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At least 1,369 records · Page 76

Applicability of a Crack-Detection System for Use in Rotor Disk Spin Test Experiments Being Evaluated

Engine makers and aviation safety government institutions continue to have a strong interest in monitoring the health of rotating components in aircraft engines to improve safety and to lower maintenance costs. To prevent catastrophic failure (burst) of the engine, they use nondestructive evaluation (NDE) and major overhauls for periodic inspections to discover any cracks that might have formed. The lowest cost fluorescent penetrant inspection NDE technique can fail to disclose cracks that are tightly closed during rest or that are below the surface. The NDE eddy current system is more effective at detecting both crack types, but it requires careful setup and operation and only a small portion of the disk can be practically inspected. So that sensor systems can sustain normal function in a severe environment, health-monitoring systems require the sensor system to transmit a signal if a crack detected in the component is above a predetermined length (but below the length that would lead to failure) and lastly to act neutrally upon the overall performance of the engine system and not interfere with engine maintenance operations. Therefore, more reliable diagnostic tools and high-level techniques for detecting damage and monitoring the health of rotating components are very essential in maintaining engine safety and reliability and in assessing life.

Abdul-Aziz, Ali↗

Space Shuttle Upgrades: Long Life Alkaline Fuel Cell

NASA has utilized the alkaline fuel cell technology to provide electrical power for manned launch vehicles such as Gemini, Apollo, and the Space Shuttle. The current Shuttle alkaline fuel cells are procured from UTC Fuel Cells, a United Technologies Company. The alkaline fuel cells are very reliable but the operating life is limited to 2600 hours due to voltage degradation of the individual cells. The main limiting factor in the life of the cells is corrosion of the cell's fiberglass/epoxy frame by the aqueous potassium hydroxide electrolyte. To reduce operating costs, the orbiter program office approved the Long Life Alkaline Fuel Cell (LLAFC) program as a shuttle upgrade in 1999 to increase the operating life of the fuel cell powerplant to 5000 hours. The LLAFC program incorporates improving the cell by extending the length of the corrosion path, which reduces the cell frame corrosion. UTCFC performed analysis to understand the fundamental mechanisms that drive the cell frame corrosion. The analysis indicated that the corrosion path started along the bond line between the cathode and the cell frame. Analysis also showed that the oxygen available at the cathode, the catalyst on the electrode, and the electrode substrate all supported or intensified the corrosion. The new cell design essentially doubled the corrosion path to mitigate the problem. A 10-cell stack was tested for 5000 hours during the development phase of this program to verify improved cell performance. A complete 96-cell stack was then tested for 5000 hours during the full manned-space qualification phase of this program. Additional upgrades to the powerplant under this program are: replacing the aluminum body in the pressure regulator with stainless steel to reduce corrosion, improving stack insulator plate with improved resistance to stress failure and improved temperature capability, and replacing separator plate elastomer seals with a more durable material and improved seal retention.

Kerri McCurdy↗

Development of mid-IR lasers for Laser Remote Sensing

There is an existing need in JPL and in NASA for development of mid-IR lasers, such as Quantum Cascade (QC) lasers, for in-situ and remote laser spectrometers. Mid-IR, compact, low power consumption laser spectrometers have a great potential for detection and measurements of planetary gases and biological important biomarker molecules such as H20, H202, CH4, and many additional chemical species on Mars and other Solar system planets. Another potential application of QC lasers for future NASA mission is in high power remote Laser Reflectance Spectrometers (LRS). In LSR instrument, mid-infrared lasers will act as the illumination source for conducting active mid-IR reflectance spectroscopy of solid-surfaced objects in the outer Solar System. These spectrometers have the potential to provide an incredible amount of information about the compositions of surfaces in the outer Solar System. In this work, we will discuss our current effort at JPL to advance QC lasers to a level that the laser performance, operational requirements and reliability be compatible with the instruments demands for space exploration applications.

