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Attitude control system designed for rockets regulates duty cycle of pneumatic valves so less fuel is required. Operation time of each valve is directly proportional to error signal and the dead band about a null is controlled by independently adjustable threshold circuits.
This paper reports the outcome of an exhaustive analytical and numerical investigation of stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances. The class of adaptive algorithms considered are those commonly referred to as model-reference adaptive control algorithms, self-tuning controllers, and dead-beat adaptive controllers; they have been developed for both continuous-time systems and discrete-time systems. The existing adaptive control algorithms have been proven to be globally asymptotically stable under certain assumptions, the key ones being (1) that the number of poles and zeroes of the unknown plant are known, and (2) that the primary performance criterion is related to good command following. These theoretical assumptions are too restrictive from an engineering point of view. Real plants always contain unmodeled high-frequency dynamics and small delays, and hence no upper bound on the number of the plant poles and zeroes exists. Also real plants are always subject to unmeasurable output additive disturbances, although these may be guide small. Hence, it is important to critically examine the stability robustness properties of the existing adaptive algorithms when some of the theoretical assumptions are removed; in particular, their stability and performance properties in the presence of unmodeled dynamics and output disturbances. Previously announced in STAR as N83-16061
A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.
Since the Viking missions in the mid-1970s, traditional culture-based methods have been used for microbial enumeration by various NASA programs. Viable microbes are of particular concern for spacecraft cleanliness, for forward contamination of extraterrestrial bodies (proliferation of microbes), and for crew health/safety (viable pathogenic microbes). However, a "true" estimation of viable microbial population and differentiation from their dead cells using the most sensitive molecular methods is a challenge, because of the stability of DNA from dead cells. The goal of this research is to evaluate a rapid and sensitive microbial detection concept that will selectively estimate viable microbes. Nucleic acid amplification approaches such as the polymerase chain reaction (PCR) have shown promise for reducing time to detection for a wide range of applications. The proposed method is based on the use of a fluorescent DNA intercalating agent, propidium monoazide (PMA), which can only penetrate the membrane of dead cells. The PMA-quenched reaction mixtures can be screened, where only the DNA from live cells will be available for subsequent PCR reaction and microarray detection, and be identified as part of the viable microbial community. An additional advantage of the proposed rapid method is that it will detect viable microbes and differentiate from dead cells in only a few hours, as opposed to less comprehensive culture-based assays, which take days to complete. This novel combination approach is called the PMA-Microarray method. DNA intercalating agents such as PMA have previously been used to selectively distinguish between viable and dead bacterial cells. Once in the cell, the dye intercalates with the DNA and, upon photolysis under visible light, produces stable DNA adducts. DNA cross-linked in this way is unavailable for PCR. Environmental samples suspected of containing a mixture of live and dead microbial cells/spores will be treated with PMA, and then incubated in the dark. Thereafter, the sample is exposed to visible light for five minutes, so that the DNA from dead cells will be cross-linked. Following this PMA treatment step, the sample is concentrated by centrifugation and washed (to remove excessive PMA) before DNA is extracted. The 16S rRNA gene fragments will be amplified by PCR to screen the total microbial community using PhyloChip DNA microarray analysis. This approach will detect only the viable microbial community since the PMA intercalated DNA from dead cells would be unavailable for PCR amplification. The total detection time including PCR reaction for low biomass samples will be a few hours. Numerous markets may use this technology. The food industry uses spore detection to validate new alternative food processing technologies, sterility, and quality. Pharmaceutical and medical equipment companies also detect spores as a marker for sterility. This system can be used for validating sterilization processes, water treatment systems, and in various public health and homeland security applications.
An investigation is conducted concerning the behavior of the sun during the last 7000 years. The C-14 content in carbonaceous fossil material can be used as an indicator regarding the level of solar activity at the time when the carbon was assimilated in the process of photosynthesis. Living trees, such as the bristlecone pine, provide a solar activity record to about 3000 B.C. The record can be extended with the aid of well-preserved dead wood to beyond 5000 B.C. The results of an analysis of solar activity levels as a function of time on the basis of C-14 contents are presented in a graph. Attention is given to the Maunder Minimum, a history of the sun in the last 5000 years, an interpretation of the major C-14 excursions, and the sun and climate history.
