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Theoretical aspects of manual control theory are discussed. Specific topics covered include: tracking; performance, attention allocation, and mental load; surface vehicle control; monitoring behavior and supervisory control; manipulators and prosthetics; aerospace vehicle control; motion and visual cues; and displays and controls.
The operation of the modal domain vibration sensor was demonstrated in several simple vibrational systems. Two apparent advantages are the sensors bandwidth and sensitivity. An inherent drawback of standard vibration detection devices is their rapid cost increase with high frequency bandwidth. This sensor showed consistent response in the freqency range of 1.5 to 400 Hz. By imparting very small but measurable excitations in the structures, the sensors ability to respond to very low order vibration induced strain was established. Dynamic ranges on the order of 18 to 22 dB for the CF beam and string systems respectively were observed. The sensor itself represents a very simple system: a coherent source, a single fiber and a low bandwidth detector. The inherent advantages of ruggedness and immunity to external radiation can also be added. Finally, the sensor minimally impairs structural motion through loading, an advantage in monitoring small vibrations or lightweight structures. Some drawbacks of the sensor are also noted.
Crack growth in single-crystal silicon at room temperature in air was evaluated by double torsion (DT) load-relaxation method and monitored by acoustic emission (AE) technique. Both DT and AE methods indicated lack of subcritical crack growth in silicon. At the critical stress intensity factor, the crack front was found to be jumping several times in a 'mirror' region and then followed by fast crack growth in a 'hackle' region. Hackle marks were found to be associated with plastic deformation at the tip of the fast moving crack. No dislocation etch pits were found in the 'mirror' region, in which crack growth may result from interatomic bonds broken at the crack tip under stress without any plastic deformation. Acoustic emission appears to be spontaneously generated from both interatomic bonds broken and dislocation generation at the moving crack tip during the crack growth in single-crystal silicon.
During the experimental testing of the ultralight, it was determined that a pressure gauge would be required to monitor the simulated flight loads. After analyzing several factors, which are indicated in the discussion section of this report, the Marsh J1678 pressure gauge appeared to be the prominent candidate for the task. However, prior to the final selection, the Marsh pressure gauge was calibrated twice by two different techniques. As a result of the calibration, the Marsh gauge was selected as the appropriate measuring device during the structural testing of the ultralight. Although, there are commerical pressure gauges available on the market that would have proven to be more efficient and accurate. However, in order to obtain these characteristics in a gauge, one has to pay the price on the price tag, and this value is an exponential function of the degree of accuracy efficiency, precision, and many other features that may be designed into the gauge. After analyzing the extent of precision and accuracy that would be required, a more expensive gauge wouldn't have proven to be a financial benefit towards the outcome of the experiment.
With the advances of measurements, modern space geodesy has become a new type of remote sensing for the Earth dynamics, especially for mass transports in the geophysical fluids on large spatial scales. A case in point is the space gravity mission GRACE (Gravity Recovery And Climate Experiment) which has been in orbit collecting gravity data since early 2002. The data promise to be able to detect changes of water mass equivalent to sub-cm thickness on spatial scale of several hundred km every month or so. China s Three-Gorge Reservoir has already started the process of water impoundment in phases. By 2009,40 km3 of water will be stored behind one of the world s highest dams and spanning a section of middle Yangtze River about 600 km in length. For the GRACE observations, the Three-Gorge Reservoir would represent a geophysical controlled experiment , one that offers a unique opportunity to do detailed geophysical studies. -- Assuming a complete documentation of the water level and history of the water impoundment process and aided with a continual monitoring of the lithospheric loading response (such as in area gravity and deformation), one has at hand basically a classical forwardinverse modeling problem of surface loading, where the input and certain output are known. The invisible portion of the impounded water, i.e. underground storage, poses either added values as an observable or a complication as an unknown to be modeled. Wang (2000) has studied the possible loading effects on a local scale; we here aim for larger spatial scales upwards from several hundred km, with emphasis on the time-variable gravity signals that can be detected by GRACE and follow-on missions. Results using the Green s function approach on the PREM elastic Earth model indicate the geoid height variations reaching several millimeters on wavelengths of about a thousand kilometers. The corresponding vertical deformations have amplitude of a few centimeters. In terms of long-wavelength spherical harmonics, the induced geoid height variations are very close to the accuracy of GRACE- recoverable gravity field, while the low-degree (2 to 5) harmonics should be detectable. With a large regional time-variable gravity signal, the Three-Gorge experiment can serve as a useful calibration/verification for GRACE (including the elastic loading effects), and future gravity missions (especially for visco-elastic yielding as well as underground water variations).