Mid - IR lasers↗

An Integrated Approach to Life Cycle Analysis

Life Cycle Analysis (LCA) is the evaluation of the impacts that design decisions have on a system and provides a framework for identifying and evaluating design benefits and burdens associated with the life cycles of space transportation systems from a "cradle-to-grave" approach. Sometimes called life cycle assessment, life cycle approach, or "cradle to grave analysis", it represents a rapidly emerging family of tools and techniques designed to be a decision support methodology and aid in the development of sustainable systems. The implementation of a Life Cycle Analysis can vary and may take many forms; from global system-level uncertainty-centered analysis to the assessment of individualized discriminatory metrics. This paper will focus on a proven LCA methodology developed by the Systems Analysis and Concepts Directorate (SACD) at NASA Langley Research Center to quantify and assess key LCA discriminatory metrics, in particular affordability, reliability, maintainability, and operability. This paper will address issues inherent in Life Cycle Analysis including direct impacts, such as system development cost and crew safety, as well as indirect impacts, which often take the form of coupled metrics (i.e., the cost of system unreliability). Since LCA deals with the analysis of space vehicle system conceptual designs, it is imperative to stress that the goal of LCA is not to arrive at the answer but, rather, to provide important inputs to a broader strategic planning process, allowing the managers to make risk-informed decisions, and increase the likelihood of meeting mission success criteria.

Chytka, T. M.↗

Advanced Thermal HPT Clearance Control

OBJECTIVE: Develop a fast acting HPT Active Clearance Control System to improve engine efficiency and reduce emissions CHALLENGE: Reduction of HPT blade clearance throughout engine operation System complexity, reliability and cost must remain comparable or surpass today s engines Reduced clearance may increase possibility of rubs

WojciechVoytek, Sak↗

A Probabilistic System Analysis of Intelligent Propulsion System Technologies

NASA s Intelligent Propulsion System Technology (Propulsion 21) project focuses on developing adaptive technologies that will enable commercial gas turbine engines to produce fewer emissions and less noise while increasing reliability. It features adaptive technologies that have included active tip-clearance control for turbine and compressor, active combustion control, turbine aero-thermal and flow control, and enabling technologies such as sensors which are reliable at high operating temperatures and are minimally intrusive. A probabilistic system analysis is performed to evaluate the impact of these technologies on aircraft CO2 (directly proportional to fuel burn) and LTO (landing and takeoff) NO(x) reductions. A 300-passenger aircraft, with two 396-kN thrust (85,000-pound) engines is chosen for the study. The results show that NASA s Intelligent Propulsion System technologies have the potential to significantly reduce the CO2 and NO(x) emissions. The results are used to support informed decisionmaking on the development of the intelligent propulsion system technology portfolio for CO2 and NO(x) reductions.

Tong, Michael T.↗

Control of Dual-Opposed Stirling Convertors with Active Power Factor Correction Controllers

When using recently-developed active power factor correction (APFC) controllers in power systems comprised of dual-opposed free-piston Stirling convertors, a variety of configurations of the convertors and controller(s) can be considered, with configuration ultimately selected based on benefits of efficiency, reliability, and robust operation. The configuration must not only achieve stable control of the two convertors, but also synchronize and regulate motion of the pistons to minimize net dynamic forces. The NASA Glenn Research Center (GRC) System Dynamic Model (SDM) was used to study ten configurations of dual-opposed convertor systems. These configurations considered one controller with the alternators connected in series or in parallel, and two controllers with the alternators not connected (isolated). For the configurations where the alternators were not connected, several different approaches were evaluated to synchronize the two convertors. In addition, two thermodynamic configurations were considered: two convertors with isolated working spaces and convertors with a shared expansion space. Of the ten configurations studied, stable operating modes were found for four. Three of those four had a common expansion space. One stable configuration was found for the dual-opposed convertors with separate working spaces. That configuration required isochronous control of both convertors, and two APFC controllers were used to accomplish this. A frequency/phase control loop was necessary to allow each APFC controller to synchronize its associated convertor with a common frequency.

Regan, Timothy F.↗

Trace water sensor

A solid electrolytic type hygrometer is described, which operates with high reliability while providing rapid and sensitive response. A gold foil electrode (16) is wrapped about a hollow glass cylinder (18), a sheet (12) of hygroscopic-electrolytic material is wrapped about the foil, and a wire (14) is wound around the outside of the electrolytic sheet. Moisture passing between wire turns can be absorbed by the electrolytic material (12), and then dissociated by current passed by the electrodes (14, 16) through the electrolytic material. The cylinder has a slit (20) extending along its length, to allow resilient expansion to press the sheet of electrolytic material firmly against the electrodes. The wire turns lie against one another to cause rapid dissociation of moisture throughout the electrolytic material. Additional guard wires (42,44, FIG. 2) lie at opposite ends of the electrolytic sheet, and currents pass through them to avoid moisture buildup at the ends of the main wire coil. The electrical current through the sheet or membrane is proportional to the partial pressure of the water-vapor.

