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At least 1,081 records · Page 60

X-Ray Fluorescence Solvent Detection at the Substrate-Adhesive Interface

With environmental regulations limiting the use of volatile organic compounds, low-vapor pressure solvents have replaced traditional degreasing solvents for bond substrate preparation. When used to clean and prepare porous bond substrates such as phenolic composites, low vapor pressure solvents can penetrate deep into substrate pore networks and remain there for extended periods. Trapped solvents can interact with applied adhesives either prior to or during cure, potentially compromising bond properties. Currently, methods for characterizing solvent time-depth profiles in bond substrates are limited to bulk gravimetric or sectioning techniques. While sectioning techniques such as microtome allow construction of solvent depth profiles, their depth resolution and reliability are limited by substrate type. Sectioning techniques are particularly limited near the adhesive-substrate interface where depth resolution is further limited by adhesive-substrate hardness and, in the case of a partially cured adhesive, mechanical properties differences. Additionally, sectioning techniques cannot provide information about lateral solvent diffusion. Cross-section component mapping is an alternative method for measuring solvent migration in porous substrates that eliminates the issues associated with sectioning techniques. With cross-section mapping, the solvent-wiped substrate is sectioned perpendicular rather than parallel to the wiped surface, and the sectioned surface is analyzed for the solvent or solvent components of interest using a two-dimensional mapping or imaging technique. Solvent mapping can be performed using either direct or indirect methods. With a direct method, one or more solvent components are mapped using red or Raman spectroscopy together with a moveable sample stage and/or focal plane array detector. With an indirect method, an elemental "tag" not present in the substrate is added to the solvent before the substrate is wiped. Following cross sectioning, the tag element can then be mapped by its characteristic x-ray emission using either x-ray fluorescence, or electron-beam energy-and wavelength-dispersive x-ray spectrometry. The direct mapping techniques avoid issues of different diffusion or migration rates of solvents and elemental tags, while the indirect techniques avoid spectral resolution issues in cases where solvents and substrates have adjacent or overlapping peaks. In this study, cross-section component indirect mapping is being evaluated as a method for measuring migration of d-limonene based solvents in glass-cloth phenolic composite (GCP) prior to and during subsequent bonding and epoxy adhesive cure.

Wurth, Laura↗

Evaluation of Pulse Counting for the Mars Organic Mass Analyzer (MOMA) Ion Trap Detection Scheme

The Mars Organic Mass Analyzer is being developed at Goddard Space Flight Center to identify organics and possible biological compounds on Mars. In the process of characterizing mass spectrometer size, weight, and power consumption, the use of pulse counting was considered for ion detection. Pulse counting has advantages over analog-mode amplification of the electron multiplier signal. Some advantages are reduced size of electronic components, low power consumption, ability to remotely characterize detector performance, and avoidance of analog circuit noise. The use of pulse counting as a detection method with ion trap instruments is relatively rare. However, with the recent development of high performance electrical components, this detection method is quite suitable and can demonstrate significant advantages over analog methods. Methods A prototype quadrupole ion trap mass spectrometer with an internal electron ionization source was used as a test setup to develop and evaluate the pulse-counting method. The anode signal from the electron multiplier was preamplified. The an1plified signal was fed into a fast comparator for pulse-level discrimination. The output of the comparator was fed directly into a Xilinx FPGA development board. Verilog HDL software was written to bin the counts at user-selectable intervals. This system was able to count pulses at rates in the GHz range. The stored ion count nun1ber per bin was transferred to custom ion trap control software. Pulse-counting mass spectra were compared with mass spectra obtained using the standard analog-mode ion detection. Prelin1inary Data Preliminary mass spectra have been obtained for both analog mode and pulse-counting mode under several sets of instrument operating conditions. Comparison of the spectra revealed better peak shapes for pulse-counting mode. Noise levels are as good as, or better than, analog-mode detection noise levels. To artificially force ion pile-up conditions, the ion trap was overfilled and ions were ejected at very high scan rates. Pile-up of ions was not significant for the ion trap under investigation even though the ions are ejected in so-called 'ion-micro packets'. It was found that pulse counting mode had higher dynamic range than analog mode, and that the first amplification stage in analog mode can distort mass peaks. The inherent speed of the pulse counting method also proved to be beneficial to ion trap operation and ion ejection characterization. Very high scan rates were possible with pulse counting since the digital circuitry response time is so much smaller than with the analog method. Careful investigation of the pulse-counting data also allowed observation of the applied resonant ejection frequency during mass analysis. Ejection of ion micro packets could be clearly observed in the binned data. A second oscillation frequency, much lower than the secular frequency, was also observed. Such an effect was earlier attributed to the oscillation of the total plasma cloud in the ion trap. While the components used to implement pulse counting are quite advanced, due to their prevalence in consumer electronics, the cost of this detection system is no more than that of an analog mode system. Total pulse-counting detection system electronics cost is under $250