The Dynamic Response Computation (DIRECT) computer program simulates vibrations induced in a complex structure by applied dynamic loads. Developed to enable rapid analysis of launch- and landing- induced vibrations and stresses in a space shuttle, DIRECT also can be used to analyze dynamic responses of other structures - for example, the response of a building to an earthquake, or the response of an oil-drilling platform and attached tanks to large ocean waves. For a space-shuttle simulation, the required input to DIRECT includes mathematical models of the space shuttle and its payloads, and a set of forcing functions that simulates launch and landing loads. DIRECT can accommodate multiple levels of payload attachment and substructure as well as nonlinear dynamic responses of structural interfaces. DIRECT combines the shuttle and payload models into a single structural model, to which the forcing functions are then applied. The resulting equations of motion are reduced to an optimum set and decoupled into a unique format for simulating dynamics. During the simulation, maximum vibrations, loads, and stresses are monitored and recorded for subsequent analysis to identify structural deficiencies in the shuttle and/or payloads.
The feasibility of acoustic emission (AE) monitoring of cracking and crack propagation in Si semiconductor materials was evaluated experimentally. A double torsion load relaxation method was employed wherein the propagation velocity and the AE levels in precracked (but not notched) boron-doped wafers were recorded simultaneously. A numerical model for the critical stress intensity factor (KIC) was used to relate the crack growth velocity, the instantaneous load and the load relaxation rate. All specimens were monitored with acoustic transducers at six points and examined with SEM after failure. The AE levels reached a peak amplitude of 70 dB at a KIC of 0.997 MNm to the -3/2 for cracking in the 111 plane. No AE was detected before the load reached the KIC, indicating that no subcritical crack growth occurs in Si. The results support the use of AE for monitoring crack propagation in crystal Si.
Uniaxial compressive creep loadings were applied for ten hours to various graphite/epoxy laminates with a hole. All tests were performed at room temperatures. In-plane displacements were monitored using moire interferometry. Moire fringe patterns were reduced to in-plane strain fields numerically. The fiber-dominated laminates tested exhibited little or no viscoelastic behavior during the ten hour period. Conversely, the matrix-dominated laminates tested did exhibit viscoelastic behavior during the ten hour test time.
Composite specimens of titanium-15-3 matrix reinforced with continuous SCS-6 silicon carbide fibers were tested under a variety of thermal and mechanical loadings. A combined experimental/finite element approach was used to estimate the effective in-situ modulus of the matrix material and to evaluate changes in modulus due to the applied loads. Several fiber orientations were tested. Results indicate that the effect of the thermal loads on composite stiffness varies with fiber orientation. Applications of this method to test specimens damaged by uniaxial tension, thermal cycling, and isothermal fatigue loadings are used to illustrate that by monitoring overall structural behavior, changes in stiffness caused by thermomechanical loading can be detected.
Composite specimens of titanium-15-3 matrix reinforced with continuous SCS-6 silicon carbide fibers were tested under a variety of thermal and mechanical loadings. A combined experimental/finite element approach was used to estimate the effective in situ modulus of the matrix material and to evaluate changes in modulus due to the applied loads. Several fiber orientations were tested. Results indicate that the effect of thermal loads on composite stiffness varies with fiber orientation. Applications of this method to test specimens damaged by uniaxial tension, thermal cycling, and isothermal fatigue loadings are used to illustrate that by monitoring overall structural behavior, changes in stiffness caused by thermomechanical loading can be detected.
Ultra-efficient real-time structural monitoring algorithms have been developed to provide extensive information about the physical response of structures under load. These algorithms are driven by actual strain data to measure accurately local strains at multiple locations on the surface of a structure. Through a single point load calibration test, these structural strains are then used to calculate key physical properties of the structure at each measurement location. Such properties include the structure s flexural rigidity (the product of the structure's modulus of elasticity, and its moment of inertia) and the section modulus (the moment of inertia divided by the structure s half-depth). The resulting structural properties at each location can be used to determine the structure s bending moment, shear, and structural loads in real time while the structure is in service. The amount of structural information can be maximized through the use of highly multiplexed fiber Bragg grating technology using optical time domain reflectometry and optical frequency domain reflectometry, which can provide a local strain measurement every 10 mm on a single hair-sized optical fiber. Since local strain is used as input to the algorithms, this system serves multiple purposes of measuring strains and displacements, as well as determining structural bending moment, shear, and loads for assessing real-time structural health. The first step is to install a series of strain sensors on the structure s surface in such a way as to measure bending strains at desired locations. The next step is to perform a simple ground test calibration. For a beam of length l (see example), discretized into n sections and subjected to a tip load of P that places the beam in bending, the flexural rigidity of the beam can be experimentally determined at each measurement location x. The bending moment at each station can then be determined for any general set of loads applied during operation.
Operating loads and structural damage were monitored during operation of the MOD-OA electric generating system. The turbine was damaged locally between stations 48 and 125 after 2.8 million rotations. Loads due to degraded yaw stiffness and fretting at rib station 48 were identified as primary to this distress. The repaired blades operated an additional 4.8 million rotations without problems.