Stephens, James B.↗

Efficiency arcjet thruster with controlled arc startup and steady state attachment

An improved efficiency arcjet thruster has a constrictor and electrically-conductive nozzle anode defining an arc chamber, and an electrically-conductive rod having a tip spaced upstream from the constrictor and defining a cathode spaced from the anode by a gap generally coextensive with the arc chamber. An electrical potential is applied to the anode and cathode to generate an electrical arc in the arc chamber from the cathode to anode. Catalytically decomposed hydrazine is supplied to the arc chamber with generation of the arc so as to produce thermal heating and expansion thereof through the nozzle. The constrictor can have a electrically insulative portion disposed between the cathode tip and the nozzle anode, and an electrically-conductive anode extension disposed along the insulative portion so as to define an auxiliary gap with the cathode tip substantially smaller than the gap defined between the cathode and nozzle anode for facilitating startup of arc generation. The constrictor can also include an electrically-conductive electrode with a variable electrical potential to vary the shape of the arc generated in the arc chamber. Also, the cathode is mounted for axial movement such that the gap between its tip and the nozzle anode can be varied to facilitate a generally nonerosive generation of the electrical arc at startup and reliable steady state operation. Further, the arc chamber can have a nonparallel subsonic-to-supersonic transition configuration, or alternatively solely a nonparallel supersonic configuration, for improved arc attachment.

Smith, William W.↗

Application of High-Temperature Extrinsic Fabry-Perot Interferometer Strain Sensor

In this presentation to the NASA Aeronautics Sensor Working Group the application of a strain sensor is outlined. The high-temperature extrinsic Fabry-Perot interferometer (EFPI) strain sensor was developed due to a need for robust strain sensors that operate accurately and reliably beyond 1800 F. Specifically, the new strain sensor would provide data for validating finite element models and thermal-structural analyses. Sensor attachment techniques were also developed to improve methods of handling and protecting the fragile sensors during the harsh installation process. It was determined that thermal sprayed attachments are preferable even though cements are simpler to apply as cements are more prone to bond failure and are often corrosive. Previous thermal/mechanical cantilever beam testing of EFPI yielded very little change to 1200 F, with excellent correlation with SG to 550 F. Current combined thermal/mechanical loading for sensitivity testing is accomplished by a furnace/cantilever beam loading system. Dilatometer testing has can also be used in sensor characterization to evaluate bond integrity, evaluate sensitivity and accuracy and to evaluate sensor-to-sensor scatter, repeatability, hysteresis and drift. Future fiber optic testing will examine single-mode silica EFPIs in a combined thermal/mechanical load fixture on C-C and C-SiC substrates, develop a multi-mode Sapphire strain-sensor, test and evaluate high-temperature fiber Bragg Gratings for use as strain and temperature sensors and attach and evaluate a high-temperature heat flux gauge.

Piazza, Anthony↗

Sensor Technologies for Particulate Detection and Characterization

Planned Lunar missions have resulted in renewed attention to problems attributable to fine particulates. While the difficulties experienced during the sequence of Apollo missions did not prove critical in all cases, the comparatively long duration of impending missions may present a different situation. This situation creates the need for a spectrum of particulate sensing technologies. From a fundamental perspective, an improved understanding of the properties of the dust fraction is required. Described here is laboratory-based reference instrumentation for the measurement of fundamental particle size distribution (PSD) functions from 2.5 nanometers to 20 micrometers. Concomitant efforts for separating samples into fractional size bins are also presented. A requirement also exists for developing mission compatible sensors. Examples include provisions for air quality monitoring in spacecraft and remote habitation modules. Required sensor attributes such as low mass, volume, and power consumption, autonomy of operation, and extended reliability cannot be accommodated by existing technologies.