Van Amerom, Friso H.↗

Field Test: Results of Tandem Walk Performance Following Long-Duration Spaceflight

BACKGROUND: Coordinated locomotion has proven to be challenging for many astronauts following long duration spaceflight. As NASA's vision for spaceflight points toward interplanetary travel, we must prepare for unassisted landings, where crewmembers may need to perform mission critical tasks within minutes of landing. Thus, it is vital to develop a knowledge base from which operational guidelines can be written that define when astronauts can be expected to safely perform certain tasks. Data obtained during the Field Test experiment (FT) will add important insight to this knowledge base. Specifically, we aim to develop a recovery timeline of functional sensorimotor performance during the first 24 hours and several days after landing. METHODS: FT is an ongoing study of 30 long-duration ISS crewmembers. Thus far, 9 have completed the full FT (5 U.S. Orbital Segment [USOS] astronauts and 4 Russian cosmonauts) and 4 more consented and launching within the next year. This is in addition to the eighteen crewmembers that participated in the pilot FT (11 USOS and 7 Russian crewmembers). The FT is conducted three times preflight and three times during the first 24 hours after landing. All crewmembers were tested in Kazakhstan in either the medical tent at the Soyuz landing site (~one hour post-landing), or at the airport (~four hours post-landing). The USOS crewmembers were also tested at the refueling stop (~12 hours post-landing) and at the NASA Johnson Space Center (~24 hours post-landing) and a final session 7 days post-landing. Crewmembers are instrumented with 9 inertial measurement unit sensors that measure acceleration and angular displacement (APDM's Emerald Sensors) and foot pressure-sensing insoles that measure force, acceleration, and center of pressure (Moticon GmbH, Munich, Germany) along with heart rate and blood pressure recording instrumentation. The FT consists of 12 tasks, but here we will focus on the most challenging task, the Tandem Walk, which was also performed as part of pilot FT. To perform the Tandem Walk, subjects begin with their feet together, their arms crossed at their chest and eyes closed. When ready, they brought one foot forward and touched the heel of their foot to their toe, repeating with the other foot, and continuing for about 10 steps. Three trials were collected with the eyes closed and a fourth trial was collected with eyes open. There are four metrics which are used to determine the performance level of the Tandem Walk. The first is percent correct steps. For a step to be counted as correct, the foot could not touch the ground while bringing it forward (no side stepping), eyes must stay closed during the eyes closed trials, the heel and toe should be touching, or almost touching (no large gaps) and there shouldn't be more than a three second pause between steps. Three judges score each step and the median of the three scores is kept. The second metric is the average step speed, or the number of steps/time to complete them. Thirdly, the root mean squared (RMS) error in the resultant trunk acceleration is used to determine the amount of upper body instability observed during the task. Finally, the RMS error of the mediolateral center of pressure as measured by the Moticon insoles is used to determine the mediolateral instability at the foot level. These four parameters are combined into a new overall Tandem Walk Parameter. RESULTS: Preliminary results show that crewmembers perform the Tandem Walk significantly worse the first 24 hours after landing as compared to their baseline performance. We find that each of the four performance metrics is significantly worse immediately after landing. We will present the results of tandem walk performance during the FT thus far. We will also combine these with the 18 crewmembers that participated in the pilot FT, concentrating on the level of performance and recovery rate. CONCLUSION: The Tandem Walk data collected as part of the FT experiment will provide invaluable information on the performance capabilities of astronauts during the first 24 hours after returning from long-duration spaceflight that can be used in planning future Mars, or other deep-space missions with unassisted landings. FT will determine the average sensorimotor recovery timeline and inform return-to-duty guidelines for unassisted landings.