System for remote monitoring gas purge of Saturn launch vehicle during prelaunch and checkout
In order to further advance the understanding of the mechanical behavior of ceramic matrix composites (CMCs), acoustic emission (AE) techniques were imple mented to monitor and identify damage mechanisms in CMCs under tensile loading. In addition to real-time AE monitoring techniques, a data acquisition system was developed and implemented in order to capture AE waveforms resulting from stress-induced damage. Waveforms were inspected for multiple events, separated in distinct events, and then analyzed to determine waveform characteristics in the time and frequency domains. Waveform characteristics included peak amplitude, event duration, MARSE, energy, and dominant and centroidal frequency. In addition to conventional methods for determining a damage discrimination criteria, a study of the distribution and correlation the waveform characteristics was performed to aid in the determination of a damage discrimination criteria. The damage discrimination criteria was tested for "uniqueness", i.e., the effectiveness of the criteria to identify and monitor damage independent of the stress-strain relationship. Insitu radiography was used to substantiate the damage accumulation.
This paper outlines cryogenic Y-joint testing at Langley Research Center (LaRC) to validate the performance of optical fiber Bragg grating strain sensors for measuring strain at liquid helium temperature (-240 C). This testing also verified survivability of fiber sensors after experiencing 10 thermal cool-down, warm-up cycles and 400 limit load cycles. Graphite composite skins bonded to a honeycomb substrate in a sandwich configuration comprised the Y-joint specimens. To enable SHM of composite cryotanks for consideration to future spacecraft, a light-weight, durable monitoring technology is needed. The fiber optic distributed Bragg grating strain sensing system developed at LaRC is a viable substitute for conventional strain gauges which are not practical for SHM. This distributed sensing technology uses an Optical Frequency Domain Reflectometer (OFDR). This measurement approach has the advantage that it can measure hundreds of Bragg grating sensors per fiber and the sensors are all written at one frequency, greatly simplifying fiber manufacturing. Fiber optic strain measurements compared well to conventional strain gauge measurements obtained during these tests. These results demonstrated a high potential for a successful implementation of a SHM system incorporating LaRC's fiber optic sensing system on the composite cryotank and other future cryogenic applications.
This final report is comprised of the abstract of a masters thesis research grant. The abstract of the thesis, 'An Investigation of Acoustic Emission Techniques for the Discrimination of Damage Mechanisms in Ceramic Matrix Composites', is as follows: In order to further advance the understanding of the mechanical behavior of ceramic matrix composites (CMS's), acoustic emission (AE) techniques were implemented to monitor and identify damage mechanisms in CMC's under tensile loading. In addition to real-time AE monitoring techniques, a data acquisition system was developed and implemented in order to capture AE waveforms resulting from stress-induced damage. Waveforms were inspected for multiple events, separated in distinct events, and then analyzed to determine waveform characteristics in the time and frequency domains. Waveform characteristics included peak amplitude, event duration, MARSE, energy, and dominant and centroidal frequency. In addition to conventional methods for determining a damage discrimination criteria, a study of the distribution and correlation of the waveform characteristics criteria and a study of the distribution and correlation of the waveform characteristics were performed to aid in the determination of a damage discrimination criteria. The damage discrimination criteria was tested for 'uniqueness', i.e., the effectiveness of the criteria to identify and monitor damage independent of the stress-strain relationship. Insitu radiography was used to substantiate the damage accumulation. A simulation test was also performed over the loading history to study the changes in the waveform characteristics of the system response from a constant excitation. This thesis demonstrates the use of waveform analysis to study the AE activity resulting from stress-induced damage in CMC's in conjunction with other nondestructive evaluation techniques to investigate the mechanical behavior of CMC's.
NASA and industry are developing inflatable, crewed space structures for large-scale habitats for in-space and surface missions. Space certified inflatables are composed of high strength fabrics that carry the structural loads from internal pressure and replace traditional metallic primary structure. Inflatables can be packed for launch, fit inside a small launch shroud, and expand in orbit to create a large habitable volume for the crew. For safe operation of inflatable habitats, structural health monitoring (SHM) techniques are required to monitor and evaluate the structural loads in both ground and flight tests. Because of the nature of fabric structures, SHM techniques need to be soft, flexible, and be able to interface with softgoods. Litteken's presentation will introduce inflatable structures, their design, and their planned use for future NASA missions. He will discuss SHM needs for inflatables and their specific requirements for implementation with flight hardware.
The long lifetimes, delicate nature and stringent pointing requirements of large space structures such as Space Station Freedom and geostationary Earth sciences platforms might require that these spacecraft be monitored periodically for possible damage to the load carrying structures. A review of the literature in damage detection and health monitoring of such structures is presented, along with a candidate structure to be used as a testbed for future work in this field. A unified notation and terminology is also proposed to facilitate comparisons between candidate methods.