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At least 1,585 records · Page 88

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NASA NTRS1988

Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

Shieh, L. S.↗

NASA NTRS1987

Multishaker modal testing

The major accomplishments of this research are: (1) the refinement and documentation of a multi-input, multi-output modal parameter estimation algorithm which is applicable to general linear, time-invariant dynamic systems; (2) the development and testing of an unsymmetric block-Lanzcos algorithm for reduced-order modeling of linear systems with arbitrary damping; and (3) the development of a control-structure-interaction (CSI) test facility.

Craig, Roy R., Jr.↗

NASA NTRS1988

The effect of the near earth micrometeoroid environment on a highly reflective mirror surface

A resurgence of interest in placing large solar concentrator solar dynamic systems in space for power generation has brought up again a concern for maintaining the integrity of the optical properties of highly specular reflecting surfaces in the near earth space environment. One of the environmental hazards needing evaluation is the micrometeoroid environment. It has been shown that highly reflective polished metals and thin film coatings degrade when exposed to simulated micrometeoroids in the lab. At NASA-Lewis, a shock tube was used to simulate the phenomenon of micrometeoroid impact by accelerating micron sized particles to hypervelocities. Any changes in the optical properties of surfaces exposed to this impact were then evaluated. The degradation of optical properties of polished metals and thin metallic films after exposure to simulated micrometeoroids was determined as a function of impacting kinetic energy area of the particles. A calibrated sensor was developed to not only detect the micrometeoroid environment, but also to evaluate the degradation of the optical properties of thin aluminum films in space. Results of the simulation are presented and discussed.

Mirtich, Michael J.↗

NASA NTRS1987

Telepresence master glove controller for dexterous robotic end-effectors

This paper describes recent research in the Aerospace Human Factors Research Division at NASA's Ames Research Center to develop a glove-like, control and data-recording device (DataGlove) that records and transmits to a host computer in real time, and at appropriate resolution, a numeric data-record of a user's hand/finger shape and dynamics. System configuration and performance specifications are detailed, and current research is discussed investigating its applications in operator control of dexterous robotic end-effectors and for use as a human factors research tool in evaluation of operator hand function requirements and performance in other specialized task environments.

Fisher, Scott S.↗

NASA NTRS1987

Single step optimization of manipulator maneuvers with variable structure control

One step ahead optimization has been recently proposed for spacecraft attitude maneuvers as well as for robot manipulator maneuvers. Such a technique yields a discrete time control algorithm implementable as a sequence of state-dependent, quadratic programming problems for acceleration optimization. Its sensitivity to model accuracy, for the required inversion of the system dynamics, is shown in this paper to be alleviated by a fast variable structure control correction, acting between the sampling intervals of the slow one step ahead discrete time acceleration command generation algorithm. The slow and fast looping concept chosen follows that recently proposed for optimal aiming strategies with variable structure control. Accelerations required by the VSC correction are reserved during the slow one step ahead command generation so that the ability to overshoot the sliding surface is guaranteed.

Chen, N.↗

NASA NTRS1988

Nondestructive construction error detection in large space structures

Continuum modeling of large space structures is extended to the problem of detecting construction errors in large space structures such as the proposed space station. First-order dynamic sensitivity equations for structures involving eigenfrequencies, modal masses, modal stiffnesses, and modal damping are presented. Matrix equations relating changes in element parameters to dynamic sensitivities are summarized. The sensitivity equations for the entire dynamical system are rearranged as a system of algebraic equations with unknowns of stiffness losses at selected locations. The feasibility of the formulation is numerically demonstrated on a simply-supported Euler-Bernouilli beam with simulated construction defects. The method is next extended to large space structures modelled as equivalent continua with simulated construction defects.

Stubbs, Norris↗

NASA NTRS1988

Venus' superrotation, mixing length theory and eddy diffusion - A parametric study

The concept of the Hadley mechanism is adopted to describe the axisymmetric circulation of the Venus atmosphere. It is shown that, for the atmosphere of a slowly rotating planet such as Venus, a form of the nonliner 'closure' (self-consistent solution) of the fluid dynamics system which constrains the magnitude of the eddy diffusion coefficients can be postulated. A nonlinear one-layer spectral model of the zonally symmetric circulation was then used to establish the relationship between the heat source, the meridional circulation, and the eddy diffusion coefficients, yielding large zonal velocities. Computer experiments indicated that proportional changes in the heat source and eddy diffusion coefficients do not significantly change the zonal velocities. It was also found that, for large eddy diffusion coefficients, the meridional velocity is virtually constant; below a threshold in the diffusion rate, the meridional velocity decreases; and, for large eddy diffusion and small heating rates, the zonal velocities decrease with decreasing planetary rotation rates.

Mayr, H. G.↗

NASA NTRS1988

Modeling, model simplification and stability robustness with aeroelastic vehicles

The linearization and simplification of a nonlinear, literal model for flexible aircraft is highlighted. Areas of model fidelity that are critical if the model is to be used for control system synthesis are developed, and several simplification techniques that can deliver the necessary model fidelity are discussed. These techniques include both numerical and analytical approaches. An analytical approach, based on first-order sensitivity theory is shown to lead not only to excellent numerical results, but also to closed-form analytical expressions for key system dynamic properties such as the pole/zero factors of the vehicle transfer-function matrix. The analytical results are expressed in terms of vehicle mass properties, vibrational characteristics, and rigid-body and aeroelastic stability derivatives, thus leading to the underlying causes for critical dynamic characteristics.