The nickel-hydrogen secondary battery system is now the one of choice for use in GEO satellites. It offers superior energy density to that of nickel-cadmium, with a lifetime that is at least comparable in terms of both cycle life and overall operating life. While the number of deep cycles required for GEO use is small, LEO satellites with long lifetimes (5 to 10 years) will require secondary battery systems allowing 30,000 to 60,000 useful cycles which are characterized by an approximately 2C charge rate and C average discharge rate. Recent work has shown that birnessite MnO2 doped with bismuth oxide can be cycled at very high rates (6C) over a very large number of cycles (thousands) at depths-of-discharge in the 85 to 90 percent range, based on two electrons, which discharge at the same potential in a flat plateau. The potential is about 0.7 V vs. hydrogen, with a cut-off at 0.6 V. At first sight, this low voltage would seem to be a disadvantage, since the theoretical energy density will be low. However, it permits the use of lightweight materials that are immune from corrosion at the positive. The high utilization and low equivalent weight of the active material, together with the use of teflon-bonded graphite for current collection, result in very light positives, especially when these are compared with those in a derated nickel-hydrogen system. In addition, the weight of the pressure vessel falls somewhat, since the dead volume is lower. Calculations show that a total system will have 2.5 times the Ah capacity of a derated nickel-hydrogen LEO battery, so that the energy density, based on 1.2 V for nickel-hydrogen and 0.7 V for MnO2-hydrogen, will be 45 percent higher for comparable cycling performance.
Many areas in coastal Louisiana are below sea level and protected from flooding by a system of natural and man-made levees. Flooding is common when the levees are overtopped by storm surge or rising rivers. Many levees in this region are further stressed by erosion and subsidence. The floodwaters can become constricted by levees and trapped, causing prolonged inundation. Vegetative communities in coastal regions, from fresh swamp forest to saline marsh, can be negatively affected by inundation and changes in salinity. As saltwater persists, it can have a toxic effect upon marsh vegetation causing die off and conversion to open water types, destroying valuable species habitats. The length of time the water persists and the average annual salinity are important variables in modeling habitat switching (cover type change). Marsh type habitat switching affects fish, shellfish, and wildlife inhabitants, and can affect the regional ecosystem and economy. There are numerous restoration and revitalization projects underway in the coastal region, and their effects on the entire ecosystem need to be understood. For these reasons, monitoring persistent saltwater intrusion and inundation is important. For this study, persistent flooding in Louisiana coastal marshes was mapped using MODIS (Moderate Resolution Imaging Spectroradiometer) time series of a Normalized Difference Water Index (NDWI). The time series data were derived for 2000 through 2009, including flooding due to Hurricane Rita in 2005 and Hurricane Ike in 2008. Using the NDWI, duration and extent of flooding can be inferred. The Time Series Product Tool (TSPT), developed at NASA SSC, is a suite of software developed in MATLAB(R) that enables improved-quality time series images to be computed using advanced temporal processing techniques. This software has been used to compute time series for monitoring temporal changes in environmental phenomena, (e.g. NDVI times series from MODIS), and was modified and used to compute the NDWI indices and also the Normalized Difference Soil Index (NDSI). Coastwide Reference Monitoring System (CRMS) water levels from various hydrologic monitoring stations and aerial photography were used to optimize thresholds for MODIS-derived time series of NDWI and to validate resulting flood maps. In most of the profiles produced for post-hurricane assessment, the increase in the NDWI index (from storm surge) is accompanied by a decrease in the vegetation index (NDVI) and then a period of declining water. The NDSI index represents non-green or dead vegetation and increases after the hurricane s destruction of the marsh vegetation. Behavior of these indices over time is indicative of which areas remain flooded, which areas recover to their former levels of vegetative vigor, and which areas are stressed or in transition. Tracking these indices over time shows the recovery rate of vegetation and the relative behavior to inundation persistence. The results from this study demonstrated that identification of persistent marsh flooding, utilizing the tools developed in this study, provided an approximate 70-80 percent accuracy rate when compared to the actual days flooded at the CRMS stations.