Rosenberg, M. J. F.↗

Improvement of Automated POST Case Success Rate Using Support Vector Machines

During early conceptual design of complex systems, concept down selection can have a large impact upon program life-cycle cost. Therefore, any concepts selected during early design will inherently commit program costs and affect the overall probability of program success. For this reason it is important to consider as large a design space as possible in order to better inform the down selection process. For conceptual design of launch vehicles, trajectory analysis and optimization often presents the largest obstacle to evaluating large trade spaces. This is due to the sensitivity of the trajectory discipline to changes in all other aspects of the vehicle design. Small deltas in the performance of other subsystems can result in relatively large fluctuations in the ascent trajectory because the solution space is non-linear and multi-modal [1]. In order to help capture large design spaces for new launch vehicles, the authors have performed previous work seeking to automate the execution of the industry standard tool, Program to Optimize Simulated Trajectories (POST). This work initially focused on implementation of analyst heuristics to enable closure of cases in an automated fashion, with the goal of applying the concepts of design of experiments (DOE) and surrogate modeling to enable near instantaneous throughput of vehicle cases [2]. Additional work was then completed to improve the DOE process by utilizing a graph theory based approach to connect similar design points [3]. The conclusion of the previous work illustrated the utility of the graph theory approach for completing a DOE through POST. However, this approach was still dependent upon the use of random repetitions to generate seed points for the graph. As noted in [3], only 8% of these random repetitions resulted in converged trajectories. This ultimately affects the ability of the random reps method to confidently approach the global optima for a given vehicle case in a reasonable amount of time. With only an 8% pass rate, tens or hundreds of thousands of reps may be needed to be confident that the best repetition is at least close to the global optima. However, typical design study time constraints require that fewer repetitions be attempted, sometimes resulting in seed points that have only a handful of successful completions. If a small number of successful repetitions are used to generate a seed point, the graph method may inherit some inaccuracies as it chains DOE cases from the non-global-optimal seed points. This creates inherent noise in the graph data, which can limit the accuracy of the resulting surrogate models. For this reason, the goal of this work is to improve the seed point generation method and ultimately the accuracy of the resulting POST surrogate model. The work focuses on increasing the case pass rate for seed point generation.

Zwack, Matthew R.↗

An Innovative Method for Manufacturing Gamma-TiAl Foil

The manufacture and entrance into service of thin gage gamma-TiAl product has been hampered by the inherent low room temperature ductility of the material. In the present study a new approach was explored for the efficient manufacture of gamma-TiAl foil with improved ductility. The objective was to produce a very clean material (low interstitial content) with a highly refined, homogeneous microstructure placed in a fully lamellar condition. The processing route involved the use of RF plasma spray deposition of pre-alloyed powders, followed by consolidation via vacuum hot pressing and heat treatment. The approach took advantage of a deposition process which included no electrodes, no binders and high cooling rates. Results and discussion of the work performed to date are presented.

Hales, Stephen J.↗

CFD-Based Frequency Domain Method for Dynamic Stability Derivative Estimation with Application to Transonic Truss-Braced Wing

This paper presents a dynamic stability estimation technique obtained from high-fidelity CFD simulations of the Mach 0.8 Transonic Truss-Braced Wing (TTBW). A series of unsteady RANS CFD simulations in FUN3D is performed on the TTBW in pitch and plunge oscillations at various reduced frequencies. The time-domain data are transformed into the frequency-domain data by Fourier series. Transfer functions of the dynamic stability derivatives are then estimated by a frequency-domain regression. The dynamic stability derivatives with respect to the angle of attack are determined by the regression of the unsteady aerodynamic coefficients for the plunge motion. The dynamic stability derivatives with respect to the pitch rate are deter-mined by the regression of the differential unsteady aerodynamic coefficients for the pitch motion upon the removal of the angle of attack contribution by the plunge motion. The steady-state stability derivatives are then compared to the results obtained from a stability analysis code VSPAERO as well as steady-state FUN3D simulations. The comparison of the steady-state stability derivatives shows excellent agreement.

