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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.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
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 NTRS1988

An Investigation of the Ability to Recover from Transients Following Failures for Single-Pilot Rotorcraft

A moving-base simulation was conducted to investigate a pilot's ability to recover from transients following single-axis hard-over failures of the flight-control system. The investigation was performed in conjunction with a host simulation that examined the influence of control modes on a single pilot's ability to perform various mission elements under high-workload conditions. The NASA Ames large-amplitude-motion Vertical Motion Simulator (VMS) was utilized, and the experimental variables were the failure axis, the severity of the failure, and the airspeed at which the failure occurred. Other factors, such as pilot workload and terrain and obstacle proximity at the time of failure, were kept as constant as possible within the framework of the host simulation task scenarios. No explicit failure warnings were presented to the pilot. Data from the experiment are shown, and pilot ratings are compared with the proposed handling-qualities requirements for military rotorcraft. Results indicate that the current proposed failure transient requirements may need revision.

Mansur, M. Hossein↗
NASA NTRS1988

Recent developments in gravity gradiometry from the Space-Shuttle-borne tethered satellite system

This paper describes the current development of a noncryogenic gravity gradiometer for future use on board the tethered satellite system (TSS). The paper also proposes a way of testing a single-axis prototype of such an instrument that makes use of the free-fall technique in vacuum. This gravity gradiometer has a design sensitivity of the order of 0.01 EU in 10-s integration time. Because of the small size and light weight, a noncryogenic gravity gradiometer is a valid candidate to fit the limited accommodation capability of the TSS deployed from the Shuttle and maintained, for several days, at an altitude of 120-130 km. This unique capability improves the resolution and accuracy achievable in reconstructing the earth gravity field, in particular at short wavelengths. A preliminary analysis of the dynamics of the TSS satellite indicates the potential of such satellite as a low-altitude research platform for gravity gradiometry.

Lorenzini, Enrico C.↗
NASA NTRS1987

Glass formation in microgravity

An account is given of containerless glass-forming experiments conducted aboard the Space Shuttle in 1985, using a single-axis acoustic levitator furnace apparatus. An attempt was made to obtain quantitative evidence for the suppression of heterogeneous nucleation/crystallization in containerless melts under microgravity conditions, as well as to study melt homogenization in the absence of gravity-driven convection and assess the feasibility of laser fusion target glass microsphere preparation with a microgravity apparatus of the present type. A ternary calcia-gallia-silica glass thus obtained indicated a 2-3-fold increase in glass-formation tendency for this material composition in microgravity, by comparison with 1g.

Ray, C. S.↗
NASA NTRS1988

Development of a two-dimensional skin friction balance nulling circuit using multivariable control theory

Measurement of planar skin friction forces in aerodynamic testing currently requires installation of two perpendicularly mounted, single-axis balances; consequently, force components must be sensed at two distinct locations. A two-axis instrument developed at the Langley Research Center to overcome this disadvantage allows measurement of a two-dimensional force at one location. This paper describes a feedback-controlled nulling circuit developed for the NASA two-axis balance which, without external compensation, is inherently unstable because of its low friction mechanical design. Linear multivariable control theory is applied to an experimentally validated mathematical model of the balance to synthesize a state-variable feedback control law. Pole placement techniques and computer simulation studies are employed to select eigenvalues which provide ideal transient response with decoupled sensing dynamics.

Tripp, John S.↗
NASA NTRS1989

Programmable Positioner For Spot Welding

Welding station mechanized by installing preset indexing system and gear drive. Mechanism includes a low-cost, versatile, single-axis motion control and motor drive to provide fully-automatic weld sequencing and spot-to-spot spacing. Welding station relieves operator of some difficult, tedious tasks and increases both productivity and quality of welds. Results in welds of higher quality and greater accuracy, fewer weld defects, and faster welding operation.

Roden, William A.↗
NASA NTRS1988

Experimental and simulation studies of hard contact in force reflecting teleoperation

Experiments and simulations of a single-axis force-reflecting teleoperation system have been conducted to investigate the problem of contacting a hard environment and maintaining a controlled force in teleoperation in which position is fed forward from the hand controller (master) to the manipulator (slave), and force is fed back to the human operator through motors in the master. The simulations, using an electrical circuit model, reproduce the behavior of the real system, including effects of human operator biomechanics. It is shown that human operator properties, which vary as a result of different types of grasp of the handle, affect the stability of the system in the hard-contact task. The effect of a heavier grasp on the handle is equivalent to increased hand-controller velocity damping in terms of the systems stability in the contact task, but control system damping sufficient to guarantee stable contact results in perceptible sluggishness of the control handle's response in free motion. These results suggest that human operator biomechanics must be taken into account to guarantee stable and ergonomic performance of advanced teleoperators.

