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At least 1,531 records · Page 85
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Field Laboratory for Emerging Stacked Unconventional Plays in Central Appalachia

The goal of the Field Laboratory for Emerging Stacked Unconventional Plays (ESUP) in Central Appalachia project was to investigate and characterize the resource potential for multi-play production of emerging unconventional reservoirs in Central Appalachia. Project activities included drilling, logging and coring of a vertical characterization well drilled to basement to approximately 15,000 feet in depth. The data from drilling and well logs as well recovered core samples were used by the research team to support characterization of the geology and potential pay zones within the Nora Gas Field of southwestern Virginia and the greater Central Appalachian Basin. This project was led by Dr. Nino Ripepi of the Virginia Center for Coal and Energy Research (VCCER) in close collaboration with EnerVest Operating LLC (EnerVest). VCCER is housed in the Department of Mining and Minerals Engineering at Virginia Tech and was created by an Act of the Virginia General Assembly on March 30, 1977, as an interdisciplinary study, research, information, and resource facility for the Commonwealth of Virginia. EnerVest is a top tier, low-cost oil and natural gas company with a long history of traditional operating relationships with institutional investors as well as public and private companies. This report summarizes two major research activities: 1) Log and Core Analysis and 2) Numerical Modeling. Core analysis comprises the characterization efforts of the ESUP Field Laboratory and includes a discussion of the well logs run in the deep characterization wells, an initial analysis of those, the number, size and location of cores recovered, core testing and analysis done to date as well as plans for future analysis. Numerical modeling is comprised of seven major modeling efforts, including (1) Multiphysics shale transport modeling work, (2) the developed in-house compositional simulator studies, (3) reservoir modeling studies using GEM software, (4) fracture modeling work using EFRAC3D software and (5) numerical modeling efforts with ABAQUS software, (6) Numerical modeling efforts using FLAC3D and PFC3D, and (7) Automatic Machine Learning (AutoML) Studies.

02 PETROLEUM↗
DOE OSTI2022

Assembly of polyelectrolyte star block copolymers at the oil–water interface

To understand and resolve adsorption, reconfiguration, and equilibrium conformations of charged star copolymers, we carried out an integrated experimental and coarse-grained molecular dynamics simulation study of the assembly process at the oil–water interface. This is important to guide development of novel surfactants or amphiphiles for chemical transformations and separations. The star block copolymer consisted of arms that are comprised of hydrophilic–hydrophobic block copolymers that are covalently tethered via the hydrophobic blocks to one point. The hydrophobic core represents polystyrene (PS) chains, while the hydrophilic corona represents quaternized poly(2-vinylpyridine) (P2VP) chains. The P2VP is modeled to become protonated when in contact with an acidic aqueous phase, thereby massively increasing the hydrophilicity of this block, and changing the nature of the star at the oil–water interface. This results in a configurational change whereby the chains comprising the hydrophilic corona are significantly stretched into the aqueous phase, while the hydrophobic core remains solubilized in the oil phase. In the simulations, we followed the kinetics of the anchoring and assembly of the star block copolymer at the interface, monitoring the lateral assembly, and the subsequent reconfiguration of the star via changes in the interfacial tension that varies as the degree-of-protonation increases. At low fractions of protonation, the arm cannot fully partition into the aqueous side of the interface and instead interacts with other arms in the oil phase forming a network near the interface. These insights were used to interpret the non-monotonic dependence of pH with the asymptotic interfacial tension from pendant drop tensiometry experiments and spectral signatures of aromatic stretches seen in vibrational sum frequency generation (SFG) spectroscopy. We describe the relationship of interfacial tension to the star assembly via the Frumkin isotherm, which phenomenologically describes anti-cooperativity in adsorbing stars to the interface due to crowding. Although our model explicitly considers long-range electrostatics, the contribution of electrostatics to interfacial tension is small and brought about by strong counterion condensation at the interface. Finally, these results provide key insights into resolving the adsorption, reconfiguration, and equilibrium conformations of charged star block copolymers as surfactants.