Dynamic Stability Derivatives↗

A Monte Carlo error analysis program for near-Mars, finite-burn, orbital transfer maneuvers

A computer program was developed which performs an error analysis of a minimum-fuel, finite-thrust, transfer maneuver between two Keplerian orbits in the vicinity of Mars. The method of analysis is the Monte Carlo approach where each off-nominal initial orbit is targeted to the desired final orbit. The errors in the initial orbit are described by two covariance matrices of state deviations and tracking errors. The function of the program is to relate these errors to the resulting errors in the final orbit. The equations of motion for the transfer trajectory are those of a spacecraft maneuvering with constant thrust and mass-flow rate in the neighborhood of a single body. The thrust vector is allowed to rotate in a plane with a constant pitch rate. The transfer trajectory is characterized by six control parameters and the final orbit is defined, or partially defined, by the desired target parameters. The program is applicable to the deboost maneuver (hyperbola to ellipse), orbital trim maneuver (ellipse to ellipse), fly-by maneuver (hyperbola to hyperbola), escape maneuvers (ellipse to hyperbola), and deorbit maneuver.

Green, R. N.↗

Modeling and Full-Scale Testing of an Aspirating Face Seal

A 36" diameter aspirating face seal for aircraft engine application has undergone extensive testing and analysis. Previous testing indicated that the seal tended to seek equilibrium at axial rotor clearances that were larger than expected. Parameter studies were conducted on several seal design parameters to evaluate effect on seal performance. Mixing of air flows from the air dam and air bearing regions of the seal was shown to have a significant impact on the seal's performance. Two methods of minimizing this flow interaction were studied both analytically and experimentally. The first method is to reduce the labyrinth tooth clearance, thereby limiting flow to the air dam itself. The second method involves utilizing a flow deflector between the air dam and air bearing regions of the seal in order to prevent radial flow from the air dam from disrupting the formation of a hydrostatic film at the air bearing. Both methods were shown to be effective design enhancements, allowing seal closure to be achieved. In both cases, the seal seeks an equilibrium position 0.0015" from the rotor surface, with corresponding low leakage rates.

Turnquist, Norman A.↗

Thermal Stability Analysis of Gevo Jet Fuel Using Ellipsometry

Thermal stability is an important characteristic of alternative fuels that must be evaluated before they can be used in aviation engines. This characteristic is of great importance to the effectiveness of the fuel as a coolant and to the engine's combustion performance. The thermal stability of Gevo fuel, an alcohol to jet fuel made from plant feedstock was studied. This analysis was used to make comments on the effectiveness of the current thermal stability test standard. This work was performed using a spectroscopic ellipsometer to measure the thickness of deposits left on aluminum substrates. It was observed that Gevo deposit thickness increased slowly up to 375 C and much more rapidly after that point. Similar behavior was observed in JP-8 fuel. Comparisons were also made between color standard ratings and ellipsometric thickness measurements, and it was found that in some cases, darker colors did not indicate thicker deposits. Reference tubes were used to validate the optical models used in this work, and different optical constants were found to best model the results than what are published in the ASTM D3241 test method for thermal stability.

Ellipsometry↗

Optimal trajectories for aeroassisted orbital transfer

Consideration is given to classical and minimax problems involved in aeroassisted transfer from high earth orbit (HEO) to low earth orbit (LEO). The transfer is restricted to coplanar operation, with trajectory control effected by means of lift modulation. The performance of the maneuver is indexed to the energy expenditure or, alternatively, the time integral of the heating rate. Firist-order optimality conditions are defined for the classical approach, as are a sequential gradient-restoration algorithm and a combined gradient-restoration algorithm. Minimization techniques are presented for the aeroassisted transfer energy consumption and time-delay integral of the heating rate, as well as minimization of the pressure. It is shown that the eigenvalues of the Jacobian matrix of the differential system is both stiff and unstable, implying that the sequential gradient restoration algorithm in its present version is unsuitable. A new method, involving a multipoint approach to the two-poing boundary value problem, is recommended.

Miele, A.↗

Examination of a Practical Aerobraking Guidance Algorithm

A practical real time guidance algorithm has been developed for aerobraking vehicles that minimizes the post-aeropass Delta V requirements for orbit insertion while nearly minimizing the maximum heating rate and the maximum structural loads. The algorithm is general in the sense that a minimum of assumptions is made, thus greatly reducing the number of parameters that must be determined prior to a given mission. An interesting feature is that in-plane guidance performance is tuned by adjusting one mission-dependent parameter, the bank margin; similarly, the out-of-plane guidance performance is tuned by adjusting a plane controller time constant. Other features of the algorithm are simplicity, efficiency, and ease of use. The algorithm is designed for, but not restricted to, a trimmed vehicle with bank angle modulation as the method of trajectory control. Performance of this guidance algorithm during flight in Earth's atmosphere is examined by its use in an aerobraking testbed program. The performance inquiry extends to a wide range of entry speeds covering a number of potential mission applications. Favorable results have been obtained with a minimum of development effort, and directions for improvement of performance are indicated.