Greenberg, Paul S.↗

High-Temperature Strain Sensing for Aerospace Applications

Thermal protection systems (TPS) and hot structures are utilizing advanced materials that operate at temperatures that exceed abilities to measure structural performance. Robust strain sensors that operate accurately and reliably beyond 1800 F are needed but do not exist. These shortcomings hinder the ability to validate analysis and modeling techniques and hinders the ability to optimize structural designs. This presentation examines high-temperature strain sensing for aerospace applications and, more specifically, seeks to provide strain data for validating finite element models and thermal-structural analyses. Efforts have been made to develop sensor attachment techniques for relevant structural materials at the small test specimen level and to perform laboratory tests to characterize sensor and generate corrections to apply to indicated strains. Areas highlighted in this presentation include sensors, sensor attachment techniques, laboratory evaluation/characterization of strain measurement, and sensor use in large-scale structures.

Piazza, Anthony↗

The Liquid Nitrogen System for Chamber A: A Change from Original Forced Flow Design to a Natural Flow (Thermo Siphon) System

NASA Johnson Space Center (JSC) in Houston is currently supplementing its 20K helium refrigeration system to meet the new requirements for testing the James Web Space Telescope in the environmental control Chamber-A (65 dia x 120 high) in Building 32. The new system is required to meet the various operating modes which include a high 20K heat load, a required temperature stability at the load, rapid (but controlled) cool down and warm up and bake out of the chamber. This paper will present the proposed modifications to the existing helium system(s) to incorporate the new requirements and the integration of the new helium refrigerator with the existing two 3.5KW 20K helium refrigerators. In addition, the floating pressure process control philosophy to achieve high efficiency over the operating range (40% to 100% of the refrigeration system capacity), and the required temperature stability of +/- 0.25 K at the load will be discussed. The refrigeration systems ability to naturally seek the operating conditions under various loads and thus minimizing operator involvement and the over all improvements to the system operability and the reliability will be explained.

Homan, Jonathan↗

The Orbiting Wide-Angle Light Collectors (OWL) Mission for Charged-Particle Astronomy

The space-based OWL mission is designed to perform high-statistics measurements of ultra-high-energy cosmic rays (UHECR) using the Earth's atmosphere as a vast particle calorimeter, furthering the field of charged-particle astronomy. OWL has been developed in formal NASA instrument and mission studies and is comprised of two large telescopes separated by approx.600 km in 1000 km, near-equatorial orbits to stereoscopically image the near-UV air fluorescence emitted by UHECR-induced particle cascades. The High Resolution Fly's Eye (HiRes) Collaboration, and subsequently the Pierre Auger Observatory, recently reported confirmation of the expected Greisen-Zatsepin-Kuzmin (GZK) suppression of the UHECR flux above a few times 10(exp 19) eV. This observation is consistent with the majority of UHECR originating in astrophysical objects and reduces the need to invoke exotic physical processes. Particles observed above the GZK threshold energy must have come from sources within about 100 Mpc from the Earth. The small particle deflection angles expected at UHECR energies, with standard assumptions of extragalactic magnetic fields, are on the order of 1 degree. Thus by observing particles above the GZK threshold with sufficient exposure, there is the potential of identifying and characterizing individual UHECR sources. Auger has reported significant anisotropy in the arrival directions of UHECR at energies above about 6 10(exp 19) eV observed in the South, and a correlation to AGN in the 12th VCV catalog, suggesting that the sources of UHECR are traced by the distribution of luminous matter in the Universe. However, with similar statistics and the same event selection criteria, HiRes observations in the North are consistent with isotropy. Extended observations by Auger-South, by Telescope Array in the North, and possibly by the proposed Auger-North, will further these investigations. However, much greater exposures will be required to fully identify individual sources and measure their cosmic ray spectra. A five-year OWL mission would deliver approximately 10(exp 6)sq km/sr/yr of exposure with full aperture reached at approx. 10(exp 19) eV. The baseline 3 m optical aperture OWL telescopes with 45 degree full field-of-view are easily accomodated on a single conventional launch vehicle. On orbit, the simultaneous viewing of the same volume of atmosphere allows for precise stereo event reconstruction, which is nearly independent of the inclination of the particle track and tolerant of atmospheric conditions. The availability of monocular operation provides increased reliability or can be employed to increase the instantaneous aperture. In stereo mode, OWL is also capable of fully reconstructing horizontal or upward-moving showers and so has unmatched sensitivity to neutrino-induced events. The details of the OWL mission will he presented and its science capabilities will be discussed.

