. The Mode 3 fracture toughness was obtained from a compliance calibration method and was in good agreement with the finite element results. Mode 2 End-Notched Flexure (ENF) tests and Mode 1 Double Cantilever Beam (DCB) tests were also performed for the same composite material. The Mode 1 fracture toughness was much smaller than both the Mode 2 and Mode 3 fracture toughness. The Mode 2 fracture toughness was found to be 75% of the Mode 3 fracture toughness.

Li, Jian↗

Interlaminar R-Curve Effects in Thermoplastic Composites: Experiments and Model Correlations

The interlaminar fracture behavior of thermoplastic composites under Mode-I and Mode-II static loading is investigated in this research. The material system under consideration is a carbon fiber reinforced low melt semi-crystalline resin TC1225 LMPAEK T700G (T700/LMPAEK)†. Characterization experiments were conducted to measure the load-displacement response, peak load, and propagation of delamination from a pre-implanted Kapton® insert. The Mode-I response was characterized using a double cantilever beam (DCB) test according to the ASTM D5528-22 standard. It was observed that the propagation exhibited significant resistance to delamination growth, i.e., an R-Curve effect. The test data indicated that the steady-state fracture toughness, G SS I , was approximately twice the mean initiation fracture toughness, G Ic . The Mode-II response of an end notch flexure (ENF) specimen tested according to the ASTM D7905-19 standard exhibited an unexpected stable behavior upon attaining peak load. Prior to attaining peak load, the Mode-II response exhibited some non-linearity, which may be attributed to nonlinear bulk material response, e.g., hyper-elasticity, viscoelasticity, plasticity, etc., and potentially friction at the load/support rollers and R-Curve effects. Finite element models based on the Cohesive Zone Method (CZM) and the Virtual Crack Closure Technique (VCCT) were used to predict the DCB and ENF specimen responses. DCB analysis results obtained using G SS I predicted propagation consistent with experimental data. However, results obtained with the as characterized G Ic were inaccurate in predicting delamination growth onset and peak load. ENF analysis results obtained with the as-characterized Mode-II fracture toughness, G IIc , were inaccurate in predicting the peak load and propagation. Hence, R-Curve effects were included in both DCB and ENF simulations, which enabled improved predictions. The experimentally determined Mode-I R-Curve was used for the DCB simulations, whereas an R-Curve was derived for Mode-II assuming that the change in compliance of the specimen was associated with crack growth only.

Prabhakar M Rao↗

Interlaminar R-Curve Effects in Thermoplastic Composites: Experiments and Model Correlations

The interlaminar fracture behavior of thermoplastic composites under Mode-I and Mode-II static loading is investigated in this research. The material system under consideration is a carbon fiber reinforced low melt semi-crystalline resin TC1225 LMPAEK T700G (T700/LMPAEK)†. Characterization experiments were conducted to measure the load-displacement response, peak load, and propagation of delamination from a pre-implanted Kapton® insert. The Mode-I response was characterized using a double cantilever beam (DCB) test according to the ASTM D5528-22 standard. It was observed that the propagation exhibited significant resistance to delamination growth, i.e., an R-Curve effect. The test data indicated that the steady-state fracture toughness, G SS I , was approximately twice the mean initiation fracture toughness, G Ic . The Mode-II response of an end notch flexure (ENF) specimen tested according to the ASTM D7905-19 standard exhibited an unexpected stable behavior upon attaining peak load. Prior to attaining peak load, the Mode-II response exhibited some non-linearity, which may be attributed to nonlinear bulk material response, e.g., hyper-elasticity, viscoelasticity, plasticity, etc., and potentially friction at the load/support rollers and R-Curve effects. Finite element models based on the Cohesive Zone Method (CZM) and the Virtual Crack Closure Technique (VCCT) were used to predict the DCB and ENF specimen responses. DCB analysis results obtained using G SS I predicted propagation consistent with experimental data. However, results obtained with the as characterized G Ic were inaccurate in predicting delamination growth onset and peak load. ENF analysis results obtained with the as-characterized Mode-II fracture toughness, G IIc , were inaccurate in predicting the peak load and propagation. Hence, R-Curve effects were included in both DCB and ENF simulations, which enabled improved predictions. The experimentally determined Mode-I R-Curve was used for the DCB simulations, whereas an R-Curve was derived for Mode-II assuming that the change in compliance of the specimen was associated with crack growth only.

Prabhakar Rao↗

Relativistic Electron Beams Accelerated By an Interplanetary Shock

Context: Collisionless shock waves have long been considered to be among the most prolific particle accelerators in the universe. Shocks alter the plasma they propagate through, and often exhibit complex evolution across multiple scales. Interplanetary (IP) traveling shocks have been recorded in situ for over half a century and act as a natural laboratory for experimentally verifying various aspects of large-scale collisionless shocks. A fundamentally interesting problem in both heliophysics and astrophysics is the acceleration of electrons to relativistic energies (> 300 keV) by traveling shocks. Aims: The reason for an incomplete understanding of electron acceleration at IP shocks is due to scale-related challenges and a lack of instrumental capabilities. This Letter presents the first observations of field-aligned beams of relativistic electrons upstream of an IP shock, observed thanks to the instrumental capabilities of Solar Orbiter. This study presents the characteristics of the electron beams close to the source and contributes to the understanding of their acceleration mechanism. Methods: On 25 July 2022, Solar Orbiter encountered an IP shock at 0.98 AU. The shock was associated with an energetic storm particle event, which also featured upstream field-aligned relativistic electron beams observed 14 min prior to the actual shock crossing. The distance of the beam’s origin was investigated using a velocity dispersion analysis (VDA). Peak-intensity energy spectra were analyzed and compared with those obtained from a semi-analytical fast-Fermi acceleration model. Results: By leveraging Solar Orbiter’s high temporal resolution Energetic Particle Detector (EPD), we successfully showcase an IP shock’s ability to accelerate relativistic electron beams. Our proposed acceleration mechanism offers an explanation for the observed electron beam and its characteristics, while we also explore the potential contributions of more complex mechanisms.

acceleration of particles↗

Analysis of Nd3+:glass, solar-pumped, high-powr laser systems

The operating characteristics of Nd(3+):glass lasers energized by a solar concentrator were analyzed for the hosts YAG, silicate glass, and phosphate glass. The modeling is based on the slab zigzag laser geometry and assumes that chemical hardening methods for glass are successful in increasing glass hardness by a factor of 4. On this basis, it was found that a realistic 1-MW solar-pumped laser might be constructed from phosphate glass 4 sq m in area and 2 mm thick. If YAG were the host medium, a 1-MW solar-pumped laser need only be 0.5 sq m in area and 0.5 cm thick, which is already possible. In addition, Nd(3+) doped glass fibers were found to be excellent solar-pumped laser candidates. The small diameter of fibers eliminates thermal stress problems, and if their diameter is kept small (10 microns), they propagate a Gaussian single mode which can be expanded and transmitted long distances in space. Fiber lasers could then be used for communications in space or could be bundled and the individual beams summed or phase-matched for high-power operation.

Zapata, L. E.↗

Precise control of flexible manipulators

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam.

Cannon, R. H., Jr.↗