36 MATERIALS SCIENCE↗
NASA NTRS1999

Synthesis of Large Molecules in Cometary Ice Analogs: Physical Properties Related to Self-Assembly Processes

The combination of realistic laboratory simulations and infrared observations have revolutionized our understanding of interstellar dust and ice-the main component of comets. Since comets and carbonaceous micrometeorites may have been important sources of volatiles and carbon compounds on the early Earth, their organic composition may be related to the origin of life. Ices on grains in molecular clouds contain a variety of simple molecules. The D/H ratios of the comets Hale-Bopp and Hyakutake are consistent with a primarily interstellar ice mixture. Within the cloud and especially in the presolar nebula through the early solar system, these icy grains would have been photoprocessed by the ultraviolet producing more complex species such as hexamethylenetetramine, polyoxymethylenes, and simple keones. We reported at the 1999 Bioastronomy meeting laboratory simulations studied to identify the types of molecules which could have been generated in pre-cometary ices. Experiments were conducted by forming a realistic interstellar mixed-molecular ice (H2O, CH3OH, NH3 and CO) at approximately 10 K under high vacuum irradiated with UV light from a hydrogen plasma lamp. The gas mixture was typically 100:50:1:1, however when different ratios were used material with similar characteristics was still produced. The residue that remained after warming to room temperature was analyzed by HPLC, and by several mass spectrometric methods. This material contains a rich mixture of complex compounds with mass spectral profiles resembling those found in IDPs and meteorites. Surface tension measurements show that an amphiphilic component is also present. These species do not appear in various controls or in unphotolyzed samples. Residues from the simulations were also dispersed in aqueous media for microscopy. The organic material forms 10-40 gm diameter droplets that fluoresce at 300-450 nm under UV excitation. These droplets have a morphology and internal structure which appear strikingly similar to those produced by extracts of the Murchison meteorite. Together, these results suggest a link between organic material photochemically synthesized on the cold grains in dense, interstellar molecular clouds and compounds that may have contributed to the organic inventory of the primitive Earth. For example, the amphiphilic properties of such compounds permit self-assembly into the membranous boundary structures that required for the first forms of cellular life.

Dworkin, Jason P.↗
DOE OSTI2022

The TPR domain of PgaA is a multifunctional scaffold that binds PNAG and modulates PgaB-dependent polymer processing

The synthesis of exopolysaccharides as biofilm matrix components by pathogens is a crucial factor for chronic infections and antibiotic resistance. Many periplasmic proteins involved in polymer processing and secretion in Gram-negative synthase dependent exopolysaccharide biosynthetic systems have been individually characterized. The operons responsible for the production of PNAG, alginate, cellulose and the Pel polysaccharide each contain a gene that encodes an outer membrane associated tetratricopeptide repeat (TPR) domain containing protein. While the TPR domain has been shown to bind other periplasmic proteins, the functional consequences of these interactions for the polymer remain poorly understood. Herein, we show that the C-terminal TPR region of PgaA interacts with the de-N-acetylase domain of PgaB, and increases its deacetylase activity. Additionally, we found that when the two proteins form a complex, the glycoside hydrolase activity of PgaB is also increased. To better understand structure-function relationships we determined the crystal structure of a stable TPR module, which has a conserved groove formed by three repeat motifs. Tryptophan quenching, mass spectrometry analysis and molecular dynamics simulation studies suggest that the crystallized TPR module can bind PNAG/dPNAG via its electronegative groove on the concave surface, and potentially guide the polymer through the periplasm towards the porin for export. Our results suggest a scaffolding role for the TPR domain that combines PNAG/dPNAG translocation with the modulation of its chemical structure by PgaB.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Data-driven Distributed Learning of Multi-agent Systems: A Koopman Operator Approach

Koopman operator theory provides a model-free technique for studying nonlinear dynamical systems purely from data. Since the Koopman operator is infinite-dimensional, researchers have developed several methods that provide a finite-dimensional approximation of the Koopman operator so that it can be applied for practical use cases. One common thing with most of the methods is that their solutions are obtained by solving a centralized minimization problem. In this work, we treat the dynamical system to be a multi-agent system and propose an algorithm to compute the finite-dimensional approximation of the Koopman operator in a distributed manner using the knowledge of the topology of the underlying multi-agent system. The proposed distributed approach is shown to be equivalent to the centralized learning problem and results in a sparse Koopman whose block structure mimics the Laplacian of the multi-agent system. Extensive simulation studies illustrate the proposed framework on the network of oscillators and the IEEE 68 bus system.