This method uses a photoaffinity label that recognizes DNA and can be used to distinguish populations of bacterial cells from bacterial spores without the use of heat shocking during conventional culture, and live from dead bacterial spores using molecular-based methods. Biological validation of commercial sterility using traditional and alternative technologies remains challenging. Recovery of viable spores is cumbersome, as the process requires substantial incubation time, and the extended time to results limits the ability to quickly evaluate the efficacy of existing technologies. Nucleic acid amplification approaches such as PCR (polymerase chain reaction) have shown promise for improving time to detection for a wide range of applications. Recent real-time PCR methods are particularly promising, as these methods can be made at least semi-quantitative by correspondence to a standard curve. Nonetheless, PCR-based methods are rarely used for process validation, largely because the DNA from dead bacterial cells is highly stable and hence, DNA-based amplification methods fail to discriminate between live and inactivated microorganisms. Currently, no published method has been shown to effectively distinguish between live and dead bacterial spores. This technology uses a DNA binding photoaffinity label that can be used to distinguish between live and dead bacterial spores with detection limits ranging from 109 to 102 spores/mL. An environmental sample suspected of containing a mixture of live and dead vegetative cells and bacterial endospores is treated with a photoaffinity label. This step will eliminate any vegetative cells (live or dead) and dead endospores present in the sample. To further determine the bacterial spore viability, DNA is extracted from the spores and total population is quantified by real-time PCR. The current NASA standard assay takes 72 hours for results. Part of this procedure requires a heat shock step at 80 degC for 15 minutes before the sample can be plated. Using a photoaffinity label would remove this step from the current assay as the label readily penetrates both live and dead bacterial cells. Secondly, the photoaffinity label can only penetrate dead bacterial spores, leaving behind the viable spore population. This would allow for rapid bacterial spore detection in a matter of hours compared to the several days that it takes for the NASA standard assay.
We used multiple-breath N2 washouts (MBNW) to study the homogeneity of ventilation in four normal humans (mean age 42.5 yr) before, during, and after 9 days of exposure to microgravity on Spacelab Life Sciences-1. Subjects performed 20-breath MBNW at tidal volumes of approximately 700 ml and 12-breath MBNW at tidal volumes of approximately 1,250 ml. Six indexes of ventilatory inhomogeneity were derived from data from (1) distribution of specific ventilation (SV) from mixed-expired and (2) end-tidal N2, (3) change of slope of N2 washout (semilog plot) with time, (4) change of slope of normalized phase III of successive breaths, (5) anatomic lead dead space, and (6) Bohr dead space. Significant ventilatory inhomogeneity was seen in the standing position at normal gravity (1 G). When we compared standing 1 G with microgravity, the distributions of SV became slightly narrower, but the difference was not significant. Also, there were no significant changes in the change of slope of the N2 washout, change of normalized phase III slopes, or the anatomic and Bohr dead spaces. By contrast, transition from the standing to supine position in 1 G resulted in significantly broader distributions of SV and significantly greater changes in the changes in slope of the N2 washouts, indicating more ventilatory inhomogeneity in that posture. Thus these techniques can detect relatively small changes in ventilatory inhomogeneity. We conclude that the primary determinants of ventilatory inhomogeneity during tidal breathing in the upright posture are not gravitational in origin.
Planning of assembly sequences is essential to the manufacturing system design process. Several methodologies have been proposed to represent all the feasible assembly sequences. In this thesis, three algorithms are presented to generate three sets of precedence relations based on all the infeasible assembly tasks, all the infeasible assembly states, and all the feasible assembly sequences, respectively. The equivalence of the resulting sets of precedence relations to the AND/OR graph is established. A new property, the real time property, of a representation of assembly sequences is defined and discussed. A representation of assembly sequences is said to have the real time property, if it is possible to generate the next assembly task by testing locally in the representation, and it will guarantee that the generated assembly task will not lead the assembly sequence to a dead end situation, in which no feasible assembly task can be performed any more. It is shown that the correctness and completeness of one representation can not guarantee the real time property of the representation. It is proven that the directed graph representation and the set of precedence relations based on all the infeasible assembly states have the real time property, while the AND/OR graph representation and the set of precedence relations based on all the infeasible assembly tasks do not have the real time property. Finally in the thesis, the PLEIDEAS system, a PLanning Environment for Integrated DEsign of Assembly Systems, is described and illustrated by an example.