Mitchell, John↗

Ares I First Stage Booster Deceleration System: An Overview

In 2005, the Congressional NASA Authorization Act enacted a new space exploration program, the "Vision for Space Exploratien". The Constellation Program was formed to oversee the implementation of this new mission. With an intent not simply to support the International Space Station, but to build a permanent outpost on the Moon and then travel on to explore ever more distant terrains, the Constellation Program is supervising the development of a brand new fleet of launch vehicles, the Ares. The Ares lineup will include two new launch vehicles: the Ares I Crew Launch Vehicle and the Ares V Cargo Launch Vehicle. A crew exploration vehicle, Orion, will be launched on the Ares I. It will be capable of docking with the Space Station, the lunar lander, Altair, and the Earth Departure Stage of Ares V. The Ares V will be capable of lifting both large-scale hardware and the Altair into space. The Ares First Stage Team is tasked with developing the propulsion system necessary to liftoff from the Earth and loft the entire Ares vehicle stack toward low Earth orbit. The Ares I First Stage booster is a 12-foot diameter, five-segment, reusable solid rocket booster derived from the Space Shuttle's four segment reusable solid rocket booster (SRB). It is separated from the Upper Stage through the use of a Deceleration Subsystem (DSS). Booster Tumble Motors are used to induce the pitch tumble following separation from the Upper Stage. The spent Ares I booster must be recoverable using a parachute deceleration system similar to that of the Shuttle SRB heritage system. Since Ares I is much heavier and reenters the Earth's atmosphere from a higher altitude at a much higher velocity than the SRB, all of the parachutes must be redesigned to reliably meet the operational requisites of the new launch vehicles. This paper presents an overview of this new booster deceleration system. It includes comprehensive detail of the parachute deceleration system, its design and deployment sequences, including how and why it is being developed, the requirements it must meet, and the testing involved in its implementation.

King, Ron↗

Control of Dual-Opposed Stirling Convertors with Active Power Factor Correction Controllers

When using recently-developed active power factor correction (APFC) controllers in power systems comprised of dual-opposed free-piston Stirling convertors, a variety of configurations of the convertors and controller(s) can be considered, with configuration ultimately selected based on benefits of efficiency, reliability, and robust operation. The configuration must not only achieve stable control of the two convertors, but also synchronize and regulate motion of the pistons to minimize net dynamic forces. The NASA Glenn Research Center (GRC) System Dynamic Model (SDM) was used to study ten configurations of dual-opposed convertor systems. These configurations considered one controller with the alternators connected in series or in parallel, and two controllers with the alternators not connected (isolated). For the configurations where the alternators were not connected, several different approaches were evaluated to synchronize the two convertors. In addition, two thermodynamic configurations were considered: two convertors with isolated working spaces and convertors with a shared expansion space. Of the ten configurations studied, stable operating modes were found for four. Three of those four had a common expansion space. One stable configuration was found for the dual-opposed convertors with separate working spaces. That configuration required isochronous control of both convertors, and two APFC controllers were used to accomplish this. A frequency/phase control loop was necessary to allow each APFC controller to synchronize its associated convertor with a common frequency.