Nandanoori, Sai Pushpak↗
NASA NTRS1993

Geometrical approach to neural net control of movements and posture

In one approach to modeling brain function, sensorimotor integration is described as geometrical mapping among coordinates of non-orthogonal frames that are intrinsic to the system; in such a case sensors represent (covariant) afferents and motor effectors represent (contravariant) motor efferents. The neuronal networks that perform such a function are viewed as general tensor transformations among different expressions and metric tensors determining the geometry of neural functional spaces. Although the non-orthogonality of a coordinate system does not impose a specific geometry on the space, this "Tensor Network Theory of brain function" allows for the possibility that the geometry is non-Euclidean. It is suggested that investigation of the non-Euclidean nature of the geometry is the key to understanding brain function and to interpreting neuronal network function. This paper outlines three contemporary applications of such a theoretical modeling approach. The first is the analysis and interpretation of multi-electrode recordings. The internal geometries of neural networks controlling external behavior of the skeletomuscle system is experimentally determinable using such multi-unit recordings. The second application of this geometrical approach to brain theory is modeling the control of posture and movement. A preliminary simulation study has been conducted with the aim of understanding the control of balance in a standing human. The model appears to unify postural control strategies that have previously been considered to be independent of each other. Third, this paper emphasizes the importance of the geometrical approach for the design and fabrication of neurocomputers that could be used in functional neuromuscular stimulation (FNS) for replacing lost motor control.

Review↗
NASA NTRS2018

Evaluation of Multiple Flow Constrained Area Capacity Setting Methods for Collaborative Trajectory Options Program

The purpose of this study was to compare flow constrained area (FCA) capacity setting methods for Collaborative Trajectory Options Program (CTOP) as they pertain to the Integrated Demand Management (IDM) concept. IDM uses flow balancing to manage air traffic across multiple FCAs with a common downstream constraint, as well as constraints at the respective FCA locations. FCA capacity rates can be set manually, but generating capacities for multiple, interdependent FCAs could potentially over-burden a user. A new enhancement to CTOP called the FCA Balance Algorithm (FBA) was developed at NASA Ames Research Center to improve the process of allocating capacity across multiple flow constrained segments in the airspace. The FBA evaluates the predicted demand and capacity across multiple FCAs and dynamically generates capacity settings for the FCAs that best meet capacity limits for all identified constraints. In a human-in-the-loop simulation study, both manual and automated capacity setting methods were evaluated in terms of their overall feasibility using measures of system performance, human performance, and qualitative feedback. Subject matter experts were asked to use three different methods to allocate capacity to three FCAs, either (1) by manually setting capacity for every 60-minute time window, (2) by manually setting capacity for every 15-minute time window, or (3) by using the FBA capability to automatically generate capacity settings. Results showed no significant differences in terms of overall system performance, indicated by similar ground delay and airport throughput numbers between methods. However, differences in individual strategies afforded by the manual methods allowed some participants to achieve system-wide delay that was much lower than the average. The FBA was the fastest method of capacity setting, and it received the lowest subjective rating scores on physical task load, mental task load, task difficulty and task complexity out of the three methods. Finally, participants explained through qualitative feedback that there were many benefits to using the FBA, such as ease of use, accuracy, and low risk of human input error. Participants did not experience the same limitations with the FBA that they did with the manual methods, such as reduced accuracy in the 60-minute manual condition, or high complexity in the 15-minute/manual condition. These results suggest that the FBA automation enhancement to CTOP maintains system performance while improving human performance. Therefore, the FBA could be introduced as a way to mitigate operator workload while planning a CTOP.

NextGen↗
NASA NTRS2018

Evaluation of Multiple Flow Constrained Area Capacity Setting Methods for Collaborative Trajectory Options Program

The purpose of this study was to compare flow constrained area (FCA) capacity setting methods for Collaborative Trajectory Options Program (CTOP) as they pertain to the Integrated Demand Management (IDM) concept. IDM uses flow balancing to manage air traffic across multiple FCAs with a common downstream constraint, as well as constraints at the respective FCA locations. FCA capacity rates can be set manually, but generating capacities for multiple, interdependent FCAs could potentially over-burden a user. A new enhancement to CTOP called the FCA Balance Algorithm (FBA) was developed at NASA Ames Research Center to improve the process of allocating capacity across multiple flow constrained segments in the airspace. The FBA evaluates the predicted demand and capacity across multiple FCAs and dynamically generates capacity settings for the FCAs that best meet capacity limits for all identified constraints. In a human-in-the-loop simulation study, both manual and automated capacity setting methods were evaluated in terms of their overall feasibility using measures of system performance, human performance, and qualitative feedback. Subject matter experts were asked to use three different methods to allocate capacity to three FCAs, either (1) by manually setting capacity for every 60-minute time window, (2) by manually setting capacity for every 15-minute time window, or (3) by using the FBA capability to automatically generate capacity settings. Results showed no significant differences in terms of overall system performance, indicated by similar ground delay and airport throughput numbers between methods. However, differences in individual strategies afforded by the manual methods allowed some participants to achieve system-wide delay that was much lower than the average. The FBA was the fastest method of capacity setting, and it received the lowest subjective rating scores on physical task load, mental task load, task difficulty and task complexity out of the three methods. Finally, participants explained through qualitative feedback that there were many benefits to using the FBA, such as ease of use, accuracy, and low risk of human input error. Participants did not experience the same limitations with the FBA that they did with the manual methods, such as reduced accuracy in the 60-minute manual condition, or high complexity in the 15-minute/manual condition. These results suggest that the FBA automation enhancement to CTOP maintains system performance while improving human performance. Therefore, the FBA could be introduced as a way to mitigate operator workload while planning a CTOP.