Evans, Steven W.↗

The Effect of Velocity on the Extinction Behavior of a Diffusion Flame during Transient Depressurization

Current fire suppression plans for the International Space Station include the use of venting (depressurization) as a method for extinguishing a fire. Until recently this process had only been examined as part of a material flammability experiment performed on Skylab in the early 1970's. Due to the low initial pressure (0.35 Atm) and high oxygen concentration (65%), the Skylab experimental results are not applicable for understanding the effects of venting on a fire in a space station environment (21%O2, 1 Atm). Recent research examined the extinction behavior of a diffusion flame over a polymethyl methacrylate (PMMA) cylinder during a transient depressurization in low-gravity. The numerical model was used to examine extinction limits as a function of depressurization rate, forced flow velocity, and initial solid phase temperature. The experimental and numerically predicted extinction data indicated that as the solid phase temperature increased the pressure required to extinguish the flame decreased. The numerical model was also used to examine conditions not obtainable in the low-gravity experiments. From these simulations, a series of extinction boundaries were generated that showed a region of increased flammability existed at a forced flow of 10 cm/s. Analysis of these extinction boundaries indicated that they were quasi-steady in nature, and that the final extinction conditions were independent of the transient process. The velocity range in the previous study was limited and thus the results did not examine the effects of velocities less than 1 cm/s or greater than 20 cm/s. This study utilized low-gravity experiments performed on NASA's Reduced-gravity Research Aircraft Laboratory and numerical simulations to examine conditions applicable to the Space Station environment. This paper extends the analysis of the previous study to a comprehensive examination of the effect of increased velocity on extinction behavior and extinction limits during a transient depressurization in low-gravity. This is achieved by examining extinction data from buoyant (normal-gravity) and low-buoyant (low-gravity) depressurization. experiments, as well as from numerical predictions of flame behavior during depressurization in a non-buoyant (zero-gravity) environment.

Goldmeer, Jeffrey S.↗

Method for the growth of large low-defect single crystals

A method and the benefits resulting from the product thereof are disclosed for the growth of large, low-defect single-crystals of tetrahedrally-bonded crystal materials. The process utilizes a uniquely designed crystal shape whereby the direction of rapid growth is parallel to a preferred crystal direction. By establishing several regions of growth, a large single crystal that is largely defect-free can be grown at high growth rates. This process is particularly suitable for producing products for wide-bandgap semiconductors, such as SiC, GaN, AlN, and diamond. Large low-defect single crystals of these semiconductors enable greatly enhanced performance and reliability for applications involving high power, high voltage, and/or high temperature operating conditions.

Powell, J. Anthony↗

A New High-Speed, High-Cycle, Gear-Tooth Bending Fatigue Test Capability

A new high-speed test capability for determining the high cycle bending-fatigue characteristics of gear teeth has been developed. Experiments were performed in the test facility using a standard spur gear test specimens designed for use in NASA Glenn s drive system test facilities. These tests varied in load condition and cycle-rate. The cycle-rate varied from 50 to 1000 Hz. The loads varied from high-stress, low-cycle loads to near infinite life conditions. Over 100 tests were conducted using AISI 9310 steel spur gear specimen. These results were then compared to previous data in the literature for correlation. Additionally, a cycle-rate sensitivity analysis was conducted by grouping the results according to cycle-rate and comparing the data sets. Methods used to study and verify load-path and facility dynamics are also discussed.

