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NASA NTRS1986

Getaway Tether Experiment (GATE): A free flying tether experiment

Orbital reboost and power generation using electrodynamic tethers has been suggested as a means of increasing the operational flexibility and orbital lifetime of satellites. Excess energy generated by solar arrays can be stored as orbital energy and later extracted form the orbit during peak power demands. The Getaway Tether Experiment (GATE) will demonstrate this practical tether application and will measure the dynamic circuit impedance. The micrometeoroid hazard to tension members will be studied as will radio frequency propagation. The radar cross section of long wires will be calculated considering the effects of resistance.

Greene, M.↗

NASA NTRS1992

Direct model reference adaptive control with application to flexible robots

A modification to a direct command generator tracker-based model reference adaptive control (MRAC) system is suggested in this paper. This modification incorporates a feedforward into the reference model's output as well as the plant's output. Its purpose is to eliminate the bounded model following error present in steady state when previous MRAC systems were used. The algorithm was evaluated using the dynamics for a single-link flexible-joint arm. The results of these simulations show a response with zero steady state model following error. These results encourage further use of MRAC for various types of nonlinear plants.

Steinvorth, Rodrigo↗

NASA NTRS1985

Direct model reference adaptive control of a flexible robotic manipulator

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

Meldrum, D. R.↗

NASA NTRS1988

Robust design of distributed controllers for large flexible space structures

Independent Modal Space Control (IMSC) method avoids control spillover generated by conventional control schemes such as Coupled Modal Control by decoupling the large flexible space structure into independent subsystems of second order and controlling each mode independently. The IMSC implementation requires that the number of actuators be equal to that of modeled modes, which is in general very huge. Consequently the number of required actuators is unrealizable. Two methods are proposed for the implementation of IMSC with reduced number of actuators. In the first method, the first m modes are optimized, leaving the last (n-m) modes unchanged. In the second method, generalized inverse matrices are employed to design the feedback controller so that the control scheme is suboptimal with respect to IMSC. The performance of the proposed methods is tested by performing computer simulation on a simply support beam. Simulation results are presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1991

Model reference adaptive control of flexible robots in the presence of sudden load changes

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.

Steinvorth, Rodrigo↗

NASA NTRS2001

A Small Aircraft Transportation System (SATS) Demand Model

The Small Aircraft Transportation System (SATS) demand modeling is a tool that will be useful for decision-makers to analyze SATS demands in both airport and airspace. We constructed a series of models following the general top-down, modular principles in systems engineering. There are three principal models, SATS Airport Demand Model (SATS-ADM), SATS Flight Demand Model (SATS-FDM), and LMINET-SATS. SATS-ADM models SATS operations, by aircraft type, from the forecasts in fleet, configuration and performance, utilization, and traffic mixture. Given the SATS airport operations such as the ones generated by SATS-ADM, SATS-FDM constructs the SATS origin and destination (O&D) traffic flow based on the solution of the gravity model, from which it then generates SATS flights using the Monte Carlo simulation based on the departure time-of-day profile. LMINET-SATS, an extension of LMINET, models SATS demands at airspace and airport by all aircraft operations in US The models use parameters to provide the user with flexibility and ease of use to generate SATS demand for different scenarios. Several case studies are included to illustrate the use of the models, which are useful to identify the need for a new air traffic management system to cope with SATS.

Long, Dou↗

NASA NTRS1994

Improving the explanation capabilities of advisory systems

A major limitation of current advisory systems (e.g., intelligent tutoring systems and expert systems) is their restricted ability to give explanations. The goal of our research is to develop and evaluate a flexible explanation facility, one that can dynamically generate responses to questions not anticipated by the system's designers and that can tailor these responses to individual users. To achieve this flexibility, we are developing a large knowledge base, a viewpoint construction facility, and a modeling facility. In the long term we plan to build and evaluate advisory systems with flexible explanation facilities for scientists in numerous domains. In the short term, we are focusing on a single complex domain in biological science, and we are working toward two important milestones: (1) building and evaluating an advisory system with a flexible explanation facility for freshman-level students studying biology, and (2) developing general methods and tools for building similar explanation facilities in other domains.

Porter, Bruce↗

NASA NTRS1993

Improving the explanation capabilities of advisory systems

A major limitation of current advisory systems (e.g., intelligent tutoring systems and expert systems) is their restricted ability to give explanations. The goal of our research is to develop and evaluate a flexible explanation facility, one that can dynamically generate responses to questions not anticipated by the system's designers and that can tailor these responses to individual users. To achieve this flexibility, we are developing a large knowledge base, a viewpoint construction facility, and a modeling facility. In the long term we plan to build and evaluate advisory systems with flexible explanation facilities for scientists in numerous domains. In the short term, we are focusing on a single complex domain in biological science, and we are working toward two important milestones: (1) building and evaluating an advisory system with a flexible explanation facility for freshman-level students studying biology; and (2) developing general methods and tools for building similar explanation facilities in other domains.