NextGen↗
NASA NTRS2000

L-Band Radiometer Measurements of Conifer Forests

Airborne radiometer measurements have been made at L-band over conifer forests in Virginia to study radiometric response to biomass and soil moisture. The horizontally polarized synthetic aperture radiometer, ESTAR, has been deployed abroad a NASA-P3 aircraft which is based at the Goddard Space Flight Center's Wallops Flight Facility. The instrument has been mounted in the bomb bay of the P-3 and images data in the cross track direction. Aircraft and surface measurements were made in July, August and November of 1999 over relatively homogeneous conifer stands of varying biomass. The surface measurements included soil moisture measurements in several stands. The soil moisture was low during the July flight and highest in November after heavy rains had occurred. The microwave images clearly distinguished between the different forest stands. Stand age, obtained from International Paper Corporation which owns the stands, showed a strong correlation between brightness temperature and stand age. This agrees with previous simulation studies of conifer forests which show that the brightness temperature increases with increasing stand biomass. Research is continuing to seek a quantitative correlation between the observed brightness temperature of the stands and their biomass and surface soil moisture.

Lang, R.↗
NASA NTRS1988

Modeling of large-amplitude high-angle-of-attack maneuvers

Results from a simulation study to characterize and model rapid, large-amplitude high-angle-of-attack maneuvers of high performance aircraft are summarized. There is concern that conventional aerodynamic math models combining static and small-amplitude demping data may be deficient in properly representing the associated aerodynamics to allow accurate prediction of these types of motion. The objectives of this investigation were: (1) to characterize these maneuvers in order to establish the aerodynamic modeling requirements, (2) to define refinements to address these requirements, and (3) to examine the impact of these refinements on the calculated motions. The results show that accurate modeling of the dynamic terms is vital due to the very high angular rates generated during these maneuvers. It was found that the addition of dynamic terms to include the lateral acceleration derivatives and the rotary aerodynamics can in some cases significantly affect the simulated flight motions.

Angle of attack↗
NASA NTRS2005

Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

Calhoun Philip C.↗
NASA NTRSDate not supplied

Validation Experiments of Incipient Turbulent Separation over an Axisymmetric Afterbody

Historically, the flow physics involved with most turbulent separated flows have presented fundamental challenges in validation between experimental and numerical approaches. As recognized by the CFD Vision 2030 study commissioned by NASA, validation of Reynolds-averaged Navier-Stokes (RANS) models and other scale-resolving methods for turbulent separated flow requires the support of advanced, high-fidelity experiments designed specifically for CFD implementation. In accordance with this effort, a new test platform, referred to as the NASA Axisymmetric Afterbody, was designed to obtain detailed information of the flow field over a smooth body, undergoing adverse pressure gradient induced separation for a fixed Reynolds number, Re = 180,000. The parametric body offers a range of flow states from fully attached,incipient separation, to fully separated flow based on variable afterbody geometries. In an initial effort to evaluate RANS turbulence model capabilities, the present configuration of the axisymmetric model features a mild adverse pressure gradient over the contoured boattail section, inducing incipient turbulent separation. Experiments include steady pressure measurements to serve as preliminary comparisons to simulation studies, which examine the effect of variable grid domains and RANS turbulence models, in an effort to understand and evaluate the critical variability between solutions for the present configuration. Results indicate potential discrepancies may be due to the effect of the square tunnel test section walls, relatively large blockage ratio, and inconsistent reference parameters. Ongoing work will focus on the experimental campaigns to obtain surface flow visualizations and high-resolution, off-body flow field measurements using Stereoscopic Particle Image Velocimetry (SPIV) and Laser Doppler Velocimetry (LDV) techniques to provide a detailed benchmark dataset to aid turbulence modelers.

axisymmetric afterbody↗
NASA NTRS1995

Advanced Propulsion Power Distribution System for Next Generation Electric/Hybrid Vehicle: Preliminary System Studies - Phase 1