This paper reports our static stability test findings for a simple guy wire system to correct the natural lateral deflections of an 8.5m tall, compact deployable composite tower intended to support exploration of lunar permanently shadowed regions by nearby robotic assets. Deployable composite booms with microgravity flight heritage are currently being investigated at NASA Langley Research Center (LaRC) and Massachusetts Institute of Technology(MIT)’s Space Resources Workshop for their potential to be vertically deployed in the lunar gravity field, in support of NASA’s Artemis campaign. These applications include vertical solar arrays and the provision of elevated lines-of-sight to science or engineering payloads on landers and rovers, in support of nearby or distant crewed or robotic assets exploring scientifically interesting and hard to reach areas. Useful elevated payloads include radio repeaters, remote sensing and imaging, navigation and power beaming systems. However, while these lightweight booms have an excellent height to mass ratio, they typically exhibit slight axial curvature upon deployment resulting in appreciable lateral dead-load deflection of the tip mass relative to the tower base. This static deflection increases with tower height and tip mass, not only constraining the value delivered by the tower but also endangering its integrity. To develop a competitive, lightweight deployable composite boom tower, a capability to correct static deflections during and after deployment may be required. This paper presents a pathfinder deployable guy wire stability system for the MIT / LaRC self-erecting composite boom lunar tower that provides real time measurements, maintains tension passively, and can serve as a reconfigurable platform to test new guy wire components, configurations and control algorithms. Using a validated, calibrated photogrammetry system, the natural lateral deflection of the boom tip relative to the boom base at different deployed heights in Earth’s gravity field was recorded. With real-time tension measurements it was found that guy wires can significantly reduce the tip deflection of a deployable composite boom under dead load. Specifically, we found that (1) control capability is greatest where it is needed most, i.e. for the lever arm closest to being opposite the direction of deflection, and (2) for a tower height of at least 8.5 m and arm length of at least 60 cm, a solution of differential tension in all three arms exists and, in principle, provides sufficient control capability to correct or significantly reduce boom deflections. We also found that natural deflections occur almost entirely out-of-plane of the seams of the boom cross-section, which was expected, and that the natural boom tip lateral deflection under dead load upon deployment was ~5% of boom deployed length, unexpectedly exceeding the manufacturing acceptance specification of 1%.Ongoing and future collaborative work between LaRC and MIT includes the further investigation of the unexpected lateral deflection, testing of alternative guy wire system designs at higher tensions and higher deployed heights, as well as trade studies of costs and benefits of an optimized integrated guywire system compared to other types of static stability solutions.
Realization of the expected proliferation of Unmanned Aircraft System (UAS) operations in the National Airspace System (NAS) depends on the development and validation of performance standards for UAS Detect and Avoid (DAA) Systems. The RTCA Special Committee 228 is charged with leading the development of draft Minimum Operational Performance Standards (MOPS) for UAS DAA Systems. NASA, as a participating member of RTCA SC-228 is committed to supporting the development and validation of draft requirements for DAA alerting system performance. A recent study conducted using NASA's ACES (Airspace Concept Evaluation System) simulation capability begins to address questions surrounding the development of draft MOPS for DAA alerting systems. ACES simulations were conducted to study the performance of alerting systems proposed by the SC-228 DAA Alerting sub-group. Analysis included but was not limited to: 1) correct alert (and timeliness), 2) false alert (and severity and duration), 3) missed alert, and 4) probability of an alert type at the time of loss of well clear. The performance of DAA alerting systems when using intent vs. dead-reckoning for UAS ownship trajectories was also compared. The results will be used by SC-228 to inform decisions about the surveillance standards of UAS DAA systems and future requirements development and validation efforts.
Next-generation space missions are currently constrained by existing spacecraft navigation systems which are not fully autonomous. These systems suffer from accumulated dead-reckoning errors and must therefore rely on periodic corrections provided by supplementary technologies that depend on line-of-sight signals from Earth, satellites, or other celestial bodies for absolute attitude and position determination, which can be spoofed, incorrectly identified, occluded, obscured, attenuated, or insufficiently available. These dead-reckoning errors originate in the ring laser gyros themselves, which constitute inertial measurement units. Increasing the time for standalone spacecraft navigation therefore requires fundamental improvements in gyroscope technologies. One promising solution to enhance gyro sensitivity is to place an anomalous dispersion or fast light material inside the gyro cavity. The fast light essentially provides a positive feedback to the gyro response, resulting in a larger measured beat frequency for a given rotation rate as shown in figure 1. Game Changing Development has been investing in this idea through the Fast Light Optical Gyros (FLOG) project, a collaborative effort which began in FY 2013 between NASA Marshall Space Flight Center (MSFC), the U.S. Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC), and Northwestern University. MSFC and AMRDEC are working on the development of a passive FLOG (PFLOG), while Northwestern is developing an active FLOG (AFLOG). The project has demonstrated new benchmarks in the state of the art for scale factor sensitivity enhancement. Recent results show cavity scale factor enhancements of approx.100 for passive cavities.
An electronic strain level counter for obtaining structural strain data on in-flight aircraft is described. The device counts the number of times the strain at a point on an aircraft structural member exceeds each of several preset levels. A dead band is provided at each level to prohibit the counting of small strain variations around a given preset level.
A somewhat analogous situation among groupings of alkaline fuel cells is described where the stochastic aspects were much more accurately documented and then it was illustrated how this problem was eliminated using straight forward principles of pore size engineering. This is followed by a suggested method of adapting these same design principles to nickel-cadmium cells. It must be kept in mind that when cells are cycled to typically twenty percent depth of discharge that eighty percent of the weight of the cell is simply dead weight. Some of this dead weight might be put to better use by trading it for a scheme that would increase the time during which the cell would be working more closely to its optimum set of operating parameters.