Stringer, David B.↗

New Spectroscopic Confirmations of Lyα Emitters at Z ∼ 7 from the LAGER Survey

We report spectroscopic confirmations of 15 Lyα galaxies at z ∼ 7, implying a spectroscopic confirmation rate of ∼80% on candidates selected from the Lyα Galaxies in the Epoch of Reionization (LAGER), which is the largest (24 deg2) survey aimed at finding Lyα emitters (LAEs) at z ∼ 7 and uses deep narrowband imaging from the Dark Energy Camera at CTIO. LAEs at high redshifts are sensitive probes of cosmic reionization, and narrowband imaging is a robust and effective method for selecting a large number of LAEs. In this work, we present results from the spectroscopic follow-up of LAE candidates in two LAGER fields, COSMOS and WIDE-12, using observations from Keck/LRIS. We report the successful detection of Lyα emission in 15 candidates. Three of these in COSMOS have matching confirmations from a previous spectroscopic follow-up and are part of the overdense region, LAGER-z7OD1. Two other candidates that were not detected with LRIS have prior spectroscopic confirmations from Magellan. Including these, we obtain a spectroscopic confirmation success rate of ∼80% for LAGER LAE candidates. Thorough checks were performed to reject the possibility of these detections being foreground emission resulting with a probability of, at most, one contaminant. We do not detect any other UV nebular lines in our LRIS spectra, apart from Lyα. We estimate a 2σ upper limit for the ratio of N v/Lyα, fNV/fLyα ≲ 0.27. Including confirmations from this work, a total of 33 LAE sources from LAGER are now spectroscopically confirmed. LAGER has more than doubled the sample of spectroscopically confirmed LAE sources at z ∼ 7.

Santosh Harish↗

Estimation of End-of-Life Solar Absorptivity for Complex, Multi-Phased Space Missions

Solar absorptivity degradation over time is an important contributor to the thermal performance of a spacecraft at the end of its life. When environments are complex and include many different factors known to impact solar absorptivity degradation, such as UV, charged particles, contamination, or lunar dust coverage, combining data from several different studies can be done to estimate total degradation. While the most conservative way is to stack delta absorptivity from each factor to come up with a total delta, this may be overly conservative for long or complex missions with multiple mission phases. As absorptivity increases the rate of degradation decreases, and synergistic effects need to be taken into account. In this report an alternate method is proposed using Gateway materials as an example. This method determines which environmental factor will be dominant at what time (such as contamination or charged particles) and uses that degradation rate for that mission phase. For the next mission phase, the new absorptivity can be used instead of the original BOL absorptivity to determine degradation rate. This approach prevents overestimating optical degradation when considering degradation from interconnected sources.

Brandon Michael Hoffmann↗

Estimation of End-of-Life Solar Absorptivity for Complex, Multi-Phased Space Missions

Solar absorptivity degradation over time is an important contributor to the thermal performance of a spacecraft at the end of its life. When environments are complex and include many different factors known to impact solar absorptivity degradation, such as UV, charged particles, contamination, or lunar dust coverage, combining data from several different studies can be done to estimate total degradation. While the most conservative way is to stack delta absorptivity from each factor to come up with a total delta, this may be overly conservative for long or complex missions with multiple mission phases. As absorptivity increases the rate of degradation decreases, and synergistic effects need to be taken into account. In this report an alternate method is proposed using Gateway materials as an example. This method determines which environmental factor will be dominant at what time (such as contamination or charged particles) and uses that degradation rate for that mission phase. For the next mission phase, the new absorptivity can be used instead of the original BOL absorptivity to determine degradation rate. This approach prevents overestimating optical degradation when considering degradation from interconnected sources.

thermo-optical properties↗

Refinement and evaluation of helicopter real-time self-adaptive active vibration controller algorithms

A Real-Time Self-Adaptive (RTSA) active vibration controller was used as the framework in developing a computer program for a generic controller that can be used to alleviate helicopter vibration. Based upon on-line identification of system parameters, the generic controller minimizes vibration in the fuselage by closed-loop implementation of higher harmonic control in the main rotor system. The new generic controller incorporates a set of improved algorithms that gives the capability to readily define many different configurations by selecting one of three different controller types (deterministic, cautious, and dual), one of two linear system models (local and global), and one or more of several methods of applying limits on control inputs (external and/or internal limits on higher harmonic pitch amplitude and rate). A helicopter rotor simulation analysis was used to evaluate the algorithms associated with the alternative controller types as applied to the four-bladed H-34 rotor mounted on the NASA Ames Rotor Test Apparatus (RTA) which represents the fuselage. After proper tuning all three controllers provide more effective vibration reduction and converge more quickly and smoothly with smaller control inputs than the initial RTSA controller (deterministic with external pitch-rate limiting). It is demonstrated that internal limiting of the control inputs a significantly improves the overall performance of the deterministic controller.

Davis, M. W.↗