Porter, Bruce↗

NASA NTRS2001

Focal adhesion kinase is involved in mechanosensing during fibroblast migration

Focal adhesion kinase (FAK) is a non-receptor protein tyrosine kinase localized at focal adhesions and is believed to mediate adhesion-stimulated effects. Although ablation of FAK impairs cell movement, it is not clear whether FAK might be involved in the guidance of cell migration, a role consistent with its putative regulatory function. We have transfected FAK-null fibroblasts with FAK gene under the control of the tetracycline repression system. Cells were cultured on flexible polyacrylamide substrates for the detection of traction forces and the application of mechanical stimulation. Compared with control cells expressing wild-type FAK, FAK-null cells showed a decrease in migration speed and directional persistence. In addition, whereas FAK-expressing cells responded to exerted forces by reorienting their movements and forming prominent focal adhesions, FAK-null cells failed to show such responses. Furthermore, FAK-null cells showed impaired responses to decreases in substrate flexibility, which causes control cells to generate weaker traction forces and migrate away from soft substrates. Cells expressing Y397F FAK, which cannot be phosphorylated at a key tyrosine site, showed similar defects in migration pattern and force-induced reorientation as did FAK-null cells. However, other aspects of F397-FAK cells, including the responses to substrate flexibility and the amplification of focal adhesions upon mechanical stimulation, were similar to that of control cells. Our results suggest that FAK plays an important role in the response of migrating cells to mechanical input. In addition, phosphorylation at Tyr-397 is required for some, but not all, of the functions of FAK in cell migration.

NASA Discipline Cell Biology↗

NASA NTRS2020

Spacecraft Smoke Detector Characterization with Reference and Smoke Aerosols

Performance testing of consumer smoke detectors requires specific facilities and experiments with smoldering and flaming emissions from different fuels. Smoke detectors for use in spacecraft are tested using similar setups with representative fuel materials. To simplify smoke detector testing, this study explored the use of laboratory-generated reference aerosols as transfer standards to evaluate smoke detector performance. Among the three tested reference aerosols, mineral oil particles were reproducibly generated with a Gemini smoke detector tester, dioctyl sebacate (DOS) particles were generated with a wide concentration range and flexible size distributions using an atomizer, while polystyrene latex(PSL) particles were difficult to produce with the high concentrations needed for smoke detector testing. Reference aerosols generated from 1.5%–100% DOS solutions and mineral oil covered the response range of six types of smoke aerosols generated by oxidative pyrolysis of spacecraft-relevant materials. Although no single reference aerosol can be used to simulate the response of different smoke detection technologies to different smoke aerosols within ±10% error, the relationship between reference and smoke aerosols derived from this study can be used to predict smoke detector responses to combustion aerosols.

Smoke↗

NASA NTRS2011

Method of performing computational aeroelastic analyses

Computational aeroelastic analyses typically use a mathematical model for the structural modes of a flexible structure and a nonlinear aerodynamic model that can generate a plurality of unsteady aerodynamic responses based on the structural modes for conditions defining an aerodynamic condition of the flexible structure. In the present invention, a linear state-space model is generated using a single execution of the nonlinear aerodynamic model for all of the structural modes where a family of orthogonal functions is used as the inputs. Then, static and dynamic aeroelastic solutions are generated using computational interaction between the mathematical model and the linear state-space model for a plurality of periodic points in time.

Silva, Walter A.↗

NASA NTRS1977

Effects of control laws and relaxed static stability on vertical ride quality of flexible aircraft

State variable techniques are utilized to generate the RMS vertical load factors for the B-52H and B-1 bombers at low level, mission critical, cruise conditions. A ride quality index is proposed to provide meaningful comparisons between different controls or conditions. Ride quality is shown to be relatively invariant under various popular control laws. Handling quality variations are shown to be major contributors to ride quality variations on both vehicles. Relaxed static stability is artificially implemented on the study vehicles to investigate its effects on ride quality. The B-52H ride quality is generally degraded when handling characteristics are automatically restored by a feedback control to the original values from relaxed stability conditions. The B-1 airplane shows little ride quality sensitivity to the same analysis due to the small rigid body contribution to load factors at the flight condition investigated.

Roberts, P. A.↗

NASA NTRS1980

Highly flexible pulse programmer for NMR applications

A pulse generator for NMR application is described. Eighteen output channels are provided to allow use in single and double resonance experiments. Complex pulse sequences may be generated by loading instructions into a 256-word by 16-bit program memory. Features of the pulse generator include programmable time delays from 0.5 micros to 1000 s, branching and looping instructions, and the ability to be loaded and operated either manually or from a PDP-11/10 computer.

Dart, J.↗

NASA NTRS2010

Design and Testing of the Primary and Secondary Oxygen Regulators for the Flexible Portable Life Support System (FlexPLSS)

The next generation space suit requires additional capabilities for controlling and adjusting internal pressure compared to that of historical designs. Although the general configuration of the oxygen systems for the next generation space suit is similar or derived from the Apollo and Shuttle Extravehicular Mobility Unit (EMU) with Primary closed loop life support operation and Secondary sourced open loop life support operations, nearly everything else has evolved with new available technologies. For the case of the primary and secondary regulators, the design has gone away from purely mechanical systems actuated with pull-cords or "bicycle cables" to electro-mechanical hybrids that provide the best of both worlds with respect to power draw, reliability, and versatility. This paper discusses the development and testing of a Secondary Oxygen Regulator bench-top prototype along with comparisons of operation with the various prototypes for the Primary Oxygen Regulator.