Hannaford, Blake↗
NASA NTRS1988

Bilateral control of teleoperators with time delay

The authors present a novel control law for teleoperators which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law was implemented on a single-axis force-reflecting hand controller, and preliminary results are shown.

Anderson, Robert J.↗
NASA NTRS1988

Slew-induced deformation shaping

Computed torques for pointing and tracking require compensation for slew-induced structural, forebody/aftbody, or optical train alignment deformations. Thus even if only line-of-sight variables are to be commanded, full state feedback is needed. The solution proposed is to decouple by feedforward of the line-of-sight slew dynamics into the deformation control loop. It is shown how arbitrarily few actuators are needed for such deformation shaping, at the cost of higher differentiability of the reference line-of-sight dynamics. The low-rate, single-axis case is developed in detail, and its extension to high rates and multiple axes by global feedback linearization is outlined.

Dwyer, T. A. W., III↗
NASA NTRS1989

Bilateral control of teleoperators with time delay

A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a 1-DOF linear time-invariant teleoperator system is discussed. Nevertheless, the results can be extended without loss of generality to an n-DOF nonlinear teleoperation system.

Anderson, Robert J.↗
NASA NTRS1990

Hard Contact With A Force-Reflecting Teleoperator

Force feedback adjusted to provide stability without sluggish and fatiguing operation. Paper reports on experiments with single-axis force-reflecting teleoperator that made contact with hard, immovable object. Experiments show that dynamics of human operator affect stability of response of control system.

Hannaford, Blake↗
NASA NTRS1987

Three-component laser Doppler velocimeter measurements in a juncture flow

A single-axis, five-beam, three-component laser velocimeter (LV) system was used in a major experiment. Satisfactory results were obtained with the LV system in the juncture flow. Limited optical access to the tunnel proved to be a problem for the three component LV system in determining the third component.

Kubendran, L. R.↗
NASA NTRS1989

Performance limitations of bilateral force reflection imposed by operator dynamic characteristics

A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness.

Chapel, Jim D.↗
NASA NTRS1990

Gradiometry coexperiments to the gravity probe B and step missions

The Gravity Probe-B (GP-B) spacecraft, designed to test predictions of general relativity, will fly in the mid 1990s. It will carry four electrostatically suspended gyroscopes in a cryogenic environment and will have a drag-free control system to minimize disturbances on the gyroscopes. The Stanford Test of Equivalence Principle (STEP) spacecraft, to fly later, will carry a set of test masses under very similar conditions. The possibility of using differential measurements of the GP-B gyroscopes suspension forces and the STEP tests mass displacement readout to form single-axis gravity gradiometers is explored. It is shown that the noise in the suspension systems is sufficiently small in the relevant frequency range, and that enough information is collected to compensate for the spacecrafts' attitude motion. Finally, using Breakwell's flat-earth approximation, these experiments are compared to other geodesy experiments and predict the contribution they can make to the knowledge of the Earth's geopotential.

Tapley, M.↗
NASA NTRS1990

Inflight estimation of gyro noise

A method is described and demonstrated for estimating single-axis gyro noise levels in terms of the Farrenkopf model parameters. This is accomplished for the Cosmic Background Explorer (COBE) by comparing gyro-propagated attitudes with less accurate single-frame solutions and fitting the squared differences to a third-order polynomial in time. Initial results are consistent with the gyro specifications, and these results are used to determine limits on the duration of batches used to determine attitude. Sources of error are discussed, and guidelines for a more elegant implementation, as part of a batch estimator or filter, are included for future work.

Filla, O. H.↗
NASA NTRS1990

A new, simple electrostatic-acoustic hybrid levitator

Battelle has developed a hybrid levitator by combining the known single-axis acoustic standing wave levitator with a coaxial DC electric field. The resulting Coulomb forces on the charged liquid or solid sample support its weight and, together with the acoustic force, center the sample. Liquid samples with volumes approximately less than 100 micro-liters are deployed from a syringe reservoir into the acoustic pressure node. The sample is charged using a miniature high voltage power supply (approximately less than 20 kV) connected to the syringe needle. As the electric field, generated by a second miniature power supply, is increased, the acoustic intensity is reduced. The combination of both fields allows stable levitation of samples larger than either single technique could position on the ground. Decreasing the acoustic intensity reduces acoustic convection and sample deformation. Neither the electrostatic nor the acoustic field requires sample position sensing or active control. The levitator, now used for static and dynamic fluid physics investigations on the ground, can be easily modified for space operations.

Lierke, E. 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.↗