The report essentially summarizes the work performed in order to satisfy the above project objective. In the beginning, different energy storage devices, such as battery, flywheel and ultra capacitor are reviewed and compared, establishing the superiority of the battery. Then, the possible power sources, such as IC engine, diesel engine, gas turbine and fuel cell are reviewed and compared, and the superiority of IC engine has been established. Different types of machines for drive motor/engine generator, such as induction machine, PM synchronous machine and switched reluctance machine are compared, and the induction machine is established as the superior candidate. Similar discussion was made for power converters and devices. The Insulated Gate Bipolar Transistor (IGBT) appears to be the most superior device although Mercury Cadmium Telluride (MCT) shows future promise. Different types of candidate distribution systems with the possible combinations of power and energy sources have been discussed and the most viable system consisting of battery, IC engine and induction machine has been identified. Then, HFAC system has been compared with the DC system establishing the superiority of the former. The detailed component sizing calculations of HFAC and DC systems reinforce the superiority of the former. A preliminary control strategy has been developed for the candidate HFAC system. Finally, modeling and simulation study have been made to validate the system performance. The study in the report demonstrates the superiority of HFAC distribution system for next generation electric/hybrid vehicle.

Bose, Bimal K.↗
DOE OSTI2023

A Graphical Model for Fusing Diverse Microbiome Data

This paper develops a Bayesian graphical model for fusing disparate types of count data. The motivating application is the study of bacterial communities from diverse high-dimensional features, in this case, transcripts, collected from different treatments. In such datasets, there are no explicit correspondences between the communities and each corresponds to different factors, making data fusion challenging. We introduce a flexible multinomial-Gaussian generative model for jointly modeling such count data. This latent variable model jointly characterizes the observed data through a common multivariate Gaussian latent space that parameterizes the set of multinomial probabilities of the transcriptome counts. The covariance matrix of the latent variables induces a covariance matrix of co-dependencies between all the transcripts, effectively fusing multiple data sources. We present a computationally scalable variational Expectation-Maximization (EM) algorithm for inferring the latent variables and the parameters of the model. Here, the inferred latent variables provide a common dimensionality reduction for visualizing the data and the inferred parameters provide a predictive posterior distribution. In addition to simulation studies that demonstrate the variational EM procedure, we apply our model to a bacterial microbiome dataset.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2019

Metalearners for estimating heterogeneous treatment effects using machine learning

There is growing interest in estimating and analyzing heterogeneous treatment effects in experimental and observational studies. We describe a number of metaalgorithms that can take advantage of any supervised learning or regression method in machine learning and statistics to estimate the conditional average treatment effect (CATE) function. Metaalgorithms build on base algorithms—such as random forests (RFs), Bayesian additive regression trees (BARTs), or neural networks—to estimate the CATE, a function that the base algorithms are not designed to estimate directly. We introduce a metaalgorithm, the X-learner, that is provably efficient when the number of units in one treatment group is much larger than in the other and can exploit structural properties of the CATE function. For example, if the CATE function is linear and the response functions in treatment and control are Lipschitz-continuous, the X-learner can still achieve the parametric rate under regularity conditions. We then introduce versions of the X-learner that use RF and BART as base learners. In extensive simulation studies, the X-learner performs favorably, although none of the metalearners is uniformly the best. In two persuasion field experiments from political science, we demonstrate how our X-learner can be used to target treatment regimes and to shed light on underlying mechanisms. A software package is provided that implements our methods.

42 ENGINEERING↗
NASA NTRS1974

Studies in the use of cloud type statistics in mission simulation

A study to further improve NASA's global cloud statistics for mission simulation is reported. Regional homogeneity in cloud types was examined; most of the original region boundaries defined for cloud cover amount in previous studies were supported by the statistics on cloud types and the number of cloud layers. Conditionality in cloud statistics was also examined with special emphasis on temporal and spatial dependencies, and cloud type interdependence. Temporal conditionality was found up to 12 hours, and spatial conditionality up to 200 miles; the diurnal cycle in convective cloudiness was clearly evident. As expected, the joint occurrence of different cloud types reflected the dynamic processes which form the clouds. Other phases of the study improved the cloud type statistics for several region and proposed a mission simulation scheme combining the 4-dimensional atmospheric model, sponsored by MSFC, with the global cloud model.

Fowler, M. G.↗
NASA NTRS1987

Effect of Gimbal friction modeling technique on control stability and performance for Centaur upper-stage

The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.

Graham, Ronald E.↗
NASA NTRS1987

Effect of gimbal friction modelling technique on control stability and performance for Centaur upper stage

The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.

Graham, Ronald E.↗