Schmidt, David K.↗

NASA NTRS1987

Analysis of the fluid dynamics and heat transfer during micro-gravity Bridgman-Stockbarger growth of semiconductors in steady periodic gravitational fields

The effect of periodic variations in the magnitude and direction of gravitational acceleration on buoyancy-driven convection in the melt during microgravity growth of low Prandtl number semiconductor materials in Brigdman-Stockbarger configuration is investigated through the numerical solution of the transient Navier-Stokes and energy equations. Results are presented over a wide range of Rayleigh numbers and frequency spectrum of periodic g-level variations corresponding to conditions present on earth and on board spacecrafts. The frequency response of convection in the melt during growth is found to be similar to that of a first order dynamic system with a cutoff frequency determined by the diffusion of momentum in the system. Results indicate that during growth of small diameter Germanium crystals, convection in the melt is insensitive to the measured g-gitter on board the shuttle.

Griffin, Patrick R.↗

NASA NTRS1987

Determination of rotor derivatives and rotor hub force and moment derivatives from flight measurements with the RSRA compound helicopter

A case study of the application of an integrated rotorcraft identification method to the linear modeling of rotor system dynamics and rotor hub loads is presented. Applying the method to flight data obtained from the RSRA compound helicopter, the rotor derivatives in the rotor state dynamic equation are identified along with blade equivalent damping and spring periodic coefficients. A rigid blade flapping equation of motion can be derived from the identified rotor state equation. It is shown that the concept of rotor hub load derivatives is useful for small maneuvering loads. The hub load derivatives can be used to relate the hub dynamic load to rotor/fuselage motion and applied inputs.

Wang, Ji C.↗

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using sensory feedback

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Wang, J. C.↗

NASA NTRS1988

Accelerated convergence for synchronous approximate agreement

The protocol for synchronous approximate agreement presented by Dolev et. al. exhibits the undesirable property that a faulty processor, by the dissemination of a value arbitrarily far removed from the values held by good processors, may delay the termination of the protocol by an arbitrary amount of time. Such behavior is clearly undesirable in a fault tolerant dynamic system subject to hard real-time constraints. A mechanism is presented by which editing data suspected of being from Byzantine-failed processors can lead to quicker, predictable, convergence to an agreement value. Under specific assumptions about the nature of values transmitted by failed processors relative to those transmitted by good processors, a Monte Carlo simulation is presented whose qualitative results illustrate the trade-off between accelerated convergence and the accuracy of the value agreed upon.

Kearns, J. P.↗

NASA NTRS1989

Structural dynamics branch research and accomplishments for FY 1988

Fiscal year 1988 research highlights from the Structural Dynamics Branch at NASA Lewis Research Center are described. Highlights from the branch's major work areas -- aeroelasticity, vibration control, dynamic systems, and computational structural methods -- are included as well as a complete listing of the FY 88 branch publications.

Source record↗

NASA NTRS1989

A generalized software executive for multidisciplinary computational structural dynamics

The objective of this presentation is to introduce the attendees to the DYSCO program. The emphasis will be on the features which make it multidisciplinary. DYSCO is a very general and versatile software program which couples and solves dynamic systems. It was initiated in the late 1970's in response to a helicopter analysis requirement. The system development, however, resulted in an executive which was completely separated from any particular area of technology, except that of second order ordinary differential equations. During the course of its development, it was funded by the Army Aviation Applied Technology Directorate, the Air Force Wright Aeronautical Laboratories, and by the Kaman Aerospace Corporation. It is completely written in FORTRAN and is operational on IBM and VAX computers.

Berman, Alex↗

NASA NTRS1988

An experimental analysis of a doped lithium fluoride direct absorption solar receiver

An experimental analysis of two key elements of a direct absorption solar receiver for use with Brayton solar dynamic systems was conducted. Experimental data are presented on LiF crystals doped with dysprosium, samarium, and cobalt fluorides. In addition, a simulation of the cavity/window environment was performed and a posttest inspection was conducted to evaluate chemical reactivity, transmissivity, and condensation rate.

Kesseli, James↗

NASA NTRS1988

Folded resonance and seasonal vacillation in a thermally-forced baroclinic wave model

An eight-variable dynamical system is developed, representing a generalization of most previous low-order models of planetary wave behavior. As a special case a three component model, somewhat more general than a recent model of Lorenz and representing only thermal-monsoonal forcing (i.e., no mountains), is studied and shown to be capable of exhibiting a 'folded resonance' equilibrium portrait suggestive of that which seems to be required to account for the observed bimodality of the atmospheric long-wave amplitude. When forced by seasonal thermal variations the system can exhibit vacillatory fluctuation qualitatively similar to observations.

Saltzman, Barry↗

NASA NTRS1988

The effect of the near earth micrometeoroid environment on a highly reflective mirror surface

Mirtich, Michael J.↗

NASA NTRS1988

Use of pure nickel and LiOH for thermal energy storage

The solid to liquid phase transformation of LiOH has been proposed as an ideal candidate thermal energy storage media for a Rankine Cycle powered electrical generation unit envisioned in Space Station based solar dynamic systems. Due to the corrosive nature of molten hydroxides, long term containment of LiOH is of concern. Pure nickel is thought to be a suitably resistant material, and a program has been instituted to measure the effects of prolonged exposure of liquid and gaseous LiOH on the mechanical properties of pure nickel alloys. Results to date indicate that negligible weight and thickness changes occurred in Ni alloys exposed to LiOH for as long as 2500 hr at 775 K, and essentially no difference in 77-900 K tensile properties could be detected between LiOH exposed and vacuum annealed Ni specimens. Although there was little sign of outward damage, microstructural examination revealed that all hydroxide contaminated tensile test specimens had surface connected intergranular cracks along the gage lengths. Two other potential problems, which have strong implications with respect to a LiOH/Ni energy storage system, were also noted during the corrosion experiments. In particular stress corrosion cracking of weld joints in pressurized vessel and permeation of hydrogen through nickel were observed.

Whittenberger, J. D.↗