Deployable composite booms with spaceflight heritage are being investigated at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) and the Massachusetts Institute of Technology (MIT) Space Resources Workshop for their potential to be vertically deployed in the lunar gravity field, in support of the NASA Artemis campaign. This paper reports new design development results—after the original presentation at the NASA 2020 BIG Idea Challenge—for a 16.5-meter-tall, compact, self-deploying composite tower intended to support the exploration of lunar permanently shadowed regions by nearby robotic assets or humans. Possible applications include vertical solar arrays and the provision of elevated lines-of-sight to science or engineering payloads, in support of nearby targets operating in areas of interest that may be hard to reach. Useful elevated payloads include radio repeaters, remote sensing and imaging, navigation and power beaming systems. However, while these lightweight rollable booms have an excellent height to mass ratio, they typically exhibit axial curvature upon deployment resulting in appreciable lateral dead-load deflection of the tip mass relative to the tower base. This static deflection increases with tower height and tip mass, not only constraining the value delivered by the tower but also endangering its integrity. To develop a competitive, lightweight deployable composite boom tower, a capability to correct static deflections during and after deployment will be required. In this paper, a deployable guy wire stability system will be presented for the MIT / LaRC self-erecting composite boom lunar tower that provides real time measurements, maintains tension both actively (during deployment) and passively (post-deployment), and can serve as a reconfigurable platform to test and trade alternative stability system configurations, such as with added spreaders inspired by sailing boat masts. Using a calibrated photogrammetry system, the natural lateral deflection of the boom tip relative to the boom base at different deployed heights was recorded for different configurations. With real-time force measurements it was found that tensioned guy wires can significantly reduce the static tip deflection of a deployable composite boom under dead load and can dampen a dynamic oscillation in under a minute. It was also found that control authority is greatest where it is needed most, i.e., for the lever arm closest to being opposite the direction of deflection. For a tower height of at least 11 m and spreader length of at least 60 cm, a solution of differential tension in all three arms exists and, in principle, provides sufficient control authority to correct or significantly reduce boom tip deflections. Notably, natural deflections occur almost entirely normal to the seams of the boom cross-section, but the natural boom tip lateral deflection under dead load upon deployment was approximately 5% of boom deployed length, exceeding the manufacturing acceptance specification of 1%. Ongoing and future work includes the further investigation towards mitigating manufacture-caused lateral deflection, trading of alternative guy wire system designs, as well as the design development of a second-generation tower incorporating a more capable boom design with the learnings from the proof-of-concept system presented here.
The importance of mesoscale moisture information in the forecasting of weather events is discussed. A test is being prepared with the March 6, 1982 Vertical Atmospheric Sounder/Atmospheric Variability Experiment (VAS/AVE) case study to be run on the sub-synoptic scale model (SSM). Model intracomparison of three carefully designed simulations should isolate the role of mesoscale information in the initial conditions for both mositure and vertical motion. Three simulations will be made for the period 1200Z 6 March to 0000Z 7 March starting with the regular synoptic time data of 1200Z. The distinction between the three cases arises from data manipulation at 1800Z midway through the forecast period: (1) Control Case: no alterations at 1800Z. (2) Moisture Information Suppression: at 1800Z the model simulation field for water vapor, which by this time contains considerable mesoscale structure, is replaced by a smoothed version from which the mesoscale structure has been eliminated. No other variables are structure altered. (3) Vertical Motion Information Suppression: at 1800Z the model is subjected to a dead start procedure which primarily imposes a nondivergent constraint of the horizontal motion field field suppressing vertical motion. The main effect is to eliminate the mesoscale component. Comparison of results for the 1800Z to 0000Z time period will give the information desired.
The extraction of adequate blood samples from moribund and dead mice has been a problem because of the small quantity of blood in each animal and the short time available between the animals' death and coagulation of the blood. These difficulties are particularly critical in fire toxicity tests because removal of the test animals while observing proper safety precautions for personnel is time-consuming. Techniques for extracting blood samples from mice were evaluated, and a technique was developed to obtain up to 0.8 ml of blood from a single mouse after death. The technique involves rapid exposure and cutting of the posterior vena cava and accumulation of blood in the peritoneal space. Blood samples of 0.5 ml or more from individual mice have been consistently obtained as much as 16 minutes after apparent death. Results of carboxyhemoglobin analyses of blood appeared reproducible and consistent with carbon monoxide concentrations in the exposure chamber.