Campbell, Colin↗

NASA NTRS1984

Vibration isolation technology experiment

The objectives of the vibration isolation technology experiment are to demonstrate the viability of the magnetic suspension technology in providing the isolation of large structures elements from the external environment and to quantify the degree of isolation provided by this system. The approach proposed for this experiment is to mount a six-degrees-of-freedom magnetic bearing suspension system at the free end of a shuttle-attached flexible structure such as MAST. The disturbance generator, located on top of the isolation system, will be energized at selected and broadband frequencies to simulate a typical spacecraft vibration environment. Sensors located on the isolation system and the flexible structures element will be used to quantify the degree of isolation provided by this system.

Keckler, C. R.↗

NASA NTRS2014

Coupled Fluid-Structure Interaction Analysis of Solid Rocket Motor with Flexible Inhibitors

Flexible inhibitors are generally used in solid rocket motors (SRMs) as a means to control the burning of propellant. Vortices generated by the flow of propellant around the flexible inhibitors have been identified as a driving source of instabilities that can lead to thrust oscillations in launch vehicles. Potential coupling between the SRM thrust oscillations and structural vibration modes is an important risk factor in launch vehicle design. As a means to predict and better understand these phenomena, a multidisciplinary simulation capability that couples the NASA production CFD code, Loci/CHEM, with CFDRC's structural finite element code, CoBi, has been developed. This capability is crucial to the development of NASA's new space launch system (SLS). This paper summarizes the efforts in applying the coupled software to demonstrate and investigate fluid-structure interaction (FSI) phenomena between pressure waves and flexible inhibitors inside reusable solid rocket motors (RSRMs). The features of the fluid and structural solvers are described in detail, and the coupling methodology and interfacial continuity requirements are then presented in a general Eulerian-Lagrangian framework. The simulations presented herein utilize production level CFD with hybrid RANS/LES turbulence modeling and grid resolution in excess of 80 million cells. The fluid domain in the SRM is discretized using a general mixed polyhedral unstructured mesh, while full 3D shell elements are utilized in the structural domain for the flexible inhibitors. Verifications against analytical solutions for a structural model under a steady uniform pressure condition and under dynamic modal analysis show excellent agreement in terms of displacement distribution and eigenmode frequencies. The preliminary coupled results indicate that due to acoustic coupling, the dynamics of one of the more flexible inhibitors shift from its first modal frequency to the first acoustic frequency of the solid rocket motor. This insight could have profound implications for SRM and flexible inhibitor designs for current and future launch vehicles including SLS.

Yang, H. Q.↗

NASA NTRS2005

Command Generation and Control of Momentum Exchange Electrodynamic Reboost Tethered Satellite

The research completed for this NASA Graduate Student Research Program Fellowship sought to enhance the current state-of-the-art dynamic models and control laws for Momentum Exchange Electrodynamic Reboost satellite systems by utilizing command generation, specifically Input Shaping. The precise control of tethered spacecraft with flexible appendages is extremely difficult. The complexity is magnified many times when the satellite must interact with other satellites as in a momentum exchange via a tether. The Momentum Exchange Electronic Reboost Tether (MXER) concept encapsulates all of these challenging tasks [l]. Input Shaping is a command generation technique that allows flexible spacecraft to move without inducing residual vibration [2], limit transient deflection [3] and utilize fuel-efficient actuation [4]. Input shaping is implemented by convolving a sequence of impulses, known as the input shaper, with a desired system command to produce a shaped input that is then used to drive the system. This process is demonstrated in Figure 1. The shaped command is then use to drive the system without residual vibration while meeting many other performance specifications. The completed work developed tether control algorithms for retrieval. A simple model of the tether response has been developed and command shaping was implemented to minimize unwanted dynamics. A model of a flexible electrodynamic tether has been developed to investigate the tether s response during reboost. Command shaping techniques have been developed to eliminate the tether oscillations and reduce the tether s deflection to pre-specified levels during reboost. Additionally, a model for the spin-up of a tethered system was developed. This model was used in determining the parameters for optimization the resulting angular velocity.

Robertson, Michael J.↗

NASA NTRS1996

Active Interior Noise Control Studies

Analytical and experimental investigations into the control of noise in the interior of a three-dimensional enclosure with a flexible boundary are presented. The rigid boundaries are constructed from acrylic material, and in the different cases considered the flexible boundary is constructed from either aluminum or composite material. Noise generated by an external speaker is transmitted into the enclosure through the flexible boundary and active control is realized by using Lead Zirconate Titanate (PZT) piezoelectric actuators bonded to the flexible boundary. Condenser microphones are used for noise measurements inside and outside the enclosure. Minimization schemes for global and local noise control in the presence of a harmonic disturbance are developed and discussed. In the experiments, analog feedforward control is implemented by using the harmonic disturbance as a reference signal.

Park, J.↗