Regan, Timothy F.↗

Hybrid Automotive Engine Using Ethanol-Burning Miller Cycle

A proposed hybrid (internal-combustion/ electric) automotive engine system would include as its internal-combustion subsystem, a modified Miller-cycle engine with regenerative air preheating and with autoignition like that of a Diesel engine. The fuel would be ethanol and would be burned lean to ensure complete combustion. Although the proposed engine would have a relatively low power-to-weight ratio compared to most present engines, this would not be the problem encountered if this engine were used in a non-hybrid system since hybrid systems require significantly lower power and thus smaller engines than purely internal-combustion-engine-driven vehicles. The disadvantage would be offset by the advantages of high fuel efficiency, low emission of nitrogen oxides and particulate pollutants, and the fact that ethanol is a renewable fuel. The original Miller-cycle engine, named after its inventor, was patented in the 1940s and is the basis of engines used in some modern automobiles, but is not widely known. In somewhat oversimplified terms, the main difference between a Miller-cycle engine and a common (Otto-cycle) automobile engine is that the Miller-cycle engine has a longer expansion stroke while retaining the shorter compression stroke. This is accomplished by leaving the intake valve open for part of the compression stroke, whereas in the Otto cycle engine, the intake valve is kept closed during the entire compression stroke. This greater expansion ratio makes it possible to extract more energy from the combustion process without expending more energy for compression. The net result is greater efficiency. In the proposed engine, the regenerative preheating would be effected by running the intake air through a heat exchanger connected to the engine block. The regenerative preheating would offer two advantages: It would ensure reliable autoignition during operation at low ambient temperature and would help to cool the engine, thereby reducing the remainder of the power needed for cooling and thereby further contributing to efficiency. An electrical resistance air preheater might be needed to ensure autoignition at startup and during a short warmup period. Because of the autoignition, the engine could operate without either spark plugs or glow plugs. Ethanol burns relatively cleanly and has been used as a motor fuel since the invention of internal-combustion engines. However, the energy content of ethanol per unit weight of ethanol is less than that of Diesel fuel or gasoline, and ethanol has a higher heat of vaporization. Because the Miller cycle offers an efficiency close to that of the Diesel cycle, burning ethanol in a Miller-cycle engine gives about as much usable output energy per unit volume of fuel as does burning gasoline in a conventional gasoline automotive engine. Because of the combination of preheating, running lean, and the use of ethyl alcohol, the proposed engine would generate less power per unit volume than does a conventional automotive gasoline engine. Consequently, for a given power level, the main body of the proposed engine would be bulkier. However, because little or no exhaust cleanup would be needed, the increase in bulk of the engine could be partially offset by the decrease in bulk of the exhaust system. The regenerative preheating also greatly reduces the external engine cooling requirement, and would translate to reduced engine bulk. It may even be possible to accomplish the remaining cooling of the engine by use of air only, eliminating the bulk and power consumption of a water cooling system. The combination of a Miller-cycle engine with regenerative air preheating, ethyl alcohol fuel, and hybrid operation could result in an automotive engine system that satisfies the need for a low pollution, high efficiency, and simple engine with a totally renewable fuel.

Weinstein, Leonard↗

Advanced Signal Conditioners for Data-Acquisition Systems

Signal conditioners embodying advanced concepts in analog and digital electronic circuitry and software have been developed for use in data-acquisition systems that are required to be compact and lightweight, to utilize electric energy efficiently, and to operate with high reliability, high accuracy, and high power efficiency, without intervention by human technicians. These signal conditioners were originally intended for use aboard spacecraft. There are also numerous potential terrestrial uses - especially in the fields of aeronautics and medicine, wherein it is necessary to monitor critical functions. Going beyond the usual analog and digital signal-processing functions of prior signal conditioners, the new signal conditioner performs the following additional functions: It continuously diagnoses its own electronic circuitry, so that it can detect failures and repair itself (as described below) within seconds. It continuously calibrates itself on the basis of a highly accurate and stable voltage reference, so that it can continue to generate accurate measurement data, even under extreme environmental conditions. It repairs itself in the sense that it contains a micro-controller that reroutes signals among redundant components as needed to maintain the ability to perform accurate and stable measurements. It detects deterioration of components, predicts future failures, and/or detects imminent failures by means of a real-time analysis in which, among other things, data on its present state are continuously compared with locally stored historical data. It minimizes unnecessary consumption of electric energy. The design architecture divides the signal conditioner into three main sections: an analog signal section, a digital module, and a power-management section. The design of the analog signal section does not follow the traditional approach of ensuring reliability through total redundancy of hardware: Instead, following an approach called spare parts tool box, the reliability of each component is assessed in terms of such considerations as risks of damage, mean times between failures, and the effects of certain failures on the performance of the signal conditioner as a whole system. Then, fewer or more spares are assigned for each affected component, pursuant to the results of this analysis, in order to obtain the required degree of reliability of the signal conditioner as a whole system. The digital module comprises one or more processors and field-programmable gate arrays, the number of each depending on the results of the aforementioned analysis. The digital module provides redundant control, monitoring, and processing of several analog signals. It is designed to minimize unnecessary consumption of electric energy, including, when possible, going into a low-power "sleep" mode that is implemented in firmware. The digital module communicates with external equipment via a personal-computer serial port. The digital module monitors the "health" of the rest of the signal conditioner by processing defined measurements and/or trends. It automatically makes adjustments to respond to channel failures, compensate for effects of temperature, and maintain calibration.

Lucena, Angel↗